CN218619256U - Automatic loading and unloading vehicle device - Google Patents
Automatic loading and unloading vehicle device Download PDFInfo
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- CN218619256U CN218619256U CN202222134937.0U CN202222134937U CN218619256U CN 218619256 U CN218619256 U CN 218619256U CN 202222134937 U CN202222134937 U CN 202222134937U CN 218619256 U CN218619256 U CN 218619256U
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Abstract
The utility model provides an automatic loading and unloading vehicle device, which comprises a truss, a Y-axis travelling mechanism, an X-axis travelling mechanism, a Z-axis lifting mechanism and a sucker type grabbing mechanism; the Y-axis travelling mechanism is arranged at the top of the truss, the X-axis travelling mechanism is arranged on the Y-axis travelling mechanism, the Z-axis lifting mechanism is arranged on the X-axis travelling mechanism, and the sucker type grabbing mechanism is arranged at the bottom of the Z-axis lifting mechanism; the Y-axis travelling mechanism is used for driving the X-axis travelling mechanism to move back and forth along a Y axis, the X-axis travelling mechanism is used for driving the Z-axis lifting mechanism to move back and forth along an X axis, the Z-axis lifting mechanism is used for driving the sucker type grabbing mechanism to move up and down along a Z axis, and the sucker type grabbing mechanism is used for grabbing materials. The utility model provides a white household electrical appliances among the prior art adopt the degree of automation that artifical loading and unloading car mode exists low, artifical intensity of labour is big and the problem that the operating efficiency is low.
Description
Technical Field
The utility model relates to a loading and unloading car technical field, concretely relates to automatic loading and unloading car device.
Background
At present, large white household appliances such as refrigerators, freezers, washing machines and the like are usually transported by using a trailer flat car, and have the characteristics of large stacking height, long vehicle length, large single piece volume and heavy weight. With the increasing labor cost, the adoption of automatic equipment to replace manual work for automatically loading and unloading the white household appliances is imperative.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide an automatic loading and unloading car device to solve the problem that degree of automation that current white household electrical appliances adopted artifical loading and unloading car mode to exist is low, artifical intensity of labour is big and the operating efficiency is low.
In order to achieve the above object, the utility model adopts the following technical scheme:
an automatic loading and unloading vehicle device comprises a truss, a Y-axis travelling mechanism, an X-axis travelling mechanism, a Z-axis lifting mechanism and a sucker type grabbing mechanism;
the Y-axis travelling mechanism is arranged at the top of the truss, the X-axis travelling mechanism is arranged on the Y-axis travelling mechanism, the Z-axis lifting mechanism is arranged on the X-axis travelling mechanism, and the sucker type grabbing mechanism is arranged at the bottom of the Z-axis lifting mechanism;
the Y-axis travelling mechanism is used for driving the X-axis travelling mechanism to reciprocate along a Y axis, the X-axis travelling mechanism is used for driving the Z-axis lifting mechanism to reciprocate along an X axis, the Z-axis lifting mechanism is used for driving the sucker type grabbing mechanism to ascend and descend along a Z axis, and the sucker type grabbing mechanism is used for grabbing materials.
Further, the air conditioner is provided with a fan,
the Y-axis traveling mechanism comprises:
the two Y-axis guide rails extend along the longitudinal direction and are parallel to each other, the two Y-axis guide rails are respectively arranged on two sides of the truss, and a Y-axis rack parallel to the Y-axis guide rails is arranged beside each Y-axis guide rail;
and the two Y-axis sliding block assemblies are respectively connected onto the two Y-axis guide rails in a sliding manner, each Y-axis sliding block assembly is provided with a Y-axis driving motor, the output end of each Y-axis driving motor is provided with a Y-axis gear, and the Y-axis gears are meshed with the corresponding Y-axis racks.
Further, the X-axis traveling mechanism includes:
the two ends of the two X-axis guide rails are respectively connected to the two Y-axis sliding block assemblies, and an X-axis rack parallel to the X-axis guide rails is arranged beside the X-axis guide rails;
the X-axis sliding block assembly is connected to the two X-axis guide rails in a sliding mode, an X-axis driving motor is arranged on the X-axis sliding block assembly, an X-axis gear is arranged at the output end of the X-axis driving motor, and the X-axis gear is connected with the X-axis rack in a meshed mode.
