A telescopic arm for loading container

Abstract

The present invention relates to the field of automated container loading systems, and specifically discloses a container loading telescopic arm, comprising a telescopic arm capable of telescopically changing its length in a container, a support mounting seat for stably mounting and supporting the telescopic arm to realize telescopic movement, an extension and leveling device installed on the telescopic arm, a transporting and translating vehicle moving on the telescopic arm, and a telescopic adjustment structure installed on the support mounting seat for driving the telescopic arm's telescopic movement and a brake device for limiting the telescopic sliding of the telescopic arm, wherein one end of the telescopic arm that can be extended into the container is the front end, and the other end is the rear end, the extension and leveling device is arranged on the front end of the telescopic arm, and the transporting and translating vehicle moves between the front end of the telescopic arm and the support mounting seat. The above-mentioned container loading telescopic arm can realize reasonable, effective, safe, and stable mechanical automation for container loading of liquid barrels.

Description

Technical Field

[0001] The present invention relates to the field of container automated loading system Background Art

[0002] The packaging and transportation of some chemical liquid products mainly adopts packaging barrels and then container loading for transportation, especially the packaging and transportation of some dangerous chemical liquids. The packaging barrels are specially made plastic barrels for packaging. The packaging can be quantitative and convenient for subsequent handling and use. The operation of loading the packed barrels into containers is carried out. At present, there are very few parts that can be automated to assist loading. Manual handling and loading are mainly carried out. For loading larger containers, a large amount of manpower is required, the labor intensity is high, the labor cost is high, and the loading efficiency is low. Therefore, strictly speaking, there is no automatic loading system for the existing container loading of dangerous chemical liquids, and some existing mechanical devices used to assist loading are not obvious in improving efficiency and reducing labor intensity, and their use is limited, there are many inconveniences, or even they cannot be used at all.

[0003] In view of this, the existing method of loading chemical liquids into containers needs to be improved, and there is an urgent need for an automated system device that can replace manual loading. The inventor of this case conducted in-depth research and development on the loading process, and thus came up with this case. Summary of the invention

[0004] The object of the present invention is to provide a telescopic arm automatic container loading system which can realize reasonable, effective, safe and stable mechanical automation for container loading of liquid barrels.

[0005] To achieve the above-mentioned purpose, the technical scheme of the present invention is: a telescopic arm type automated container loading system, comprising a container hanging device, a telescopic arm device, an arranging and conveying device, a stacking pallet shelf, a transfer manipulator and a system control module; the container hanging device is used to stably hang the container for movement, the telescopic arm device comprises a telescopic arm capable of telescopically changing the length in the container, a transporting translation vehicle installed on the telescopic arm for movement, and a support mounting seat for stably mounting and supporting the telescopic arm to realize the telescopic action, one end of the arranging and conveying device is a conveying inner end corresponding to between the entrance and exit of the container and the support mounting seat and corresponding to the bottom of the telescopic arm, and the other end is a conveying outer end extending to one side, the transfer manipulator and the stacking pallet shelf are arranged corresponding to the conveying outer end, the stacking pallet shelf is used to place the stacking pallet, the transfer manipulator is used to carry and transfer the articles on the stacking pallet and the conveying outer end of the arranging and conveying device, the arranging and conveying device is used to transport the articles on the conveying inner end and the conveying outer end, and the transporting translation vehicle is used to carry and transfer the articles on the conveying inner end and in the container; the system control module is used for intelligent control of the entire system.

[0006] The container hanging device includes a gantry and a container connecting frame which is connected to the crossbeam of the gantry through a transverse driving structure and moves laterally and has a lifting driving mechanism for driving the container to move up and down. The lower part of the gantry includes a truck parking area and a container loading and unloading area, and the container connecting frame moves back and forth between the truck parking area and the container loading and unloading area.

[0007] The transfer robot is a multi-axis robot, and a composite hand gripping device for grabbing items on the stacking pallet and the stacking pallet is provided on the working end of the multi-axis robot. The composite hand gripping device includes a mounting cross bar fixedly connected to the working end of the multi-axis robot, and an item grabbing mechanism and a pallet grabbing mechanism arranged on the mounting cross bar. The pallet grabbing mechanism is connected to the mounting cross bar by a frame lifting drive structure, and the action of the lifting drive structure drives the pallet grabbing mechanism to rise and reset relative to the mounting cross bar.

[0008] The article grabbing mechanism is a handle-attached article grabbing mechanism for grabbing articles with handles, and the handle-attached article grabbing mechanism comprises a transport left drive cylinder and a transport right drive cylinder respectively fixedly mounted on the mounting cross bar, a plurality of groups of double-claw hand grips arranged at intervals and respectively hinged on the mounting cross bar through hinged rods, and a left linkage arm respectively connected to the hinged rods of the same side claws of each group of double-claw hand grips and connected to the piston rod of the left transport drive cylinder, and a right linkage arm respectively connected to the hinged rods of the other same side claws of each group of double-claw hand grips and connected to the piston rod of the right transport drive cylinder. The action of the right drive cylinder synchronously drives the opening and closing actions of the double claws of each group of double-claw hand grippers; the pallet grabbing mechanism includes a connecting frame, a pallet transfer drive cylinder arranged on opposite sides of the connecting frame, and a pallet side clamping block respectively arranged on the piston rod of the pallet transfer drive cylinder. The piston rods of the pallet transfer drive cylinder on opposite sides of the connecting frame are telescopic and movable toward the outside of the connecting frame in opposite directions. The upper end of the pallet side clamping block is connected to the piston rod of the pallet transfer drive cylinder, and the lower end extends downward to form a pallet clamping portion, and an anti-slip component is provided on the inner side surface of the pallet clamping portion.

[0009] The stacking pallet placing table is equipped with a shaping and positioning device for shaping and positioning the articles stacked on the stacking pallet, the shaping and positioning device comprising a shaping support bracket, a shaping pushing component connected to the shaping support bracket through a guide rail slider structure, and a shaping drive cylinder fixedly arranged on the shaping support bracket and having a piston rod connected to the shaping pushing component, the shaping pushing component comprising a shaping sliding connection part connected to the guide rail slider structure and an L-shaped right-angle rod connected to the shaping sliding connection part, the piston rod of the shaping drive cylinder is fixedly connected to the outer side of the L-shaped two-arm connection of the L-shaped right-angle rod, and the L-shaped two-arm connection of the L-shaped right-angle rod is The joint corresponds to the active axis of the piston rod of the shaped driving cylinder, and the L-shaped right-angle rod is engaged with a corner of the items stacked on the stacking pallet to push all the items stacked on the stacking pallet to move to the positioning position; the stacking pallet shelf platform includes a shelf mounting base and a shelf conveying device arranged on the shelf mounting base, one end of the shelf conveying device is a shelf input end and the other end is a shelf positioning end, the L-shaped right-angle rod is arranged corresponding to a corner of the shelf positioning end and its height corresponds to the bottom layer of barrel materials stacked on the stacking pallet, and the adjacent two sides of the barrel materials stacked on the stacking pallet are held by the L-shaped two arms of the L-shaped right-angle rod.

[0010] The telescopic arm includes two parallel and side-by-side square steel beams, which are firmly connected by a connecting rod; a telescopic guide frame for the telescopic arm to pass through is provided on the support mounting seat, and sliding guide limiting structures are respectively provided on both sides of the telescopic guide frame, which play a role in limiting the up and down, left and right and telescopic sliding guiding of the two square steel beams; the support mounting seat is also provided with a telescopic adjustment structure for driving the telescopic arm to move telescopically, and the telescopic adjustment structure includes a hoisting motor fixedly mounted on the telescopic guide frame, two telescopic tensioning devices fixedly mounted on the telescopic guide frame and respectively arranged at both ends of the telescopic direction of the telescopic arm, and a telescopic pull rope connected and wound around the hoisting motor and with both ends respectively wound around the two telescopic tensioning devices and pulled to the corresponding end of the telescopic arm; a brake device for limiting the telescopic sliding of the telescopic arm is installed on the telescopic guide frame.

[0011] The telescopic arm device also includes an extension and leveling device arranged on the telescopic arm, which is used to keep the telescopic arm straight after being extended. The end of the telescopic arm that can be extended into the container is the front end, and the other end is the rear end. The extension and leveling device includes a leveling connection mechanism that can be raised and lowered to change the height and a leveling drive mechanism that drives the leveling connection mechanism to raise and lower the height. The leveling connection mechanism is arranged on the front end of the telescopic arm, and its upper part is used to connect with surrounding fixed objects. The leveling drive mechanism is arranged on the telescopic arm, or the leveling drive mechanism is arranged on a support mounting seat for supporting the telescopic arm, or the leveling drive mechanism is arranged on an object around the telescopic arm.

[0012] The leveling connection mechanism includes a primary lifting structure with an elastic tension lifting structure connected to the telescopic arm, a secondary lifting structure connected to the upper end of the primary lifting structure and driven to lift by the leveling drive mechanism, and a top connection component arranged on the secondary lifting structure; the primary lifting structure includes a primary scissors-fork component, a lifting sliding guide groove component fixedly arranged on the side of the telescopic arm, a spring mounting seat fixedly arranged on the telescopic arm and a primary lifting spring, a primary lower guide wheel is provided at one end of the lower part of the primary scissors-fork component and is embedded in the lifting sliding guide groove component and slides, and the other end of the lower part of the primary scissors-fork component is vertically bent and extends upward to form a spring hinged arm and The vertical bend is hinged to one end of the spring mounting seat, one end of the first-level lifting spring is connected to the spring hinged arm, and the other end is connected to the other end of the spring mounting seat; the leveling drive mechanism includes a leveling winch motor fixedly mounted on the telescopic arm and a leveling pull rope connected and wound around the leveling winch motor and guided at its end to the leveling pull rope connected to the second-level scissors-fork component through a transition guide wheel, and the leveling winch motor hoists the leveling pull rope to control the deformation of the second-level scissors-fork component to realize the lifting action; a rope displacement sensor is provided on the telescopic arm, and a fixed-length block is provided on the leveling pull rope, and the rope end of the rope displacement sensor is connected to the fixed-length block.

