CN115611014B - Automatic stacking device for cold chain container cargoes based on truss translation mechanism - Google Patents
Automatic stacking device for cold chain container cargoes based on truss translation mechanism Download PDFInfo
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- CN115611014B CN115611014B CN202211287403.XA CN202211287403A CN115611014B CN 115611014 B CN115611014 B CN 115611014B CN 202211287403 A CN202211287403 A CN 202211287403A CN 115611014 B CN115611014 B CN 115611014B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 82
- 238000013519 translation Methods 0.000 title claims abstract description 51
- 238000000034 method Methods 0.000 claims abstract description 12
- 230000008569 process Effects 0.000 claims abstract description 5
- 230000033001 locomotion Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 14
- 239000003638 chemical reducing agent Substances 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 238000012546 transfer Methods 0.000 description 5
- 238000007599 discharging Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 235000004443 Ricinus communis Nutrition 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000014509 gene expression Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G13/00—Roller-ways
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G37/00—Combinations of mechanical conveyors of the same kind, or of different kinds, of interest apart from their application in particular machines or use in particular manufacturing processes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
- B65G57/22—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical in layers each of predetermined arrangement
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
Abstract
The invention discloses an automatic stacking device for cold chain container cargoes based on a truss translation mechanism, which comprises a base, the truss translation mechanism, a fixed carrier roller, an unloading module and a tray lifting module, wherein the unloading module comprises a floating carrier roller and an unloading gripper; the truss translation mechanism is used for driving the floating carrier roller and the unloading gripper to synchronously move, and the moving direction is the front-back direction and the left-right direction; the unloading gripper is provided with a rotating mechanism for driving the gripper to rotate; the unloading gripper receives the goods transmitted by the floating carrier roller and places the goods on the forklift pallet, the truss translation mechanism adjusts the position of the unloading gripper in the receiving process, the unloading gripper adjusts the angle of the goods in the process of placing the goods on the forklift pallet, the goods are stacked on the forklift pallet, and after the forklift pallet is stacked on one layer, the pallet lifting module and the forklift pallet driving the forklift pallet are lowered on one layer. The stacking device provided by the invention has the advantages of high automation degree, simple structure and high stacking efficiency.
Description
Technical Field
The invention belongs to the technical field of stacking devices, and particularly relates to an automatic cold chain container cargo stacking device based on a truss translation mechanism.
Background
The stacking device is mainly used for stacking cargoes, stacking cargoes or workpieces according to a certain motion rule, and finishing the tasks of transporting and arranging cargoes. The palletizing technique is widely applied to the transportation operation of cold chain containers and the like.
Patent of the invention (CN 111717677), patent name: an automatic cargo stacking machine. The patent provides an automatic palletizing device which comprises a palletizing station and a discharging station. Both sides of the stacking station and the discharging station are provided with anti-toppling devices. The pallet is conveyed to the stacking station by the pallet taking machine at equal intervals, and the stacking robot is used for completing the layer-by-layer stacking work of the box body. The working condition of cold chain container transportation is not complex, the requirement on the freedom degree of the stacking device is not high, and the cold chain container transportation has the characteristic of long operation time. But the device's pile up neatly efficiency is not enough, and is high to the operation requirement of pile up neatly robot.
Patent of the invention (CN 110480609), patent name: a stacking robot with self-compensating pose errors and a stacking method thereof. The patent provides a palletizing robot device and a palletizing robot method for self-compensating pose errors, wherein the palletizing robot device comprises a base mechanism, a mechanical arm, an executing mechanism and a visual mechanism. The laser tracker is arranged at the execution tail end of the palletizing robot, and the accuracy of robot movement is improved through the comparison between the actual pose information and the theoretical pose information. The vacuum chucks are arranged on two sides of the mechanical claw to improve stacking stability. The stacking device has small positioning error and high stacking speed. However, in actual use, the flexibility of the stacking operation robot has high requirements on shaft fittings, the device has obvious economical efficiency and complex multi-shaft linkage control, and the stacking operation difficulty is improved.
