Self-tensioning device for loading and unloading robot
The V-shaped structure unit of the self-tensioning device of the loading and unloading robot enables wide-face clamping, which solves the problem of goods slipping during long-distance transportation, improves loading and unloading efficiency and safety, and supports loading, unloading and palletizing of containers of different sizes.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- HEFEI HAGONG TONGCHUANG INTELLIGENT TECH CO LTD
- Filing Date
- 2023-12-25
- Publication Date
- 2026-05-19
AI Technical Summary
Traditional manual cargo handling is inefficient and costly. Loading and unloading robots require intervention with long robotic arms during the loading and unloading process to prevent cargo from slipping, and lack wide-face gripping devices to ensure safety and stability.
The loading and unloading robot adopts a self-tensioning device, including a power source assembly, a telescopic assembly, and a fixed frame. It achieves wide-face clamping through the telescopic extension of the V-shaped structural unit, and uses a motor to drive a rocker arm and a pull rod to control the expansion or contraction of the extrusion plate, ensuring stable clamping and stacking adjustment of goods during long-distance transportation.
It achieves stable clamping and safe unloading during long-distance cargo transportation, ensuring smooth cargo movement, supporting loading, unloading and stacking of containers of different sizes, and improving loading and unloading efficiency and safety.
Smart Images
Figure CN117602257B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of loading and unloading equipment technology, and more specifically to a self-tensioning device for loading and unloading robots. Background Technology
[0002] Loading and unloading of goods is a crucial link in warehousing and logistics, determining the efficiency of the process. Traditionally, goods handling is done manually, which is costly and inefficient. To improve efficiency and reduce loading and unloading costs, current technology in this field is gradually developing towards loading and unloading robots. However, in implementing loading and unloading robots, intervention is needed regarding the long conveyor belts on the robotic arms. For example, if the robotic arm is tilted too much, it's necessary to consider preventing goods from slipping off the conveyor belt to ensure the safety and stability of the automated loading and unloading process. Long robotic arms require a device capable of wide-face gripping. This applicant, through a collaborative R&D project with Guangxi China Tobacco Industry Co., Ltd., combined the strengths of both parties to solve the aforementioned technical problems and has produced a prototype "Automatic Loading and Unloading Robot". Summary of the Invention
[0003] To address the above shortcomings, this invention provides a self-tensioning device for loading and unloading robots that ensures the safety of the automatic loading and unloading process and improves the stability of cargo transportation.
[0004] To achieve the above objectives, the present invention adopts the following technical solution:
[0005] The loading and unloading robot's self-tensioning device includes a power source assembly, a telescopic assembly, a compression plate, and a fixing frame. The telescopic assembly consists of several telescopic plates, with two telescopic plates hinged together to form a V-shaped structural unit. The compression plate and the fixing frame are respectively located on the left and right sides of the V-shaped structural unit. The power source assembly applies a torque in the forward and backward direction to the telescopic assembly, causing the V-shaped structural unit to expand or contract in the left and right directions. Simultaneously, by using the fixing frame as a fixed side, the compression plate expands or contracts in the left and right directions. The power source assembly uses an electric motor as its power source. The power source assembly includes a rocker arm and a pull rod. One end of the rocker arm is connected to the power output shaft of the power source assembly, and its other end is connected to one end of the pull rod via a rotating shaft. The other end of the pull rod is connected to the telescopic plate of the V-shaped structural unit via a rotating shaft.
[0006] Optionally, the telescopic assembly includes a first V-shaped structural unit, a second V-shaped structural unit, a third V-shaped structural unit, and a guide plate; the guide plate is provided with a guide limiting structure, the hinge end of the first V-shaped structural unit adopts a first hinge rod, and the first hinge rod is connected to the rear end of the guide plate; the left and right sides of the other end of the first V-shaped structural unit are respectively connected to the extrusion plate and the fixing frame by hinge structures;
[0007] The hinge end of the second V-shaped structural unit adopts a second hinge rod, which is disposed on the guide limit structure and can move along the front and rear directions on the guide limit structure; the left and right sides of the other end of the second V-shaped structural unit are respectively connected to the extrusion plate and the fixing frame by hinge structures; the hinge end of the third V-shaped structural unit adopts a third hinge rod, which is connected to the front end of the guide plate; the left and right sides of the other end of the third V-shaped structural unit are respectively connected to the extrusion plate and the fixing frame by hinge structures.
[0008] Optionally, the power source assembly is located on the rear side of the telescopic assembly; the other end of the pull rod is connected to the telescopic plate of the first V-shaped structural unit via a rotating shaft.
