WO2021008081A1 - 一种装车用码垛设备 - Google Patents

一种装车用码垛设备 Download PDF

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Publication number
WO2021008081A1
WO2021008081A1 PCT/CN2019/127307 CN2019127307W WO2021008081A1 WO 2021008081 A1 WO2021008081 A1 WO 2021008081A1 CN 2019127307 W CN2019127307 W CN 2019127307W WO 2021008081 A1 WO2021008081 A1 WO 2021008081A1
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WO
WIPO (PCT)
Prior art keywords
pallet
goods
distribution
pushing
palletizing
Prior art date
Application number
PCT/CN2019/127307
Other languages
English (en)
French (fr)
Inventor
龙高峰
蒋育君
Original Assignee
广州圣益龙自动控制技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 广州圣益龙自动控制技术有限公司 filed Critical 广州圣益龙自动控制技术有限公司
Publication of WO2021008081A1 publication Critical patent/WO2021008081A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles

Definitions

  • the invention relates to the technical field of carriage palletizing, in particular to a palletizing equipment for loading vehicles.
  • the prior art mechanical arm mechanism adjusts the direction by a single rotating mechanism rotating as a whole.
  • the gravity offset of the mechanical arm mechanism causes a drastic change in the force of the rotating mechanism.
  • the palletizing tooling in the prior art has poor flexibility. When palletizing the goods at different heights, it is easy to cause the goods to fall or be untidy.
  • rollers are usually used to move the goods piece by piece. The goods are transported to the palletizing position for palletizing, but when the goods move on the rollers, the goods are easily rotated due to uneven contact, which makes it impossible to directly and neatly palletize to the position, which affects the stability of the goods palletizing.
  • the purpose of the present invention is to provide a palletizing equipment for loading vehicles that helps improve the stability of delivery and the neatness of the palletizing of goods.
  • the present invention provides a palletizing device for loading vehicles, including a palletizing device and a palletizing tool.
  • the palletizing device includes a base, a mechanical arm mechanism, and a supporting mechanism. One end of the mechanical arm mechanism is connected to the base.
  • the base is hinged, and the supporting mechanism is arranged in the middle of the mechanical arm mechanism for driving the mechanical arm mechanism to swing;
  • the palletizing tooling includes a mounting frame, a luffing mechanism, a feeding mechanism, a distribution mechanism, a material pushing mechanism, and a pallet mechanism.
  • the mounting frame is connected to the end of the mechanical arm mechanism away from the base through the luffing mechanism, so
  • the feeding mechanism is installed on the mounting frame, the feeding mechanism forms a delivery channel for goods to pass through, the distribution mechanism is provided with a distribution station arranged at the exit of the delivery channel, the distribution station
  • the two sides are respectively provided with the pallet mechanism, when the goods move from the delivery channel to the distribution station, the distribution mechanism moves the goods to the pallet mechanism, and the pushing mechanism is arranged on the first pallet mechanism The side is used to move the goods on the pallet mechanism out of the pallet mechanism for stacking.
  • the base includes a first platform and a second platform, the first platform is equipped with a first translation and rotation mechanism, the second platform is equipped with a second translation and rotation mechanism, and one end of the mechanical arm mechanism is connected to The first translation and rotation mechanism is rotatably connected, one end of the support mechanism is rotatably connected with the second translation and rotation mechanism, and the mechanical arm mechanism is connected with the support mechanism;
  • the mechanical arm mechanism includes a basic arm and a telescopic arm, the telescopic arm is connected with the basic arm for telescopic movement relative to the basic arm, a first end of the basic arm is rotatably connected with a first translation and rotation mechanism, the basic arm The position close to the second end is rotatably connected with a supporting mechanism, and the supporting mechanism is used to make the second end of the basic arm make a rotational movement around the first end.
  • the supporting mechanism includes a supporting gantry, a lifting screw and a lifting driving unit
  • the supporting gantry is installed on the second translation and rotation mechanism
  • a connecting shaft is rotatably connected to the position of the basic arm near the second end, The two ends of the connecting shaft are respectively screwed with the lifting screw, the lifting screw is rotatably connected to both sides of the supporting gantry, and the lifting driving unit is installed on the supporting gantry to drive the lifting screw The rod rotates.
  • the feeding mechanism includes a roller assembly for driving the movement of the goods and a passage adjustment assembly respectively arranged on both sides of the delivery aisle for adjusting the width of the delivery aisle
  • the passage adjustment assembly includes a passage side plate and a A side plate drive unit that moves on the side plate of the drive channel, and the side plate drive unit is installed on the mounting frame.
  • the distribution mechanism includes a plurality of distribution guide rollers and a distribution plate for moving the goods to the pallet mechanism, and the distribution plate is connected with a distribution drive unit for driving the distribution plate along The pallet mechanism on both sides moves back and forth.
  • the stopper mechanism includes a stopper plate and a stopper drive assembly.
  • the stopper plate is arranged at one end of the splitting mechanism away from the delivery channel.
  • the stopper plate transmission connection is used to drive the stopper plate up and down.
  • the pushing mechanism includes a first pushing cylinder, a pushing rail, a first pushing block, and a second pushing block.
  • the output end of the first pushing cylinder is connected to the pushing rail.
  • Both the first pushing block and the second pushing block are slidably connected to the pushing guide rail, and one end of the second pushing block is slidably connected to the second support plate.
  • the pushing mechanism further includes a second pushing cylinder, the output end of the second pushing cylinder is connected to the first pushing block, and one end of the second pushing block is slidably connected to the second pallet.
  • the pallet mechanism includes a first pallet and a second pallet, and the second pallet is slidably arranged below the first pallet and telescopes on the side of the first pallet away from the distribution mechanism.
  • it further includes a discharging mechanism, and the distributing mechanism and the pallet mechanism are both provided with the discharging mechanism.
  • the invention helps to realize the automatic loading of goods.
  • the robot arm mechanism of the palletizing device transports the goods from the outside of the carriage to the inside of the carriage.
  • the mechanical arm mechanism can be used for luffing through the supporting mechanism to adjust the height of the goods conveying. At the same time, it supports The mechanism can play the role of stabilizing the mechanical arm mechanism, avoiding the stress damage caused by the deviation of the center of gravity and greater force when the mechanical arm mechanism conveys heavier goods.
  • the mobile palletizing tool is installed, it is formed by the feeding mechanism
  • the delivery channel makes the goods move to the distribution station, and the distribution mechanism moves the goods on the distribution station to the pallet mechanisms on both sides to arrange them neatly, so that the goods are pushed out into the carriage by the pushing mechanism for coding
  • the mounting frame is connected with a luffing mechanism.
  • the horizontal angle of the feeding mechanism and the pallet mechanism can be adjusted by the luffing mechanism, which is convenient for different heights in the carriage and maintains a better feeding direction. Palletize the goods to improve the neatness of the palletized goods and the stability of the goods after palletizing;
  • the present invention is equipped with a distribution mechanism, which distributes the goods on the distribution station to the pallet mechanisms on both sides through the distribution mechanism, so that the goods are arranged neatly, and then the goods are pushed out together by the pushing mechanism , It is convenient for the one-time stacking neatly across the entire row in the carriage, further improving the stacking efficiency and stacking stability.
  • Fig. 1 is a schematic structural diagram of a preferred embodiment of the present invention.
  • FIG. 2 is a schematic diagram of the structure of the base in the preferred embodiment of the present invention.
  • Figure 3 is a schematic structural diagram of a supporting mechanism in a preferred embodiment of the present invention.
  • FIG. 4 is a schematic diagram of a partial structure of a mechanical arm mechanism in a preferred embodiment of the present invention.
  • Figure 5 is a partial structural diagram of the telescopic drive motor part of the robotic arm mechanism in the preferred embodiment of the present invention.
  • FIG. 6 is a partial structural diagram of another view of the telescopic drive motor part of the robotic arm mechanism in the preferred embodiment of the present invention.
  • Figure 7 is a partial structural diagram of the head end of the telescopic arm in a preferred embodiment of the present invention.
  • Figure 8 is a schematic structural diagram of a mechanical arm mechanism in a preferred embodiment of the present invention.
  • Figure 9 is a schematic structural diagram of a palletizing tool of a preferred embodiment of the present invention.
  • Figure 10 is another structural diagram of the palletizing tooling of the preferred embodiment of the present invention.