[0013] The transport translation vehicle comprises a steel frame, which is divided into a working part installation area and a power installation area on opposite sides. The working part installation area is used to install a transport working device for transporting materials, and the power installation area is used to install an independent power system for driving the overall movement and providing power for the transport working device; the outer side surfaces of the other two opposite sides of the steel frame are respectively provided with translation pulleys sliding on the slide rails of the telescopic arm, and the translation pulleys are connected and transmitted with the independent power system in the power installation area, and the independent power system comprises a contact spring fixedly connected to the steel frame near the telescopic arm, and the electric energy required by the independent power system is obtained by sliding contact and electrical conduction between the contact spring and the busbar arranged on the telescopic arm; the independent power system also comprises a reduction motor, an air compressor and a gas tank fixedly installed on the steel frame for connecting to drive the translation pulley to rotate, the air compressor is powered on and compressed gas is stored in the gas tank, the gas tank is provided with a gas source processing device, and the transport working device is connected to the gas source processing device through a pipeline to be provided with gas kinetic energy; the independent power system also comprises a wireless network control processing module for wirelessly controlling the transport work.

[0014] The carrying working device is a linkage manipulator for grabbing a barrel with a handle, and the linkage manipulator includes a linkage mounting cross bar fixedly installed and connected, a carrying linkage left drive structure and a carrying linkage right drive structure fixedly arranged on the linkage mounting cross bar, a plurality of groups of carrying double-claw hand grips arranged at intervals and respectively hinged on the linkage mounting cross bar through hinged structures, and a carrying left linkage arm connected to the output end of the carrying linkage left drive structure by hinged structures respectively connected to the same side claws of each group of carrying double-claw hand grips and a carrying right linkage arm connected to the output end of the carrying linkage right drive structure by hinged structures respectively connected to the other side claws of each group of carrying double-claw hand grips and a carrying right linkage arm connected to the output end of the carrying linkage right drive structure; the conveying inner end of the arranged conveying device is an independent conveying section separated from the conveying outer end, and the bottom of the independent conveying section is connected with a lifting and pushing mechanism for driving the overall lifting to cooperate with the linkage manipulator for precise clamping action, and the end of the conveying outer end connected to the conveying inner end is provided with a blocking feeding mechanism that can be lifted and lowered to block the conveying of objects into the independent conveying section, and the conveying outer end is provided with a blocking quantitative mechanism that can be lifted and lowered to perform quantitative blocking during the conveying process.

[0015] By adopting the above technical scheme, the beneficial effect of the present invention is as follows: the above-mentioned telescopic arm type automated container loading system has a transfer robot that grabs the items on the stacking pallet shelf and places them on the arrangement and conveying device for transportation, and then transports them to the grabbing range of the transport translation vehicle, and then the transport translation vehicle grabs the items and enters the container for arrangement and stacking to realize loading. During the loading process, the arrangement and stacking position is adjusted by the retractability of the telescopic arm and the liftability of the container.

[0016] The entire system can be fully automated during the loading process, which can completely replace manual loading without manual participation. The system layout is reasonable and compact, and the above-mentioned purpose and effect can be better achieved. The mechanical structure settings of the above-mentioned various parts make the system stable, reliable, not prone to failure, and highly accurate during operation. In particular, the mechanical structure settings of the telescopic arm device can achieve a large load-bearing capacity, ensure the stable telescopic action of the telescopic arm, brake smoothly, and can be leveled to improve the accuracy of the stacking position during loading. It can provide a relatively stable slideway for the transport translation vehicle, reduce limitations, and improve the flexibility of the action. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a structural schematic diagram of a telescopic arm type automated container loading system according to the present invention;

[0018] Figure 2 It is a schematic diagram of the structure of a telescopic arm type automated container loading system in use state according to the present invention;

[0019] Figure 3 It is a structural schematic diagram of a bucket with a handle according to the present invention;

[0020] Figure 4 It is a structural schematic diagram of the barrels stacked on the palletizing tray involved in the present invention;

[0021] Figure 5 and Figure 6 It is a schematic diagram of the structure of the telescopic tensioning device according to the present invention at different angles;

[0022] Figure 7 It is a schematic diagram of the use and setting structure of the telescopic tensioning device involved in the present invention;

[0023] Figure 8 It is a structural schematic diagram of a brake device according to the present invention;

[0024] Fig. 9 It is a schematic diagram of the use and setting structure of the brake device involved in the present invention;

[0025] Fig.10 It is a schematic diagram of the use and setting structure of the extension leveling device involved in the present invention;

[0026] Fig.11 It is a schematic diagram of the structure of the extending and leveling device according to the present invention;

[0027] Fig.12 It is a structural schematic diagram of a first-level lifting structure in an extension and leveling device according to the present invention;

[0028] Fig.13 It is a structural schematic diagram of a secondary lifting structure in an extension and leveling device according to the present invention;

[0029] Fig.14 It is a schematic diagram of the use and setting structure of the transport translation vehicle involved in the present invention;

[0030] Fig.15 It is a structural schematic diagram of the transport translation vehicle involved in the present invention;

[0031] Fig.16 It is a structural schematic diagram of the linkage manipulator involved in the present invention;

[0032] Fig.17 It is a structural schematic diagram of another angle of the linkage manipulator involved in the present invention;

[0033] Fig.18 It is a structural schematic diagram of the linkage manipulator taking and independent conveying section involved in the present invention;

[0034] Fig.19 and Fig. 20 It is a schematic diagram of the structure of the composite hand gripping device according to the present invention at different angles;

[0035] Fig.21 yes Fig.19 A schematic diagram of the enlarged structure of part A;

[0036] Fig. 22 It is a structural schematic diagram of a shaping and positioning device according to the present invention;

[0037] Fig.23 The invention discloses a structural schematic diagram of a shaping and positioning device and a stacking pallet placing platform.

[0038] In the figure:

[0039] Container hanging device 10

[0040] Gantry 101; transverse drive structure 102; lifting drive mechanism 103; container connecting frame 104;

[0041] Telescopic arm device 20;

[0042] Telescopic arm 1; square steel beam 11; transporting and translating vehicle 2; slide rail g01; busbar g02; steel frame g1;

[0043] Working part installation area g11; Working part installation area g12; Translation pulley g13; Driven pulley g131;

[0044] Active pulley g132; carrying sliding guide wheel g133; carrying working device g2; linkage installation cross bar d1;

[0045] Carrying linkage left driving structure d2; carrying linkage right driving structure d3; power driving cylinder d231;

[0046] Driving block d232; finger cylinder d233; carrying double claw hand grasping d4; linkage L-shaped claw d41; hinged structure d5; carrying left linkage arm d6; carrying right linkage arm d7; hinged block d8; shaft rod hinge hole d81;

[0047] Articulated block locking portion d82; figure eight fork portion d83; support mounting seat 3; telescopic guide frame 31;

[0048] Sliding guide limiting structure 311;

[0049] Telescopic adjustment structure 6; hoisting motor 61; contraction and tensioning device 62;

[0050] Horizontal mounting seat a1; side vertical plate a11; adjustment slot a12; sliding shaft a13; anti-drop positioning ring a14; adjustment through hole a15; adjustment bolt a16; L-shaped hinge frame a2; L-shaped rod a21; connecting rod a22;

[0051] Mounting plate a23; tension spring a3; upper guide wheel a4; L-shaped fixing frame a5; reinforcing rib plate structure a51;

[0052] Strengthening mounting arm a52; reinforcing rib plate a53; lower guide wheel a6; guide rope hole a61; telescopic pull rope 63; brake device b3; brake drive cylinder b31; driving arm b32; brake block b33; articulated mounting frame b34; articulated seat b35; extending leveling device 7 leveling connection mechanism f1; leveling drive mechanism f2; leveling winch motor f21;

[0053] Transition guide wheel f22; leveling pull rope f23; pull rope displacement sensor f24; fixed length block f25;

[0054] First-stage lifting structure f3; first-stage scissor-fork component f31; first-stage lower guide wheel f311; spring articulated arm f312;

[0055] The first-stage upper guide wheel f313; the lifting and sliding guide groove component f32; the spring mounting seat f33;

[0056] Spring mounting seat stand f331; shaft adjustment slot f332; adjustment sliding shaft f333;

[0057] Shaft rod anti-dropping positioning ring f334; shaft rod adjustment through hole f335; shaft rod adjustment bolt f336;

[0058] First-stage lifting spring f34; second-stage lifting structure f4; first-stage connecting seat f41; second-stage lower sliding slot block f411; second-stage scissor fork component f42; second-stage lower guide wheel f421; second-stage upper guide wheel f422; second-stage connecting seat f43; second-stage upper sliding slot block f431; top connecting component f5;

