An automatic loading and unloading robot arm conveying mechanism

Abstract

The present application relates to the technical field of loading and unloading equipment, and particularly relates to an automatic loading and unloading robot large arm conveying mechanism, which comprises a loading and unloading robot front conveying device, a middle conveying arm and a rear conveying arm, the loading and unloading robot front conveying device is movably connected with the middle conveying arm, the middle conveying arm is movably connected with the rear conveying arm through a universal head, and the two sides of the front conveying device and / or the two sides of the middle conveying arm and / or the two sides of the rear conveying arm are respectively provided with tension clamping devices. The present application can adapt to the transportation of different goods, can automatically adjust the size of the clamps of the conveying end according to the size of the goods, has rich application scenarios, and the front and rear conveying belts solve the problem that the transmission speed cannot be accurately controlled, and the two end conveying belts can more efficiently convey goods.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of loading and unloading equipment, in particular to an automatic loading and unloading robot large arm conveying mechanism. BACKGROUND

[0002] The loading and unloading of goods is an important link in warehouse logistics, which determines the efficiency of logistics. In the traditional way, the carrying of goods is completed by manual labor, but manual carrying is high in cost and low in efficiency. In order to improve work efficiency and reduce the cost of goods loading and unloading, the current technology in this field has gradually developed towards loading and unloading robots, but in the process of realizing the loading and unloading of goods by loading and unloading robots, the mechanical arm needs to be adjusted at multiple angles, and one of the key technical solutions is the large arm conveying mechanism. The conveying capacity of the large arm conveying mechanism and the flexible handling capacity of the goods box directly affect the handling effect of the robot on the goods box. At the same time, for the loading and unloading equipment provided with two or more mechanical arms, the relative motion between the front and rear mechanical arms also needs to be solved, and the stability and reliability of the swing of the related mechanical arms need to be ensured. At the same time, the front conveying device needs to complete the stacking operation and ensure the safety of the automatic loading and unloading process and the stability of the goods conveying.

[0003] The applicant has carried out joint development of related technologies, combined with the research and development advantages of all parties to solve the above technical problems, and has processed a sample machine "automatic loading and unloading vehicle robot". SUMMARY

[0004] In view of the above shortcomings, the present application provides an automatic loading and unloading robot large arm conveying mechanism with good handling effect for goods boxes.

[0005] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0006] An automatic loading and unloading robot large arm conveying mechanism, comprising a loading and unloading robot front conveying device, a middle conveying arm and a rear conveying arm, the loading and unloading robot front conveying device is movably connected with the middle conveying arm; the middle conveying arm is movably connected with the rear conveying arm through a universal joint; and a tension clamping device is arranged on both sides of the front conveying device, both sides of the middle conveying arm and both sides of the rear conveying arm respectively.

[0007] The loading and unloading robot front conveying device comprises a device body, a conveying belt assembly is arranged on the device body, a clearance groove is arranged at the middle position of the conveying belt of the conveying belt assembly, and a goods box pushing rod is movably arranged in the clearance groove; the goods box pushing rod can move back and forth above the conveying belt and assist in the conveying of the goods box;

[0008] The rear conveyor arm includes a movable conveyor structure for the loading and unloading robot; the movable conveyor structure includes a conveyor arm body, on which a fixed conveyor belt assembly and a movable conveyor belt assembly are provided; the movable conveyor belt assembly includes a structural support; the main body of the structural support is movably mounted on the conveyor arm body; a plurality of first conveyor belts and first drive rollers are provided on the structural support; the fixed conveyor belt assembly is fixed on the conveyor arm body; the fixed conveyor belt assembly includes a plurality of second conveyor belts and second drive rollers; the first conveyor belts and the second conveyor belts are arranged alternately.

[0009] Optionally, the conveyor belt assembly includes a relief groove roller group; the relief groove roller group is disposed at the relief groove, and includes a first steering roller, a second steering roller, a third steering roller, and a fourth steering roller arranged in a U-shape; the relief groove roller group causes the conveyor belt to form the relief groove.

[0010] Optionally, the device body is connected to the central conveyor arm via a rotating assembly; the rotating assembly includes a belt conveyor base plate, a U-shaped connecting plate, and a joint reducer; both ends of the belt conveyor base plate are connected to both sides of the device body; the joint reducer includes a geared motor and a joint rotating platform, the joint rotating platform passing through the middle of the belt conveyor base plate and connected to the belt conveyor base plate; the middle of the U-shaped connecting plate is connected to the outer end of the joint rotating platform; both ends of the U-shaped connecting plate are connected to the central conveyor arm; under the action of the joint reducer, the belt conveyor base plate can rotate relative to the U-shaped connecting plate, thereby realizing the rotation of the device body relative to the central conveyor arm.