Furthermore, the Z-axis lifting mechanism comprises a first-stage fixed arm cylinder, a second-stage sliding arm cylinder, a third-stage sliding arm cylinder, a fourth-stage sliding arm cylinder, a Z-axis driving mechanism, a first-stage transmission mechanism and a second-stage transmission mechanism;
the first-stage fixed arm cylinder is fixedly connected to the X-axis sliding block assembly, the second-stage sliding arm cylinder is sleeved in the first-stage fixed arm cylinder in a sliding mode, and the Z-axis driving mechanism is connected with the first-stage fixed arm cylinder and the second-stage sliding arm cylinder respectively and used for driving the second-stage sliding arm cylinder to move up and down relative to the first-stage fixed arm cylinder;
the three-stage sliding arm cylinder is sleeved in the two-stage sliding arm cylinder in a sliding manner, the first-stage transmission mechanism is respectively connected with the first-stage fixed arm cylinder, the two-stage sliding arm cylinder and the three-stage sliding arm cylinder, and the two-stage sliding arm cylinder drives the three-stage sliding arm cylinder to move in the same direction relative to the two-stage sliding arm cylinder through the first-stage transmission mechanism during lifting displacement;
the four-stage sliding arm cylinder is slidably sleeved in the three-stage sliding arm cylinder, the second-stage transmission mechanism is respectively connected with the second-stage sliding arm cylinder, the third-stage sliding arm cylinder and the four-stage sliding arm cylinder, and the three-stage sliding arm cylinder is driven by the second-stage transmission mechanism to move in the same direction relative to the four-stage sliding arm cylinder when moving.
Further, the Z-axis driving mechanism comprises a Z-axis driving motor and a Z-axis rack; the Z-axis rack is arranged on the secondary sliding arm cylinder and extends in the vertical direction; the Z-axis driving motor is arranged on the first-stage fixed arm cylinder, a Z-axis gear is arranged at the output end of the Z-axis driving motor, and the Z-axis gear is meshed with the Z-axis rack.
Further, the primary transmission mechanism comprises a primary chain and two primary chain wheels; two the one-level sprocket rotates respectively to be connected the upper and lower both ends of second grade slide arm section of thick bamboo, the one-level chain is connected two the one-level is taken turns to epaxially, the one-level chain is located one section fixed connection in the second grade slide arm section of thick bamboo outside is in the inner wall of one-level fixed arm section of thick bamboo, the one-level chain is located one section fixed connection of second grade slide arm section of thick bamboo inboard is in the outer wall of tertiary slide arm section of thick bamboo.
Further, the secondary transmission mechanism comprises a secondary chain and two secondary chain wheels; two the second grade sprocket rotates respectively to be connected the upper and lower both ends of tertiary slide arm section of thick bamboo, the second grade chain is connected two on the second grade sprocket, the second grade chain is located one section fixed connection in tertiary slide arm section of thick bamboo outside is in the inner wall of secondary slide arm section of thick bamboo, the second grade chain is located one section fixed connection of tertiary slide arm section of thick bamboo inboard is in the outer wall of level four slide arm section of thick bamboo.
Further, the outer wall of a second grade slide arm section of thick bamboo tertiary slide arm section of thick bamboo the level four slide arm section of thick bamboo be provided with respectively along the Z axle guide rail of vertical direction extension, the fixed arm section of thick bamboo of one-level the second grade slide arm section of thick bamboo the inner wall of a tertiary slide arm section of thick bamboo be provided with respectively with Z axle guide rail matched with slider.
Further, the sucking disc formula snatchs the mechanism including connecting the support of level four slide arm bobbin base portion is provided with vacuum chuck, limit switch and vision camera on the support.
Furthermore, the support with the level four slide arm section of thick bamboo connects into and to rotate around the Z axle, still be provided with rotary driving mechanism on the level four slide arm section of thick bamboo, rotary driving mechanism's output with the support drive is connected for the drive the support is around the Z axle rotation.
