CN209504110U - An industrial robot-assisted container loading and unloading system - Google Patents

Abstract

The utility model relates to the technical field of packing box loading and unloading equipment, and provides an industrial robot-assisted container loading and unloading system, comprising: a frame, a telescopic conveyor arranged on the frame through a hinge at one end, and a fixed conveyor set on the frame The robot is an elevating member installed on the frame to drive the telescopic conveying frame to rotate, an elevating platform, a mobile robot on the elevating platform, and a position scanning positioning system on the mobile robot. Through fixed robots, telescopic conveyors and mobile robots, the handling and stacking of packing boxes between the truck and the packing box placement area is realized. Through the position scanning positioning system, the packing boxes are accurately stacked and unloaded. This process does not require Manual participation, and at the same time, through the mutual cooperation of hinges, lifting parts and lifting platforms, the telescopic conveyor and mobile robot can be applied to trucks of different heights, making the container handling system have high packing box loading and unloading efficiency, low cost, and adaptability The advantages of strong ability.

Description

An industrial robot-assisted container loading and unloading system

technical field

The utility model relates to the technical field of packaging box loading and unloading equipment, in particular to an industrial robot-assisted container loading and unloading system.

Background technique

Under the prior art, when loading and unloading packing boxes on a large truck, the packing boxes are generally stacked on the pallet, and then the pallet with the packing boxes is transported to the container of the truck by means of a forklift, so that The height of the pallet will affect the height of the packing box, and because the area of the pallet will be larger than the actual packing box area, this will affect the number of packing boxes. In order to load more packing boxes, now The packaging box is directly placed in the truck, and the manual operation is still the main method of placing the packaging box in the truck, resulting in low loading and unloading efficiency and high operating costs.

Utility model content

The purpose of the utility model is to provide an industrial robot-assisted container loading and unloading system, which aims to solve the technical problems of low efficiency and high cost of manually loading and unloading packing boxes in the prior art.

In order to achieve the above purpose, the technical solution adopted by the utility model is: an industrial robot-assisted container loading and unloading system, including:

ground-mounted racks;

One end rotates the telescopic conveyor arranged on the frame through a hinge;

a stationary robot mounted on the frame for transferring the crates between the crate placement area and the telescopic conveyor;

a lifting member arranged on the frame and used to drive the telescopic conveyor to rotate;

a lifting platform provided on said ground;

And, a mobile robot installed on the lifting platform for transferring the packaging boxes between the truck compartment and the telescopic conveyor;

The mobile robot is equipped with a position scanning and positioning system, which can detect the distance between the mobile robot and the obstacles in front and on both sides in the truck compartment, and is used to control the mobile robot in the truck compartment. Describe the displacement distance in the truck compartment to ensure that the packaging boxes are accurately stacked in the truck compartment, or ensure that each packaging box is accurately transferred to the telescopic conveyor.

Preferably: a hoist is also provided on the frame, and a plurality of vertical poles with rings are arranged on the telescopic conveyor, and the hoist is used to wind up the wires electrically connected to the mobile robot , the circular ring is used for the wire to pass through.

Preferably: the telescopic conveyor includes: a mother frame and a plurality of end-to-end sub-frames, one end of the mother frame is rotatably arranged with the hinge, and the other end is connected with one of the sub-frames, and the hinge It includes: a support frame on the frame, and a rotating shaft arranged on the support frame and rotatably assembled with the mother frame; one end of the lifting member is hinged on the frame, and the other end is A hydraulic cylinder hinged on the mother frame.

Preferably, a rotating post is arranged at the bottom of one of the sub-frames far away from the main frame, and a plurality of first air cylinders are arranged on the rotating post, and the rotating post is driven by a stepping motor.

Preferably: fixed wheels or universal wheels are arranged on the piston rods of each of the first cylinders.

Preferably: the lifting platform includes:

ground-mounted main frame;

a first bearing component arranged on the main frame;

a second carrying assembly arranged above the first carrying assembly for carrying the mobile robot;

And, a plurality of second air cylinders arranged on the first bearing component for adjusting the distance between the second bearing component and the first bearing component.

Preferably: a sleeve is provided on the first bearing assembly next to each of the second cylinders, a guide rod is movable on the sleeve, and one end of the guide rod is fixed on the second bearing assembly. assembly, the other end passes through the sleeve as a free end.

