CN114633254B - Automatic disassembly and assembly equipment for container lock button, disassembly and assembly system composed of the same, and use method - Google Patents
Automatic disassembly and assembly equipment for container lock button, disassembly and assembly system composed of the same, and use method Download PDFInfo
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- CN114633254B CN114633254B CN202011475195.7A CN202011475195A CN114633254B CN 114633254 B CN114633254 B CN 114633254B CN 202011475195 A CN202011475195 A CN 202011475195A CN 114633254 B CN114633254 B CN 114633254B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 171
- 230000033001 locomotion Effects 0.000 claims description 7
- 230000000007 visual effect Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 5
- 230000005540 biological transmission Effects 0.000 claims description 4
- 238000012545 processing Methods 0.000 claims description 3
- 238000009954 braiding Methods 0.000 abstract 2
- 238000012546 transfer Methods 0.000 description 6
- 240000004282 Grewia occidentalis Species 0.000 description 4
- 230000003028 elevating effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1687—Assembly, peg and hole, palletising, straight line, weaving pattern movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
- B23P19/001—Article feeders for assembling machines
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Assembly (AREA)
Abstract
本发明公开了一种集装箱锁钮用自动拆装设备及由其构成的拆装系统和使用方法，自动拆装设备包括：一框架；一悬挂安装于框架上的锁钮拆装机器人，一安装于该框架上并位于锁钮拆装机器人后侧的拉辫机构，锁钮拆装机器人通过该拉辫机构将锁钮复位；一安装于框架上并位于锁钮拆装机器人的旋转半径上方的转接机构，一第一旋转平台，一转向存储机器人以及若干设于转向存储机器人行进路线上的锁钮存储架。本发明提高了码头设备的自动化和智能化，尤其实现锁钮的智能拆卸和降低人工劳动强度及保护人身安全，可适用于目前集装箱承运行业通用集装箱半自动锁钮类型，具有较大的使用范围。
The present invention discloses an automatic disassembly and assembly equipment for container lock knobs, and a disassembly and assembly system and a method of use thereof. The automatic disassembly and assembly equipment comprises: a frame; a lock knob disassembly and assembly robot suspended on the frame, a braiding mechanism installed on the frame and located at the rear side of the lock knob disassembly and assembly robot, and the lock knob disassembly and assembly robot resets the lock knob through the braiding mechanism; a switching mechanism installed on the frame and located above the rotation radius of the lock knob disassembly and assembly robot, a first rotating platform, a steering storage robot, and a plurality of lock knob storage racks arranged on the travel route of the steering storage robot. The present invention improves the automation and intelligence of terminal equipment, especially realizes the intelligent disassembly of lock knobs, reduces the intensity of manual labor, and protects personal safety. It can be applied to the common container semi-automatic lock knob type in the current container carrier industry, and has a large scope of use.
Description
Technical Field
The invention relates to the field of container equipment, in particular to automatic disassembly and assembly equipment for a container lock button, a disassembly and assembly system formed by the same and a use method.
Background
When the shipping container is packaged on a wharf to go on a ship and is used for going off the ship to fall into the container, container lock buttons at four corner positions at the bottom of the container are required to be unlocked and locked, so that the connection, fixation and separation between the upper container body and the lower container body are met. At present, the automatic wharf is realized manually, so that time and labor are consumed, the working condition environment is bad, the personal safety is seriously influenced, and meanwhile, the automatic development of wharf is also hindered.
Disclosure of Invention
The invention aims to solve the problems and provide automatic disassembly and assembly equipment for container lock buttons, a disassembly and assembly system formed by the equipment and a use method, which can realize the automatic disassembly and assembly of the four-corner lock buttons of the container, realize the transfer storage of the lock buttons according to the system allocation requirement, and realize the supplement of the lock buttons and the extraction of redundant lock buttons through a manual intervention frame. The automation degree, the intelligent degree and the working efficiency of wharf equipment are improved, the labor intensity is reduced, and the personal safety is protected. .
