CN213976063U - Box type cargo handling equipment - Google Patents

Box type cargo handling equipment Download PDF

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Publication number
CN213976063U
CN213976063U CN202023014257.2U CN202023014257U CN213976063U CN 213976063 U CN213976063 U CN 213976063U CN 202023014257 U CN202023014257 U CN 202023014257U CN 213976063 U CN213976063 U CN 213976063U
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China
Prior art keywords
machine arm
support
vacuum
cargo handling
box
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CN202023014257.2U
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Chinese (zh)
Inventor
李志鹏
凌斌
雷鹏
余典初
朱学斌
张仕林
唐玉平
于岳群
韦琦
黄小克
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Crrc Zhuzhou Vehicle Co ltd
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Crrc Zhuzhou Vehicle Co ltd
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Priority to CN202023014257.2U priority Critical patent/CN213976063U/en
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Abstract

The utility model provides a box cargo handling equipment, include: the driving system is provided with a frame, driving wheel mounting seats are arranged at four corners of the frame, an electric driving wheel is arranged in each driving wheel mounting seat, and a fixed seat is arranged at the tail end of the frame; the machine arm assembly is provided with a machine arm support, one end of the machine arm support is hinged with a machine arm moving seat, the machine arm moving seat is arranged on the fixed seat through a linear guide rail, a belt conveyor is arranged on the machine arm support, centering devices are arranged on two sides of the machine arm support, and a machine arm lifting electric cylinder is arranged between the machine arm support and the frame; the operation platform is provided with an operation support, the rear end of the operation support is provided with an operation connecting seat, the operation connecting seat is rotatably arranged at the front end of the arm support through a pin shaft, the front end of the operation support is provided with a cargo transportation mechanism, and the rear end of the operation support is provided with a vacuum suction tool and a vacuum suction tool movement mechanism.