Preferably: a plurality of bolt-adjustable feet and universal wheels with brakes are provided at the bottom of the main frame.

Preferably: the mobile robot is loaded by a mobile trolley, a telescopic piece is arranged at the bottom of the mobile trolley, and a friction piece is provided on the telescopic piece.

Preferably: the telescopic member is a third cylinder, and the friction member is a magnet.

The beneficial effects of the utility model:

The utility model provides an industrial robot-assisted container loading and unloading system, through the fixed robot, the telescopic conveyor and the mobile robot, the handling and stacking of the packing box between the truck and the packing box placement area are realized, and the location is scanned and positioned The system can realize the precise loading and unloading of packing boxes by mobile robots. This process does not require manual participation, and has the advantages of high automation and high handling efficiency. At the same time, through the mutual cooperation of hinges, lifting parts and lifting platforms, The telescopic conveyor and the mobile robot can be applied to trucks of different heights, so that the industrial robot-assisted container handling system has the advantages of high packing box loading and unloading efficiency, low cost, and strong adaptability.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the accompanying drawings that are required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the practical For some novel embodiments, those skilled in the art can also obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic structural diagram of an industrial robot-assisted container loading and unloading system provided by an embodiment of the present invention;

Fig. 2 is the enlarged view of place A in Fig. 1;

Fig. 3 is the oblique looking up structure schematic diagram of telescopic conveyor in the utility model embodiment;

Fig. 4 is the enlarged view of place B in Fig. 3;

Figure 5 is an enlarged view at C in Figure 3;

Fig. 6 is a schematic structural view of the lifting platform in the embodiment of the present invention;

Fig. 7 is a schematic diagram of the planar structure of the mobile robot in the embodiment of the present invention;

FIG. 8 is an enlarged view at point D in FIG. 7 .

Reference signs: 1. frame; 2. hinge; 21. support frame; 22. rotating shaft; 3. telescopic conveyor; 31. mother frame; 32. sub-frame; 4. fixed robot; 5. lifter ; 6, lifting platform; 61, main frame; 62, the first bearing assembly; 63, the second bearing assembly; 64, the second cylinder; 65, sleeve; 66, guide rod; 7, mobile robot; 71, mobile Dolly; 711, crawler wheel; 72, telescopic member; 73, friction member; 74, rubber ring; 75, straight rod; 8, winch; 9, vertical rod; 10, rotating column; 11, first cylinder.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the figures are exemplary and are intended to explain the present invention, but should not be construed as limiting the present invention.

In describing the present invention, it should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical" , "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the utility model and simplifying the description. It does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore should not be construed as limiting the present invention.

In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present utility model, "plurality" means two or more, unless otherwise specifically defined.

In this utility model, unless otherwise specified and limited, terms such as "installation", "connection", "connection" and "fixation" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connection, or integration; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary, and it can be the internal communication of two components or the interaction relationship between two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model according to specific situations.

Please refer to Fig. 1-Fig. 8, in this embodiment, an industrial robot assisted container loading and unloading system includes: a frame 1 located on the ground, one end of which is rotated by a hinge 2 and is provided on the frame 1 as a telescopic The conveyor 3 is set on the frame 1 and is used to transfer the packing box between the packing box placement area and the telescopic conveyor 3. The fixed robot 4 is set on the frame 1 and is used to drive the telescopic The lifting part 5 that the type conveyor 3 rotates, the lifting platform 6 that is located on the ground, and the mobile that is located on the lifting platform 6 and is used to transfer the packing box between the truck compartment and the telescopic conveyor 3 robot7.

Wherein, a position scanning positioning system is provided on the mobile robot 7, and the position scanning positioning system can detect the distance between the mobile robot 7 and the obstacles on the front and on both sides (obstacles to the compartment and packing box) in the truck compartment, It is used to control the displacement distance of the mobile robot 7 in the truck compartment, to ensure that the packaging boxes are accurately placed in the truck compartment, or to ensure that each packaging box is accurately transferred to the telescopic conveyor 3 .

The fixed robot 4 is also provided with a position scanning positioning system, so that the fixed robot 4 can accurately transfer the packaging box between the telescopic conveyor 3 and the packaging box placement area. Wherein the position scanning positioning system includes at least a camera and a distance sensor.

