WO2022237051A1 - 一种适用于大型构件的智能托运机器及其托运方法 - Google Patents
一种适用于大型构件的智能托运机器及其托运方法 Download PDFInfo
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- WO2022237051A1 WO2022237051A1 PCT/CN2021/121117 CN2021121117W WO2022237051A1 WO 2022237051 A1 WO2022237051 A1 WO 2022237051A1 CN 2021121117 W CN2021121117 W CN 2021121117W WO 2022237051 A1 WO2022237051 A1 WO 2022237051A1
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- conveyor belt
- loading assembly
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- 230000007246 mechanism Effects 0.000 claims abstract description 34
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000009434 installation Methods 0.000 claims description 5
- 239000000463 material Substances 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 claims description 4
- 230000000712 assembly Effects 0.000 abstract description 5
- 238000000429 assembly Methods 0.000 abstract description 5
- 230000013011 mating Effects 0.000 abstract 4
- 238000004519 manufacturing process Methods 0.000 description 9
- 238000006243 chemical reaction Methods 0.000 description 4
- 238000004806 packaging method and process Methods 0.000 description 3
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/10—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface
- B65G15/12—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts
- B65G15/14—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration comprising two or more co-operating endless surfaces with parallel longitudinal axes, or a multiplicity of parallel elements, e.g. ropes defining an endless surface with two or more endless belts the load being conveyed between the belts
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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
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
- B65G15/30—Belts or like endless load-carriers
- B65G15/58—Belts or like endless load-carriers with means for holding or retaining the loads in fixed position, e.g. magnetic
Definitions
- the invention relates to the technical field of intelligent robot manufacturing and the field of workshop assembly line, in particular to an intelligent consignment machine suitable for large components and a consignment method thereof.
- the conveying line is mainly to complete the conveying task of its objects.
- the conveying line can carry out horizontal, inclined and vertical conveying, and can also form a space conveying line.
- the conveying line is generally fixed.
- In the site surrounding the warehouse, production workshop and packaging workshop there are conveyor chains composed of many belt conveyors and roller conveyors, which form a continuous conveyor line through end-to-end connections.
- Conveying lines play an important role in modern industrial production, and are used in food, electronic product packaging, chemical industry, home appliance assembly, automobile manufacturing and other industries.
- the conveyor has a large conveying capacity, a long transportation distance, and can complete several process operations at the same time during the conveying process, so it is widely used.
- the conveying capacity of the conveyor refers to the amount of objects conveyed per unit time. When conveying bulk objects, it is calculated by the mass or volume of the conveyed objects per hour. When conveying finished articles, it is calculated by the number of conveyed objects per hour. Increasing the conveying speed can increase the conveying capacity. When the conveyor belt is used as the traction member and the conveying length is large, the conveying speed increases day by day. However, the belt conveyor running at high speed needs to pay attention to vibration, noise, starting, braking and other issues.
- Conveyors that carry out process operations at the same time should be determined according to the requirements of the production process.
- Conveyor component dimensions include belt width, slat width, hopper volume, pipe diameter, and container size, among others. These component sizes directly affect the conveying capacity of the conveyor.
- the length of the transmission line and the size of the inclination directly affect the total resistance of the conveyor and the required power.
- the conveyor belt is in direct contact with the objects, which further limits the quantitative delivery of materials.
- the conveyor belt is set vertically, it is difficult to complete the consignment of the objects. If the vertical state can be used to make technical improvements, It is more convenient and flexible to change the transmission route.
- the loading assembly composed of two loading boards moves to the turning position of the conveyor belt, the actual distance between the two loading boards is less than the actual length of the conveyor belt between the two loading boards, and the loading assembly will be damaged, so urgently Technical improvements are required to accommodate seamless consignment.
- the invention overcomes the shortcomings of the prior art and provides an intelligent consignment machine and a consignment method suitable for large components.
- an intelligent consignment machine suitable for large components and its consignment method including: several transmission mechanisms and loading components arranged on the same transportation line, the transmission mechanism includes: several The drive shaft and the conveyor belt connected by several drive shafts, the conveyor belt is vertically arranged on the assembly line, an even number of matching grooves are arranged on the conveyor belt, two adjacent matching grooves are set as a group, and the matching A plurality of magnetic blocks are arranged in a linear arrangement in the groove, and the matching grooves can be matched and connected with the loading assembly.