Use the technical scheme of the utility model, the auto-control handling car device includes the truss, Y axle running gear, X axle running gear, Z axle hoist mechanism and sucking disc formula snatch the mechanism, the truss is fixed in loading platform department, the back is rolled into to the trailer flatbed, Y axle running gear, X axle running gear and Z axle hoist mechanism drive the sucking disc formula and snatch the mechanism and do three-dimensional displacement along the truss, carry household electrical appliances from the loading platform to the trailer flatbed, perhaps carry to the loading platform from the trailer flatbed, thereby realize the auto-control handling car of large-scale white household electrical appliances, and then make the auto-control handling car device that this application provided have degree of automation height, artifical low in labor strength and the high characteristics of operating efficiency.
Drawings
The accompanying drawings, which form a part of the specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and do not constitute a limitation on the scope of the invention.
Fig. 1 is a front view of a lift truck apparatus according to an embodiment of the present invention, in which a small section of the front end is cut out to show the relationship of the components for clarity because the length of the truss is long;
fig. 2 is a side view of a lift truck apparatus according to an embodiment of the present invention;
fig. 3 is a plan view of the truck assembly of the present invention, in which a small section of the X-axis traveling mechanism is shown in the figure for the sake of clarity;
fig. 4 is a schematic structural view of a Z-axis lifting mechanism according to an embodiment of the present invention;
FIG. 5 isbase:Sub>A sectional view taken along line A-A of FIG. 4;
FIG. 6 is a top view of FIG. 5;
wherein:
1-a truss; 2-Y-axis running mechanism; 3-X axis running gear; 4-Z-axis lifting mechanism; 5, a sucker type grabbing mechanism;
21-Y-axis guide rails; a 22-Y axis rack; 23-Y-axis slide assembly; a 24-Y axis drive motor;
31-X axis guide rails; a 32-X axis rack; 33-X-axis slide assembly; 34-X axis drive motor;
41-a primary fixed arm cylinder; 42-a secondary slide arm cylinder; 43-three-stage sliding arm cylinder; 44-four stage sliding arm cylinder; a 45-Z axis drive mechanism; 46-a primary transmission mechanism; 47-a secondary transmission mechanism; a 48-Z axis guide rail; 49-a slide block;
a 451-Z axis drive motor; 452-Z axis rack; 461-primary chain; 462-a primary sprocket; 463-primary chain fixing block; 471-secondary chain; 472 — secondary sprocket; 473-secondary chain fixing block;
51-a scaffold; 52-a rotating shaft; 53-drive motor; 54-gear set; 55-vacuum chuck; 56-limit switch; 57-visual camera.
Detailed Description
The invention will be described in detail below with reference to the accompanying drawings and with reference to embodiments, it being noted that the embodiments and features of the embodiments may be combined with each other in the present application without conflict.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In order to solve the problems of low automation degree, large labor intensity and low operation efficiency of the white household electrical appliances adopting the manual loading and unloading mode in the prior art, the utility model provides a loading and unloading device.
As shown in fig. 1 and 2, the automatic loading and unloading vehicle device of the embodiment mainly includes a truss 1, a Y-axis traveling mechanism 2, an X-axis traveling mechanism 3, a Z-axis lifting mechanism 4 and a suction disc type grabbing mechanism 5, wherein the Y-axis traveling mechanism 2 is disposed at the top of the truss 1, the X-axis traveling mechanism 3 is disposed on the Y-axis traveling mechanism 2, the Z-axis lifting mechanism 4 is disposed on the X-axis traveling mechanism 3, the suction disc type grabbing mechanism 5 is disposed at the bottom of the Z-axis lifting mechanism 4, the truss 1 adopts a portal frame structure and has a certain internal space, the truss 1 can be fixed at a loading platform and can drive a trailer flat car in the Y-axis direction, the Y-axis traveling mechanism 2 is used for driving the X-axis traveling mechanism 3 to move back and forth along the Y-axis, the X-axis traveling mechanism 3 is used for driving the Z-axis lifting mechanism 4 to move back and forth along the X-axis, the Z-axis lifting mechanism 4 is used for driving the suction disc type grabbing mechanism 5 to move up and down along the Z-axis, and down, and move the suction disc type grabbing mechanism 5 is used for materials such as white household appliances. Like this, after the trailer flatbed drives in, Y axle running gear 2, X axle running gear 3 and Z axle hoist mechanism 4 drive the sucking disc formula and snatch mechanism 5 and do three-dimensional displacement along truss 1, carry household electrical appliances from the loading platform to the trailer flatbed, perhaps carry to the loading platform from the trailer flatbed to realize the auto-control handling of large-scale white household electrical appliances, and then make the auto-control handling car device that this application provided have degree of automation height, artifical low in labor strength and the high characteristics of operating efficiency.