Description

Box type cargo handling equipment
Technical Field
The utility model relates to a handling equipment technical field, in particular to box cargo handling equipment.
Background
The warehouse platform is a facility constructed to facilitate cargo handling operations, and has become a standard allocation for modern warehouses. At present, common equipment on a platform mainly comprises a platform height adjusting plate (the platform and a delivery vehicle are connected in a floating bridge mode so as to avoid the condition that the height difference or the gap between the platform and the delivery vehicle causes that the delivery equipment such as a forklift can not enter and exit), the forklift (delivers pallet goods), a pallet truck (delivers pallet goods) and a telescopic belt conveyor (shortens the distance between a loading and unloading worker for reciprocating and delivering the goods), so that the loading and unloading operation is more labor-saving and time-saving.
In recent years, along with the rapid development of industrial automation and informatization, intelligent logistics and intelligent warehousing are rapidly developed, so that the operating efficiency of the logistics in a warehouse is greatly improved. However, the automation and mechanization of the platform which is a necessary place for goods to enter and exit the warehouse are still not high, and except for large quantities of materials and small parts of goods transported with pallets, more than 95% of the loading and unloading operations of the goods on the platform of the warehouse are completed by manual transportation, so that the overall improvement of the logistics efficiency is greatly limited by the operation efficiency of the platform.
In the domestic logistics industry, the loading and unloading of box type goods on a platform are not provided with special automatic machinery except for the forklift or the telescopic belt conveyor which is matched with a manual carrying mode.
SUMMERY OF THE UTILITY MODEL
The utility model provides a box cargo handling equipment, its purpose is not high in order to solve the box cargo handling equipment degree of automation of platform, the problem that cargo handling relies on artifical transport inefficiency.
In order to achieve the above object, an embodiment of the utility model provides a box cargo handling equipment, include:
the driving system is provided with a frame, the frame is formed by welding a main beam and a rectangular pipe, driving wheel mounting seats are arranged at four corners of the frame, an electric driving wheel is arranged in each driving wheel mounting seat, and a fixed seat is arranged at the tail end of the frame;
the device comprises a machine arm assembly, a machine arm support, a machine arm moving seat, a belt conveyor, centering devices and a machine arm lifting electric cylinder, wherein the machine arm assembly is provided with a machine arm support, one end of the machine arm support is hinged with the machine arm moving seat, the machine arm moving seat is arranged on a fixed seat through a linear guide rail, the machine arm support is provided with the belt conveyor, two sides of the machine arm support are both provided with the centering devices, and the machine arm lifting electric cylinder is arranged between the machine arm support and the frame;
the operation platform is provided with an operation support, the rear end of the operation support is provided with an operation connecting seat, the operation connecting seat is rotatably arranged at the front end of the horn support through a pin shaft, the front end of the operation support is provided with a cargo transportation mechanism, and the rear end of the operation support is provided with a vacuum suction tool.
The side surfaces of two main beams of the frame are provided with guide posts, guide grooves are formed in the guide posts, guide wheels are arranged on two sides of the horn support and clamped in the guide grooves, and the horns are formed under the action of the horn lifting electric cylinders and guided to lift along the guide posts.
The two sides of the horn moving seat are provided with pull rod electric cylinders, and the pull rod ends of the pull rod electric cylinders are hinged to the top of the operation connecting seat.
Wherein, centering device includes centering splint, first arm-tie, second arm-tie and the electronic jar of centering, the both ends of centering splint are passed through respectively first arm-tie and second arm-tie are connected one side of horn support, be articulated between first arm-tie, second arm-tie, horn support and the centering splint, the one end of centering electric jar is connected the horn support, the other end of centering electric jar articulates on the second arm-tie.
Wherein, still include the vacuum adsorption system, the vacuum adsorption system be provided with vacuum pump, vacuum tank, solenoid valve, valve table and the utensil is inhaled in the vacuum, inhale through the tube coupling between utensil, vacuum pump, vacuum tank and the solenoid valve in the vacuum, vacuum pump, vacuum tank and solenoid valve are fixed to be set up inside the frame.
The vacuum suction tool comprises a suction tool mounting seat and a gas collecting pipe, wherein a plurality of groups of corrugated suckers are uniformly and tightly arranged on the suction tool mounting seat, each group of corrugated suckers is provided with a buffer rod, a one-way valve and a filter screen, the gas collecting pipe is provided with a vacuum pressure switch, a plurality of gas pipe connectors are arranged on the gas collecting pipe and correspond to the corrugated suckers one to one, and the gas pipe connectors are connected with the corrugated suckers through hoses.
The vacuum suction tool movement mechanism comprises a lifting mechanism and a telescopic mechanism, wherein the lifting mechanism synchronously moves is arranged on two sides of the rear end of the operation support, the telescopic mechanism is erected between the lifting mechanism, and the vacuum suction tool is arranged at the front end of the telescopic mechanism.