The purpose of the invention is realized in the following way:
The invention relates to equipment for disassembling and assembling a container lock button, which is used for fixing corner fittings of a container truck and the container truck, wherein a plurality of lock buttons are stored in a plurality of positioning storage holes of a tray, the bottom of the tray can be forked by a plate, the edges of the two sides of the bottom of the tray can be placed on a bracket, and the equipment for disassembling and assembling the container lock button comprises:
an equipment frame;
the lock button dismounting robot is suspended and mounted on the equipment frame, and the actuator of the dismounting robot is used for dismounting or mounting the lock button on the container corner fitting by the space motion of the dismounting robot in multiple degrees of freedom;
The lock button dismounting robot resets the lock button through the braid pulling mechanism;
The switching mechanism is arranged on the frame and is used for switching the lock button clamped by the actuator in the working range of the lock button dismounting robot;
The first rotating platform is provided with a plurality of grooves, brackets are arranged on the upper edges of the grooves, and all the brackets can rotate to the lower part of the switching mechanism in the rotating process of the first rotating platform so that the switching mechanism can store and fetch the switched lock buttons on the tray placed on the brackets;
A steering storage robot comprising a driving base with a driver, a lifting mechanism rotatably mounted on the driving base and a plate fork mounted on the upper end of the lifting mechanism, wherein the lifting mechanism can move in a telescopic manner in a vertical direction, and
The lock button storage frames are arranged beside the steering storage robot travelling path and comprise a plurality of brackets distributed in the vertical direction.
The lock button dismounting robot in the equipment for dismounting the lock button of the container is a six-axis robot;
The actuator is a lock button dismounting clamp, the lock button dismounting clamp or the frame is arranged on a visual recognition mechanism at one side of a container truck advancing path, information collected by the visual recognition mechanism is processed by an image recognition system to judge the type and state of the lock button and the space coordinate information of the container corner fitting, and then the processing result is transmitted to an upper computer control system for analysis.
The braid pulling mechanism in the equipment for disassembling and assembling the container lock button comprises a telescopic mechanism and an arc-shaped gripper which is arranged on the telescopic mechanism and can translate back and forth, and the arc-shaped gripper is opened and closed through the transmission of a driver.
The transfer mechanism in the equipment for disassembling and assembling the container lock button comprises a lock button clamping mechanism, a longitudinal moving mechanism and a transverse moving mechanism;
The lock button clamping mechanism comprises a lock button clamping mechanism mounting seat, a second lifting mechanism and a lock button clamp which are arranged on the lock button clamping mechanism mounting seat, wherein an output shaft of the second lifting mechanism passes through the clamping mechanism mounting seat, the lock button clamp is arranged at the lower end of the output shaft of the second lifting mechanism, and the lock button clamp realizes closing action through a built-in driver of the lock button clamp;
The transverse moving mechanism comprises at least two first sliding guide mechanisms arranged on the frame and a transverse driver transversely arranged on the front side and the rear side of the truss, and the longitudinal moving mechanism can be slidably arranged on a sliding piece of the first sliding guide mechanism and is driven by the transverse driver;
the longitudinal moving mechanism comprises a longitudinal moving mechanism frame which is arranged on sliding pieces of at least two first sliding guide mechanisms;
Two second sliding guide mechanisms longitudinally arranged at the left side and the right side of the longitudinal moving mechanism frame, a lock button clamping mechanism arranged on a sliding piece of the second sliding guide mechanism, and
A longitudinal driver installed at the left and right sides of the longitudinal moving mechanism frame for driving the lock button clamping mechanism;
the lock button fixture is located and indulges the frame within the frame scope of moving mechanism frame and moves back and forth, and it includes:
a lock knob holding mechanism mounting plate mounted on the slide member of the second slide guide mechanism and driven by the longitudinal driver;
A vertical driver mounted on the mounting plate of the lock button holding mechanism, and
And the lock button clamp is arranged below the lock button clamping mechanism mounting plate and is driven by the vertical driver to move up and down.