Compared with the white household appliances adopting manual loading and unloading in the prior art, the automatic loading and unloading device in the embodiment can reduce the number of loading personnel to a certain extent, realize automatic loading and unloading to a certain extent, and further reduce the transportation cost of the white household appliances.
As shown in fig. 3, the Y-axis traveling mechanisms 2 are symmetrically disposed on the top of the truss 1, and mainly include two Y-axis guide rails 21, two Y-axis racks 22, two Y-axis slider assemblies 23, and two Y-axis driving motors 24, where the two Y-axis guide rails 21 extend longitudinally and are parallel to each other, and are respectively laid on two side beams of the truss 1, one Y-axis rack 22 is installed in parallel to the side of the Y-axis guide rail 21 of each side beam, the two Y-axis slider assemblies 23 are respectively slidably connected to the two Y-axis guide rails 21, the Y-axis slider assemblies 23 are used for installing the X-axis traveling mechanism 3, and mainly include an installation plate and a plurality of sliders fixed on the bottom surface of the installation plate, so as to ensure that the Y-axis slider assemblies 23 can stably slide back and forth along the Y-axis guide rails 21, the two Y-axis driving motors 24 are respectively disposed on the two Y-axis slider assemblies 23, and the output ends of the Y-axis driving motors 24 are provided with Y-axis gears engaged with the Y-axis racks 22, and optionally, the Y-axis driving motors 24 are servo motors. Therefore, the two Y-axis sliding block assemblies 23 can be driven to synchronously reciprocate along the Y-axis guide rail 21 by synchronously controlling the starting and stopping of the two Y-axis driving motors 24, so that the reciprocating displacement of the X-axis travelling mechanism 3 arranged on the two Y-axis sliding block assemblies 23 along the Y axis is realized.
The X-axis traveling mechanism 3 mainly includes two X-axis guide rails 31, an X-axis rack 32, an X-axis slider assembly 33, and an X-axis driving motor 34, wherein the two X-axis guide rails 31 extend in the transverse direction and are parallel to each other, and are erected between the two Y-axis slider assemblies 23 by two spaced shaft frames, which can be regarded as beams for supporting the X-axis guide rails 31, the X-axis rack 32 is arranged parallel to the X-axis guide rails 31 and is mounted on the shaft frame on the right side in the drawing, the X-axis slider assembly 33 is slidably connected to the two X-axis guide rails 31, the X-axis slider assembly 33 is used for mounting the Z-axis lifting mechanism 4 and mainly includes a mounting plate with a hollow center and a plurality of sliders fixed on the bottom surface of the mounting plate to ensure that the X-axis slider assembly 33 can stably slide back and forth along the X-axis guide rails 31, the X-axis driving motor 34 is disposed on the X-axis slider assembly 33, and the output end of the X-axis driving motor 34 is provided with an X-axis gear engaged with the X-axis rack 32, and optionally, the Y-axis driving motor 24 is a servo motor. Thus, the X-axis driving motor 34 can drive the X-axis sliding block assembly 33 to reciprocate along the X-axis guide rail 31, so that the Z-axis lifting mechanism 4 installed on the X-axis sliding block assembly 33 can reciprocate along the X-axis.
As shown in fig. 4 to 6, the Z-axis lifting mechanism 4 includes a primary fixed arm cylinder 41, a secondary slide arm cylinder 42, a tertiary slide arm cylinder 43, a quaternary slide arm cylinder 44, a Z-axis drive mechanism 45, a primary transmission mechanism 46, and a secondary transmission mechanism 47.