[0059] Arrangement conveying device 30; conveying inner end 4; conveying outer end 5 independent conveying section d9; leak-proof sensing device d91; jacking and pushing mechanism d92;

[0060] Pallet stacking platform 40; shaping positioning device 8; shaping support bracket e1; guide rail slider structure e2;

[0061] Shaping push component e3; Shaping sliding connection part e31; L-shaped right-angle rod e32; Shaping drive cylinder e5; Stacking pallet shelf e4; Shelving installation base e41; Shelving conveying device e42; Shelving input end e43; Shelving positioning end e44; Shelving conveying frame e45; Shelving conveyor belt e46; Shelving conveying transmission mechanism e47; Shelving conveying load-bearing trough e48;

[0062] Transfer manipulator 50; installation crossbar c1; article grabbing mechanism c2; transfer left drive cylinder c21; transfer right drive cylinder c22; hinged rod c23; double claw hand grip c24; L-shaped claw c241; left linkage arm c25;

[0063] Right linkage arm c26; hinge block c27; hinge hole c271; locking portion c272; U-shaped fork portion c273;

[0064] Pallet grabbing mechanism c3; connecting frame c31; pallet transfer drive cylinder c32; pallet side clamping block c33;

[0065] Tray clamp c331; anti-drop component c332; travel sensing switch c34; lifting drive structure c4;

[0066] Frame mounting plate c41; lifting drive cylinder c42; guide rod guide sleeve guide structure c43;

[0067] Container 60; Pallet 70. DETAILED DESCRIPTION

[0068] In order to further explain the technical solution of the present invention, the present invention is described in detail below through specific embodiments.

[0069] The container loading telescopic arm to be protected by the present invention is clearly embodied by a telescopic arm type automated container loading system disclosed in this embodiment. Figure 1-Figure 23 As shown, a telescopic arm type automated container loading system includes a container hanging device 10, a telescopic arm device 20, an arranging and conveying device 30, a stacking pallet placing table 40, a transfer robot 50 and a system control module (not shown in the figure). In this embodiment, the system structure layout, mechanical structure and functional use are described based on loading, but it is not limited to the loading use of the loading system of the present invention. The use of container unloading can also be achieved by adjusting the system control module.

[0070] The system layout structure and functional role of this embodiment are as follows: Figure 1 and Figure 2As shown, the container hanging device 10 is used for smoothly hanging the container 60 for movement, the telescopic arm device 20 includes a telescopic arm 1 that can telescope and change the length in the container 60, a transporting and translating vehicle 2 installed on the telescopic arm 1 for movement, and a supporting mounting seat 3 for stably mounting and supporting the telescopic arm 1 to realize the telescopic action, one end of the arranging and conveying device 30 is the conveying inner end 4 corresponding to between the entrance and exit of the container 60 and the supporting mounting seat 3 and corresponding to the bottom of the telescopic arm 1, and the other end is the conveying outer end 5 extending to one side, the transfer manipulator 50 and the stacking pallet shelf 40 are arranged corresponding to the conveying outer end 5, the stacking pallet shelf 40 is used to place the stacking pallet 70, the transfer manipulator 50 is used for transporting and transferring articles on the stacking pallet 70 and the conveying outer end 5 of the arranging and conveying device 30, the arranging and conveying device 30 is used for transporting articles on the conveying inner end 4 and the conveying outer end 5, and the transporting and translating vehicle 2 is used for transporting and transferring articles on the conveying inner end 4 and in the container 60; the system control module is used for intelligent control of the entire system. In this way, the loading height of the container 60, the left and right correspondence, and the depth position of the telescopic arm 1 in the container 60 are adjusted in real time during the loading process, and the items to be loaded are stacked on the stacking pallet 70 and placed on the stacking pallet shelf 40. The items on the stacking pallet shelf 40 are transferred to the arranging and conveying device 30 by the transfer robot 50, and are arranged and conveyed to the work station in an orderly manner, which is convenient for the precise grasping of the transport translation vehicle 2. The arranged items are grabbed by the transport translation vehicle 2 and placed in the container 60 for orderly arrangement and stacking, thereby achieving automated loading.

[0071] The container hanging device 10 is as follows Figure 1 and Figure 2 As shown, it includes a gantry 101 and a container connecting frame 104 which is connected to the crossbeam of the gantry 101 through a transverse driving structure 102 and moves transversely and has a lifting driving mechanism 103 for driving the container 60 to move up and down. The container 60 is lifted by connecting the container connecting frame 104 to the container 60, and the left and right lifting and adjusting movement of the container during the lifting and loading of items is achieved through the transverse driving structure 102 and the lifting driving mechanism 103. In this embodiment, the gantry 101 includes a truck parking area and a container loading and unloading area below. The container connecting frame 104 moves back and forth between the truck parking area and the container loading and unloading area, which is convenient for the lifting and movement of the container 60 and also conducive to the docking of the container truck.

[0072] The telescopic arm 1 is as Figure 1 and Figure 7The figure shows that it includes two parallel and side-by-side square steel beams 11, which are firmly connected by a connecting rod. The steel beams have good overall structural strength and high load-bearing capacity, which can minimize the gravity bending deformation of the longer telescopic arm 1 and reduce the overall weight of the telescopic arm. The support mounting seat 3 is provided with a telescopic guide frame 31 for the telescopic arm 1 to pass through. The telescopic guide frame 31 is a frame structure made of steel material. A side through-structure is formed in the frame structure for the telescopic arm 1 to pass through and move telescopically. Both sides of the frame structure are respectively provided with sliding guide limiting structures 311 that play a role in limiting the two square steel beams 11 up, down, left, and right and guiding the telescopic sliding. As shown in the figure, the telescopic sliding guide wheels are arranged corresponding to the outer side and lower surface of the two square steel beams 11.

[0073] The support mounting seat 3 is provided with a telescopic adjustment structure 6 for driving the telescopic arm 1 to telescope. Figure 1 As shown, the telescopic adjustment structure 6 includes a hoisting motor 61 fixedly arranged on the telescopic guide frame 31, two telescopic tensioning devices 62 fixedly installed on the telescopic guide frame 31 and respectively arranged at the two ends of the telescopic direction of the telescopic arm 1, and a telescopic pull rope 63 connected and wound around the hoisting motor 61 and with both ends respectively wound around the two telescopic tensioning devices 62 and pulled to the corresponding end of the telescopic arm 1; when the telescopic arm 1 needs to be telescopically adjusted, the hoisting motor 61 is started to work forward or reversely to pull the telescopic pull rope 63. During the pulling process, the telescopic pull rope 63 is kept tensioned by the telescopic tensioning device 62 so as to achieve a smooth and accurate adjustment of the telescopic arm 1.

[0074] The telescopic tensioning device 62 in this embodiment is a tensioning device specially used for telescopic adjustment of such a relatively large and long telescopic arm with a relatively long telescopic adjustment displacement distance. Its structure is as follows: Figure 1 , Figure 5 and Figure 6As shown in the figure, it includes a horizontal mounting seat a1, an L-shaped articulated frame a2, a tension spring a3, an upper guide wheel a4, an L-shaped fixed frame a5 and a lower guide wheel a6. The horizontal mounting seat a1 is used for fixed installation on the telescopic guide frame 31 and for connection and installation with other components. The figure shows a rectangular mounting base plate; the L-shaped two arms of the L-shaped articulated frame a2 are hinged on one end of the horizontal mounting seat a1 through an axis rod, and the inner angle of the L-shaped concave is facing away from the horizontal mounting seat a1 and facing upward. The specific structure is shown in the figure. The structure of the L-shaped articulated frame a2 includes two L-shaped rods a21 arranged at intervals, and the ends of the L-shaped one arms of the two L-shaped rods 21 facing the other end of the horizontal mounting seat a2 are connected by a connecting rod a22, and the corresponding other arm ends of the two L-shaped rods are connected by a mounting plate a23. One end of the tension spring a3 is connected to an L-shaped arm of the L-shaped hinge frame a2 toward the other end of the horizontal mounting seat a1, that is, an arm provided with a connecting rod a22, and the end of the tension spring a3 is an annular ring sleeved on the connecting rod a22, and the other end of the tension spring a3 is connected to the other end of the horizontal mounting seat a1. In this embodiment, this end is specifically connected through such a structure: it is connected to the horizontal mounting seat a1 through a position adjustment structure with adjustable tension, and the position adjustment structure is that the horizontal mounting seat a1 is provided with two side vertical plates a11 spaced opposite to each other, and the side vertical plates a11 are correspondingly provided with adjustment grooves a12, and the other end of the tension spring a3 is provided with an annular ring sleeved on a sliding shaft a13, both ends of the sliding shaft a13 are inserted into the adjustment groove a12 and both ends are provided with anti-dropping positioning rings a14 which can be stuck on the outer surface of the side vertical plate a11, one end of the adjustment groove a12 is provided with an adjustment through hole a15, and the adjustment through hole a15 is provided with an adjustment bolt a16, the end of the adjustment bolt a16 inserted into the adjustment groove a12 is connected to the sliding shaft a13 through a threaded screw structure, and the other end of the adjustment bolt a16 is an adjustment end for adjustment operation, when further adjustment of the tension is required, the adjustment bolt a16 is rotated to drive the sliding shaft a13 to move in the adjustment groove a12, and the adjustment can be achieved, the operation is simple, and the structure is stable. The upper guide wheel a4 is mounted on the other L-shaped arm of the L-shaped articulated frame a2, that is, it is mounted on the corresponding arm of the two L-shaped rods provided with the mounting plate a23 through the shaft rod frame, and is arranged on the downward side of the mounting plate a23. The structure of the L-shaped fixing frame a5 is two arm plates corresponding to its two L-shaped arms, and the end of one L-shaped arm is fixedly connected to one end of the horizontal mounting seat a1 to which the L-shaped articulated frame a2 is hinged, and the arm plate is provided with a reinforcing rib plate structure a51 for a firm connection with the horizontal mounting seat a1 and the telescopic drive frame of the telescopic arm. The other L-shaped arm of the L-shaped fixing frame a5 faces away from the L-shaped articulated frame a2, that is, faces downward, and the arm plate is provided with a reinforced mounting arm a52 for connection and support with the telescopic drive frame of the telescopic arm, and a reinforcing rib plate a53 is also provided between the two arm plates, which can better enhance the structural strength and withstand higher traction and pulling force.The lower guide wheel a6 is mounted on an arm of the L-shaped fixed frame a5 facing away from the L-shaped articulated frame a2, that is, an arm plate facing downward. In this embodiment, the lower guide wheels a6 are two spaced apart and mounted side by side on an arm plate facing downward, that is, the two lower guide wheels a6 are respectively mounted on the two side surfaces of the arm plate provided with a reinforced mounting arm a52 through an axial rod frame, and the two lower guide wheels a6 are arranged on the same plane corresponding to the upper guide wheel a4, and a guide rope hole a61 that is connected to and through the two arm plates corresponding to the upper guide wheels a4 is provided for the telescopic pull rope 63 that pulls the telescopic arm 1 to extend and retract to pass through. The specific winding structure is shown in the figure.

