WO2022127173A1

WO2022127173A1 - Box-type cargo loading and unloading device

Info

Publication number: WO2022127173A1
Application number: PCT/CN2021/114030
Authority: WO
Inventors: 李志鹏; 凌斌; 雷鹏; 余典初; 朱学斌; 张仕林; 唐玉平; 于岳群; 韦琦; 黄小克
Original assignee: 中车株洲车辆有限公司
Priority date: 2020-12-15
Filing date: 2021-08-23
Publication date: 2022-06-23
Also published as: CN112499246A

Abstract

A box-type cargo loading and unloading device, comprising: a driving system (1), which is provided with a frame (101), driving wheel mounting seats (102) being provided at four corners of the frame (101), an electric driving wheel (103) being provided within each driving wheel mounting seat (102), and a fixed seat (104) being provided at the tail end of the frame (101); a machine arm assembly (2), which is provided with a machine arm support (201), wherein one end of the machine arm support (201) is hinged to a machine arm moving seat (202), the machine arm moving seat (202) is provided on the fixed seat (104) by means of a linear guide track (203), a belt conveyor (204) is provided on the machine arm support (201), centering apparatuses are provided on two sides of the machine arm support (201), and a machine arm lifting electric cylinder (205) is provided between the machine arm support (201) and the frame (101); and an operation platform (3), which is provided with an operation support (301), wherein the rear end of the operation support (301) is provided with an operation connecting seat (302), the operation connecting seat (302) is rotatably arranged at the front end of the machine arm support (201) by means of a pin shaft, the front end of the operation support (301) is provided with a cargo transportation mechanism, and the rear end of the operation support (301) is provided with a vacuum suction tool (303) and a vacuum suction tool movement mechanism.

Description

Box Cargo Handling Equipment

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims the priority of the Chinese patent application filed on December 15, 2020, with application number 202011478310.6 and entitled "Box Cargo Handling Equipment", the entire contents of which are incorporated herein by reference.

technical field

The present disclosure relates to the technical field of loading and unloading equipment, and in particular, to a box-type cargo loading and unloading equipment.

Background technique

The warehouse platform is a facility built to facilitate cargo loading and unloading operations, and has become a standard configuration in modern warehouses. At present, the common equipment on the platform mainly includes the platform height adjustment plate (connecting the platform and the vehicle in the form of a pontoon to avoid the height difference or gap between the two, causing the forklift and other handling equipment to be unable to enter and exit), forklift (carrying pallet goods), pallet Pallet trucks (carrying palletized goods) and telescopic belt conveyors (shortening the distance for stevedores to carry goods back and forth) to make loading and unloading operations more labor-saving and time-saving.

In recent years, with the rapid development of industrial automation and informatization, the rapid development of smart logistics and smart warehousing has greatly improved the efficiency of warehouse internal logistics operations. However, on the platform, which is the only place for goods to enter and leave the warehouse, the degree of automation and mechanization of equipment is still not high. Except for bulk materials and a small number of goods transported with pallets, more than 95% of the goods are loaded and unloaded on the warehouse platform. Relying on manual handling, the platform operation efficiency greatly limits the overall improvement of logistics efficiency.

In the domestic logistics industry, for the loading and unloading of box-type goods on the platform, apart from the above-mentioned forklifts or telescopic belt conveyors combined with manual handling, there is currently no special automatic machinery.

SUMMARY OF THE INVENTION

According to the present disclosure, a box-type cargo handling equipment is provided, the purpose of which is to solve the problems of low automation degree of the platform box-type cargo handling equipment and low efficiency of manual handling of cargo loading and unloading.

Embodiments of the present disclosure provide a box-type cargo handling equipment, including: a drive system, the drive system is provided with a frame, the frame is composed of a main beam and a rectangular tube welded, and four corners of the frame are provided with A driving wheel mounting seat, each of the driving wheel mounting seats is provided with an electric driving wheel, and the rear end of the frame is provided with a fixing seat; the machine arm is composed of a machine arm bracket, and the machine arm is provided with an arm support. One end of the bracket is hinged with an arm moving seat, the arm moving seat is arranged on the fixed seat through a linear guide rail, a belt conveyor is arranged on the arm bracket, and both sides of the arm bracket are provided with The centering device is provided with an electric arm lifting electric cylinder between the arm support and the frame; and a work platform, the work platform is provided with a work support, and the rear end of the work support is provided with a work connection seat, so The working connection seat is rotatably arranged at the front end of the arm support through a pin, the front end of the working support is provided with a cargo transport mechanism, and the rear end of the working support is provided with a vacuum suction tool.

In some embodiments, guide posts are provided on the sides of the two main beams of the vehicle frame, guide slots are provided on the guide posts, and guide wheels are provided on both sides of the arm support, and the guide wheels are clamped. In the guide groove, the arm assembly is guided up and down along the guide column under the action of the arm lift electric cylinder.

