CN209504110U - A kind of industrial robot auxiliary container loading and unloading system - Google Patents

Abstract

The utility model relates to packing case handling facilities technical fields, a kind of industrial robot auxiliary container loading and unloading system is provided, it include: rack, one end is set to the accordion conveyor in rack by articulation piece rotation, stationary machine people in rack, for driving the lifters of telescopic carriage rotation, lifting platform in rack, mobile robot on lifting platform, the position Scan orientation system on mobile robot.Pass through stationary machine people, accordion conveyor and mobile robot, realize carrying and code goods of the packing case between lorry and packing case rest area, pass through position Scan orientation system, the accurate code goods of packing case and unloading, this process is participated in without artificial, pass through the mutual cooperation of articulation piece, lifters and lifting platform simultaneously, accordion conveyor and mobile robot is set to can be suitably used for the lorry of different height, so that the container loading and unloading system has the advantages that the packing case efficiency of loading and unloading is high, at low cost, adaptable.

Description

A kind of industrial robot auxiliary container loading and unloading system

Technical field

The utility model relates to packing case handling facilities technical fields, are provided in particular in a kind of industrial robot auxiliary counter Handling system.

Background technique

Under the prior art, when carrying out packing case progress handling operation to truck, usually packing case heap is stacked It sets on pallet, then the pallet for being placed with packing case is carried in the counter of lorry by fork truck, in this way because of the height of pallet It influences, will affect the height loading quantity of packing case, while also because the area of pallet can be greater than the area of virtual package case, in this way The number of the arrangement of packing case is affected, is all directly to be placed in packing case in lorry now to load more packing cases, And packing case is placed in lorry still based on manual operation, low so as to cause the efficiency of loading and unloading, operating cost is high.

Utility model content

The purpose of this utility model is to provide a kind of industrial robots to assist container loading and unloading system, it is intended to solve existing skill In art by manually load and unload packing case low efficiency, it is at high cost the technical issues of.

A kind of industrial robot auxiliary counter handling that in order to achieve the above purposes, the technical solution adopted by the utility model is: System, comprising:

Rack set on ground；

One end is set to the accordion conveyor in the rack by articulation piece rotation；

It is in the rack, for packing case to be carried out between packing case rest area and the accordion conveyor The stationary machine people of transhipment；

Lifters in the rack, for driving the accordion conveyor rotation；

Lifting platform on the ground；

And on the lifting platform, for by packing case between boxcar and the accordion conveyor The mobile robot being transported through；

The mobile robot is equipped with position Scan orientation system, and the position Scan orientation system can be in lorry vehicle Mobile robot and the distance between front and two sides barrier are detected in compartment, for controlling the mobile robot in institute It states the shift length in boxcar, guarantees that packing case is accurately piled up in boxcar, or guarantee that each packing case accurately turns It is transported on the accordion conveyor.

Preferably: being additionally provided with hoist engine in the rack, more are equipped on the accordion conveyor and has annulus Upright bar, for wind the conducting wire being electrically connected with the mobile robot, the annulus is used to lead described in confession the hoist engine Line passes through.

Preferably: the accordion conveyor includes: female frame and multiple end to end subracks, described mother frame one end and institute Articulation piece rotation setting is stated, the other end is connected with a subrack, and the articulation piece includes: equipped with the support in the rack Frame, and the shaft of on support frame as described above and described female frame rolling assembling；The lifters are described in one end is hinged on In the rack, other end is hinged on the hydraulic cylinder on female frame.

Preferably: a Rotational Cylindrical is equipped in a subrack lower rotation far from female frame, in the rotation Column is equipped with multiple first cylinders, and the Rotational Cylindrical is driven by stepper motor.

Preferably: being provided with fixed wheel or universal wheel on the piston rod of each first cylinder.

Preferably: the lifting platform includes:

Main frame set on ground；

The first bearing assembly on the main frame；

Second bearing assembly above first bearing assembly, for carrying the mobile robot；

And it is multiple it is on first bearing assembly, for adjusting second bearing assembly and described first Second cylinder of spacing between bearing assembly.

Preferably: sleeve is equipped on first bearing assembly beside each second cylinder, on the sleeve Movable to be equipped with guide rod, one end of the guide rod is fixed on second bearing assembly, and it is freely that the other end, which passes through the sleeve, End.

Preferably: being equipped with the universal wheel of multiple bolt adjustable support legs and strap brake in the bottom of the main frame.