  • Fig. 11 is a schematic structural diagram of a blocking mechanism in a preferred embodiment of the present invention.
  • Palletizing tooling 21, mounting frame, 22, feeding mechanism, 221, roller assembly, 2211, roller shaft, 2212, roller drive motor, 222, channel adjustment assembly, 2221, channel side plate, 2222, side plate Drive unit, 23, distribution mechanism, 231, distribution guide roller, 232, distribution plate, 24, pushing mechanism, 241, first pushing cylinder, 242, pushing guide rail, 243, first pushing block, 244.
  • this embodiment provides a palletizing equipment for loading vehicles, which is characterized in that it includes a palletizing device 1 and a palletizing tool 2.
  • the palletizing device 1 includes a base 11, a mechanical arm mechanism 12, and The support mechanism 13, one end of the mechanical arm mechanism 12 is hinged with the base 11, and the support mechanism 13 is arranged in the middle of the mechanical arm mechanism 12 for driving the mechanical arm mechanism 12 to swing;
  • the palletizing tool 2 includes a mounting frame 21, a luffing mechanism 26, a feeding mechanism 22, a distribution mechanism 23, a pushing mechanism 24 and a pallet mechanism 25.
  • the mounting frame 21 is away from the base through the luffing mechanism 26 and the mechanical arm mechanism 12
  • One end of the seat 11 is connected, and the feeding mechanism 22 is installed on the mounting frame 21.
  • the feeding mechanism 22 forms a delivery channel for goods to pass through.
  • the distribution mechanism 23 is provided with a distribution station set at the exit of the delivery channel. Both sides of the position are respectively provided with a pallet mechanism 25.
  • the distribution mechanism 23 moves the goods to the pallet mechanism 25, and the pushing mechanism 24 is arranged on the pallet mechanism 25.
  • the side is used to move the goods on the pallet mechanism 25 out of the pallet mechanism 25 for stacking.
  • the present invention is helpful to realize the automatic loading of goods.
  • the robot arm mechanism 12 of the palletizing device 1 transports the goods from the outside of the carriage to the inside of the carriage.
  • the robot arm mechanism 12 can be luffed by the support mechanism 13 to adjust the height of the cargo conveying.
  • the support mechanism 13 can play a role in stabilizing the robotic arm mechanism 12, avoiding stress damage caused by the offset of the center of gravity and greater force when the robotic arm mechanism 12 transports heavier goods.
  • the palletizing tool 2 After loading, the goods are moved to the distribution station through the delivery channel formed by the feeding mechanism 22, and the distribution mechanism 23 moves the goods on the distribution station to the pallet mechanisms 25 on both sides to arrange them neatly, thereby passing
  • the pushing mechanism 24 pushes the goods into the carriage for palletizing.
  • the mounting frame 21 is connected with a luffing mechanism 26.
  • the feeding mechanism 22 and the pallet mechanism 25 can be adjusted by the luffing mechanism 26. , It is convenient to maintain a better feeding direction at different heights in the carriage, and stack the goods to improve the neatness of the stacked goods and the stability of the goods after the stacking;
  • the present invention is provided with a distribution mechanism 23, which distributes the goods on the distribution station to the pallet mechanisms 25 on both sides through the distribution mechanism 23, so that the goods are lined up neatly, and then pass the pushing mechanism 24 The goods are pushed out together to facilitate the one-time stacking neatly across the entire line in the carriage, further improving the stacking efficiency and stacking stability.
  • the base 11 of this embodiment includes a first platform 111 and a second platform 112.
  • the first platform 111 is equipped with a first translation and rotation mechanism 14, and the second platform 112 is equipped with a second translation and rotation mechanism 15.
  • One end of the mechanical arm mechanism 12 is rotatably connected with the first translation and rotation mechanism 14, one end of the support mechanism 13 is rotatably connected with the second translation and rotation mechanism 15, and the mechanical arm mechanism 12 is connected with the support mechanism 13;
  • the mechanical arm mechanism 12 includes a basic arm 121 and a telescopic arm 122.
  • the basic arm 121 is provided with a telescopic cavity.
  • the telescopic arm 122 is sleeved in the telescopic cavity of the basic arm 121 for expansion and contraction.
  • the first end of the basic arm 121 is connected to the first translation and rotation mechanism. 14 is rotatably connected, and the position of the basic arm 121 near the second end is rotatably connected with the supporting mechanism 13, and the supporting mechanism 13 is used to make the second end of the basic arm 121 rotate around the first end.
  • the free adjustment of the delivery position of the robotic arm mechanism 12 is realized, so that the two ends of the robotic arm mechanism 12 move synchronously, and the delivery direction and direction are adjusted before The direction is the same, so that the position where the goods are transferred by the robot arm mechanism 12 is changed by translation, which is convenient for stacking the goods in a neat manner.
  • the two ends of the robot arm mechanism 12 can be moved independently, so that the robot arm mechanism 12 produces a rotational movement. Adjust the delivery direction of the robotic arm mechanism 12.
  • the two-point support for the robotic arm mechanism 12 is achieved through the first translation and rotation mechanism 14 and the second translation and rotation mechanism 15 to improve the stability of the installation of the robotic arm mechanism 12 on the base 11 It also eliminates the mechanical stress caused by the angle between the rotation of the robot arm mechanism 12 and the base 11 when the robot arm mechanism 12 rotates.
  • the robotic arm mechanism 12 includes a basic arm 121 and a telescopic arm 122, which realizes the expansion of the robot's cargo transportation space, is suitable for stacking cargo of different length containers, has a wider scope of application, and reduces the cost of robot use;
  • the position of the basic arm 121 close to the second end is rotatably connected with the supporting mechanism 13.
  • the supporting mechanism 13 makes the second end change amplitude around the first end to change the amplitude of the second end of the basic arm 121 so that the goods can be
  • the robot arm mechanism 12 is used to transport to different heights to realize the stacking of goods of different heights.
  • the number of telescopic arms 122 is not limited to one or two sections, and may be multiple sections, which is suitable for stacking goods of different sizes of containers.
  • the first translation and rotation mechanism 14 and the second translation and rotation mechanism 15 include a translation assembly 141 and a rotation base 1421.
  • the translation assembly 141 includes a translation drive unit 1411 and a translation guide rail 1412, and a rotation base 1421 Slidingly mounted on the translation guide rail 1412, the translation drive unit 1411 is used to drive the rotating base 1421 to move along the translation guide rail 1412, move on the translation guide rail 1412 through the rotation base 1421, in the first translation and rotation mechanism 14 and the second translation and rotation mechanism
  • the translational assembly 141 of 15 moves synchronously, the position of the robot arm mechanism 12 to convey goods is changed.
  • the robot arm mechanism 12 When the translational assembly 141 of the first translational rotation mechanism 14 and the second translational rotation mechanism 15 do not move synchronously, the robot arm mechanism 12 is in the horizontal direction. The rotation movement is generated to change the delivery direction.
  • the first end of the basic arm 121 is hinged to the rotation base 1421 of the first translation and rotation mechanism 14, and the support mechanism 13 is hinged to the rotation base 1421 of the second translation and rotation mechanism 15.
  • the amplitude of the basic arm 121 is changed, the amplitude of the basic arm 121 is changed, and the height of the conveyed goods is adjusted.
  • the translation guide rail 1412 of the first translation and rotation mechanism 14 and the translation guide 1412 of the second translation and rotation mechanism 15 are arranged in parallel, so that the mechanical arm mechanism 12 When the two ends move along the translation guide rail 1412, the moving efficiency is higher.
  • the supporting mechanism 13 includes a supporting gantry 131, a lifting screw 132, and a lifting drive unit 133.
  • the supporting gantry 131 is installed on the second translation and rotation mechanism 15, and the basic arm 121 is rotatably connected near the second end.
  • the lifting screw 132 is rotatably connected to both sides of the supporting gantry 131.
  • the lifting driving unit 133 is installed on the supporting gantry 131 to drive the lifting screw 132 rotation.
  • the installation of the basic arm 121 is made more stable by supporting the gantry 131.
  • the basic arm 121 is rotatably connected with the connecting shaft 134.
  • the lifting screw 132 is passed around the When one end rotates, the force applied by the basic arm 121 to the lifting screw 132 is kept parallel to the axis of the lifting screw 132, which improves the stability of the rotation of the second end of the basic arm 121 by the rotation of the lifting screw 132.
