Truck with automatic loading device for loading and unloading box-type goods
阅读说明:本技术 一种带有自动装载装置用于装卸箱式货物的货车 (Truck with automatic loading device for loading and unloading box-type goods ) 是由 杨艳 奚陶 王自启 舒畅 于 2020-05-21 设计创作,主要内容包括:为了提高货车对箱式货物的装卸速度、效率和自动化程度。本发明所述带有自动装载装置用于装卸箱式货物的货车,包括车体和设置在车体上的车厢,车厢上还设置有自动装载装置,所述自动装置包括控制装置、第一方向运动机构、第二方向运动机构和第三方向运动机构,第三方向运动机构末端设置有抓取结构。本发明使用时,抓取结构用于抓取货物,通过第一方向运动机构带动货物沿着第一方向移动,通过第二方向运动机构带动货物沿着第二方向移动,第三方向运动机构带动货物沿着第三方向移动,即可轻松实现货物的装卸,提高了装卸效率,并降低了劳动强度。(In order to improve the loading and unloading speed, efficiency and automation degree of the boxed goods by the truck. The invention discloses a truck with an automatic loading device for loading and unloading boxed goods, which comprises a truck body and a carriage arranged on the truck body, wherein the carriage is also provided with the automatic loading device, the automatic loading device comprises a control device, a first direction movement mechanism, a second direction movement mechanism and a third direction movement mechanism, and the tail end of the third direction movement mechanism is provided with a grabbing structure. When the goods handling device is used, the grabbing structure is used for grabbing goods, the goods are driven to move along the first direction through the first direction moving mechanism, the goods are driven to move along the second direction through the second direction moving mechanism, and the goods are driven to move along the third direction through the third direction moving mechanism, so that the goods can be easily handled, the handling efficiency is improved, and the labor intensity is reduced.)
1. The truck with the automatic loading device for loading and unloading boxed goods is characterized by comprising a truck body (800) and a carriage (810) arranged on the truck body (800), wherein the carriage (810) is also provided with the automatic loading device, the automatic loading device comprises a control device (820), a first direction movement mechanism (100), a second direction movement mechanism (200) and a third direction movement mechanism (300), and the tail end of the third direction movement mechanism (300) is provided with a grabbing structure (400);
the first-direction movement mechanism (100) comprises two parallel linear guide rail moving devices, and each linear guide rail moving device comprises a first connecting support seat (101), a second connecting support seat (102), a transmission belt (103), a first sliding block (104), a first motor (105), a first driving wheel (106), a first driven wheel (107) and first square aluminum (108); the first square aluminum (108) is located above the carriage (810), a first connecting support seat (101) and a second connecting support seat (102) are respectively arranged at two ends of the first square aluminum (108), a first motor (105) and a first driving wheel (106) which are connected with each other are arranged on the first connecting support seat (101), a first driven wheel (107) is arranged on the second connecting support seat (102), and a transmission belt (103) is connected with the first driving wheel (106) and the first driven wheel (107); the first sliding block (104) is sleeved with the transmission belt (103);
the first square aluminum sliding device further comprises a first sliding guide rail (109), the first sliding guide rail (109) is positioned on the first square aluminum (108), and the first sliding block (104) is connected with the first sliding guide rail (109) in a sliding mode;
the second-direction movement mechanism (200) comprises a first sliding frame (210), a second sliding frame (220) and a horizontal beam (230), wherein two ends of the horizontal beam (230) are respectively sleeved with the first sliding frame (210) and the second sliding frame (220); the first sliding frame (210) comprises a second bottom plate (201), a first feed screw (202), a first lead screw (203), a second feed screw (204), a second motor (206) seat (205), a second motor (206) and a second coupler (207), wherein the first feed screw (202), the first lead screw (203) and the second feed screw (204) are sequentially arranged between the second bottom plate (201) and the second motor (206) seat (205), the second motor (206) is arranged on the second motor (206) seat (205), and the second motor (206) is connected with the first lead screw (203) through the second coupler (207);
the third direction movement mechanism (300) comprises a third slide rail (310) and a third rack (320) which are arranged on the horizontal cross beam (230), and further comprises a third support plate (330), a third motor (331), a third slide block (301) and a third transmission gear set (332), wherein the third support plate (330) is connected with the third slide rail (310) through the third slide block (301), the third motor (331) is fixedly connected with the third support plate (330), and the output end of the third motor (331) is connected with the third rack (320) through the third transmission gear set (332);
the grabbing mechanism comprises an auxiliary support (410) arranged on the third support plate (330), an electric push rod (420) is arranged in the auxiliary support (410), and the tail end of the electric push rod (420) is connected with a first grabbing unit (430); the first grabbing unit (430) comprises a first connecting seat (431), the first connecting seat (431) is provided with a first mechanical arm (432), the first mechanical arm comprises a bidirectional driving device (433), and clamping jaws (434) are connected to two sides of the bidirectional driving device (433).