The cargo transportation mechanism comprises two sets of roller conveying lines and a set of chain transplanting mechanism, the roller conveying lines are arranged on two sides of the front end of the operation support respectively, the chain transplanting mechanism is arranged between the two sets of roller conveying lines, and the chain transplanting mechanism is provided with an electric roller matched with the roller conveying lines.
Wherein, the inside articulated transplanting promotion electric jar that has of operation support, the output rod of transplanting promotion electric jar articulates the bottom of mechanism is transplanted to the chain.
Wherein, the frame afterbody is provided with on-vehicle lithium cell and electric control system, electric control system is used for the controlgear operation, electric control system is provided with drive controller, drive controller passes through the servo motor drive electric drive wheel and other electronic jar equipment motion.
The above technical scheme of the utility model has following beneficial effect:
(1) the utility model has the advantages of reasonable design, process, action beat divide in detail, each other does not influence, reduces the latency between the action, improves whole operating efficiency.
(2) The utility model discloses be provided with the vacuum adsorption system, adopt vacuum technology to adsorb the goods, by the goods terminal surface absorb, lift the back a little and drag out the goods to operation platform's roller conveying line on, the no trace adsorbs, required operation space is little, do not harm the goods.
(3) The utility model discloses a vacuum suction tool passes through elevating system, telescopic machanism and installs on operation platform, and both are relatively independent, and vacuum suction tool absorbs the goods and places back on operation platform's transport roller, through elevating system, telescopic machanism's action, can be when not influencing operation platform goods transport process on next step, carry out the absorption action of a set of goods down, reduce latency, improve the operating efficiency.
(4) The utility model discloses be provided with chain transplanting mechanism and roller transfer chain, the two cooperation has realized the right angle of goods and has carried, and the goods can automatic conveying, move and carry, and transport structure compact structure can positive and negative bidirectional transport.
(5) The utility model discloses between each part, mainly constitute by round pin axle, even board, guide post, linear guide, the component is few, the action is clear and definite, the atress is stable.
(6) The utility model discloses a differential type four-wheel drive system, the mechanism is compact, and control is convenient and reliable.
Drawings
Fig. 1 is a first schematic structural view of the box-type cargo handling equipment of the present invention;
FIG. 2 is a schematic structural view of a second container-type cargo handling apparatus according to the present invention;
FIG. 3 is a schematic view of the drive system of the container-type cargo handling apparatus of the present invention;
FIG. 4 is a schematic view of the driving system and the arm assembly of the box-type cargo handling apparatus of the present invention;
FIG. 5 is a first schematic mechanism diagram of the boom component of the box-type cargo handling equipment of the present invention;
FIG. 6 is a second schematic mechanism diagram of the boom component of the box-type cargo handling equipment of the present invention;
FIG. 7 is a schematic view of a guide post of the container type cargo handling apparatus of the present invention;
FIG. 8 is a schematic view of the work platform of the container-type cargo handling apparatus of the present invention;
fig. 9 is a schematic view of a partial structure of the work platform of the box-type cargo handling equipment of the present invention;
FIG. 10 is a schematic view of the elevating mechanism and the telescoping mechanism of the box-type cargo handling apparatus of the present invention;
FIG. 11 is a schematic view of a vacuum adsorption system of the container-type cargo handling apparatus of the present invention;
fig. 12 is a schematic view of the vacuum suction device of the box-type cargo handling equipment of the present invention.
[ description of reference ]
1-a drive system; 2-machine arm assembly; 3-a working platform; 4-vacuum adsorption system; 101-a frame; 102-a drive wheel mount; 103-an electric driving wheel; 104-a fixed seat; 105-a main beam; 106-rectangular tube; 107-guide posts; 108-a guide groove; 109-guide post mounting plate; 110-an electrical control system; 201-arm support; 202-a horn movement mount; 203-linear guide rail; 204-a belt conveyor; 205-arm lifting electric cylinder; 206-edge beam; 207-a mounting plate; 208-a belt motor; 209-guide wheel; 210-a pull rod electric cylinder; 211-centering jaws; 212-first pulling plate; 213-a second pulling plate; 214-centering the electric cylinder; 301-a working carriage; 302-an operation connecting seat; 303-vacuum suction; 304-a suction tool mounting base; 305-a gas header; 306-a corrugated suction cup; 307-vacuum pressure switch; 308-a gas pipe joint; 309-a lifting mechanism; 310-a telescoping mechanism; 311-roller conveying line; 312-chain transplanting mechanism; 313-transplanting a lifting cylinder; 401-a vacuum pump; 402-vacuum tube; 403-solenoid valves; 404-pipe.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
The utility model discloses to the not high, the low problem of artifical transport efficiency of goods handling dependence of current platform box cargo handling equipment degree of automation, cargo handling, provide a box cargo handling equipment.