[0009] Optionally, the guide limiting structure is a guide groove, which is arranged along the front and rear directions of the guide plate; the second hinge rod is confined within the guide groove and can be displaced along the guide groove. Optionally, the extrusion plate and the fixing frame are respectively connected to the V-shaped structure unit through hinge plates; the hinge plate includes a rectangular plate body, and U-shaped grooves are provided on the upper and lower sides of the rectangular plate body; the upper and lower ends of the telescopic plate of the V-shaped structure unit are movably connected to the U-shaped grooves through rotating shafts. Optionally, the fixing frame has an overall Z-shaped structure, including a lower fixing part and an upper connecting part; the lower fixing part is provided with a fixing hole for connecting to the vehicle body; the upper connecting part is provided with a connecting hole for connecting to the V-shaped structure unit.
[0010] Optionally, the telescopic plate of the second V-shaped structural unit and the telescopic plate of the third V-shaped structural unit form a parallelogram structure.
[0011] Compared with the prior art, the beneficial effects of the present invention are:
[0012] 1. The telescopic component of this invention achieves telescopic function by using multiple V-shaped structural units. You can achieve stable clamping operation of extrusion plates with a length of 2 to 3 meters or more with one telescopic component. The clamping effect is good and the control is flexible and uniform. In particular, it meets the need for continuous and balanced clamping intervention during long-distance transportation of goods during loading and unloading without affecting the continuous, slow and smooth movement of the goods.
[0013] 2. During loading, palletizing is required. This device can adjust the left and right position of the cargo boxes relative to the conveyor belt, allowing the cargo boxes to be stacked in rows along the left or right. For example, the width of the front conveyor device of the loading and unloading robot is relatively wide. Therefore, when palletizing is required, the position of the cargo boxes can be adjusted by this device located on the left and right sides, thereby pushing the cargo boxes along the left or right side to achieve standard palletizing with good results. Attached Figure Description
[0014] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below.
[0015] Figure 1 This is a schematic diagram of the structure of the present invention;
[0016] Figure 2 This is a schematic diagram of the structure of the present invention after removing the fixing frame;
[0017] Figure 3 This is a schematic diagram of one side of the extrusion plate of the present invention;
[0018] Figure 4 This is a schematic diagram of the structure of the present invention after the extrusion plate is removed;
[0019] Figure 5 This is a top view of the telescopic component of the present invention;
[0020] Figure 6 This is a three-dimensional structural schematic diagram of the telescopic component of the present invention;
[0021] Figure 7 This is a schematic diagram of the structure after the invention is applied to the vehicle body of a loading and unloading robot. Detailed Implementation
[0022] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.
[0023] In the description of this invention, it should be noted that the terms "inner", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship in which the product of this invention is usually placed when in use. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.
[0024] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set" and "connection" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.
[0025] like Figures 1-7 As shown, the self-tensioning device of the loading and unloading robot includes a power source assembly, a telescopic assembly 1, a pressing plate 7, and a fixing frame. The telescopic assembly 1 is composed of several telescopic plates, and two of the telescopic plates are hinged to form a V-shaped structural unit. The pressing plate 7 and the fixing frame are respectively arranged on the left and right sides of the V-shaped structural unit. The power source assembly applies a torque in the front-back direction to the telescopic assembly, causing the V-shaped structural unit to expand or contract in the left-right direction. At the same time, by using the fixing frame as the fixed side, the pressing plate expands or contracts in the left-right direction. In a specific embodiment, the fixing frame can be configured as follows: the fixing frame has an overall Z-shaped structure, including a lower fixing part 6 and an upper connecting part 5. The lower fixing part 6 is provided with a fixing hole for connecting to the vehicle body of the loading and unloading robot. Figure 7 It can be clearly seen that this device is fixed to both sides of the vehicle body (i.e. both sides of the conveyor belt) by the fixing frame; the upper connecting part 5 is provided with a connecting hole for connecting with the V-shaped structure unit.
[0026] like Figure 2 As shown, the telescopic assembly includes a first V-shaped structural unit, a second V-shaped structural unit, a third V-shaped structural unit, and a guide plate 23; the guide plate 23 is provided with a guide limiting structure. In this embodiment, the guide limiting structure is a guide groove 19, which is arranged along the front and rear directions of the guide plate.