2. A truck, with automatic loading means, for loading and unloading boxed goods, according to claim 1, said first connection seat (431) being provided with two or more first manipulators (432).
3. A truck with automatic loading device for loading and unloading boxed goods, according to claim 1, said jaw (434) being provided with a protection pad (435).
Technical Field
The invention relates to the technical field of trucks, in particular to a truck with an automatic loading device for loading and unloading boxed goods.
Background
With the development of online shopping and logistics industries, intellectualization has been integrated into various aspects of life, and people are pursuing better and more efficient logistics services. The truck is used as an important tool for transporting boxed goods, has a very important influence on online shopping and logistics service, for example, before and after each stage of logistics or between different activities in the same stage, loading, unloading and carrying operations are required, generally, goods subjected to combined transportation are subjected to loading, unloading, carrying and reloading more than 4 times (more than ten times), the cost of the goods is about 25% of the transportation cost, and in many production fields and circulation fields, the loading, unloading and carrying become an important component and a key guarantee system of the production process, such as the main production process of mining industry, and are actually the loading, unloading and carrying; in the processing industry and the circulation industry, loading, unloading and carrying are indispensable components in the production process, according to survey data, the cost of the machinery industry in China for loading, unloading and carrying is 15.5% of the processing cost, and when the transportation process is finished, the goods need to be loaded, unloaded and carried before entering a warehouse.
At present, when the cargo loading and unloading operation organization work of a truck is carried out at home and abroad, corresponding loading and unloading operation methods are mostly selected according to corresponding loading and unloading operation conditions, and the existing loading and unloading operation can be roughly divided into three types: single-piece operation, container loading operation and bulk loading operation. For single-piece operation or bulk operation, still more at present use working tools such as manpower, handcart, platform truck and conveyer, also use cage tray (tray cage), box tray (tray case), still adopt fork truck cooperation to use more to containerized operation and need to take different handling equipment to heavy goods and still need hoist and hoist to different goods, be in manpower attitude or semi-automatization degree.
In recent years, domestic research has been directed primarily to the development of rational truck-handling machinery such as a trough elevator (under-car seal vertical up-down). The device adopts a sealed lifter under the vehicle, the type can fold the lifting platform under the vehicle and can slide under the vehicle body like a sliding plate, and the device has the biggest characteristic that the device does not block a gate and does not hinder loading and unloading operation; for example, the mechanical device for automatically loading and unloading goods in a box type truck disclosed in chinese patent document CN105923417B is not easy to store because of being separated from the truck body, and also needs manpower assistance in the process of stacking goods, and the degree of automation is not high.
In addition, there is a flexible automatic loading system like a ford robot, for example, a flexible automatic loading system disclosed in chinese patent document CN107618894A and its application, such a technology has a highly reliable innovative mechanical structure unit; a high-efficiency LMS management control unit is adopted; a high performance field execution control unit; high-adaptability vehicle intelligent detection unit and the like. Uninterrupted loading is realized through one machine and two ways, and 24 hours of work can be performed all day. The installation can be deployed without modifying the existing site. The integrated dust absorption interface of aircraft nose utilizes existing dust collecting system can satisfy the use and the dust absorption function of integration is energy-conserving, high-efficient, and the dust absorption fan energy-conservation reaches 40% easy operation: the driver can accomplish the operation under the guide, and whole loading process automation degree is higher. The robot system has the disadvantages of narrow practical range and high cost, and can only be used in factories.