In some embodiments, both sides of the arm moving base are provided with a pull rod electric cylinder, and the pull rod end of the pull rod electric cylinder is hinged on the top of the working connection base.

In some embodiments, the centering device includes a centering clamp plate, a first pulling plate, a second pulling plate and an electric centering cylinder, and two ends of the centering clamp plate pass through the first pulling plate and the second pulling plate respectively. The pulling plate is connected to one side of the arm bracket, the first pulling plate, the second pulling plate, the arm bracket and the centering splint are all hinged, and one end of the centering electric cylinder is connected to the The arm support, the other end of the centering electric cylinder is hinged on the second pulling plate.

In some embodiments, a vacuum adsorption system is also included, and the vacuum adsorption system is provided with a vacuum pump, a vacuum tank, a solenoid valve, a valve table and the vacuum suction tool, and the vacuum suction tool, the vacuum pump, the vacuum tank and the electromagnetic valve are among the The vacuum pump, the vacuum tank and the solenoid valve are fixedly arranged inside the frame.

In some embodiments, the vacuum suction tool includes a suction tool mounting seat and a gas collecting pipe, a plurality of groups of corrugated suction cups are evenly and closely arranged on the suction tool mounting seat, and each group of the corrugated suction cups is equipped with a buffer rod, a one-way Valve and filter screen, the gas collecting pipe is provided with a vacuum pressure switch, the gas collecting pipe is provided with a plurality of gas pipe joints corresponding to the corrugated suction cups one by one, and the gas pipe joints and the corrugated suction cups are connected by a hose.

In some embodiments, the vacuum gripper movement mechanism includes a lifting mechanism and a telescopic mechanism, the lifting mechanism for synchronous movement is provided on both sides of the rear end of the working support, and the lifting mechanism is erected between the lifting mechanisms. A telescopic mechanism, the vacuum suction tool is arranged at the front end of the telescopic mechanism.

In some embodiments, the cargo transport mechanism includes two sets of roller conveyor lines and a set of chain transplanting mechanisms, and the two sets of roller conveyor lines are respectively arranged on both sides of the front end of the working support, and the chains move The planting mechanism is arranged between the two sets of roller conveying lines, and the chain transplanting mechanism is provided with an electric roller matched with the roller conveying lines.

In some embodiments, a transplanting and lifting electric cylinder is hinged inside the working support, and the output rod of the transplanting and lifting electric cylinder is hinged at the bottom of the chain transplanting mechanism.

In some embodiments, an on-board lithium battery and an electrical control system are provided at the rear of the frame, the electrical control system is used to control the operation of the equipment, and the electrical control system is provided with a drive controller, and the drive controller is provided with a servo The motor drives the electric drive wheel and other electric cylinder equipment to move.

The present disclosure has reasonable structural design, detailed division of processes and action rhythms without affecting each other, reduces waiting time between actions, and improves overall operation efficiency. The present disclosure is provided with a vacuum adsorption system, which adopts vacuum technology to absorb the goods, sucks the goods from the end face of the goods, slightly lifts them and drags them out to the roller conveying line of the operation platform. The vacuum gripper of the present disclosure is installed on the working platform through the lifting mechanism and the telescopic mechanism, and the two are relatively independent. It can carry out the suction action of the next group of goods without affecting the next cargo conveying process of the operation platform, reducing the waiting time and improving the operation efficiency. The present disclosure is provided with a chain transplanting mechanism and a roller conveying line, which cooperate to realize right-angle transportation of goods, and the goods can be automatically transported and transferred, and the transport structure is compact and can be transported in both forward and reverse directions. The components of the present disclosure are mainly composed of pin shafts, connecting plates, guide columns, and linear guide rails, with few components, clear movements, and stable force. The present disclosure adopts a differential type four-wheel drive system, which has a compact structure and convenient and reliable control.

Description of drawings

FIG. 1 is a first structural schematic diagram of a box-type cargo handling equipment according to one or more embodiments of the present disclosure.

Fig. 2 is a second structural schematic diagram of a box-type cargo handling equipment according to one or more embodiments of the present disclosure.

3 is a schematic diagram of a drive system of a box-type cargo handling apparatus according to one or more embodiments of the present disclosure.

FIG. 4 is a schematic diagram illustrating the composition of a drive system and an arm of a box-type cargo handling equipment according to one or more embodiments of the present disclosure.

FIG. 5 is a first schematic view of the mechanism of the arm components of the box-type cargo handling equipment according to one or more embodiments of the present disclosure.

FIG. 6 is a second schematic diagram of the mechanism of the arm components of the box-type cargo handling equipment according to one or more embodiments of the present disclosure.

