CN216511360U - Loading and unloading mechanical arm and loading and unloading conveying mechanism - Google Patents
Loading and unloading mechanical arm and loading and unloading conveying mechanism Download PDFInfo
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- CN216511360U CN216511360U CN202121399252.8U CN202121399252U CN216511360U CN 216511360 U CN216511360 U CN 216511360U CN 202121399252 U CN202121399252 U CN 202121399252U CN 216511360 U CN216511360 U CN 216511360U
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Abstract
The utility model discloses a loading and unloading mechanical arm and a loading and unloading conveying mechanism, wherein the loading and unloading mechanical arm comprises a supporting long arm and a sucker clamping mechanism arranged at the end part of the supporting long arm, the sucker clamping mechanism comprises a connecting frame fixedly connected with the front part of the supporting long arm, a carrier frame driven to move left and right relative to the connecting frame, and a plurality of suckers driven to move back and forth are arranged on the carrier frame in a matrix manner. The supporting long arm is arranged in a double-joint mode, the working posture of the supporting long arm is increased, the carrier frame moves left and right transversely relative to the connecting frame, the use scene of the carrier frame is expanded, and meanwhile the movable suckers distributed on the carrier frame in a unitization mode can be automatically adjusted to be in a state of being consistent with the surface of the express package according to the shape of the express package, so that the express packages of different specifications can be unloaded.
Description
Technical Field
The utility model belongs to the technical field of container loading and unloading, and particularly relates to a multi-dimensional multi-container self-adaptive loading and unloading mechanical arm with operation and control actions and a loading and unloading conveying mechanism.
Background
At present, the domestic express delivery industry develops at a high speed, and along with technical progress, the intelligent logistics are gradually applied to various industries, so that the labor is saved, and the efficiency is improved. The intelligent sorting and storage level applied in various areas of the express industry is different nowadays.
Chinese patent CN209973404U discloses an unmanned dump truck, which comprises a suction cup assembly arranged at the front end of a truck body; the sucker component comprises a sucker component body and a supporting plate, wherein the sucker component body and the supporting plate are vertically arranged; the vacuum pump is arranged in the sucker component and communicated with a sucker arranged on the front wall of the sucker component through a pipeline. The unmanned unloading truck disclosed by the utility model takes the sucker assembly as a core mechanical structure, the sucker assembly can meet the requirement of stable goods grabbing, and the safety coefficient is greatly improved by matching with a stably supported base. The whole process basically does not need manual participation, is not influenced by the external environment, can effectively manage the unloading operation process, and has the advantage of good practicability.
The technique disclosed in the above patent mainly aims at the operation of standard box in the container, and to the express delivery on the uninstallation express delivery car, because the irregularity of express delivery shape, most discharge devices can only be to the parcel of a certain specific specification, can't deal with the parcel of multiple specification, influences overall efficiency and practicality.
SUMMERY OF THE UTILITY MODEL
The utility model aims to overcome the defects of the prior art and provide a loading and unloading mechanical arm suitable for express packages of different specifications.
The utility model aims to overcome the defects of the prior art and provide a loading, unloading and conveying mechanism suitable for express packages of different specifications.
The utility model is realized by the following technical scheme:
the utility model provides a loading and unloading mechanical arm, is in including supporting long arm to and setting the mechanism is got to the sucking disc clamp that supports long arm tip, the sucking disc clamp get the mechanism include with support long arm front portion fixed connection's link, driven relative the link about the carrier that moves, the carrier on be the matrix arrangement have a plurality of sucking discs that are driven back-and-forth movement.
The rear end of the support long arm is fixedly connected with a cross beam of the sliding carrier and is driven to move left and right.
The long arm of support include rear end and the crossbeam slidable connection's of the carrier that slides postbrachium, with postbrachium front end fixed connection's postmotor, with postmotor fixed connection and by its drive forearm of upset from top to bottom to and set up at the forearm front end and with carrier fixed connection in order to drive its preceding motor of upset from top to bottom.
The rear end of the carrier frame is provided with a sliding groove, and the front end of the connecting frame is provided with a sliding plate which can be embedded into the sliding groove in a matching manner.
The rear end of the sliding carrier is provided with a rack, and the connecting frame is provided with a gear which is meshed with the rack and is driven by a sliding driving motor so as to realize the left-right movement.
And a guide rail sliding block or a guide rod guide hole mechanism is arranged between the sucking disc and the carrier frame and is driven by a cylinder or an oil cylinder to move back and forth.
The carrier is also provided with an image acquisition device.
And position sensors are arranged on two sides of the carrier.
The rear arm and the front arm are both of axial telescopic structures.
A loading and unloading conveying mechanism comprises a conveying belt and the loading and unloading mechanical arm.