- the loading assembly includes: two adjacent loading plates, a plurality of solenoid valves are arranged in a linear arrangement on both sides of the loading plate, an installation cavity is arranged inside the loading plate, and at least one A track bar, the track bar is slidably connected to a support member, the support member is slidably connected to the track bar, a manipulator is arranged above the support member, and the manipulator is connected to the upper end of the support member through a hinge.
- the manipulator includes: a receiving plate and clamping plates arranged symmetrically on both sides of the receiving plate, and the clamping plate is connected to the receiving plate through telescopic columns.
- friction protrusions are provided on the inner surface of the clamping plate, and the friction protrusions are made of rubber material.
- circular grooves are provided on the top surface of the solenoid valve, and each of the circular grooves fits with one of the magnetic blocks.
- the close position between two adjacent conveying mechanisms is a handover section, and there is a certain gap at the handover section, and the loading assembly can follow and move to the handover section conveyor belt movement.
- the vertical projection view of the overall shape of the conveying mechanism is one of triangle, quadrangle, circle and ellipse.
- the matching grooves on the two adjacent transmission mechanisms when the matching grooves on the two adjacent transmission mechanisms both move to the handover section, the matching grooves on the two adjacent transmission mechanisms are symmetrical with respect to the loading plate.
- the distance between two loading plates in the same loading assembly is equal to the distance between two adjacent matching grooves.
- the second technical scheme adopted in the present invention is:
- Step S1 The loading assembly is connected to the matching groove on the conveyor belt through the solenoid valve, and the cargo to be consigned is directly placed on the manipulator, and the circular groove on the solenoid valve and the magnetic block are mutually attracted and connected together.
- Step S2 The loading assembly runs along with the conveyor belt to the transfer section between the two conveyor belts.
- the energization of several solenoid valves on the loading assembly on the side of the conveyor belt that is initially connected to the loading assembly gradually weakens until it stops.
- the power is turned on again, the energization of several solenoid valves on the loading assembly on the side of the conveyor belt just in contact with the loading assembly gradually increases until it becomes stable.
- Step S3 The loading assembly gradually disengages from the matching groove on the conveyor belt initially connected to the loading assembly. After the loading assembly leaves the handover section, the loading assembly is transferred to the matching groove on the conveyor belt just in contact with the loading assembly to continue conveying.
- the conveyor belts on two adjacent conveyor mechanisms rotate in opposite directions and at the same rotation speed.
- the present invention solves the defect existing in the background technology, and the present invention has the following beneficial effects:
- the actual distance between the two loading plates is less than the actual length of the conveyor belt between the two loading plates, and the support will quickly move on the track according to the force Lateral sliding is made on the rod to ensure that the clamping plate is always clamping the carrying object, and at the same time, the loading assembly will not change due to the actual distance between the loading plates, effectively preventing the loading assembly as a whole from being damaged by the pulling force.
- the present invention utilizes a plurality of electromagnetic valves arranged symmetrically on both sides of the loading plate to change the energization of the electromagnetic valves on both sides of the loading plate, thereby rapidly changing the attractive force of the loading plate to the magnetic blocks on different transmission mechanisms, so that the loading Components are quickly changed to the transfer mechanism that requires the transfer route.
- the vertically arranged conveyor belt replaces the traditional flat conveyor belt, which can transport the loading components more flexibly. During the transportation of each loading component, since there is no rigid connection between the loading component and the conveyor belt, the manipulator can quickly The objects loaded by the loading member are collected to improve production efficiency.
- the present invention realizes the consignment of large-scale components through the manipulator, and uses the manipulator to hold up the carried objects, so that the carried objects can be picked up more easily, and several friction protrusions are set on the inner surface of the clamping plate, which can further increase the clamping force.
- the friction between the plate and the object can effectively prevent the object from falling, and the friction protrusion made of rubber material has a certain degree of elasticity to prevent the rigid contact between the clamping plate and the object from damaging the object.
- the clamping plate is connected to the receiving plate through the telescopic column, and the size of the manipulator can be adjusted according to the needs, so as to carry objects of different volumes.
- the present invention can set the vertical projection view of the overall shape of the conveying mechanism to different shapes such as triangle, quadrangle, circle and ellipse, thereby being able to flexibly change the conveying route of the conveying assembly line according to changing the overall shape of the conveying mechanism.