  • the lower surface of the telescopic arm 122 of this embodiment is provided with a first movable rack 123 and a second movable rack.
  • the first movable rack and the second movable rack are arranged in parallel, and the basic arm 121 is provided with A telescopic drive motor 124.
  • the power output end of the telescopic drive motor 124 is connected to a drive shaft 125.
  • the drive shaft 125 is provided with a first moving gear 1261 and a second moving gear 1262.
  • the first moving gear 1261 meshes with the first moving rack 1231
  • the second moving gear 1262 meshes with the second moving rack 1232, and the structure is simple.
  • the telescopic arm 122 can be rapidly extended and retracted from the basic arm 121, extending the distance of the robot arm’s cargo conveying, and due to the first moving rack 1231 and the second moving rack 1231
  • the racks 1232 are arranged in parallel to improve the stability of the telescopic arm 122.
  • the tooth profile of the first movable rack 1231 is left-handed teeth
  • the tooth profile of the second movable rack 1232 is right-handed teeth
  • the tooth profile of the first movable rack 1231 is symmetrical to the tooth profile of the second movable rack 1232 It is arranged so that the directions of the forces acting on the first moving rack 1231 and the second moving rack 1232 on the first moving gear 1261 and the second moving gear 1262 are directed to the inside, which can accurately transmit and automatically center the transmission of the telescopic 122 The role of.
  • an upper support guide wheel 127 is provided in the telescopic cavity of the basic arm 121 near the second end, and the upper support guide wheel 127 abuts against the bottom surface of the telescopic arm 122.
  • the lower support guide roller 128 abuts against the bottom surface of the cavity and the upper support guide roller 127 abuts against the top surface of the telescopic cavity of the basic arm 121.
  • the basic arm 121 is provided with an upper support guide roller 127 as a support point for the telescopic arm 122, which is convenient The telescopic arm 122 telescopically moves in the telescopic cavity of the basic arm 121.
  • the center of gravity of the telescopic arm 122 will also change.
  • the center of gravity of the telescopic arm 122 moves from the head end to the tail end, the contact between the head end of the telescopic arm 122 and the telescopic cavity of the basic arm 121 is transferred from the bottom surface contact to the top surface contact. Therefore, the support guide wheel 127 is provided near the head end of the telescopic arm 122.
  • the lower supporting guide wheel 128 to prevent the change of the center of gravity of the telescopic arm 122 from affecting the efficiency of the telescopic arm 122 in the telescopic cavity of the basic arm 121, and to improve the stability of the telescopic arm 122.
  • At least two sets of upper support guide wheels 127 are respectively arranged on both sides of the drive shaft 125 to maintain the balance of the forces on both sides of the drive shaft 125, so that the rack can be moved.
  • the meshing between 123 and the mobile gear 126 is more stable, which improves the stability of the telescopic arm 122 while preventing the mobile rack 123 and the mobile gear 126 from meshing incorrectly due to the force changes at both ends of the telescopic arm 122, thereby improving the mobile rack 123 And the service life of the mobile gear 126.
  • this embodiment also includes a belt mechanism 16.
  • the belt mechanism 16 includes a belt drive unit, a reversing roller 161, a belt 162, and a tensioning assembly 163. Both ends of the basic arm 121 and the telescopic arm 122 are provided with reversing rollers. 161, the belt 162 is wound around the reversing roller 161, the end of the basic arm 121 connected to the first translation and rotation mechanism 14 is provided with a tension roller 164, and the tension assembly 163 is provided on the reversing roller 161 and the tension roller of the basic arm 121 Between 164 is used to tension the belt 162 to improve the stability of cargo transportation and improve the efficiency of cargo transportation; specifically, the belt drive unit can be an electric roller or a belt drive motor.
  • the upper surface of the basic arm 121 and the telescopic arm 122 are both laid with a polymer wear-resistant layer, which is used to reduce the friction on the surface of the basic arm 121 and the telescopic arm 122, and to protect the surface of the basic arm 121 and the telescopic arm 122.
  • the friction force between the belt 162 and the surface of the basic arm 121 and the telescopic arm 122 is reduced, and the service life of the belt 162, the basic arm 121 and the telescopic arm 122 is increased.
  • the tensioning assembly 163 includes a pressure roller 1631, a tensioning cylinder 1632, and a tensioning bracket 1633.
  • the tensioning cylinder 1632 is installed on the base arm 121 through the tensioning bracket 1633, and the pressure roller 1631 is connected to the tensioning cylinder 1632 through the mounting bracket 1634.
  • the reversing roller 161, the tension roller 164 and the pressure roller 1631 are arranged in parallel.
  • the tension bracket 1633 is slid with a guide rod 1635.
  • One end of the guide rod 1635 is connected with the mounting bracket 1634.
  • the structure is simple.
  • the tension cylinder 1632 The pressure roller 1631 is pressed against the belt 162 to tighten the belt 162.
  • the movement direction of the pressure roller 1631 is more accurate through the guide rod 1635, and the stability of the tension belt 162 is improved.
  • the control mechanism 17 also includes a control mechanism 17 and an automatic shrinkable cable turntable 18 for receiving and storing cables connected to the control mechanism.
  • the base 11, the robotic arm mechanism 12, and the support mechanism 13 are all electrically connected to the control mechanism 11. It is connected to facilitate the programming control of the control base 11, the robotic arm mechanism 12 and the supporting mechanism 13, which improves the convenience of the robot and improves the efficiency of cargo stacking.
  • the turntable 18 retracts and connects the connecting line between the control mechanism 17 and the mechanical arm mechanism 12, which improves the safety of equipment use, prevents the connecting lines from being stacked in disorder, and avoids potential safety hazards caused by the connecting lines.
  • control mechanism 11 includes a main electric cabinet 171 and a control electric box 172, the main electric cabinet 171 is used for power supply, and the control electric box 172 is installed on the side of the mechanical arm mechanism 12 for connection with the telescopic drive motor 124. Further, a control box (not shown) for electrical connection with the main electric cabinet is provided on both sides of the palletizing tool 2 to realize the control and power supply of the palletizing tool 2.
  • the palletizing tool 2 of this embodiment includes a mounting frame 21, a feeding mechanism 22, a distribution mechanism 23, a pushing mechanism 24, and a pallet mechanism 25.
  • the mounting frame 21 is connected to drive the mounting frame 21 to swing
  • the luffing mechanism 26, the feeding mechanism 22 is installed on the mounting frame 21, the feeding mechanism 22 forms a delivery channel for goods to pass through, and the distribution mechanism 23 is provided with a distribution station set at the exit of the delivery channel, and the distribution work Both sides of the position are respectively provided with a pallet mechanism 25.
  • the distribution mechanism 23 moves the goods to the pallet mechanism 25, and the pushing mechanism 24 is arranged on the pallet mechanism 25.
  • the side is used to move the goods on the pallet mechanism 25 out of the pallet mechanism 25 for stacking.
  • the present invention is helpful to realize the automatic loading of goods.
  • the goods are moved to the distribution station through the delivery channel formed by the feeding mechanism 22.
  • the distribution mechanism 23 moves the goods on the distribution station to the pallets on both sides.
  • the mechanism 25 is arranged neatly, so that the goods are pushed into the carriage through the pushing mechanism 24 for stacking.
  • the mounting frame 21 is connected with a luffing mechanism 26.
  • the feeding mechanism 22 can be adjusted by the luffing mechanism 26.
  • the horizontal angle of the pallet mechanism 25 it is convenient to maintain a better feeding direction at different heights in the carriage, to stack the goods, to improve the neatness of the stacked goods and the stability of the goods after the stacking.
  • the luffing mechanism 26 includes a connecting frame 261 and a luffing motor 262, the connecting frame 261 is rotatably connected to the mounting frame 1, and the luffing motor 262 is used to drive the mounting frame 21 to swing, thereby driving the connection to The feeding mechanism 22 and the pallet mechanism 25 of the mounting frame 21 swing, wherein the feeding mechanism 22 includes a roller assembly 221 for driving the movement of the goods and a channel adjusting assembly respectively arranged on both sides of the delivery channel for adjusting the width of the delivery channel 222.
