阅读说明：本技术 一种高效全自动手抓式装载机 (Efficient full-automatic hand-grasping type loader ) 是由 刘俊龙 王雪松 陈辉 彭龙 顾广君 李红章 高石 王新宇 于 2021-07-13 设计创作，主要内容包括：一种高效全自动手抓式装载机,属于物流机械技术领域。本发明包括轨道移动车单元、装车机器人单元、输送单元、编组单元和装车手抓,待装载车设置在装车机平台中部,装车机平台上设置有轨道移动车单元,装车机器人单元滑动安装在轨道移动车单元顶部,输送单元顶部设置有编组单元,输送单元安装在待装载车一侧的装车机平台上,装车机器人单元底部设置有装车手抓。本发明研发目的是为了解决现有的装车步骤多依赖人工搬运,自动化程度较低的问题,本发明的设计巧妙、拆装方便、组装牢固,是集高效率、多功能装车、码垛于一体的自动化设备,适于推广使用。(A high-efficiency full-automatic hand-held loader belongs to the technical field of logistics machinery. The track moving vehicle comprises a track moving vehicle unit, a loading robot unit, a conveying unit, a marshalling unit and a loading hand grab, wherein a vehicle to be loaded is arranged in the middle of a platform of a loading machine, the track moving vehicle unit is arranged on the platform of the loading machine, the loading robot unit is slidably arranged at the top of the track moving vehicle unit, the marshalling unit is arranged at the top of the conveying unit, the conveying unit is arranged on the platform of the loading machine on one side of the vehicle to be loaded, and the loading hand grab is arranged at the bottom of the loading robot unit. The invention aims to solve the problems that the existing loading steps depend on manual carrying and the automation degree is low, and the automatic loading device is ingenious in design, convenient to disassemble and assemble and firm in assembly, is an automatic device integrating high-efficiency and multifunctional loading and stacking, and is suitable for popularization and application.)

1. The utility model provides a high-efficient full-automatic hand grab loader which characterized in that: the track moving vehicle comprises a track moving vehicle unit (1), a loading robot unit (2), a conveying unit (3), a marshalling unit (4) and a loading hand grab (5), wherein a to-be-loaded vehicle (0-1) is arranged in the middle of a platform (0) of a loading machine, the track moving vehicle unit (1) is arranged on the platform (0) of the loading machine, the loading robot unit (2) is slidably arranged at the top of the track moving vehicle unit (1), the marshalling unit (4) is arranged at the top of the conveying unit (3), the conveying unit (3) is arranged on the platform (0) of the loading machine on one side of the to-be-loaded vehicle (0-1), and the loading hand grab (5) is arranged at the bottom of the loading robot unit (2).

2. The high efficiency, fully automatic, hand held loader of claim 1, further comprising: the track locomotive unit (1) comprises an upper frame platform (1-1), a loading robot walking mechanism (1-2), a braiding machine connecting beam (1-3), a longitudinal beam assembly (1-4), a walking wheel (1-5), a walking chain (1-6), a vertical frame (1-7) and a light rail (1-8), wherein the walking chain (1-6) is installed on the loading machine platform (0) through a support, the light rail (1-8) is arranged on one side of the walking chain (1-6), the loading robot walking mechanism (1-2) is installed on the upper frame platform (1-1), the upper frame platform (1-1) is installed at the top of the vertical frame (1-7), the braiding machine connecting beam (1-3) is installed in the middle of the vertical frame (1-7), and the walking wheel (1-5) is installed at the bottom of the vertical frame (1-7), the lower end of the vertical frame (1-7) is provided with a longitudinal beam assembly (1-4), and the traveling wheels (1-5) travel on the light rail (1-8) through the longitudinal beam assembly (1-4).

3. The high efficiency, fully automatic, hand held loader of claim 2, further comprising: the upper frame platform (1-1) is a square frame, and two parallel wear-resistant track plates (1-1-1) for the walking of the loading robot are arranged in the middle of the upper frame platform (1-1).

4. A high efficiency fully automatic hand held loader as claimed in claim 3 wherein: the loading robot walking mechanism (1-2) comprises a walking driving mechanism (1-2-1), a walking transmission mechanism (1-2-2), a synchronous belt tensioning mechanism (1-2-3) and a synchronous belt pressure roller mechanism (1-2-4), two groups of parallel walking transmission mechanisms (1-2-2) are arranged on the upper frame platform (1-1), one end of each walking transmission mechanism (1-2-2) is matched with the walking driving mechanism (1-2-1), the other end of each walking transmission mechanism (1-2-2) is matched with the synchronous belt tensioning mechanism (1-2-3), and the synchronous belt pressing roller mechanism (1-2-4) is matched with the transmission synchronous belt on the walking transmission mechanism (1-2-2).

5. A high efficiency fully automatic hand held loader according to any of claims 2-4 and wherein: the connecting beam (1-3) of the braiding machine comprises a connecting beam (1-3-1) of the braiding machine and a connecting longitudinal beam (1-3-2) of the braiding machine, the connecting beam (1-3-1) of the braiding machine is installed on a vertical frame (1-7), one end of the connecting longitudinal beam (1-3-2) of the braiding machine is installed on the connecting beam (1-3-1) of the braiding machine, and the other end of the connecting longitudinal beam (1-3-2) of the braiding machine is connected with a connecting and installing seat (1-3-4) of the braiding machine through an adjusting pad (1-3-3).