- the present invention utilizes the mutual cooperation between two vertically arranged conveying mechanisms to carry out the transportation of objects, realizes the position conversion of objects along different routes, and performs route conversion according to the needs of the workshop assembly line, and then makes the transportation line of objects Shows multi-directionality.
- the present invention connects the manipulator to the upper end of the support through a hinge, thereby ensuring that the manipulator rotates its own angle according to the angle of the carrying object when the two loading plates on the same loading assembly are moving at the turning point, thereby ensuring that the manipulator always grasps the carrying object .
- Fig. 1 is the three-dimensional structural diagram of preferred embodiment of the present invention.
- Fig. 2 is a schematic plan view of the transmission mechanism of the preferred embodiment of the present invention.
- Fig. 3 is a three-dimensional structure diagram of a loading assembly in a preferred embodiment of the present invention.
- Fig. 4 is a three-dimensional structural view of a loading plate in a preferred embodiment of the present invention.
- 200-loading assembly 210-loading plate, 220-solenoid valve, 221-circular groove, 230-support, 240-installation cavity, 250-track rod, 260-hinge, 270-manipulator, 271-telescopic Column, 272-friction protrusion, 273-receiving plate, 274-clamping plate, 280-carrying objects.
- connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention based on specific situations.
- an intelligent consignment machine and consignment method suitable for large components includes: several transmission mechanisms and loading assemblies 200 arranged on the same transport line, the transmission mechanism includes: several drive shafts 110 and through Conveyor belt 120 connected by several driving shafts 110, conveyor belt 120 is vertically arranged on the assembly line, an even number of matching grooves 130 is set on the conveyor belt 120, two adjacent matching grooves 130 are set as a group, and the matching grooves 130 are arranged in a linear arrangement
- the several magnetic blocks 131 and the matching slots 130 can be matched and connected with the loading assembly 200 .
- the loading assembly 200 includes: two adjacent loading plates 210, and the distance between the two loading plates 210 in the same loading assembly 200 is equal to the distance between two adjacent fitting grooves 130 The distance between the loading plate 210 and the matching groove 130 can be ensured.
- Several solenoid valves 220 are arranged in a linear arrangement on both sides of the loading plate 210.
- An installation cavity 240 is set inside the loading plate 210, and at least one The track bar 250 is slidably connected to the support 230 , the support 230 is slidably connected to the track bar 250 , the manipulator 270 is arranged above the support 230 , and the manipulator 270 is connected to the upper end of the support 230 through the hinge 260 .
- the actual distance between the two loading boards 210 is less than the actual length of the conveyor belt 120 between the two loading boards 210, and the supporting member 230 will quickly make a lateral slide on the track rod 250 according to the force situation, thereby ensuring that the clamping plate 274 always clamps the carrying object 280, and the loading assembly 200 will not be pulled due to the change of the actual distance between the loading plates 210 damage by force.
- the manipulator 270 is connected to the upper end of the support 230 through the hinge 260, thereby ensuring that the manipulator 270 rotates its own angle according to the angle of the carrying object 280 when the two loading plates 210 on the same loading assembly 200 are at the turning point of motion, thereby ensuring that the manipulator 270 always holds on to the carry item 280 .
- the energization of the electromagnetic valves 220 on both sides of the loading plate 210 is changed respectively, thereby quickly changing the loading of the loading plate 210 on different transmission mechanisms.
- the attractive force of the magnetic block 131 enables the material-carrying member to be quickly replaced on the conveying mechanism that needs a conveying route.
- the conveyor belt 120 arranged vertically instead of the conveyor belt 120 arranged in a traditional flat manner can transport the loading components more flexibly. During the transportation of each loading component, since there is no rigid connection between the loading component and the conveyor belt 120, The manipulator 270 can quickly collect the objects loaded by the loading member, thereby improving production efficiency.
- a circular groove 221 is arranged on the top surface of the electromagnetic valve 220, and each circular groove 221 is matched with a magnetic block 131, which can ensure that the electromagnetic valve 220 is closely matched with the magnetic block 131, and further increases The connection strength between the solenoid valve 220 and the magnetic block 131 is large.
- the consignment of large components is realized by the manipulator 270, and the carrying object 280 is lifted by the manipulator 270, so that the carrying object 280 can be picked up more easily, and several frictions are set on the inner surface of the clamping plate 274
- the protrusion 272 can further increase the friction between the clamping plate 274 and the object to prevent the object from falling.