[0027] The first V-shaped structural unit consists of a first telescopic plate 10 and a second telescopic plate 24 arranged left and right. The hinge ends of the first telescopic plate 10 and the second telescopic plate 24 are connected by a first hinge rod 11, which is connected to the rear end of the guide plate 23. Figure 2 As can be seen in this embodiment, the guide plate 23 is provided and is located at the top; the left and right sides of the other end of the first V-shaped structural unit are respectively connected to the extrusion plate 7 and the upper connecting part 5 of the fixing frame by hinge structures; in this embodiment, the hinge structure can be selected as follows: Figure 4The hinge plate shown includes a rectangular plate body, with an upper U-shaped groove 14 and a U-shaped groove 28 on each of the upper and lower sides of the rectangular plate body; the upper and lower ends of the telescopic plate of the V-shaped structural unit are movably connected to the U-shaped grooves respectively via a rotating shaft 27. Figures 1-2 As shown, the rear end of the first telescopic plate 10 of the first V-shaped structural unit is connected to the upper connecting part 5 of the fixed frame by bolts 9 through the first hinge plate 8; while the rear end of the second telescopic plate 24 is connected to the rear side of the extrusion plate 7 through the second hinge plate 25.
[0028] The second V-shaped structural unit consists of a third telescopic plate 13 and a fourth telescopic plate 22 arranged left and right. The hinged ends of the third telescopic plate 13 and the fourth telescopic plate 22 are located on the rear end side, and a second hinge rod 12 is used. The upper end of the second hinge rod 12 is located in the lead groove 19 and can move in the front and rear directions within the lead groove 19. The front end of the third telescopic plate 13 is connected to the upper connecting part 5 of the fixed frame by bolts 16 through the third hinge plate 15. The front end of the fourth telescopic plate 22 is connected to the front of the extrusion plate 7 through the fourth hinge plate 21.
[0029] The third V-shaped structural unit consists of a fifth telescopic plate 17 and a sixth telescopic plate 20 arranged left and right. The hinged ends of the fifth telescopic plate 17 and the sixth telescopic plate 20 are located on the front end side, using a third hinge rod 18. The upper end of the third hinge rod 18 is connected to the front end of the guide plate 23. The rear end of the fifth telescopic plate 17 is connected to the upper connecting part 5 of the fixing frame via a third hinge plate 15. The rear end of the sixth telescopic plate 20 is connected to the front side of the extrusion plate 7 via a fourth hinge plate 21. Figure 2 and Figure 5 As can be seen, in this embodiment, the third telescopic plate 13 and the fourth telescopic plate 22 of the second V-shaped structural unit, together with the fifth telescopic plate 17 and the sixth telescopic plate 20 of the third V-shaped structural unit, form a parallelogram structure, which is beneficial to improving the stability, synchronization and consistency of the extension.
[0030] Optionally, the power source assembly is located at the rear of the telescopic assembly 1; the power source assembly includes a rocker arm 2, a pull rod 26, and a motor 3; the motor 3 is a geared stepper motor, which is fixed to the vehicle body by a motor mounting bracket 4; one end of the rocker arm 2 is connected to the power output shaft of the motor 3, and the other end is connected to the rear end of the pull rod 26 through a rotating shaft 30; the front end of the pull rod 26 is connected to the upper part of the first telescopic plate 10 through a rotating shaft 29.
[0031] The operating principle of the above scheme is as follows: First, the fixed frame is connected to the vehicle body as a fixed side. When the motor 3 rotates clockwise by a certain angle, for example, less than 180 degrees, the rocker arm 2 swings backward by a certain angle, and then pulls the pull rod 26. The pull rod 26 then applies a backward force to the first telescopic plate 10. At this time, because the connection of the three points of the first V-shaped structural unit is hinged, the middle point of the first V-shaped structural unit pulls the guide plate 23 backward. The end point of the first telescopic plate 10 is connected to the fixed frame, which is the fixed side. At this time, the first V-shaped structural unit expands, which is manifested as the extension of one side of the second telescopic plate 24; while the guide plate 23 is pulled backward, which is manifested as the compression of the parallelograms in the second and third V-shaped structural units in the front and rear directions. The fixed frame side is the fixed side, that is, it is fixed and does not move, which is manifested as the expansion of one side of the extrusion plate 7. At this time, the extrusion plate 7 is used to extrude the goods moving on the conveyor belt throughout the entire process. If it is necessary to adjust the extrusion degree, the extrusion force of the goods can be adjusted by controlling the forward rotation and rotation of the motor 3 at a certain angle.