The power parts of the transverse driver and the longitudinal driver in the equipment for disassembling and assembling the container lock button are selected from a gear motor, an air motor and an air sliding table, the transmission parts of the transverse driver and the longitudinal driver are selected from a screw-nut web, a belt pulley and a screw-rod module, the first sliding guide mechanism and the second sliding guide mechanism are sliding rails or sliding bars, and the power parts of the vertical driver are selected from a gear motor, an air cylinder or an electric cylinder.
The first rotary platform in the container lock button dismounting device comprises a first rotary platform base for supporting the first rotary platform base, and four grooves which are radially distributed and used for mounting brackets are uniformly distributed on the surface of the first rotary platform.
The driving base in the equipment for disassembling and assembling the container lock button is arranged on a pair of first sliding rails, the jacking mechanism is arranged on a second rotary platform, a pair of second sliding rails are arranged on the second rotary platform, the jacking mechanism can move along the second sliding rails, and the jacking mechanism is an electric lifting rod which is driven by a multi-screw sleeve and synchronously lifts.
The lock button storage frames are arranged on two sides of the steering storage robot route in the equipment for disassembling and assembling the lock buttons of the container, and the equipment also comprises a movable manual intervention frame which comprises a plurality of brackets distributed in the vertical direction and used for placing the tray.
The dismounting system comprises four automatic dismounting devices for container lock buttons, wherein the four automatic dismounting devices can be used for dismounting the lock buttons of four corner pieces of a container at the same time.
In the above-mentioned disassembling system formed by the equipment for disassembling and assembling the container lock button, the travel route of the steering storage robot in the automatic disassembling and assembling equipment for disassembling and assembling the container lock button is parallel to the travel route of the container truck carrying the container, and the travel directions of the two automatic disassembling and assembling equipment for disassembling and assembling the container lock button on the same side of the container truck are the same direction or different directions.
The invention also provides a lock button dismounting working method for the equipment for dismounting the container lock button, which comprises the following steps:
(1) Resetting the equipment debugging;
(2) Positioning a container truck;
(3) The lock button dismounting robot stretches out and adjusts the working angle of an actuator for dismounting after positioning and analyzing the lock button of the container;
(4) The actuator is utilized to complete the detachment of the lock button;
(5) The lock button dismounting robot moves the actuator to the braid pulling mechanism, and resets the lock button by utilizing positioning analysis or completes rechecking of the lock button reset by utilizing the braid pulling mechanism;
(6) The lock button dismounting robot moves the actuator to the connection position with the switching mechanism and connects the lock button to the switching mechanism, and the lock button dismounting robot resets;
(7) The steering storage robot fork-holds the tray stored in the lock button storage rack on the bracket of the first rotary platform, and the switching mechanism stores the lock button in the positioning storage hole through positioning analysis;
(8) When a tray on one bracket of the first rotary platform is fully loaded with the lock button, the first rotary platform rotates the fully loaded tray to the next station, and simultaneously, the other tray rotates to the lower part of the switching mechanism, and the tray is forked and stored on an empty bracket of the lock button storage rack by the steering storage robot.
The invention also provides a locking button working method of the equipment for disassembling and assembling the container locking button, which comprises the following steps:
(1) Resetting the equipment debugging;
(2) The container truck is in place and acquires a lock button lock type to be installed;
(3) The steering storage robot fork-holds a tray for storing the lock button in the lock button storage rack on a bracket of a first rotary platform, and the first rotary platform rotates the tray to the position below the switching mechanism;
(4) The switching mechanism clamps a lock button, and the lock button dismounting robot moves the actuator to a position for switching with the switching mechanism and switches the lock button with the switching mechanism;
(5) The lock button dismounting robot stretches out and adjusts the working angle of an actuator of the container after positioning and analyzing corner fittings of the container;
(6) The actuator is used for completing the installation of the lock button;
(7) Repeating the above operation until a container truck completes the lock button installation;
(8) When all the trays on one bracket of the first rotary platform are empty, the first rotary platform rotates the empty trays to the next station, and the tray is forked and stored on the empty bracket of the lock button storage rack by the steering storage robot.
The invention improves the automation and the intellectualization of wharf equipment, particularly realizes the intelligent disassembly of the lock button, reduces the labor intensity and protects the personal safety, is applicable to the type of the container semiautomatic lock button commonly used in the current container carrying industry, and has a larger application range.
