CN220011432U

CN220011432U - Loading robot

Info

Publication number: CN220011432U
Application number: CN202321192164.XU
Authority: CN
Inventors: 卢世昌; 白轩徽; 阳晓晖; 伍梅山
Original assignee: Liuzhou Yinuoshi Intelligent Equipment Co ltd; Guangzhou Yinuoshi Intelligent Equipment Co ltd
Current assignee: Liuzhou Yinuoshi Intelligent Equipment Co ltd; Guangzhou Yinuoshi Intelligent Equipment Co ltd
Priority date: 2023-05-17
Filing date: 2023-05-17
Publication date: 2023-11-14
Anticipated expiration: 2033-05-17

Abstract

The utility model discloses a loading robot, which relates to the technical field of material loading facilities. The loading robot is hung on the transverse moving mechanism for use, integrates the functions of lifting, rotating and transverse moving, is used for finishing terminal feeding, can ensure the feeding and stacking efficiency of the loading machine, and meets the requirements of customers on the loading efficiency; the ladle falling process can be accurately completed, the ladle falling gesture is excellent, and the multi-angle and all-dimensional feeding of the loading machine is realized; the fault rate is low, the noise is low, and the operation is very stable; in addition, the product of the utility model has high reliability, and the loading load force reaches 70kgf and the impact load force reaches 100 kgf.

Description

Loading robot

Technical Field

The utility model relates to the technical field of bagged material loading facilities, in particular to a loading robot.

Background

At present, a plurality of intelligent car loaders for preparing car loading robots exist, but from the feedback of the market, the car loading robots still have a plurality of defects: the high fence vehicle cannot be installed, and the breaking rate is high; frequently occurring faults of a loading robot arm of the loading machine; the holding load is small, and most of the impact load force is less than 50kgf.

Based on the reasons, aiming at the urgent demands of customers, the improved loading robot for loading the bagged materials has great improvement on the structure and principle as compared with the loading robots on the market at present, and the simplification of complex problems is realized.

CN217376563U discloses a multifunctional bag feeder, which comprises a travelling trolley, wherein a travelling servo motor assembly and a rotary servo motor assembly are arranged at the top of the travelling trolley; the two sides of the walking trolley are connected with walking composite bearings; the bottom of the travelling trolley is connected with the top of the slewing bearing, and the slewing bearing is connected with the slewing servo motor assembly; the bottom of the slewing bearing is connected with a lifting guide rail limiting block assembly and a lifting servo motor assembly, the lifting servo motor assembly is connected with a lifting guide rail, the lifting guide rail is clamped in the lifting guide rail limiting block assembly and penetrates through the slewing bearing to be arranged, and the bottom of the lifting guide rail is connected with a blanking box. The utility model designs the integrated blocks of the transverse walking function, the rotating function and the lifting function of the bag throwing device, has simple structure, can synchronously realize the rotating motion and the lifting motion in the transverse moving process of the frame guide rail, and meets the requirement of multi-angle and multi-azimuth material throwing. But the device still does not meet the use requirements.

Disclosure of Invention

The utility model provides a loading robot, which aims to at least solve the technical problems in the background art.

The utility model adopts the following technical scheme to realize the aim of the utility model:

the loading robot comprises a connecting base, wherein the connecting base is rotationally connected with the upper end of an upper arm through an upper arm driving assembly, the lower end of the upper arm is rotationally connected with the upper end of a front arm, the upper end of the front arm is connected with the front arm driving assembly, and the lower end of the front arm is movably connected with a feeder device.

In the loading robot traversing mechanism, the connecting base comprises a bottom plate, and two ends of the bottom plate are respectively connected with one mounting lug; the upper arm driving assembly and the forearm driving assembly are respectively arranged on the outer side of one mounting lug.

In the transverse moving mechanism of the loading robot, the connecting end of the upper arm and the forearm is connected with the forearm driving assembly through the toothed chain assembly.

In the transverse moving mechanism of the loading robot, the lower end of the front arm is connected with the holding driving assembly, the holding driving assembly is connected with the rotary driving assembly, and the rotary driving assembly is connected with the feeder device.