[0011] Optionally, the two ends of the U-shaped connecting plate are connected to the spiral bevel gear commutator of the middle conveying arm, and the two side plates of the U-shaped connecting plate are arranged horizontally in the upper and lower positions; under the action of the spiral bevel gear commutator, the U-shaped connecting plate can be driven to rotate, thereby realizing the horizontal swing of the device body relative to the middle conveying arm in the left and right directions and the vertical swing of the device body in the upper and lower directions.

[0012] Optionally, the cargo box actuation lever includes a crossbar, a connecting block, a movable rod, and a timing belt clamp; the left and right sides of the crossbar are respectively connected to one of the connecting blocks; the upper end of the movable rod is rotatably connected to the connecting block; the lower end of the movable rod is rotatably connected to the timing belt clamp; the timing belt clamp is driven to move by the timing belt.

[0013] Optionally, the device body is further provided with a limiting slot and a guide plate, the synchronous belt clamping plate is movably arranged in the limiting slot, the guide plate is provided with a guide groove, the inner side of the movable rod is provided with a lead pin corresponding to the guide groove, and the guide groove corresponding to the accommodation recess is in an arc-shaped slot structure which is downwardly curved, thereby guiding the container shifting rod to be stored in the accommodation recess.

[0014] Optionally, the structure support is provided with a moving rod on each side, the conveying arm body is provided with a plurality of guide slot blocks corresponding to the moving rods, and the movable conveying belt assembly is movably connected with the conveying arm body through the moving rods.

[0015] Optionally, the tensioning and clamping device comprises a power source assembly, a telescopic assembly, a pressing plate and a fixing frame, the telescopic assembly is composed of a plurality of telescopic plates, two telescopic plates are connected through a hinge to form a V-shaped structure unit, the pressing plate and the fixing frame are arranged on the left and right sides of the V-shaped structure unit respectively, the power source assembly applies a moment in the front-rear direction to the telescopic assembly to make the V-shaped structure unit expand or contract in the left-right direction, and the pressing plate expands or contracts in the left-right direction by taking the fixing frame as a fixed side, the power source assembly adopts a motor as a power source, the power source assembly comprises a rocker and a pull rod, one end of the rocker is connected with a power output shaft of the power source assembly, and the other end of the rocker is connected with one end of the pull rod through a rotating shaft, and the other end of the pull rod is connected with the telescopic plate of the V-shaped structure unit through a rotating shaft.

[0016] Optionally, the telescopic assembly comprises a first V-shaped structure unit, a second V-shaped structure unit, a third V-shaped structure unit and a lead plate, the lead plate is provided with a lead limiting structure, the hinge end of the first V-shaped structure unit adopts a first hinge rod, the first hinge rod is connected with the rear end of the lead plate, the left and right sides of the other end of the first V-shaped structure unit are connected with the pressing plate and the fixing frame through hinge structures respectively,

[0017] the hinge end of the second V-shaped structure unit adopts a second hinge rod, the second hinge rod is arranged on the lead limiting structure and can move on the lead limiting structure in the front-rear direction, the left and right sides of the other end of the second V-shaped structure unit are connected with the pressing plate and the fixing frame through hinge structures respectively,

[0018] the hinge end of the third V-shaped structure unit adopts a third hinge rod, the third hinge rod is connected with the front end of the lead plate, and the left and right sides of the other end of the third V-shaped structure unit are connected with the pressing plate and the fixing frame through hinge structures respectively.

[0019] Optionally, the telescopic plate of the second V-shaped structure unit and the telescopic plate of the third V-shaped structure unit form a parallelogram structure.

[0020] Compared with the prior art, the present application has the following advantages:

[0021] 1. The movable conveying structure of the loading and unloading robot adopts a combined design of a fixed conveying belt assembly and a movable conveying belt assembly, which meets the requirement of relative swinging of the two conveying arms without affecting the material conveying in the rear section; by alternately arranging the first conveying belt and the second conveying belt, the smoothness and stability of material conveying are ensured, and the use effect is good.

[0022] 2. The present application is provided with a tensioning and clamping device to realize the clamping and guiding of the container, and the opening size of the tensioning and clamping device can be adjusted to realize the loading and unloading of different specifications of containers within a certain range, for example, the actual clamping space of the tensioning and clamping device is about 5mm larger than the container, which is conducive to ensuring the stability and safety of the conveying process during loading and unloading.