6. The high efficiency, fully automatic, hand held loader of claim 5, further comprising: the longitudinal beam assembly (1-4) comprises a longitudinal beam driving mechanism (1-4-1), a longitudinal beam tensioning mechanism (1-4-2), a longitudinal beam side gear mechanism (1-4-3), a longitudinal beam driving chain wheel (1-4-4), a longitudinal beam (1-4-5) and a longitudinal beam direction changing chain wheel (1-4-6), wherein the longitudinal beam driving mechanism (1-4-1) is installed on the longitudinal beam (1-4-5), the longitudinal beam driving chain wheel (1-4-4) is installed at the output end of the longitudinal beam driving mechanism (1-4-1), the longitudinal beam driving chain wheel (1-4-4) is connected with the traveling chain (1-6) in a matching way through the longitudinal beam tensioning mechanism (1-4-2), and the longitudinal beam direction changing chain wheel (1-4-6) is connected with the traveling chain (1-6) in a matching way, the longitudinal beam side gear mechanisms (1-4-3) are arranged on the lateral surfaces of the longitudinal beams (1-4-5) and slide on the lateral surfaces of the light rails (1-8).

7. The high efficiency, fully automatic, hand held loader of claim 6, further comprising: the loading robot unit (2) comprises a loading robot body device (2-1) and a loading robot lifting device (2-2), and the loading robot lifting device (2-2) is installed on the loading robot body device (2-1);

the loading robot body device (2-1) comprises a loading robot body frame (2-1-1), a loading robot walking limit catch wheel (2-1-2) and loading robot walking wheels (2-1-3), the bottom and the side of the loading robot body frame (2-1-1) are provided with the loading robot walking limit catch wheel (2-1-2), the left side and the right side of the loading robot body frame (2-1-1) are connected with a walking transmission mechanism (1-2-2), the loading robot walking limit catch wheel (2-1-2) is connected with an upper frame platform (1-1) in a sliding fit manner, the left side and the right side of the loading robot body frame (2-1-1) are also provided with the loading robot walking wheels (2-1-3), the traveling wheels (2-1-3) of the loading robot slide on the top of the wear-resistant track plate (1-1-1);

the lifting device (2-2) of the loading robot comprises a lifting driving mechanism (2-2-1), a lifting transmission mechanism (2-2-2), a lifting main body frame (2-2-3) and a lifting transmission chain (2-2-4), the lifting main body frame (2-2-3) and the lifting driving mechanism (2-2-1) are installed at the top of the loading robot body frame (2-1-1), the lifting transmission chain (2-2-4) is installed on the lifting main body frame (2-2-3) in a vertically sliding fit mode, the lifting driving mechanism (2-2-1) and the lifting transmission mechanism (2-2-2) are connected through the lifting transmission chain (2-2-4), and the loading hand grab (5) is installed at the bottom of the lifting main body frame (2-2-3).

8. The high efficiency, fully automatic, hand held loader of claim 7, further comprising: the conveying unit (3) comprises a conveying belt (3-1), a conveying drive (3-2), a grouping walking track (3-3) and a conveying frame (3-4), the conveying belt (3-1) is installed on the conveying frame (3-4) in a matched mode through the conveying drive device (3-2), and the grouping walking track (3-3) is arranged on the conveying frame (3-4) on the two sides of the conveying belt (3-1).

9. The high efficiency, fully automatic, hand held loader of claim 8, further comprising: the marshalling unit (4) comprises a grabbing position marshalling machine (4-1) and a slope section marshalling machine (4-2), which are arranged on the marshalling walking track (3-3) in a sliding mode, and the rear side of the grabbing position marshalling machine (4-1) is installed on the front side of the slope section marshalling machine (4-2); the left side of the grabbing position braiding machine (4-1) is connected with a vertical frame (1-7) through a braiding machine connecting beam (1-3);

the grabbing position grouping machine (4-1) comprises a grabbing position grouping driving mechanism (4-1-1), a grabbing position grouping transmission mechanism (4-1-2), a grabbing position grouping frame (4-1-3), a grabbing position grouping conveying roller (4-1-4) and a grabbing position grouping supporting roller (4-1-5), the grabbing position grouping conveying roller (4-1-4) and the grabbing position grouping supporting roller (4-1-5) are arranged on the grabbing position grouping frame (4-1-3) in an alternating and rotating matching mode, the grabbing position grouping driving mechanism (4-1-1) is connected with the grabbing position grouping conveying roller (4-1-4) through the grabbing position grouping transmission mechanism (4-1-2), the grabbing position grouping frame (4-1-3) is connected with the vertical frame (1-7) through a grouping machine connecting beam (1-3);

the slope section grouping machine (4-2) comprises a slope section grouping driving mechanism (4-2-1), a slope section grouping transmission mechanism (4-2-2), a slope section grouping frame (4-2-3), a slope section grouping conveying belt (4-2-4) and a slope section grouping conveying roller (4-2-5), wherein the front side and the rear side of the slope section grouping frame (4-2-3) are respectively and rotatably provided with the slope section grouping conveying roller (4-2-5), the slope section grouping conveying belt (4-2-4) is connected with the slope section grouping driving mechanism (4-2-1) through the slope section grouping transmission mechanism (4-2-2), and the slope section grouping transmission mechanism (4-2-2) and the slope section grouping driving mechanism (4-2-1) are arranged on the slope section grouping frame (4-2-3), the slope section marshalling conveying belt (4-2-4) is arranged in the middle of the slope section marshalling frame (4-2-3) in a rotating fit manner;

the bottom of the grabbing position assembling frame (4-1-3) and the slope section assembling frame (4-2-3) is provided with a traveling wheel, the rear end part of the slope section assembling frame (4-2-3) is provided with a carrier roller (4-2-3-1), and a conveying belt (3-1) penetrates between the carrier roller (4-2-3-1) and the slope section assembling frame (4-2-3).

10. The high efficiency, fully automatic, hand held loader of claim 9, further comprising: the loading hand grab (5) comprises a hand grab main body frame (5-1), a telescopic connecting plate (5-2), a swing arm (5-3), fingers (5-4), a telescopic cylinder (5-5), a telescopic sliding rod group (5-6), a rotating cylinder (5-7) and a rotating disk (5-8), the bottom of the hand grab main body frame (5-1) is connected with the telescopic connecting plate (5-2) through the telescopic cylinder (5-5), the telescopic connecting plate (5-2) is in relative sliding connection with the hand grab main body frame (5-1) through the telescopic sliding rod group (5-6), the top of the swing arm (5-3) is hinged with the telescopic connecting plate (5-2), the bottom of the swing arm (5-3) is connected with the top of the fingers (5-4), and the top of the hand grab main body frame (5-1) is lifted with the loading robot through the rotating disk (5-8) The bottom of the device (2-2) is connected, one end of a rotary cylinder (5-7) is fixedly installed with the hand-held main body frame (5-1), and the output end of the rotary cylinder (5-7) is connected with a rotary disk (5-8).