As shown in fig. 1 to 12, an embodiment of the present invention provides a box-type cargo handling device, including: the driving system 1 is provided with a frame 101, the frame 101 is formed by welding a main beam 105 and a rectangular tube 106, driving wheel mounting seats 102 are arranged at four corners of the frame 101, an electric driving wheel 103 is arranged in each driving wheel mounting seat 102, and a fixed seat 104 is arranged at the tail end of the frame 101; the robot arm assembly 2 is provided with a robot arm support 201, one end of the robot arm support 201 is hinged with a robot arm moving seat 202, the robot arm moving seat 202 is arranged on the fixed seat 104 through a linear guide rail 203, a belt conveyor 204 is arranged on the robot arm support 201, centering devices are arranged on two sides of the robot arm support 201, and a robot arm lifting electric cylinder 205 is arranged between the robot arm support 201 and the frame 101; the operation platform 3, the operation platform 3 is provided with operation support 301, the rear end of operation support 301 is provided with operation connecting seat 302, operation connecting seat 302 sets up through round pin axle ground of rotation the front end of horn support 201, the front end of operation support 301 is provided with cargo transportation mechanism, the rear end of operation support is provided with vacuum suction tool 303.
The box-type cargo handling equipment of the above embodiment of the present invention, wherein the arm support 201 is composed of an edge beam 206 and a mounting plate 207, the centering device is disposed on the edge beam 206, the belt conveyor 204 is fixedly mounted on the arm support 201 through the mounting plate 207, the belt conveyor 204 is driven by a belt motor 208, and the belt motor 208 is disposed at the bottom of the arm support 201; laser ranging sensors are arranged at four corners of the operation platform 3; the front end of the operation platform 3 is provided with five front-end laser ranging sensors. The driving system 1 drives the equipment to move freely through the electric driving wheels 103, the laser ranging sensors are used for detecting the distance between the working platform 3 and the inner side wall of the carrier, the distance is processed by a PLC and then fed back to the driving system 1, so that the speeds of the four electric driving wheels 103 are adjusted to ensure that the equipment does not touch the carrier in the advancing and retreating processes, the front end laser ranging sensors are used for detecting the distance between the equipment and the inner wall of the carrier, and the equipment is automatically stopped after reaching a set value; the front and rear positions of the boom assembly 2 can be changed through the linear guide rail 203, meanwhile, the boom assembly 2 can adjust the inclination angle through the boom lifting electric cylinder 205 by taking the boom moving seat 202 as a fulcrum to adapt to different target heights of cargos, the work platform 3 can rotate relative to the boom assembly 2 through the work connecting seat 302 to adapt to different target heights of cargos, the vacuum suction tool 303 has the adsorption capacity and can adsorb cargos in front of the work platform 3 and transport the cargos to the cargo transport mechanism, and the cargo transport mechanism can transport the cargos to the belt conveyor 204 and transport the cargos away from the belt conveyor 204; the goods carried to by the belt conveyor 204 can also be transferred to the work platform 3 by the goods transport means and loaded to the appropriate height of the vehicle.
As shown in fig. 3, 4 and 7, guide posts 107 are arranged on the side surfaces of two main beams of the frame 101, guide grooves 108 are formed in the guide posts 107, guide wheels 209 are arranged on two sides of the boom support 201, the guide wheels 209 are clamped in the guide grooves 108, and the boom assembly 2 is guided to ascend and descend along the guide posts 107 under the action of the boom ascending and descending electric cylinder 205.
Above-mentioned embodiment box cargo handling equipment, wherein be provided with guide post mounting panel 109 on two girders 105 of frame respectively, guide post 107 passes through guide post mounting panel 109 is fixed to be set up on the frame 101. When the arm lifting electric cylinder 205 drives the arm assembly 2 to lift, the guide wheel 209 is limited in the guide groove 108 and rotates along the guide groove 108, and the arm assembly 2 moves back and forth along the linear guide 203 during the rotation process, so that the working platform 3 at the front end is always lifted by the plumb when the arm assembly 2 is pitching.
As shown in fig. 5 and 6, the arm moving base 202 is provided with pull rod electric cylinders 210 at both sides, and the pull rod ends of the pull rod electric cylinders 210 are hinged on the top of the work connecting base 302.
The utility model discloses above-mentioned embodiment box cargo handling equipment, the tail end of the electronic jar 210 of pull rod articulates the horn removes the side top of seat 202, simultaneously the pull rod end of the electronic jar 210 of pull rod articulates the top of operation connecting seat 302 works as during the electronic jar 210 motion of pull rod, the pull rod can drive operation platform 3 winds the articulated department of operation connecting seat 302 rotates, adjusts according to this the angle of operation platform and horizontal plane.
Wherein, centering device is including centering splint 211, first arm-tie 212, second arm-tie 213 and centering electronic jar 214, the both ends of centering splint 211 are passed through respectively first arm-tie 212 and second arm-tie 213 are connected one side of horn support 201, be articulated between first arm-tie 212, second arm-tie 213, horn support 201 and the centering splint 211, the one end of centering electronic jar 214 is connected horn support 201, the other end of centering electronic jar 214 articulates on the second arm-tie 213.