[0023] 3. By adjusting the left and right positions of the tensioning and clamping device relative to the conveying belt, the container can be stacked in a row along the left or right; because the width of the front conveying device of the loading and unloading robot is relatively wide, when stacking is needed, the position of the tensioning and clamping device on the left or right can be adjusted, and then the container is pushed along the left or right, realizing standard stacking, and the use effect is good.

[0024] 4. When loading, the container is conveyed forward along the conveying belt to the container stacking position, and in fact, when the container begins to partially separate from the conveying belt, the rear part of the container is still on the conveying belt, that is, the container cannot be completely conveyed to the container stacking position by the conveying belt alone, which will cause the container to be out of position. At this time, the container pushing lever pushes the container forward to the container stacking position, and after the action is completed, the pushing lever is returned to the position of the recess to prevent blocking the forward transmission of the next container.

[0025] 5. The telescopic assembly of the present application realizes telescopic function by adopting multiple V-shaped structure units, which can realize stable clamping operation of the extrusion plate with a length of more than 2-3 meters, and the clamping effect is good, the control is flexible and uniform, especially meets the requirement of continuous and balanced clamping intervention during long-distance conveying of goods during loading and unloading, and does not affect the continuous and smooth movement of the goods. BRIEF DESCRIPTION OF DRAWINGS

[0026] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description.

[0027] Figure 1is a perspective view of the movable conveying structure of the loading and unloading robot according to the present application after the second conveying belt is removed;

[0028] Figure 2 is a perspective view of the rear conveying arm of the movable conveying structure of the loading and unloading robot according to the present application;

[0029] Figure 3 is a partial internal view of the rear conveying arm of the movable conveying structure of the loading and unloading robot according to the present application;

[0030] Figure 4 is a rear perspective view of the rear conveying arm of the movable conveying structure of the loading and unloading robot according to the present application;

[0031] Figure 5 is a partial internal view of the rear conveying arm of the movable conveying structure of the loading and unloading robot according to the present application;

[0032] Figure 6 is a rear perspective view of the movable conveying structure of the loading and unloading robot according to the present application after one of the first partitions is removed;

[0033] Figure 7 is a combined structure view of the second partition of the movable conveying structure of the loading and unloading robot according to the present application;

[0034] Figure 8 is a structure view of the structure support of the movable conveying structure of the loading and unloading robot according to the present application;

[0035] Figure 9 is a structure view of the front conveying device of the loading and unloading robot according to the present application;

[0036] Figure 10 is a structure view of the conveying belt assembly of the front conveying device of the loading and unloading robot according to the present application;

[0037] Figure 11 is a structure view of the rotating assembly of the front conveying device of the loading and unloading robot according to the present application;

[0038] Figure 12 is a structure view of the screw bevel gear commutator of the front conveying device of the loading and unloading robot according to the present application;

[0039] Figure 13 is a structure view of the belt seat plate of the front conveying device of the loading and unloading robot according to the present application;

[0040] Figure 14 is a structure view of the joint speed reducer of the front conveying device of the loading and unloading robot according to the present application;

[0041] Figure 15 is a rear perspective view of the front conveying device of the loading and unloading robot according to the present application;

[0042] Figure 16 Figure 1 is a structural schematic diagram of the box poking rod of the front conveying device of the loading and unloading robot of the present application;

[0043] Figure 17 Figure 2 is a structural schematic diagram of the position of the synchronous belt clamping plate of the front conveying device of the loading and unloading robot of the present application;

[0044] Figure 18 Figure 3 is a structural schematic diagram of the position of the pin of the present application; Figure 17 Figure 4 is a structural schematic diagram of the position of the hidden synchronous belt clamping plate in Figure 3;

[0045] Figure 19 Figure 5 is a structural schematic diagram of the position of the guide plate of the present application;

[0046] Figure 20 Figure 6 is a structural schematic diagram of the position of the tensioning and clamping device of the present application;

[0047] Figure 21 Figure 7 is a structural schematic diagram of the position of the tensioning and clamping device of the present application;

[0048] Figure 22 Figure 8 is a structural schematic diagram of the position of the telescopic assembly of the present application after removing the fixing frame;

[0049] Figure 23 Figure 9 is a structural schematic diagram of the position of the telescopic assembly of the present application on one side of the extrusion plate;

[0050] Figure 24 Figure 10 is a structural schematic diagram of the position of the telescopic assembly of the present application after removing the extrusion plate;

[0051] Figure 25 Figure 11 is a top view of the telescopic assembly of the present application;

[0052] Figure 26 Figure 12 is a structural schematic diagram of the telescopic assembly of the present application;