Technical Field

The invention relates to a loader, and belongs to the technical field of logistics machinery.

Background

In the chemical industry, the grain and oil, food, the light industry, in manufacturing enterprises such as medicine, the artifical loading mode is assisted to artifical loading or helping hand equipment of general adoption at present, this kind of mode needs a large amount of manpower turns in the working cycle length, and intensity of labour is big, work efficiency is low, certain harm is caused to operating personnel health to abominable operational environment, and the youth that is engaged in loading and unloading work now is very few, mostly be about fifty old and middle-aged labour, the personnel who engage in loading and unloading work can be more and more scarce along with the time lapse, and current helping hand equipment is mostly miniature fork truck or trailer, degree of automation is lower, the goods are transported and still need artifically on the car.

Therefore, it is desirable to provide a new type of fully automatic hand-held loader to solve the above-mentioned technical problems.

Disclosure of Invention

The present invention has been developed in order to solve the problems of the prior art that the loading step depends on manual handling and the degree of automation is low, and a brief summary of the present invention is provided below to provide a basic understanding of some aspects of the present invention. It should be understood that this summary is not an exhaustive overview of the invention. It is not intended to determine the key or critical elements of the present invention, nor is it intended to limit the scope of the present invention.

The technical scheme of the invention is as follows:

the utility model provides a high-efficient full-automatic hand-held type loader, including the rail mobile vehicle unit, loading robot unit, conveying unit, marshalling unit and loading are held in hand, treat that the loading car sets up at loader platform middle part, be provided with the rail mobile vehicle unit on the loader platform, loading robot unit slidable mounting is at rail mobile vehicle unit top, the conveying unit top is provided with marshalling unit, conveying unit installs on the loader platform of treating loading car one side, loading robot unit bottom is provided with loading and holds in hand.

In order to solve the problem that the track moving vehicle unit can adjust the walking forwards and backwards according to the actual loading position, the invention provides the technical scheme that:

a high-efficiency full-automatic hand-grab loader comprises a rail moving vehicle unit, a loading robot unit, a conveying unit, a marshalling unit and a loading hand grab, wherein a vehicle to be loaded is arranged in the middle of a platform of the loader;

the track locomotive unit comprises an upper frame platform, a loading robot walking mechanism, a braiding machine connecting beam, a longitudinal beam assembly, a walking wheel, a walking chain, a vertical frame and a light rail, wherein the walking chain is installed on the loading machine platform through a support, the light rail is arranged on one side of the walking chain, the loading robot walking mechanism is installed on the upper frame platform, the upper frame platform is installed at the top of the vertical frame, the braiding machine connecting beam is installed in the middle of the vertical frame, the walking wheel is installed at the bottom of the vertical frame, the longitudinal beam assembly is arranged at the lower end of the vertical frame, and the walking wheel is realized to walk on the light rail through the longitudinal beam assembly.

Preferably: the upper frame platform is a square frame, and two parallel wear-resistant track plates for the walking of the loading robot are arranged in the middle of the upper frame platform.

Preferably: the loading robot walking mechanism comprises a walking driving mechanism, a walking transmission mechanism, a synchronous belt tensioning mechanism and a synchronous belt pressing roller mechanism, wherein two groups of parallel walking transmission mechanisms are installed on an upper frame platform, one end of each walking transmission mechanism is matched with the walking driving mechanism, the other end of each walking transmission mechanism is matched with the synchronous belt tensioning mechanism, and the synchronous belt pressing roller mechanism is matched with a transmission synchronous belt on the walking transmission mechanism.

Preferably: the connecting beam of the braiding machine comprises a connecting beam of the braiding machine and a connecting longitudinal beam of the braiding machine, the connecting beam of the braiding machine is arranged on the vertical frame, one end of the connecting longitudinal beam of the braiding machine is arranged on the connecting beam of the braiding machine, and the other end of the connecting longitudinal beam of the braiding machine is connected with a connecting mounting seat of the braiding machine through an adjusting pad.

Preferably: the longitudinal beam assembly comprises a longitudinal beam driving mechanism, a longitudinal beam tensioning mechanism, a longitudinal beam side gear mechanism, a longitudinal beam driving chain wheel, a longitudinal beam and a longitudinal beam direction changing chain wheel, the longitudinal beam driving mechanism is installed on the longitudinal beam, the longitudinal beam driving chain wheel is installed at the output end of the longitudinal beam driving mechanism, the longitudinal beam driving chain wheel is connected with a walking chain in a matched mode through the longitudinal beam tensioning mechanism, the longitudinal beam direction changing chain wheel is connected with the walking chain in a matched mode, and the longitudinal beam side gear mechanism is arranged on the side face of the longitudinal beam and slides on the side face of the light rail.

In order to solve the problem of vertical transportation and stacking of goods, the invention adopts the technical scheme that:

a high-efficiency full-automatic hand-grab loader comprises a rail moving vehicle unit, a loading robot unit, a conveying unit, a marshalling unit and a loading hand grab, wherein a vehicle to be loaded is arranged in the middle of a platform of the loader;

the loading robot unit comprises a loading robot body device and a loading robot lifting device, and the loading robot lifting device is installed on the loading robot body device;

the body device of the loading robot comprises a body frame of the loading robot, and limiting catch wheels are arranged at the bottom and the side surfaces of the body frame of the loading robot;

the lifting device of the loading robot comprises a lifting driving mechanism, a lifting transmission mechanism, a lifting main body frame and a lifting transmission chain, wherein the lifting main body frame and the lifting driving mechanism are installed at the top of the loading robot body frame, the lifting transmission chain is installed on the lifting main body frame in a vertical sliding fit mode, the lifting driving mechanism and the lifting transmission mechanism are connected through the lifting transmission chain, and a loading hand is installed at the bottom of the lifting main body frame.