  • the roller assembly 221 includes a roller shaft 2211 and a roller shaft drive motor 2212 for driving the roller shaft 2211 to rotate. A number of roller shafts 2211 are rotatably connected to the mounting frame 21 and arranged in parallel.
  • the roller drive motor 2212 drives the roller shaft 2211 to rotate, thereby driving the goods on the roller shaft 2211 to move to the distribution station.
  • the channel adjustment assembly 222 includes a channel side plate 2221 and a side for driving the channel side plate 2221 to move.
  • the plate driving unit 2222, the side plate driving unit 2222 are installed on the mounting frame 21, the channel adjusting assembly 222 of this embodiment has two groups, of which the channel side plates 2221 are respectively arranged at the two ends of the roller shaft 2211 and in the side plate driving unit 2222 Under the action of driving, it moves along the axial direction of the roller shaft 2211, thereby adjusting the width of the delivery channel, adapting to the passage of different sizes of goods, and avoiding large goods unable to pass or small goods moving in a wider aisle. The accuracy of cargo positioning.
  • the distribution mechanism 23 of this embodiment includes a plurality of distribution guide rollers 231 and a distribution plate 232 for moving the goods to the pallet mechanism 25, a number of distribution guide rollers 231 are arranged in parallel, and the arrangement direction The arrangement direction of several roller shafts 2211 is the same.
  • the distribution plate 232 is located at one end of the distribution guide roller 231 and is directed to the other side of the distribution guide roller 231 under the action of the distribution drive unit.
  • the pallet mechanism 25 that is allocated on the other side of the mechanism 25 is more helpful to save allocation time, improve the efficiency of allocation, and is beneficial to The balance of the pallet mechanism 25 on both sides of the distribution mechanism 23 is maintained to improve the stability of the tooling during use.
  • the stopper mechanism 27 includes a stopper plate 271 and a stopper drive assembly 272.
  • the stopper plate 271 is arranged at one end of the splitting mechanism 29 away from the delivery channel.
  • the stopper drive assembly 272 and the stopper 271 are connected in transmission and used to drive the stopper 271 up and down, so that when the goods move from the delivery channel to the distribution station, the friction between the distribution guide roller 231 and the goods is relatively high. Is small, so that the baffle plate 271 is set to prevent the goods from rushing out of the distribution station. In addition, it helps to align the goods after the baffle plate 271 contacts the baffle plate 271, and then is distributed through the distribution plate 232. On both sides of the pallet mechanism 25, so as to improve the neatness of the goods.
  • the stopper drive assembly 272 includes a stopper cylinder 2721 and a stopper shaft 2722.
  • the output end of the stopper cylinder 2721 is connected to the stopper shaft 2722 for driving the stopper shaft 2722 to rotate.
  • the stopper plate 271 is connected to the stopper shaft. 2722.
  • the stopper drive assembly 272 further includes a stopper connecting rod 2723 fixed to the stopper shaft 722 and a stopper shaft 2724 rotatably connected to the stopper connecting rod 2723.
  • the stopper plate 271 is fixed on one side of the stopper shaft 2724.
  • the material connecting rod 2723 is provided with a first protrusion 27231
  • the baffle shaft 2724 is provided with a second protrusion 27241.
  • the baffle cylinder 2721 retracts, and the baffle shaft 2724 rotates under the gravity of the baffle plate 271.
  • a protrusion 27231 contacts the second protrusion 27241, and the baffle shaft 2724 drives the stop shaft 2722 to rotate and reset.
  • the pallet mechanism 25 of this embodiment includes a first pallet 251 and a second pallet 252, and the second pallet 252 is slidably disposed under the first pallet 251 and far away from the distribution mechanism on the first pallet 251
  • One side of 23 is telescopic. Since the internal space of the carriage has different specifications and sizes, when stacking in different carriages, by changing the length of the second pallet 252 extending from the first pallet 251, the two groups of pallet mechanisms 25 The width of the first pallet 251, the second pallet 252 and the distribution station combination, so that after the goods are placed neatly on the two groups of pallet mechanisms 25 and distribution stations, they are uniformly pushed out through the pushing mechanism 24. It is convenient to pile up goods that adapt to the width of the carriage at one time, and improve the efficiency and neatness of goods stacking.
  • the blanking mechanism 28 includes a blanking plate 281 and a blanking drive unit 282,
  • the blanking drive unit 282 is connected with the blanking plate 281 to drive the blanking plate 281 to move in the direction of the blanking.
  • the baffle plate 271 is lowered, and the blanking plate 281 is in the blanking drive unit 282 at this time. Under the action, it extends from the distribution mechanism 23 and the pallet mechanism 25 and is located at the stacking position of the goods.
  • the pushing mechanism 24 pushes the goods down from the pallet mechanism 25 and the distribution mechanism 23, so that the goods fall to the unloading
  • the blanking plate 281 is retracted under the action of the blanking drive unit 282, and the goods move relative to the blanking plate 281 under the block of the pushing mechanism 24.
  • the cargo can be palletized to the required palletizing position or on the palletized goods, preventing direct contact and friction between the goods and the palletized goods, and avoiding the wear of the goods.
  • the pushing mechanism 24 of this embodiment includes a first pushing cylinder 241, a pushing guide 242, a first pushing block 243, and a second pushing block 244.
  • the output end of the first pushing cylinder 241 is connected to the pushing block 244.
  • the guide rail 242 is connected, and the first pushing block 243 is slidably connected to the pushing guide 242, the second pushing block 244 is slidably connected to the pushing guide 242, and one end of the second pushing block 244 is slidably connected to the second support plate 252,
  • the second pushing block 244 is driven to slide, and when the first pushing air cylinder 241 pushes the pushing guide 242, the second pushing block 244 follows the second pallet 252 slides away from one side edge of the first support plate 251.
  • the pushing mechanism 24 of this embodiment also includes a second pushing cylinder 245.
  • the output end of the second pushing cylinder 245 is connected to the first pushing block 243 for driving the first pushing block 243 along the direction of the pushing guide 242.
  • the goods are continuously moved to the distribution guide roller 231 through the roller assembly 221 of the feeding mechanism 22.
  • the roller assembly 221 and the distribution guide roller 231 are respectively driven by different motors to make the roller assembly 221 rotate It is smaller than the speed of the distribution guide roller 231, so as to realize the distance between the goods and the goods on the delivery channel after the goods enter the distribution station, and it is convenient for the distribution board 232 to move the goods on the distribution station to the pallet mechanism 25.
  • the distribution board 232 avoids collisions caused by the goods entering the distribution station of the delivery channel, and when enough goods are placed on the pallet mechanism 25 and the distribution station, the second The pushing cylinder 245 moves the first pushing block 243 to the exit position of the delivery channel along the arrangement direction of the pushing guide 242, and the first pushing cylinder 241 pushes the first pushing block 243 and the second pushing block 244 out.
  • the goods on the distribution mechanism 23 and the pallet mechanism 25 are pushed out.
  • the present invention is helpful to realize the automatic loading of goods.
  • the robot arm mechanism 12 of the palletizing device 1 transports the goods from the outside of the carriage to the inside of the carriage.
  • the robot arm mechanism 12 can be luffed by the support mechanism 13 to adjust the height of the cargo conveying.
  • the goods are moved to the distribution station through the delivery channel formed by the feeding mechanism 22, and the distribution mechanism 23 moves the goods on the distribution station to the pallets on both sides.
  • the mechanism 25 is arranged neatly, so that the goods are pushed into the carriage by the pushing mechanism 24 for palletizing.
  • the mounting frame 21 is connected with the luffing mechanism 26.
  • the feeding mechanism 22 can be adjusted by the luffing mechanism 26.
  • the horizontal angle of the pallet mechanism 25 it is convenient to maintain a better feeding direction at different heights in the carriage, stack the goods, and improve the neatness of the stacked goods and the stability of the goods after the stacking;
  • the present invention is provided with a distribution mechanism 23, which distributes the goods on the distribution station to the pallet mechanisms 25 on both sides through the distribution mechanism 23, so that the goods are lined up neatly, and then pass the pushing mechanism 24 The goods are pushed out together to facilitate the one-time stacking neatly across the entire line in the carriage, further improving the stacking efficiency and stacking stability.
  • first, second, etc. are used in the present invention to describe various information, but the information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other.
  • first information may also be referred to as “second” information
  • second information may also be referred to as “first” information.