Disclosure of Invention
In order to solve the problems in the prior art, the invention aims to provide the automatic stacking device for the cold chain container cargo based on the truss translation mechanism, which has the advantages of high automation degree, simple structure and high stacking efficiency.
The invention adopts the following technical means:
The automatic stacking device for the cold chain container cargoes comprises a base, wherein the top of the base is provided with a truss translation mechanism, a fixed carrier roller is arranged in front of the base, an unloading module is mounted on the base, and the unloading module comprises a floating carrier roller and an unloading gripper which are arranged below the truss translation mechanism;
The front end of the floating carrier roller is in butt joint with the rear end of the fixed carrier roller, the front end of the floating carrier roller is movably connected with the base, the rear end of the floating carrier roller and the unloading grippers at the rear end of the floating carrier roller are respectively connected with the output end of the truss translation mechanism, and a tray lifting module installed in the base is arranged below the bottom of the unloading grippers;
The output end of the truss translation mechanism is used for driving the floating carrier roller and the unloading gripper to synchronously move, and the moving direction is a front-back direction and a left-right direction;
The unloading gripper is provided with a rotating mechanism for driving the gripper to rotate, and the extending direction of the rotating axis of the gripper is a vertical direction;
the unloading gripper receives the goods transmitted by the floating carrier roller and places the goods on the forklift tray, the truss translation mechanism adjusts the position of the unloading gripper in the receiving process, the unloading gripper places the goods on the forklift tray, the angle of the goods is adjusted, the goods are stacked on the forklift tray, and after the forklift tray is stacked on one layer, the tray lifting module and the forklift tray are driven to descend on one layer.
Preferably, the fixed carrier roller comprises a fixed frame, a plurality of first conveying rollers are arranged between the fixed frames, and universal casters are arranged at the bottoms of the fixed frames.
Preferably, the truss translation mechanism comprises a front-back movement mechanism, a left-right movement mechanism is installed on the moving end of the front-back movement mechanism, and the output end of the left-right movement mechanism is connected with the floating carrier roller and the unloading gripper.
Preferably, the front-back movement mechanism comprises a screw rod connecting plate, the screw rod connecting plate extends leftwards and rightwards, a third guide rail and a fourth guide rail are respectively fixed at the left end and the right end of the top of the base, a second sliding block which is in sliding fit with the third guide rail and the fourth guide rail is respectively arranged at the left end and the right end of the screw rod connecting plate, a first rack is arranged on the side wall of the top of the base, a gear driving motor is arranged at the bottom of the screw rod connecting plate, and a Y-direction driving gear meshed with the first rack is arranged at the output of the gear driving motor;
the left-right movement mechanism is arranged in the middle of the bottom of the screw rod connecting plate.
Preferably, the left-right movement mechanism comprises a screw, two ends of the screw are mounted at the bottom of the screw connecting plate through bearings with seats, the screw extends left and right, a screw driving motor and a first speed reducer are mounted at the bottom of the screw connecting plate, the screw driving motor is connected with the input end of the screw through the first speed reducer, a sliding table is fixed to the output of the screw, the floating carrier roller is connected with the sliding table through a discharging gripper, and the sliding table is the output end of the truss translation mechanism.
Preferably, the floating idler comprises a floating frame extending back and forth, and a plurality of second conveying idler wheels are arranged in the floating frame; the two sides of the bottom of the floating frame are respectively provided with a first track and a second track; the bottom of the floating frame is provided with a turntable connecting plate extending leftwards and rightwards, and the turntable connecting plate is positioned at the bottom of the floating frame; the left end and the right end of the turntable connecting plate are respectively provided with a first sliding block which is in sliding fit with the first rail and the second rail; a lower turntable is fixed in the center of the bottom of the turntable connecting plate, and is in rotary connection with a platform extending out of the base through a bearing;
The top of the rear end of the floating frame is fixedly provided with a support bracket, the support bracket is of an inverted U-shaped structure, two side walls of the support bracket are fixedly connected with two sides of the floating frame respectively, and the center of the top of the support bracket is rotationally connected with an upper rotary table fixedly connected with the output end of the truss translation mechanism.