In order to solve the problem that the goods are convenient to marshal and carry during transportation, the technical scheme is as follows:

a high-efficiency full-automatic hand-grab loader comprises a rail moving vehicle unit, a loading robot unit, a conveying unit, a marshalling unit and a loading hand grab, wherein a vehicle to be loaded is arranged in the middle of a platform of the loader;

the conveying unit comprises a conveying belt, a conveying drive device, a marshalling walking track and a conveying frame, the conveying belt is installed on the conveying frame through the conveying drive device in a matched mode, and the marshalling walking track is arranged on the conveying frame on the two sides of the conveying belt.

Preferably: the marshalling unit comprises a grabbing position marshalling machine and a slope section marshalling machine which are arranged on the marshalling walking rail in a sliding mode, and the rear side of the grabbing position marshalling machine is arranged on the front side of the slope section marshalling machine; the left side of the grabbing position braiding machine is connected with the vertical frame through a braiding machine connecting beam;

the grabbing position grouping machine comprises a grabbing position grouping driving mechanism, a grabbing position grouping transmission mechanism, a grabbing position grouping frame, a grabbing position grouping conveying roller and a grabbing position grouping supporting roller, wherein the grabbing position grouping conveying roller and the grabbing position grouping supporting roller are arranged on the grabbing position grouping frame in an alternating and rotating fit mode;

the slope section grouping machine comprises a slope section grouping driving mechanism, a slope section grouping transmission mechanism, a slope section grouping frame, a slope section grouping conveying belt and a slope section grouping conveying roller, wherein the front side and the rear side of the slope section grouping frame are respectively and rotatably provided with the slope section grouping conveying roller;

road wheels are arranged at the bottoms of the grabbing position braiding frame and the slope section braiding frame, a carrier roller is arranged at the rear end of the slope section braiding frame, and a conveying belt penetrates between the carrier roller and the slope section braiding frame.

In order to solve the problem of carrying of the goods grab clamp, the technical scheme is as follows:

a high-efficiency full-automatic hand-grab loader comprises a rail moving vehicle unit, a loading robot unit, a conveying unit, a marshalling unit and a loading hand grab, wherein a vehicle to be loaded is arranged in the middle of a platform of the loader;

the loading is held in hand and is held including holding in hand main body frame, telescopic connection board, the swing arm, the finger, telescopic cylinder, telescopic slide bar group revolving cylinder and rotary disk, it is connected through telescopic cylinder and telescopic connection board to hold main body frame bottom, telescopic connection board is through telescopic slide bar group and holding main body frame and establish relative sliding connection, the swing arm top is articulated with telescopic connection board, the swing arm bottom is articulated with the finger top, it is connected with loading robot elevating gear bottom through the rotary disk to hold main body frame top, revolving cylinder one end is held in hand main body frame fixed mounting, the revolving cylinder output is established with the rotary disk and is connected.

The invention has the following beneficial effects:

1. the invention relates to a high-efficiency full-automatic hand-held loader, which is an automatic device integrating high-efficiency, multifunctional loading and stacking;

2. according to the efficient full-automatic hand-held loader, objects to be loaded can be automatically loaded on the high-rail vehicle low-rail vehicle and the flat car, only simple on-off control is needed by personnel in the whole loading process, and the rest loading and carrying processes are completely automatic, so that the burden of workers is greatly reduced, labor force is liberated, and the loading efficiency is improved;

3. the efficient full-automatic hand-held loader is ingenious in design, convenient to disassemble and assemble, firm in assembly and suitable for popularization and application.

Drawings

FIG. 1 is a perspective view of a high efficiency fully automatic hand held loader;

FIG. 2 is a block diagram of the railcar unit of the present invention;

FIG. 3 is a block diagram of the upper frame platform of the present invention;

FIG. 4 is a structural diagram of a truck-loading robot traveling mechanism of the present invention;

FIG. 5 is a block diagram of a connecting beam of the grouping machine of the present invention;

FIG. 6 is a block diagram of the trailing beam assembly of the present invention;

FIG. 7 is a schematic view of the structure of the railcar unit of the present invention;

FIG. 8 is a block diagram of a loading robot unit of the present invention;

FIG. 9 is a block diagram of the lift assembly of the loading robot of the present invention;

FIG. 10 is a structural view of a lifting body frame of the present invention;

FIG. 11 is a schematic diagram of the construction of the loading robot unit of the present invention;

FIG. 12 is a block diagram of the delivery unit of the present invention;

fig. 13 is a schematic structural view of the positional relationship of the idler of the present invention with a conveyor belt;

FIG. 14 is a block diagram of a marshalling unit of the present invention;

FIG. 15 is a block diagram of the capture station organizer of the present invention;

fig. 16 is a block diagram of the ramp section grouping machine of the present invention;

FIG. 17 is a perspective view of the truck-loading grip of the present invention;

