CN212981789U - Movable manipulator pile up neatly carloader - Google Patents
Movable manipulator pile up neatly carloader Download PDFInfo
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- CN212981789U CN212981789U CN202021778351.2U CN202021778351U CN212981789U CN 212981789 U CN212981789 U CN 212981789U CN 202021778351 U CN202021778351 U CN 202021778351U CN 212981789 U CN212981789 U CN 212981789U
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Abstract
The invention relates to a movable manipulator stacking and loading machine. The technical scheme adopted by the invention is as follows: the automatic stacking machine comprises a moving platform extending forwards, wherein a lifting mechanism is arranged at the front end of the moving platform, the top of the lifting mechanism is a lifting platform, a manipulator stacking trolley is arranged on the lifting platform and comprises a crawler moving chassis at the bottom, a trolley lifter on the crawler moving chassis and a platform at the top of the trolley lifter, the front end of the platform is provided with a stacking manipulator, a buffer conveyor and a bag conveying conveyor are arranged on the platform at the rear of the stacking manipulator, the buffer conveyor is connected with a rear slope conveyor, and the rear part of the slope conveyor is connected with a telescopic conveyor. According to the invention, the manipulator and the conveyor are combined by means of the crawler, the stacking manipulator is arranged on the crawler chassis vehicle, the stability is good, the moving purpose of the manipulator can be realized, and the lower lifting structure of the manipulator stacking trolley is matched with the height of the carriage by arranging the two-stage lifting structure, so that the stacking manipulator is suitable for carriages of various specifications.
Description
Technical Field
The invention relates to a movable manipulator stacking and loading machine, and belongs to material conveying equipment.
Background
The loading and unloading of the freight car are the links which consume most manpower and time in the logistics industry, and large-scale stacking labor force is needed for loading, so that the labor intensity is high.
The existing mechanical equipment for transshipment and unloading still needs manpower to move and place on the conveyor, and even if the conveyor can realize flexible movement, the labor requirement on people is still strong. Particularly, in a narrow space in the carriage, the conveying equipment is difficult to enter the deep part of the carriage, and the labor intensity of the conveying equipment at the inlet and the top position cannot be effectively reduced.
The pile up neatly of goods can be realized to pile up neatly machinery hand, but its fixed setting usually lacks suitable mobile device, also can not carry out fine combined use with conveying equipment.
Disclosure of Invention
The invention provides a movable manipulator stacking and loading machine, which solves the problems of movement of mechanical transfer in carriage transfer goods and connection with conveying equipment.
In order to achieve the purpose, the invention adopts the technical scheme that:
movable manipulator pile up neatly carloader, moving platform including the protrusion, moving platform's front end sets up elevating system, the elevating system top is elevating platform, set up manipulator pile up neatly dolly on the elevating platform, manipulator pile up neatly dolly includes the track removal chassis of bottom, the platform at dolly lift and dolly lift top on the track removal chassis, the front end of platform sets up the pile up neatly manipulator, set up the buffer conveyer and send a bag conveyer on the platform at pile up neatly manipulator rear, the buffer conveyer links to each other with rear portion slope conveyer, flexible conveyer is connected at the slope conveyer rear portion.
Preferably, the moving platform is a four-wheel drive pivot steering electric chassis which can move left and right and back and forth, a support frame is arranged at the rear part of the moving platform to support the telescopic conveyor, the rear part of the telescopic conveyor is used for feeding, the slope conveyor is lifted along with the lifting of the feeding and discharging conveyor, and the telescopic conveyor synchronously moves forward and backward along with the advancing and backward of the feeding and discharging conveyor.
Preferably, the lifting mechanism and the trolley lifter are scissor fork lifting mechanisms, the scissor fork lifting mechanisms are formed by two symmetrical scissor forks, hinge shafts between the two scissor forks are coaxial, one end of the lower portion of each scissor fork is fixed, the other end of each scissor fork is arranged in a limiting slide way to slide, a connecting shaft is arranged between the two scissor forks and connected to the extending end of a lifting hydraulic cylinder, and a cylinder body of the lifting hydraulic cylinder is fixed on a moving platform or a crawler moving chassis.