Preferably, the rotating mechanism comprises a gripper connecting plate fixedly connected with the output end of the truss translation mechanism, a fixed shaft is arranged at the bottom of the gripper connecting plate, a gripper indexing gear is fixed on the fixed shaft, a rotary gear driving motor is fixed on the gripper, a pinion meshed with the gripper indexing gear is mounted on the output end of the rotary gear driving motor, and the top of the gripper is rotationally connected with the fixed shaft.
Preferably, the gripper comprises a gripper indexing frame, clamping plates are respectively arranged on two sides of the gripper indexing frame, a gripper opening and closing mechanism for driving the two clamping plates to open and close synchronously is arranged in the gripper indexing frame, the gripper opening and closing mechanism comprises a clamping plate driving motor, the output end of the clamping plate driving motor is positioned in the gripper indexing frame and is provided with a driving gear, the clamping plates are C-shaped, the tops of the two clamping plates are respectively connected with a first transmission gear and a second transmission gear through shafts, and the first transmission gear and the second transmission gear are respectively meshed with the driving gear;
the bottom of splint has the locating plate, just the locating plate with the vertical portion of splint passes through the location spring to be connected.
Preferably, the tray lifting module comprises a guide rail vertically arranged in the base, a lifting tray which is in sliding fit with the guide rail through a third sliding block is arranged in the base, a second rack vertically arranged is fixed on the inner wall of the base, a servo motor is fixed at the bottom of the lifting tray, the servo motor is connected with a Z-direction driving gear through a speed reducer, the Z-direction driving gear is meshed with the second rack, and the forklift tray is arranged on the lifting tray.
To an automatic pile up neatly device of cold chain container goods based on truss translation mechanism, when pile up neatly goods, the operation steps are as follows:
The method comprises the following steps:
1) And the starting device is used for placing cargoes at the front end on the fixed carrier roller, the first conveying roller is used for conveying cargoes to the rear end of the fixed carrier roller, and the cargoes fall on the floating carrier roller.
2) The goods are transported to the direction of the unloading gripper on the second conveying roller of the floating carrier roller, meanwhile, the screw driving motor and the gear driving motor cooperatively move, so that the truss translation mechanism moves the unloading gripper to a specified position above the forklift pallet, and then the goods are conveyed to the unloading gripper.
3) The rotary gear driving motor of the unloading gripper starts to move, and the goods are adjusted to the optimal placement direction of the stacking along with the rotary movement of the unloading gripper relative to the lifting tray.
4) The driving gear on the unloading gripper starts to move, the clamping plates on the two sides are opened, the goods fall to the appointed position on the forklift tray on the lifting tray, and the placement of the first goods is completed.
5) The truss translation mechanism and the unloading module recover the initial position and the initial state.
6) The next goods can fall into the floating carrier roller for transportation after the last goods are placed, and then are transported into the unloading gripper, and the steps 3) to 5) are repeated until the stacking of the goods of one layer is completed.
7) The forklift pallet moves downwards, and the initial value of the descending distance is the height of the first layer of goods. After the second layer of the unloading handles is orderly arranged, the lifting tray descends again, and the descending distance of the second time is the height of the second layer of goods. And repeating the above actions until the last layer of stacking is completed, and lowering the lifting tray to the final position forming the lower side in the base, so as to complete the stacking of the batch of cargoes.