FIG. 18 is a block diagram of the truck-loading hand grip of the present invention;

in the figure, 0-car loader platform, 0-1-car to be loaded, 1-rail locomotive unit, 2-car loading robot unit, 3-conveying unit, 4-marshalling unit, 5-car loading hand grab, 1-1-upper frame platform, 1-2-car loading robot walking mechanism, 1-3-marshalling machine connecting beam, 1-4-longitudinal beam assembly, 1-5-walking wheel, 1-6-walking chain, 1-7-vertical frame, 1-8-light rail, 1-1-car loading robot walking wear-resistant rail plate, 1-2-1-walking driving mechanism, 1-2-2-walking transmission mechanism and 1-2-3-synchronous belt tensioning mechanism, 1-2-4-synchronous belt pressing roller mechanism, 1-3-1-braiding machine connecting beam, 1-3-2-braiding machine connecting longitudinal beam, 1-3-3-adjusting pad, 1-3-4-braiding machine connecting mounting base, 1-4-1-longitudinal beam driving mechanism, 1-4-2-longitudinal beam tensioning mechanism, 1-4-3-longitudinal beam side gear mechanism, 1-4-4-longitudinal beam driving chain wheel, 1-4-5-longitudinal beam, 1-4-6-longitudinal beam direction changing chain wheel, 2-1-loading robot body device, 2-2-loading robot lifting device, 2-1-1-loading robot body frame, 2-1-2-a loading robot walking limit catch wheel, 2-1-3-a loading robot walking wheel, 2-2-1-a lifting driving mechanism, 2-2-2-a lifting transmission mechanism, 2-2-3-a lifting main body frame, 2-2-4-a lifting transmission chain, 3-1-a conveying belt, 3-2-a conveying driving mechanism, 3-3-a marshalling walking track, 3-4-a conveying frame, 4-1-a grabbing position marshalling machine, 4-2-a slope section marshalling machine, 4-1-1-a grabbing position marshalling driving mechanism, 4-1-2-a grabbing position marshalling transmission mechanism and 4-1-3-a grabbing position marshalling frame, 4-1-4-grabbing position marshalling conveying roller, 4-1-5-grabbing position marshalling supporting roller, 4-2-1-slope section marshalling driving mechanism, 4-2-2-slope section marshalling driving mechanism, 4-2-3-slope section marshalling frame, 4-2-4-slope section marshalling conveying belt, 4-2-5-slope section marshalling conveying roller, 4-2-3-1-supporting roller, 5-1-hand grasping main body frame, 5-2-telescopic connecting plate, 5-3-swinging arm, 5-4-finger, 5-5-telescopic cylinder, 5-6-telescopic sliding rod group and 5-7-rotary cylinder, 5-8-rotating the disc.

Detailed Description

In order that the objects, aspects and advantages of the invention will become more apparent, the invention will be described by way of example only, and in connection with the accompanying drawings. It is to be understood that such description is merely illustrative and not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

The connection mentioned in the invention is divided into fixed connection and detachable connection, the fixed connection is non-detachable connection and includes but is not limited to folding edge connection, rivet connection, bonding connection, welding connection and other conventional fixed connection modes, the detachable connection includes but is not limited to threaded connection, snap connection, pin connection, hinge connection and other conventional detachment modes, when the specific connection mode is not clearly limited, at least one connection mode can be found in the existing connection modes by default to realize the function, and the skilled person can select according to the needs. For example: the fixed connection selects welding connection, and the detachable connection selects hinge connection.

The first embodiment is as follows: the embodiment is described by combining with fig. 1, the efficient full-automatic hand-held loader of the embodiment comprises a rail moving vehicle unit 1, a loading robot unit 2, a conveying unit 3, a marshalling unit 4 and a loading hand grab 5, wherein a to-be-loaded vehicle 0-1 is arranged in the middle of a loader platform 0, the loader platform 0 is provided with the rail moving vehicle unit 1, the loading robot unit 2 is slidably arranged at the top of the rail moving vehicle unit 1, the top of the conveying unit 3 is provided with the marshalling unit 4, the marshalling unit is slidably connected with the rail moving vehicle unit 1, the conveying unit 3 is arranged on the loader platform 0 at one side of the to-be-loaded vehicle 0-1, the bottom of the loading robot unit 2 is provided with the loading hand grab 5, when in use, the to-be-loaded vehicle 0-1 runs to the middle of the loader platform 0, one side of the conveying unit 3 and the marshalling unit 4 is judged by manual operation or uses a sensing element arranged on the loader platform 0, the length and the model of a loading box of a to-be-loaded vehicle 0-1 are detected, the track moving vehicle unit 1 is adjusted to the appointed loading position of the to-be-loaded vehicle 0-1, the conveying unit 3 conveys the goods to the grouping unit 4, then the loading robot unit 2 drives the loading gripper 5 to grab and carry out a group of carrying, after a group of carrying is completed, the loading robot unit 2 on the track moving vehicle unit 1 drives the loading gripper 5 to move backwards, a group of grabbing and carrying is carried out again until the loading is completed, the track moving vehicle unit 1 moves along the vehicle length direction and drives the grouping unit 4 to move together with the grouping unit 4, the track moving vehicle unit 1 and the grouping unit 4 are relatively static, and therefore the positions of the loading gripper 5 are consistent when the grouping unit 4 grabs each time.

The second embodiment is as follows: the embodiment is described with reference to fig. 1-2, and based on the first embodiment, the rail moving vehicle unit 1 of the embodiment comprises an upper frame platform 1-1, a loading robot walking mechanism 1-2, a braiding machine connecting beam 1-3, a longitudinal beam assembly 1-4, a walking wheel 1-5, a walking chain 1-6, a vertical frame 1-7 and a light rail 1-8, wherein the walking chain 1-6 is installed on a loading machine platform 0 through a support, the light rail 1-8 is arranged on one side of the walking chain 1-6, the loading robot walking mechanism 1-2 is installed on the upper frame platform 1-1, the upper frame platform 1-1 is installed on the top of the vertical frame 1-7, the braiding machine connecting beam 1-3 is installed in the middle of the vertical frame 1-7, the bottom of the vertical frame 1-7 is provided with a traveling wheel 1-5, the lower end of the vertical frame 1-7 is provided with a longitudinal beam assembly 1-4, the traveling wheel 1-5 travels on the light rail 1-8 through the longitudinal beam assembly 1-4, the longitudinal beam assembly 1-4 drives the vertical frame 1-7 to move back and forth on the light rail 1-8 through the traveling wheel 1-5 and a traveling chain 1-6, a loading robot traveling mechanism 1-2 at the top of the vertical frame 1-7 is used for adjusting the transverse position of a loading robot unit 2 so that the loading robot unit can move left and right in the direction perpendicular to the light rail 1-8, the traveling of the rail locomotive unit 1 adopts a two-side chain type traction form to realize X-axis movement, the form that a motor is directly connected with a traveling wheel in the past is changed, and the defect that two ends are asynchronous due to the slippage between the wheel and the rail is avoided.

