CN214732807U

CN214732807U - Automatic unloading and stacking mobile robot

Info

Publication number: CN214732807U
Application number: CN202120502895.4U
Authority: CN
Inventors: 端志勤; 叶新峰; 陈奇才
Original assignee: Xiamen Hao Jun Intelligent Equipment Co ltd
Current assignee: Xiamen Hao Jun Intelligent Equipment Co ltd
Priority date: 2021-03-09
Filing date: 2021-03-09
Publication date: 2021-11-16
Anticipated expiration: 2031-03-09

Abstract

The utility model discloses an automatic unloading and stacking mobile robot, which comprises a mobile platform, a grabbing mechanism, a conveying mechanism and a stacking mechanism, wherein the grabbing mechanism, the conveying mechanism and the stacking mechanism are respectively arranged on the mobile platform and are used for grabbing goods; the grabbing mechanism comprises a sucker arranged on the conveying mechanism in a sliding mode and a first driving device used for driving the sucker to slide, and the sucker slides in the front-back direction relative to the conveying mechanism; the stacking mechanism comprises a lifting supporting plate and a second driving device, the lifting supporting plate is lifted towards or away from the conveying mechanism, the second driving device is used for driving the lifting supporting plate to lift, and the lifting supporting plate can be used for placing a tray; the conveying mechanism is provided with a lifting mechanism for driving the conveying mechanism to lift. The automatic unloading and stacking mobile robot is compact in structure and small in overall size, and can realize automatic unloading and stacking operation.

Description

Automatic unloading and stacking mobile robot

Technical Field

The utility model relates to a commodity circulation handling equipment technical field, concretely relates to automatic unloading pile up neatly mobile robot.

Background

At present, unloading, carrying and stacking of containers or van trucks are mostly realized in a manual operation mode, time and labor are consumed, and particularly, bag breaking of bagged goods is easy to occur in the manual operation mode when the bagged goods such as sugar goods are unloaded and stacked; in order to improve the unloading efficiency, various types of palletizing robots appear in the market, and the automatic operation of unloading, carrying and palletizing of containers or van trucks is realized by matching the unloading robots and the conveying belt conveying mode.

Some existing palletizing robots and unloading robots adopt suckers to achieve goods taking, and the suckers are driven by mechanical arms to operate, so that the bag breaking phenomenon of bagged goods can be effectively avoided in the unloading and palletizing processes; however, the palletizing robot and the unloading robot have the problems of large overall size and high price, and the palletizing robot and the unloading robot are generally independent operation systems, so that logistics equipment generally only has a palletizing function or an unloading function, the function of integrally designing palletizing and unloading is not realized, and the improvement of the working efficiency is not facilitated.

SUMMERY OF THE UTILITY MODEL

Technical problem to be solved

The utility model provides an automatic pile up neatly mobile robot unloads has solved current pile up neatly robot and unloading robot effectively at least and has not only had the problem that the whole size is big, the price is expensive, and pile up neatly robot and unloading robot are generally independent operating system separately moreover to make logistics equipment generally only have pile up neatly or unload the function, do not have the function that can realize pile up neatly and unload the integrated design, be unfavorable for the problem that work efficiency improved.

(II) technical scheme

In order to solve the technical problem, the utility model provides a following technical scheme: an automatic unloading and stacking mobile robot comprises a mobile platform, and a grabbing mechanism, a conveying mechanism and a stacking mechanism, wherein the grabbing mechanism, the conveying mechanism and the stacking mechanism are arranged on the mobile platform respectively and used for grabbing goods, the conveying mechanism and the stacking mechanism are used for conveying the goods; the grabbing mechanism comprises a sucker arranged on the conveying mechanism in a sliding mode and a first driving device used for driving the sucker to slide, and the sucker slides in the front-back direction relative to the conveying mechanism; the stacking mechanism comprises a lifting supporting plate and a second driving device, the lifting supporting plate is lifted towards or away from the conveying mechanism, the second driving device is used for driving the lifting supporting plate to lift, and the lifting supporting plate can be used for placing a tray; the conveying mechanism is provided with a lifting mechanism for driving the conveying mechanism to lift.