Wherein, the first level fixed arm cylinder 41 is fixedly connected on the X-axis slider assembly 33, as the basic structure of other 3 sliding arm cylinders, it does not have the function of telescoping, the second level sliding arm cylinder 42 is slidingly sleeved in the first level fixed arm cylinder 41, the third level sliding arm cylinder 43 is slidingly sleeved in the second level sliding arm cylinder 42, the fourth level sliding arm cylinder 44 is slidingly sleeved in the third level sliding arm cylinder 43, concretely, the second level sliding arm cylinder 42, the third level sliding arm cylinder 43, the outer wall opposite to the fourth level sliding arm cylinder 44 is respectively provided with a Z-axis guide rail 48 extending along the vertical direction, the first level fixed arm cylinder 41, the second level sliding arm cylinder 42, the inner wall corresponding to the third level sliding arm cylinder 43 is respectively provided with a plurality of sliders 49 sliding-fitted with the Z-axis guide rail 48, thus, the second level sliding arm cylinder 42 can slide up and down relative to the first level fixed arm cylinder 41, the third level sliding arm cylinder 43 can slide up and down relative to the second level sliding arm cylinder 42, the fourth level sliding arm cylinder 44 can slide up and down relative to the third level sliding arm cylinder 43, thereby forming a multi-level telescopic arm structure.
In order to improve the lifting efficiency of the Z-axis lifting mechanism 4, in this embodiment, the second-stage sliding arm cylinder 42 is driven by the Z-axis driving mechanism 45 to move up and down, and the first-stage transmission mechanism 46 and the second-stage transmission mechanism 47 drive the third-stage sliding arm cylinder 43 and the fourth-stage sliding arm cylinder 44 to move up and down synchronously, so that the second-stage sliding arm cylinder 42, the third-stage sliding arm cylinder 43 and the fourth-stage sliding arm cylinder 44 can be stretched simultaneously, and the stretching amount of the Z-axis lifting mechanism 4 can be adjusted rapidly.
The Z-axis driving mechanism 5 comprises a Z-axis driving motor 451 and a Z-axis rack 452, the Z-axis rack 452 is arranged on the outer wall of the secondary sliding arm cylinder 42 and extends in the vertical direction, the Z-axis driving motor 451 is arranged on the primary fixed arm cylinder 41, a Z-axis gear meshed with the Z-axis rack 452 is arranged at the output end of the Z-axis driving motor 451, and optionally, the Z-axis driving motor 451 is a servo motor. In this way, the Z-axis driving motor 451 can drive the secondary slide arm cylinder 42 to move up and down along the Z-axis guide rail 48, thereby realizing the lifting displacement of the secondary slide arm cylinder 42 relative to the primary fixed arm cylinder 41.
The primary transmission mechanism 46 includes a primary chain 461 and two primary chain wheels 462, the two primary chain wheels 462 are respectively rotatably connected to the upper and lower ends of one side of the secondary sliding arm cylinder 42, the primary chain 461 is connected to the two primary chain wheels 462 to form a chain wheel and chain transmission structure, one section of the primary chain 461 located outside the secondary sliding arm cylinder 42 is fixed on the inner wall of the primary fixed arm cylinder 41 through a primary chain fixing block 463, and one section of the primary chain 461 located inside the secondary sliding arm cylinder 42 is fixedly connected on the outer wall of the tertiary sliding arm cylinder 43 through another primary chain fixing block 463. Thus, when the secondary sliding arm cylinder 42 is driven by the Z-axis driving motor 451 to ascend, the primary sprocket 462 drives the primary chain 461 to rotate, at this time, the distance between the primary sprocket 462 at the upper end of the secondary sliding arm cylinder 42 and the primary chain fixing block 463 of the primary fixed arm cylinder 41 increases, and the length of the primary chain 461 does not change, so that the distance between the primary sprocket 462 at the upper end of the secondary sliding arm cylinder 42 and the primary chain fixing block 463 of the tertiary sliding arm cylinder 43 decreases, and the tertiary sliding arm cylinder 43 ascends relative to the secondary sliding arm cylinder 42, that is, the tertiary sliding arm cylinder 43 retracts into the secondary sliding arm cylinder 42 while ascending along with the secondary sliding arm cylinder 42; when the secondary sliding arm cylinder 42 descends under the driving of the Z-axis driving motor 451, the primary sprocket 462 drives the primary chain 461 to rotate, at this time, the distance between the primary sprocket 462 at the lower end of the secondary sliding arm cylinder 42 and the primary chain fixing block 463 of the primary fixed arm cylinder 41 increases, and the length of the primary chain 461 does not change, which inevitably reduces the distance between the primary sprocket 462 at the lower end of the secondary sliding arm cylinder 42 and the primary chain fixing block 463 of the tertiary sliding arm cylinder 43, and thus the tertiary sliding arm cylinder 43 descends relative to the secondary sliding arm cylinder 42, that is, the tertiary sliding arm cylinder 43 descends along with the secondary sliding arm cylinder 42, and simultaneously extends out of the secondary sliding arm cylinder 42.