Preferably, the front part of the manipulator trolley platform is provided with a portal frame, the stacking manipulator is arranged on a top beam of the portal frame, the front ends of the buffer conveyor and the bag feeding conveyor are arranged in the middle of the portal frame, and the buffer conveyor and the bag feeding conveyor are matched to feed bags into a bag receiving hopper of the manipulator.
Preferably, the stacking mechanical arm is a double-joint mechanical arm, the two joints swing along a horizontal plane, a stacking hopper is arranged at the tail end of a front joint of the stacking mechanical arm, a rear joint behind the stacking mechanical arm is arranged on the portal frame through a rotary driving mechanism, the rotary driving mechanism is arranged above the portal frame, and an output shaft of the rotary driving mechanism penetrates through the portal frame and then is connected to the rear joint behind the stacking mechanical arm.
Further preferably, the stacking hopper comprises an inverted U-shaped cargo groove, swinging claws and a driving cylinder, wherein the two platy swinging claws are arranged on the edges of the two sides of the lower end of the U-shaped groove in a hinged mode respectively, the end part of a hinged shaft of each swinging claw is provided with a swinging arm, the driving cylinder acts on the free end of each swinging arm, the driving cylinder pushes each swinging arm to swing, the swinging arms drive the hinged shafts to rotate, the hinged shafts drive the swinging claws to expand, the driving cylinders are arranged on the outer side surfaces of the U-shaped groove, and the top of the U-shaped cargo groove is provided with a connecting seat which is connected with the end part of a front joint.
The invention has the advantages that:
the manipulator and the conveyor are organically combined by means of the crawler, so that automatic operation of conveying, stacking, loading and unloading is realized; the stacking manipulator is arranged on the crawler chassis vehicle, the stability is good, the moving purpose of the manipulator can be realized, and the lower lifting structure of the manipulator stacking trolley is matched with the height of the carriage by arranging a two-stage lifting structure, so that the stacking manipulator is suitable for carriages of various specifications; the lifting structure of the manipulator stacking trolley realizes lifting of the manipulator, stacking of goods is achieved, and the purpose of stacking the goods is achieved.
Drawings
Figure 1 is a side view of the invention,
figure 2 is a side view of the invention in operation with a vehicle,
figure 3 is a side block diagram of the robot pallet truck of the present invention,
figure 4 is a top plan view of the robotic pallet truck of the present invention,
figure 5 is a block diagram of a stacking hopper of the invention,
figure 6 is a cross-sectional view of a pallet hopper of the invention,
figure 7 is a side elevation view of a pallet hopper of the invention,
figure 8 is a top view of the range of motion of the robot of the present invention,
figure 9 is a side view of the robot of the present invention,
figure 10 is a diagram of the trolley lift of the robot pallet truck of the invention,
fig. 11 is a structural view of the elevating mechanism of the present invention.
Reference numerals: 1. the automatic bag conveying device comprises a movable platform, 101, a lifting mechanism, 102, a lifting platform, 103, a supporting frame, 104, a telescopic conveyor, 105, an inclined conveyor, 2, a manipulator stacking trolley, 201, a crawler moving chassis, 202, a trolley lifter, 203, a platform, 204, a bag conveying conveyor, 205, a buffer conveyor, 206, a door-shaped frame, 3, a stacking manipulator, 301, a front joint, 302, a rear joint, 303, a rotary driving mechanism, 4, a stacking hopper, 401, a cargo groove, 402, a swing claw, 403, a hinge shaft, 404, a swing arm, 405, a driving cylinder, 406, a connecting seat, 5, a scissor fork lifting mechanism carriage, 501, a connecting shaft, 502, a lifting hydraulic cylinder, 503, a limiting slide way, 6, a warehousing conveyor, 7 and a carriage.
Detailed Description
The following further describes the specific contents of the present invention:
the movable manipulator stacking and loading machine disclosed by the invention has a structure shown in the figure, and comprises a movable platform 1 extending forwards, wherein a lifting mechanism 101 is arranged at the front end of the movable platform 1, the top of the lifting mechanism 101 is provided with a lifting platform 102, a manipulator stacking trolley 2 is arranged on the lifting platform 102, the manipulator stacking trolley 2 comprises a crawler moving chassis 201 at the bottom, a trolley lift 202 on the crawler moving chassis 201 and a platform 203 at the top of the trolley lift 202, a stacking manipulator 3 is arranged at the front end of the platform 203, a buffer conveyor 205 and a bag conveying conveyor 204 are arranged on the platform 203 behind the stacking manipulator 3, the buffer conveyor 205 is connected with a rear slope conveyor, and the rear part of the slope conveyor is connected with a telescopic conveyor 104.