Due to the arrangement, the suction disc sequentially unloads goods on a container or a van through front and back sliding, the goods are conveyed through the conveying mechanism, and the conveying mechanism conveys the goods to the tray on the lifting supporting plate, so that the function of integrated design of unloading and stacking is realized, the working efficiency is improved, the robot is compact in structure and small in integral volume, and the cost can be effectively saved; meanwhile, the movable platform can move to different places to carry out unloading and stacking operation, the movable platform has the advantage of convenience in use, the conveying mechanism can carry out lifting action according to the height of goods, the stacking mechanism can cooperate with the conveying mechanism to carry out lifting action, and the efficiency of unloading and stacking is effectively improved through an automatic operation mode.

Further setting, transport mechanism is flexible belt conveyor or flexible running roller conveying mechanism, it locates to snatch the mechanism transport mechanism's scalable end department.

So set up, make the adjustable transmission distance of transport mechanism, be convenient for get into the higher authority of container or van or the inside unloads, it is more convenient to unload.

Further, the grabbing mechanism is arranged on one side of the conveying mechanism.

So set up, avoid causing the interference to transport mechanism's conveying space to guarantee the smooth and easy of goods transmission.

The grabbing mechanism further comprises a sliding block arranged on one side of the conveying mechanism in a sliding mode and a third driving device arranged on the sliding block, the sucker rotates in the direction away from or close to the conveying mechanism and is arranged on the sliding block, the third driving device is used for driving the sucker to rotate, the first driving device drives the sliding block to slide, and the sucker slides in the front-back direction relative to the conveying mechanism.

So set up, through the rotation of sucking disc, make the goods more accurately fall into transport mechanism's transmission path on, prevent that the goods from falling out transport mechanism outside, influencing transmission efficiency.

The lifting support plate can be horizontally and slidably arranged below the conveying mechanism, and the stacking mechanism further comprises a fourth driving device for driving the lifting support plate to horizontally slide; the lifting support plate is matched with the tray in size, at least one group of stacking stations are arranged on the lifting support plate, the number of the stacking stations in each group is at least two, and the lifting support plate enables the two stacking stations to sequentially stack goods through horizontal sliding.

So set up, place the tray on the lift layer board, through the horizontal slip that makes a round trip of fourth drive arrangement drive lift layer board, make transport mechanism pile up the goods on the tray in proper order in the position that corresponds two pile up neatly stations, reduced the use of manipulator, not only realized automatic pile up neatly, improved pile up neatly efficiency, make robot structure compacter moreover, whole volume littleer, more be favorable to saving the cost.

The stacking mechanism further comprises a fifth driving device for driving the lifting support plate to rotate horizontally, at least two groups of stacking stations are arranged on the lifting support plate, and the lifting support plate rotates horizontally to enable the two groups of stacking stations to sequentially stack goods.

So set up, further realize the pile up neatly operation automation, further improve pile up neatly operating efficiency.

And further setting, wherein each stacking station is provided with a gravity sensor.

So set up, can more accurately conveniently respond to the discernment to every pile up neatly station through gravity sensor to improve the accuracy that the goods piled up on the tray, make the goods pile up neatly more.

And the number of the lifting mechanisms is two, and the two lifting mechanisms are respectively arranged at two ends of the conveying mechanism.

So set up, two elevating system of accessible carry out respectively or simultaneous lift action, make transport mechanism not only can carry out stable lift action, still have the function of slope simultaneously, operate more in a flexible way, more be favorable to improving work efficiency.

(III) advantageous effects

Compared with the prior art, the utility model provides an automatic unloading pile up neatly mobile robot possesses following beneficial effect:

(1) the automatic unloading and stacking mobile robot is provided with the sucker at one end of the conveying mechanism, the sucker sequentially unloads goods on a container or a van through front and back sliding, the goods are conveyed through the conveying mechanism, the conveying mechanism conveys the goods to the tray on the lifting supporting plate, the function of unloading and stacking integrated design is realized, the working efficiency is improved, the robot is compact in structure and small in integral volume, and the cost can be effectively saved; meanwhile, the mobile platform can move to different places to carry out unloading and stacking operation, so that the unloading and stacking device has the advantage of convenience in use, the conveying mechanism can carry out lifting action according to the height of goods, the stacking mechanism can be matched with the conveying mechanism to carry out lifting action, and the unloading and stacking efficiency is effectively improved through an automatic operation mode;