[0053] Figure 27 Figure 13 is an assembly schematic diagram of the present application. DETAILED DESCRIPTION

[0054] In the loading and unloading robot provided with two or more conveying arms, such as the large arm conveying mechanism of the automatic loading and unloading robot of the present application, which is provided with three parts of the front conveying device 18 of the loading and unloading robot, the middle conveying arm 17 and the rear conveying arm 8, the rear lower part of the middle conveying arm 17 is provided with a device power system, the front conveying device of the loading and unloading robot is movably connected with the middle conveying arm; the two sides of the front conveying device and / or the two sides of the middle conveying arm and / or the two sides of the rear conveying arm are respectively provided with a tensioning and clamping device;

[0055] During operation, the middle conveyor arm generally needs to make various adjustment movements, while the rear conveyor arm is mainly used for continuous transport of goods. While ensuring the flexibility and smoothness of the middle conveyor arm's movement, the function of the rear conveyor arm in transporting goods is not affected.

[0056] like Figures 1-8 As shown, in this embodiment, the rear conveyor arm 8 is movably connected to the front conveyor arm via a universal joint 7. The rear conveyor arm 8 is provided with a fixed conveyor belt assembly and a movable conveyor belt assembly. The movable conveyor belt assembly includes a structural support 9. The main body of the structural support 9 is rectangular and is movably mounted on the rear conveyor arm 8. The structural support 9 is provided with a plurality of first conveyor belts 1 and first drive rollers. In this embodiment, two first conveyor belts 1 are provided, and the first drive rollers include a front first drive roller 11 and a rear first drive roller 14. The two sides of the front first drive roller 11 are respectively fixed to the C-shaped channel steel 6 on both sides by support plates 10. The C-shaped channel steel 6 is then fixed to the C-shaped channel steel 6 on both sides. A movable rod 5 is fixed to the outer side of the steel 6; while the first transmission roller 14 on the rear side is fixed to the C-shaped channel steel 6 through the support plate 15; a number of guide blocks 4 are provided on the body of the rear conveyor arm 8 corresponding to the movable rod 5, and the movable rod 5 can be displaced on the guide blocks 4, thereby realizing the horizontal movement of the movable conveyor belt assembly relative to the rear conveyor arm 8. The rear end of the universal head 7 is connected to the structural support 9 of the movable conveyor belt assembly. Therefore, when the middle conveyor arm swings in all directions, it can ensure that the middle conveyor arm and the rear conveyor arm 8 are connected to each other without interruption, that is, maintain smooth front and rear transmission, without affecting the flexibility of the swing of the middle conveyor arm. The fixed conveyor belt assembly is fixed to the rear conveyor arm 8; the fixed conveyor belt assembly includes a plurality of second conveyor belts 2 and second drive rollers; the second drive rollers include a front second drive roller 13 and a rear second drive roller 12; the front second drive roller 13 and the rear second drive roller 12 are respectively fixed to the two side walls of the rear conveyor arm 8; in this embodiment, two first conveyor belts 1 are provided, and three second conveyor belts 2 are provided; as Figure 2 As shown, the first conveyor belt 1 and the second conveyor belt 2 are alternately arranged. During use, the two first conveyor belts 1 can achieve horizontal displacement relative to the three second conveyor belts 2, which are in a fixed state. This satisfies the swinging motion of the middle conveyor arm relative to the rear conveyor arm 8, ensuring that the middle conveyor arm can make corresponding positional adjustments according to the on-site working environment. When the middle conveyor arm swings, the structural support 9 will coordinate and make corresponding displacements, but the displacement of the structural support 9 will not affect the normal transport of goods on the rear conveyor arm 8. Overall, this improves the flexibility and stability of goods receiving and transporting. Figure 1 and Figure 6As shown, it also includes a first partition 3, which is disposed above the first conveyor belt 1 and below the upper conveyor belt of the second conveyor belt 2. Its main function is to improve the stability of the second conveyor belt 2 in conveying heavy objects.

[0057] Optionally, in some embodiments, in order to improve the rigidity of the first partition 3, the first partition 3 is arranged laterally and fixed to the two sides of the rear conveying arm 8 by the upper tightening surfaces 3-1 on both sides. In order to improve its rigidity, a plurality of grooves 3-2 are arranged longitudinally in its middle part.

[0058] Optionally, a second partition 16 is also included. The second partition 16 is disposed below the upper conveyor belt of the first conveyor belt 1, and its function is to improve the stability of the first conveyor belt 1 in conveying heavy objects. The second partition 16 is arranged longitudinally, and its front and rear ends are respectively fixed to the support plate 10 and the support plate 15. In order to improve its rigidity, a plurality of grooves 16-1 are arranged longitudinally in its middle part.