7 is a schematic diagram of a guide post of a box-type cargo handling apparatus according to one or more embodiments of the present disclosure.

8 is a schematic view of a work platform of a box-type cargo handling apparatus according to one or more embodiments of the present disclosure.

FIG. 9 is a partial structural schematic diagram of a work platform of a box-type cargo handling equipment according to one or more embodiments of the present disclosure.

10 is a schematic diagram of a lifting mechanism and a telescopic mechanism of a box-type cargo handling equipment according to one or more embodiments of the present disclosure.

11 is a schematic diagram of a vacuum adsorption system of a box-type cargo handling apparatus according to one or more embodiments of the present disclosure.

12 is a schematic diagram of a specific structure of a vacuum gripper of a box-type cargo handling equipment according to one or more embodiments of the present disclosure.

[Description of reference numerals]

1-drive system; 2-arm composition; 3-work platform; 4-vacuum adsorption system; 101-frame; 102-drive wheel mounting seat; 103-electric drive wheel; 104-fixed seat; 105-main beam; 106-rectangular pipe; 107-guide column; 108-guide groove; 109-guide column mounting plate; 110-electrical control system; 201-arm bracket; 202-arm moving seat; 203-linear guide rail; Machine; 205-arm lift electric cylinder; 206-side beam; 207-installation plate; 208-belt motor; 209-guide wheel; 210-tie rod electric cylinder; 211-centering splint; 212-first pull plate; 213 -Second pull plate; 214- Centering electric cylinder; 301- Working bracket; 302- Working connection seat; 303- Vacuum suction tool; 304- suction tool mounting seat; Pressure switch; 308-trachea joint; 309-lifting mechanism; 310-telescopic mechanism; 311-roller conveying line; 312-chain transplanting mechanism; 313-transplanting lifting cylinder; 401-vacuum pump; 402-vacuum tube; 403-electromagnetic Valve; 404-Line.

Detailed ways

In order to make the technical problems, technical solutions and advantages to be solved by the present disclosure more clear, detailed description will be given below with reference to the accompanying drawings and specific embodiments.

The present disclosure provides a box-type cargo loading and unloading device in order to solve the problems of low automation degree of the existing platform box-type cargo loading and unloading equipment and low efficiency of relying on manual handling for cargo loading and unloading.

As shown in FIGS. 1 to 12 , an embodiment of the present disclosure provides a box-type cargo handling equipment, including: a drive system 1 , the drive system 1 is provided with a vehicle frame 101 , and the vehicle frame 101 is formed by a main beam 105 It is formed by welding with the rectangular tube 106, the four corners of the frame 101 are provided with driving wheel mounting seats 102, each of the driving wheel mounting seats 102 is provided with an electric driving wheel 103, and the rear end of the frame 101 is provided with a fixed Seat 104; arm composition 2, the arm composition 2 is provided with an arm support 201, one end of the arm support 201 is hinged with an arm moving seat 202, and the arm moving seat 202 is arranged at the position through the linear guide 203. A belt conveyor 204 is provided on the fixed seat 104 and the arm support 201 , and centering devices are provided on both sides of the arm support 201 , and the space between the arm support 201 and the vehicle frame 101 is An arm lift electric cylinder 205 is provided; a work platform 3 is provided with a work support 301, the rear end of the work support 301 is provided with a work connection seat 302, and the work connection seat 302 is rotatably set through a pin shaft At the front end of the arm support 201 , the front end of the work support 301 is provided with a cargo transport mechanism, and the rear end of the work support is provided with a vacuum suction tool 303 .

In the box-type cargo handling equipment described in the above embodiments of the present disclosure, the arm support 201 may be composed of a side beam 206 and a mounting plate 207, the centering device is provided on the side beam 206, and the belt conveyor 204 is fixedly installed on the arm support 201 through the mounting plate 207, the belt conveyor 204 is driven by a belt motor 208, and the belt motor 208 is arranged at the bottom of the arm support 201; the work platform The four corners of 3 are provided with laser ranging sensors; the front end of the working platform 3 is provided with five front-end laser ranging sensors. The drive system 1 drives the equipment to move freely through the electric drive wheel 103, detects the distance between the work platform 3 and the inner side wall of the vehicle through the laser ranging sensor, and feeds it back to the drive system 1 after processing by PLC, so as to adjust The speed of the four electric drive wheels 103 to ensure that the equipment does not touch the vehicle during the forward and backward process, the distance from the front end laser ranging sensor to the inner wall of the vehicle is detected, and the vehicle stops automatically after reaching the set value; The arm assembly 2 can change the front and rear positions through the linear guide rail 203, and the arm assembly 2 can adjust the inclination angle through the arm lifting electric cylinder 205 with the arm moving seat 202 as the fulcrum to adapt to different conditions. The cargo target height, the work platform 3 can be rotated relative to the machine arm assembly 2 through the work connecting seat 302 to adapt to different cargo target heights, the vacuum gripper 303 has adsorption capacity and can be adsorbed on the work platform 3 and transport to the cargo transport mechanism, the cargo transport mechanism will transfer the cargo to the belt conveyor 204 and the goods will be transported away by the belt conveyor 204; The arriving cargo can also be handed over to the work platform 3 by the cargo transport mechanism and loaded to a suitable height of the vehicle.