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Abstract

一种装车用码垛设备，包括码垛装置（1）和码垛工装（2），码垛装置包括基座（11）、机械臂机构（12）和支撑机构（13），机械臂机构一端与基座铰接，支撑机构设置于机械臂机构的中部；码垛工装（2）包括安装架（21）、变幅机构（26）、送料机构（22）、分拨机构（23）、推料机构（24）和托板机构（25），安装架通过变幅机构与机械臂机构远离基座的一端连接，送料机构安装于与安装架，送料机构形成送货通道，分拨机构设有分拨工位设置于送货通道的出口，分拨工位两侧分别设有托板机构，推料机构设置于托板机构一侧用于将托板机构上的货物移出托板机构进行码垛。

Description

一种装车用码垛设备 技术领域
本发明涉及车厢码垛技术领域，尤其涉及一种装车用码垛设备。
背景技术
随着社会的进步，企业的发展，对现有物流仓储的高效性、稳定性提出了新的要求。目前物流货物从仓库到车厢依靠叉车运输，及人工进行装、卸车，工人在车厢内将货物码放整齐，搬运工人体力工作强度大，车厢内不方便走动，环境温度较高，工作环境恶劣。在目前的装卸车过程中，工人从事搬运劳动强度大、从事搬运行业的人员越来越少，物流效率无法得到进一步的提升。随着国家劳动法规的加强，对劳动安全和职业防护的要求越来越高，导致物流费用越来越高。因此，如何高效的管理仓储物流系统，成为业内亟需解决的问题。
一方面，现有技术的机械臂机构是通过单一的旋转机构整体旋转的方式进行调整方向，在货物较重的情况下，机械臂机构受到的重力偏移，导致旋转机构受力剧烈变化，送货稳定性较低；
另一方面，现有技术中的码垛工装灵活性较差，在将货物码垛在不同高度时，容易造成货物倾倒或摆放不整齐，另外，现有技术中通常采用辊轴逐件将货物输送到码垛位置进行码垛，但货物在辊轴上移动时容易由于接触不均匀导致货物转动，导致无法直接整齐的码垛到位置上，影响货物码垛的稳定性。
发明内容
本发明的目的是提供有助于提高送货稳定性以及货物码垛的整齐程度的一种装车用码垛设备。
为了实现上述目的，本发明提供一种装车用码垛设备，包括码垛装置和码垛工装，所述码垛装置包括基座、机械臂机构和支撑机构，所述机械臂机构一端与基座铰接，所述支撑机构设置于机械臂机构的中部用于驱动机械臂机构摆动；
所述码垛工装包括安装架、变幅机构、送料机构、分拨机构、推料机构和托板机构，所述安装架通过所述变幅机构与机械臂机构远离基座的一端连接，所述送料机构安装于与所述安装架，所述送料机构形成用于货物通过的送货通道，所述分拨机构设有分拨工位设置于送货通道的出口，所述分拨工位两侧分别设有所述托板机构，当货物从送货通道移动到分拨工位时，所述分拨机构将货物移动到托板机构上，所述推料机构设置于托板机构一侧用于将托板机构上的货物移出托板机构进行码垛。
可选的，所述基座包括第一平台和第二平台，所述第一平台安装有第一平移旋转机构，所述第二平台安装有第二平移旋转机构，所述机械臂机构一端与第一平移旋转机构可转动连接，所述支撑机构一端与第二平移旋转机构转动连接，所述机械臂机构与支撑机构连接；
所述机械臂机构包括基本臂和伸缩臂，所述伸缩臂与基本臂连接用于相对基本臂伸缩移动，所述基本臂的第一端与第一平移旋转机构可转动连接，所述基本臂靠近第二端的位置与支撑机构可转动连接，所述支撑机构用于使基本臂的第二端绕第一端做回转运动。
可选的，所述支撑机构包括支撑龙门架、升降丝杆和升降驱动单元，所述支撑龙门架安装于第二平移旋转机构，所述基本臂靠近第二端的位置可旋转连接有连接轴，所述连接轴的两端分别螺纹连接有所述升降丝杆，所述升降丝杆可旋转连接于所述支撑龙门架的两侧，所述升降驱动单元安装于支撑龙门架驱动所述升降丝杆旋转。
可选的，所述送料机构包括用于带动货物移动的辊轴组件以及分别设置于送货通道两侧用于调节送货通道宽度的通道调节组件，所述通道调节组件包括通道侧板和用于驱动通道侧板移动的侧板驱动单元，所述侧板驱动单元安装于所述安装架。
可选的，所述分拨机构包括若干分料导辊和用于将货物移动到托板机构的分拨板，所述分拨板连接有分拨驱动单元用于带动所述分拨板沿两侧托板机构方向 往返移动。
可选的，还包括挡料机构，所述挡料机构包括挡料板和挡料驱动组件，所述挡料板设置于分料机构远离送货通道的一端，所述挡料驱动组件与所述挡料板传送连接用于驱动所述挡料板升降。
可选的，所述推料机构包括第一推料气缸、推料导轨、第一推料块和第二推料块，所述第一推料气缸的输出端与推料导轨连接，所述第一推料块和第二推料块均滑动连接于推料导轨，所述第二推料块的一端滑动连接于第二托板。
所述推料机构还包括第二推料气缸，所述第二推料气缸的输出端与第一推料块连接，所述第二推料块的一端滑动连接于第二托板。
可选的，所述托板机构包括第一托板和第二托板，所述第二托板滑动设置于第一托板下方且在第一托板远离分拨机构的一侧伸缩。
可选的，还包括下料机构，所述分拨机构和托板机构下方均设有所述下料机构。
实施本发明的实施例，具有以下技术效果：
本发明有助于实现货物的自动化装车，通过码垛装置的机械臂机构将货物从车厢外输送到车厢内，机械臂机构可通过支撑机构进行变幅，调节货物输送的高度，同时，支撑机构可起到稳定机械臂机构的作用，避免在机械臂机构输送较重货物时，由于重心偏移且受力较大导致的应力损伤，另外，在移动码垛工装上后，通过送料机构形成的送货通道使货物移动到分拨工位，分拨机构将分拨工位上的货物分别移动到两侧的托板机构摆放整齐，从而通过推料机构将货物推出在车厢内进行码垛，其中，安装架连接有变幅机构，在码垛过程中，可通过变幅机构调节送料机构以及托板机构的水平角度，便于在车厢内的不同高度，保持较好的下料方向，将货物进行码垛，提高码垛的货物整齐程度以及码垛后货物摆放的稳定性；
另外，本发明设有分拨机构，通过分拨机构将分拨工位上的货物分拨到两侧的托板机构，使货物呈一字整齐排开，再通过推料机构将货物一起推出，方便进 行车厢内横向整行的一次性码垛整齐，进一步提高码垛效率和码垛的稳定性。
附图说明
图1是本发明优选实施例的结构示意图。
图2是本发明优选实施例中基座的结构示意图；
图3是本发明优选实施例中支撑机构的结构示意图；
图4是本发明优选实施例中机械臂机构的部分结构示意图；
图5是本发明优选实施例中机械臂机构的伸缩驱动电机部分的局部结构示意图；
图6是本发明优选实施例中机械臂机构的伸缩驱动电机部分另一视角的局部结构示意图；
图7是本发明优选实施例中伸缩臂首端的局部结构示意图；
图8是本发明优选实施例中机械臂机构的结构示意图；
图9是本发明优选实施例码垛工装的结构示意图；
图10是本发明优选实施例码垛工装的另一结构示意图；
图11是本发明优选实施例中挡料机构的结构示意图。
附图标记说明：
1、码垛装置，11、基座，111、第一平台，112、第二平台，12、机械臂机构，121、基本臂，122、伸缩臂，1231、第一移动齿条，1232、第二移动齿条，124、伸缩驱动电机，125、驱动轴，1261、第一移动齿轮，1262，第二移动齿轮，127，上支撑导轮，128、下支撑导轮，13、支撑机构，131、支撑龙门架，132、升降丝杆，133、升降驱动单元，134、连接轴，14、第一平移旋转机构，141、平移组件，1411、平移驱动单元，1412、平移导轨，142、旋转基座，15、第二平移旋转机构，16、皮带机构，161、换向辊，162、皮带，163、张紧组件，1631、 压力辊，1632、张紧气缸，1633、张紧支架，1634、安装支架，1635、导向杆，164、张紧辊，17、控制机构，171、主电柜，172、控制电箱，18、自动收缩电缆转盘；