In addition, chinese patent document CN107244278A discloses an automatic loading and unloading wagon, which is a structure that a bottom box is installed between the bottom of a wagon box body and a girder, a conveyor belt is arranged in the bottom box along the front-rear direction of the wagon box body, and the conveyor belt is sleeved on driving wheels at the front and rear ends; through conveyer belt loading and unloading goods, this kind of structure though can reduce intensity of labour to a certain extent, can't accomplish the problem that the goods was put in the railway carriage box, consequently also has application scope narrowly.
In summary, how to improve the loading and unloading efficiency of a truck in the transportation process for boxed goods becomes a problem to be solved in the field with high automation, strong reliability and stable running state.
Disclosure of Invention
The invention aims to provide a truck with an automatic loading device for loading and unloading boxed goods, which can automatically operate or manually operate, can quickly and efficiently complete the whole loading and unloading process, can prevent goods from being damaged and various accidents from happening, thereby reducing the labor cost, and improving the loading and unloading speed, efficiency and automation degree of the truck.
The invention discloses a truck with an automatic loading device for loading and unloading boxed goods, which comprises a truck body and a carriage arranged on the truck body, wherein the carriage is also provided with the automatic loading device;
the first direction movement mechanism comprises two parallel linear guide rail moving devices, and each linear guide rail moving device comprises a first connecting support seat, a second connecting support seat, a transmission belt, a first sliding block, a first motor, a first driving wheel, a first driven wheel and first square aluminum; the first square aluminum is positioned above the carriage, a first connecting support seat and a second connecting support seat are respectively arranged at two ends of the first square aluminum, a first motor and a first driving wheel which are connected with each other are arranged on the first connecting support seat, a first driven wheel is arranged on the second connecting support seat, and the transmission belt is connected with the first driving wheel and the first driven wheel; the first slide block is sleeved with the transmission belt. Still include first sliding guide, first sliding guide is located first side aluminium, and first slider and first sliding guide sliding connection.
The second direction movement mechanism comprises a first sliding frame, a second sliding frame and a horizontal cross beam, and two ends of the horizontal cross beam are respectively sleeved with the first sliding frame and the second sliding frame; the first sliding frame comprises a second bottom plate, a first feed screw, a second motor base, a second motor and a second coupler, wherein the first feed screw, the first feed screw and the second feed screw are sequentially arranged between the second bottom plate and the second motor base; the second bottom plate is fixedly connected with the first sliding block.
The third direction movement mechanism comprises a third slide rail and a third rack which are arranged on the horizontal cross beam, and further comprises a third support plate, a third motor, a third slide block and a third transmission gear set, wherein the third support plate is connected with the third slide rail through the third slide block, the third motor is fixedly connected with the third support plate, and the output end of the third motor is connected with the third rack through the third transmission gear set.
The grabbing mechanism comprises an auxiliary bracket arranged on the third support plate, an electric push rod is arranged in the auxiliary bracket, the tail end of the electric push rod is connected with a first grabbing unit,
the first grabbing unit comprises a first connecting seat, two or more than two manipulators are arranged on the first connecting seat, each manipulator comprises a bidirectional driving device, clamping jaws are connected to two sides of the bidirectional driving device, and a protection pad is arranged on each clamping jaw.
According to the truck with the automatic loading device for loading and unloading the box-type goods, the first direction movement mechanism, the second direction movement mechanism and the third direction movement mechanism are arranged on the truck box body, and the grabbing structure is arranged at the tail end of the third direction movement mechanism.
