CN215710130U

CN215710130U - Container twistlock stacking robot

Info

Publication number: CN215710130U
Application number: CN202121994825.1U
Authority: CN
Inventors: 郑浩; 韩乾坤; 史伟杰; 李再奎
Original assignee: Huihe Intelligent Technology Shanghai Co ltd
Current assignee: Huihe Intelligent Technology Shanghai Co ltd
Priority date: 2021-08-24
Filing date: 2021-08-24
Publication date: 2022-02-01
Anticipated expiration: 2031-08-24

Abstract

The utility model provides a container twist lock stacking robot, and belongs to the technical field of stacking equipment. Comprises a horizontal moving mechanism, a vertical lifting mechanism, a rotating mechanism and a telescopic fork arm mechanism. The horizontal moving mechanism, the vertical lifting mechanism, the rotating mechanism and the telescopic fork arm mechanism are arranged, so that the fork head can move in the horizontal direction, move in the vertical direction, rotate in a 180-degree reciprocating manner, stretch out or retract and the like, so that the fork head can fork the lock box and store the lock box on a goods shelf; meanwhile, the locating pin is arranged at the fork head, so that the lock box can be effectively prevented from falling off in the process of performing telescopic motion or rotary motion on the telescopic fork arm mechanism, and the effectiveness and the safety of the robot for storing and taking the lock box are guaranteed.

Description

Container twistlock stacking robot

Technical Field

The utility model relates to the technical field of stacking equipment, in particular to a container twist lock stacking robot.

Background

With the continuous update of scientific technology, the automation of the wharf is great tendency, and the realization of the automatic access of container twistlocks (lock boxes) is the key for realizing the unmanned wharf.

The access to the container twistlock is generally completed through manual operation at present, the access mode wastes manpower, and the transportation cost of the whole container is higher as the labor cost is increased more and more at present; in addition, the device of automatic access container twistlock is relatively poor in stability when the access at present, and the supporting capability is not enough, and the condition that the container twistlock dropped often appears, has certain potential safety hazard.

SUMMERY OF THE UTILITY MODEL

In view of the problems identified in the background art, the present invention provides a container twist-lock stacking robot.

The technical scheme of the utility model is realized as follows:

a container twist lock stacking robot comprises a horizontal moving mechanism, wherein the horizontal moving mechanism is in sliding fit with a vertical lifting mechanism, the vertical lifting mechanism is in sliding fit with a rotating mechanism, and a telescopic fork arm mechanism is rotationally matched on the rotating mechanism; the telescopic fork arm mechanism comprises a bottom fork arm, the bottom fork arm is in sliding fit with a middle fork arm, a first rack is fixedly connected to the lower side of the middle fork arm, the first rack is in meshing fit with a first gear transmission mechanism, second gear transmission mechanisms are fixedly connected to two sides of the middle fork arm, the second gear transmission mechanisms are in meshing fit with a fork arm chain, the fork arm chain is fixedly connected with a top fork arm, and the top fork arm is fixedly connected with a fork head; the rotating mechanism comprises a rotating plate, and the rotating plate is fixedly connected with the bottom layer fork arm.

According to one embodiment of the utility model, the rotating mechanism comprises a bottom plate, a fixed seat and a first linear guide rail are fixedly arranged on the bottom plate, a first bearing is fixedly connected to the fixed seat, the first bearing is fixedly connected to the bottom side of a third gear, the first linear guide rail is in sliding fit with a first guide rail sliding block, one side of the first guide rail sliding block is fixedly connected to an air cylinder, the other side of the first guide rail sliding block is fixedly connected to a second rack, the second rack is meshed with the third gear, and the top side of the third gear is fixedly connected to the rotating plate.

According to an embodiment of the present invention, the bottom yoke is slidably engaged with the middle yoke through a first sliding slot disposed in the middle, the first gear transmission mechanism includes a first gear, a speed reducer, and a first servo motor, the first gear is engaged with the first rack, the first gear passes through the first sliding slot in the bottom yoke, the second gear transmission mechanism includes a second gear, an inner C-shaped sliding plate and an outer C-shaped sliding plate, the inner C-shaped sliding plate and the outer C-shaped sliding plate are respectively fixed on two sides of the second gear through bearings, the top end of the inner C-shaped sliding plate is fixedly connected with the middle yoke, the inner C-shaped sliding plate slidably engages with a set of first rollers, the first rollers are fixed on the outer side wall of the bottom yoke, and the outer C-shaped sliding plate slidably engages with a set of second rollers, the second idler wheel is fixedly arranged on the inner side wall of the top layer fork arm, the second gear is meshed with the fork arm chain, and a fork head positioning pin is fixedly arranged on the fork head.