- the friction protrusion 272 made of rubber material has a certain degree of elasticity to prevent the gap between the clamping plate 274 and the object. Damage objects due to rigid contact.
- the clamping plate 274 is connected to the receiving plate 273 through the telescopic column 271 , so that the size of the manipulator 270 can be adjusted according to needs, and then objects of different volumes can be carried.
- the vertical projection view of the overall shape of the transmission mechanism is one of triangles, quadrangles, circles and ovals, and the vertical projection view of the overall shape of the transmission mechanism is set as triangles, quadrilaterals, and circles
- the shape is different from the ellipse, so that the conveying route of the conveying line can be flexibly changed according to the change of the overall shape of the conveying mechanism.
- the mutual cooperation between two vertically arranged conveying mechanisms is used to carry out the transportation of the objects, so as to realize the position conversion of the objects along different routes, and the route conversion is performed according to the requirements of the workshop assembly line, so that The transportation of objects presents multi-directionality.
- the loading member can be directly fitted into the fitting groove 130 , and then the loading member can be transported along the conveying direction of the conveyor belt 120 to achieve the purpose of stable delivery of objects.
- the loading assembly 200 When the present invention is in use, the loading assembly 200 is mated and connected to the fitting groove 130 on the conveyor belt 120 through the solenoid valve 220, and the cargo 280 to be consigned is placed directly on the manipulator 270.
- the circular groove 221 on the solenoid valve 220 Cooperate with the magnetic block 131 to attract and connect together; the loading assembly 200 has been running along with the conveyor belt 120 to the transfer section between the two conveyor belts 120, when entering the transfer section, the side of the conveyor belt 120 initially connected to the loading assembly 200