The utility model discloses above-mentioned embodiment box cargo handling equipment, first arm-tie 212 and second arm-tie 213 with the other laser correlation sensor that all is provided with of horn support 201 junction is located horn support 201 both sides the laser correlation sensor can be used for detecting the position of goods, when the goods arrives, thereby the electronic jar 214 of centering can be ejecting drive the motion of second arm-tie 213, centering splint 211 can follow the motion of second arm-tie 213, consequently is located both sides centering splint 211 can court the middle part centering of band conveyer 204 is pressed from both sides tightly to make the goods keep band conveyer 204 middle part motion.
As shown in fig. 11, the vehicle further includes a vacuum adsorption system 4, the vacuum adsorption system is provided with a vacuum pump 401, a vacuum tank 402, an electromagnetic valve 403, a valve table and the vacuum sucker 303, the vacuum pump 401, the vacuum tank 402 and the electromagnetic valve 403 are connected through a pipeline 404, and the vacuum pump 401, the vacuum tank 402 and the electromagnetic valve 403 are fixedly arranged inside the vehicle frame.
As shown in fig. 12, the vacuum suction tool 303 includes a suction tool mounting base 304 and a gas collecting pipe 305, a plurality of groups of corrugated suction cups 306 are uniformly and tightly arranged on the suction tool mounting base 304, each group of corrugated suction cups 306 is provided with a buffer rod, a one-way valve and a filter screen, the gas collecting pipe 305 is provided with a vacuum pressure switch 307, the gas collecting pipe 305 is provided with a plurality of gas pipe connectors 308 corresponding to the corrugated suction cups 306 one to one, and the gas pipe connectors 308 are connected with the corrugated suction cups 306 through hoses.
The utility model discloses above-mentioned embodiment box cargo handling equipment, the vacuum adsorption system can produce the vacuum adsorption power, and lead to by pipeline 404 the utensil 303 is inhaled in the vacuum, the utensil 303 is inhaled in the vacuum can pass through corrugated suction cup 306 adsorbs the goods, the utensil 303 is inhaled in the vacuum possesses the side direction adsorption efficiency, can adapt to the goods and stack untidy or have certain angle to deflect, the utensil 303 is inhaled in the vacuum is the executive component that equipment snatched the goods, can turn into mechanical energy with vacuum energy, has simple structure, simple to operate, pollution-free, easy to use, advantage such as not damaging the goods. Each component of the vacuum adsorption system adopts an integrated and modular design, and has good replaceability and expandability.
As shown in fig. 8 to 10, the vacuum suction device moving mechanism includes a lifting mechanism 309 and a telescopic mechanism 310, the lifting mechanism 309 is disposed on both sides of the rear end of the working frame 301, the telescopic mechanism 310 is mounted between the lifting mechanisms 309, and the vacuum suction device 303 is disposed at the front end of the telescopic mechanism 310.
In the above-described embodiment of the present invention, the lifting mechanism 309 is provided with two sets of lifting mechanisms 309, which are respectively fixedly mounted at the rear end of the working support 301 and tightly attached to the working connection seat 302, and the telescopic mechanism 310 is erected above the two sets of lifting mechanisms 309, because the vacuum suction tool 303 is arranged at the front end of the telescopic mechanism 310, the position of the vacuum suction tool 303 can be adjusted by the telescopic mechanism 310 and the lifting mechanism 309 to absorb goods with different heights; when the lifting mechanism 309 is lifted, the telescopic mechanism 310 is lifted to a high level, and a similar arch structure is formed among the lifting mechanism 309, the telescopic mechanism 310 and the operation bracket 301, so that goods can move from the hollow space to the operation platform 3 and the belt conveyor 204.
Wherein, cargo transportation mechanism includes two sets of roller transfer chain 311 and a set of chain transplanting mechanism 312, and is two sets of roller transfer chain 311 sets up respectively the front end both sides of operation support 301, chain transplanting mechanism 312 sets up between two sets of roller transfer chain 311, be provided with on the chain transplanting mechanism 312 with roller transfer chain 311 complex electric roller.
Wherein, the inside of the operation bracket 301 is hinged with a transplanting lifting electric cylinder 313, and the output rod of the transplanting lifting electric cylinder 313 is hinged at the bottom of the chain transplanting mechanism 312.
The utility model discloses above-mentioned embodiment box cargo handling equipment, be divided into three independent movement unit (left side, middle part, right side) on the roller transfer chain 311, set up the roller transfer chain 311 of the front end both sides of operation support 301 can follow the long edge direction transportation goods of operation platform 3, mechanism 312 is transplanted to the chain can be followed operation platform 3's minor face direction transportation goods, mechanism 312 cooperation can be used for right angle transportation goods is transplanted with the chain to roller transfer chain 311, it can the lifting to transplant promotion electric jar 313 the angle of inclination of mechanism 312 is transplanted to the chain.
As shown in fig. 2, a vehicle-mounted lithium battery and an electrical control system 110 are arranged at the tail of the frame, the electrical control system 110 is used for controlling the operation of equipment, and the electrical control system is provided with a drive controller which drives the electric drive wheel 103 and other electric cylinder equipment (such as a pull rod electric cylinder, a horn lifting electric cylinder and the like) to move through a servo motor.