(2) the automatic unloading and stacking mobile robot is characterized in that a lifting support plate is matched with a pallet in size, at least two groups of stacking stations are arranged on the lifting support plate, the number of the stacking stations in each group is at least two, and the lifting support plate enables goods on a conveying mechanism to be sequentially stacked on the pallet at positions corresponding to the stacking stations through horizontal sliding and horizontal rotation; by adopting the mode, the use of a mechanical arm is reduced, the automatic stacking is realized, the stacking efficiency is improved, the robot structure is more compact, the integral volume is smaller, and the cost is more favorably saved.

Drawings

Fig. 1 is a schematic front view of the present invention during unloading;

fig. 2 is a schematic view of the back structure of the present invention;

FIG. 3 is a schematic view of a left side structure of the present invention;

FIG. 4 is a schematic top view of the lifting pallet;

fig. 5 is a block diagram of the present invention.

In the drawings: 1. a mobile platform; 2. a grabbing mechanism; 21. a suction cup; 22. a first driving device; 23. a slider; 24. a third driving device; 3. a transport mechanism; 4. a stacking mechanism; 41. lifting the supporting plate; 411. a stacking station; 42. a second driving device; 43. a fourth drive device; 44. a fifth driving device; 45. an upper base; 46. a lower base; 5. a lifting mechanism; 6. a gravity sensor; 7. a tray; 8. goods; 9. and (4) a PLC control system.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Please refer to fig. 1, fig. 2, fig. 3, fig. 4 and fig. 5, wherein fig. 1 is a front structural schematic diagram of the present invention during unloading, fig. 2 is a back structural schematic diagram of the present invention, fig. 3 is a partial left structural schematic diagram of the present invention, fig. 4 is a top structural schematic diagram of the lifting support plate, and fig. 5 is a structural block diagram of the present invention.

The utility model provides an automatic unloading and stacking mobile robot, which comprises a mobile platform 1, a grabbing mechanism 2, a conveying mechanism 3 and a stacking mechanism 4, wherein the grabbing mechanism 2, the conveying mechanism 3 and the stacking mechanism 4 are respectively arranged on the mobile platform 1 and are used for grabbing goods 8, and the grabbing mechanism 2 and the stacking mechanism 4 are respectively arranged at the front end and the rear end of the conveying mechanism 3; the grabbing mechanism 2 comprises a suction cup 21 arranged at the front end of the conveying mechanism 3 in a sliding mode and a first driving device 22 used for driving the suction cup 21 to slide, the suction cup 21 slides in the front-back direction relative to the conveying mechanism 3, and the suction cup 21 is arranged at the front end of the conveying mechanism 3 so as to facilitate unloading; the stacking mechanism 4 is positioned below the conveying mechanism 3, the stacking mechanism 4 comprises a base, a lifting support plate 41 which vertically ascends and descends in a direction close to or far away from the conveying mechanism 3, and a second driving device 42 for driving the lifting support plate to ascend and descend, the base is arranged on the moving platform 1, the second driving device 42 is fixedly connected to the base, and the lifting support plate 41 can be used for placing the tray 7; the conveying mechanism 3 is provided with a lifting mechanism 5 for driving the conveying mechanism to lift, the lifting mechanism 5 is welded on the moving platform 1, and the output end of the lifting mechanism is welded at the lower end of the conveying mechanism 3; the moving platform 1 is specifically a mecanum wheel type omnidirectional moving platform, the suction cup 21 is specifically a vacuum suction cup, and the first driving device 22, the second driving device 42 and the lifting mechanism 5 are all electric telescopic rods. Therefore, the suction disc 21 sequentially unloads the goods 8 on the container or the van through back-and-forth sliding, the goods 8 are conveyed through the conveying mechanism 3, the conveying mechanism 3 conveys the goods 8 from the front end to the rear end of the conveying mechanism 3, and finally the goods fall onto the tray 7 on the lifting support plate 41 below the conveying mechanism 3, the function of integrated unloading and stacking design is realized, the working efficiency is improved, the use of a manipulator is reduced when the robot unloads the goods, the structure of the robot is compact, the whole volume is small, and the cost can be effectively saved; simultaneously moving platform 1 can move to different places and unload and pile up neatly operation, has convenient to use's benefit, and transport mechanism 3 can carry out the elevating movement according to the height of goods 8, cooperate the sucking disc 21 of its front end, can be convenient for carry out the unloading operation to the goods 8 of co-altitude not, pile up neatly mechanism 4 then can cooperate transport mechanism 3 to carry out the elevating movement, make goods 8 on the transport mechanism 3 fall into pile up neatly mechanism 4 better on, through automatic operation mode, the efficiency of unloading and pile up neatly has effectively been improved.