2、码垛工装，21、安装架，22、送料机构，221、辊轴组件，2211、辊轴，2212、辊轴驱动电机，222、通道调节组件，2221、通道侧板，2222、侧板驱动单元，23、分拨机构，231、分料导辊，232、分拨板，24、推料机构，241、第一推料气缸，242、推料导轨，243、第一推料块，244、第二推料块，245、第二推料气缸，25、托板机构，251、第一托板，252、第二托板，26、变幅机构，261、连接架，262、变幅电机，27、挡料机构，271、挡料板，272、挡料驱动组件，2721、挡料气缸，2722、挡料轴，2723、挡料连接杆，27231、第一凸起，2724、挡板轴，27241、第二凸起，28、下料机构，281、下料板，282、下料驱动单元。
具体实施方式
下面结合附图和实施例，对本发明的具体实施方式作进一步详细描述。以下实施例用于说明本发明，但不用来限制本发明的范围。
参考图1～图11，本实施例提供了一种装车用码垛设备，其特征在于，包括码垛装置1和码垛工装2，码垛装置1包括基座11、机械臂机构12和支撑机构13，机械臂机构12一端与基座11铰接，支撑机构13设置于机械臂机构12的中部用于驱动机械臂机构12摆动；
其中，码垛工装2包括安装架21、变幅机构26、送料机构22、分拨机构23、推料机构24和托板机构25，安装架21通过变幅机构26与机械臂机构12远离基座11的一端连接，送料机构22安装于与安装架21，送料机构22形成用于货物通过的送货通道，分拨机构23设有分拨工位设置于送货通道的出口，分拨工位两侧分别设有托板机构25，当货物从送货通道移动到分拨工位时，分拨机构23将货物移动到托板机构25上，推料机构24设置于托板机构25一侧用于将托板机构25上的货物移出托板机构25进行码垛。
本发明有助于实现货物的自动化装车，通过码垛装置1的机械臂机构12将 货物从车厢外输送到车厢内，机械臂机构12可通过支撑机构13进行变幅，调节货物输送的高度，同时，支撑机构13可起到稳定机械臂机构12的作用，避免在机械臂机构12输送较重货物时，由于重心偏移且受力较大导致的应力损伤，另外，在移动码垛工装2上后，通过送料机构22形成的送货通道使货物移动到分拨工位，分拨机构23将分拨工位上的货物分别移动到两侧的托板机构25摆放整齐，从而通过推料机构24将货物推出在车厢内进行码垛，其中，安装架21连接有变幅机构26，在码垛过程中，可通过变幅机构26调节送料机构22以及托板机构25的水平角度，便于在车厢内的不同高度，保持较好的下料方向，将货物进行码垛，提高码垛的货物整齐程度以及码垛后货物摆放的稳定性；
另外，本发明设有分拨机构23，通过分拨机构23将分拨工位上的货物分拨到两侧的托板机构25，使货物呈一字整齐排开，再通过推料机构24将货物一起推出，方便进行车厢内横向整行的一次性码垛整齐，进一步提高码垛效率和码垛的稳定性。
参考图1和图2，本实施例的基座11包括第一平台111和第二平台112，第一平台111安装有第一平移旋转机构14，第二平台112安装有第二平移旋转机构15，机械臂机构12一端与第一平移旋转机构14可转动连接，支撑机构13一端与第二平移旋转机构15可转动连接，机械臂机构12与支撑机构13连接；
机械臂机构12包括基本臂121和伸缩臂122，基本臂121设有伸缩腔，伸缩臂122套设于基本臂121的伸缩腔内进行伸缩，基本臂121的第一端与第一平移旋转机构14可转动连接，基本臂121靠近第二端的位置与支撑机构13可转动连接，支撑机构13用于使基本臂121的第二端绕第一端做回转运动。一方面，通过第一平移旋转机构14和第二平移旋转机构15，实现了机械臂机构12送货位置的自由调整，使机械臂机构12的两端同步移动，送货的方向与方向调整前方向一致，从而实现货物通过机械臂机构12进行传送的位置时通过平移变化，方便堆垛整齐货物，同时，机械臂机构12的两端可单独进行移动，从而使机械臂机构12产生回转运动，调整机械臂机构12的送货方向，另外，通过第一平移旋转 机构14和第二平移旋转机构15实现对机械臂机构12的两点支撑，提高机械臂机构12的安装于基座11的稳定性，同时消除在机械臂机构12回转时由于机械臂机构12回转与基座11形成夹角时的机械应力。
第二方面，机械臂机构12包括基本臂121和伸缩臂122，实现了机器人货物输送空间的扩展，适用于进行不同长度货柜的货物堆垛，适用范围更广，降低了机器人使用的成本；
第三方面，基本臂121靠近第二端的位置与支撑机构13可转动连接，通过支撑机构13使第二端绕第一端做变幅，用于改变基本臂121第二端的幅度，使货物可以通过机械臂机构12输送到不同的高度，实现不同高度货物的堆垛。
当然，在不同实施例中，伸缩臂122的数量不局限于一节或两节，可以是多节，适应不同大小货柜的货物堆垛。
具体的，参考图2和图3，第一平移旋转机构14和第二平移旋转机构15包括平移组件141和旋转基座1421，平移组件141包括平移驱动单元1411和平移导轨1412，旋转基座1421滑动安装于平移导轨1412，平移驱动单元1411用于驱动旋转基座1421沿平移导轨1412移动，通过旋转基座1421在平移导轨1412上进行移动，在第一平移旋转机构14和第二平移旋转机构15的平移组件141同步运动时，实现机械臂机构12输送货物位置的变化，在第一平移旋转机构14和第二平移旋转机构15的平移组件141不同步运动时，机械臂机构12在水平方向产生回转运动，改变送货的方向，另外，基本臂121的第一端铰接于第一平移旋转机构14的旋转基座1421，支撑机构13与第二平移旋转机构15的旋转基座1421铰接，使基本臂121变幅，改变基本臂121的幅度，调节输送货物的高度，第一平移旋转机构14的平移导轨1412与第二平移旋转机构15的平移导轨1412平行布置，使机械臂机构12的两端沿平移导轨1412移动时，移动效率更高。
参考图3，进一步的，支撑机构13包括支撑龙门架131、升降丝杆132和升降驱动单元133，支撑龙门架131安装于第二平移旋转机构15，基本臂121靠近第二端的位置可旋转连接有连接轴134，连接轴134的两端分别螺纹连接有升降 丝杆132，升降丝杆132可旋转连接于支撑龙门架131的两侧，升降驱动单元133安装于支撑龙门架131驱动升降丝杆132旋转，一方面，通过支撑龙门架131使基本臂121的安装更稳定，另一方面，基本臂121与连接轴134可旋转连接，在基本臂121第二端在通过升降丝杆132绕第一端回转时，使基本臂121施加到升降丝杆132的力保持与升降丝杆132的轴线平行，提高升降丝杆132旋转驱动基本臂121第二端回转的稳定性。
参考图4～图7，本实施例的伸缩臂122下表面设有第一移动齿条123和第二移动齿条，第一移动齿条和第二移动齿条平行布置，基本臂121设有伸缩驱动电机124，伸缩驱动电机124的动力输出端连接有驱动轴125，驱动轴125设有第一移动齿轮1261和第二移动齿轮1262，第一移动齿轮1261与第一移动齿条1231啮合，第二移动齿轮1262与第二移动齿条1232啮合，结构简单，实现了伸缩臂122从基本臂121内快速伸缩，延长机械臂货物输送的距离，且由于第一移动齿条1231与第二移动齿条1232平行布置，提高了伸缩臂122伸缩的稳定性。
具体的，第一移动齿条1231的齿形为左旋齿，第二移动齿条1232的齿形为右旋齿，第一移动齿条1231的齿形与第二移动齿条1232的齿形对称布置，使第一移动齿轮1261与第二移动齿轮1262作用于第一移动齿条1231和第二移动齿条1232的作用力方向均指向内侧，对伸缩122的传动起到精确传动及自动对中的作用。