- the energization of several electromagnetic valves 220 on the loading assembly 200 gradually weakens until no longer energized, and the energization of several electromagnetic valves 220 on the loading assembly 200 on the side of the conveyor belt 120 just in contact with the loading assembly 200 gradually increases until it is stable; the loading assembly 200 gradually Break away from the matching groove 130 on the conveyor belt 120 initially connected with the loading assembly 200, when the loading assembly 200 leaves the handover section, the loading assembly 200 is transferred to the matching groove 130
- the close position between two adjacent transmission mechanisms is the handover section, and the loading plate 210 can follow the movement of the conveyor belt 120 moving to the handover section, when the matching grooves on the two adjacent transmission mechanisms When all 130 move to the handover section, the matching grooves 130 on the two adjacent transmission mechanisms are symmetrical with respect to the loading plate 210, and the rotation directions of the conveyor belts 120 on the two adjacent transmission mechanisms are opposite, and the rotation speeds are consistent, effectively ensuring The loading member is handed over and transferred smoothly in the handover section.
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Abstract
一种适用于大型构件的智能托运机器及其托运方法，包括：设置在同一运输流水线的若干传送机构和装载组件（200），传送机构包括：通过若干驱动轴（110）连接的传送带（120），传送带（120）上设置偶数个配合槽（130），相邻的两个配合槽（130）设置为一组，配合槽（130）内以线性排列方式设置若干个磁块（131），配合槽（130）均能够配合连接装载组件（200），装载组件（200）包括：两个相邻设置的装载板（210），装载板（210）两侧面均以线性排列方式设置若干个电磁阀（220），装载板（210）内部设置安装腔体（240），安装腔体（240）内设置至少一个轨道杆（250），轨道杆（250）滑动连接支撑件（230），支撑件（230）上方设置机械手（270），机械手（270）通过铰接件（260）连接在支撑件（230）上端。利用支撑件（230）快速在轨道上做出横向滑动，保证装载组件不会因为装载板之间实际距离的改变，而受到拉扯力损坏。
Description
本发明涉及智能机器人制造技术领域以及车间流水线领域，尤其涉及一种适用于大型构件的智能托运机器及其托运方法。
输送流水线主要是完成其物件的输送任务，输送流水线可进行水平、倾斜和垂直输送，也可组成空间输送线路，输送线路一般是固定的。在环绕库房、生产车间和包装车间的场地，设置有由许多皮带输送机、滚轮输送机等组成的一条条输送链，经首尾连接形成连续的输送线。在物件的入口处和出口处设有和路径叉口装置、升降机和地面输送线。这样在库房、生产车间和包装车间范围内形成了一个既可顺畅到达各个生产位置同时又是封闭的循环输送线系统。输送流水线在现代工业生产中发挥着重要作用，在食品、电子产品包装、化工、家电组装、汽车制造等行业都有应用。输送机输送能力大，运距长，还可在输送过程中同时完成若干工艺操作，所以应用十分广泛。
一般根据物件搬运系统的要求、物件装卸地点的各种条件、有关的生产工艺过程和物件的特性等来确定各主要参数。输送机的输送能力是指单位时间内输送的物件量，在输送散状物件时，以每小时输送物件的质量或体积计算，在输送成件物品时，以每小时输送的件数计算。提高输送速度可以提高输送能力。在以输送带作牵引件且输送长度较大时，输送速度日趋增大。但高速运转的带式输送机需注意振动、噪声和启动、制动等问题。对于以链条作为牵引件的输送机，输送速度不宜过大，以防止增大动力载荷。同时进行工艺操作的输送机，输送速度应按生产工艺要求确定。输送机的构件尺寸包括输送带宽度、板条宽度、料斗容积、管道直径和容器大小等。这些构件尺寸都直接影响输送机的输送能力。同时，输送线路长度和倾角大小直接影响输送机的总阻力和所需要的 功率。