In order to more conveniently transmit the goods 8, the conveying mechanism 3 is a telescopic belt conveying mechanism or a telescopic roller conveying mechanism, the grabbing mechanism 2 is arranged at the telescopic end of the conveying mechanism 3, and the embodiment is preferably a telescopic belt conveying mechanism, namely a telescopic belt conveyor; the conveying mechanism 3 can adjust the conveying distance through the telescopic belt conveyor, so that the goods can conveniently enter the container or the van to be unloaded, and the unloading is more convenient.

The grabbing mechanism 2 is arranged on one side of the conveying mechanism 3, the grabbing mechanism 2 further comprises a sliding block 23 arranged on one side of the telescopic end of the conveying mechanism 3 in a sliding mode and a third driving device 24 arranged at the upper end of the sliding block 23, the third driving device 24 is a motor, the sucking disc 21 rotates and is arranged on the sliding block 23 in the direction far away from or close to the conveying mechanism 3, the third driving device 24 is used for driving the sucking disc 21 to rotate, and the first driving device 22 drives the sliding block 23 to slide so that the sucking disc 21 slides in the front-back direction relative to the conveying mechanism 3. Specifically, the sliding block 23 is slidably connected to one side of the telescopic belt conveyor, one end of the first driving device 22 is fixedly connected to the same side of the telescopic belt conveyor, and the output end of the first driving device 22 is fixedly connected to one side of the sliding block 23, so that the sliding block 23 is driven by the first driving device 22 to slide back and forth on the telescopic belt conveyor; the upper end of the sliding block 23 is fixedly connected with a motor, the output end of the motor is fixedly connected with a suction cup 21, the suction cup 21 is driven by the motor to rotate, so that the suction cup 21 sucks goods 8 on a container or a van, and then the goods 8 rotate in the belt of the telescopic belt conveyor to fall onto the belt; will snatch mechanism 2 and establish in one side of transport mechanism 3, can avoid causing the interference to transport mechanism 3's conveying space to guarantee the smooth and easy of goods 8 transmission, and through sucking disc 21's rotation, make goods 8 more accurately fall into transport mechanism 3's transmission path on, prevent that goods 8 from falling out transport mechanism 3 outside, influence transmission efficiency.

The lifting support plate 41 is horizontally slidably arranged below the conveying mechanism 3, and the palletizing mechanism 4 further comprises a fourth driving device 43 for driving the lifting support plate 41 to horizontally slide; lifting

support plate

41 and 7 size adaptations of tray, and be equipped with a set of pile up neatly station 411 on the lifting support plate 41 at least, the quantity of every pile up neatly station 411 is two, and lifting support plate 41 makes two pile up neatly stations 411 realize the pile up neatly to goods 8 in proper order through horizontal slip. In this embodiment, the lifting support plate 41 is horizontally arranged below the telescopic belt conveyor along the left and right directions relative to the telescopic belt conveyor, that is, the base can horizontally slide on the moving platform 1 left and right, specifically, the moving platform 1 is fixedly connected with a fourth driving device 43, the fourth driving device 43 is an electric telescopic rod, the output end of the electric telescopic rod is fixedly connected to one side of the base, and the base slides left and right through the fourth driving device 43, so as to drive the lifting support plate 41 to move along the left and right directions relative to the telescopic belt conveyor; at least one group of stacking stations 411 for stacking the goods 8 are divided on the lifting support plate 41, the number of each group of stacking stations 411 is two, the tray 7 is placed on the lifting support plate 41 at the moment due to the fact that the tray 7 is matched with the lifting support plate 41 in size, the lifting support plate 41 is driven to horizontally move back and forth through the fourth driving device 43, the rear end of the telescopic belt conveyor sequentially falls on the tray 7 at the positions corresponding to the two stacking stations 411, stacking of the goods 8 on the tray 7 is achieved, and then automatic stacking operation is achieved; by adopting the mode, the use of the mechanical arm can be reduced, not only can automatic stacking be realized, and the stacking efficiency can be improved, but also the robot has a more compact structure and a smaller integral volume, and is more favorable for saving the cost.