The moving platform 1 is a four-wheel drive in-situ steering electric chassis and can translate left and right and move back and forth, and the lifting range of the lifting platform is 0-800 mm, so that the height of the platform is consistent with that of a chassis of a vehicle to be loaded. The mobile platform is driven by remote control, is convenient to align with a vehicle to be loaded, and has the moving speed of 0-100 m/min.
The rear part of the mobile platform 1 is provided with a support frame 103 for supporting a telescopic conveyor 104, the rear part of the telescopic conveyor 104 is used for loading or unloading materials, the slope conveyor is lifted along with the lifting of the buffer conveyor and the bag conveying conveyor, and the telescopic conveyor 104 synchronously moves forwards and backwards along with the advancing and the retreating of the buffer conveyor and the bag conveying conveyor.
The lifting mechanism 101 is a scissor fork lifting mechanism, the scissor fork lifting mechanism is composed of two symmetrical scissor forks, hinge shafts between the two scissor forks are coaxial, one end of the lower portion of each scissor fork is fixed, the other end of each scissor fork is arranged in a limiting slide way to slide, a connecting shaft is arranged between the two scissor forks and connected to the extending end of a lifting hydraulic cylinder, and the cylinder body of the lifting hydraulic cylinder is fixed on the moving platform 1. The limiting slide way of the lifting mechanism 101 is connected with the moving platform 1 through a bolt, and the manipulator stacking trolley 2 is arranged on the lifting platform through a positioning mechanism and lifted along with the lifting platform. The positioning structure can be electromagnetically fixed and can also be an inserting pile structure. When the robot stacking trolley moves, the positioning structure is released, and the robot stacking trolley starts to stack.
Each track in the track moving chassis of the manipulator stacking trolley 2 is provided with a power part, and the PCL controls the rotating speed of the two transmission parts to realize steering when the steering is carried out. The trolley lifter 202 is a scissor fork lifting mechanism, the scissor fork lifting mechanism is composed of two symmetrical scissor forks, a hinge shaft between the two scissor forks is coaxial, one end of the lower portion of the scissor fork is fixed, the other end of the scissor fork is arranged in a limiting slide way to slide, a connecting shaft is arranged between the two scissor forks and connected to the extending end of a lifting hydraulic cylinder, and the cylinder body of the lifting hydraulic cylinder is fixed on the crawler belt moving chassis 201.
The front part of the manipulator trolley platform 203 is provided with a portal frame 206, the stacking manipulator 3 is arranged on a top beam of the portal frame 206, the front ends of the buffer conveyor 205 and the bag-feeding conveyor 204 are arranged in the middle position in the portal frame 206, and the buffer conveyor 205 and the bag-feeding conveyor 204 are conventional conveyors.
The stacking manipulator 3 is a double-joint manipulator, two joints swing along a horizontal plane, a stacking hopper 4 is arranged at the tail end of a front joint 301 of the stacking manipulator 3, a rear joint 302 behind the stacking manipulator is arranged on the portal frame 206 through a rotary driving mechanism 303, the rotary driving mechanism 303 is positioned above the portal frame 206, and an output shaft of the rotary driving mechanism 303 penetrates through the portal frame 206 and then is connected to the rear joint 302 behind the stacking manipulator.
The stacking hopper 4 comprises an inverted U-shaped cargo groove 401, a swinging claw 402 and a driving cylinder 405, wherein two plate-shaped swinging claws 402 are arranged on two side edges of the lower end of the U-shaped groove in a hinged mode respectively, a swinging arm is arranged at the end part of a hinged shaft of the swinging claw 402, the driving cylinder 405 acts on the free end of the swinging arm, the driving cylinder 405 pushes the swinging arm to swing, the swinging arm drives the hinged shaft to rotate, the hinged shaft drives the swinging claw 402 to expand, the driving cylinder 405 is arranged on the outer side surface of the U-shaped groove, and the top of the U-shaped cargo groove 401 is provided with a connecting seat which is connected with the end part of a front.