The third concrete implementation mode: the embodiment is described with reference to fig. 1 to fig. 3, and based on the first specific embodiment, the upper frame platform 1-1 of the efficient full-automatic hand-held loader of the embodiment is a square frame, and two parallel wear-resistant track plates 1-1-1 for the loading robot to walk are arranged in the middle of the upper frame platform 1-1, so that the wear resistance is improved, and the friction loss is reduced.

The fourth concrete implementation mode: the embodiment is described by combining fig. 1-4, and the traveling mechanism 1-2 of the loading robot comprises a traveling driving mechanism 1-2-1, a traveling transmission mechanism 1-2-2, a synchronous belt tensioning mechanism 1-2-3 and a synchronous belt pressure roller mechanism 1-2-4, two groups of parallel traveling transmission mechanisms 1-2-2 are mounted on an upper frame platform 1-1, one end of the traveling transmission mechanism 1-2-2 is matched with the traveling driving mechanism 1-2-1, the other end of the traveling transmission mechanism 1-2-2 is matched with the synchronous belt tensioning mechanism 1-2-3, the synchronous belt pressure roller mechanism 1-2-4 is matched with a transmission synchronous belt on the traveling transmission mechanism 1-2-2, the walking transmission mechanism 1-2-2 is a synchronous belt transmission mechanism, the synchronous belt is in an open type, and the two ends of the opening are fixedly connected with the loading robot unit 2, the walking driving mechanism 1-2-1 drives the walking transmission mechanism 1-2-2, therefore, the loading robot unit 2 on the walking transmission mechanism 1-2-2 moves along with the movement, the synchronous belt tensioning mechanism 1-2-3 and the synchronous belt pinch roll mechanism 1-2-4 are used for assisting the walking transmission mechanism 1-2-2 to avoid loosening, moving or sliding of a synchronous belt of the walking transmission mechanism 1-2-2, the walking driving mechanism 1-2-1 is driven by a servo motor, and the walking transmission mechanism 1-2-2 has the advantages of smooth control of synchronous belt transmission positioning accurate movement and the like.

The fifth concrete implementation mode: the embodiment is described by combining figures 1-5, the connecting beam 1-3 of the grouping machine comprises a connecting beam 1-3-1 of the grouping machine and a connecting longitudinal beam 1-3-2 of the grouping machine, the connecting beam 1-3-1 of the grouping machine is arranged on a vertical frame 1-7, one end of the connecting longitudinal beam 1-3-2 of the grouping machine is arranged on the connecting beam 1-3-1 of the grouping machine, the other end of the connecting longitudinal beam 1-3-2 of the grouping machine is connected with a connecting mounting seat 1-3-4 of the grouping machine through an adjusting pad 1-3-3, the connecting mounting seat 1-3-4 of the grouping machine is connected with a grouping unit 4, the connecting mounting seat 1-3-4 of the grouping machine is not hard connected with the grouping unit 4, but the connection mode of up-and-down sliding can compensate the up-and-down floating of the marshalling unit 4 caused by the uneven track, the adjusting mechanism is arranged at the joint of the connecting cross beam 1-3-1 and the connecting longitudinal beam 1-3-2 of the marshalling machine, so that the installation position in the relative transverse direction can be conveniently adjusted, and the adjusting pad is arranged between the connecting installation seat 1-3-4 of the marshalling machine and the connecting longitudinal beam 1-3-2 of the marshalling machine.

The sixth specific implementation mode: the embodiment is described by combining fig. 1-6, and the longitudinal beam assembly 1-4 of the embodiment comprises a longitudinal beam driving mechanism 1-4-1, a longitudinal beam tensioning mechanism 1-4-2, a longitudinal beam side wheel mechanism 1-4-3, a longitudinal beam driving sprocket 1-4-4, a longitudinal beam 1-4-5 and a longitudinal beam direction changing sprocket 1-4-6, wherein the longitudinal beam 1-4-5 is provided with the longitudinal beam driving mechanism 1-4-1, the output end of the longitudinal beam driving mechanism 1-4-1 is provided with the longitudinal beam driving sprocket 1-4-4, the longitudinal beam driving sprocket 1-4-4 is connected with a walking chain 1-6 through the longitudinal beam tensioning mechanism 1-4-2 in a matching manner, the longitudinal beam direction changing chain wheels 1-4-6 are connected with the walking chains 1-6 in a matched mode and used for changing directions, longitudinal beam side gear mechanisms 1-4-3 are arranged on the side faces of the longitudinal beams 1-4-5 and slide on the side faces of the light rails 1-8 to play a role in guiding and avoiding sliding, walking wheels 1-5 are mounted at two ends of the longitudinal beams 1-4-5, the longitudinal beam driving mechanisms 1-4-1 drive the longitudinal beam driving chain wheels 1-4-4 to rotate, the longitudinal beam driving chain wheels 1-4-4 are matched with the walking chains 1-6 to achieve relative movement, and the principle structure of the longitudinal beam direction changing chain wheel is shown in figure 7.