Drawings
FIG. 1 is a schematic view of a first aspect of the present invention;
FIG. 2 is an enlarged partial schematic view of the present invention;
FIG. 3 is a first perspective view of the first direction movement mechanism of the present invention;
FIG. 4 is a schematic diagram of a second perspective of the first direction movement mechanism of the present invention;
FIG. 5 is a third perspective view of the first direction moving mechanism of the present invention;
FIG. 6 is a schematic view of a portion of the components of the first direction movement mechanism of the present invention;
FIG. 7 is a first perspective view of the first slider according to the present invention;
FIG. 8 is a first perspective view of the first slider of the present invention;
FIG. 9 is a first perspective view of a second connecting support seat according to the present invention;
FIG. 10 is a second perspective view of the second connecting support base according to the present invention;
FIG. 11 is a schematic view of a first perspective of the second directional motion mechanism, the third directional motion mechanism, and the grasping configuration of the present invention;
FIG. 12 is a second perspective view of the second direction movement mechanism, the third direction movement mechanism and the grasping configuration of the present invention;
FIG. 13 is a third perspective view of the second directional motion mechanism, the third directional motion mechanism, and the grasping configuration of the present invention;
FIG. 14 is a schematic view of a portion of the third direction movement mechanism of the present invention from a first perspective;
FIG. 15 is a second perspective view of a portion of the third motion mechanism of the present invention;
FIG. 16 is a third perspective view of a portion of the third direction movement mechanism of the present invention;
FIG. 17 is a schematic view of a first perspective of an auxiliary stand according to the present invention;
FIG. 18 is a schematic view of an auxiliary stand according to the present invention from a second perspective;
FIG. 19 is a schematic view of a first perspective of the combination of the auxiliary stand and the electric putter of the present invention;
FIG. 20 is a first perspective view of the switching frame unit of the present invention;
FIG. 21 is a second perspective view of the switching frame unit of the present invention;
FIG. 22 is a schematic view of a first perspective of the transfer frame unit after the transfer frame unit is connected to the capture unit;
FIG. 23 is a schematic view of a second perspective of the transfer frame unit after the transfer frame unit is connected to the capture unit;
FIG. 24 is a third perspective view of the transfer frame unit coupled to the capture unit of the present invention;
FIG. 25 is a schematic view of a first view of the first grasping unit according to the present invention;
FIG. 26 is a schematic view of a first perspective of a second gripper unit according to the present invention;
FIG. 27 is a schematic view of a third grasping unit according to the first embodiment of the present invention;
FIG. 28 is a schematic view of a third grasping unit according to the second embodiment of the present invention;
FIG. 29 is a third perspective view of a third grasping unit according to the present invention;
FIG. 30 is a fourth perspective view of the third grasping unit according to the present invention;
FIG. 31 is a diagram illustrating a process of controlling the structure of the present application to load and unload cargo according to an embodiment of the present invention;
FIG. 32 is a PLC external wiring diagram of the control device according to the embodiment of the present invention;
FIG. 33 is a main circuit diagram of an embodiment of the present invention, wherein the X-axis motor is a first motor, the Y-axis motor is a second motor, and the Z-axis motor is a third motor;
FIG. 34 is a flow chart of an automatic operation mode in an embodiment of the present invention.
Wherein: 100 a first direction movement mechanism, 101 a first connection support seat, 102 a second connection support seat, 1021 a support seat side plate, 1022 a guide block, 103 a transmission belt, 104 a first slide block, 1041 a first guide groove, 105 a first motor, 106 a first driving wheel, 107 a first driven wheel, 108 a first square aluminum, 109 a first sliding guide rail, 200 a second direction movement mechanism, 201 a second bottom plate, 202 a first optical lever, 203 a first lead screw, 204 a second optical lever, 205 a second motor seat, 206 a second motor, 207 a second coupling, 210 a first sliding frame, 220 a second sliding frame, 230 a horizontal beam, 300 a third direction movement mechanism, 310 a third sliding frame, 301 a third slide block, 320 a third rack, 330 a third support plate, 331 a third motor, 332 a third transmission gear set, 400 a grabbing structure, 410 an auxiliary support, 411 a third auxiliary plate, 412 a
Detailed Description
While the following description details certain exemplary embodiments which embody features and advantages of the invention, it will be understood that various changes may be made in the embodiments without departing from the scope of the invention, and that the description and drawings are to be regarded as illustrative in nature and not as restrictive.