[0075] The telescopic tensioning device 62 of the above-mentioned structure has an upper guide wheel installed on an L-shaped articulated frame, and a lower guide wheel installed on an L-shaped fixed frame. When in use, a traction rope used to drive the telescopic arm is wrapped around the upper guide wheel and the lower guide wheel. A larger tensioning adjustment space can be achieved through the structure itself, and the L-shaped articulated frame is hinged and swingable, and the swing range is large, which can further enable the upper guide wheel and the lower guide wheel to have a larger tensioning adjustment space, and the elastic tensioning achieved by the tensioning spring can also provide a larger range of elastic force, thereby achieving the tensioning effect. The above-mentioned tensioning spring can further achieve the need for adjusting the tension through the position adjustment structure and the horizontal mounting seat. Therefore, the above-mentioned structure can achieve a larger distance of tensioning adjustment to meet the use needs, and is particularly suitable for the telescopic tensioning drive use of a longer telescopic arm. Moreover, the above-mentioned specific structural setting has a high overall structural strength, which can achieve the structural strength required for the drive adjustment of a larger and longer telescopic arm, and achieve a better tensioning effect.

[0076] The telescopic guide frame 31 is provided with a brake device b3 for limiting the telescopic sliding of the telescopic arm 1. Figure 1 , Figure 7 , Figure 8 and Fig. 9As shown, it is installed on the telescopic guide frame 31 and is arranged corresponding to the square steel beam 11. Its structure includes a brake drive cylinder b31 hingedly arranged on the telescopic guide frame 31, a driving arm b32 with one end hinged on the telescopic guide frame 31 and the other end hinged on the brake drive cylinder b31, and a brake block b33 connected to the driving arm b32 and corresponding to the surface of the telescopic arm 1. Specifically, as shown in the figure, the brake drive cylinder b31 is hinged to the telescopic guide frame 31 through an articulated mounting frame b34 fixedly arranged on the end surface of the telescopic guide frame 31 corresponding to the telescopic direction of the telescopic arm 1, and one end of the driving arm b32 hinged on the telescopic guide frame 31 is hinged on the upper side surface of the telescopic guide frame 31 for the telescopic arm 1 to pass through. The connecting seat b35 is hinged on the telescopic guide frame 31, and the brake block b33 is fixedly arranged on the side of the driving arm b32 facing the telescopic arm b2 and close to one end of the hinged seat b35. The structural arrangement is stable, and the driving force of the brake drive cylinder b31 can be well transferred to the pressure on the brake block b33. The structure has high strength and stable braking. The brake block b33 can be made of nylon, which is a better material that can provide braking effect. In addition, as shown in the figure, the driving arm b32 and the brake block b33 correspond to the inner top surface of the telescopic guide frame b1 above the upper surface of the square steel beam b21, and the braking position is inside the telescopic guide frame b1. The structure is not easily damaged by external environmental factors. In addition, the setting position and number of the braking device b3 can be installed and set according to the size of the overall mechanical device. For example, the braking device b3 is provided with a total of 2 groups on the telescopic guide frame b1 corresponding to the two square steel beams b21 at one end of the telescopic direction of the telescopic arm b2, so that smooth and balanced braking can be achieved. As shown in the figure, a total of 4 groups are provided on the telescopic guide frame b1 corresponding to the two square steel beams b21 at both ends of the telescopic direction of the telescopic arm b2, and the braking intensity is high and very smooth, which is particularly suitable for the braking setting of the longer and heavier telescopic arm b2.

[0077] The brake block of the brake device b3 of the above structure is arranged on the driving arm, and one end of the driving arm is fixedly hinged, and the other end is hinged to the brake drive cylinder. The action of the brake drive cylinder realizes that the brake block is pressed down and adheres to the surface of the telescopic arm to achieve the effect of increasing the friction braking. According to the structural setting of the telescopic arm, multiple positions can be set with brake devices respectively, so that the braking effect can achieve fast braking and smooth braking. For the braking use of longer and heavier telescopic arms, the brake device b3 of this structure can easily and smoothly achieve the downward braking pressure acting on the brake block, and the brake block can maximize the resistance to achieve braking. In addition, the brake device b3 of the above structure has a simple structure and is easy to implement. It is not easy to be damaged and is more durable for braking high-quality components.

[0078] The telescopic arm device 20 also includes an extension leveling device 7 arranged on the telescopic arm 1. Figure 1 , Figure 10-13 As shown, it is used to keep the telescopic arm 1 straight after being extended. The end of the telescopic arm 1 that can be extended into the container is the front end, and the other end is the rear end. The extension leveling device 7 includes a leveling connection mechanism f1 and a leveling drive mechanism f2. The leveling connection mechanism f1 is a structure that can be raised and lowered to change the height. Its lower part is arranged on the front end of the extended telescopic arm 1, and its upper part is used to connect with the surrounding fixed objects, mainly with the upper part of the container 60. The leveling drive mechanism f2 is used to drive the leveling connection mechanism f1 to rise and fall to change the height as needed. The structure in the figure is that the leveling connection mechanism f1 is arranged on the telescopic arm 1, and is arranged near the other end of the telescopic arm 1. In this way, the leveling drive mechanism f2 is used to drive the change of the height of the leveling connection mechanism f1, so that its upper part can be connected to the upper part of the container 60 and adjust the height of the telescopic arm 1 to a straight state. As shown in the figure, the leveling connection mechanism f1 includes a primary lifting structure f3 with an elastic tension lifting structure connected to the telescopic arm f0, a secondary lifting structure f4 connected to the upper end of the primary lifting structure f3 and driven to lift by the leveling drive mechanism f2, and a top connecting component f5 arranged on the secondary lifting structure f4. In this embodiment, the top connecting component f5 is an electromagnetic adsorption component, which is electrically powered to generate magnetism and is adsorbed and connected to an adsorbable fixed metal, such as the inner top surface of a container. The connection is achieved by approaching and energizing without other connection operations, which is more convenient to use. The primary lifting structure f3 with a specific elastic tension lifting structure can maintain an upward force, which is beneficial to the magnetic proximity adsorption connection and the stability of the adsorption connection.

[0079] The primary lifting structure f3, as shown in the figure, comprises a primary scissor fork component f31, a lifting sliding guide groove component f32 fixedly arranged on the side of the telescopic arm 1, a spring mounting seat f33 fixedly arranged on the telescopic arm f0 and a primary lifting spring f34. The lower end of the primary scissor fork component f31 is provided with a primary lower guide wheel f311 embedded in the lifting sliding guide groove component f32 for sliding. The lower other end of the primary scissor fork component f31 is vertically bent and extended upward to form a spring hinge arm f312, and the vertical bend is connected to one end of the spring mounting seat f33. The first end of the first-stage lifting spring f34 is hinged, one end of the first-stage lifting spring f34 is connected to the spring hinge arm f312, and the other end is connected to the other end of the spring mounting seat f33, so that the scissors-fork component f31 has the effect of elastic tension. Through this structure, the first-stage lifting spring f34 elastically pulls one end of the first-stage scissors-fork component f31 hinged at the lower fixed position, so that the first-stage scissors-fork component f31 can reach a rising state. When the first-stage scissors-fork component f31 is subjected to downward pressure, the first-stage lifting spring f34 can be stretched and compressed and deformed by sliding through the first-stage lower guide wheel f311. In this embodiment, as shown in the figure, the other end of the primary lifting spring f34 is connected to the other end of the spring mounting seat f33 in the structure that the spring mounting seat f33 is provided with two spring mounting seat uprights f331 spaced opposite to each other, and the two spring mounting seat uprights f331 are correspondingly provided with shaft adjustment grooves f332, and the other end of the primary lifting spring f34 is connected to an adjustment sliding shaft f333, and the two ends of the adjustment sliding shaft f333 are inserted into the shaft adjustment groove f332 and are provided with shaft anti-drop positioning rings f334, and the shaft adjustment groove f332 One end of the shaft is provided with a shaft adjustment through hole f335, and a shaft adjustment bolt f336 is passed through the shaft adjustment through hole f335. The end of the shaft adjustment bolt f336 passes through the shaft adjustment groove f332 and is connected to the adjustment sliding shaft f333 through a threaded screwing mechanism. The other end of the shaft adjustment bolt f336 is a shaft adjustment end for adjustment operation. When the elastic tension needs to be further adjusted, the shaft adjustment bolt f336 is rotated to drive the adjustment sliding shaft f333 to move its position in the shaft adjustment groove f332, so that adjustment can be achieved. The operation is simple and the structure is stable.