Drawings
FIG. 1 is a schematic view of an embodiment of an automatic attachment and detachment apparatus for a container lock knob according to the present invention;
FIG. 2 is a schematic view of the switching mechanism of the present invention;
FIG. 3 is a schematic view of the structure of the first rotary platform of the present invention;
FIG. 4 is a schematic view showing the installation state structure of the first rotary platform, the steering storage robot and the lock button storage rack of the present invention;
FIG. 5 is a schematic view of a construction of an embodiment of a disassembly and assembly system using an automatic disassembly and assembly apparatus for container lock buttons;
fig. 6 is a schematic view of another embodiment of a disassembly and assembly system using an automatic disassembly and assembly apparatus for container lock buttons.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
Referring to fig. 1 to 4, in the automatic disassembling apparatus 500 for a container lock button of the present invention, the lock button 100 can be correspondingly stored in a tray 200 provided with a plurality of positioning storage holes 201, a positioning structure for a plate fork 300 to fork is provided at the bottom of the tray 200, positioning structures for positioning and placing on a bracket 400 are provided at two side edges of the bottom, and the automatic disassembling apparatus 500 comprises:
A frame 1;
In the embodiment, the lock button dismounting robot 2 is a six-axis robot, the actuator 21 is a lock button dismounting clamp, the lock button dismounting clamp is provided with a visual recognition mechanism 22, and information acquired by the visual recognition mechanism is processed by a recognition system to judge the type and state of the lock button and the space coordinate information of the container corner fitting, and then the processing result is transmitted to an upper computer control system;
the lock button dismounting robot 2 resets and checks the lock button 100 by resetting the lock tongue through the lock button dismounting robot 2, wherein in the embodiment, the lock button dismounting robot 3 comprises a telescopic mechanism 31 and an arc-shaped gripper 32 arranged on the telescopic mechanism 31, and the arc-shaped gripper 32 realizes opening and closing actions through a driver;
A transfer mechanism 4 suspended on the frame 1 and located above the movable space of the knob attaching/detaching robot 2, a knob holder 44 is mounted on the transfer mechanism 4, the knob holder 44 moves in three dimensions through the transfer mechanism 4 and interfaces with the right knob attaching/detaching robot 2 to form a knob 100, in this embodiment, the transfer mechanism 4 includes a traversing mechanism 41, a longitudinal moving mechanism 42 and a knob holder 43, the longitudinal moving mechanism 42 is mounted on the traversing mechanism 41 and is driven to move laterally by the traversing mechanism 41, the knob holder 43 is mounted on the longitudinal moving mechanism 42 and is driven to move longitudinally by the longitudinal moving mechanism 42, the knob holder 43 includes a knob holder mount 43a, a second elevating mechanism 43b vertically mounted on the knob holder mount 43a and a knob holder 44 vertically movably mounted on the second elevating mechanism 43b and located below the knob holder mount 43a, and the traversing mechanism 41 further includes:
At least two first sliding guide mechanisms 41a mounted on the frame 1 and a transverse driver 41b transversely mounted on the front side or the rear side of the frame 1, wherein the longitudinal moving mechanism 42 can be slidably mounted on a sliding piece of the first sliding guide mechanism 41a and is driven by the transverse driver 41b, the transverse driver 41b is selected from a gear motor, an air motor and an air sliding table, and the first sliding guide mechanism 41a is selected from a sliding rail or a sliding bar;
The vertical movement mechanism 42 includes:
a longitudinal movement mechanism frame 42a, four corners of the longitudinal movement mechanism frame 42a being respectively mounted on the sliding members of the two first sliding guide mechanisms 42 a;
two second slide guide mechanisms 42b longitudinally installed on both left and right sides of the longitudinally moving mechanism frame 42a, a lock knob holding mechanism 43 installed on a slide member with the second slide guide mechanisms 42b, and
A longitudinal driver 42c installed at the left or right side of the longitudinal moving mechanism frame 42 for driving the lock knob holding mechanism 43;
The lock knob holding mechanism 43 is provided movably back and forth within a frame range of the longitudinal movement mechanism frame 42a, and includes:
A lock knob holding mechanism mounting plate 43a mounted on the slide of the second slide guide mechanism 42b and driven by the longitudinal driver 42 c;
a vertical driver 43b mounted on the lock knob holding mechanism mounting plate 43a, and
A lock knob holder 43c mounted under the lock knob holding mechanism mounting plate 43a and moved up and down by the driving of the vertical driver 43 b.