[0059] like Figures 9-20 As shown, the front conveying device 18 of the loading and unloading robot includes a device body, on which a conveyor belt assembly is mounted. Tensioning and clamping devices 39 are mounted on both sides of the conveyor belt assembly. The tensioning and clamping devices 39 on both sides work together to clamp and guide the cargo box. Figure 15 As shown, the tensioning clamping device 39 employs an electrically controlled telescopic assembly 40. The pressing plate 41 of the telescopic assembly 40 clamps and guides the cargo box. The telescopic assembly 40 is driven by a motor to extend and retract to the left and right, thereby extending and retracting the pressing plate 41, and thus achieving the clamping and guiding operation of the cargo box. In a specific implementation, the simplest structure is a telescopic rod (worm gear or hydraulic telescopic cylinder), with a pressing plate 41 at the end of the telescopic rod. The extension and retraction of the pressing plate 41 is controlled by the telescopic rod to achieve the clamping and guiding operation.

[0060] In this embodiment, as Figures 21-25 As shown, the tensioning clamping device 39 includes a power source assembly, a telescopic assembly 40, a pressing plate 41, and a fixing frame. The telescopic assembly 40 is composed of several telescopic plates, and two of the telescopic plates are hinged to form a V-shaped structural unit. The pressing plate 41 and the fixing frame are respectively disposed 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 46 and an upper connecting part 45. The lower fixing part 46 is provided with a fixing hole for connecting to the vehicle body of the loading and unloading robot. Figure 27It can be clearly known that the tension clamping device is fixed to the two sides of the vehicle body (i.e. the two sides of the conveying belt) as a whole through the fixed frame; the upper connecting part 45 is provided with a connecting hole for connecting with the V-shaped structure unit.

[0061] As shown in Figure 22 , the telescopic assembly comprises a first V-shaped structure unit, a second V-shaped structure unit, a third V-shaped structure unit and a lead plate 62; the lead plate 62 is provided with a lead limiting structure, which is a lead long slot 58 in this embodiment, arranged along the front and rear direction of the lead plate;

[0062] The first V-shaped structure unit is composed of a first telescopic plate 49 and a second telescopic plate 63 arranged left and right, and then the hinged ends of the first telescopic plate 49 and the second telescopic plate 63 adopt a first hinge rod 50, which is connected with the rear end of the lead plate 62, i.e. from Figure 22 It can be seen that in this embodiment, the lead plate 62 is provided with one and is arranged at the top; the left and right sides of the other end of the first V-shaped structure unit are respectively connected with the extrusion plate 41 and the upper connecting part 45 of the fixed frame through a hinged structure; in this embodiment, the hinged structure can be selected as Figure 24 the hinged plate shown, which comprises a rectangular plate body, the upper and lower sides of the rectangular plate body are respectively provided with an upper U-shaped slot 53 and a U-shaped slot 67; the upper and lower ends of the telescopic plate of the V-shaped structure unit are movably connected with the U-shaped slots through a rotating shaft 66. As shown in Figures 21-22 , the rear end of the first telescopic plate 49 of the first V-shaped structure unit is connected with the upper connecting part 45 of the fixed frame through a first hinged plate 47 and a bolt 48; and the rear end of the second telescopic plate 63 is connected with the rear side of the extrusion plate 41 through a second hinged plate 64.

[0063] The second V-shaped structure unit is composed of a third telescopic plate 52 and a fourth telescopic plate 61 arranged left and right, and then the hinged ends of the third telescopic plate 52 and the fourth telescopic plate 61 are arranged at the rear end side, which adopt a second hinge rod 51, the upper end of the second hinge rod 51 is arranged in the lead long slot 58 and can move in the lead long slot 58 along the front and rear direction; the front side end of the third telescopic plate 52 is connected with the upper connecting part 45 of the fixed frame through a third hinged plate 54 and a bolt 55; the front side end of the fourth telescopic plate 61 is connected with the front side of the extrusion plate 41 through a fourth hinged plate 60.

[0064] The third V-shaped structure unit is composed of a fifth telescopic plate 56 and a sixth telescopic plate 59 arranged left and right, and then the hinged ends of the fifth telescopic plate 56 and the sixth telescopic plate 59 are arranged at the front end side, which adopts a third hinged rod 57, the upper end of the third hinged rod 57 is connected with the front end of the lead plate 62; the rear end of the fifth telescopic plate 56 is connected with the upper connecting part 45 of the fixed frame through a third hinged plate 54; the rear end of the sixth telescopic plate 59 is connected with the front side of the extrusion plate 41 through a fourth hinged plate 60. Figure 22 and Figure 25 As can be seen, in the embodiment, the third telescopic plate 52 and the fourth telescopic plate 61 of the second V-shaped structure unit and the fifth telescopic plate 56 and the sixth telescopic plate 59 of the third V-shaped structure unit form a parallelogram structure, which is beneficial to improve the stability, synchronization and consistency of stretching.