The utility model provides an industrial robot-assisted container loading and unloading system. Through the fixed robot 4, the telescopic conveyor 3 and the mobile robot 7, the handling and stacking of the packing box between the truck and the packing box placement area are realized. The position scanning positioning system can realize the precise loading and unloading of 7 pairs of packaging boxes by mobile robots. This process does not require manual participation, and has the advantages of high automation and high handling efficiency. The mutual cooperation of 6 can make the telescopic conveyor 3 and the mobile robot 7 suitable for trucks of different heights, so that the industrial robot-assisted container handling system has the advantages of high packing box loading and unloading efficiency, low cost, and strong adaptability.

Preferably, as shown in Figures 1 and 2, in this embodiment, a winch 8 is also provided on the frame 1, and a plurality of vertical poles 9 with rings are provided on the telescopic conveyor 3, wherein , the hoist 8 is used to wind up the wire electrically connected to the mobile robot 7, the ring is used for the wire to pass through, and the hoist 8 and the pole 9 are used to protect the wire.

Specifically, as shown in Figures 2 and 3, in this embodiment, the telescopic conveyor 3 includes: a mother frame 31 and a plurality of end-to-end sub-frames 32, and in this embodiment, the telescopic conveyor 3 adopts Telescopic belt conveyor, the belt can increase the conveying stability of the package. In other embodiments, the telescopic conveyor 3 adopts a telescopic roller conveyor, wherein the rollers on the mother frame 31 and each sub-frame 32 are driven by an independent power source.

Wherein, one end of the mother frame 31 is rotated with the hinge 2, and the other end is connected with a subframe 32. In this embodiment, the hinge 2 includes: a support frame 21 provided on the frame 1, and a 21, the rotating shaft 22 that is rotatably assembled with the mother frame 31, and the support frame 21 is a trapezoidal support frame 21; A hydraulic cylinder hinged on the mother frame 31, wherein the mother frame 31 rotates with the rotating shaft 22 as the origin through the drive of the hydraulic cylinder to adjust the inclination angle of the entire telescopic conveyor 3 so that the telescopic conveyor 3 can extend to different heights In the truck, it can be used for trucks of different heights.

As shown in FIG. 5 , a rotating post 10 is installed at the bottom of a sub-frame 32 far away from the mother frame 31 , and a plurality of first air cylinders 11 are arranged on the rotating post 10 . The rotating post 10 is driven by a stepping motor. When the sub-frame 32 extends into the truck, the first cylinder 11 is used to support on the truck compartment, so as to increase the load-bearing capacity of the telescopic conveyor 3 .

Specifically, a fixed wheel or a universal wheel is arranged on the piston rod of each first cylinder 11, wherein the function of the fixed wheel and the universal wheel is to facilitate the elongation or shortening of the telescopic conveyor 3 when it is loaded with packing boxes. , no need to adjust the height of the telescopic conveyor 3, saving time.

As shown in Figure 7, in this embodiment, the lifting platform 6 includes: a main frame 61 located on the ground, a first bearing assembly 62 located on the main frame 61, and a bearing assembly 62 located above the first bearing assembly 62. The second bearing assembly 63 carrying the mobile robot 7 , and a plurality of second air cylinders 64 provided on the first bearing assembly 62 for adjusting the distance between the second bearing assembly 63 and the first bearing assembly 62 . A plurality of second air cylinders 64 are used to adjust the distance between the second bearing assembly 63 and the first bearing assembly 62, so as to adjust the height of the mobile robot 7 on the second bearing assembly 63, so that the mobile robot 7 can be used in Trucks of different heights improve the adaptability of the mobile robot 7 .

In this embodiment, the mobile robot 71 is arranged on the mobile car 71, and the mobile car 71 uses crawler wheels 711 to move, and the crawler type sinking can increase the friction between the mobile car 71 and the truck to improve the speed of the mobile car 71. The stability makes the mobile robot 7 not move when carrying goods.

A blocking block is set on the ground of the main frame 61 near the side of the truck, and the blocking block is used for parking and positioning of the truck so as to protect the lifting platform 6 . In this embodiment, the main body of the second air cylinder 64 is fixed on the first bearing assembly 62 , and the piston rod of the second air cylinder 64 is fixed on the second bearing assembly 63 .