Compared with the prior art, the invention has the following advantages:
1. When carrying out cargo stacking operation, grasp the action of putting through unloading module, the tongs of unloading tongs can carry out efficient pile up neatly operation to the different unidimensional different shapes of goods, and cargo pile up neatly operation has extremely strong adaptability. The goods are subjected to gesture adjustment through the unloading grippers, complicated positioning grabbing and motion track planning are not needed, and precise components such as harmonic waves or RV speed reducers are not needed, so that the stacking device has the advantages of simple structure, low cost, easiness in maintenance and high reliability after long-term service.
2. The quick stacking device has the advantages that goods are transported and placed through the truss translation mechanism, the unloading module, the tray lifting module, the fixed carrier rollers and the like, and the goods are quickly stacked. The device has the characteristics of low manufacturing cost and high efficiency of automatic destacking operation.
3. The tail end of the fixed carrier roller is always kept at a relative rest with any roller of the floating carrier roller at a position, and the connection of the fixed carrier roller is not influenced by the horizontal movement of the truss translation mechanism, so that goods are transmitted to a designated position above a forklift tray without intermittence, and only the goods are temporarily stopped when the direction of the goods is adjusted, and the stacking efficiency is improved.
Based on the reasons, the invention can be widely popularized in the fields of stacking and the like.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic perspective view of an automatic stacking device for cold chain container cargoes based on a truss translation mechanism in an embodiment of the invention.
Fig. 2 is a schematic diagram of a fixed carrier roller structure in an automatic stacking device for cold chain container cargoes based on a truss translation mechanism in an embodiment of the invention.
Fig. 3 is a schematic diagram of a floating carrier roller structure in an automatic stacking device for cold chain container cargoes based on a truss translation mechanism in an embodiment of the invention.
Fig. 4 is a schematic diagram of an unloading gripper structure in an automatic stacking device for cold chain container cargoes based on a truss translation mechanism in an embodiment of the invention.
Fig. 5 is a schematic diagram of an internal structure of an unloading gripper in an automatic stacking device for cold chain container cargoes based on a truss translation mechanism in an embodiment of the invention.
Fig. 6 is a schematic structural diagram of a truss translation mechanism in an automatic stacking device for cold chain container cargoes based on the truss translation mechanism in an embodiment of the invention.
Fig. 7 is a schematic cross-sectional view of an automated palletizing apparatus for cold chain container cargo based on a truss translation mechanism in accordance with an embodiment of the present invention.
In the figure:
1. fixing a carrier roller; 11. a fixed frame; 12. a first transfer roller; 13. universal castor; 14. a positioning sensor;
2. An unloading module; 201. a second transfer roller; 202. a floating frame; 203. a first guide rail; 204. a second guide rail; 205. a first slider; 206. a lower turntable; 207. a turntable connecting plate; 208. a support bracket; 209. an upper turntable; 210. a positioning plate; 211. a positioning spring; 212. a gripper indexing frame; 213. a rotary gear driving motor; 214. a gripper connecting plate; 215. a gripper indexing gear; 216. a clamping plate driving motor; 217. a drive gear; 218. a linkage gear; 219. a first transmission gear; 220. a second transmission gear; 221. a clamping plate;
3. A truss translation mechanism; 301. a lead screw connecting plate; 302. a screw rod; 303. a sliding table; 304. a bearing with a seat; 305. a first decelerator; 306. a screw rod driving motor; 307. a third guide rail; 308. a second slider; 309. a Y-direction driving gear; 310. a second decelerator; 311. a gear driving motor; 312. a fourth guide rail; 313. a first rack;
4. a pallet lifting module; 41. lifting the tray; 42. a servo motor; 43. a guide rail; 44. a third slider; 45. a Z-direction driving gear; 46. a second rack; 47. a forklift pallet;
5. And (5) a base.
Detailed Description
It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
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 exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to one 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 specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.
In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.
Spatially relative terms, such as "above … …," "above … …," "upper surface on … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative 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 in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.