Preferably: the mobile robot is loaded by moving trolley, is provided with and is stretched in the bottom of the moving trolley Contracting part, the extensible member are equipped with friction member.

Preferably: the extensible member is third cylinder, and the friction member is magnet.

The utility model has the beneficial effects that

A kind of industrial robot provided by the utility model assists container loading and unloading system, by stationary machine people, stretches Formula conveyer and mobile robot realize carrying and code goods of the packing case between lorry and packing case rest area, pass through position Scan orientation system to be set, is able to achieve mobile robot to the accurate code goods of packing case and unloading, this process is participated in without artificial, Have the advantages that high degree of automation, handling efficiency are high, while passing through the mutual cooperation of articulation piece, lifters and lifting platform, it can Accordion conveyor and mobile robot is set to can be suitably used for the lorry of different height, so that this industrial robot auxiliary counter dress Unloading system has the advantages that the packing case efficiency of loading and unloading is high, at low cost, adaptable.

Detailed description of the invention

It, below will be to embodiment or the prior art in order to illustrate more clearly of the technical scheme in the embodiment of the utility model Attached drawing needed in description is briefly described, it should be apparent that, the accompanying drawings in the following description is only that this is practical new Some embodiments of type for those of ordinary skill in the art without any creative labor, can be with It obtains other drawings based on these drawings.

Fig. 1 is the structural schematic diagram that industrial robot provided by the embodiment of the utility model assists container loading and unloading system；

Fig. 2 is the enlarged drawing in Fig. 1 at A；

Fig. 3 is the oblique present invention looks up structural representation of accordion conveyor in the utility model embodiment；

Fig. 4 is the enlarged drawing in Fig. 3 at B；

Fig. 5 is the enlarged drawing in Fig. 3 at C；

Fig. 6 is the structural schematic diagram of lifting platform in the utility model embodiment；

Fig. 7 is the planar structure schematic diagram of mobile robot in the utility model embodiment；

Fig. 8 is the enlarged drawing in Fig. 7 at D.

Appended drawing reference: 1, rack；2, articulation piece；21, support frame；22, shaft；3, accordion conveyor；31, female frame；32, Subrack；4, stationary machine people；5, lifters；6, lifting platform；61, main frame；62, the first bearing assembly；63, the second carrying group Part；64, the second cylinder；65, sleeve；66, guide rod；7, mobile robot；71, moving trolley；711, crawler type vehicle wheel；72, Extensible member；73, friction member；74, rubber ring；75, straight-bar；8, hoist engine；9, upright bar；10, Rotational Cylindrical；11, the first cylinder.

Specific embodiment

The embodiments of the present invention are described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng The embodiment for examining attached drawing description is exemplary, it is intended to for explaining the utility model, and should not be understood as to the utility model Limitation.

In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ", The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached Orientation or positional relationship shown in figure, is merely for convenience of describing the present invention and simplifying the description, rather than indication or suggestion Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this The limitation of utility model.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or Implicitly include one or more of the features.The meaning of " plurality " is two or two in the description of the present invention, More than, unless otherwise specifically defined.

In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " Gu It is fixed " etc. terms shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be Mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary The interaction relationship of connection or two elements inside element.It for the ordinary skill in the art, can basis Concrete condition understands the concrete meaning of above-mentioned term in the present invention.

It please refers to shown in Fig. 1-Fig. 8, in the present embodiment, a kind of industrial robot auxiliary container loading and unloading system, comprising: set Rack 1 in ground, one end are set to the accordion conveyor 3 in rack 1, in rack 1, use by the rotation of articulation piece 2 In the stationary machine people 4 for being transported through packing case between packing case rest area and accordion conveyor 3, it is set to rack 1 On, lifters 5 for driving accordion conveyor 3 to rotate, lifting platform 6 on ground, and, be set to lifting platform 6 On, mobile robot 7 for packing case to be transported through between boxcar and accordion conveyor 3.

Wherein, Scan orientation system in position is equipped on mobile robot 7, position Scan orientation system can be in lorry vehicle Mobile robot 7 and the distance between front and two sides barrier (barrier to compartment and packing case) are detected in compartment, are used for Shift length of the mobile robot 7 in boxcar is controlled, guarantees that packing case is accurately piled up in boxcar, or guarantee Each packing case is accurately transported on accordion conveyor 3.