As shown in FIG. 3 , FIG. 4 and FIG. 7 , the side surfaces of the two main beams of the frame 101 are provided with guide posts 107 , and the guide posts 107 are provided with guide grooves 108 , and the two sides of the arm support 201 are provided with guide posts 107 . A guide wheel 209 is provided, the guide wheel 209 is clamped in the guide groove 108 , and the arm assembly 2 is guided up and down along the guide column 107 under the action of the arm lift electric cylinder 205 .

In the box-type cargo handling equipment according to the above embodiments of the present disclosure, guide column mounting plates 109 are respectively provided on the two main beams 105 of the frame, and the guide columns 107 are fixedly arranged by the guide column mounting plates 109 on the frame 101 . When the arm lift electric cylinder 205 drives the arm assembly 2 to lift and lower, the guide wheel 209 will be restricted in the guide groove 108 and rotate along the guide groove 108. The arm assembly 2 will move back and forth along the linear guide rail 203, thereby ensuring that the working platform 3 at the front end of the machine arm assembly 2 is always up and down with a plumb weight.

As shown in FIG. 5 and FIG. 6 , both sides of the arm moving base 202 are provided with pull rod electric cylinders 210 , and the pull rod ends of the pull rod electric cylinders 210 are hinged on the top of the working connection base 302 .

In the box-type cargo handling equipment described in the above embodiments of the present disclosure, the tail end of the pull rod electric cylinder 210 is hinged on the top of the side of the arm moving base 202, and the pull rod end of the pull rod electric cylinder 210 is hinged on the On the top of the working connecting base 302, when the pulling rod electric cylinder 210 moves, the pulling rod will drive the working platform 3 to rotate around the hinge of the working connecting base 302, so as to adjust the distance between the working platform and the horizontal plane. angle.

In some embodiments, the centering device may include a centering clamp plate 211 , a first pulling plate 212 , a second pulling plate 213 and an electric centering cylinder 214 , and two ends of the centering clamp plate 211 pass through the first A pull plate 212 and a second pull plate 213 are connected to one side of the arm support 201 , and the first pull plate 212 , the second pull plate 213 , the arm support 201 and the centering splint 211 can all be Hinged, one end of the electric centering cylinder 214 is connected to the arm support 201 , and the other end of the electric centering cylinder 214 is hinged to the second pulling plate 213 .

In the box-type cargo handling equipment described in the above embodiments of the present disclosure, a laser beam sensor is provided next to the connection between the first pulling plate 212 and the second pulling plate 213 and the arm support 201, and is located on the arm The laser beam sensors on both sides of the bracket 201 can be used to detect the position of the goods. When the goods arrive, the centering electric cylinder 214 will be pushed out to drive the second pulling plate 213 to move. The 211 will move with the second pulling plate 213, so the centering splints 211 on both sides will be centrally clamped towards the middle of the belt conveyor 204, so that the goods are kept in the middle of the belt conveyor 204. sports.

As shown in FIG. 11, in some embodiments, the box-type cargo handling equipment further includes a vacuum adsorption system 4, and the vacuum adsorption system is provided with a vacuum pump 401, a vacuum tank 402, a solenoid valve 403, a valve table and the The vacuum suction tool 303, the vacuum suction tool 303, the vacuum pump 401, the vacuum tank 402 and the solenoid valve 403 are connected by the pipeline 404, and the vacuum pump 401, the vacuum tank 402 and the solenoid valve 403 are fixedly arranged inside the frame .

As shown in FIG. 12 , the vacuum suction tool 303 may include a suction tool mounting base 304 and a gas collecting pipe 305 , and a plurality of groups of corrugated suction cups 306 are evenly and closely arranged on the suction tool mounting base 304 , and each group of the corrugated suction cups 306 is Equipped with a buffer rod, a one-way valve and a filter screen, the gas collecting pipe 305 is provided with a vacuum pressure switch 307, and a plurality of gas pipe joints 308 are provided on the gas collecting pipe 305 in one-to-one correspondence with the corrugated suction cups 306. The gas pipe The joint 308 is connected with the corrugated suction cup 306 through a hose.