The seventh embodiment: the embodiment is described with reference to fig. 1 to 11, and a high-efficiency full-automatic hand-held loader of the embodiment is shown in fig. 8, where the loading robot unit 2 includes a loading robot body device 2-1 and a loading robot lifting device 2-2, and the loading robot lifting device 2-2 is installed on the loading robot body device 2-1; the body device 2-1 of the loading robot is matched with the running mechanism 1-2 of the loading robot, and simultaneously drives the body device 2-1 of the loading robot and the lifting device 2-2 of the loading robot to realize Y-axis movement, and the lifting device 2-2 of the loading robot adopts a chain type traction device to realize Z-axis lifting; the loading robot body device 2-1 comprises a loading robot body frame 2-1-1, a loading robot walking limit catch wheel 2-1-2 and a loading robot walking wheel 2-1-3, the bottom of the loading robot body frame 2-1-1 is provided with the loading robot walking limit catch wheel 2-1-2, the left side and the right side of the loading robot body frame 2-1-1 are connected with a walking transmission mechanism 1-2-2, the loading robot walking limit catch wheel 2-1-2 is connected with an upper frame platform 1-1 in a sliding fit mode, the left side and the right side of the loading robot body frame 2-1-1 are also provided with the loading robot walking wheel 2-1-3, and the loading robot walking wheel 2-1-3 slides on the top of the loading robot walking wear-resistant track plate 1-1-1 The traveling limiting catch wheel 2-1-2 of the loading robot is moved to avoid slipping off in operation and separating from an operation track, the traveling wheel 2-1-3 of the loading robot slides on the traveling wear-resistant track plate 1-1-1 of the loading robot to reduce friction, and the left side and the right side of a body frame 2-1-1 of the loading robot are fixedly connected with a synchronous belt of a traveling transmission mechanism 1-2-2;

the lifting device 2-2 of the loading robot comprises a lifting driving mechanism 2-2-1, a lifting transmission mechanism 2-2-2, a lifting main body frame 2-2-3 and a lifting transmission chain 2-2-4, wherein the lifting main body frame 2-2-3 and the lifting driving mechanism 2-2-1 are arranged at the top of the body frame 2-1-1 of the loading robot, the lifting transmission chain 2-2-4 is vertically and slidably arranged on the lifting main body frame 2-2-3, the lifting driving mechanism 2-2-1 and the lifting transmission mechanism 2-2-2 are connected through the lifting transmission chain 2-2-4, a loading hand grab 5 is arranged at the bottom of the lifting main body frame 2-2-3, and the transmission principle is shown in figure 10, the lifting driving mechanism 2-2-1 drives the lifting transmission chain 2-2-4 to move through the lifting transmission mechanism 2-2-2 to realize the lifting movement of the loading hand grab 5, the structural principle of the lifting driving mechanism is shown in figure 11, and the upper end and the lower end of the lifting main body frame 2-2-3 are provided with limiting blocks, as shown in figure 10.

The specific implementation mode is eight: the embodiment is described with reference to fig. 1-12, and the conveying unit 3 of the embodiment includes a conveying belt 3-1, a conveying drive 3-2, a grouping travel rail 3-3 and a conveying frame 3-4, the conveying belt 3-1 is cooperatively mounted on the conveying frame 3-4 through the conveying drive 3-2, the grouping travel rail 3-3 is disposed on the conveying frame 3-4 at two sides of the conveying belt 3-1, an object to be loaded is placed on the conveying belt 3-1, the conveying drive 3-2 drives the conveying belt 3-1 to drive the object to be loaded to move, and the grouping unit 4 is slidably fitted with the grouping travel rail 3-3;

in a more preferable technical scheme, the conveying unit 3 can also be a belt conveying platform device of other types in the prior art.

The specific implementation method nine: the embodiment is described with reference to fig. 1 to 16, and the marshalling unit 4 of the embodiment comprises a grabbing position marshalling machine 4-1 and a slope section marshalling machine 4-2 which are slidably arranged on a marshalling walking track 3-3, wherein the rear side of the grabbing position marshalling machine 4-1 is arranged at the front side of the slope section marshalling machine 4-2; the left side of a grabbing position braiding machine 4-1 is connected with a vertical frame 1-7 through a braiding machine connecting beam 1-3, goods to be loaded on a conveying unit 3 enter the grabbing position braiding machine 4-1 from a slope segment braiding machine 4-2, a braiding unit 4 slides and travels at the top of a braiding traveling track 3-3 through wheels, the braiding unit 4 is connected with the braiding traveling track 3-3 in a manner similar to a sliding block and a sliding rail, and is relatively static with a track moving vehicle unit 1 in the X-axis direction, a loading hand grab 5 is fixed in grabbing position each time and can slide in the Y-axis direction to compensate for vertical movement caused by uneven track and other reasons;

the grabbing position grouping machine 4-1 comprises a grabbing position grouping driving mechanism 4-1-1, a grabbing position grouping transmission mechanism 4-1-2, a grabbing position grouping frame 4-1-3, a grabbing position grouping conveying roller 4-1-4 and a grabbing position grouping supporting roller 4-1-5, the grabbing position marshalling conveying rollers 4-1-4 and the grabbing position marshalling supporting rollers 4-1-5 are mutually alternated and are arranged on the grabbing position marshalling frame 4-1-3 in a rotating fit mode, the grabbing position marshalling driving mechanism 4-1-1 is connected with the grabbing position marshalling conveying rollers 4-1-4 through the grabbing position marshalling transmission mechanism 4-1-2, and the grabbing position marshalling frame 4-1-3 is connected with the vertical frame 1-7 through the connecting beam 1-3 of the marshalling machine; the grabbing position marshalling transmission mechanism 4-1-2 adopts a chain to drive the grabbing position marshalling conveying roller 4-1-4 of the whole grabbing position marshalling driving mechanism 4-1-1 to move, so that the mode that the traditional marshalling machine is sleeved in a ring is broken through, the structure is compact, fingers can grab into the marshalling machine through gaps among the chains, and the situation that the traditional equipment is wide due to the fact that the fingers need to avoid the positions of the chains is avoided.