It is again provided with position Scan orientation system, on stationary machine people 4 so that stationary machine people 4 accurately will Packing case is transported through between accordion conveyor 3 and packing case rest area.Wherein Scan orientation system in position includes at least Camera and range sensor.

A kind of industrial robot provided by the utility model assists container loading and unloading system, by stationary machine people 4, stretches Formula conveyer 3 and mobile robot 7 realize carrying and code goods of the packing case between lorry and packing case rest area, pass through Position Scan orientation system is able to achieve mobile robot 7 to the accurate code goods of packing case and unloading, this process is without artificial ginseng With the phase interworking for having the advantages that high degree of automation, handling efficiency are high, while passing through articulation piece 2, lifters 5 and lifting platform 6 It closes, accordion conveyor 3 and mobile robot 7 can be made to can be suitably used for the lorry of different height, so that this industrial robot is auxiliary Container loading and unloading system is helped to have the advantages that the packing case efficiency of loading and unloading is high, at low cost, adaptable.

Preferably, as depicted in figs. 1 and 2, in the present embodiment, hoist engine 8 is additionally provided in rack 1, telescopic defeated Machine 3 is sent to be equipped with the more upright bars 9 for having annulus, wherein hoist engine 8 is led for winding with what mobile robot 7 was electrically connected Line, annulus for conducting wire for passing through, and hoist engine 8 and upright bar 9 are for playing a protective role to conducting wire.

Specifically, as shown in Figures 2 and 3, in the present embodiment, accordion conveyor 3 includes: female frame 31 and multiple head and the tail Connected subrack 32, in the present embodiment, accordion conveyor 3 use Extendible belt conveyer, and belt, which can increase, to be packaged in Conveying stability.In other embodiments, accordion conveyor 3 uses expansion type roller conveyor, wherein female frame 31 and each Each roller in subrack 32 passes through independent power source and drives.

Wherein, female 31 one end of frame and the rotation of articulation piece 2 are arranged, and the other end is connected with a subrack 32, in the present embodiment, Articulation piece 2 include: equipped with the support frame 21 in rack 1, and on support frame 21, shaft with female 31 rolling assembling of frame 22, support frame 21 is trapezoidal support frame 21；In the present embodiment, as shown in figure 4, lifters 5 are that one end is hinged in rack 1 , the other end be hinged on the hydraulic cylinder on female frame 31, wherein female frame 31 is that origin carries out with shaft 22 by the driving of hydraulic cylinder Rotation, to adjust the tilt angle of entire accordion conveyor 3, so that accordion conveyor 3 stretches to the lorry of different height It is interior, achieve the purpose that suitable for different height lorry.

As shown in figure 5, a Rotational Cylindrical 10 is equipped in 32 lower rotation of subrack far from female frame 31, in Rotational Cylindrical 10 Multiple first cylinders 11 are equipped with, Rotational Cylindrical 10 is driven by stepper motor.After subrack 32 stretches in lorry, the first cylinder 11 are used to support on boxcar, to improve the load-bearing capacity of accordion conveyor 3.

Specifically, it is provided with fixed wheel or universal wheel on the piston rod of each first cylinder 11, wherein fixed wheel and universal wheel Effect is, convenient for the elongating or shortening when being mounted with packing case of accordion conveyor 3, without carrying out to accordion conveyor 3 Height adjustment saves the time.

As shown in fig. 7, in the present embodiment, lifting platform 6 includes: the main frame 61 set on ground, it is set on main frame 61 The first bearing assembly 62, the second bearing assembly above the first bearing assembly 62, for carrying mobile robot 7 63, and, it is multiple be set to it is on the first bearing assembly 62, for adjusting between the second bearing assembly 63 and the first bearing assembly 62 Second cylinder 64 of spacing.It is adjusted by multiple second cylinders 64 between second bearing assembly 63 and the first bearing assembly 62 Spacing, to reach the height for adjusting mobile robot 7 on the second bearing assembly 63, so that mobile robot 7 can fit For the lorry of different height, the adaptability of mobile robot 7 is improved.

In the present embodiment, mobile robot 71 is arranged in moving trolley 71, and moving trolley 71 uses crawler Wheel 711 is moved, and crawler type depravity can increase the frictional force between moving trolley 71 and lorry, is stopped with improving moving trolley 71 The stability leaned on, so that mobile robot 7 will not move when transporting goods.