Further, the lifting support plate 41 can be horizontally rotated and arranged below the conveying mechanism 3, the stacking mechanism 4 further comprises a fifth driving device 44 used for driving the lifting support plate 41 to horizontally rotate, two groups of stacking stations 411 are arranged, and the lifting support plate 41 enables the two groups of stacking stations 411 to sequentially stack the cargos 8 through horizontal rotation. Specifically, the base includes an upper base 45 and a lower base 46, the lower base 46 can horizontally slide on the mobile platform 1 from left to right, the output end of the fourth driving device 43 is fixedly connected to one side of the lower base 46, the second driving device 42 is fixedly connected to the lower base 46, the output end of the second driving device is fixedly connected to the lower end of the upper base 45, the upper end of the upper base 45 is fixedly connected to a motor, and the output end of the motor is fixedly connected to the lifting support plate 41; the lifting support plate 41 is driven by the second driving device 42 to lift, the lifting support plate 41 is driven by the fourth driving device 43 to move, and the lifting support plate 41 is driven by the fifth driving device 44 to rotate by 180 degrees, so that the stacking operation is further automated, and the stacking operation efficiency is further improved. And meanwhile, gravity sensors 6 are arranged on the four stacking stations 411.

Specifically, when in use, the robot further comprises a PLC control system 9, and the four gravity sensors 6, the second driving device 42, the fourth driving device 43 and the fifth driving device 44 are all electrically connected with the PLC control system 9; after the tray 7 is placed on the lifting supporting plate 41, the fourth driving device 43 is controlled by the PLC control system 9, the fourth driving device 43 drives the lifting supporting plate 41 to move, so that one stacking station 411 of one group of the lifting supporting plate 41 is opposite to the lower part of the telescopic belt conveyor, the goods 8 fall on the tray 7 from the telescopic belt conveyor, at the moment, the gravity sensor 6 on the stacking station 411 sends a signal to the PLC control system 9, the PLC control system 9 starts to control the fourth driving device 43 after receiving the signal, so that the lifting supporting plate 41 moves, so that the second stacking station 411 of the group is opposite to the lower part of the telescopic belt conveyor, after the goods 8 fall on the tray 7, one side of the tray 7 stacks the goods 8, meanwhile, the gravity sensor 6 on the second stacking station 411 sends a number to the PLC control system 9, the PLC control system 9 starts to control the fifth driving device 44 after receiving the signal, rotating the lifting support plate 41 for 180 degrees, so that one stacking station 411 of the second group is opposite to the lower part of the telescopic belt conveyor, and stacking the other side of the tray 7; after the other side of the tray 7 is also stacked, namely, the stacking operation on the bottom layer of the tray 7 is completed at the moment, and then the step is repeated to stack the goods 8 layer by layer on the tray 7. And can more accurately conveniently respond to discernment to every pile up neatly station 411 through gravity sensor 6 to improve the accuracy that goods 8 piled up on tray 7, make goods 8 pile up neatly more.

The number of the lifting mechanisms 5 is two, and the two lifting mechanisms 5 are respectively arranged at the front end and the rear end of the conveying mechanism 3. Like this, two elevating system 5 of accessible carry out respectively or simultaneous elevating movement, make transport mechanism 3 not only can carry out stable elevating movement, still have the function of slope simultaneously, operate more in a flexible way, more be favorable to improving work efficiency.

The first driving device 22, the third driving device 24, and the two lifting mechanisms 5 are also electrically connected to the PLC control system 9.