In this embodiment, a sleeve 65 is arranged on the first bearing assembly 62 next to each second cylinder 64, and a guide rod 66 is movable on the sleeve 65, and one end of the guide rod 66 is fixed on the second bearing assembly. 63, and the other end passes through the sleeve 65 and is a free end. The effect of the guide rod 66 is to protect the piston rod of the second cylinder 64, because the mobile robot 7 will exert a horizontal thrust on the second load bearing component 63 when it is driven to leave or enter the second load bearing component 63, so that The horizontal thrust can be transmitted to the piston rod of the second cylinder 64, thereby causing the damage of the second cylinder 64, and the size of the horizontal thrust that the second cylinder 64 is subjected to is well reduced by the guide rod 66, which plays a role in the second cylinder 64. Good protection. In this embodiment, the guide rod 66 is made of solid steel pipe, which has sufficient bending strength. The guide rod 66 is welded on the second bearing assembly 63. In other embodiments, a threaded hole is set on the second bearing assembly 63, and the guide rod 66 is provided with an external thread that is threadedly connected with the threaded hole, so that the guide rod 66 is facilitated. Install.

A spring can also be sleeved on the guide rod 66 , and the spring is used for shock absorption, buffering the impact force on the second cylinder 64 caused by the mobile trolley 71 driving on the second bearing assembly 63 .

Preferably, in this embodiment, the main frame 61 is made of a plurality of first hollow square tubes made of steel, which facilitates subsequent movement of the main frame 61, while the first hollow square tubes are made of steel to ensure that the main frame 61 load-bearing capacity.

Preferably, in this embodiment, the first bearing assembly 623 includes: a plurality of second hollow square tubes made of steel, and a first bearing plate arranged on the plurality of second hollow square tubes; the second bearing assembly 63 includes : a plurality of third hollow square tubes made of steel, and a second bearing plate arranged on the plurality of second hollow square tubes. The first bearing component 62 is made of a second hollow square tube and a first bearing plate, and the second bearing component 63 is made of a third hollow square tube and a second bearing plate, which has the advantages of simple manufacture, strong bearing capacity and light weight .

A plurality of second hollow square tubes and a plurality of third hollow square tubes are arranged in one or more mesh shapes, thus effectively ensuring the bearing capacity of the first bearing plate and the second bearing plate.

In this embodiment, a sensor is provided on the side of the second bearing assembly 63 close to the truck, and the sensor is used to sense the height of the second bearing assembly 63 and the truck compartment. When the heights are the same or close to each other, the second cylinder 64 stops working, which is beneficial to improve the efficiency of the height adjustment of the mobile robot 7 .

Specifically, in this embodiment, there are at least four second cylinders 64, and the four second cylinders 64 are arranged on the four corners of the first bearing assembly 62, which can effectively ensure the balance of the second bearing assembly 63, Or, when the second cylinder 64 is provided with five, wherein four second cylinders 64 are located on the four corners of the first bearing assembly 62, and another second cylinder 64 is arranged at the center position of the first bearing assembly 62, like this It is more conducive to maintaining the balance of the second bearing assembly 63 .

Preferably, in this embodiment, the bottom of the main frame 61 is provided with a plurality of bolt-adjustable feet and universal wheels with brakes (not shown in the figure), and there are at least four universal wheels with adjustable bolts. There are eight supporting feet, and the universal wheel is convenient for moving the height adjustment device of the whole mobile robot 7, so that the mobile robot 7 can be driven into the truck, and the adjustable feet of the whole mobile robot 7 can be improved by using brakes and bolts. The stability of the device when docked.

As shown in Fig. 7 and Fig. 8, in this embodiment, a telescopic member 72 is arranged on the bottom of the mobile trolley 71, and a friction member 73 is arranged on the telescopic member 72, and the telescopic member 72 is used to drive the friction member 73 against the truck compartment. Connecting or separating, when abutting, it is used to increase the friction between the mobile trolley 71 and the truck compartment, thereby effectively preventing the mobile robot 7 from moving in the process of carrying the packing box, and improving the precise positioning ability of the mobile robot 7 .