In main frame 61, stopper is set on the ground of lorry side, stopper is positioned for lorry parking, so as to Lifting platform 6 is protected.In the present embodiment, the main body of the second cylinder 64 is fixed on the first bearing assembly 62, the second gas The piston rod of cylinder 64 is fixed on the second bearing assembly 63.

In the present embodiment, it is equipped with sleeve 65 on first bearing assembly 62 on each second cylinder, 64 side, in sleeve 65 Upper movable equipped with guide rod 66, one end of guide rod 66 is fixed on the second bearing assembly 63, and it is free end that the other end, which passes through sleeve 65,. The effect of guide rod 66 is shielded to the piston rod of the second cylinder 64, because mobile robot 7 leaves or enters driving , can be to a horizontal thrust be applied on the second bearing assembly 63 when on the second bearing assembly 63, such horizontal thrust can pass to The piston rod of second cylinder 64 to cause the damage of the second cylinder 64, and reduces the second cylinder by guide rod 66 well The size of 64 horizontal thrusts being subject to plays a good protective effect to the second cylinder 64.In the present embodiment, guide rod 66 uses Solid steel pipe has enough warping resistance intensity in this way.Guide rod 66 is welded on the second bearing assembly 63, in other embodiments In, threaded hole is set on the second bearing assembly 63, the external screw thread being threadedly coupled with threaded hole is provided on guide rod 66, so just In the installation of guide rod 66.

On guide rod 66 can also sheathed spring, spring be used for damping, buffering moving trolley 71 drive in the second bearing assembly To impact force caused by the second cylinder 64 when on 63.

Preferably, in the present embodiment, main frame 61 is made of the first hollow square tube of more steel materials, is convenient in this way It is subsequent that main frame 61 is moved, while the first hollow square tube uses steel material, to guarantee the load-bearing capacity of main frame 61.

Preferably, in the present embodiment, the first bearing assembly 623 includes: the second hollow square tube of more steel materials, and The first loading plate in more second hollow square tubes；Second bearing assembly 63 includes: the hollow side of third of more steel materials Pipe, and the second loading plate in more second hollow square tubes.First bearing assembly 62 is using the second hollow square tube and the One loading plate is made, and the second bearing assembly 63 is made of the hollow square tube of third and the second loading plate, has and makes simple, carrying The strong and light-weight advantage of ability.

More second hollow square tubes and the hollow square tube of Duo Gen third are in one or more mu character shape arrangements, are effectively ensured in this way The bearing capacity of first loading plate and the second loading plate.

In the present embodiment, sensor is equipped on the side of lorry on the second bearing assembly 63, sensor is used for The altitudes for incuding the second bearing assembly 63 and boxcar, when the container bottom level phase of the second bearing assembly 63 and lorry When same or close, so that the second cylinder 64 stops working, be conducive to the efficiency for improving 7 height adjustment of mobile robot in this way.

Specifically, in the present embodiment, at least provided with four, four the second cylinders 64 are arranged first the second cylinder 64 On four angles of bearing assembly 62, the balance of the second bearing assembly 63 can be effectively ensured in this way, alternatively, when the second cylinder 64 is arranged There are five when, wherein four the second cylinders 64 are located on four angles of the first bearing assembly 62, another second cylinder 64 is set Set the balance for being more advantageous in this way in the center of the first bearing assembly 62 and keeping the second bearing assembly 63.

Preferably, in the present embodiment, the ten thousand of multiple bolt adjustable support legs and strap brake are equipped in the bottom of main frame 61 To wheel (not shown), universal wheel is at least provided with four, and bolt adjustable support leg is provided with eight, and universal wheel is convenient for entire 7 height adjustment device of mobile robot moves, and enters in lorry so that mobile robot 7 drives, utilizes simultaneously It brakes with bolt adjustable support leg and improves the stability that entire 7 height adjustment device of mobile robot is stopped.

As shown in Figure 7 and Figure 8, in the present embodiment, the bottom of moving trolley 71 is provided with extensible member 72, extensible member 72 It is equipped with friction member 73, extensible member 72, which is spent, drives friction member 73 and boxcar to abut or separate, when abutting, for increasing shifting Frictional force between dynamic trolley 71 and boxcar, to can effectively prevent mobile robot 7 during carrier package Position movement occurs, improves the precise positioning ability of mobile robot 7.