The working principle is as follows: the movable platform 1 is moved to a position needing unloading, through the cooperation of the telescopic belt conveyor, the first driving device 22 and the third driving device 24, the sucking discs 21 are driven to unload the goods 8 on the container or the van truck, the goods 8 are conveyed to the rear end from the front end of the belt, then the lifting support plate 41 is driven to operate through the cooperation of the PLC control system 9, the gravity sensor 6, the fourth driving device 43 and the fifth driving device 44, meanwhile, the lifting support plate 41 is driven to lift through the second driving device 42, the tray 7 is guaranteed to be always located below the telescopic belt conveyor, so that the tray 7 can complete layer-by-layer stacking of the goods 8, automatic stacking operation is achieved, finally, the tray 7 with the goods 8 is conveyed away through the forklift, a new tray 7 is replaced, and the operation steps are repeated, and automatic unloading and stacking operation is achieved.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An automatic unloading and stacking mobile robot is characterized by comprising a mobile platform (1), a grabbing mechanism (2) which is arranged on the mobile platform (1) and used for grabbing goods (8), a conveying mechanism (3) used for conveying the goods (8) and a stacking mechanism (4) used for stacking the goods (8), wherein the grabbing mechanism (2) and the stacking mechanism (4) are arranged at two ends of the conveying mechanism (3) respectively; the grabbing mechanism (2) comprises a sucker (21) arranged on the conveying mechanism (3) in a sliding mode and a first driving device (22) used for driving the sucker (21) to slide, and the sucker (21) slides in the front-back direction relative to the conveying mechanism (3); the stacking mechanism (4) comprises a lifting supporting plate (41) which lifts towards or away from the conveying mechanism (3) and a second driving device (42) for driving the lifting supporting plate to lift, and the lifting supporting plate (41) can be used for placing a tray (7); and the conveying mechanism (3) is provided with a lifting mechanism (5) for driving the conveying mechanism to lift.

2. An automatic unloading palletizing robot as claimed in claim 1, wherein the conveying mechanism (3) is a telescopic belt conveying mechanism or a telescopic roller conveying mechanism, and the grabbing mechanism (2) is arranged at a telescopic end of the conveying mechanism (3).

3. An automatic unloading palletizing robot as in claim 2, wherein the gripping mechanism (2) is provided on the side of the transfer mechanism (3).

4. An automatic unloading palletizing robot as claimed in claim 3, wherein the grabbing mechanism (2) further comprises a sliding block (23) slidably disposed at one side of the conveying mechanism (3) and a third driving device (24) disposed on the sliding block (23), the suction cup (21) is rotatably disposed on the sliding block (23) in a direction away from or close to the conveying mechanism (3), the third driving device (24) is used for driving the rotation of the suction cup (21), and the first driving device (22) drives the sliding block (23) to slide so that the suction cup (21) slides in a front-back direction relative to the conveying mechanism (3).

5. An automatic discharge palletizing robot as claimed in claim 1, wherein the lifting pallet (41) is horizontally slidably arranged below the transfer mechanism (3), the palletizing mechanism (4) further comprises a fourth driving means (43) for driving the lifting pallet (41) to horizontally slide; the lifting support plate (41) is matched with the tray (7) in size, at least one group of stacking stations (411) are arranged on the lifting support plate (41), the number of the stacking stations (411) in each group is at least two, and the lifting support plate (41) enables the two stacking stations (411) to sequentially stack goods (8) through horizontal sliding.

6. An automatic unloading palletizing robot as claimed in claim 5, wherein the lifting support plate (41) is horizontally and rotatably arranged below the conveying mechanism (3), the palletizing mechanism (4) further comprises a fifth driving device (44) for driving the lifting support plate (41) to horizontally rotate, at least two groups of palletizing stations (411) are provided, and the lifting support plate (41) enables the two groups of palletizing stations (411) to sequentially palletize the goods (8) through horizontal rotation.

7. An automatic unloading palletising mobile robot according to claim 6, wherein each palletising station (411) is provided with a gravity sensor (6).

8. An automatic unloading palletizing robot as claimed in claim 2, wherein the number of the lifting mechanisms (5) is two, and the two lifting mechanisms (5) are respectively arranged at two ends of the conveying mechanism (3).