The first rotary platform 5 is provided with brackets 400 for placing a plurality of trays 200, each bracket 400 can rotate below the switching mechanism 4 and access the lock buttons 100 on the tray 200 by utilizing the switching mechanism 4, in the embodiment, the first rotary platform 5 comprises a platform body and a first rotary platform base 51 for supporting the platform body, the first rotary platform base 51 comprises a stand column for supporting the platform body, a bottom plate arranged at the lower end of the stand column and a plurality of rib plates arranged between the bottom plate and the stand column, and four brackets 400 are uniformly distributed on the upper surface of the platform body.
A steering storage robot 6 comprises a driving base 61 provided with a driver, a lifting mechanism 62 horizontally rotatably mounted on the driving base 61 and capable of extending and contracting in the vertical direction, and a plate fork 300 mounted on the upper end of the lifting mechanism 62 for holding a tray 200, wherein in this embodiment, the driving base 61 is mounted on a pair of first slide rails 63 provided on the ground beside a lock button storage rack 7, the driving base 61 is mounted with a second rotary platform 64, the lifting mechanism 62 is mounted on the second rotary platform 64, the second rotary platform 64 is provided with a pair of second slide rails 65, and the lifting mechanism 62 is movable along the second slide rails 65, and
A plurality of lock button storage frames 7 arranged on at least one side of the travel path of the steering storage robot 6, wherein the lock button storage frames 7 comprise a plurality of brackets 400 which are distributed in the vertical direction and are used for placing the tray 200, and in the embodiment, both sides of the travel path of the steering storage robot 6 are provided with the lock button storage frames 7;
The automatic dismounting device 500 further comprises a manual intervention frame 8 with wheels at the bottom, wherein the manual intervention frame 8 also comprises a plurality of brackets 400 distributed in the vertical direction for placing the trays 200, and the manual intervention frame 8 moves to the side of the first sliding rail 63 to be used for docking the trays 200 with the steering storage robot 6.
The present invention also provides a disassembling system using the automatic disassembling apparatus 500 for container lock buttons, which comprises four automatic disassembling apparatus 500 for container lock buttons capable of simultaneously disassembling lock buttons of four corner pieces of a container, in this embodiment, the travel route of the steering storage robot 6 in the automatic disassembling apparatus 500 for container lock buttons is parallel to the travel route of a container truck carrying the container 600, and when the space of the apparatus is small, the travel directions of the steering storage robots 6 in the automatic disassembling apparatus 500 for container lock buttons on the same side of the container truck towards the lock button storage rack 7 are different.
The invention also provides a lock button dismounting working method for the equipment for dismounting the container lock button, which comprises the following steps:
(1) Resetting the equipment debugging;
(2) Positioning a container truck;
(3) The lock button dismounting robot stretches out and adjusts the working angle of the actuator 21 for dismounting after positioning and analyzing the lock button 100 of the container 600;
(4) The actuator 21 is used for completing the disassembly of the lock knob 100;
(5) The lock button dismounting robot 2 moves the actuator 21 to the braid pulling mechanism 3 and resets the lock button by utilizing positioning analysis or completes resetting and rechecking of the lock button 100 by utilizing the braid pulling mechanism 3;
(6) The lock button assembling and disassembling robot 2 moves the actuator 21 to the connection position with the switching mechanism 4 and connects the lock button 100 to the switching mechanism 4, and the lock button assembling and disassembling robot 2 resets;
(7) The steering storage robot 6 fork-holds the tray 200 stored in the lock button storage rack 7 on the bracket 400 of the first rotary platform 5, and the switching mechanism 4 stores the lock button 100 in the positioning storage hole 201 through positioning analysis;
(8) When the tray 200 on one bracket 400 of the first rotating platform 5 is fully loaded with the lock button, the first rotating platform 5 rotates the fully loaded tray 200 to the next station while the other tray 200 rotates below the switching mechanism 4, and the steering storage robot 2 is utilized to fork and store the tray 200 on the empty bracket 400 of the lock button storage rack 7.