According to one embodiment of the utility model, the vertical lifting mechanism comprises second linear guide rails which are symmetrically arranged, the second linear guide rails are fixedly arranged on the side wall of the vertical rack, the second linear guide rails are in sliding fit with second guide rail sliders, the second guide rail sliders are fixedly connected with a lifting mounting plate, the lifting mounting plate is fixedly connected with the bottom plate, the lifting mounting plate is in threaded fit with a lead screw, the top end and the bottom end of the lead screw are fixedly connected with the vertical rack through a bearing seat, the top end of the lead screw is fixedly connected with a synchronous transmission mechanism, the synchronous transmission mechanism comprises two fourth gears, a synchronous belt and a second servo motor, and the second servo motor is fixedly arranged on the vertical rack.

According to an embodiment of the utility model, the horizontal moving mechanism comprises a horizontal frame, third linear guide rails are fixed and symmetrically arranged on the horizontal frame, the third linear guide rails are in sliding fit with third guide rail sliders, the third guide rail sliders are fixedly connected with a Z-shaped plate, a motor mounting plate is fixedly connected between the third guide rail sliders, a third servo motor is fixedly arranged at the bottom side of the motor mounting plate, the third servo motor is fixedly connected with a fifth gear, the fifth gear is engaged with a third rack, the third rack is fixedly arranged on the horizontal frame, the Z-shaped plate comprises an upper transverse part, a vertical part and a lower transverse part, the lower transverse part is fixedly connected with a support plate, the support plate is fixedly connected with a slide plate, the slide plate is fixedly connected with the bottom of the vertical lifting mechanism, the slide plate is positioned above the motor mounting plate, and a first gap is left between the slide plate and the vertical lifting mechanism, a second gap is reserved between the supporting plate and the vertical portion, the second gap is communicated with the first gap, two ends of the horizontal rack in the length direction of the horizontal rack are fixedly connected with two ends of the housing, and the housing penetrates through the first gap and the second gap.

In conclusion, the beneficial effects of the utility model are as follows:

the horizontal moving mechanism, the vertical lifting mechanism, the rotating mechanism and the telescopic fork arm mechanism are arranged, so that the operations of moving the fork head in the horizontal direction, moving the fork head in the vertical direction, performing 180-degree reciprocating rotation, extending or retracting and the like can be realized, the fork head can fork the lock box, and the lock box is stored on a goods shelf; meanwhile, the locating pin is arranged at the fork head, so that the lock box can be effectively prevented from falling off in the process of performing telescopic motion or rotary motion on the telescopic fork arm mechanism, and the effectiveness and the safety of the robot for storing and taking the lock box are guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a horizontal moving mechanism according to an embodiment of the present invention;

FIG. 3 is an enlarged view of the structure at A in the embodiment of the present invention;

FIG. 4 is a schematic side view (a) and a schematic front view (b) of the vertical lift mechanism in the embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a rotating mechanism according to an embodiment of the present invention;

FIG. 6 is a schematic structural diagram of a telescopic yoke mechanism according to an embodiment of the present invention;

fig. 7 is an enlarged view of the structure at B in the embodiment of the present invention.

Reference numerals: 1. a horizontal movement mechanism; 101. a horizontal frame; 102. a third linear guide rail; 103. a third rail block; 104. a Z-shaped plate; 105. a motor mounting plate; 106. a third rack; 107. a support plate; 108. a platen; 109. a housing; 2. a vertical lifting mechanism; 201. a second linear guide; 202. a vertical frame; 203. a second rail block; 204. a lifting mounting plate; 205. a screw rod; 206. a fourth gear; 207. a synchronous belt; 208. a second servo motor; 3. a rotation mechanism; 301. a base plate; 302. a first linear guide rail; 303. a first bearing; 304. a third gear; 305. a first rail block; 306. a second rack; 307. a rotating plate; 4. a telescopic yoke mechanism; 401. a bottom layer yoke; 402. a middle layer yoke; 403. a first rack; 404. a yoke chain; 405. a top layer yoke; 406. a fork head; 407. a speed reducer; 408. a first servo motor; 409. a second gear; 410. an inboard C-shaped skateboard; 411. an outer C-shaped sliding plate; 412. a first roller; 413. a second roller; 414. fork head locating pin.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The utility model is described below with reference to fig. 1-7:

a container twist lock stacking robot is shown in figure 1 and is a schematic overall structure diagram of an embodiment of the utility model, and comprises a horizontal moving mechanism 1, wherein the horizontal moving mechanism 1 is matched with a vertical lifting mechanism 2 in a sliding manner in the horizontal direction, the vertical lifting mechanism 2 is matched with a rotating mechanism 3 in a sliding manner in the vertical direction, the rotating mechanism 3 is matched with a telescopic fork arm mechanism 4 in a rotating manner in the circumferential direction, the telescopic fork arm mechanism 4 can perform telescopic operation, the telescopic fork arm mechanism 4 can fork a lock box to complete access of the lock box, and the structure of the lock box is not described in the embodiment in redundant terms.

The following is a detailed description of the structure of the horizontal movement mechanism 1, the vertical lifting mechanism 2, the rotation mechanism 3, and the telescopic boom mechanism 4 in this embodiment:

as shown in fig. 6 and 7, the telescopic yoke mechanism 4 includes a bottom yoke 401, a middle yoke 402, and a top yoke 405, which are arranged in this order from bottom to top. The bottom layer yoke 401 is in sliding fit with the middle layer yoke 402 through a first sliding groove formed in the middle of the bottom layer yoke 401, namely the cross section of the bottom layer yoke 401 is concave, and the cross section of the middle layer yoke 402 is T-shaped, so that the bottom layer yoke 401 is matched with the middle layer yoke 402, and the middle layer yoke 402 is not in contact with the bottom of the first sliding groove. The lower side of the middle layer yoke 402 is fixedly connected with a first rack 403, the first rack 403 is engaged with a first gear transmission mechanism, the first gear transmission mechanism comprises a first gear, a speed reducer 407 and a first servo motor 408, the first gear is engaged with the first rack 403, the first gear passes through a first chute in the bottom layer yoke 401, the speed reducer 407 and the first servo motor 408 are fixedly arranged on a fixing plate (not shown in the figure), the bottom layer yoke 401 is fixed on the fixing plate, and the fixing plate is connected with the rotating mechanism 3. In summary, the first servo motor 408 is operated to make the middle fork arm 402 slide-fit with the bottom fork arm 401.

Two sides of the middle layer fork arm 402 are fixedly connected with a second gear transmission mechanism, the second gear transmission mechanism comprises a second gear 409, an inner side C-shaped sliding plate 410 and an outer side C-shaped sliding plate 411, wherein the inner side C-shaped sliding plate 410 and the outer side C-shaped sliding plate 411 are fixedly arranged on two sides of the second gear 409 through bearings respectively; the second gear 409 is in meshing engagement with the yoke chain 404, and the continuously circulating yoke chain 404 is shown in broken-away view to show the second gear 409; the yoke chain 404 is fixedly connected with the top yoke 405. The top end of the inner C-shaped sliding plate 410 is fixedly connected with the middle fork arm 402, the inner C-shaped sliding plate 410 is in sliding fit with a group of first rollers 412, and the first rollers 412 are fixedly arranged on the outer side wall of the bottom fork arm 401, so that the first rollers 412 and the inner C-shaped sliding plate 410 are supported and slide, and the middle fork arm 402 can be stably in sliding fit with the bottom fork arm 401. The outer C-shaped sliding plate 411 is in sliding fit with a set of second rollers 413, and the second rollers 413 are fixedly arranged on the inner side wall of the top-layer yoke 405, so that the second rollers 413 and the outer C-shaped sliding plate 411 have supporting and sliding functions, so that the middle-layer yoke 402 can be stably in sliding fit with the top-layer yoke 405; meanwhile, in cooperation with the engagement between the second gear 409 and the yoke chain 404, the middle yoke 402 is extended and retracted under the action of the power source of the first servo motor 408, and the top yoke 405 is extended and retracted in the direction opposite to the direction of the middle yoke 402 under the action of the acting force on the top yoke 405.

The top layer fork arm 405 is fixedly connected with a fork 406, the fork 406 is matched with the lock box, a fork positioning pin 413 is fixedly arranged on the fork 406, and the position of the lock box can be limited by the fork positioning pin 413.