[0065] Optionally, the power source assembly is arranged at the rear side of the telescopic assembly 40; the power source assembly includes a rocker 42, a pull rod 65 and a motor 43; the motor 43 adopts a reduction stepper motor, which is fixed to the vehicle body through a motor fixed frame 44, one end of the rocker 42 is connected with the power output shaft of the motor 43, and the other end is connected with the rear end of the pull rod 65 through a rotating shaft 69; the front end of the pull rod 65 is connected with the upper part of the first telescopic plate 49 through a rotating shaft 68.

[0066] The 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 43 rotates clockwise by a certain angle, such as less than 180 degrees, the rocker 42 swings to the rear side by a certain angle, then pulls the pull rod 65, and the pull rod 65 exerts a rearward force on the first telescopic plate 49; at this time, because the connections of the three points of the first V-shaped structure unit are all hinged, the middle point of the first V-shaped structure unit pulls the lead plate 62 rearward, and the end point of the first telescopic plate 49 is connected with the fixed frame, which is the fixed side, so at this time the first V-shaped structure unit expands, which is manifested as the stretching of one side of the second telescopic plate 63; and the rearward pulling of the lead plate 62 is manifested as the compression of the front and rear positions of the parallelogram of the second V-shaped structure unit and the third V-shaped structure unit, and the fixed frame side is the fixed side, that is, fixed, which is further manifested as the expansion of one side of the extrusion plate 41; at this time, the extrusion plate 41 realizes the full-range extrusion of the goods moving on the conveying belt; if it is necessary to adjust the extrusion degree, the positive transmission and reversal of the motor 43 by a certain angle are controlled to realize the adjustment of the extrusion force of the goods.

[0067] As Figure 27As shown, when applied, the tension clamping device is fixed to the left and right sides of the conveyor belt on the vehicle body of the loading and unloading robot, so as to realize the side pressure intervention on the moving goods (boxes) on the conveyor belt. For example, when unloading, the mechanical arm of the loading and unloading robot is relatively steep, and at this time the conveyor belt is also relatively steep. In order to ensure the safety of the loading and unloading process, the clamping function of the device needs to be exerted at this time, and the clamping function of the device and the conveying function of the conveyor belt are combined to form a combined force, so as to safely unload the high-position goods and convey the high-position goods to a low position. The structure of the device can provide balanced clamping force during long-distance conveying, such as the length of the extrusion plate 41 can be about 3 meters. The device realizes the synchronous stretching and contraction of three units through the combination of the first V-shaped structure unit, the second V-shaped structure unit and the third V-shaped structure unit, ensures the balance of wide-range clamping, and ensures the smoothness, stability and safety of the whole goods conveying process, and has good use effect. When loading, stacking is needed, and the device can be used to adjust the position of the box relative to the left and right sides of the conveyor belt, that is, the box can be stacked in a row along the left or right side. Because, for example, the width of the front conveying device of the loading and unloading robot is relatively wide, when stacking is needed, the position of the box can be adjusted by the device arranged on the left and right sides, and then the box is pushed along the left or right side, so as to realize standard stacking, and the use effect is good.

[0068] The tension clamping device 39 is arranged to:

[0069] 1. The device can realize the clamping and guiding of the box, and the size of the opening of the tension clamping device can be adjusted to realize the loading and unloading of different specifications of boxes within a certain range. For example, the actual clamping space of the tension clamping device is about 5mm larger than the box, which is beneficial to ensure the stability and safety of the conveying process during loading and unloading.

[0070] 2. The position of the box relative to the left and right sides of the conveyor belt can be adjusted by the tension clamping device, so as to realize the stacking of the box in a row along the left or right side. Because the width of the front conveying device of the loading and unloading robot is relatively wide, when stacking is needed, the position of the box can be adjusted by the tension clamping device on the left or right side, and then the box is pushed along the left or right side, so as to realize standard stacking, and the use effect is good.