The operation mechanism of the invention is as follows: the mechanical arm drives the stacking hopper to move to the front end of the conveyor, the conveyor is started to convey the bags to the stacking hopper, the mechanical arm conveys the bags to a specified position according to a preset program and puts down the bags, the bags are sequentially stacked one row, then the mechanical arm stacking trolley moves backwards for a certain distance, and the bag stacking action is restarted until the whole trolley is completely loaded.
The process of loading the cargo according to the present invention is described below, and includes the following steps,
1) the movable platform 1 is moved to the middle of the rear part of the carriage to be transshipped or unloaded by manual remote control, the movable platform 1 is aligned to the rear part of the carriage by front-back and left-right adjustment, and the movable platform 1 and the rear part of the carriage are connected and fixed by a connecting structure.
2) The lifting mechanism 101 at the front end of the mobile platform 1 lifts the lifting platform 102, the lifting platform 102 is lifted to be level with the interior of the carriage, the feeding and discharging conveyor 204 is lifted along with the lifting platform, and the slope conveyor inclines along with the feeding and discharging conveyor 204;
3) the crawler chassis of the manipulator stacking trolley 2 is started to advance, and when the manipulator stacking trolley 2 runs to a transshipment position and stops, the telescopic conveyor 104 is started to follow the manipulator stacking trolley 2 and the slope conveyor to advance and stop simultaneously;
4) the trolley lifting platform drives the mechanical hand to adjust along with the stacking position, goods are sequentially conveyed from the warehouse-in and warehouse-out conveyor 6, the telescopic conveyor 104, the slope conveyor, the buffer conveyor 205, the bag-sending conveyor 204 and the stacking mechanical hand 3, the stacking mechanical hand 3 is started, the stacking hopper 4 is moved to the position of the goods to be stacked through the movement of two joints, the buffer conveyor 205 and the bag-sending conveyor 204 are matched to send the bags into the goods groove 401, then the stacking hopper 4 is conveyed to the position to be stored through the movement of the two joints of the mechanical hand, the swing claw 402 is driven to open the stacking hopper 4 by the driving cylinder 405, the goods are put down, the lifting machinery rises the height of one bag after one layer is completed, the stacking of the next layer is carried out, after the goods in a complete position are stacked, the mechanical hand trolley 2 moves backwards for a certain distance, the trolley lifting machine and the platform on the trolley drive the mechanical hand to fall to the lowest height or the highest height to start new stacking or stacking, the vehicle is finally loaded or unloaded in this cycle.
5) And (4) carrying out reciprocating stacking on the cargos according to the steps of 3) and 4) to realize loading of the cargos.
Claims (6)
1. A movable manipulator stacking car loader is characterized by comprising a movable platform (1) capable of moving integrally, the front end of moving platform (1) sets up elevating system (101), elevating system (101) top is elevating system (102), set up manipulator dolly (2) on elevating system (102), manipulator dolly (2) are including track removal chassis (201) of bottom, dolly lift (202) and platform (203) at dolly lift (202) top on track removal chassis (201), the front end of platform (203) sets up pile up neatly machinery hand (3), set up on pile up neatly machinery hand (3) rear platform (203) buffer conveyor (205) and send bag conveyer (204), buffer conveyor (205) and send bag conveyer (204) and link to each other with rear portion slope conveyer, flexible conveyer (104) is connected to the slope conveyer rear portion.
2. The movable manipulator stacking and loading machine as claimed in claim 1, wherein the movable platform (1) is a four-wheel drive pivot steering electric chassis capable of translating left and right and moving back and forth, a support frame (103) is arranged at the rear part of the movable platform (1) and supports the telescopic conveyor (104), the telescopic conveyor (104) is used for loading or unloading materials at the rear part, the slope conveyor is lifted along with the lifting of the buffer conveyor (205) and the bag conveying conveyor (204), and the telescopic conveyor (104) synchronously moves forward and backward along with the forward and backward movement of the buffer conveyor (205) and the bag conveying conveyor (204).