As shown in fig. 1, the automatic stacking device for the cold chain container cargoes based on the truss translation mechanism comprises a base 5, wherein the truss translation mechanism 3 is arranged at the top of the base 5, a fixed carrier roller 1 is arranged in front of the base 5, an unloading module 2 is arranged on the base 5, and the unloading module 2 comprises a floating carrier roller and an unloading gripper which are arranged below the truss translation mechanism 3;
The front end of the floating carrier roller is in butt joint with the rear end of the fixed carrier roller 1, the front end of the floating carrier roller is movably connected with the base 5, the rear end of the floating carrier roller and the unloading grippers at the rear end of the floating carrier roller are respectively connected with the output end of the truss translation mechanism 3, and a tray lifting module 4 arranged in the base 5 is arranged below the bottom of the unloading grippers;
As shown in fig. 2, the fixed idler roller 1 includes a fixed frame 11, a plurality of first conveying rollers 12 are disposed between the fixed frames 11 at equal intervals, and universal casters 13 are disposed at the bottom of the fixed frame 11. The first conveying roller 12 is used for conveying cargoes discharged from the container to the floating carrier rollers in any route. The first conveying roller is driven by a belt pulley driven by a motor, and the response speed is high. The fixed carrier roller 1 is provided with the positioning sensor 14, the movement period of the motor for driving the first conveying roller 12 to rotate can be determined according to the unloading time of the unloading module 2 and the distance between cargoes on the fixed carrier roller 1, and the stable conveying and stacking of cargoes are realized by controlling the stopping of the motor, so that the conditions of conveying faults, collapse or mess stacking of cargoes of the forklift pallet 47 caused by stacking of the cargoes on the conveying roller 12 are avoided.
As shown in fig. 6, the truss translating mechanism 3 includes a screw connecting plate 301, the screw connecting plate 301 extends left and right, the top of the base 5 is fixed with a third guide rail 307 and a fourth guide rail 312 at the left and right ends of the screw connecting plate 301, the left and right ends of the screw connecting plate 301 are respectively provided with second sliders 308 slidingly engaged with the third guide rail 307 and the fourth guide rail 312, the number of the second sliders 308 is four, the second sliders 308 are fixed on a bottom boss of the screw connecting plate 301, a first rack 313 is mounted on a top side wall of the base 5, a gear driving motor 311 is mounted at the bottom of the screw connecting plate 301, an output of the gear driving motor 311 is connected with a second reducer 310, and a Y-direction driving gear 309 meshed with the first rack 313 is mounted at an output end of the second reducer; the both ends of lead screw 302 are installed through taking seat bearing 304 the bottom of lead screw connecting plate 301, just lead screw 302 extends about, lead screw driving motor 306 and first reduction gear 305 are installed to the bottom of lead screw connecting plate 301, lead screw driving motor 306 passes through first reduction gear 305 with the input of lead screw 302 is connected, the output of lead screw 302 is fixed with slip table 303, the last revolving stage 209 of floating idler with the tongs connecting plate 214 of uninstallation tongs with slip table 303 fixed connection, slip table 303 is the output of truss translation mechanism 3.
As shown in fig. 3, the floating idler roller includes a floating frame 202 extending back and forth, and a plurality of second conveying idler rollers 201 are disposed in the floating frame 202; the second transfer roller 201 is driven in the same manner as the first transfer roller 12. The two sides of the bottom of the floating frame 202 are respectively provided with a first track 203 and a second track 204; the bottom of the floating frame 202 is provided with a turntable connecting plate 207 extending leftwards and rightwards, and the turntable connecting plate 207 is positioned at the bottom of the floating frame 202; the left and right ends of the turntable connecting plate 207 are respectively provided with a first sliding block 205 which is in sliding fit with the first rail 203 and the second rail 204; a lower turntable 206 is fixed in the center of the bottom of the turntable connecting plate 207, and the lower turntable 206 is rotatably connected with a platform from which the base 5 extends through a bearing; the top of the rear end of the floating frame 202 is fixed with a support bracket 208, the support bracket 208 has an inverted U-shaped structure, two side walls of the support bracket are fixedly connected to two sides of the floating frame 202 respectively, and the center of the top of the support bracket is rotatably connected with an upper turntable 209 fixedly connected with a sliding table 303.