In the box-type cargo handling equipment described in the above embodiments of the present disclosure, the vacuum adsorption system can generate a vacuum adsorption force, and the pipeline 404 leads to the vacuum suction tool 303, and the vacuum suction tool 303 can pass through the corrugation The suction cup 306 absorbs the goods, and the vacuum suction tool 303 has the lateral suction ability, which can adapt to the uneven stacking of the goods or a certain angle deflection. It is mechanical energy and has the advantages of simple structure, convenient installation, no pollution, easy use, and no damage to goods. Each component of the vacuum adsorption system adopts an integrated and modular design, and has good replaceability and expansion capability.

As shown in FIG. 8 to FIG. 10 , the moving mechanism of the vacuum gripper may include a lifting mechanism 309 and a telescopic mechanism 310 , and the lifting mechanism 309 for synchronous movement is provided on both sides of the rear end of the working bracket 301 . The telescopic mechanism 310 is erected between the lifting mechanisms 309 , and the vacuum suction tool 303 is arranged at the front end of the telescopic mechanism 310 .

In the box-type cargo loading and unloading equipment described in the above embodiments of the present disclosure, the lifting mechanism 309 is provided with two sets of the lifting mechanism, which are respectively fixedly installed at the rear end of the working bracket 301 and close to the working connection seat 302 . The telescopic mechanism 310 is erected above the 309. Since the vacuum suction tool 303 is arranged at the front end of the telescopic mechanism 310, the vacuum suction tool 303 can be adjusted by the telescopic mechanism 310 and the lifting mechanism 309 to absorb different positions. High cargo; when the lifting mechanism 309 is lifted, the telescopic mechanism 310 will be lifted in height, an arch-like structure will be formed between the lifting mechanism 309, the telescopic mechanism 310 and the working bracket 301, and the cargo can be lifted from the cavity It travels between the work platform 3 and the belt conveyor 204 .

In some embodiments, the cargo transport mechanism may include two sets of roller conveying lines 311 and a set of chain transplanting mechanisms 312 , and the two sets of roller conveying lines 311 are respectively disposed on both sides of the front end of the working bracket 301 . , the chain transplanting mechanism 312 is arranged between the two sets of roller conveying lines 311 , and the chain transplanting mechanism 312 is provided with an electric roller matched with the roller conveying line 311 .

In some embodiments, a transplanting and lifting electric cylinder 313 is hinged inside the working bracket 301 , and the output rod of the transplanting and lifting electric cylinder 313 is hinged at the bottom of the chain transplanting mechanism 312 .

In the box-type cargo handling equipment described in the above embodiments of the present disclosure, the roller conveying line 311 is divided into three independent moving units (left, middle, and right), which are arranged on both sides of the front end of the working bracket 301 The roller conveyor line 311 can transport the goods along the long side direction of the work platform 3, and the chain transplanting mechanism 312 can transport the goods along the short side direction of the work platform 3. The roller conveyor line 311 In cooperation with the chain transplanting mechanism 312 , it can be used to transport goods at a right angle, and the transplanting and lifting electric cylinder 313 can raise the inclination angle of the chain transplanting mechanism 312 .

As shown in FIG. 2 , a vehicle-mounted lithium battery and an electrical control system 110 are arranged at the rear of the frame. The electrical control system 110 is used to control the operation of the equipment. The electrical control system is provided with a drive controller. The drive controller The electric drive wheel 103 and other electric cylinder devices (such as a pull rod electric cylinder, an arm lift electric cylinder, etc.) are driven to move by a servo motor.

In the box-type cargo handling equipment described in the above-mentioned embodiments of the present disclosure, the drive system is provided with four sets of electric drive wheels 103 , which utilize the differential speed principle to realize omnidirectional drive.

The unloading operation process of the box-type cargo handling equipment described in the above embodiments of the present disclosure is as follows:

1. After the equipment starts and completes the self-inspection, the equipment walks to the starting position, is ready and connected to the external power supply, and selects the operation mode on the remote control as unloading.

2. When the equipment moves forward, the distance from the goods is detected by the five front-end laser ranging sensors arranged at the front end of the operation platform 3, and the machine stops automatically after reaching the set value.

3. The arm assembly 2 drives the working platform 3 to the highest level of the cargo; the telescopic mechanism 310 drives the vacuum suction tool 303 to extend, the corrugated suction cup 306 contacts the cargo and compresses, the one-way valve When opened, the corrugated suction cup 306 sucks the goods stably; the lifting mechanism 309 drives the vacuum suction tool 303 to slightly lift to avoid the connection and pulling with the lower goods when the goods are pulled out; the telescopic mechanism 310 drives the The vacuum suction tool 303 and the goods are retracted to the initial position; when the device detects the reset, the vacuum suction is disconnected, so that the corrugated suction cups 306 release the goods, and the goods are placed on the roller conveyor line 311; the lifting mechanism 309 drives the The vacuum suction tool 303 is lifted upwards, and the goods are transferred backwards and conveyed out of the channel; the goods on the roller conveying line 311 are transported through the roller conveying line 311 to The chain transplanting mechanism 312 and then the belt conveyor 204 are transmitted out of the equipment, to the telescopic roller conveyor connected to the tail, and then to the depalletizer.