Above-mentioned embodiment box cargo handling equipment, actuating system is provided with four group's electric drive wheels 103, utilizes the differential principle to realize all-round drive.
The utility model discloses above-mentioned embodiment box cargo handling equipment's unloading operation flow do:
1. the equipment is started, self-checking is completed, the equipment travels to a starting position, is ready and is connected with an external power supply, and an operation mode is selected on the remote controller to be unloading.
2. The equipment advances, and 5 front end laser ranging sensors arranged at the front end of the operation platform 3 detect the distance between the equipment and the goods, and the equipment automatically stops after reaching a set value.
3. The machine arm assembly 2 drives the operation platform 3 to rise to the highest layer of goods; the telescopic mechanism 310 drives the vacuum suction tool 303 to extend, the corrugated suction cup 306 contacts with goods and compresses, the one-way valve is opened, and the corrugated suction cup 306 sucks the goods stably; the lifting mechanism 309 drives the vacuum suction tool 303 to slightly lift, so that the goods are prevented from being hung and pulled with the goods on the lower layer when being dragged out; the telescopic mechanism 310 drives the vacuum suction tool 303 and the goods to retract to the initial position; when the equipment detects that the equipment is reset, the vacuum adsorption is disconnected, the corrugated suction cups 306 release goods, and the goods are placed on the roller conveying line 311; the lifting mechanism 309 drives the vacuum suction tool 303 to lift upwards, so that a channel for transplanting and conveying goods backwards is reserved; the goods on the roller conveying line 311 are conveyed to the chain transplanting mechanism 312 and then the belt conveyor 204 through the roller conveying line 311 according to the control of a set program and a detection signal, and then are conveyed out of the equipment to the telescopic roller conveyor with the tail part connected and hung and then to the unstacker.
4. Meanwhile, when the vacuum suction tool 303 releases goods and the goods are placed on the roller conveyor line 311, the lifting mechanism 309 drives the vacuum suction tool 303 to lift upwards, and then the operation platform 3 drives the vacuum suction tool 303 to move forwards through the telescopic mechanism 310 through the boom assembly 2 to prepare for sucking the next group of goods without affecting the transmission of the current goods. Reduce waiting time and improve the working efficiency.
5. After all the goods on the roller conveying line 311 are conveyed out of the range of the roller conveying line 311 and the chain transplanter, the operation platform 3 and the vacuum suction tool 303 reach a slightly-lifted state by lifting the machine arm assembly 2 and descending the lifting mechanism 309, and the subsequent processes are repeated to finish the unloading of all the groups of goods.
6. The lower groups of goods are located at lower positions, and the working platform 3 has a certain thickness and cannot descend to the ground plane. At this time, the work platform 3 needs to be adjusted to an inclined state by the pull rod electric cylinder 210 on the boom assembly 2, so that the work platform is inclined and aligned with the lowest part of the goods to be unloaded, and the work can be continued. The unloading operation process of the goods in the case is as follows: the work platform 3 is inclined to be aligned with the lower part of the goods, the telescopic mechanism 310 drives the vacuum suction tool 303 to extend, the corrugated suction cup 306 contacts and compresses the goods, the one-way valve is opened, and the corrugated suction cup 306 sucks the goods stably; the lifting mechanism 309 drives the vacuum suction tool 303 to slightly lift, and the telescopic mechanism 310 drives the vacuum suction tool 303 and the goods to retract to the initial position; when the equipment detects that the equipment is reset, the operation platform 3 is restored to the horizontal position through the action of the pull rod electric cylinder 210; then the suction force of the vacuum suction tool 303 is cut off, so that the goods are released and placed on the roller conveying line 311; the lifting mechanism 309 drives the vacuum suction tool 303 to lift upwards, so that a channel for transplanting and conveying goods backwards is reserved; the goods on the roller conveying line 311 are conveyed to the chain transplanting mechanism 312 and then the belt conveyor 204 through the roller conveying line 311 according to the control of a set program and a detection signal, and then are conveyed out of the equipment to the telescopic roller conveyor with the tail part connected and hung and then to the unstacker.
7. When the goods in the lower position are on more than one layer, the actions are repeated until the lowest layer goods are unloaded. When multi-layer low-level goods are unloaded, the machine arm assembly 2 does not continuously descend downwards, and the inclination degree of the operation platform 3 is adjusted through the adjustable pull rod according to the positions of the goods, and the actions are repeated.
8. And 3, repeating the step 2 (the equipment moves forward, 5 front-end laser ranging sensors arranged at the front end of the operation platform detect the distance between the equipment and the goods, and the equipment automatically stops after reaching a set value) after one side of the goods is taken.
9. Equipment is provided with in 3 four corners of front end operation platform laser rangefinder sensor for detect the interval of operation platform 3 and carrier inside wall is handled the back through PLC and is fed back actuating system adjusts four the speed of electricity drive wheel to guarantee that equipment gos forward, retreat the in-process and not touch the carrier.
The utility model discloses above-mentioned embodiment box cargo handling equipment's loading operation flow be:
1. the equipment is started and self-checking is completed, the equipment travels to the starting position, is ready and is connected with an external power supply, and the operation mode is selected on the remote controller for loading.
2. And (4) the equipment advances, the distance between the equipment and the inner wall of the delivery vehicle is detected by the front end laser ranging sensor arranged at the front end of the working platform 3, and the equipment is automatically stopped after the distance reaches a set value.
3. Equipment is provided with in 3 four corners of front end operation platform laser rangefinder sensor for detect the interval of operation platform 3 and carrier inside wall is handled the back through PLC and is fed back actuating system adjusts four the speed of electricity drive wheel to guarantee that equipment gos forward, retreat the in-process and not touch the carrier.
4. The machine arm assembly 2 drives the operation platform 3 to descend to the lowest position; the lifting mechanism 309 drives the vacuum suction tool 303 to lift to a set value, and goods are made way from a back-to-front conveying channel;
5. simultaneously with the step 4, goods are conveyed on the belt conveyor 204 of the device through the unstacker → the telescopic roller conveyor → the device. The belt conveyor 204 is provided with the laser correlation sensor for detecting a cargo position signal, when detecting that the cargo is conveyed to a preset position through the belt conveyor 204, the laser correlation sensor can send the signal to the PLC, after a specified delay value is reached, the PLC controls the centering device to act, the cargo is pushed and clamped to the longitudinal central line of the belt conveyor 204, and the cargo is conveyed to the chain transfer mechanism in a standard posture.
6. After the goods are centered, the goods are transmitted to the front end of the belt conveyor 204 and enter the chain transplanting mechanism 312 (at this time, the chain part of the chain transplanting mechanism 312 is in a jacking state); when goods are detected, the chain transplanting mechanism 312 stops rotating and descends, so that the goods fall onto the rollers of the roller conveying line 311, and then the middle part and the right side or the middle part and the left side of the roller conveying line 311 are started to convey the goods to a set distance; after the set time, the chain transplanting mechanism 312 is lifted and rotated to start transplanting and conveying the next piece of goods.
7. The goods are transplanted and conveyed to the roller conveying line 311 one by one in a stepping mode by the above procedure until a group is fully distributed.
8. The lifting mechanism 309 drives the vacuum suction tool 303 to descend to a reset position; the telescopic mechanism 310 drives the vacuum suction tool 303 to extend, the corrugated suction cup 306 contacts with goods and compresses, the one-way valve is opened, and the corrugated suction cup 306 sucks the goods stably; adjusting the working platform 3 to an inclined state through the pull rod electric cylinder 210 on the machine arm assembly 2; the telescopic mechanism 310 drives the vacuum suction tool 303 and the goods to extend out, and pushes the group of goods to the loading position.
9. The working platform 3 is restored to a horizontal state through the pull rod electric cylinder 210 on the machine arm assembly 2; the lifting mechanism 309 drives the vacuum suction tool 303 to lift to a set value, and goods are made way from a back-to-front conveying channel; and 5, repeating the steps 5, 6, 7 and 8.
10. When the goods in the lower position have more than one layer, the actions need to be repeated until the low-position goods are loaded. When loading multiple layers of low-level cargos, the arm assembly 2 is kept still at the lowest position, and the inclination degree of the working platform 3 is adjusted through the pull rod electric cylinder 210 according to the cargo loading position, so that the actions are repeated.
11. After the low-level goods are loaded, the machine arm assembly 2 drives the operation platform 3 to ascend, and the lifting mechanism 309 drives the vacuum suction tool 303 to ascend to a set value, so that the goods are delivered out from a conveying channel backwards and forwards; and 5, repeating the steps 5, 6 and 7.
12. The lifting mechanism 309 drives the vacuum suction tool 303 to descend to a reset position; the telescopic mechanism 310 drives the vacuum suction tool 303 to extend, the corrugated suction cup 306 contacts with goods and compresses, the one-way valve is opened, and the corrugated suction cup sucks the goods stably; the telescopic mechanism 310 drives the vacuum suction tool 303 and the goods to extend out, and pushes the group of goods to a loading position (a non-low-position goods loading state, in the action process, the vacuum suction tool 303 can suck the goods and then push out the goods to ensure stable operation, and the operation can not be performed to improve efficiency, and can be selected according to application experience). And repeating the actions, loading layer by layer from bottom to top, and ascending layer by the machine arm assembly 2 until the highest layer is loaded.
13. Repeating the above actions, loading layer by layer from bottom to top, and ascending layer by the machine arm assembly 2 until the highest layer is loaded.
The utility model has the advantages of reasonable design, the action beat is divided detailedly, and the motion can not influence each other between each part, can effectively realize the mechanized, automatic loading and unloading of platform box goods, improves handling efficiency.
The foregoing is a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of improvements and decorations can be made without departing from the principle of the present invention, and these improvements and decorations should also be regarded as the protection scope of the present invention.