With reference to fig. 1 to 34, the truck with an automatic loading device for loading and unloading boxed goods according to the present invention includes a body 800 and a compartment 810 disposed on the body 800, the compartment 810 is further provided with an automatic loading device, the automatic loading device includes a control device 820, a first direction moving mechanism 100, a second direction moving mechanism 200 and a third direction moving mechanism 300, and a grabbing
the first direction movement mechanism 100 comprises two parallel linear guide rail moving devices, and each linear guide rail moving device comprises a first connecting
The second-direction movement mechanism 200 comprises a first sliding
The third direction movement mechanism 300 includes a
The grabbing mechanism comprises an
The invention can also comprise a second grabbing unit and a third grabbing unit, wherein the second grabbing unit comprises a second connecting
The
In this embodiment, a truck with a rated load capacity of 5 tons is selected as a foundation, and the truck includes a body 800 and a compartment 810 arranged on the body 800, the body 800 has a size of 7.4 meters long, 2.2 meters wide and 2.2 meters high, the compartment 810 may have a structure of a conventional truck compartment 810, or may have a box structure with an opening at the top, the box includes two side plates, a bottom plate and a front plate of the compartment 810, the rear part is a box door, which is not shown in the figure, and the compartment 810 has a size of 6 meters long, 2 meters wide and 2.5 meters high. The carriage 810 is provided with an automatic loading device, wherein the automatic loading device comprises a control device 820, a first direction movement mechanism 100, a second direction movement mechanism 200 and a third direction movement mechanism 300; the control device 820 is disposed on a side plate of the carriage 810, and in the embodiment, the control device 820 is a PLC control system, for example, a PLC control system assembled by using mitsubishi PLC program controllers mitsubishi FX2N-80MR-001 and other accessories, so as to accurately control the movement position of the movement mechanism in each direction.
The first direction movement mechanism 100 controls the grabbing mechanism to move along a first direction, in this embodiment, the grabbing mechanism is controlled to move along the X direction, i.e. the length direction of the carriage 810, and the moving range is 0-5.7 meters; the device comprises two parallel linear guide rail moving devices, wherein the linear guide rail moving devices are respectively and fixedly arranged on side plates of a carriage 810 at two sides of the carriage 810; the two linear guide rail moving devices have the same structure and are only symmetrically arranged in position, so that only one linear guide rail moving device is introduced in the application document. The linear guide rail moving device comprises a first connecting
When the first
In the present application, since the actual size of the boxcar 810 is large, and the first direction is the direction of the largest moving stroke of the device of the present application, the first direction moving mechanism 100 in this embodiment adopts a synchronous belt transmission as a basic structure, the synchronous belt transmission is a special belt transmission, the working surface of the belt is a tooth shape, the edge of the belt wheel is also made into a corresponding tooth shape, the synchronous belt structure is compact compared with the common belt structure, the strong layer thereof is made of a fiber material or a metal material with high tensile strength and small elongation, the synchronous belt can keep the circumference of the toothed belt unchanged during the transmission process, and can slide relative to the
The second direction moving mechanism 200 controls the grabbing mechanism to move along the second direction, and in this embodiment, controls the grabbing mechanism to move along the Z direction, i.e. the height direction of the carriage 810, the moving range is 0-1.5 m, and includes a first sliding
The second-direction moving mechanism 200 further includes a horizontal beam 230, and the horizontal beam 230 may be of a box structure in this embodiment, that is, a box body formed by welding a plurality of plates and having a rectangular parallelepiped shape, so that the overall weight of the second-direction moving mechanism 200 can be reduced, the problem of the apparatus can be improved, and the operation cost of the horizontal beam 230 can be reduced; to improve strength and provide a reliable foundation for the third direction motion mechanism 300, to ensure that the third direction motion mechanism 300 operates correctly, a plurality of reinforcing bars may be welded within the box structure. The two ends of the horizontal beam 230 are respectively sleeved with the first sliding
The first sliding