4. At the same time, when the vacuum gripper 303 releases the goods and the goods are placed on the roller conveying line 311, the lifting mechanism 309 drives the vacuum gripper 303 to lift up, and the work platform 3 passes through the The arm assembly 2 drives the vacuum suction tool 303 to stretch forward through the action of the telescopic mechanism 310 to prepare for the suction of the next group of goods without affecting the transmission of the current goods. Reduce waiting time and improve work efficiency.

5. After the goods on the roller conveyor line 311 are all transported out of the roller conveyor line 311 and the range of the chain transplanter, the machine arm is composed of 2 lifting and the lifting mechanism 309 is lowered to make all the goods. The work platform 3 and the vacuum gripper 303 reach the "slightly lifted" state, and the subsequent process is repeated to complete the unloading of each group of goods.

6. Due to the lower position of several groups of goods, and the working platform 3 has a certain thickness, it cannot be lowered to the ground plane. At this time, the working platform 3 needs to be adjusted to the inclined state through the pull rod electric cylinder 210 on the arm assembly 2, so that the working platform is inclined and aligned with the lowest part of the goods to be unloaded, and then the operation can be continued. Operation. In this case, the unloading operation process of the cargo is as follows: the working platform 3 is inclined to align with the lower part of the cargo, the telescopic mechanism 310 drives the vacuum suction tool 303 to extend, the corrugated suction cup 306 contacts the cargo and compresses, so The one-way valve is opened, and the corrugated suction cup 306 sucks the goods stably; the lifting mechanism 309 drives the vacuum gripper 303 to slightly lift, and the telescopic mechanism 310 drives the vacuum gripper 303 and the cargo to retract to the initial position ; The device detects the reset, the work platform 3 is restored to the horizontal position by the action of the pull rod electric cylinder 210; then the suction of the vacuum gripper 303 is disconnected to release the goods, and the goods are placed on the roller conveyor line 311 ; The lifting mechanism 309 drives the vacuum gripper 303 to lift upward, and the goods are transferred backward and conveyed to the channel; the goods on the roller conveying line 311 are controlled by the set program and the detection signal through The roller conveyor line 311 is transported to the chain transplanting mechanism 312 and then the belt conveyor 204 to be transmitted out of the equipment, to the telescopic roller conveyor connected to the tail, and then to the depalletizer.

7. When there are more than one layer of goods in the lower position, it is necessary to continue to repeat the above actions until the bottom layer of goods is unloaded. When unloading multiple layers of low-level cargo, the arm assembly 2 does not continue to lower downward, as long as the inclination of the work platform 3 is adjusted through the adjustable pull rod according to the position of the cargo, and the above actions can be repeated.

8. By analogy, after each piece of goods is taken, repeat step 2 (the equipment moves forward, and the distance to the goods is detected by the 5 front-end laser ranging sensors arranged at the front of the work platform, and the vehicle stops automatically after reaching the set value).

9. The equipment is provided with the laser ranging sensor at the four corners of the front-end working platform 3, which is used to detect the distance between the working platform 3 and the inner side wall of the vehicle, and feedback to the drive system after processing by PLC, and adjust the four described distances. The speed of the electric drive wheel to ensure that the equipment does not touch the carrier during the forward and backward process.

The loading operation process of the box-type cargo handling equipment described in the above-mentioned embodiments of the present disclosure is as follows:

1. After the equipment starts and completes the self-test, the equipment walks to the starting position, is ready and connected to the external power supply, and selects the operation mode as loading on the remote control.

2. The equipment moves forward, and the front-end laser ranging sensor arranged at the front end of the working platform 3 detects the distance from the inner wall of the vehicle, and stops automatically after reaching the set value.

3. The equipment is provided with the laser ranging sensor at the four corners of the front-end working platform 3, which is used to detect the distance between the working platform 3 and the inner side wall of the vehicle, and feedback to the drive system after processing by PLC to adjust the four described distances. The speed of the electric drive wheel to ensure that the equipment does not touch the carrier during the forward and backward process.