[0071] As Figure 9 shown, the middle position of the conveyor belt 19 of the conveyor belt assembly is provided with a recess 20, and a box pushing rod 22 is movably arranged in the recess 20. The box pushing rod 22 is driven by a synchronous belt 21 and can move back and forth above the conveyor belt 19 to assist the conveying of the box. In this embodiment, the box pushing rod 22 adopts the following structure:

[0072] AsFigures 16-20 As shown, the cargo box actuation lever 22 includes a crossbar 22-1, a connecting block 22-2, a movable rod 22-4, and a timing belt clamp 22-11; the top view of the crossbar 22-1 is C-shaped, and the left and right sides of the crossbar 22-1 are respectively connected to one of the connecting blocks 22-2; then each connecting block 22-2 is provided with two movable rods 22-4, and the upper end of the movable rod 22-4 is rotatably connected to the connecting block 22-2 through a pin 22-3, such as... Figure 19 As shown, pin 22-3 is provided with a slot 22-3-1, thereby enabling the movable rod 22-4 to be rotatably mounted; the lower end of the movable rod 22-4 is rotatably connected to the timing belt clamp; in this embodiment, the following scheme is preferred: Figures 17-18 As shown, a support plate 22-8 is provided at the lower part of the synchronous belt clamp 22-11, and insertion holes 22-9 are provided on the front and rear sides of the support plate 22-8; the movable rod 22-4 is rotatably connected to the support plate 22-8 by being rotatably inserted into the insertion hole 22-9 through the insertion rod 22-12; the synchronous belt clamp 22-11 is driven to move by the synchronous belt 21.

[0073] Optional, such as Figure 16 As shown, the device body is also provided with a limiting groove 22-7 and a guide plate 22-5. The synchronous belt clamp 22-11 is movably disposed within the limiting groove 22-7. To improve the smoothness of movement, two rollers 22-10 are also provided below the outer side of the support plate 22-8, and the outer side of the rollers 22-10 contacts the inner sidewall of the limiting groove 22-7. For example... Figure 20 The guide plate 22-5 is provided with a guide groove 22-5-1; the inner side of the movable rod 22-4 is provided with a guide pin 22-4-1 corresponding to the guide groove, which serves as a guide; the guide groove 22-5-1 corresponding to the clearance groove 20 has a downwardly curved arc-shaped groove structure. The purpose of this design is to guide the cargo box actuation rod to retract into the clearance groove and to guide it to slide out of the clearance groove 20 when the cargo box is pushed forward. At the same time, when the cargo box is pushed forward, it plays a certain limiting role in preventing the crossbar 22-1 from tilting backward too much. Of course, a corresponding limiting device can also be provided on the support plate 22-8 to prevent the crossbar 22-1 from tilting backward too much due to the movable rod 22-4 swinging backward too much during the process of pushing the cargo box.

[0074] In this embodiment, the guiding movement is achieved by the guide groove 22-5-1, and the retractable design of the cargo box lever is achieved by the rotatable connection between the upper and lower ends of the movable rod 22-4, resulting in good performance.

[0075] The function of the container shifting lever 22 is to push the container to the container stacking position when loading, and in fact, when the container starts to partially separate from the conveying belt, the rear part of the container still remains on the conveying belt, i.e. the container cannot be completely conveyed to the container stacking position by the conveying belt alone, which results in the container not being in place. At this time, the container shifting lever pushes the container to the container stacking position, and after the operation is completed, the shifting lever is reset in the recess to prevent blocking the forward transmission of the next container.

[0076] Optionally, the conveying belt assembly comprises a recess roller set and a power roller set; the recess roller set is arranged at the recess 20 and comprises a first deflection roller 25, a second deflection roller 29, a third deflection roller 30 and a fourth deflection roller 26 arranged in a U-shaped combination; the recess roller set causes the conveying belt to form the recess 20. In processing, the width of the recess 20 is smaller than the size width of the container, so as to ensure the smooth transmission of the container.

[0077] Optionally, as shown in Figure 10 Optionally, the conveying belt assembly comprises a power roller set, which is arranged outside the recess roller set; the power roller set comprises a fifth deflection roller 31, a driving roller 32, a sixth deflection roller 28 and a seventh deflection roller 27; the fifth deflection roller 31, the driving roller 32 and the sixth deflection roller 28 are arranged in a triangular shape, so as to ensure that the conveying belt 19 can obtain stable driving force; the seventh deflection roller 27 is arranged above the sixth deflection roller 28, the sixth deflection roller 28 plays a rear deflection role on the conveying belt 19, and the seventh deflection roller 27 plays a front deflection role on the conveying belt. By using the above scheme, it can be ensured that only one driving motor and one conveying belt 19 are needed to realize the front conveying of the recess 20, and the transmission of the conveying belt 19 is stable, and the conveying effect is good.