As shown in fig. 5, the rotating mechanism 3 includes a bottom plate 301, a fixed base and a first linear guide 302 are fixedly disposed on the bottom plate 301, a first bearing 303 is fixedly connected to the fixed base, the first bearing 303 is fixedly connected to a bottom side of a third gear 304, the first linear guide 302 is slidably engaged with a first guide slider 305, one side of the first guide slider 305 is fixedly connected to an air cylinder, the other side of the first guide slider 305 is fixedly connected to a second rack 306, the second rack 306 is engaged with the third gear 304, a rotating plate 307 is fixedly connected to the third gear 304, and the rotating plate 307 is fixedly connected to a fixed plate (not shown in the figure) at the bottom side of a bottom fork arm 401. The air cylinder can also be replaced by a hydraulic cylinder, and when the air cylinder works, the first guide rail slide block 305 is driven to slide along the first linear guide rail 302, so that the second rack 306 slides, and under the meshing action of the second rack 306 and the third gear 304, the third gear 304 rotates, so that the telescopic fork arm mechanism 4 arranged on the rotating mechanism 3 rotates. Furthermore, the air cylinder or the hydraulic cylinder or other wires and pipes on the rotating mechanism 3 move up and down through the first drag chain, so that the phenomenon of disorder of the wires or pipes is avoided.

Fig. 4 is a schematic side view (a) and a schematic front view (b) of the vertical lift mechanism 2 according to the embodiment of the present invention. Vertical hoist mechanism 2 includes the second linear guide 201 that the symmetry set up, second linear guide 201 is fixed to be set up on vertical frame 202 lateral wall, second linear guide 201 sliding fit second rail block 203, second rail block 203 fixed connection lift mounting panel 204, lift mounting panel 204 and bottom plate fixed connection, lift mounting panel 204 screw-thread fit lead screw 205, lead screw 205 top and bottom are all through the bearing frame and vertical frame 202 fixed connection that set up, lead screw 205 top fixed connection synchronous drive mechanism, synchronous drive mechanism includes two fourth gears 206, hold-in range 207 and second servo motor 208, second servo motor 208 is fixed to be set up on vertical frame 202. To sum up, the second servo motor 208 operates, and the lead screw 205 rotates under the action of the timing belt 207, so that the lifting mounting plate 204 moves up and down in the vertical direction.

As shown in fig. 2 and 3, the horizontal moving mechanism 1 includes a horizontal frame 101, third linear guide rails 102 are fixed and symmetrically arranged on the horizontal frame 101, the third linear guide rails 102 are slidably fitted with third guide rail sliders 103, the third guide rail sliders 103 are fixedly connected with a Z-shaped plate 104, a motor mounting plate 105 is fixedly connected between the third guide rail sliders 103, a third servo motor is fixedly arranged at the bottom side of the motor mounting plate 105, the third servo motor is fixedly connected with a fifth gear, the fifth gear is engaged with a third rack 106, the third rack 106 is fixedly arranged on the horizontal frame 101, the Z-shaped plate 104 includes an upper transverse portion, a vertical portion and a lower transverse portion, the lower transverse portion is fixedly connected with a supporting plate 107, the supporting plate 107 is fixedly connected with a sliding plate 108, the sliding plate 108 is fixedly connected with the bottom of the vertical lifting mechanism 2, the sliding plate 108 is positioned above the motor mounting plate 105 and has a first gap between the two, a second gap is left between the supporting plate 107 and the vertical portion, the second gap is communicated with the first gap, the two ends of the horizontal rack 101 in the length direction of the horizontal rack are fixedly connected with the two ends of the housing 109, the housing 109 penetrates through the first gap and the second gap, the horizontal rack 101 is provided with a second drag chain, and the wire of the third servo motor can be connected with other mechanisms through the other end of the second drag chain for assisting in moving the drag chain, so that the wire can be used for conducting wires.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.

Claims

1. A container twist lock stacking robot comprises a horizontal moving mechanism (1), wherein the horizontal moving mechanism (1) is in sliding fit with a vertical lifting mechanism (2), the container twist lock stacking robot is characterized in that the vertical lifting mechanism (2) is in sliding fit with a rotating mechanism (3), and a telescopic fork arm mechanism (4) is rotationally matched on the rotating mechanism (3);

the telescopic fork arm mechanism (4) comprises a bottom fork arm (401), the bottom fork arm (401) is in sliding fit with a middle fork arm (402), a first rack (403) is fixedly connected to the lower side of the middle fork arm (402), the first rack (403) is engaged with a first gear transmission mechanism, second gear transmission mechanisms are fixedly connected to two sides of the middle fork arm (402), the second gear transmission mechanisms are engaged with a fork arm chain (404), the fork arm chain (404) is fixedly connected with a top fork arm (405), and the top fork arm (405) is fixedly connected with a fork head (406);

the rotating mechanism (3) comprises a rotating plate (307), and the rotating plate (307) is fixedly connected with the bottom layer fork arm (401).