The secondary transmission mechanism 47 includes a secondary chain 471 and two secondary chain wheels 472, the two secondary chain wheels 472 are respectively rotatably connected to the upper and lower ends of one side of the tertiary sliding arm cylinder 43, the secondary chain 471 is connected to the two secondary chain wheels 472 to form a chain wheel and chain transmission structure, one section of the secondary chain 471 located outside the tertiary sliding arm cylinder 43 is fixed on the inner wall of the secondary sliding arm cylinder 42 through a secondary chain fixing block 473, and one section of the secondary chain 461 located inside the tertiary sliding arm cylinder 43 is fixedly connected on the outer wall of the quaternary sliding arm cylinder 44 through another secondary chain fixing block 473. The same principle as the first-stage transmission mechanism 46 is applied, when the third-stage sliding arm cylinder 43 rises, the fourth-stage sliding arm cylinder 44 also retracts into the third-stage sliding arm cylinder 43 at the same time as the third-stage sliding arm cylinder 43 rises, and when the third-stage sliding arm cylinder 43 falls, the fourth-stage sliding arm cylinder 44 also extends out of the third-stage sliding arm cylinder 43 at the same time as the third-stage sliding arm cylinder 43 falls.
It can be seen that the Z-axis lifting mechanism 4 of the present application is driven by a servo motor, so that the second-stage sliding arm cylinder 42, the third-stage sliding arm cylinder 43 and the fourth-stage sliding arm cylinder 44 can be synchronously stretched, thereby achieving the purpose of rapidly adjusting the stretching amount, and further improving the lifting efficiency of the Z-axis lifting mechanism 4.
Alternatively, in order to improve the motion stability of the third-stage sliding arm cylinder 43 and the fourth-stage sliding arm cylinder 44, as shown in fig. 6, two sets of the first-stage transmission mechanism 46 and the second-stage transmission mechanism 47 are respectively arranged on two sides of the second-stage sliding arm cylinder 42 and the third-stage sliding arm cylinder 43 in a staggered manner.
As shown in fig. 4 and 5, the suction cup type grabbing mechanism 5 mainly comprises a support 51, a plurality of vacuum suction cups 55, a limit switch 56 and a vision camera 57, the support 51 is connected to the bottom of the four-stage sliding arm cylinder 44, the vacuum suction cups 55 are arranged on the support 51 at intervals and are easy to understand, each vacuum suction cup 55 can comprise a vacuum pump, an air pipe, a suction unit, a vacuum switch and various connecting pieces, the suction force needs to meet the hoisting requirements of large white household appliances, the limit switch 56 is arranged on the side surface of the support 51 and used for locking the stacking distance when sucking up products and stacking, and the vision camera 57 is arranged on the support 51 and used for detecting the stacking shape, the material shape and the material position and judging the stacking position.
In order to improve the adaptability of the suction cup type grabbing mechanism 5, the suction cup type grabbing mechanism 5 is connected to be capable of rotating around a Z axis, specifically, the bracket 51 is rotatably connected to the bottom of the four-stage sliding arm cylinder 44 through a rotating shaft 52, specifically, a bearing and other structures can be adopted to realize rotation around the Z axis, meanwhile, a rotary driving mechanism is further arranged on the bottom of the four-stage sliding arm cylinder 44 in a matched manner, specifically, the rotary driving mechanism comprises a driving motor 53 and a gear set 54, the output end of the driving motor 53 is connected to the rotating shaft 52 through the gear set 54, and optionally, the driving motor 53 is a servo motor. Thus, the suction cup type grabbing mechanism 5 can be driven to rotate around the Z axis by the driving motor 53.