The slope section grouping machine 4-2 comprises a slope section grouping driving mechanism 4-2-1, a slope section grouping transmission mechanism 4-2-2, a slope section grouping frame 4-2-3, a slope section grouping conveying belt 4-2-4 and a slope section grouping conveying roller 4-2-5, wherein the front side and the rear side of the slope section grouping frame 4-2-3 are respectively and rotatably provided with the slope section grouping conveying roller 4-2-5, the slope section grouping conveying belt 4-2-4 is connected with the slope section grouping driving mechanism 4-2-1 through the slope section grouping transmission mechanism 4-2-2, the slope section grouping transmission mechanism 4-2-2 and the slope section grouping driving mechanism 4-2-1 are arranged on the slope section grouping frame 4-2-3, the slope section marshalling conveying belt 4-2-4 is arranged in the middle of a slope section marshalling frame 4-2-3 in a rotating fit mode, the slope section marshalling driving mechanism 4-2-1 drives the slope section marshalling conveying belt 4-2-4 through the slope section marshalling transmission mechanism 4-2-2, objects to be loaded on the slope section marshalling conveying belt 4-2-4 move along with the slope section marshalling driving mechanism 4-2-3, baffles are arranged on the left side and the right side of the slope section marshalling frame 4-2-3 to prevent the objects to be loaded from sliding and jumping, the slope section marshalling machine 4-2 is a slow stop position for pre-marshalling the objects to be loaded, a plurality of bags of objects to be loaded are required to be parked and then conveyed to the grabbing position marshalling driving mechanism 4-1-1, the slope section marshalling transmission mechanism 4-2-2 and the slope section marshalling conveying belt 4-2-4 are formed by belts and rollers, and one power is adopted The material conveying device is driven, so that the material is conveyed stably and is not easy to slip or slide;

as shown in fig. 13, walking wheels are arranged at the bottoms of the grabbing position grouping frame 4-1-3 and the slope section grouping frame 4-2-3, a supporting roller 4-2-3-1 is arranged at the rear end of the slope section grouping frame 4-2-3, a conveying belt 3-1 penetrates between the supporting roller 4-2-3-1 and the slope section grouping frame 4-2-3, and the conveying belt 3-1 is adopted to stride over the supporting roller 4-2-3-1, so that goods to be loaded are prevented from being clamped between the grouping machine and the conveying belt 3-1, and the materials are conveyed to the grouping machine more smoothly and are not easy to clamp.

The detailed implementation mode is ten: the embodiment is described with reference to fig. 1-18, and the loading grab 5 of the embodiment comprises a grab main body frame 5-1, a telescopic connecting plate 5-2, a swing arm 5-3, a finger 5-4, a telescopic cylinder 5-5, a telescopic sliding rod group 5-6, a rotating cylinder 5-7 and a rotating disk 5-8, wherein the bottom of the grab main body frame 5-1 is connected with the telescopic connecting plate 5-2 through the telescopic cylinder 5-5, the telescopic connecting plate 5-2 is in relative sliding connection with the grab main body frame 5-1 through the telescopic sliding rod group 5-6, the top of the swing arm 5-3 is hinged with the telescopic connecting plate 5-2, the bottom of the swing arm 5-3 is connected with the top of the finger 5-4, and the top of the grab main body frame 5-1 is connected with the loading robot lifting device 2 through the rotating disk 5-8 2, a connection is established at the bottom, one end of a rotary cylinder 5-7 is fixedly installed with a hand grab main body frame 5-1, the output end of the rotary cylinder 5-7 is connected with a rotary disk 5-8, the telescopic cylinder 5-5 drives a swing arm 5-3 and fingers 5-4 on a telescopic connecting plate 5-2 to move, so that the opening and closing movement of the loading hand grab 5 is realized, the swinging and grabbing action of the fingers 5-4 at the bottom is realized, the hand grab main body frame 5-1 is connected with the bottom of a loading robot lifting device 2-2 through a top flange, the rotary cylinder is installed at the top of the hand grab main body frame 5-1, the output end of the rotary cylinder is connected with a rotary disk 5-8 at the top of the hand grab main body frame 5-1, and the purpose is that the loading hand grab 5 can be rotationally adjusted;

the loading hand grab 5 is different from the stacking hand grab, the loading hand grab has certain requirements on space, the loading hand grab is required to be close to the carriage plate as much as possible, the loading hand grab cannot be collided with the carriage plate when being opened, and the loading hand grab 5 is of a composite motion structure and is contracted when the loading hand grab 5 is opened, so that the space occupied by the hand grab is greatly reduced, and the requirement that the loading hand grab is close to the carriage plate as much as possible can be met;

the power source in the whole system is driven by adopting a combination form of a speed reducing motor, a servo motor, pneumatics and the like. The control system comprises a plurality of detection units, advanced detection components can detect the size and the position of a vehicle to be loaded, which is 0-1, and the position of goods, and the control system can finish data statistics and output through a PLC control system and various positioning units such as ultrasonic waves and laser, thereby realizing man-machine interaction and full automation.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

The relative arrangement of the components and steps, the numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless specifically stated otherwise. Meanwhile, it should be understood that the sizes of the respective portions shown in the drawings are not drawn in an actual proportional relationship for the convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any particular value should be construed as merely illustrative, and not limiting. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, further discussion thereof is not required in subsequent figures.

In the description of the present invention, it is to be understood that the orientation or positional relationship indicated by the orientation words such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal" and "top, bottom", etc. are usually based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplicity of description, and in the case of not making a reverse description, these orientation words do not indicate and imply that the device or element being referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore, should not be considered as limiting the scope of the present invention; the terms "inner and outer" refer to the inner and outer relative to the profile of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "above … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial relationship to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary term "above … …" can include both an orientation of "above … …" and "below … …". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are capable of operation in sequences other than those illustrated or described herein.

It should be noted that, in the above embodiments, as long as the technical solutions can be aligned and combined without contradiction, those skilled in the art can exhaust all possibilities according to the mathematical knowledge of the alignment and combination, and therefore, the present invention does not describe the technical solutions after alignment and combination one by one, but it should be understood that the technical solutions after alignment and combination have been disclosed by the present invention.

The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.