现有技术中，传送带与物件均是直接接触，也进一步限制了物料无法进行定量传送，将传送带竖直设置时，很难完成物件的托运，如果能够利用其竖直状态设置时进行技术性改进，能够更方便灵活改变传输路线。另一方面，当两个装载板组成的装载组件运动至传送带的转弯位置时，两个装载板的实际距离小于两个装载板之间的传送带的实际长度，装载组件会受到损坏，因此，亟需在技术上做出改进，以适应无间的托运。
发明内容
本发明克服了现有技术的不足，提供一种适用于大型构件的智能托运机器及其托运方法。
为达到上述目的，本发明采用的技术方案为：一种适用于大型构件的智能托运机器及其托运方法，包括：设置在同一运输流水线的若干传送机构和装载组件，所述传送机构包括：若干驱动轴以及通过若干驱动轴连接的传送带，所述传送带竖直设置在所述流水线上，所述传送带上设置偶数个配合槽，相邻的两个所述配合槽设置为一组，所述配合槽内以线性排列方式设置若干个磁块，所述配合槽均能够配合连接装载组件。
所述装载组件包括：两个相邻设置的装载板，所述装载板两侧面均以线性排列方式设置若干个电磁阀，所述装载板内部设置安装腔体，所述安装腔体内设置至少一个轨道杆，所述轨道杆滑动连接支撑件，所述支撑件与所述轨道杆滑动连接，所述支撑件上方设置机械手，所述机械手通过铰接件连接在所述支撑件上端。
本发明一个较佳实施例中，所述机械手包括：承受板以及对称设置在所述承受板两侧面的夹紧板，所述夹紧板与所述承受板通过伸缩柱连接。
本发明一个较佳实施例中，所述夹紧板内侧面设置若干摩擦凸起，所述摩 擦凸起由橡胶材质制成。
本发明一个较佳实施例中，所述电磁阀顶面设置圆形凹槽，每个所述圆形凹槽均配合一个所述磁块。
本发明一个较佳实施例中，相邻的两个所述传送机构之间的贴近位置为交接区段，所述交接区段处具有一定间隙，且所述装载组件能够跟随运动至交接区段的传送带运动。
本发明一个较佳实施例中，所述传送机构整体形状的垂直投影视图为三角形、四边形、圆形和椭圆形中的其中一种。
本发明一个较佳实施例中，当相邻的两个所述传送机构上的配合槽均运动至交接区段时，相邻的两个所述传送机构上的配合槽均关于装载板对称。
本发明一个较佳实施例中，同一装载组件中的两个所述装载板之间距离等于相邻的两个所述配合槽之间的距离。
本发明所采用的第二种技术方案为：
步骤S1：装载组件通过电磁阀配合连接在在传送带上的配合槽位置处，将待托运的运载物件直接放置在机械手上，电磁阀上的圆形凹槽与磁块相互配合吸引连接在一起。
步骤S2：装载组件随着传送带一直运转至两传送带之间的交接区段，当进入交接区段时，与装载组件最初连接的传送带一侧的装载组件上的若干电磁阀通电量逐渐减弱直至不再通电，与装载组件刚接触的传送带一侧的装载组件上的若干电磁阀通电量逐渐增强直至稳定。
步骤S3：装载组件逐渐脱离与装载组件最初连接的传送带上的配合槽，当装载组件离开交接区段之后，装载组件转移至与装载组件刚接触的传送带上的配合槽内继续进行传送。
本发明一个较佳实施例中，相邻的两个传送机构上的所述传送带转动方向 相反，且转动速度一致。
本发明解决了背景技术中存在的缺陷，本发明具备以下有益效果：
(1)本发明中装载组件运动至各驱动轴处的转弯位置时，两个装载板的实际距离小于两个装载板之间的传送带的实际长度，支撑件会根据受力情况，快速在轨道杆上做出横向滑动，进而保证夹紧板始终夹紧运载物件的同时，装载组件不会因为装载板之间实际距离的改变，有效防止装载组件整体受到拉扯力而损坏。
(2)本发明利用控制装载板两侧面对称设置的若干电磁阀，分别改变装载板两侧电磁阀的通电量，从而快速改变装载板对不同的传送机构上磁块的吸引力，使载料构件快速更换至需要传输路线的传送机构上。以竖直布置的传送带替代传统的平躺方式布置的传送带，能够更灵活运输载料构件，每个载料构件在运输过程中，由于载料构件与传送带之间不存在刚性连接，机械手能够快速将载料构件装载的物件进行收集，进而提高生产效率。
(3)本发明通过机械手实现大型构件的托运，利用机械手将运载物件托起，从而使运载物件能够更容易被拿取，在夹紧板内侧面设置若干摩擦凸起，能够进一步增大夹紧板与物件之间摩擦力，有效防止物件掉落，由橡胶材质制成的摩擦凸起，具有一定的弹性，防止出现夹紧板与物件之间刚性接触而损坏物件。通过伸缩柱将夹紧板连接在承受板上，能够根据需要调整机械手大小，进而运载不同体积的物件。
(4)本发明能够将传送机构整体形状的垂直投影视图设置为三角形、四边形、圆形和椭圆形中等不同的形状，从而能够根据改变传送机构的整体形状，灵活改变输送流水线的输送路线。
(5)本发明利用两个竖直设置的传送机构之间的相互配合进行物件的运输，实现物件沿不同的路线进行位置转换，根据车间车间流水线的需求进行路 线转换，进而使物件的运输线呈现多方向性。
(6)本发明通过铰接件将机械手连接在支撑件上端，进而保证同一装载组件上的两个装载板在运动之转弯处时机械手根据运载物件的角度转动自身角度，进而保证机械手始终抓紧运载物件。
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明中记载的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本发明优选实施例的立体结构图；