As shown in fig. 4 and 5, the unloading gripper comprises a gripper connecting plate 214 fixedly connected with a sliding table 303, a fixed shaft is arranged at the bottom of the gripper connecting plate 214, a gripper indexing gear 215 is fixed on the fixed shaft, and the middle of the top of the gripper indexing rack 212 is rotatably connected with the fixed shaft. A rotary gear driving motor 213 is fixed on the gripper indexing frame 212, and a pinion meshed with the gripper indexing gear 215 is mounted on the output end of the rotary gear driving motor 213. The clamping plates 221 are respectively installed on two sides of the gripper indexing frame 212, the gripper indexing frame 212 is internally provided with a gripper opening and closing mechanism for driving the two clamping plates 221 to synchronously open and close, the gripper opening and closing mechanism comprises a gripper driving motor 216, the output end of the gripper driving motor 216 is positioned in the gripper indexing frame 212, a driving gear 217 is installed, the clamping plates 221 are C-shaped, the tops of the two clamping plates 221 are respectively connected with a first transmission gear 219 and a second transmission gear 220 through shafts, the first transmission gear 219 is meshed with the driving gear 217, and the driving gear 217 is meshed with the second transmission gear 220 through a linkage gear 218. The bottom of the clamping plate 221 is provided with a positioning plate 210, and the positioning plate 210 is connected with the vertical part of the clamping plate 221 through a positioning spring 211.
As shown in fig. 7, the tray lifting module 4 includes a guide rail 43 vertically disposed in the base 5, a lifting tray 41 slidably engaged with the guide rail 43 through a third slider 44 is disposed in the base 5, a second rack 46 vertically disposed is fixed on an inner wall of the base 5, a servo motor 42 is fixed at a bottom of the lifting tray 41, the servo motor 42 is connected with a Z-direction driving gear 45 through a reducer, the Z-direction driving gear 45 is engaged with the second rack 46, and a forklift tray 47 is seated on the lifting tray 41.
To an automatic pile up neatly device of cold chain container goods based on truss translation mechanism, when pile up neatly goods, the operation steps are as follows:
The method comprises the following steps:
1) The starting device is used for placing cargoes at the front end on the fixed carrier roller 1, the first conveying roller 12 is used for conveying cargoes to the rear end of the fixed carrier roller 1, and the cargoes fall on the floating carrier roller.
2) The cargo is transported on the second transfer roller 201 of the floating idler to the direction of the unloading gripper, while the lead screw drive motor 306 and the gear drive motor 311 move cooperatively such that the truss translating mechanism 3 moves the unloading gripper to a designated position above the forklift pallet 47, after which the cargo is transferred onto the unloading gripper.
3) The turning gear driving motor 213 of the unloading gripper starts to move, and the goods are adjusted to the optimal placement direction of the stacking along with the turning movement of the unloading gripper relative to the forklift tray 47.
4) The driving gear 217 on the unloading gripper starts to move, the two side clamping plates 221 are opened, the goods fall to the appointed position on the forklift tray 47 on the lifting tray 41, and the placement of the first goods is completed.
5) The truss translating mechanism 3 and the unloading module 2 are restored to the initial positions and initial states.
6) The next goods can fall into the floating carrier roller for transportation after the last goods are placed, and then are transported into the unloading gripper, and the steps 3) to 5) are repeated until the stacking of the goods of one layer is completed.