When the device is used, the truss 1 is fixed at a loading platform through expansion bolts, when loading is carried out, the trailer flat car drives in along a Y axis, the sucker type grabbing mechanism 5 grabs materials and lifts the materials to a certain height under the driving of the X axis travelling mechanism 3 and the Z axis lifting mechanism 4, then the materials are moved to the upper part of the trailer flat car under the driving of the Y axis travelling mechanism 2, and after the materials are adjusted in place by combining the X axis travelling mechanism 3, the Z axis lifting mechanism 4 drives the sucker type grabbing mechanism 5 to stack the materials on the trailer flat car, the next material is conveyed again until the loading is finished, and the unloading process is opposite to the loading process.
It can be seen from the above description that the automatic loading and unloading vehicle device provided by the application replaces a manual loading and unloading vehicle, realizes the automatic loading and unloading vehicle of large white appliances, saves labor cost, reduces labor intensity of workers, and improves delivery efficiency.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and in the case of not making a contrary explanation, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be interpreted as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The utility model provides a auto-control handling car device which characterized in that: the device comprises a truss, a Y-axis travelling mechanism, an X-axis travelling mechanism, a Z-axis lifting mechanism and a sucker type grabbing mechanism;
the Y-axis travelling mechanism is arranged at the top of the truss, the X-axis travelling mechanism is arranged on the Y-axis travelling mechanism, the Z-axis lifting mechanism is arranged on the X-axis travelling mechanism, and the sucker type grabbing mechanism is arranged at the bottom of the Z-axis lifting mechanism;
the Y-axis travelling mechanism is used for driving the X-axis travelling mechanism to reciprocate along a Y axis, the X-axis travelling mechanism is used for driving the Z-axis lifting mechanism to reciprocate along an X axis, the Z-axis lifting mechanism is used for driving the sucker type grabbing mechanism to ascend and descend along a Z axis, and the sucker type grabbing mechanism is used for grabbing materials.
2. A lift truck apparatus as claimed in claim 1, wherein: the Y-axis traveling mechanism comprises:
the two Y-axis guide rails extend along the longitudinal direction and are parallel to each other, the two Y-axis guide rails are respectively arranged on two sides of the truss, and a Y-axis rack parallel to the Y-axis guide rails is arranged beside each Y-axis guide rail;
and the two Y-axis sliding block assemblies are respectively connected onto the two Y-axis guide rails in a sliding manner, each Y-axis sliding block assembly is provided with a Y-axis driving motor, the output end of each Y-axis driving motor is provided with a Y-axis gear, and the Y-axis gears are meshed with the corresponding Y-axis racks.
3. The lift truck apparatus of claim 2, wherein: the X-axis running gear comprises:
the two ends of the two X-axis guide rails are respectively connected to the two Y-axis sliding block assemblies, and an X-axis rack parallel to the X-axis guide rails is arranged beside the X-axis guide rails;
the X-axis sliding block assembly is connected to the two X-axis guide rails in a sliding mode, an X-axis driving motor is arranged on the X-axis sliding block assembly, an X-axis gear is arranged at the output end of the X-axis driving motor, and the X-axis gear is connected with the X-axis rack in a meshed mode.