4. The arm assembly 2 drives the working platform 3 to the lowest position; the elevating mechanism 309 drives the vacuum gripper 303 to lift up to the set value, and the goods are released from the rear-forward conveying channel;

5. At the same time as step 4, the goods pass through the depalletizer→telescopic roller conveyor→the belt conveyor 204 of this equipment. The belt conveyor 204 is provided with the laser beam sensor, which is used to detect the position signal of the goods. When it is detected that the goods are conveyed to the predetermined position through the belt conveyor 204, the signal can be sent to the PLC. After the delay value, the centering device will be controlled to act, and the goods will be pushed and clamped to the longitudinal centerline of the belt conveyor 204, so that the goods will be transferred to the chain transfer mechanism in a standard posture.

6. After the goods are centered, they are transferred to the front end of the belt conveyor 204 and enter the chain transplanting mechanism 312 (the chain part of the chain transplanting mechanism 312 is in a jacking state at this time); when the goods are detected, The chain transplanting mechanism 312 stops rotating and descends, so that the goods fall on the rollers of the roller conveying line 311, and then the middle and the right side or the middle and the left side of the roller conveying line 311 are activated to transport the goods. It is conveyed to a set distance; after the set time, the chain transplanting mechanism 312 is lifted and rotated to start the transplanting and conveying of the next piece of goods.

7. According to the above procedure, the goods are transplanted and transported to the roller conveyor line 311 one by one in a step-by-step manner until one group is covered.

8. The lifting mechanism 309 drives the vacuum gripper 303 to descend to the reset position; the telescopic mechanism 310 drives the vacuum gripper 303 to extend, the corrugated suction cup 306 contacts the goods and compresses, and the one-way valve opens, The corrugated suction cup 306 sucks the goods stably; the working platform 3 is adjusted to a tilted state through the pull rod electric cylinder 210 on the arm assembly 2 ; the telescopic mechanism 310 drives the vacuum suction tool 303 and the goods Extend and push the group of loads to the loading position.

9. The working platform 3 is restored to a horizontal state by the pulling rod electric cylinder 210 on the arm assembly 2; the lifting mechanism 309 drives the vacuum gripper 303 to lift up to the set value, and lifts the goods from the back Forward delivery channel yields; repeat steps 5, 6, 7, 8.

10. When there are more than one layer of low-level goods, the above actions need to be repeated until the low-level goods are loaded. When loading multiple layers of low-level cargo, the arm assembly 2 remains stationary at the lowest position, as long as the inclination of the working platform 3 is adjusted by the pull rod electric cylinder 210 according to the loading position of the cargo, and the above actions can be repeated.

11. After the low-level cargo is loaded, the arm assembly 2 drives the work platform 3 to rise, and the lift mechanism 309 drives the vacuum gripper 303 to rise to the set value, and the cargo is conveyed from the back to the front. Let go; repeat steps 5, 6, 7.

12. The lifting mechanism 309 drives the vacuum gripper 303 to descend to reset; the telescopic mechanism 310 drives the vacuum gripper 303 to extend, the corrugated suction cup 306 contacts the goods and compresses, and the one-way valve opens, The corrugated suction cups suck the goods stably; the telescopic mechanism 310 drives the vacuum suction tool 303 and the goods to extend, and pushes the group of goods to the loading position (non-low-position goods loading state, during this action, the vacuum suction The tool 303 can absorb the goods and push them out to ensure stable operation, or it can not work to improve the efficiency, which can be selected according to the application experience). Repeat the above actions, load layer by layer from bottom to top, and the arm composition 2 rises layer by layer until the top layer is loaded.

13. Repeat the above actions, load layer by layer from bottom to top, and the arm composition 2 rises layer by layer until the top layer is loaded.

The above-mentioned scheme of the present disclosure has the following beneficial effects:

(1) The structure design of the present disclosure is reasonable, and the steps and action rhythms are divided in detail without affecting each other, thereby reducing the waiting time between actions and improving the overall operation efficiency.

(2) The present disclosure is provided with a vacuum adsorption system, which adopts vacuum technology to adsorb the goods, sucks the goods from the end face of the goods, lifts them slightly and drags them out to the roller conveyor line of the operation platform, and has no trace adsorption, requires a small working space, and is not damaged. goods.

(3) The vacuum gripper of the present disclosure is installed on the working platform through the lifting mechanism and the telescopic mechanism, and the two are relatively independent. The action of the machine can carry out the suction action of the next group of goods without affecting the next cargo conveying process of the operation platform, reducing the waiting time and improving the operation efficiency.

(4) The present disclosure is provided with a chain transplanting mechanism and a roller conveying line, which cooperate to realize right-angle transportation of goods, and the goods can be automatically transported and transferred. The transportation structure is compact and can be transported in both forward and reverse directions.

(5) The components of the present disclosure are mainly composed of pin shafts, connecting plates, guide columns, and linear guide rails, with few components, clear movements, and stable forces.

(6) The present disclosure adopts a differential type four-wheel drive system, which is compact in structure and convenient and reliable in control.