7) The lifting tray 41 moves downward, and the initial value of the downward distance is the height of the first layer of goods. After the second layer of the unloading handles is neatly arranged, the lifting tray 41 descends again, and the distance of the second descending is the height of the second layer of goods. The above-described operation is repeated until the last palletization is completed, and the lifting tray 41 has been lowered to the final position forming the inner lower side of the base 5, i.e. palletization of the batch of goods is completed.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (6)
1. The automatic stacking device for the cold chain container cargoes is characterized by comprising a base, wherein the top of the base is provided with a truss translation mechanism, a fixed carrier roller is arranged in front of the base, an unloading module is arranged on the base, and the unloading module comprises a floating carrier roller and an unloading gripper which are arranged below the truss translation mechanism;
The front end of the floating carrier roller is in butt joint with the rear end of the fixed carrier roller, the front end of the floating carrier roller is movably connected with the base, the rear end of the floating carrier roller and the unloading grippers at the rear end of the floating carrier roller are respectively connected with the output end of the truss translation mechanism, and a forklift tray lifting module installed in the base is arranged below the bottom of the unloading grippers;
The output end of the truss translation mechanism is used for driving the floating carrier roller and the unloading gripper to synchronously move, and the moving direction is a front-back direction and a left-right direction;
The unloading gripper is provided with a rotating mechanism for driving the gripper to rotate, and the extending direction of the rotating axis of the gripper is a vertical direction;
the unloading gripper receives the goods transmitted by the floating carrier roller and places the goods on the forklift pallet, the truss translation mechanism adjusts the position of the unloading gripper in the receiving process of the unloading gripper, the unloading gripper adjusts the angle of the goods in the process of placing the goods on the forklift pallet, so that the goods are piled on the forklift pallet, and after the forklift pallet is piled on one layer, the pallet lifting module and the forklift pallet are driven to descend on one layer;
The floating idler comprises a floating frame extending forwards and backwards, and a plurality of second conveying idler wheels are arranged in the floating frame; the two sides of the bottom of the floating frame are respectively provided with a first track and a second track; the bottom of the floating frame is provided with a turntable connecting plate extending leftwards and rightwards, and the turntable connecting plate is positioned at the bottom of the floating frame; the left end and the right end of the turntable connecting plate are respectively provided with a first sliding block which is in sliding fit with the first rail and the second rail; a lower turntable is fixed in the center of the bottom of the turntable connecting plate, and is in rotary connection with a platform extending out of the base through a bearing;
The top of the rear end of the floating frame is fixedly provided with a support bracket which is in an inverted U-shaped structure, two side walls of the support bracket are fixedly connected with two sides of the floating frame respectively, and the center of the top of the support bracket is rotationally connected with an upper rotary table fixedly connected with the output end of the truss translation mechanism;
The rotating mechanism comprises a gripper connecting plate fixedly connected with the output end of the truss translation mechanism, a fixed shaft is arranged at the bottom of the gripper connecting plate, a gripper indexing gear is fixed on the fixed shaft, a rotary gear driving motor is fixed on the gripper, a pinion meshed with the gripper indexing gear is mounted on the output end of the rotary gear driving motor, and the top of the gripper is rotationally connected with the fixed shaft;
the gripper comprises a gripper indexing frame, clamping plates are respectively arranged on two sides of the gripper indexing frame, a gripper opening and closing mechanism for driving the two clamping plates to open and close synchronously is arranged in the gripper indexing frame, the gripper opening and closing mechanism comprises a clamping plate driving motor, the output end of the clamping plate driving motor is positioned in the gripper indexing frame and is provided with a driving gear, the clamping plates are C-shaped, the tops of the two clamping plates are respectively connected with a first transmission gear and a second transmission gear through shafts, and the first transmission gear and the second transmission gear are respectively meshed with the driving gear;
the bottom of splint has the locating plate, just the locating plate with the vertical portion of splint passes through the location spring to be connected.
2. The automatic stacking device for cold chain container cargoes based on truss translation mechanism as recited in claim 1, wherein the fixed carrier roller comprises a fixed frame, a plurality of first conveying rollers are arranged between the fixed frames, and universal casters are arranged at the bottom of the fixed frame.