4. A lift truck apparatus according to claim 3, wherein: the Z-axis lifting mechanism comprises a first-stage fixed arm cylinder, a second-stage sliding arm cylinder, a third-stage sliding arm cylinder, a fourth-stage sliding arm cylinder, a Z-axis driving mechanism, a first-stage transmission mechanism and a second-stage transmission mechanism;
the first-stage fixed arm cylinder is fixedly connected to the X-axis sliding block assembly, the second-stage sliding arm cylinder is sleeved in the first-stage fixed arm cylinder in a sliding mode, and the Z-axis driving mechanism is connected with the first-stage fixed arm cylinder and the second-stage sliding arm cylinder respectively and used for driving the second-stage sliding arm cylinder to move up and down relative to the first-stage fixed arm cylinder;
the three-stage sliding arm cylinder is sleeved in the two-stage sliding arm cylinder in a sliding manner, the first-stage transmission mechanism is respectively connected with the first-stage fixed arm cylinder, the two-stage sliding arm cylinder and the three-stage sliding arm cylinder, and the two-stage sliding arm cylinder drives the three-stage sliding arm cylinder to move in the same direction relative to the two-stage sliding arm cylinder through the first-stage transmission mechanism during lifting displacement;
the four-stage sliding arm cylinder is slidably sleeved in the three-stage sliding arm cylinder, the second-stage transmission mechanism is respectively connected with the second-stage sliding arm cylinder, the third-stage sliding arm cylinder and the four-stage sliding arm cylinder, and the three-stage sliding arm cylinder drives the four-stage sliding arm cylinder to move in the same direction relative to the three-stage sliding arm cylinder in a lifting displacement mode through the second-stage transmission mechanism.
5. A lift truck apparatus according to claim 4, wherein: the Z-axis driving mechanism comprises a Z-axis driving motor and a Z-axis rack; the Z-axis rack is arranged on the secondary sliding arm cylinder and extends in the vertical direction; the Z-axis driving motor is arranged on the first-stage fixed arm cylinder, a Z-axis gear is arranged at the output end of the Z-axis driving motor, and the Z-axis gear is meshed with the Z-axis rack.
6. The lift truck apparatus of claim 4, wherein: the primary transmission mechanism comprises a primary chain and two primary chain wheels; two the one-level sprocket rotates respectively to be connected the upper and lower both ends of second grade slide arm section of thick bamboo, the one-level chain is connected two the one-level is taken turns to epaxially, the one-level chain is located one section fixed connection in the second grade slide arm section of thick bamboo outside is in the inner wall of one-level fixed arm section of thick bamboo, the one-level chain is located one section fixed connection of second grade slide arm section of thick bamboo inboard is in the outer wall of tertiary slide arm section of thick bamboo.
7. The lift truck apparatus of claim 4, wherein: the secondary transmission mechanism comprises a secondary chain and two secondary chain wheels; two the second grade sprocket rotates respectively to be connected the upper and lower both ends of tertiary slide arm section of thick bamboo, the second grade chain is connected two on the second grade sprocket, the second grade chain is located one section fixed connection in tertiary slide arm section of thick bamboo outside is in the inner wall of secondary slide arm section of thick bamboo, the second grade chain is located one section fixed connection of tertiary slide arm section of thick bamboo inboard is in the outer wall of level four slide arm section of thick bamboo.
8. The lift truck apparatus of claim 4, wherein: the outer wall of the second-stage sliding arm cylinder, the third-stage sliding arm cylinder and the fourth-stage sliding arm cylinder is respectively provided with a Z-axis guide rail extending along the vertical direction, and the inner wall of the first-stage fixed arm cylinder, the second-stage sliding arm cylinder and the third-stage sliding arm cylinder is respectively provided with a slide block matched with the Z-axis guide rail.
9. The lift truck apparatus of claim 4, wherein: the sucking disc type grabbing mechanism comprises a support connected to the bottom of the four-stage sliding arm cylinder, and a vacuum sucking disc, a limit switch and a vision camera are arranged on the support.
10. The lift truck assembly of claim 9, wherein: the support with the level four slide arm section of thick bamboo connects into and to be able to wind the Z rotation of axes, still be provided with rotary driving mechanism on the level four slide arm section of thick bamboo, rotary driving mechanism's output with the support drive is connected, is used for the drive the support is around the Z rotation of axes.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222134937.0U CN218619256U (en) | 2022-08-12 | 2022-08-12 | Automatic loading and unloading vehicle device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202222134937.0U CN218619256U (en) | 2022-08-12 | 2022-08-12 | Automatic loading and unloading vehicle device |
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| CN218619256U true CN218619256U (en) | 2023-03-14 |
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| CN202222134937.0U Active CN218619256U (en) | 2022-08-12 | 2022-08-12 | Automatic loading and unloading vehicle device |
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