The invention also provides a locking button working method of the equipment for disassembling and assembling the container locking button, which comprises the following steps:
(1) Resetting the equipment debugging;
(2) The container truck is in place and the lock knob 100 to be installed is collected;
(3) The steering storage robot 6 fork-holds the tray 200 storing the lock button 100 in the lock button storage rack 7 on the bracket 400 of the first rotating platform 5, and the first rotating platform 5 rotates the tray 200 to the lower part of the switching mechanism 4;
(4) The switching mechanism 4 clamps a lock knob 100, and the lock knob dismounting robot 2 moves the actuator 21 to the position where the actuator is connected with the switching mechanism 4 and connects the lock knob 100 with the switching mechanism 4;
(5) The lock button dismounting robot 2 extends out and adjusts the working angle of the actuator 21 of the container 600 after positioning and analyzing the corner fittings;
(6) The lock knob 100 is mounted by the actuator 21;
(7) Repeating the above operations until a container truck is completed with the lock knob 100 installed;
(8) When all the trays 200 on one bracket 400 of the first rotary platform 5 are empty, the first rotary platform 5 rotates the empty tray 200 to the next station, and the turning storage robot 6 is utilized to fork and store the tray 200 on the empty bracket 400 of the lock button storage rack 7.
The above embodiments are provided for illustrating the present invention and not for limiting the present invention, and various changes and modifications may be made by one skilled in the relevant art without departing from the spirit and scope of the present invention, and thus all equivalent technical solutions should be defined by the claims.
Claims (10)
1. The equipment for disassembling and assembling the lock button of the container is used for fixing corner fittings of the container truck and the container truck, and is characterized in that a plurality of lock buttons are stored in a plurality of positioning storage holes of a tray, the bottom of the tray can be forked by a plate fork, and two side edges of the bottom of the tray can be placed on a bracket, and the equipment for disassembling and assembling the lock button of the container comprises:
an equipment frame;
the lock button dismounting robot is suspended and mounted on the equipment frame, and the actuator of the dismounting robot is dismounted or mounted on the lock button on the container corner fitting through the space motion of the dismounting robot in multiple degrees of freedom;
The lock button dismounting robot resets the lock button through the braid pulling mechanism;
The switching mechanism is arranged on the frame, is positioned in the working range of the lock button dismounting robot and switches the lock button clamped by the actuator;
the first rotating platform is provided with a plurality of grooves, the upper edges of the grooves are provided with the brackets, and all the brackets can rotate to the lower part of the switching mechanism in the rotating process of the first rotating platform so that the switching mechanism stores or takes the switched lock buttons from the tray placed on the brackets;
The steering storage robot comprises a driving base provided with a driver, a jacking mechanism rotatably arranged on the driving base, and a plate fork arranged at the upper end of the jacking mechanism, wherein the jacking mechanism can stretch and retract in the vertical direction, and
A plurality of lock button storage frames arranged on at least one side of the travelling path of the steering storage robot, wherein each lock button storage frame comprises a plurality of brackets distributed in the vertical direction;
the lock button dismounting robot is a six-axis robot;
The actuator is a lock button dismounting clamp, the lock button dismounting clamp or the frame is provided with a visual identification mechanism at one side of the container truck advancing path, information collected by the visual identification mechanism is processed by an image identification system to judge the type and state of the lock button and the space coordinate information of container corner fittings, and then the processing result is transmitted to an upper computer control system for analysis;
The braid pulling mechanism comprises a telescopic mechanism and an arc-shaped gripper which is arranged on the telescopic mechanism and can translate back and forth, and the arc-shaped gripper is opened and closed through transmission of a driver.