Specifically, in this embodiment, the telescopic member 72 is the third cylinder, the friction member 73 is a magnet, the magnet is arranged in the iron box, the iron box is fixed on the piston rod of the third air cylinder, and there is also a set at the bottom of the iron box. Rubber ring 74, rubber ring 74 is used for increasing the frictional force and buffering the impact force when the iron case contacts with the truck compartment. Also be located at straight rod 75 on the iron case on both sides of the 3rd cylinder, straight rod 75 one ends are fixed on the iron case, and the other end is movably plugged with mobile trolley 71, and straight rod 75 is used for protecting the 3rd cylinder.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (10)

1. a kind of industrial robot assists container loading and unloading system characterized by comprising

Rack (1) set on ground；

One end is set to the accordion conveyor (3) on the rack (1) by articulation piece (2) rotation；

It is on the rack (1), for by packing case between packing case rest area and the accordion conveyor (3) into The stationary machine people (4) of row transhipment；

Lifters (5) on the rack (1), for driving the accordion conveyor (3) to rotate；

Lifting platform (6) on the ground；

And be set to it is on the lifting platform (6), for by packing case boxcar and the accordion conveyor (3) it Between the mobile robot (7) that is transported through；

The mobile robot (7) is equipped with position Scan orientation system, and the position Scan orientation system can be in lorry vehicle Mobile robot (7) and the distance between front and two sides barrier are detected in compartment, for controlling the mobile robot (7) shift length in the boxcar guarantees that packing case is accurately piled up in boxcar, or guarantees that each packing case is quasi- True is transported on the accordion conveyor (3).

2. a kind of industrial robot according to claim 1 assists container loading and unloading system, it is characterised in that: in the rack (1) it is additionally provided with hoist engine (8) on, the more upright bars (9) for having annulus, the volume are equipped on the accordion conveyor (3) It raises machine (8) and is used to pass through for the conducting wire for winding the conducting wire being electrically connected with the mobile robot (7), the annulus.

3. a kind of industrial robot according to claim 2 assists container loading and unloading system, it is characterised in that: described telescopic Conveyer (3) includes: female frame (31) and multiple end to end subracks (32), described mother frame (31) one end and the articulation piece (2) rotation setting, the other end are connected with a subrack (32), and the articulation piece (2) includes: equipped on the rack (1) Support frame (21), and be set to shaft (22) on support frame as described above (21), with described female frame (31) rolling assembling；It is described Lifters (5) are the hydraulic cylinder that one end is hinged on that on the rack (1), the other end is hinged on female frame (31).

4. a kind of industrial robot according to claim 3 assists container loading and unloading system, it is characterised in that: far from described Subrack (32) lower rotation of one of female frame (31) is equipped with a Rotational Cylindrical (10), is equipped on the Rotational Cylindrical (10) more A first cylinder (11), the Rotational Cylindrical (10) are driven by stepper motor.

5. a kind of industrial robot according to claim 4 assists container loading and unloading system, it is characterised in that: each described the Fixed wheel or universal wheel are provided on the piston rod of one cylinder (11).

6. a kind of industrial robot according to claim 1 assists container loading and unloading system, it is characterised in that: the lifting platform (6) include:

Main frame (61) set on ground；

The first bearing assembly (62) on the main frame (61)；

Second bearing assembly above first bearing assembly (62), for carrying the mobile robot (7) (63)；

And it is multiple it is on first bearing assembly (62), for adjust second bearing assembly (63) with it is described The second cylinder (64) of spacing between first bearing assembly (62).

7. a kind of industrial robot according to claim 6 assists container loading and unloading system, it is characterised in that: each described the First bearing assembly (62) beside two cylinders (64) is equipped with sleeve (65), movable on the sleeve (65) to be equipped with Guide rod (66), one end of the guide rod (66) are fixed on second bearing assembly (63), and the other end passes through the sleeve (65) For free end.

8. a kind of industrial robot according to claim 7 assists container loading and unloading system, it is characterised in that: in the main frame The bottom of frame (61) is equipped with the universal wheel of multiple bolt adjustable support legs and strap brake.

9. a kind of industrial robot according to claim 1 assists container loading and unloading system, it is characterised in that: the movable type Robot (7) is loaded by moving trolley (71), is provided with extensible member (72) in the bottom of the moving trolley (71), described to stretch Contracting part (72) is equipped with friction member (73).

10. a kind of industrial robot according to claim 9 assists container loading and unloading system, it is characterised in that: described flexible Part (72) is third cylinder, and the friction member (73) is magnet.