进一步的，基本臂121的伸缩腔内靠近第二端的位置设有上支撑导轮127，上支撑导轮127与伸缩臂122底面抵接，伸缩臂122靠近首端的位置设有与基本臂121伸缩腔底面抵接的下支撑导辊128和与基本臂121伸缩腔顶面抵接的上支撑导轮127，一方面，基本臂121设置上支撑导轮127作为伸缩臂122的支撑点，同时方便伸缩臂122在基本臂121的伸缩腔内伸缩运动，另一方面，使伸缩臂122在伸缩运动过程中，由于伸缩臂122的支撑点变化，伸缩臂122的重心也会变化，当伸缩臂122的重心从首端移动到尾端时，伸缩臂122的首端与基本臂121伸缩腔的接触从底面接触转移到顶面接触，因此，通过在伸缩臂122靠近首端位置设 置上支撑导轮127和下支撑导轮128，避免伸缩臂122重心变化影响伸缩臂122在基本臂121伸缩腔内伸缩的效率，提高伸缩臂122伸缩的稳定性。
本实施例的上支撑导轮127的数量至少有两组，至少两组的上支撑导轮127分别布置于驱动轴125两侧，保持驱动轴125两侧的受力平衡，从而使移动齿条123和移动齿轮126的啮合更稳定，提高伸缩臂122伸缩的稳定性，同时防止由于伸缩臂122两端的受力变化导致移动齿条123和移动齿轮126啮合不到位，从而提高了移动齿条123和移动齿轮126的使用寿命。
参考图8，本实施例还包括皮带机构16，皮带机构16包括皮带驱动单元、换向辊161、皮带162和张紧组件163，基本臂121和伸缩臂122的两端均设有换向辊161，皮带162绕设于换向辊161，基本臂121与第一平移旋转机构14连接的一端设有张紧辊164，张紧组件163设置于基本臂121的换向辊161和张紧辊164之间用于张紧皮带162，提高货物输送的稳定性，提高货物输送效率；具体的，皮带驱动单元可为电动辊或皮带驱动电机。
具体的，基本臂121和伸缩臂122的上表面均铺设有高分子耐磨层，用于降低基本臂121和伸缩臂122表面的摩擦力，同时用于保护基本臂121和伸缩臂122表面不受磨损，同时，减少皮带162与基本臂121和伸缩臂122表面的摩擦力，增加皮带162、基本臂121和伸缩臂122的使用寿命。
具体的，张紧组件163包括压力辊1631、张紧气缸1632和张紧支架1633，张紧气缸1632通过张紧支架1633安装于基本臂121，压力辊1631通过安装支架1634连接于张紧气缸1632的动力输出端，换向辊161、张紧辊164和压力辊1631平行布置，张紧支架1633滑设有导向杆1635，导向杆1635一端与安装支架1634连接，结构简单，通过张紧气缸1632将压力辊1631压紧皮带162，使皮带162张紧，另外，通过导向杆1635使压力辊1631的移动方向更准确，提高张紧皮带162的稳定性。
参考图1，在本实施例中，还包括控制机构17和用于收放连接控制机构的电缆的自动收缩电缆转盘18，基座11、机械臂机构12和支撑机构13均与控制机 构11电连接，方便对控制基座11、机械臂机构12和支撑机构13进行编程控制，提高机器人使用的便捷程度，提高货物堆垛的效率，另外，通过安装于机械臂机构12一侧的自动收缩电缆转盘18进行收放连接控制机构17和机械臂机构12之间的连接线，提高设备使用的安全性，防止连接线杂乱堆放，避免连接线造成的安全隐患。
在本实施例中，控制机构11包括主电柜171和控制电箱172，主电柜171用于供电，控制电箱172安装于机械臂机构12一侧分用于与伸缩驱动电机124连接。进一步的，码垛工装2两侧设有用于与主电柜电连接的控制箱(未示出)，实现对码垛工装2的控制和供电。
参考图9～图11，本实施例的码垛工装2包括安装架21、送料机构22、分拨机构23、推料机构24和托板机构25，安装架21连接有用于驱动安装架21摆动的变幅机构26，送料机构22安装于与安装架21，送料机构22形成用于货物通过的送货通道，分拨机构23设有分拨工位设置于送货通道的出口，分拨工位两侧分别设有托板机构25，当货物从送货通道移动到分拨工位时，分拨机构23将货物移动到托板机构25上，推料机构24设置于托板机构25一侧用于将托板机构25上的货物移出托板机构25进行码垛。
本发明有助于实现货物的自动化装车，通过送料机构22形成的送货通道使货物移动到分拨工位，分拨机构23将分拨工位上的货物分别移动到两侧的托板机构25摆放整齐，从而通过推料机构24将货物推出在车厢内进行堆垛，其中，安装架21连接有变幅机构26，在码垛过程中，可通过变幅机构26调节送料机构22以及托板机构25的水平角度，便于在车厢内的不同高度，保持较好的下料方向，将货物进行码垛，提高码垛的货物整齐程度以及码垛后货物摆放的稳定性。
参考图9和图10，具体的，变幅机构26包括连接架261和变幅电机262，连接架261与安装架1转动连接，变幅电机262用于驱动安装架21摆动，从而带动连接于安装架21的送料机构22和托板机构25摆动，其中，送料机构22包括用于带动货物移动的辊轴组件221以及分别设置于送货通道两侧用于调节送货 通道宽度的通道调节组件222，辊轴组件221包括辊轴2211和用于驱动辊轴2211转动的辊轴驱动电机2212，若干数量的辊轴2211转动连接于安装架21且平行布置，当货物移动到辊轴2211上时，辊轴驱动电机2212驱动辊轴2211转动，从而带动辊轴2211上的货物向分拨工位方向移动，另外，通道调节组件222包括通道侧板2221和用于驱动通道侧板2221移动的侧板驱动单元2222，侧板驱动单元2222安装于安装架21，本实施例的通道调节组件222有两组，其中的通道侧板2221分别设置于辊轴2211两端并在侧板驱动单元2222的驱动作用下沿着辊轴2211的轴向方向移动，从而调节送货通道的宽度，适应不同大小的货物通过，避免大货物无法通过或者小货物在较宽的通道中移动时侧移甚至旋转影响送货定位的准确度。
参考图9，本实施例的分拨机构23包括若干分料导辊231和用于将货物移动到托板机构25的分拨板232，若干数量的分料导辊231平行布置，且布置方向与若干辊轴2211的布置方向相同，当货物移动到分拨工位上时，分拨板232位于分料导辊231的一端并且在分拨驱动单元的作用下向分料导辊231的另一端移动，从而将分拨工位上的货物移动到托板机构25上，且本实施例中的分拨板232将分拨工位上的货物交错移动到分拨机构23两侧的托板机构25上，相对于先分拨到其中一侧的托板机构25上在分拨另一侧的托板机构25，更有助于节省分拨的时间，提高分拨的效率，且有利于保持分拨机构23两侧的托板机构25的平衡，提高工装使用过程中的稳定性。
进一步的，参考图9和图11，还包括挡料机构27，挡料机构27包括挡料板271和挡料驱动组件272，挡料板271设置于分料机构29远离送货通道的一端，挡料驱动组件272与挡料板271传送连接用于驱动挡料板271升降，使货物从送货通道移动到分拨工位上时，由于分料导辊231与货物之间的摩擦力较小，从而设置挡料板271为了防止货物从分拨工位上冲出，另外，有助于使货物在挡料板271与挡料板271接触后对齐，再通过分拨板232分拨到两侧的托板机构25上，从而提高货物摆放的整齐程度。
具体的，挡料驱动组件272包括挡料气缸2721和挡料轴2722，挡料气缸2721的输出端与挡料轴2722连接用于驱动挡料轴2722转动，挡料板271连接于挡料轴2722。
其中，挡料驱动组件272还包括固定于挡料轴722的挡料连接杆2723以及与挡料连接杆2723转动连接的挡板轴2724，挡料板271固定于挡板轴2724一侧面，挡料连接杆2723设有第一凸起27231，挡板轴2724设有第二凸起27241，当挡料轴2722转动时，第一凸起27231与第二凸起27241接触带动挡板轴2724转动，从而带动挡料板271升起，当推料机构24需要推动货物进行下料堆垛时，挡料气缸2721缩回，挡板轴2724在挡料板271的重力作用下转动，且由于第一凸起27231和第二凸起27241接触，挡板轴2724带动挡料轴2722转动复位。