2. The container twist-lock stacking robot as claimed in claim 1, wherein said rotating mechanism (3) comprises a bottom plate (301), said bottom plate (301) is fixedly provided with a fixed seat and a first linear guide (302), said fixed seat is fixedly connected with a first bearing (303), said first bearing (303) is fixedly connected with a bottom side of a third gear (304), said first linear guide (302) is slidably fitted with a first guide slider (305), one side of said first guide slider (305) is fixedly connected with a cylinder, the other side of said first guide slider (305) is fixedly connected with a second rack (306), said second rack (306) is engaged with said third gear (304), and the top side of said third gear (304) is fixedly connected with said rotating plate (307).

3. The container twist-lock stacking robot as claimed in claim 1, wherein the bottom fork arm (401) is slidably engaged with the middle fork arm (402) through a first sliding slot formed in the middle, the first gear transmission mechanism comprises a first gear, a speed reducer (407) and a first servo motor (408), the first gear is engaged with the first rack (403), the first gear passes through the first sliding slot in the bottom fork arm (401), the second gear transmission mechanism comprises a second gear (409), an inner C-shaped sliding plate (410) and an outer C-shaped sliding plate (411), the inner C-shaped sliding plate (410) and the outer C-shaped sliding plate (411) are respectively and fixedly arranged on two sides of the second gear (409) through bearings, the top end of the inner C-shaped sliding plate (410) is fixedly connected with the middle fork arm (402), inboard C type slide (410) sliding fit a set of first gyro wheel (412), first gyro wheel (412) are fixed to be set up on the lateral wall of bottom layer yoke (401), a set of second gyro wheel (413) of outside C type slide (411) sliding fit, second gyro wheel (413) are fixed to be set up on the inside wall of top layer yoke (405), second gear (409) with yoke chain (404) meshes mutually, fixed fork locating pin (413) that sets up on fork (406).

4. The container twist-lock stacking robot as claimed in claim 1, wherein the vertical lifting mechanism (2) comprises symmetrically arranged second linear guide rails (201), the second linear guide rails (201) are fixedly arranged on the side wall of the vertical frame (202), the second linear guide rails (201) are slidably matched with second guide rail sliders (203), the second guide rail sliders (203) are fixedly connected with a lifting mounting plate (204), the lifting mounting plate (204) is fixedly connected with the bottom plate, the lifting mounting plate (204) is in threaded fit with a lead screw (205), the top end and the bottom end of the lead screw (205) are fixedly connected with the vertical frame (202) through arranged bearing seats, the top end of the lead screw (205) is fixedly connected with a synchronous transmission mechanism, the synchronous transmission mechanism comprises two fourth gears (206), a synchronous belt (207) and a second servo motor (208), the second servo motor (208) is fixedly arranged on the vertical frame (202).

5. The container twist-lock stacking robot as claimed in claim 1, wherein said horizontal moving mechanism (1) comprises a horizontal frame (101), said horizontal frame (101) is fixed and symmetrically provided with third linear guide rails (102), said third linear guide rails (102) are slidably fitted with third guide rail sliders (103), said third guide rail sliders (103) are fixedly connected with Z-shaped plates (104), said third guide rail sliders (103) are fixedly connected with a motor mounting plate (105), said motor mounting plate (105) is fixedly provided with a third servo motor at the bottom side, said third servo motor is fixedly connected with a fifth gear, said fifth gear is engaged with a third rack (106), said third rack (106) is fixedly provided on said horizontal frame (101), said Z-shaped plates (104) comprise an upper horizontal portion, a vertical portion and a lower horizontal portion, the lower transverse part is fixedly connected with a supporting plate (107), the supporting plate (107) is fixedly connected with a sliding plate (108), the sliding plate (108) is fixedly connected with the bottom of the vertical lifting mechanism (2), the sliding plate (108) is positioned above the motor mounting plate (105), a first gap is reserved between the sliding plate and the vertical part, a second gap is reserved between the supporting plate (107) and the vertical part, the second gap is communicated with the first gap, two ends of the horizontal rack (101) in the length direction of the horizontal rack are fixedly connected with two ends of a housing (109), and the housing (109) penetrates through the first gap and the second gap.