图2为本发明优选实施例传送机构的平面示意图；
图3为本发明优选实施例装载组件的立体结构图；
图4为本发明优选实施例装载板的立体结构图。
具体地，110-驱动轴，120-传送带，130-配合槽，131-磁块，
200-装载组件，210-装载板，220-电磁阀，221-圆形凹槽，230-支撑件，240-安装腔体，250-轨道杆，260-铰接件，270-机械手，271-伸缩柱，272-摩擦凸起，273-承受板，274-夹紧板，280-运载物件。
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
在下面的描述中阐述了很多具体细节以便于充分理解本发明，但是本发明还可以采用其他不同于在此描述的其他方式来实施，因此，本发明的保护范围 并不受下面公开的具体实施例的限制。
在本发明的描述中，需要理解的是，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保护范围的限制。此外，术语“第一”、“第二”等仅用于描述目的，而不能理解为指示或暗示相对重要性或隐含指明所指示的技术特征的数量。因此，限定有“第一”、“第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明创造的描述中，除非另有说明，“多个”的含义是两个或两个以上。
在本发明的描述中，需要说明的是，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以通过具体情况理解上述术语在本发明中的具体含义。
如图1和图2所示，一种适用于大型构件的智能托运机器及其托运方法，包括：设置在同一运输流水线的若干传送机构和装载组件200，传送机构包括：若干驱动轴110以及通过若干驱动轴110连接的传送带120，传送带120竖直设置在流水线上，传送带120上设置偶数个配合槽130，相邻的两个配合槽130设置为一组，配合槽130内以线性排列方式设置若干个磁块131，配合槽130均能够配合连接装载组件200。
如图3和图4所示，装载组件200包括：两个相邻设置的装载板210，且同一装载组件200中的两个装载板210之间距离等于相邻的两个配合槽130之间的距离，能够保证装载板210与配合槽130精准配合，装载板210两侧面均以 线性排列方式设置若干个电磁阀220，装载板210内部设置安装腔体240，安装腔体240内设置至少一个轨道杆250，轨道杆250滑动连接支撑件230，支撑件230与轨道杆250滑动连接，支撑件230上方设置机械手270，机械手270通过铰接件260连接在支撑件230上端。
本发明一个较佳实施例中，当装载组件200运动至各驱动轴110处的转弯位置时，两个装载板210的实际距离小于两个装载板210之间的传送带120的实际长度，支撑件230会根据受力情况，快速在轨道杆250上做出横向滑动，进而保证夹紧板274始终夹紧运载物件280，且装载组件200不会因为装载板210之间实际距离的改变，受到拉扯力而损坏。同时，通过铰接件260将机械手270连接在支撑件230上端，进而保证同一装载组件200上的两个装载板210在运动之转弯处时机械手270根据运载物件280的角度转动自身角度，进而保证机械手270始终抓紧运载物件280。
本发明一个较佳实施例中，利用控制装载板210两侧面对称设置的若干电磁阀220，分别改变装载板210两侧电磁阀220的通电量，从而快速改变装载板210对不同的传送机构上磁块131的吸引力，使载料构件快速更换至需要传输路线的传送机构上。以竖直布置的传送带120替代传统的平躺方式布置的传送带120，能够更灵活运输载料构件，每个载料构件在运输过程中，由于载料构件与传送带120之间不存在刚性连接，机械手270能够快速将载料构件装载的物件进行收集，进而提高生产效率。
本发明一个较佳实施例中，电磁阀220顶面设置圆形凹槽221，每个圆形凹槽221均配合一个磁块131，能够确保电磁阀220与磁块131配合更紧密，进一步增大电磁阀220与磁块131的连接强度。
本发明一个较佳实施例中，通过机械手270实现大型构件的托运，利用机械手270将运载物件280托起，从而使运载物件280能够更容易被拿取，在夹 紧板274内侧面设置若干摩擦凸起272，能够进一步增大夹紧板274与物件之间摩擦力，防止物件掉落，由橡胶材质制成的摩擦凸起272，具有一定的弹性，防止出现夹紧板274与物件之间刚性接触而损坏物件。通过伸缩柱271将夹紧板274连接在承受板273上，能够根据需要调整机械手270大小，进而运载不同体积的物件。
本发明一个较佳实施例中，传送机构整体形状的垂直投影视图为三角形、四边形、圆形和椭圆形中的其中一种，将传送机构整体形状的垂直投影视图设置为三角形、四边形、圆形和椭圆形中等不同的形状，从而能够根据改变传送机构的整体形状，灵活改变输送流水线的输送路线。
本发明一个较佳实施例中，利用两个竖直设置的传送机构之间的相互配合进行物件的运输，实现物件沿不同的路线进行位置转换，根据车间车间流水线的需求进行路线转换，进而使物件的运输呈现多方向性。利用电磁阀220与磁块131的吸附作用，能够直接将载料构件直接贴合进入配合槽130内，进而使载料构件跟随传送带120运输方向进行传送，达到物件稳定传送的目的。