Claims (10)

1. A box-type cargo handling apparatus, comprising:
the driving system is provided with a frame, the frame is formed by welding a main beam and a rectangular pipe, driving wheel mounting seats are arranged at four corners of the frame, an electric driving wheel is arranged in each driving wheel mounting seat, and a fixed seat is arranged at the tail end of the frame;
the device comprises a machine arm assembly, a machine arm support, a machine arm moving seat, a belt conveyor, centering devices and a machine arm lifting electric cylinder, wherein the machine arm assembly is provided with a machine arm support, one end of the machine arm support is hinged with the machine arm moving seat, the machine arm moving seat is arranged on a fixed seat through a linear guide rail, the machine arm support is provided with the belt conveyor, two sides of the machine arm support are both provided with the centering devices, and the machine arm lifting electric cylinder is arranged between the machine arm support and the frame;
the operation platform is provided with an operation support, the rear end of the operation support is provided with an operation connecting seat, the operation connecting seat is rotatably arranged at the front end of the arm support through a pin shaft, the front end of the operation support is provided with a cargo transportation mechanism, and the rear end of the operation support is provided with a vacuum suction tool and a vacuum suction tool movement mechanism.
2. The box-type cargo handling device of claim 1, wherein the frame has guide posts disposed on the sides of the two main beams, the guide posts having guide slots, the boom support having guide wheels disposed on both sides thereof, the guide wheels being engaged with the guide slots, the boom assembly being guided to move up and down along the guide posts by the boom lifting electric cylinders.
3. The box-type cargo handling device according to claim 1, wherein the boom movement seat is provided with pull rod electric cylinders on both sides, and pull rod ends of the pull rod electric cylinders are hinged on top of the work connection seat.
4. The box-type cargo handling device of claim 1 wherein the centering device comprises a centering clamp plate, a first pulling plate, a second pulling plate and a centering electric cylinder, wherein two ends of the centering clamp plate are respectively connected to one side of the horn support through the first pulling plate and the second pulling plate, the first pulling plate, the second pulling plate, the horn support and the centering clamp plate are hinged to each other, one end of the centering electric cylinder is connected to the horn support, and the other end of the centering electric cylinder is hinged to the second pulling plate.
5. The box-type cargo handling device of claim 1 further comprising a vacuum adsorption system, wherein the vacuum adsorption system is provided with a vacuum pump, a vacuum tank, a solenoid valve, a valve gauge and the vacuum suction tool, the vacuum pump, the vacuum tank and the solenoid valve are connected through a pipeline, and the vacuum pump, the vacuum tank and the solenoid valve are fixedly arranged inside the frame.
6. The box-type cargo handling device of claim 5, wherein the vacuum suction tool comprises a suction tool mounting seat and a gas collecting pipe, wherein a plurality of groups of corrugated suckers are uniformly and tightly arranged on the suction tool mounting seat, each group of corrugated suckers is provided with a buffer rod, a one-way valve and a filter screen, the gas collecting pipe is provided with a vacuum pressure switch, a plurality of gas pipe joints are arranged on the gas collecting pipe and correspond to the corrugated suckers one by one, and the gas pipe joints are connected with the corrugated suckers through hoses.
7. The box cargo handling device of claim 5 wherein the vacuum pickup movement mechanism includes a lifting mechanism and a telescoping mechanism, the lifting mechanism being synchronously movable on both sides of the rear end of the work carriage, the telescoping mechanism being mounted between the lifting mechanisms, the vacuum pickup being disposed at the front end of the telescoping mechanism.
8. The box-type cargo handling device of claim 7, wherein the cargo transportation mechanism comprises two sets of roller transportation lines and one set of chain transplanting mechanism, the two sets of roller transportation lines are respectively disposed at two sides of the front end of the operation support, the chain transplanting mechanism is disposed between the two sets of roller transportation lines, and the chain transplanting mechanism is provided with electric rollers matched with the roller transportation lines.
9. The box-type cargo handling device according to claim 8, wherein a transplanting lifting electric cylinder is hinged inside the working support, and an output rod of the transplanting lifting electric cylinder is hinged at the bottom of the chain transplanting mechanism.
10. The box type cargo handling device according to claim 1, wherein the rear portion of the frame is provided with a vehicle-mounted lithium battery and an electrical control system, the electrical control system is used for controlling the operation of the device, and the electrical control system is provided with a driving controller which drives the electric driving wheels and the electric cylinder device to move through a servo motor.
CN202023014257.2U 2020-12-15 2020-12-15 Box type cargo handling equipment Active CN213976063U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202023014257.2U CN213976063U (en) 2020-12-15 2020-12-15 Box type cargo handling equipment

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202023014257.2U CN213976063U (en) 2020-12-15 2020-12-15 Box type cargo handling equipment

Publications (1)

Publication Number Publication Date
CN213976063U true CN213976063U (en) 2021-08-17

Family

ID=77243471

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202023014257.2U Active CN213976063U (en) 2020-12-15 2020-12-15 Box type cargo handling equipment

Country Status (1)

Country Link
CN (1) CN213976063U (en)

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