The rear end of the conveyor belt is fixedly connected with the telescopic machine.
The utility model has the advantages and beneficial effects that:
the supporting long arm is arranged in a double-joint mode, the working posture of the supporting long arm is increased, the carrier frame moves left and right transversely relative to the connecting frame, the use scene of the carrier frame is expanded, and meanwhile the movable suckers distributed on the carrier frame in a unitization mode can be automatically adjusted to be in a state of being consistent with the surface of the express package according to the shape of the express package, so that the express packages of different specifications can be unloaded. Utilize the heap pressure mode between the machine vision identification parcel, cascaded extraction parcel, reducible extraction in-process parcel drops, realizes the intellectuality of unloading.
Drawings
FIG. 1 is a top view of the general construction of the handling robot of the present invention;
FIG. 2 is a schematic structural view of the supporting arm and the suction cup clamping mechanism of the present invention;
FIG. 3 is a schematic structural view of the suction cup clamping mechanism of the present invention;
fig. 4 is a schematic cross-sectional structure view of the suction cup gripping mechanism of the present invention.
For a person skilled in the art, other relevant figures can be obtained from the above figures without inventive effort.
Detailed Description
In order that those skilled in the art will better understand the present invention, the following description will be given in conjunction with specific examples.
The loading and unloading mechanical arm comprises a supporting long arm 1 and a sucker clamping mechanism 2 arranged at the end part of the supporting long arm, wherein the sucker clamping mechanism comprises a connecting frame 21 fixedly connected with the front part of the supporting long arm, a carrier frame 22 driven to move left and right relative to the connecting frame, and a plurality of suckers 23 driven to move back and forth are arranged on the carrier frame in a matrix manner.
It should be noted that, the front, back, left and right in the present invention are the front and back in the length direction of the support long arm, that is, the opening end of the container body with an opening at the back end is the back, and the reverse direction is the front, wherein, the end close to the body is the front end, and the end far away from the body is the back end, the corresponding vertical direction of the relative front and back direction is the left and right direction, that is, the left and right direction is defined by the human visual line pointing to the front end.
As one specific embodiment, the loading and unloading mechanical arm further comprises a sliding carrier 3 driven to move back and forth, and the rear end of the supporting long arm is fixedly connected with a cross beam 31 of the sliding carrier and driven to move left and right. The telescopic arm 1 comprises a rear arm 11, a rear motor 12, a front arm 13 and a front motor 14, wherein the rear arm 11 is fixedly connected with the rear end of a transverse power slide block 10 of a cross beam of the sliding carrier, the front arm 13 is fixedly connected with the rear motor and driven by the rear motor to turn up and down, the front motor 14 is arranged at the front end of the front arm and used for driving the sucker clamping structure to turn up and down, and the rear motor and the front motor can adopt different forms such as an electric motor or a hydraulic motor.
The supporting long arm is arranged in a double-joint mode, the working posture of the supporting long arm is increased, the actions of sucking and pulling out the back side face, sucking and lifting the upper surface, descending and the like can be realized, the carrier frame moves left and right transversely relative to the connecting frame, the use scene of the carrier frame is expanded, meanwhile, the movable suckers are distributed on the carrier frame in a unitization mode, and the suckers can be automatically adjusted to be in a state of being consistent with the surface of a parcel according to the shape of the express parcel, so that the express parcels of different specifications can be unloaded.
Wherein, the preceding terminal surface installation heavy load ball of the crossbeam of sliding carrier uses heavy load ball to drive horizontal power slider 10 and realizes supporting whole about linear motion of long arm 1, postbrachium and forearm all can adopt the retractable structure in order to match different operating condition, let the work gesture more pluralism, through the flexible of upset action cooperation postbrachium and forearm of rear motor, can realize that the upper portion box absorbs, lifts, draw after, a plurality of actions such as swing is transferred, more be meticulous with the discharge operation of each box, avoid the discharge process to cause the unnecessary damage.
As one specific embodiment, the suction cup clamping mechanism comprises a connecting frame fixedly connected with the front part of the supporting long arm, a carrier frame 22 which is arranged on the connecting frame and driven by a sliding driving motor 210 to move left and right relative to the connecting frame, a plurality of suction cups which are driven to move back and forth are arranged on the carrier frame in a matrix manner, and the suction cups are arranged in a transverse plane in a matrix manner. A plurality of on the carrier support by sucking disc support slider drive cylinder 221 respectively, press from both sides the unit with the removal sucking disc that track or guide hole complex sucking disc support slider 222 and sucking disc 23 are constituteed, little unit integrated module sucking disc, through force sensor control or visual control in the sucking disc 23, sucking disc support slider drive cylinder 221 drive sucking disc support slider 222, it can be adjusted to the form of conforming according to the planar parcel shape is stacked according to the parcel to remove the sucking disc clamp and get the unit, utilize machine vision discernment parcel to stack the pile pressure condition between height and the parcel, nimble regulation and control support long arm, adopt suitable extraction mode and parcel to place the height and place the parcel on the conveyer belt.