本发明使用时，装载组件200通过电磁阀220配合连接在在传送带120上的配合槽130位置处，将待托运的运载物件280直接放置在机械手270上，电磁阀220上的圆形凹槽221与磁块131相互配合吸引连接在一起；装载组件200随着传送带120一直运转至两传送带120之间的交接区段，当进入交接区段时，与装载组件200最初连接的传送带120一侧的装载组件200上的若干电磁阀220通电量逐渐减弱直至不再通电，与装载组件200刚接触的传送带120一侧的装载组件200上的若干电磁阀220通电量逐渐增强直至稳定；装载组件200逐渐脱离与装载组件200最初连接的传送带120上的配合槽130，当装载组件200离开交接区段之后，装载组件200转移至与装载组件200刚接触的传送带120上的配合槽130内继续进行传送。
需要说明的是，相邻的两个传送机构之间的贴近位置为交接区段，且装载板210能够跟随运动至交接区段的传送带120运动，当相邻的两个传送机构上的配合槽130均运动至交接区段时，相邻的两个传送机构上的配合槽130均关于装载板210对称，相邻的两个传送机构上的传送带120转动方向相反，且转动速度一致，有效保证载料构件在交接区段顺利交接传送。
对于本领域技术人员而言，显然本发明不限于上述示范性实施例的细节，而且在不背离本发明的精神或基本特征的情况下，能够以其他的具体形式实现本发明。因此，无论从哪一点来看，均应将实施例看作是示范性的，而且是非限制性的，本发明的范围由所附权利要求而不是上述说明限定，因此旨在将落在权利要求的等同要件的含义和范围内的所有变化囊括在本发明内。不应将权利要求中的任何附图标记视为限制所涉及的权利要求。
此外，应当理解，虽然本说明书按照实施方式加以描述，但并非每个实施方式仅包含一个独立的技术方案，说明书的这种叙述方式仅仅是为清楚起见，本领域技术人员应当将说明书作为一个整体，各实施例中的技术方案也可以经适当组合，形成本领域技术人员可以理解的其他实施方式。
Claims (10)
- 一种适用于大型构件的智能托运机器，包括：设置在同一运输流水线的若干传送机构和装载组件，其特征在于，所述传送机构包括：若干驱动轴以及通过若干驱动轴连接的传送带，所述传送带竖直设置在所述流水线上，所述传送带上设置偶数个配合槽，相邻的两个所述配合槽设置为一组，所述配合槽内以线性排列方式设置若干个磁块，所述配合槽均能够配合连接装载组件；所述装载组件包括：两个相邻设置的装载板，所述装载板两侧面均以线性排列方式设置若干个电磁阀，所述装载板内部设置安装腔体，所述安装腔体内设置至少一个轨道杆，所述轨道杆滑动连接支撑件，所述支撑件与所述轨道杆滑动连接，所述支撑件上方设置机械手，所述机械手通过铰接件连接在所述支撑件上端。
- 根据权利要求1所述的一种适用于大型构件的智能托运机器，其特征在于：所述机械手包括：承受板以及对称设置在所述承受板两侧面的夹紧板，所述夹紧板与所述承受板通过伸缩柱连接。
- 根据权利要求2所述的一种适用于大型构件的智能托运机器，其特征在于：所述夹紧板内侧面设置若干摩擦凸起，所述摩擦凸起由橡胶材质制成。
- 根据权利要求1所述的一种适用于大型构件的智能托运机器，其特征在于：所述电磁阀顶面设置圆形凹槽，每个所述圆形凹槽均配合一个所述磁块。
- 根据权利要求1所述的一种适用于大型构件的智能托运机器，其特征在于：相邻的两个所述传送机构之间的贴近位置为交接区段，所述交接区段处具有一定间隙，且所述装载组件能够跟随运动至交接区段的传送带运动。
- 根据权利要求1所述的一种适用于大型构件的智能托运机器，其特征在于：所述传送机构整体形状的垂直投影视图为三角形、四边形、圆形和椭圆形中的其中一种。
- 根据权利要求1所述的一种适用于大型构件的智能托运机器，其特征在于：当相邻的两个所述传送机构上的配合槽均运动至交接区段时，相邻的两个所述传送机构上的配合槽均关于装载板对称。
- 根据权利要求1所述的一种适用于大型构件的智能托运机器，其特征在于：同一装载组件中的两个所述装载板之间距离等于相邻的两个所述配合槽之间的距离。
- 一种根据权利要求1所述的适用于大型构件的智能托运机器的托运方法，其特征在于：步骤S1：装载组件通过电磁阀配合连接在在传送带上的配合槽位置处，将待托运的运载物件直接放置在机械手上，电磁阀上的圆形凹槽与磁块相互配合吸引连接在一起；步骤S2：装载组件随着传送带一直运转至两传送带之间的交接区段，当进入交接区段时，与装载组件最初连接的传送带一侧的装载组件上的若干电磁阀通电量逐渐减弱直至不再通电，与装载组件刚接触的传送带一侧的装载组件上的若干电磁阀通电量逐渐增强直至稳定；步骤S3：装载组件逐渐脱离与装载组件最初连接的传送带上的配合槽，当装载组件离开交接区段之后，装载组件转移至与装载组件刚接触的传送带上的配合槽内继续进行传送。
- 根据权利要求9所述的一种适用于大型构件的智能托运机器的托运方法，其特征在于：相邻的两个传送机构上的所述传送带转动方向相反，且转动速度一致。
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| CN114560132A (zh) * | 2022-03-17 | 2022-05-31 | 江苏仅一联合智造有限公司 | 一种转向机 |
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