Specifically, in the present embodiment, extensible member 72 is third cylinder, and friction member 73 is magnet, and magnet is arranged in iron case Interior, iron case is fixed on the piston rod of third cylinder, is additionally provided with rubber ring 74 in the bottom of iron case, rubber ring 74 rubs for increasing It wipes power and buffers impact force when iron case is contacted with boxcar.Straight-bar 75 is also set on the iron case of third cylinder two sides, directly 75 one end of bar is fixed on iron case, and the other end and the movable grafting of moving trolley 71, straight-bar 75 is for protecting third cylinder.

The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model Protection scope within.

Claims (10)

1. a kind of industrial robot assists container loading and unloading system characterized by comprising

Rack (1) set on ground；

One end is set to the accordion conveyor (3) on the rack (1) by articulation piece (2) rotation；

It is on the rack (1), for by packing case between packing case rest area and the accordion conveyor (3) into The stationary machine people (4) of row transhipment；

Lifters (5) on the rack (1), for driving the accordion conveyor (3) to rotate；

Lifting platform (6) on the ground；

And be set to it is on the lifting platform (6), for by packing case boxcar and the accordion conveyor (3) it Between the mobile robot (7) that is transported through；

The mobile robot (7) is equipped with position Scan orientation system, and the position Scan orientation system can be in lorry vehicle Mobile robot (7) and the distance between front and two sides barrier are detected in compartment, for controlling the mobile robot (7) shift length in the boxcar guarantees that packing case is accurately piled up in boxcar, or guarantees that each packing case is quasi- True is transported on the accordion conveyor (3).

2. a kind of industrial robot according to claim 1 assists container loading and unloading system, it is characterised in that: in the rack (1) it is additionally provided with hoist engine (8) on, the more upright bars (9) for having annulus, the volume are equipped on the accordion conveyor (3) It raises machine (8) and is used to pass through for the conducting wire for winding the conducting wire being electrically connected with the mobile robot (7), the annulus.

3. a kind of industrial robot according to claim 2 assists container loading and unloading system, it is characterised in that: described telescopic Conveyer (3) includes: female frame (31) and multiple end to end subracks (32), described mother frame (31) one end and the articulation piece (2) rotation setting, the other end are connected with a subrack (32), and the articulation piece (2) includes: equipped on the rack (1) Support frame (21), and be set to shaft (22) on support frame as described above (21), with described female frame (31) rolling assembling；It is described Lifters (5) are the hydraulic cylinder that one end is hinged on that on the rack (1), the other end is hinged on female frame (31).

4. a kind of industrial robot according to claim 3 assists container loading and unloading system, it is characterised in that: far from described Subrack (32) lower rotation of one of female frame (31) is equipped with a Rotational Cylindrical (10), is equipped on the Rotational Cylindrical (10) more A first cylinder (11), the Rotational Cylindrical (10) are driven by stepper motor.

5. a kind of industrial robot according to claim 4 assists container loading and unloading system, it is characterised in that: each described the Fixed wheel or universal wheel are provided on the piston rod of one cylinder (11).

6. a kind of industrial robot according to claim 1 assists container loading and unloading system, it is characterised in that: the lifting platform (6) include:

Main frame (61) set on ground；

The first bearing assembly (62) on the main frame (61)；

Second bearing assembly above first bearing assembly (62), for carrying the mobile robot (7) (63)；

And it is multiple it is on first bearing assembly (62), for adjust second bearing assembly (63) with it is described The second cylinder (64) of spacing between first bearing assembly (62).

7. a kind of industrial robot according to claim 6 assists container loading and unloading system, it is characterised in that: each described the First bearing assembly (62) beside two cylinders (64) is equipped with sleeve (65), movable on the sleeve (65) to be equipped with Guide rod (66), one end of the guide rod (66) are fixed on second bearing assembly (63), and the other end passes through the sleeve (65) For free end.

8. a kind of industrial robot according to claim 7 assists container loading and unloading system, it is characterised in that: in the main frame The bottom of frame (61) is equipped with the universal wheel of multiple bolt adjustable support legs and strap brake.

9. a kind of industrial robot according to claim 1 assists container loading and unloading system, it is characterised in that: the movable type Robot (7) is loaded by moving trolley (71), is provided with extensible member (72) in the bottom of the moving trolley (71), described to stretch Contracting part (72) is equipped with friction member (73).

10. a kind of industrial robot according to claim 9 assists container loading and unloading system, it is characterised in that: described flexible Part (72) is third cylinder, and the friction member (73) is magnet.