[0080] The secondary lifting structure f4 disclosed in this embodiment, as shown in the figure, includes a primary connecting seat f41 connected to the upper end of the primary scissor fork component f31, a secondary scissor fork component f42 connected to the primary connecting seat f41, and a secondary connecting seat f43 connected to the upper end of the secondary scissor fork component f42, one end of the bottom of the primary connecting seat f41 is hinged to one end of the upper part of the primary scissor fork component f31, the other end of the upper part of the primary scissor fork component f31 is provided with a primary upper guide wheel f313 sliding on the bottom surface of the primary connecting seat f41, a secondary lower sliding groove block f411 is provided on the side of the primary connecting seat f41, and two lower ends of the secondary scissor fork component f42 are respectively provided with The lower guide wheel f421 is embedded in the secondary lower sliding groove block f411 and slides. The side of the secondary connecting seat f43 is provided with a secondary upper sliding groove block f431. The upper two ends of the secondary scissors component f42 are respectively provided with secondary upper guide wheels f422 embedded in the secondary upper sliding groove block f431 and slide. The top connecting component f5 is fixedly set on the top surface of the secondary connecting seat f43. The sliding distance of the lower two ends of the secondary scissors component f42 in the secondary lower sliding groove block f411 is controlled and adjusted by the leveling drive mechanism f2, thereby driving the top connecting component f5 to rise and fall. The adjustment structure is simple, easy to implement, and the movement changes are stable.

[0081] The leveling drive mechanism f2 disclosed in this embodiment, as shown in the figure, includes a leveling winch motor f21 fixedly installed on the other end of the telescopic arm 1 and a leveling pull rope f23 connected and wound on the leveling winch motor f21 and guided at its end to the secondary scissor fork component f42 through a transition guide wheel f22. In the figure, the front ends of the square steel beams 11 of the telescopic arm 1 are respectively provided with extended leveling devices 7, which are synchronously driven by the same leveling winch motor f21. The leveling force load of this structure is greater and more balanced. The extended leveling devices 7 are respectively drawn out from the square steel beams 11 to lead the leveling pull ropes f23 to the middle of the transition guide. They are put together and pulled together to be connected to the leveling winch motor f21. The leveling winch motor f21 hoists the leveling traction rope f23 to achieve the deformation control of the secondary scissors component f42 to realize the lifting action and achieve the height adjustment change. In order to improve the accuracy of height adjustment, this embodiment further provides a rope displacement sensor f24 on the telescopic arm 1, and the leveling traction rope f23 is provided with a fixed-length block f25. The rope end of the rope displacement sensor f24 is connected to the fixed-length block f25. The rope of the rope displacement sensor f24 is pulled by moving the position of the fixed-length block f25 to obtain a length change to meet the control needs.

[0082] The structure is provided with the extended leveling device 7. When the container is loaded, after the telescopic arm is extended into the container to the required depth, the height of the leveling connection mechanism is first adjusted through the leveling drive mechanism so that the upper part can be connected with the top surface of the container. After the connection, the leveling connection mechanism can play the role of pulling the telescopic arm to prevent it from sagging again. The telescopic arm that has drooped and deformed can be adjusted to a straight state through the leveling drive mechanism. The overall mechanical structure is stable, not prone to failure, the movement is smooth and stable, the use effect is reliable, the mechanical automation operation procedure is simple, and the mechanical production and manufacturing are easy to achieve.

[0083] The transporting translation vehicle 2, such as Fig.14 and Fig.15 As shown, it includes a steel frame g1, which is divided into a working part installation area g11 and a power installation area g12 on opposite sides. The working part installation area g12 is used to install a carrying work device g2 for carrying materials, and the power installation area g11 is used to install an independent power system g3 that drives the overall movement and provides power for the carrying work device g2; the outer side surfaces of the other two opposite sides of the steel frame g1 are respectively provided with a translation pulley g13 sliding on the slide rail g01 of the telescopic arm g0, and the translation pulley g13 is connected and transmitted with the independent power system g3 in the power installation area g12, and the independent power system g3 includes a contact spring g31 fixedly connected and arranged on the steel frame g1 near the telescopic arm g0, and the contact spring g31 is contacted with the busbar g02 arranged on the telescopic arm g0 through sliding contact and conduction to obtain the electric energy required by the independent power system g3. In order to facilitate the control of the carrying translation vehicle in use, the independent power system g3 may include a wireless network control processing module (not visible in the figure) for wireless control of the carrying work. The independent power system g3 also includes a reduction motor g32, an air compressor g33 and a gas tank g34 fixedly installed on the steel frame g1 for connecting to drive the translation pulley g13 to rotate. The air compressor g33 is powered on to compress the gas stored in the gas tank g34. The gas tank g34 is provided with a gas source processing device g35. The transport working device g2 is connected to the gas source processing device g35 through a pipeline to obtain gas kinetic energy.

[0084] The reduction motor g32 is connected to a bidirectional transmission device g36 fixedly arranged on the steel frame g1 between the two translation pulleys g13, and its bidirectional transmission input end is connected to the output end of the reduction motor g32 for transmission, and the two output ends of the bidirectional transmission device g36 are respectively connected to the translation pulley g13 on the corresponding side through the long semi-axle g37 and the universal coupling g38 for transmission. The translation pulley g13 includes a driven pulley g131 and an active pulley g132 arranged at opposite ends of the same side and sliding on the slide rail g01 of the telescopic arm g0, and the active pulley g132 is connected to the corresponding universal coupling g38 for transmission, and the translation pulley g13 also includes a carrying sliding guide wheel g133 arranged at opposite ends of the same side and sliding on the slide rail g01 of the telescopic arm g0.

[0085] The transporting and translating vehicle 2 of the above-mentioned structural arrangement is equipped with an independent power system which can provide the moving power of the transporting and translating vehicle and the working power for transporting materials. Therefore, the transporting and translating vehicle can realize translation without the need for a transmission and moving mechanism with a complex connection relationship with the telescopic arm, and the carrying working device can realize work without connecting to an unexpected driving energy source of the transporting and translating vehicle. Moreover, the independent power system obtains electric energy through the contact between the contact spring and the busbar. The electricity is obtained by sliding contact conduction, without the need to pull the conductive wire, and there are no parts that move with the movement of the transporting and translating vehicle. This can solve the problem that some existing transporting and translating vehicles are not suitable for use on telescopic and movable telescopic arms, and can solve the limitations and problems existing in the transmission and translation mechanism settings and the power connection settings. In addition, the structural setting of the above-mentioned transporting and translating vehicle is balanced and reasonably laid out, which can achieve the stability of the overall structure of the transporting and translating vehicle, smooth carrying and movement, and is not prone to failure.

[0086] The transport working device g2 is a linkage manipulator for grabbing a bucket with a handle, such as Figure 15-18 As shown, the linkage manipulator includes a linkage installation cross bar d1 fixedly installed on the carrying translation trolley 2, a carrying linkage left drive structure d2 and a carrying linkage right drive structure d3 fixedly arranged on the linkage installation cross bar d1, a plurality of groups of carrying double-claw hand grasping d4 arranged at intervals and hinged on the linkage installation cross bar d1 through hinge structures d5, and a carrying left linkage arm d6 connected to the output end of the carrying linkage left drive structure d2 by respectively connecting the hinge structures d5 of the same side claws of each group of carrying double-claw hand grasping d4, and a carrying right linkage arm d7 connected to the output end of the carrying linkage right drive structure d3 by respectively connecting the hinge structures d5 of the other same side claws of each group of carrying double-claw hand grasping d4; the double claws of each group of carrying double-claw hand grasping d4 are synchronously driven to open and close through the actions of the carrying linkage left drive structure d2 and the carrying linkage right drive structure d3, so as to achieve synchronous opening and closing actions to grab multiple barrels. The principle of the linkage structure is clearly understood through the above description and drawings, and will not be repeated here. The mechanical linkage is stable and the actions are unified.