3. The mobile manipulator pallet truck loader of claim 1, characterized in that the lifting mechanism (101) and the trolley lifter (202) are scissor fork lifting mechanisms, the scissor fork lifting mechanisms are composed of two symmetrical scissor forks, the hinge shafts between the scissor forks are coaxial, one end of the lower part of the scissor fork is fixed, the other end of the lower part of the scissor fork is arranged in a limiting slide way to slide, a connecting shaft is arranged between the scissor forks and connected to the extending end of a lifting hydraulic cylinder, and the cylinder body of the lifting hydraulic cylinder is fixed on the mobile platform (1) or the crawler track mobile chassis (201).
4. The mobile manipulator pallet truck loader of claim 1, characterized in that a portal frame (206) is arranged at the front part of the platform (203), the pallet robot (3) is arranged on a top beam of the portal frame (206), the front ends of the buffer conveyor (205) and the bag feeding conveyor (204) are arranged at the middle position in the portal frame (206), the buffer conveyor (205) and the bag feeding conveyor (204) are matched to feed the bags into the pallet robot (3), and the buffer conveyor (205) and the bag feeding conveyor (204) are conventional conveyors.
5. The movable manipulator pallet truck loader according to claim 4, wherein the pallet robot (3) is a double-joint robot, the two joints swing along a horizontal plane, a pallet hopper (4) is arranged at the tail end of a front joint (301) of the pallet robot (3), a rear joint (302) behind the pallet robot is arranged on the portal frame (206) through a rotary driving mechanism (303), the rotary driving mechanism (303) is positioned above the portal frame (206), and an output shaft of the rotary driving mechanism (303) penetrates through the portal frame (206) and then is connected to the rear joint (302) behind the pallet robot.
6. The movable manipulator stacking and loading machine as claimed in claim 5, wherein the stacking hopper (4) comprises an inverted U-shaped cargo groove (401), a swinging claw (402) and a driving cylinder (405), the two plate-shaped swinging claws (402) are respectively arranged on two side edges of the lower end of the U-shaped groove in a hinged mode, a swinging arm is arranged at the end of a hinged shaft of each swinging claw (402), the driving cylinder (405) acts on the free end of each swinging arm, the driving cylinder (405) pushes each swinging arm to swing, each swinging arm drives each hinged shaft to rotate, each hinged shaft drives each swinging claw (402) to unfold, each driving cylinder (405) is arranged on the outer side face of the U-shaped groove, and the top of the U-shaped cargo groove (401) is provided with a connecting base which is connected with the end of a front joint arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021778351.2U CN212981789U (en) | 2020-08-24 | 2020-08-24 | Movable manipulator pile up neatly carloader |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021778351.2U CN212981789U (en) | 2020-08-24 | 2020-08-24 | Movable manipulator pile up neatly carloader |
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| CN212981789U true CN212981789U (en) | 2021-04-16 |
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| CN202021778351.2U Active CN212981789U (en) | 2020-08-24 | 2020-08-24 | Movable manipulator pile up neatly carloader |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479650A (en) * | 2021-07-20 | 2021-10-08 | 枣庄市三维技术有限公司 | Conveyer with self-discharging pile up neatly function |
| CN114803379A (en) * | 2022-06-24 | 2022-07-29 | 秦皇岛优益创联特种车辆制造有限公司 | Flood control dam reinforcing system and method |
| CN116331815A (en) * | 2023-05-26 | 2023-06-27 | 江苏圣欣不锈钢制品有限公司 | Automatic metal product conveying and stacking machine |
-
2020
- 2020-08-24 CN CN202021778351.2U patent/CN212981789U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113479650A (en) * | 2021-07-20 | 2021-10-08 | 枣庄市三维技术有限公司 | Conveyer with self-discharging pile up neatly function |
| CN114803379A (en) * | 2022-06-24 | 2022-07-29 | 秦皇岛优益创联特种车辆制造有限公司 | Flood control dam reinforcing system and method |
| CN114803379B (en) * | 2022-06-24 | 2022-09-20 | 秦皇岛优益创联特种车辆制造有限公司 | Flood control dam reinforcing system and method |
| CN116331815A (en) * | 2023-05-26 | 2023-06-27 | 江苏圣欣不锈钢制品有限公司 | Automatic metal product conveying and stacking machine |
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