In the aforesaid loading robot sideslip mechanism, upper arm drive assembly, forearm drive assembly, keep drive assembly and rotatory drive assembly all include servo motor and reduction gear.

Advantageous effects

The loading robot is hung on the transverse moving mechanism for use, integrates the functions of lifting, rotating and transverse moving, is used for finishing terminal feeding, can ensure the feeding and stacking efficiency of the loading machine, and meets the requirements of customers on the loading efficiency; the ladle falling process can be accurately completed, the ladle falling gesture is excellent, and the multi-angle and all-dimensional feeding of the loading machine is realized; the fault rate is low, the noise is low, and the operation is very stable; in addition, the product of the utility model has high reliability, and the loading load force reaches 70kgf and the impact load force reaches 100 kgf.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic diagram of the connection structure of the present utility model;

FIG. 2 is a schematic elevational view of the present utility model;

FIG. 3 is a schematic side elevational view of the present utility model;

FIG. 4 is a schematic diagram of an application architecture of the present utility model;

FIG. 5 is a schematic side elevational view of FIG. 4;

FIG. 6 is a schematic top view of FIG. 4 (with frame assembly ends omitted);

FIG. 7 is a schematic structural view of a frame assembly;

FIG. 8 is a schematic top view of a frame assembly;

the reference numerals are: 1-lifting connecting plates, 2-dust suction hoods, 3-frame devices, 4-bearing wheel sets, 5-limit wheel sets, 6-laser ranging devices, 7-feeder devices, 8-loading robots, 9-trolley guide rails, 10-traversing trolleys and 11-driving trolley devices; 31-a lifting frame, 32-a driving rack assembly, 33-a frame body assembly; 81-coupling base, 82-upper arm drive assembly, 83-upper arm, 84-forearm drive assembly, 85-toothed chain assembly, 86-forearm, 87-rotary drive assembly, 88-holding drive assembly, 89-feed inlet, 810-discharge outlet, 811-base plate, 812-mounting lug, 813-flap drive member.

Description of the embodiments

In order that those skilled in the art will better understand the present utility model, a technical solution in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present utility model without making any inventive effort, shall fall within the scope of the present utility model.

In the present disclosure, the terms "comprises" and "comprising," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus. The method comprises the steps of carrying out a first treatment on the surface of the The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "transverse", "longitudinal", etc. refer to an orientation or positional relationship based on that shown in the drawings. These terms are only used to better describe the present utility model and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.

Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present utility model will be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, the terms "mounted," "configured," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

It should be noted that, without conflict, the embodiments of the present utility model and features of the embodiments may be combined with each other. The utility model will be described in detail below with reference to the drawings in connection with embodiments.

Examples. The loading robot has the structure shown in fig. 1-3, and comprises a connecting base 81, wherein the connecting base 81 is rotatably connected with the upper end of an upper arm 83 through an upper arm driving assembly 82, the lower end of the upper arm 83 is rotatably connected with the upper end of a front arm 86, the upper end of the front arm 86 is connected with a front arm driving assembly 84, and the lower end of the front arm 86 is movably connected with a feeder device 7.

The feeder device 7 preferably adopts a multifunctional feeder device structure proposed by CN 114955600A.

The coupling base 81 includes a bottom plate 811, and mounting lugs 812 are respectively connected to both ends of the bottom plate 811; the upper arm drive assembly 82 and the forearm drive assembly 84 are each disposed outboard of one of the mounting ears 812.

The connection ends of the upper arm 83 and the forearm 86 are connected to the forearm drive assembly 84 via a toothed chain assembly 85.

The lower end of the front arm 86 is connected with a holding driving assembly 88, the holding driving assembly 88 is connected with a rotary driving assembly 87, and the rotary driving assembly 87 is connected with the feeder device 7.

The upper arm drive assembly 82, forearm drive assembly 84, holding drive assembly 88, and rotary drive assembly 87 each include a servo motor and a decelerator.