[0087] In order to achieve stable grasping of the barrel with handle, as shown in the figure, the claw of the carrier two-handed hand grasper d4 is a linked L-shaped claw d41, the ends of the L-shaped horizontal arms of the two linked L-shaped claws d41 are opposite, and the upper ends of the L-shaped vertical arms are fixedly connected to the hinge structure d5. The two linked L-shaped claws d41 are driven to swing and open and close by the corresponding rotation of the hinge structure d5. The end surfaces of the L-shaped horizontal arms of the two linked L-shaped claws d41 are respectively provided with interlocking meshing concave-convex structures, which can improve the closing stability during grasping. In addition, in order to enable the linkage robot arm to correspond to the recessed position of the bucket handle when it descends to grab the bucket, the hinge structure d5 is hinged to the linkage mounting cross bar d1 through a hinge block d8 fixedly connected to the linkage mounting cross bar d1, and the hinge block d8 includes two side-by-side hinge structures d5 (the hinge structure d5 in the figure is hinged by an axis rod) for the two claws on the same carrying double-claw hand gripper d4 to pass through, and two opposite side edges extend protruding for the linkage mounting cross bar d1. The hinge block locking portion d82 is connected to the cross bar d1 and corresponds to the figure-eight fork portion d83 below the hinge holes d81 of the two shaft rods. The figure-eight opening of the figure-eight fork portion d83 is facing downward. This structure is configured to adapt to the barrel structure and avoid collision and introduction. When the two linked L-shaped claws d41 of the carrying two-handed hand grab d4 are closed, the two linked L-shaped claws d41 correspond to the figure-eight opening of the figure-eight fork portion d83. In this way, the setting of the hinged structure d5 will not cause obstacles during grasping. In addition, in order to achieve better synchronous linkage and make the opening and closing action distances of each carrying double-claw hand grip consistent so as to maintain precise alignment of the action, the carrying linkage left drive structure d2 and the carrying linkage right drive structure d3 respectively include a power drive cylinder d231 and a driving block d232 connected to the piston cylinder of the power drive cylinder d231 for connecting and driving the carrying left linkage arm d6 or the carrying right linkage arm d7. A finger cylinder d233 is connected between the two driving blocks d232 for achieving synchronous action of the two driving blocks d232. Through this structural setting, the two power drive cylinders d231 mainly pneumatically drive the linkage power, and the setting of the finger cylinder d233 can ensure that the telescopic sliding distances on the left and right sides are consistent; this structure is also conducive to simplifying the mechanical structure setting, and is conducive to the stable and reliable grasping of multiple handlebar items at one time. The structural setting is simple, easy to produce and manufacture, and not prone to failure.

[0088] The linkage manipulator of the above structure has multiple sets of double-clawed hand grips on the linkage mounting crossbar, and all the double-clawed hand grips are driven by the same drive structure, with good linkage effect and unified action, which is conducive to maintaining consistency and precision when grabbing the barrels, so as to achieve better synchronous linkage and stable grabbing of multiple barrels, which can effectively improve the efficiency of handling and loading. In addition, the linkage drive method can simplify the structure and reduce the setting of the drive transmission structure and the drive equipment, so that the weight of the entire linkage manipulator can be reduced, the structure is simpler, easy to manufacture and realize, and the structure is not prone to failure, which is convenient for maintenance.

[0089] Considering that some multi-axis manipulators and mobile transport carts have different working actions, such as multi-axis manipulators can drive linkage manipulators to take and lift, while some mobile transport carts can move back and forth but cannot be lifted or lowered, then there is a need for the barrel to be able to lift and lower to avoid the linkage manipulator from colliding with the barrel when it moves back and forth, and can correspond to the handle position on the barrel. Therefore, this embodiment further has the following structural settings. The conveying inner end 4 of the arrangement conveying device 30 is an independent conveying section d9 separated from the conveying outer end 5, such as Fig.18 As shown in the figure, the independent conveying section d9 is provided with a conveying positioning blocking structure. As shown in the figure, baffles are provided at the conveying end and the left and right sides of the independent conveying section d9, and the baffles are used to keep the conveying in a neat arrangement and stop in place. In order to prevent the situation where there is a lack of the middle when multiple materials are neatly arranged, causing subsequent omissions, the independent conveying section d9 can be provided with a leak-proof sensing device d91 for respectively sensing the position of each arranged barrel. Here is a little more explanation. For the barrels shown in the figure, according to their size and capacity, the strength and power strength of the linkage manipulator mechanical structure and the work use requirements, preferably, the carrying double-claw hand gripper d4 can be set on the linkage installation cross bar d1 5-10 groups, and the leak-proof sensing device is set corresponding to the number. As shown in the figure, the synchronous linkage grabbing is 8 barrels, and the leak-proof sensing device d91 is set one by one. In addition, the bottom of the independent conveying section d9 is connected with a lifting and pushing mechanism d92 for driving the independent conveying section d9 to rise and fall as a whole. The lifting and pushing mechanism d92 can be lifted and lowered to cooperate with the linkage robot to position and grasp, as well as to lift and lower when the barrel needs to be avoided. The linkage mounting cross bar d1 can be provided with a moving-in-place sensing device to avoid collisions during lifting or translation.

[0090] In this embodiment, a blocking feeding mechanism which can be raised and lowered to block the conveying of articles into the independent conveying section d9 is provided on the end portion where the conveying outer end 5 and the conveying inner end 4 are connected. A blocking quantitative mechanism which can be raised and lowered to block the conveying of articles during conveying can be provided on the conveying outer end 5. This structural setting is conducive to the control of the conveying quantitative quantity and ensures the quantity conveyed into the independent conveying section d9.

[0091] The linkage manipulator of the above structure has good linkage effect and unified action, which is conducive to maintaining consistency and precision when grabbing the barrels, so as to achieve synchronous linkage and stable grabbing of multiple barrels, which can effectively improve the efficiency of handling and loading. In addition, the linkage drive method can simplify the structure and reduce the setting of the drive transmission structure and drive equipment, so that the weight of the entire linkage manipulator can be reduced, the structure is simpler, easy to manufacture and realize, and the structure is not prone to failure, which is convenient for maintenance.

[0092] The transfer robot 50 is a multi-axis robot, and a composite hand gripping device for grabbing items on the stacking tray 70 and the stacking tray 70 is provided on the working end of the multi-axis robot. Figure 1 , Figure 19-21As shown, the composite hand gripping device includes a mounting cross bar c1 fixedly connected to the working end of the multi-axis manipulator, an article grabbing mechanism c2 and a pallet grabbing mechanism c3 arranged on the mounting cross bar c1, the article grabbing mechanism c2 grabs the articles stacked on the palletizing pallet to the subsequent workstation where the articles need to be processed, and the pallet grabbing mechanism c3 is used to grab the palletizing pallet 70 of the articles that have been grabbed for stacking or moving to a position for placement. As shown in the figure, since the present embodiment is used for grasping the article grasping mechanism c2 of the bucket with a handle, the article grasping mechanism c2 is a handle article grasping mechanism for grasping the article with a handle, and the handle article grasping mechanism includes a transport left drive cylinder c21 and a transport right drive cylinder c22 respectively fixedly mounted on the mounting cross bar c1, a plurality of groups of double-claw hand grasping c24 arranged at intervals and respectively hinged on the mounting cross bar c1 through hinged rods c23, and left linkage arms c25 respectively connected to the hinged rods c23 of the same side claws of each group of double-claw hand grasping c24 and connected to the piston rod of the left transport drive cylinder c21, and a plurality of groups of double-claw hand grasping c24 respectively connected to the mounting cross bar c1 through hinged rods c23 ... The hinged rod c23 of the other side claw of the claw hand grip c24 and the right linkage arm c26 connected to the piston rod of the right transfer drive cylinder c22, synchronously drives the opening and closing of the two claws of each group of double-claw hand grips c24 through the actions of the left transfer drive cylinder c21 and the right transfer drive cylinder c22. Through the above structure, the synchronous opening and closing action is achieved to grab multiple barrels. The principle of the linkage structure is clearly understood through the above description and drawings, and will not be repeated here. It should be noted that when the object grabbing mechanism c2 is grabbing the object for transfer, the tray grabbing mechanism c3 is in a relatively rising state. The specific implementation structure is described in detail later. In order to achieve stable grasping of the barrel with a handle, as shown in the figure, the claws of the two-handed grasping c24 are L-shaped claws c241, and the ends of the L-shaped horizontal arms of the two L-shaped claws c241 are opposite to each other, and the upper ends of the L-shaped vertical arms are fixedly connected to the hinge rod c23. The two L-shaped claws c241 are driven to swing and open and close by the corresponding rotation of the hinge rod c23. The end surfaces of the L-shaped horizontal arms of the two L-shaped claws c241 are respectively provided with interlocking concave and convex structures, which can improve the closing stability during grasping.In this embodiment, in order to improve the position of the bucket handle corresponding to the recessed position when the bucket is lowered to grab the bucket, the hinge rod c23 is hinged on the mounting cross bar c1 through a hinge block c27 fixedly connected to the mounting cross bar c1, and the hinge block c27 includes two side-by-side hinge holes c271 for the hinge rods c23 of the two claws on the same double-claw hand gripper c24 to pass through, and two opposite side edges extend and protrude respectively for locking and connecting with the mounting cross bar c1. Corresponding to the U-shaped fork c273 below the two hinge holes c271, the two vertical arms of the U-shaped fork c273 are in a conical structure and the U-shaped opening is in a downward trumpet shape. This structure is adapted to the barrel structure to avoid collision and introduction. When the two L-shaped claws c241 of the two-handed grasping c24 are closed, the two L-shaped claws c241 correspond to the U-shaped opening of the U-shaped fork c273. In this way, the setting of the hinge block c27 will not cause obstruction during grasping.