2. The apparatus for assembling and disassembling a lock button of a container according to claim 1, wherein the switching mechanism comprises a lock button holding mechanism, a longitudinal moving mechanism and a lateral moving mechanism;
The lock button clamping mechanism comprises a lock button clamping mechanism mounting seat, a second lifting mechanism and a lock button clamp, wherein the second lifting mechanism and the lock button clamp are arranged on the lock button clamping mechanism mounting seat, an output shaft of the second lifting mechanism penetrates through the clamping mechanism mounting seat, the lock button clamp is arranged at the lower end of the output shaft of the second lifting mechanism, and the lock button clamp realizes closing action through a built-in driver of the lock button clamp;
The transverse moving mechanism comprises at least two first sliding guide mechanisms arranged on the frame and a transverse driver transversely arranged on the front side and the rear side of the truss, and the longitudinal moving mechanism can be slidably arranged on a sliding piece of the first sliding guide mechanism and is driven by the transverse driver;
The longitudinal moving mechanism comprises a longitudinal moving mechanism frame which is arranged on sliding pieces of at least two first sliding guide mechanisms;
Two second sliding guide mechanisms longitudinally arranged at the left side and the right side of the longitudinal moving mechanism frame, the lock button clamping mechanism is arranged on a sliding piece of the second sliding guide mechanism, and
A longitudinal driver installed at the left and right sides of the longitudinal moving mechanism frame for driving the lock button clamping mechanism;
The lock button fixture is located and moves back and forth in the frame scope of the longitudinal movement mechanism frame, and comprises:
a lock knob holding mechanism mounting plate mounted on the slide member of the second slide guide mechanism and driven by the longitudinal driver;
a vertical driver mounted on the lock knob holding mechanism mounting plate, and
And the lock button clamp is arranged below the lock button clamping mechanism mounting plate and is driven by the vertical driver to move up and down.
3. The apparatus for assembling and disassembling a lock button of a container according to claim 2, wherein the power parts of the transverse driver and the longitudinal driver are selected from a gear motor, an air motor and an air slide table, the transmission parts thereof are selected from a screw-nut pair, a belt pulley and a screw module, the first sliding guide mechanism and the second sliding guide mechanism are sliding rails or sliding bars, and the power parts of the vertical driver are selected from a gear motor, an air cylinder or an electric cylinder.
4. The apparatus for assembling and disassembling a container lock button according to claim 1, wherein the first rotary platform comprises a first rotary platform base for supporting the first rotary platform, and four radially distributed grooves for mounting the bracket are uniformly distributed on the disk surface of the first rotary platform.
5. The apparatus for assembling and disassembling a lock button of a container according to claim 1, wherein the driving base is mounted on a pair of first sliding rails, the jacking mechanism is mounted on a second rotating platform, a pair of second sliding rails are arranged on the second rotating platform, the jacking mechanism can move along the second sliding rails, and the jacking mechanism is an electric lifting rod which is driven by a multi-screw stack and synchronously lifts.
6. The apparatus for assembling and disassembling lock buttons of a container according to claim 1, wherein both sides of the path of the steering storage robot are provided with lock button storage frames, and further comprising a movable manual intervention frame including a plurality of vertically distributed brackets for placing trays.
7. A disassembly and assembly system comprising the apparatus for disassembly and assembly of container lock buttons according to claim 1, comprising four automatic disassembly and assembly apparatuses for container lock buttons provided on a travel path of a container truck, through which four automatic disassembly and assembly apparatuses for container lock buttons are simultaneously disassembled or assembled for lock buttons of four corner pieces of a container.
8. A system for assembling and disassembling a container lock button according to claim 7, wherein the travel route of the steering storage robot in the container lock button automatic assembling and disassembling device is parallel to the travel route of a container truck carrying a container, and the travel directions of two container lock button automatic assembling and disassembling devices on the same side of the container truck towards the lock button storage rack are the same direction or different.