参考图9，本实施例的托板机构25包括第一托板251和第二托板252，第二托板252滑动设置于第一托板251下方且在第一托板251远离分拨机构23的一侧伸缩，由于车厢的内部空间有不同的规格大小，在不同车厢内进行堆垛时，通过改变第二托板252伸出第一托板251的长度，使两组托板机构25的第一托板251、第二托板252以及分拨工位组合的宽度，从而使货物在两组托板机构25以及分拨工位上摆放整齐后，统一通过推料机构24推出，方便一次性堆满适应车厢宽度的货物，提高货物堆垛的效率和整齐程度。
在本实施例中，还包括下料机构28，分拨机构23和托板机构25下方均设有下料机构28，具体的，下料机构28包括下料板281和下料驱动单元282，下料驱动单元282与下料板281连接用于驱动下料板281沿下料方向伸缩移动，货物下料码垛时，挡料板271降下，下料板281此时在下料驱动单元282的作用下从分拨机构23和托板机构25下方伸出并位于货物的码垛位置上，推料机构24将货物从托板机构25和分拨机构23上推下，使货物落到下料板281上，此时，下料板281在下料驱动单元282的作用下缩回，并且货物在推料机构24的阻挡下与下料板281相对移动，当下料板281完全缩回后，货物即可码垛到所需码垛的位置或已码垛的货物上，防止货物与已码垛货物之间直接接触摩擦，避免货物磨 损。
进一步的，本实施例的推料机构24包括第一推料气缸241、推料导轨242、第一推料块243和第二推料块244，第一推料气缸241的输出端与推料导轨242连接，且第一推料块243滑动连接于推料导轨242，第二推料块244与推料导轨242滑动连接，第二推料块244的一端滑动连接于第二托板252，使第二托板252伸出第一托板251时，带动第二推料块244滑动，且第一推料气缸241推动推料导轨242时，第二推料块244沿着第二托板252远离第一托板251的一侧边缘滑动。
本实施例的推料机构24还包括第二推料气缸245，第二推料气缸245的输出端与第一推料块243连接用于驱动第一推料块243沿推料导轨242布置方向移动，使用时，货物通过送料机构22的辊轴组件221连续移动到分料导辊231上，辊轴组件221和分料导辊231分别通过不同的电机进行驱动，使辊轴组件221的转速小于分料导辊231的转速，从而实现货物进入分拨工位后拉开与送货通道上货物的距离，便于分拨板232将分拨工位上的货物移动到托板机构25后再进料，避免分拨板232在移动货物过程中，送货通道的货物进入分拨工位造成冲撞，且当托板机构25上以及分拨工位上放置了足够的货物，可通过第二推料气缸245将第一推料块243沿推料导轨242的布置方向移动到送货通道的出口位置，第一推料气缸241将第一推料块243和第二推料块244推出，将分拨机构23和托板机构25上的货物推出。
本发明有助于实现货物的自动化装车，通过码垛装置1的机械臂机构12将货物从车厢外输送到车厢内，机械臂机构12可通过支撑机构13进行变幅，调节货物输送的高度，另外，在移动码垛工装2上后，通过送料机构22形成的送货通道使货物移动到分拨工位，分拨机构23将分拨工位上的货物分别移动到两侧的托板机构25摆放整齐，从而通过推料机构24将货物推出在车厢内进行码垛，其中，安装架21连接有变幅机构26，在码垛过程中，可通过变幅机构26调节送料机构22以及托板机构25的水平角度，便于在车厢内的不同高度，保持较好的 下料方向，将货物进行码垛，提高码垛的货物整齐程度以及码垛后货物摆放的稳定性；
另外，本发明设有分拨机构23，通过分拨机构23将分拨工位上的货物分拨到两侧的托板机构25，使货物呈一字整齐排开，再通过推料机构24将货物一起推出，方便进行车厢内横向整行的一次性码垛整齐，进一步提高码垛效率和码垛的稳定性。
在本发明的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，本发明中采用术语“第一”、“第二”等来描述各种信息，但这些信息不应限于这些术语，这些术语仅用来将同一类型的信息彼此区分开。例如，在不脱离本发明范围的情况下，“第一”信息也可以被称为“第二”信息，类似的，“第二”信息也可以被称为“第一”信息。
以上所述仅是本发明的优选实施方式，应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明技术原理的前提下，还可以做出若干改进和替换，这些改进和替换也应视为本发明的保护范围。

Claims (10)

  1. 一种装车用码垛设备，其特征在于，包括码垛装置和码垛工装，所述码垛装置包括基座、机械臂机构和支撑机构，所述机械臂机构一端与基座铰接，所述支撑机构设置于机械臂机构的中部用于驱动机械臂机构摆动；
    所述码垛工装包括安装架、变幅机构、送料机构、分拨机构、推料机构和托板机构，所述安装架通过所述变幅机构与机械臂机构远离基座的一端连接，所述送料机构安装于与所述安装架，所述送料机构形成用于货物通过的送货通道，所述分拨机构设有分拨工位设置于送货通道的出口，所述分拨工位两侧分别设有所述托板机构，当货物从送货通道移动到分拨工位时，所述分拨机构将货物移动到托板机构上，所述推料机构设置于托板机构一侧用于将托板机构上的货物移出托板机构进行码垛。
  2. 根据权利要求1所述的装车用码垛设备，其特征在于，所述基座包括第一平台和第二平台，所述第一平台安装有第一平移旋转机构，所述第二平台安装有第二平移旋转机构，所述机械臂机构一端与第一平移旋转机构可转动连接，所述支撑机构一端与第二平移旋转机构转动连接，所述机械臂机构与支撑机构连接；
    所述机械臂机构包括基本臂和伸缩臂，所述伸缩臂与基本臂连接用于相对基本臂伸缩移动，所述基本臂的第一端与第一平移旋转机构可转动连接，所述基本臂靠近第二端的位置与支撑机构可转动连接，所述支撑机构用于使基本臂的第二端绕第一端做回转运动。
  3. 根据权利要求2所述的装车用码垛设备，其特征在于，所述支撑机构包括支撑龙门架、升降丝杆和升降驱动单元，所述支撑龙门架安装于第二平移旋转机构，所述基本臂靠近第二端的位置可旋转连接有连接轴，所述连接轴的两端分别螺纹连接有所述升降丝杆，所述升降丝杆可旋转连接于所述支撑龙门架的两侧，所述升降驱动单元安装于支撑龙门架驱动所述升降丝杆旋转。
  4. 根据权利要求1所述的装车用码垛设备，其特征在于，所述送料机构包 括用于带动货物移动的辊轴组件以及分别设置于送货通道两侧用于调节送货通道宽度的通道调节组件，所述通道调节组件包括通道侧板和用于驱动通道侧板移动的侧板驱动单元，所述侧板驱动单元安装于所述安装架。
  5. 根据权利要求1所述的装车用码垛设备，其特征在于，所述分拨机构包括若干分料导辊和用于将货物移动到托板机构的分拨板，所述分拨板连接有分拨驱动单元用于带动所述分拨板沿两侧托板机构方向往返移动。
  6. 根据权利要求1所述的装车用码垛设备，其特征在于，还包括挡料机构，所述挡料机构包括挡料板和挡料驱动组件，所述挡料板设置于分料机构远离送货通道的一端，所述挡料驱动组件与所述挡料板传送连接用于驱动所述挡料板升降。
  7. 根据权利要求1所述的装车用码垛设备，其特征在于，所述推料机构包括第一推料气缸、推料导轨、第一推料块和第二推料块，所述第一推料气缸的输出端与推料导轨连接，所述第一推料块和第二推料块均滑动连接于推料导轨。
  8. 根据权利要求7所述的装车用码垛工装，其特征在于，所述推料机构还包括第二推料气缸，所述第二推料气缸的输出端与第一推料块连接，所述第二推料块的一端滑动连接于第二托板。
  9. 根据权利要求1所述的装车用码垛设备，其特征在于，所述托板机构包括第一托板和第二托板，所述第二托板滑动设置于第一托板下方且在第一托板远离分拨机构的一侧伸缩。
  10. 根据权利要求1所述的装车用码垛设备，其特征在于，还包括下料机构，所述分拨机构和托板机构下方均设有所述下料机构。
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