For example, the sliding fit sliding groove and the rail or the sliding plate sliding groove are arranged between the carrier frame and the connecting frame, the sliding driving motor 210 drives the box bodies to move left and right through the gear rack mechanism so as to meet the requirements of quick positioning of the box bodies at different positions and action avoidance near the inner wall of the box body, and the matrix type, namely the layout of a plurality of plane rectangular suckers is utilized, for the box bodies with different volume sizes, the suckers capable of covering the surface areas of the box bodies are controlled to stretch out and make suction actions, so that the influence on the peripheral box bodies is reduced, the one-by-one suction can be realized, certainly, for a plurality of small box bodies which are closely arranged and flatly can also realize the simultaneous suction of the plurality of box bodies, especially when the box bodies are arranged in a front-back staggered manner, the stretching actions of partial suckers are utilized, the efficient, complete and accurate suction can be realized, the fluency of the discharging actions is improved, and the vision of a robot is matched, the automatic discharging according to logic can be realized, the manual participation is reduced, and the overall efficiency is ensured.
The utility model also discloses a loading and unloading conveying mechanism, which comprises a conveying belt and the loading and unloading mechanical arm, wherein a power slide rail, a power slide block, an auxiliary slide rail and an auxiliary slide rail slide block which use heavy-load ball screws are respectively arranged on the main body frame of the conveying belt, namely two sides of a bracket, and are used for driving a sliding carrier frame 3, the sliding carrier frame comprises two upright rods 30 which are positioned outside the conveying belt and are fixedly connected with the power slide block matched with the power slide rail of the bracket of the main conveying belt, and a cross rod 31 connected with the end parts of the two upright rods, the sliding carrier frame can slide back and forth relative to the bracket of the main conveying belt by an electric cylinder or a motor matched with the ball screws, the upright rods can also adopt a telescopic structure design, for example, a cylinder-driven secondary telescopic arm adopting a sleeve structure and the like is adopted, the height change of the telescopic driving is realized by the electric cylinder, the hydraulic cylinder and the like so as to be matched with the carriage bodies with different specifications and sizes, the actions such as flexible upset of supporting the long arm can realize the absorption of the internal packing box of railway carriage or compartment and correspond the tip conveyer belt that falls below, realize unloading fast.
The working process of the loading and unloading conveying mechanism of the utility model is as follows:
1) analyzing the stacking height of the packages and the stacking pressure condition between the packages by a preset program or an image shooting device at the front end of the support long arm, flexibly adjusting the support long arm by machine vision control, controlling the upright rod 30 of the sliding carrier to stretch out when the movable clamping mechanism cannot enter the upper part of the packages and the movable clamping mechanism is adjusted by the support long arm and each sucker 23 is parallel to the front end surface of the stacked packages, controlling the upright rod 30 of the sliding carrier to stretch out when the adjustment of the support long arm cannot reach the highest position of the stacked packages, and executing the step 4 if the adjustment can reach the highest position of the stacked packages, otherwise continuing,
2) the sliding support frame 3 moves forwards to drive the whole moving clamping mechanism, and each unit moving sucker touches the packages and is attached to each package surface.
3) The sliding carrier 3 moves backwards to draw out the packages, the supporting long arm clamps the distance between the lower end face of the packages and the plane of the conveyor belt in machine vision recognition, and the packages are placed on the conveyor belt after moving to a certain distance from the packages to the conveyor belt.
4) When the sucking disc clamping mechanism sufficiently enters the upper portion of the container, the stacking condition and the stacking height of the next section of container are identified by machine vision, the clamping module is reasonably matched with the moving clamp to descend, ascend, retreat and extract the container from front to back to finish clamping the container by one section of container, and a step type clamping mode is formed. After the first section of package unloading is finished, the integral device of the conveyor belt moves forwards, the front end of the device controls the telescopic machine to stop through a position sensor,
5) repeating the work of 1) to 4) until the unloading of the package in the whole container is completed. Through machine vision, the image shooting device shoots the stacked express parcels, a three-dimensional scene is converted into a two-dimensional plane image, each parcel is separated from the image, the stacking condition between the parcels in the image is judged according to the shape of the surface contour line of each identified parcel, the optimized strategy of taking and placing the parcels in a step mode is that in the stacking of a section of parcel, the upper half part of the rear layer of the section of parcel is clamped in a front-back mode (the parcel stacking is layered, the upper part and the lower part are layered, the front part and the rear part are the front tail and the rear part are the rear part), in the clamping process, the machine vision identifies the stacking condition, in the section of parcel, the upper end of the front layer can be clamped with the parcel of the rear layer, at the moment, the movable clamping mechanism can sufficiently enter the upper part of the rear layer, the uppermost parcel of the front layer can be clamped in a front-back clamping mode, and the parcel at the upper end of the rear layer can block the parcel at the upper end of the front layer, at the moment, the machine visually recognizes that the package at the upper end of the back layer is clamped in a descending, ascending and retreating mode. After the movable clamping mechanism sufficiently enters the upper part of the front layer of parcels, the parcels on the previous layer are extracted in the same way as before, and the deepest layer number of clamping is advanced by the maximum depth of the forward extension of the movable clamping mechanism of the unloading device.