9. A method of operating a lock button of an apparatus for the disassembly and assembly of container buttons as claimed in claim 1, comprising the steps of:
(1) Resetting the equipment debugging;
(2) Positioning a container truck;
(3) The lock button dismounting robot stretches out and adjusts the working angle of an actuator for dismounting after positioning and analyzing the lock button of the container;
(4) The actuator is utilized to complete the detachment of the lock button;
(5) The lock button dismounting robot moves the actuator to the braid pulling mechanism, and resets the lock button by utilizing positioning analysis or completes rechecking of the lock button reset by utilizing the braid pulling mechanism;
(6) The lock button dismounting robot moves the actuator to the connection position with the switching mechanism and connects the lock button to the switching mechanism, and the lock button dismounting robot resets;
(7) The steering storage robot fork-holds the tray stored in the lock button storage rack on the bracket of the first rotary platform, and the switching mechanism stores the lock button in the positioning storage hole through positioning analysis;
(8) When a tray on one bracket of the first rotary platform is fully loaded with the lock button, the first rotary platform rotates the fully loaded tray to the next station, and simultaneously, the other tray rotates to the lower part of the switching mechanism, and the tray is forked and stored on an empty bracket of the lock button storage rack by the steering storage robot.
10. A method of operating a lock button for a container lock button removing apparatus as set forth in claim 1, comprising the steps of:
(1) Resetting the equipment debugging;
(2) The container truck is in place and acquires a lock button lock type to be installed;
(3) The steering storage robot fork-holds a tray for storing the lock button in the lock button storage rack on a bracket of a first rotary platform, and the first rotary platform rotates the tray to the position below the switching mechanism;
(4) The switching mechanism clamps a lock button, and the lock button dismounting robot moves the actuator to a position for switching with the switching mechanism and switches the lock button with the switching mechanism;
(5) The lock button dismounting robot stretches out and adjusts the working angle of an actuator of the container after positioning and analyzing corner fittings of the container;
(6) The actuator is used for completing the installation of the lock button;
(7) Repeating the above operation until a container truck completes the lock button installation;
(8) When all the trays on one bracket of the first rotary platform are empty, the first rotary platform rotates the empty trays to the next station, and the tray is forked and stored on the empty bracket of the lock button storage rack by the steering storage robot.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011475195.7A CN114633254B (en) | 2020-12-15 | 2020-12-15 | Automatic disassembly and assembly equipment for container lock button, disassembly and assembly system composed of the same, and use method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011475195.7A CN114633254B (en) | 2020-12-15 | 2020-12-15 | Automatic disassembly and assembly equipment for container lock button, disassembly and assembly system composed of the same, and use method |
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| CN114633254A CN114633254A (en) | 2022-06-17 |
| CN114633254B true CN114633254B (en) | 2025-02-07 |
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| CN202011475195.7A Active CN114633254B (en) | 2020-12-15 | 2020-12-15 | Automatic disassembly and assembly equipment for container lock button, disassembly and assembly system composed of the same, and use method |
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| CN116551354B (en) * | 2023-05-12 | 2024-02-02 | 广东彩丰物流有限公司 | Automatic disassembly and assembly equipment for container lock button |
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| CN214490596U (en) * | 2020-12-15 | 2021-10-26 | 九工机器(上海)有限公司 | Equipment for disassembling and assembling container lock button and disassembling and assembling system formed by equipment |
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| EP3969831A2 (en) * | 2019-05-17 | 2022-03-23 | Ravin Crossbows, LLC | Crossbow |
| CN110282278B (en) * | 2019-06-03 | 2023-12-01 | 九工机器(上海)有限公司 | Transfer equipment for container lock button access and use method thereof |
| CN110668059B (en) * | 2019-10-14 | 2024-01-02 | 九工机器(上海)有限公司 | Storage and retrieval system for container lock buttons and application method thereof |
| CN111776449B (en) * | 2020-07-30 | 2024-06-18 | 九工机器(上海)有限公司 | Automatic wharf container lock button assembly and disassembly component and application method thereof |
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| CN214490596U (en) * | 2020-12-15 | 2021-10-26 | 九工机器(上海)有限公司 | Equipment for disassembling and assembling container lock button and disassembling and assembling system formed by equipment |
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