3. The automatic stacking device for the cold chain container cargoes based on the truss translation mechanism, which is characterized in that the truss translation mechanism comprises a front-back movement mechanism, a left-right movement mechanism is arranged on the moving end of the front-back movement mechanism, and the output end of the left-right movement mechanism is connected with the floating carrier roller and the unloading gripper.
4. The automatic stacking device for the cold chain container cargoes based on the truss translation mechanism, which is characterized in that the front-back movement mechanism comprises a screw rod connecting plate, the screw rod connecting plate extends leftwards and rightwards, a third guide rail and a fourth guide rail are respectively fixed at the left end and the right end of the top of the base, second sliding blocks which are in sliding fit with the third guide rail and the fourth guide rail are respectively arranged at the left end and the right end of the screw rod connecting plate, a first rack is arranged on the side wall of the top of the base, a gear driving motor is arranged at the bottom of the screw rod connecting plate, and a Y-direction driving gear meshed with the first rack is arranged at the output of the gear driving motor;
the left-right movement mechanism is arranged in the middle of the bottom of the screw rod connecting plate.
5. The automatic stacking device for the cold chain container cargoes based on the truss translation mechanism, according to claim 4, wherein the left-right movement mechanism comprises a screw rod, two ends of the screw rod are installed at the bottom of the screw rod connecting plate through a bearing with a seat, the screw rod extends leftwards and rightwards, a screw rod driving motor and a first speed reducer are installed at the bottom of the screw rod connecting plate, the screw rod driving motor is connected with the input end of the screw rod through the first speed reducer, a sliding table is fixed to the output of the screw rod, the floating carrier roller and the unloading gripper are connected with the sliding table, and the sliding table is the output end of the truss translation mechanism.
6. The automatic stacking device for cold chain container cargoes based on truss translation mechanism according to claim 1, wherein the tray lifting module comprises a guide rail vertically arranged in the base, a lifting tray slidingly matched with the guide rail through a third sliding block is arranged in the base, a second rack vertically arranged is fixed on the inner wall of the base, a servo motor is fixed at the bottom of the lifting tray, the servo motor is connected with a Z-direction driving gear through a speed reducer, the Z-direction driving gear is meshed with the second rack, and the forklift tray is arranged on the lifting tray.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211287403.XA CN115611014B (en) | 2022-10-20 | 2022-10-20 | Automatic stacking device for cold chain container cargoes based on truss translation mechanism |
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| CN202211287403.XA CN115611014B (en) | 2022-10-20 | 2022-10-20 | Automatic stacking device for cold chain container cargoes based on truss translation mechanism |
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| CN115611014B true CN115611014B (en) | 2024-10-11 |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319991A (en) * | 2018-12-15 | 2020-06-23 | 臧群邦 | Full-automatic bagged goods stacking device |
| CN111362019A (en) * | 2020-03-26 | 2020-07-03 | 荆州市康海传动机械制造有限公司 | Complete set loading system |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111847009B (en) * | 2020-07-17 | 2022-03-15 | 扬州中欧工业机器人有限公司 | Automatic unloading and feeding system and unloading and feeding method |
| CN216686576U (en) * | 2021-09-27 | 2022-06-07 | 山东煜华安装工程有限公司 | Pallet-free stacking device |
| CN114408608B (en) * | 2022-02-24 | 2024-03-26 | 哈工大机器人（合肥）国际创新研究院 | Box material loading system with steering mechanism |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111319991A (en) * | 2018-12-15 | 2020-06-23 | 臧群邦 | Full-automatic bagged goods stacking device |
| CN111362019A (en) * | 2020-03-26 | 2020-07-03 | 荆州市康海传动机械制造有限公司 | Complete set loading system |
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| CN115611014A (en) | 2023-01-17 |
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