The specific construction of the components of the present utility model is as shown in figures 1-3. The upper arm driving assembly 82 is used for driving the upper arm 83 to rotate to any required angle; the forearm driving assembly 84 is used for driving the toothed chain assembly 85 through a spline shaft so as to drive the forearm 86 to rotate at any angle, and the toothed chain assembly 85 is used as a connecting piece so as to ensure that the forearm 86 of the robot can not loosen under the condition of flexible movement; the upper end of the front arm 86 is fitted to the lower end of the upper arm 83; the lower end is mounted with a retaining driving component 88, and the action of the retaining driving component 88 ensures that the feeder device 7 is stable in posture and in a horizontal state in the moving process; the left side and the right side of the rotary driving component 87 are respectively assembled with the lower end of the front arm 86 and the output end of the holding driving component 88, and the action driving of the rotary driving component is that the feeder device 7 rotates to any angle required, so that the requirement of the loading machine for feeding vertical material bags or horizontal material bags is met.

Specifically, the loading robot 8 realizes the ascending, descending and rotating actions of the feeder device 7 according to the program instructions, and meets the feeding requirement of a designated position; the feeder device 7 is assembled at the lower part of the loading robot and is used for feeding bags, shaping and feeding bags, after receiving the instruction, the turning plate driving power unit at the front end drives the connecting rod assemblies at two sides to move, so that two turning plates are opened in a synchronous mode (the gesture stability when the material bags fall down is ensured), the material bags are put in the appointed position of a carriage, and then the turning plates are synchronously closed.

The drive assembly may be a combination of a servo motor and a speed reducer, or may be a stepping motor, a hydraulic pump, or the like, which is capable of providing a rotary power element. The specific driving assembly is preferably of a specification according to which the servo motor can just meet the requirements of use, thereby reducing the overall vehicle consumption.

The utility model is preferably used for feeding materials on a frame device 3, and the application structure is shown in fig. 4-8, and the application structure comprises: the frame device 3, the structure of the frame device 3 is that the frame device comprises a rectangular frame main body component 33, a traversing trolley 10 is movably arranged on the frame main body component 33, the bottom of the traversing trolley 10 is connected with a loading robot 8, and the loading robot 8 is movably connected with a feeder device 7.

The frame device 3 is used in a loader (such as a space-saving bagging loader disclosed in CN114955600A and a split-flow double-throw loader capable of enabling a feeder to enter a carriage disclosed in CN 113844860A), the discharge of conveying equipment of a front-end production line of the loader enters the feeder device 7, the traversing carriage 10 moves to a feeding point on the frame main body assembly 33, and the loading robot 8 controls the posture and the position of the feeder device 7 to feed. Wherein the feeder device 7 is fitted in the lower part of the rotary drive assembly 87 for the feed, shaping and feed ladle action.

The middle part of the frame main body assembly 33 is upwards connected with a lifting frame 31, the rear part of the lifting frame 31 is connected with a lifting connecting plate 1, and the front part of the lifting frame is provided with a dust hood 2 above the frame main body assembly 33. Wherein, the lifting connecting plate 1 is assembled with the lifting device of the loader into a whole and drives the traversing mechanism assembly to move forwards and backwards and lift up and down; the dust hood 2 is connected with a loading channel dust collection system of a production factory to collect dust at the lower part of the transverse moving mechanism.

The two long sides of the frame main body assembly 33 are provided with trolley guide rails 9; and a group of limiting wheel sets 5 matched with the trolley guide rails 9 are arranged on the transverse trolley 10. As shown in fig. 1, the limiting wheel sets 5 have 4 groups, and the limiting wheel sets run on the side edges of the trolley guide rails 9 to play a role in guiding the traversing trolley 10.

A driving rack assembly 32 is connected to the frame body assembly 33 in the longitudinal direction; the bottom of the traversing carriage 10 is connected with a driving carriage device 11, and the driving carriage device 11 comprises a driving gear which is meshed with a driving rack assembly 32. The driving carriage device 11 drives the traversing carriage 10 to travel left and right along the guide rail. The frame body assembly 33 includes two parallel long bars in the left-right direction and short bars connecting the head ends of the long bars, and the long bars and the short bars together constitute the frame body assembly 33. The two long sides refer to two long rods. As shown in fig. 4, the rack is provided as a single side, and if the left and right sides are provided with the rack communication structure at the same time, it is also possible to realize.