A second motor 206 is fixedly arranged on the second motor 206 seat 205, and the output end of the second motor 206 is connected with the first lead screw 203 through a second coupling 207; the second coupling 207 is used for transmitting power between the second motor 206 and the first lead screw 203, and may be a coupling known to those skilled in the art, and the structure thereof will not be described in detail herein. In specific implementation, the second motor 206 is connected to the control device 820, and the control device 820 controls the forward rotation and the reverse rotation, and the start and the stop of the second motor 206; the second motor 206 outputs power to drive the first lead screw 203 to rotate, and further drives the horizontal beam 230 to ascend or descend along the first and second light bars 202 and 204, so as to control the grabbing mechanism to move along the Z direction. In addition, since the second base plate 201 is fixed to the
In the application, by arranging the two optical levers, the horizontal beam 230 is uniformly stressed, the whole structure of the second direction movement mechanism 200 is uniformly stressed, the center of gravity is stable, the movement is reliable, and the service life is prolonged; and the two optical bars can better guide the up-and-down movement of the horizontal beam 230, so that the movement reliability is improved. The second direction movement mechanism 200 selects the screw transmission as the basis in the present application because the second direction movement range is smaller than the first direction and needs to be kept stationary in the second direction for a certain time for facilitating cargo handling in practical application. Through screw transmission, the lead angle on the first screw 203 is easily controlled, and the self-locking effect of the second direction movement mechanism 200 is realized. Through the transmission matching of other components of the second direction movement mechanism 200 and the lead screw, the whole structure can achieve the effects of simple transmission structure, easy processing, low cost, large transmission axial force, high positioning precision and the like.
The third direction movement mechanism 300 controls the grabbing mechanism to move along the third direction, in this embodiment, the grabbing mechanism is controlled to move along the Y direction, that is, the width direction of the carriage 810, and the moving range is 0-2 m; the device comprises a
In the embodiment, the
In this embodiment, the third direction moving mechanism 300 is disposed on the horizontal cross member 230, and can follow the horizontal cross member 230 to perform the second direction movement, and the third guide rail disposed on the horizontal cross member 230 not only plays a role of guiding the
In this embodiment, because Y direction transmission distance is moderate, in order to ensure transmission precision, select rack gear structure as the basis in this application, cooperate other parts of third motion simultaneously, reached work steadily, the reliability is high, the bearing capacity is big, transmission power is big etc. effect.
The grabbing mechanism is arranged on the third direction moving mechanism 300, the moving mechanism in the three directions can drive the grabbing
In order to facilitate loading and unloading of common cartons or articles packed by the cartons, in the present embodiment, the first grasping
In another embodiment of the present application, in order to facilitate the handling of glass or other fragile objects, or to handle objects with large volume and light specific gravity such as paper, the end of the
The
In order to facilitate loading and unloading of bagged goods, such as flour, fertilizer, rice and the like, which are transported in bags and are easily changed due to stress applied to the packaging bags during grabbing, in another embodiment of the present application, the end of the
In a specific implementation, the
In order to improve the strength of the third connection unit, as shown in the drawing, the
The third linkage unit still includes third
In another embodiment of the present application, in order to be able to adapt the cargo to the handling of different cargoes simultaneously; the end of the
In another embodiment of the present application, an industrial camera 503 assembly is further included, the industrial camera 503 assembly includes a
In the mechanism of the present application, the control device 820 may take various implementation forms, such as relay control, single chip microcomputer control, PLC control, and the like. The PLC control has unique advantages which are not possessed by other control modes, such as high reliability, short system design period, good general performance, strong practical performance, complete hardware matching, simple and easy learning of programming steps, a cyclic scanning working mode, small weight and volume, low energy consumption and the like, and can replace a plurality of traditional control circuits of the relay to realize logic control and sequential control, thereby not only being applied to the control of single equipment, but also being applied to cluster control and an automatic assembly line; therefore, in the present application, a PLC control system is selected as a basis for the control device 820. In the application, the PLC model adopted by the host of the control device 820 is Mitsubishi FX2N-80MR, and the power supply selects 220V of daily life power consumption.
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