The present disclosure has reasonable structural design, detailed division of action rhythms, and no mutual influence between the movements of various components, which can effectively realize the mechanization and automatic loading and unloading of platform box-type goods, and improve the loading and unloading efficiency.

The above are the preferred embodiments of the present disclosure. It should be pointed out that for those skilled in the art, without departing from the principles described in the present disclosure, several improvements and modifications can be made, and these improvements and modifications are also It should be regarded as the protection scope of the present disclosure.

Claims

A box-type cargo handling equipment, comprising:

Drive system, the drive system is provided with a frame, the frame is composed of a main beam and a rectangular tube welded, the four corners of the frame are provided with drive wheel mounting seats, and each of the drive wheel mounting seats is provided with electrical a driving wheel, the rear end of the frame is provided with a fixing seat;

The machine arm is composed of a machine arm support, and one end of the machine arm support is hinged with a machine arm moving seat, and the machine arm moving seat is arranged on the fixed seat through a linear guide rail, and the machine arm A belt conveyor is arranged on the bracket, centering devices are arranged on both sides of the arm bracket, and an arm lift electric cylinder is arranged between the arm bracket and the frame; and

A work platform, the work platform is provided with a work support, the rear end of the work support is provided with a work connection seat, and the work connection seat is rotatably arranged at the front end of the arm support through a pin, and the work support The front end is provided with a cargo transport mechanism, and the rear end of the working bracket is provided with a vacuum suction tool and a vacuum suction tool moving mechanism.
The box-type cargo handling equipment according to claim 1, wherein the two main beams of the frame are provided with guide posts on the sides, the guide posts are provided with guide grooves, and both sides of the arm bracket are provided with A guide wheel, the guide wheel is clamped in the guide groove, and the arm assembly is guided up and down along the guide column under the action of the arm lift electric cylinder.
The box-type cargo handling equipment according to claim 1, wherein a pull rod electric cylinder is provided on both sides of the arm moving base, and the pull rod end of the pull rod electric cylinder is hinged on the top of the working connection base.
The box-type cargo handling equipment according to claim 1, wherein the centering device comprises a centering clamp plate, a first pulling plate, a second pulling plate and an electric centering cylinder, and two ends of the centering clamp plate pass through respectively The first pull plate and the second pull plate are connected to one side of the arm support, and the first pull plate, the second pull plate, the arm support and the centering splint are all hinged. One end of the electric centering cylinder is connected to the arm support, and the other end of the electric centering cylinder is hinged on the second pulling plate.
The box-type cargo handling equipment according to claim 1, further comprising a vacuum adsorption system, the vacuum adsorption system is provided with a vacuum pump, a vacuum tank, a solenoid valve, a valve table and the vacuum suction tool, the vacuum suction tool , the vacuum pump, the vacuum tank and the solenoid valve are connected by pipelines, and the vacuum pump, the vacuum tank and the solenoid valve are fixedly arranged inside the frame.
The box-type cargo handling equipment according to claim 5, wherein the vacuum suction tool comprises a suction tool mounting seat and a gas collecting pipe, and a plurality of groups of corrugated suction cups are evenly and closely arranged on the suction tool mounting seat, and each group of the corrugated suction cups The suction cups are all equipped with buffer rods, one-way valves and filter screens. The gas collecting pipe is provided with a vacuum pressure switch. The gas collecting pipe is provided with a plurality of gas pipe joints corresponding to the corrugated suction cups one by one. The corrugated suction cups are connected by hoses.
The box-type cargo handling equipment according to claim 5, wherein the moving mechanism of the vacuum suction tool comprises a lifting mechanism and a telescopic mechanism, and the lifting mechanism for synchronous movement is provided on both sides of the rear end of the working support, so The telescopic mechanism is erected between the lifting mechanisms, and the vacuum suction tool is arranged at the front end of the telescopic mechanism.
The box-type cargo handling equipment according to claim 7, wherein the cargo transport mechanism comprises two sets of roller conveying lines and a set of chain transplanting mechanisms, and the two sets of the roller conveying lines are respectively arranged on the working support On both sides of the front end of the chain transplanting mechanism, the chain transplanting mechanism is arranged between two sets of roller conveying lines, and the chain transplanting mechanism is provided with an electric roller matched with the roller conveying line.
The box-type cargo handling equipment according to claim 8, wherein a transplanting and lifting electric cylinder is hingedly arranged inside the working support, and the output rod of the transplanting and lifting electric cylinder is hinged at the bottom of the chain transplanting mechanism.
The box-type cargo handling equipment according to claim 1, wherein a vehicle-mounted lithium battery and an electrical control system are provided at the rear of the frame, the electrical control system is used to control the operation of the equipment, and the electrical control system is provided with a drive control system The drive controller drives the electric drive wheel and other electric cylinder devices to move through the servo motor.