The bottom of the traversing trolley 10 is connected with a plurality of groups of bearing wheel groups 4, and the plurality of groups of bearing wheel groups 4 are arranged on the frame main body assembly 33. As shown in fig. 4, the bearing wheel set 4 has 4 groups, and the trolley guide rail 9 provides support for the bearing wheel set 4, reduces the rolling resistance of the wheel set walking, and the bearing wheel set 4 plays a bearing role.

After the driving trolley device 11 is started, the 4 groups 4 of bearing wheel groups 4 and the limiting wheel groups 5 arranged on the driving trolley device can reciprocate left and right along the trolley guide rail 9, so that the requirement of feeding at a specified position is met.

The traversing trolley 10 is connected with a laser ranging device 6. The laser ranging device 6 is arranged on the right side of the front end of the lower part of the transverse trolley 10, and has the function of detecting the length, width and height of the boxcar in real time and collecting data and transmitting the data back to the PLC system for processing.

The application method and the working principle are as follows: the frame device is used in a loader, the feed inlet 89 is in butt joint with a material distribution outlet of front end production line conveying equipment, and the lifting connecting plate 1 and the lifting device are assembled into a whole. When the truck enters a preset loading position, the loader is started to drive the transverse moving frame 3 to rapidly advance towards the truck head through the lifting device, and the truck is decelerated and advanced when approaching the truck head. Meanwhile, the left traversing trolley 10 and the right traversing trolley 10 of the traversing frame 3 are started to walk at a slow speed towards the two sides, the laser ranging device 6 detects the length, the width and the height of the boxcar in real time, data are transmitted back to the PLC system for processing, and then the optimal bag arrangement mode is output.

After entering a packing state, when a power belt splitting device discharge port of the front-end conveying equipment outputs a material packet, a detection component arranged at an outlet of the power splitting device detects that the material packet enters the box body through a feed inlet of a feeder device 7. The driving trolley device 11 on the traversing frame 3 is started, the traversing trolley 10 walks along the trolley guide rail 9, and meanwhile, the loading robot 8 works (the upper arm and the forearm of the manipulator rotate correspondingly according to a program instruction), so that the feeder device 7 descends to reach the instruction position. The two turning plates at the bottom are synchronously opened (the posture stability of the falling of the material bag is ensured) through the turning plate driving part 813 at the front end of the feeder device 7, and the material bag is put into a carriage from the discharge hole 810 at the lower end of the feeder device 7. After the feeding is completed, the motor of the turning plate driving part 813 receives the signals, and then synchronously closes the two turning plates, and simultaneously returns to the origin along the set track to wait for the material package, thereby completing the work of one cycle.

The utility model relates to a circuit, an electronic component and a module which are all in the prior art, and can be completely realized by a person skilled in the art according to the prior art, and needless to say, the protection content of the utility model does not relate to the improvement of software and a method.

The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.

Claims

1. A loading robot, its characterized in that: comprises a connecting base (81), wherein the connecting base (81) is rotationally connected with the upper end of an upper arm (83) through an upper arm driving assembly (82), the lower end of the upper arm (83) is rotationally connected with the upper end of a front arm (86), the upper end of the front arm (86) is connected with a front arm driving assembly (84), and the lower end of the front arm (86) is movably connected with a feeder device (7).

2. The loading robot of claim 1, wherein: the connecting base (81) comprises a bottom plate (811), and two mounting lugs (812) are respectively connected to two ends of the bottom plate (811); the upper arm drive assembly (82) and the forearm drive assembly (84) are each disposed outboard of one of the mounting ears (812).

3. The loading robot of claim 2, wherein: the connecting end of the upper arm (83) and the forearm (86) is connected with the forearm driving assembly (84) through the toothed chain assembly (85).

4. A loading robot according to claim 3, wherein: the lower end of the front arm (86) is connected with a holding driving assembly (88), the holding driving assembly (88) is connected with a rotary driving assembly (87), and the rotary driving assembly (87) is connected with the feeder device (7).

5. The loading robot of claim 4, wherein: the upper arm drive assembly (82), the forearm drive assembly (84), the holding drive assembly (88) and the rotary drive assembly (87) all comprise a servo motor and a speed reducer.