[0032] like Figure 7 As shown, in application, this device is fixed to the left and right sides of the conveyor belt on the body of the loading and unloading robot, which can realize the lateral pressure intervention on the moving goods (boxes) on the conveyor belt. For example, when unloading, the robotic arm of the loading and unloading robot is relatively steep, and the conveyor belt is also relatively steep. In order to ensure the safety of the loading and unloading process, the clamping function of this device needs to be utilized. By combining the clamping function of this device with the conveying force of the conveyor belt, a combined force is formed to achieve the safe unloading of high-position goods and the safe transport of high-position goods to low positions. The structure adopted by this device can provide a balanced clamping force during long-distance transport. For example, the length of the extrusion plate 7 can be about 3 meters. This device achieves the synchronous extension and contraction of the three units through the combined action of the first V-shaped structural unit, the second V-shaped structural unit, and the third V-shaped structural unit, ensuring the balance of clamping over a wide range, ensuring the smoothness, stability, and safety of the entire goods transport process, and has good performance. Simultaneously, it enables the clamping, guiding, and conveying of cargo boxes. By adjusting the tension of this device, loading and unloading of cargo boxes of different specifications can be achieved within a certain range. For example, the actual clamping space on the entire conveyor belt can be about 5 mm larger than the cargo box, which helps to ensure the stability and safety of the conveying process during loading and unloading of cargo boxes.
[0033] During loading, palletizing is required. This device can adjust the left and right position of the cargo boxes relative to the conveyor belt, allowing the cargo boxes to be stacked in rows along the left or right. For example, the width of the front conveyor device of the loading and unloading robot is relatively wide. Therefore, when palletizing is required, the position of the cargo boxes can be adjusted by this device located on the left and right sides, thereby pushing the cargo boxes along the left or right side to achieve standard palletizing with good results.
Claims
1. A self-tensioning device for a loading and unloading robot, characterized in that: The system includes a power source assembly, a telescopic assembly, a compression plate, and a fixing frame. The telescopic assembly consists of several telescopic plates, with two of the telescopic plates hinged together to form a V-shaped structural unit. The compression plate and the fixing frame are respectively located on the left and right sides of the V-shaped structural unit. The power source assembly applies a forward-backward torque to the telescopic assembly, causing the V-shaped structural unit to expand or contract in the left-right direction. Simultaneously, by using the fixing frame as a fixed side, the compression plate expands or contracts in the left-right direction. The power source assembly uses an electric motor as its power source. The power source assembly includes a rocker arm and a pull rod. One end of the rocker arm is connected to the power output shaft of the power source assembly, and its other end is connected to one end of the pull rod via a rotating shaft. The other end of the pull rod is connected to the telescopic plate of the V-shaped structural unit via a rotating shaft. The telescopic assembly includes a first V-shaped structural unit, a second V-shaped structural unit, a third V-shaped structural unit, and a guide plate; the guide plate is provided with a guide limiting structure; the hinge end of the first V-shaped structural unit adopts a first hinge rod, which is connected to the rear end of the guide plate; the left and right sides of the other end of the first V-shaped structural unit are respectively connected to the extrusion plate and the fixing frame by hinge structures. The hinge end of the second V-shaped structural unit adopts a second hinge rod, which is disposed on the lead limit structure and can move along the front and rear directions on the lead limit structure; the left and right sides of the other end of the second V-shaped structural unit are respectively connected to the extrusion plate and the fixing frame by hinge structures. The hinge end of the third V-shaped structural unit adopts a third hinge rod, which is connected to the front end of the guide plate; the left and right sides of the other end of the third V-shaped structural unit are respectively connected to the extrusion plate and the fixing frame by hinge structures. The power source assembly is located on the rear side of the telescopic assembly; the other end of the pull rod is connected to the telescopic plate of the first V-shaped structural unit via a rotating shaft; The guide limit structure is a guide groove, which is arranged along the front and rear orientation of the guide plate; the second hinge rod is limited within the guide groove and can be displaced along the guide groove.
2. The self-tensioning device for loading and unloading robots according to claim 1, characterized in that: The extrusion plate and the fixing frame are respectively connected to the V-shaped structural unit through hinge plates; the hinge plate includes a rectangular plate body, and each of the upper and lower sides of the rectangular plate body is provided with a U-shaped groove; the upper and lower ends of the telescopic plate of the V-shaped structural unit are movably connected to the U-shaped grooves through rotating shafts.
3. The self-tensioning device for loading and unloading robots according to claim 1, characterized in that: The mounting bracket has a Z-shaped structure and includes a lower fixing part and an upper connecting part. The lower fixing part is provided with fixing holes for connecting to the vehicle body. The upper connecting part is provided with connecting holes for connecting to the V-shaped structural unit.
4. The self-tensioning device for loading and unloading robots according to claim 1, characterized in that: The second V-shaped structural unit The telescopic plate and the telescopic plate of the third V-shaped structural unit form a parallelogram structure.