The device adopts a proper parcel extraction mode to form step extraction, so that the clamping efficiency is improved, and the damage probability of the parcel caused by falling in the clamping process is reduced; adopt unitized removal sucking disc to press from both sides and get the mechanism in order to press from both sides the express delivery parcel of getting different specifications, be applicable to the goods uninstallation occasion of other types parcel logistics simultaneously, design sufficient expansion operation radius mechanism, but furthest adjustment removal sucking disc clamp is got the mechanism and is got the parcel.
Spatially relative terms, such as "upper," "lower," "left," "right," and the like, may be used in the embodiments for ease of description to describe one element or feature's relationship to another element or feature as illustrated in the figures. It will be understood that the spatial terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" other elements or features would then be oriented "above" the other elements or features. Thus, the exemplary term "lower" can encompass both an upper and a lower orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
Moreover, relational terms such as "first" and "second," and the like, may be used solely to distinguish one element from another element having the same name, without necessarily requiring or implying any actual such relationship or order between such elements.
The utility model has been described in an illustrative manner, and it is to be understood that any simple variations, modifications or other equivalent changes which can be made by one skilled in the art without departing from the spirit of the utility model fall within the scope of the utility model.
Claims (11)
1. The loading and unloading mechanical arm is characterized by comprising a supporting long arm and a sucking disc clamping mechanism arranged at the end part of the supporting long arm, wherein the sucking disc clamping mechanism comprises a connecting frame fixedly connected with the front part of the supporting long arm, a carrier frame driven to move left and right relative to the connecting frame, and a plurality of sucking discs driven to move front and back are arranged on the carrier frame in a matrix manner.
2. The loading and unloading robot arm as recited in claim 1, further comprising a slide carriage driven to move forward and backward, wherein a rear end of said support long arm is fixedly connected to a cross member of said slide carriage and driven to move left and right.
3. The loader arm of claim 2, wherein said support boom comprises a rear arm having a rear end slidably connected to the cross-member of the slide carriage, a rear motor fixedly connected to a front end of the rear arm, a front arm fixedly connected to and driven by said rear motor to be flipped up and down, and a front motor disposed at a front end of the front arm and fixedly connected to said carriage to drive it to be flipped up and down.
4. The handling robot of claim 1, wherein a slide slot is provided at a rear end of said carriage, and a slide plate is provided at a front end of said link frame to be fittingly inserted into said slide slot.
5. The loader arm as claimed in claim 2, wherein said slide carriage is configured with a rack at its rear end, and said link is provided with a gear engaged with said rack and driven by a slide drive motor to effect said side-to-side movement.
6. The loading and unloading robot arm as recited in claim 1, wherein a guide slider or a guide rod guide mechanism is provided between the suction cup and the carrier and is driven by an air cylinder or an oil cylinder to move back and forth.
7. The handling robot of claim 1, wherein said carrier further comprises an image capture device.
8. The handling robot of claim 1, wherein said carrier is provided with position sensors on both sides.
9. The handling robot arm of claim 3, wherein said rear arm and said front arm are both of axially telescoping construction.
10. A handling conveyor comprising a conveyor belt and a handling robot arm as claimed in any one of claims 1 to 9.
11. The handling conveyor as in claim 10 wherein the rear end of said conveyor belt is fixedly attached to the expansion machine.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202121399252.8U CN216511360U (en) | 2021-06-23 | 2021-06-23 | Loading and unloading mechanical arm and loading and unloading conveying mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121399252.8U CN216511360U (en) | 2021-06-23 | 2021-06-23 | Loading and unloading mechanical arm and loading and unloading conveying mechanism |
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| CN216511360U true CN216511360U (en) | 2022-05-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115947111A (en) * | 2023-03-09 | 2023-04-11 | 中科微至科技股份有限公司 | Automatic loading and unloading equipment |
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- 2021-06-23 CN CN202121399252.8U patent/CN216511360U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115947111A (en) * | 2023-03-09 | 2023-04-11 | 中科微至科技股份有限公司 | Automatic loading and unloading equipment |
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