[0093] In addition, the pallet grabbing mechanism c3 is connected to the mounting cross bar c1 by setting a frame lifting drive structure c4, and the action of the lifting drive structure c4 drives the pallet grabbing mechanism c3 to rise and reset relative to the mounting cross bar c1. As shown in the figure, the pallet grabbing mechanism c3 includes a connecting frame c31, a pallet transfer drive cylinder c32 arranged on opposite sides of the connecting frame c31, and pallet side clamps c33 respectively arranged on the piston rods of the pallet transfer drive cylinder c32. The piston rods of the pallet transfer drive cylinders c32 on opposite sides of the connecting frame c31 are telescopically movable toward the outside of the connecting frame c31 in opposite directions. The upper end of the pallet side clamp c33 is connected to the piston rod of the pallet transfer drive cylinder c32, and the lower end extends downward to form a pallet clamp c331. The inner side surface of the pallet clamp c331 is provided with an anti-slip component c332. The anti-slip component c332 is provided on the inner side surface of the pallet clamp c331. The release component c332 can be a protrusion or anti-slip component that adapts to the side structure of the stacking pallet. When grabbing the stacking pallet, all pallet transfer drive cylinders c32 are actuated to push out the pallet side clamps c33, and the robotic arm descends so that the pallet side clamps c33 on both sides correspond to the opposite side edges of the pallet. The connecting frame c31 described here can be provided with a stroke sensing switch c34 for sensing the position when descending. After the stroke sensing switch c34 senses that it is in position, the robotic arm stops descending, and then the pallet transfer drive cylinder c32 can be controlled to retract the pallet side clamps c33, thereby clamping the pallet for movement, and vice versa to put down the pallet. The frame lifting drive structure c4 disclosed in the present embodiment is that the connecting frame c31 is provided with a frame mounting plate c41, and the frame mounting plate c41 is provided with a frame lifting drive cylinder c42, and the piston rod of the frame lifting drive cylinder c42 is downwardly connected to the mounting cross bar c1, and a guide rod and guide sleeve guide structure c43 that cooperates with each other is provided between the mounting cross bar c1 and the frame mounting plate c41, so that when it is necessary to control the tray grabbing mechanism c3 to rise, the frame lifting drive cylinder c42 is actuated to push the tray grabbing mechanism c3 up as a whole, and the mechanism rises smoothly under the guidance of the guide rod and guide sleeve guide structure c43.

[0094] The composite hand gripping device of the above structure is combined with an article gripping mechanism for gripping articles and a pallet gripping mechanism for gripping pallets, so that it can be used for stacking pallets and also for grasping articles stacked on pallets, which can reduce labor and equipment configuration. The action of the above handle article gripping mechanism is to realize the synchronous hand gripping action of multiple handle articles in linkage, which is conducive to simplifying the mechanical structure setting, and is conducive to the stable and reliable grasping of multiple handle articles at one time. The structure setting is simple and easy to manufacture and realize, and it is not easy to cause failure. The structure setting of the above pallet gripping mechanism is simple and easy to manufacture and realize, and it is not easy to cause failure. The lifting effect can rise when grasping multiple handle articles, avoiding affecting the normal grasping work of the article gripping mechanism. The overall mechanical arm hand gripping structure is stable, easy to use, stable and reliable.

[0095] The stacking tray placing platform 40 is provided with a shaping and positioning device 8 for shaping and positioning the articles stacked on the stacking tray. Figure 1 , Figure 2 and Fig. 22 , Fig.23As shown, the shaping positioning device 8 includes a shaping support bracket e1, a shaping push component e3 connected to the shaping support bracket e1 through a guide rail slider structure e2, and a shaping drive cylinder e5 fixedly arranged on the shaping support bracket e1 and having a piston rod connected to the shaping push component e3. When the shaping positioning is used, the shaping drive cylinder e5 is used to push the shaping push component e3 to be pushed out under the guidance of the guide rail slider structure e2 to perform the shaping work. The main feature of the structural setting of the device is that the shaping push component e3 includes a shaping sliding connection part e31 connected to the guide rail slider structure e2 and an L-shaped connecting part connected to the shaping sliding connection part e31. The right-angle rod e32, the piston rod of the shaping drive cylinder e5 is fixedly connected to the outer side of the L-shaped two-arm connection of the L-shaped right-angle rod e32, and the L-shaped two-arm connection of the L-shaped right-angle rod e32 corresponds to the movable axis of the piston rod of the shaping drive cylinder e5, so that the driving force can be balanced. The length of the L-shaped two arms of the L-shaped right-angle rod e32 can be consistent with the length of the adjacent two sides of the corresponding stacking pallet. When in use, the L-shaped right-angle rod e32 is arranged on the outer side of a corner of the stacked barrel material, and the L-shaped two arms of the L-shaped right-angle rod e32 hold the adjacent two sides of the barrel material stacked on the stacking pallet to push, shape, adjust and position. The shaping positioning device 8 of the above-mentioned structural arrangement has a simple overall structural arrangement and a stable structure. The L-shaped structure of the L-shaped right-angle rod of the shaping pushing component is particularly suitable for the overall holding and pushing of barrel materials after stacking. It can be guided and slidably connected with the shaping support bracket through the shaping pushing connection part, and the L-shaped two-arm connection of the L-shaped right-angle rod corresponds to the piston rod of the shaping drive cylinder. Therefore, the driving force of the shaping drive cylinder can better act on the L-shaped right-angle rod and push the stacked barrel materials, and can ensure that the L-shaped right-angle rod can achieve directional and stable pushing.

[0096] In order to further improve the precision positioning and meet the need of achieving better mechanical automatic grasping and positioning, as shown in the figure, the stacking pallet shelf platform e4 includes a shelf installation base e41 and a shelf conveying device e42 arranged on the shelf installation base e41, one end of the shelf conveying device e42 is a shelf input end e43, and the other end is a shelf positioning end e44, the L-shaped right-angle rod e32 is set corresponding to a corner of the shelf positioning end e44 and its height corresponds to the bottom layer of barrel materials stacked on the stacking pallet, so as to push smoothly, and the L-shaped two arms of the L-shaped right-angle rod e32 hold the adjacent two sides of the barrel materials stacked on the stacking pallet to push, shape and adjust the positioning. Here, the preliminary positioning of the stacking pallet 70 when it is placed is achieved by further conveying by the shelf conveying device e42, so that the precision positioning can be improved. There are many ways to realize the positioning of the storage conveying device e42, for example, the storage positioning end e44 is provided with a tray sensing device for sensing the material stacking tray, or the end and / or side of the storage positioning end e44 is provided with a blocking positioning structure for blocking the material stacking tray, which has a simple structure and good effect. Fig.23 As shown in the figure, the shelf conveying device e42 includes a shelf conveying frame e45, a shelf conveying belt e46 mounted on the shelf conveying frame e45, and a shelf conveying transmission mechanism e47 fixedly mounted on the shelf conveying frame e45 and connected to the transmission shelf conveying belt e46. The shelf conveying belt e46 is a shelf conveying hinge respectively arranged on both sides of the length of the shelf conveying frame e45. The shelf conveying frame e45 is provided with a shelf conveying load-bearing groove member e48 for the shelf conveying hinge to be embedded in and to support the load of the shelf conveying hinge. Through this structure, better load-bearing support transmission can be achieved, ensuring smooth and reliable transmission.

[0097] The above embodiments and drawings do not limit the product form and style of the present invention. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present invention.

Claims

1. A container loading telescopic arm, characterized in that: The invention comprises a telescopic arm capable of telescopically changing its length in a container, a support mounting seat for stably mounting and supporting the telescopic arm to realize the telescopic action, an extension and leveling device installed on the telescopic arm, a transporting and translating vehicle moving on the telescopic arm, and a telescopic adjustment structure installed on the support mounting seat for driving the telescopic movement of the telescopic arm and a brake device for limiting the telescopic sliding of the telescopic arm, wherein one end of the telescopic arm that can be extended into the container is the front end, and the other end is the rear end, the extension and leveling device is arranged on the front end of the telescopic arm, and the transporting and translating vehicle moves between the front end of the telescopic arm and the support mounting seat; The extending and leveling device includes a leveling connection mechanism that can be raised and lowered to change the height and a leveling drive mechanism that drives the leveling connection mechanism to raise and lower the height. The leveling connection mechanism is arranged on the front end of the telescopic arm, and its upper part is used to connect with surrounding fixed objects. The leveling drive mechanism is arranged on the telescopic arm, or the leveling drive mechanism is arranged on a supporting mounting seat for supporting the telescopic arm, or the leveling drive mechanism is arranged on an object around the telescopic arm.

2. A container loading telescopic arm as claimed in claim 1, characterized in that: The support mounting seat is provided with a telescopic guide frame for the telescopic arm to pass through, and the two sides of the telescopic guide frame are respectively provided with sliding guide limiting structures that play a role in limiting the two square steel beams up and down, left and right, and guiding the telescopic sliding; the telescopic adjustment structure includes a hoisting motor fixedly mounted on the telescopic guide frame, two telescopic tensioning devices fixedly mounted on the telescopic guide frame and respectively arranged at the two ends of the telescopic direction of the telescopic arm, and a telescopic pull rope connected and wound around the hoisting motor and with both ends respectively wound around the two telescopic tensioning devices and pulled to the corresponding end of the telescopic arm; the brake device is installed on the telescopic guide frame.

3. A container loading telescopic arm as claimed in claim 2, characterized in that: The telescopic tensioning device comprises a horizontal mounting seat, an L-shaped articulated frame, a tensioning spring, an upper guide wheel, an L-shaped fixed frame and a lower guide wheel; the horizontal mounting seat is fixedly installed, the L-shaped two arms of the L-shaped articulated frame are hinged to one end of the horizontal mounting seat through an axle rod, and its L-shaped concave inner corner is facing away from the horizontal mounting seat, one end of the tensioning spring is connected to the L-shaped arm of the L-shaped articulated frame toward the other end of the horizontal mounting seat, the other end of the tensioning spring is connected to the other end of the horizontal mounting seat, and the upper guide wheel is mounted on the L-shaped articulated frame. The end of one L-shaped arm of the L-shaped fixing frame is fixedly connected to one end of a horizontal mounting seat to which the L-shaped articulated frame is hinged, the other L-shaped arm of the L-shaped fixing frame faces away from the L-shaped articulated frame, and the lower guide wheel is mounted on one arm of the L-shaped fixing frame facing away from the L-shaped articulated frame; the lower guide wheels are two spaced and side by side mounted on one arm of the L-shaped fixing frame facing away from the L-shaped articulated frame, and correspond to the same plane as the upper guide wheel; the other end of the tensioning spring is connected to the other end of the horizontal mounting seat through a position adjustment structure with adjustable tension.

4. A container loading telescopic arm as claimed in claim 2, characterized in that: The brake device comprises a brake drive cylinder hingedly arranged on the telescopic guide frame, a driving arm with one end hingedly arranged on the telescopic guide frame and the other end hingedly arranged on the brake drive cylinder, and a brake block connected to the driving arm and corresponding to the surface of the telescopic arm; the brake drive cylinder is hingedly arranged on the telescopic guide frame by a hinged mounting frame fixedly arranged on the end face of the telescopic guide frame corresponding to the telescopic direction of the telescopic arm, one end of the driving arm hinged on the telescopic guide frame is hingedly arranged on the telescopic guide frame by a hinge seat fixedly arranged on the upper side face of the telescopic guide frame for the telescopic arm to pass through, and the brake block is fixedly arranged on a side of the driving arm facing the telescopic arm and close to one end of the hinge seat; the brake device is arranged corresponding to the square steel beam, and the driving arm and the brake block correspond to the inner top surface of the telescopic guide frame above the upper surface of the square steel beam; the brake device is arranged on the telescopic guide frame corresponding to one end of the telescopic direction of the telescopic arm, and a total of 2 groups correspond to two square steel beams respectively, or, on the telescopic guide frame, a total of 4 groups correspond to two square steel beams respectively at both ends of the telescopic direction of the telescopic arm; the brake block is a nylon brake block.

5. A container loading telescopic arm according to any one of claims 1 to 4, characterized in that: The leveling connection mechanism includes a primary lifting structure with an elastic tension lifting structure connected to the telescopic arm, a secondary lifting structure connected to the upper end of the primary lifting structure and driven to lift by the leveling drive mechanism, and a top connecting component arranged on the secondary lifting structure; the top connecting component is an electromagnetic adsorption component; the primary lifting structure includes a primary scissor fork component, a lifting sliding guide groove component fixedly arranged on the side of the telescopic arm, a spring mounting seat fixedly arranged on the telescopic arm and a primary lifting spring; a primary lower guide wheel is provided at one end of the lower part of the primary scissor fork component and is embedded in the lifting sliding guide groove component and slides; the other end of the lower part of the primary scissor fork component is vertically bent and extends upward to form a spring hinged arm and the vertical bend The fold is hinged with one end of the spring mounting seat, one end of the first-level lifting spring is connected to the spring hinge arm, and the other end is connected to the other end of the spring mounting seat; the structure in which the other end of the first-level lifting spring is connected to the other end of the spring mounting seat is that the spring mounting seat is provided with two spring mounting seat uprights spaced opposite to each other, and the two spring mounting seat uprights are correspondingly provided with shaft rod adjustment grooves, the other end of the first-level lifting spring is connected to an adjustment sliding shaft rod, the two ends of the adjustment sliding shaft rod are penetrated into the shaft rod adjustment groove and are provided with shaft rod anti-drop positioning rings, one end of the shaft rod adjustment groove is provided with a shaft rod adjustment through hole, the shaft rod adjustment through hole is penetrated with a shaft rod adjustment bolt, and the shaft rod adjustment bolt penetrates into the shaft rod adjustment groove The end portion inside is connected to the adjustment sliding shaft rod through a threaded screw mechanism, and the other end of the shaft rod adjustment bolt is the shaft rod adjustment end for adjustment operation; the secondary lifting structure comprises a primary connecting seat connected to the upper end of the primary scissors fork component, a secondary scissors fork component connected to the primary connecting seat and a secondary connecting seat connected to the upper end of the secondary scissors fork component, one end of the bottom of the primary connecting seat is hinged to the upper end of the primary scissors fork component, the other end of the upper end of the primary scissors fork component is provided with a primary upper guide wheel which slides on the bottom surface of the primary connecting seat, a secondary lower sliding groove block is provided on the side surface of the primary connecting seat, and secondary lower guide wheels are respectively provided at both ends of the lower end of the secondary scissors fork component, which are embedded in the secondary lower sliding groove block and slide, and the secondary connecting A secondary upper sliding groove block is provided on the side of the connecting seat, and secondary upper guide wheels are respectively provided at the upper two ends of the secondary scissors-fork component, which are embedded in the secondary upper sliding groove block and slide, and the top connecting component is fixedly arranged on the top surface of the secondary connecting seat; the leveling drive mechanism includes a leveling winch motor fixedly installed on the telescopic arm and a leveling pull rope connected and wound on the leveling winch motor and guided to the leveling pull rope connected to the secondary scissors-fork component through a transition guide wheel at the end, and the deformation of the secondary scissors-fork component is controlled by hoisting the leveling pull rope by the leveling winch motor to realize the lifting action; a pull rope displacement sensor is provided on the telescopic arm, and a fixed-length block is provided on the leveling pull rope, and the pull rope end of the pull rope displacement sensor is connected to the fixed-length block.

6. A container loading telescopic arm according to any one of claims 1 to 4, characterized in that: The transport translation vehicle comprises a steel frame, which is divided into a working part installation area and a power installation area on opposite sides. The working part installation area is used to install a transport working device for transporting materials, and the power installation area is used to install an independent power system for driving the overall movement and providing power for the transport working device; the outer side surfaces of the other two opposite sides of the steel frame are respectively provided with translation pulleys sliding on the slide rails of the telescopic arm, and the translation pulleys are connected and transmitted with the independent power system in the power installation area, and the independent power system comprises a contact spring fixedly connected to the steel frame near the telescopic arm, and the electric energy required by the independent power system is obtained by sliding contact and electrical conduction between the contact spring and the busbar arranged on the telescopic arm; the independent power system also comprises a reduction motor, an air compressor and a gas tank fixedly installed on the steel frame for connecting to drive the translation pulley to rotate, the air compressor is powered on and compressed gas is stored in the gas tank, the gas tank is provided with a gas source processing device, and the transport working device is connected to the gas source processing device through a pipeline to be provided with gas kinetic energy; the independent power system also comprises a wireless network control processing module for wirelessly controlling the transport work.

7. The container loading telescopic arm according to claim 5, characterized in that: The transport translation vehicle includes a steel frame, which is divided into a working part installation area and a power installation area on opposite sides. The working part installation area is used to install a transport working device for transporting materials, and the power installation area is used to install an independent power system that drives the overall movement and provides power for the transport working device; the outer side surfaces of the other two opposite sides of the steel frame are respectively provided with translation pulleys that slide on the slide rails of the telescopic arm, and the translation pulleys are connected and transmitted with the independent power system in the power installation area, and the independent power system includes a contact spring fixedly connected to the steel frame near the telescopic arm, and the electric energy required by the independent power system is obtained by sliding contact and electrical conduction between the contact spring and the busbar arranged on the telescopic arm. The independent power system also includes a wireless network control processing module for wirelessly controlling the transport work, a reduction motor, an air compressor and a gas tank fixedly installed on the steel frame for connecting to drive the translation pulley to rotate, the air compressor is powered on and the compressed gas is stored in the gas tank, the gas tank is provided with a gas source processing device, and the transport working device is connected to the gas source processing device through a pipeline to provide gas kinetic energy.

8. The container loading telescopic arm according to claim 7, characterized in that: The carrying working device is a linkage manipulator for grabbing a material barrel with a handle, and the linkage manipulator includes a linkage mounting cross bar fixedly installed and connected, a carrying linkage left drive structure and a carrying linkage right drive structure fixedly arranged on the linkage mounting cross bar, a plurality of groups of carrying double-claw hand grips arranged at intervals and hinged on the linkage mounting cross bar through hinged structures, and a carrying left linkage arm connected to the output end of the carrying linkage left drive structure by hinged structures respectively connected to the same side claws of each group of carrying double-claw hand grips and a carrying right linkage arm connected to the output end of the carrying linkage right drive structure, and a carrying right linkage arm connected to the other side claws of each group of carrying double-claw hand grips by hinged structures respectively and connected to the output end of the carrying linkage right drive structure; the carrying linkage left drive structure and the carrying linkage right drive structure respectively include a power drive cylinder and a driving block connected to the piston cylinder of the power drive cylinder for connecting and driving the carrying left linkage arm or the carrying right linkage arm, and a finger cylinder for achieving synchronous movement of the two driving blocks is connected between the two driving blocks.

9. A container loading telescopic arm as claimed in claim 8, characterized in that: An independent conveying section for arranging and conveying material barrels is arranged on one side of the support mounting seat toward the front end of the telescopic arm. The bottom of the independent conveying section is connected with a lifting and pushing mechanism for driving the overall lifting to cooperate with the linked manipulator for precise clamping action. The independent conveying section is provided with a leak-proof sensing device for respectively sensing the position of each arranged material barrel.

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