[0078] Optionally, in order to meet the operation flexibility required in the process of loading and unloading the container, in the embodiment, the device body is connected with the middle conveying arm 17 through a rotating assembly; the rotating assembly comprises a belt machine base plate 24, a U-shaped connecting plate 35, and an articulated reducer; a connecting head 38 is arranged on the rear end of the two side plates 23 of the device body, and the two ends of the belt machine base plate 24 are connected with the connecting head 38 through bolts 33; the articulated reducer is available in existing devices, which comprises a speed reduction motor and an articulated rotating table; the articulated rotating table penetrates through the middle part of the belt machine base plate 24 and is connected with the belt machine base plate 24 through a first tightening ring 37 arranged on the articulated rotating table; a rotating connecting table 36 is arranged at the end of the articulated rotating table, and the middle part of the U-shaped connecting plate 35 is connected with the rotating connecting table 36; under the action of the articulated reducer, the belt machine base plate 24 can rotate relative to the U-shaped connecting plate 35, and then the device body can rotate relative to the middle conveying arm, which is conducive to controlling the slight rotation and inclination of the device body along the left and right sides in the process of loading and unloading the container, so as to better adapt to the requirements of different working conditions. The two ends of the U-shaped connecting plate 35 are connected with the screw bevel gear reverser 34 of the middle conveying arm through a connecting shaft 19, and the two side plates of the U-shaped connecting plate 35 are arranged horizontally in the up-down orientation; the purpose of this arrangement is that under the action of the screw bevel gear reverser 34, the rotation of the U-shaped connecting plate 35 can be driven, and then the device body can swing horizontally along the left and right orientations with the screw bevel gear reverser 34 as the axis center relative to the middle conveying arm, which is conducive to improving the flexibility of the operation of the device body in the process of loading and unloading the container.

Claims

1. An automatic loading and unloading robot boom conveying mechanism, characterized in that: The loading and unloading robot includes a front conveying device, a middle conveying arm, and a rear conveying arm. The front conveying device is movably connected to the middle conveying arm. The middle conveying arm is movably connected to the rear conveying arm via a universal joint. Tensioning and clamping devices are respectively provided on both sides of the front conveying device and / or both sides of the middle conveying arm and / or both sides of the rear conveying arm. The loading and unloading robot's front conveying device includes a device body, on which a conveyor belt assembly is provided. A clearance groove is provided in the middle of the conveyor belt of the conveyor belt assembly, and a cargo box actuating rod is movably disposed in the clearance groove. The cargo box actuating rod can move back and forth along the top of the conveyor belt and assist in the conveying of the cargo box. The rear conveyor arm includes a movable conveyor structure for a loading and unloading robot; the movable conveyor structure includes a conveyor arm body, on which a fixed conveyor belt assembly and a movable conveyor belt assembly are provided; the movable conveyor belt assembly includes a structural support; the main body of the structural support is movably mounted on the conveyor arm body; the structural support is provided with a plurality of first conveyor belts and first drive rollers; the fixed conveyor belt assembly is fixed on the conveyor arm body; the fixed conveyor belt assembly includes a plurality of second conveyor belts and second drive rollers; the first conveyor belts and the second conveyor belts are arranged alternately. The tensioning clamping device includes a power source assembly, a telescopic assembly, a compression plate, and a fixing frame. The telescopic assembly consists of several telescopic plates, and two telescopic plates are hinged to form a V-shaped structural unit. The compression plate and the fixing frame are respectively disposed 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 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 the other end is connected to one end of the pull rod through a rotating shaft. The other end of the pull rod is connected to the telescopic plate of the V-shaped structural unit through a rotating shaft.

2. The automatic loading and unloading robot boom conveying mechanism according to claim 1, characterized in that: The conveyor belt assembly includes a relief groove roller group; the relief groove roller group is disposed at the relief groove, and includes a first steering roller, a second steering roller, a third steering roller, and a fourth steering roller arranged in a U-shape; the relief groove roller group causes the conveyor belt to form the relief groove.

3. The automatic loading and unloading robot boom conveying mechanism according to claim 1, characterized in that: The device body is connected to the central conveyor arm via a rotating assembly; the rotating assembly includes a belt conveyor base plate, a U-shaped connecting plate, and a joint reducer; both ends of the belt conveyor base plate are connected to both sides of the device body; the joint reducer includes a geared motor and a joint rotating platform, the joint rotating platform passing through the middle of the belt conveyor base plate and connected to the belt conveyor base plate; the middle of the U-shaped connecting plate is connected to the outer end of the joint rotating platform; both ends of the U-shaped connecting plate are connected to the central conveyor arm; under the action of the joint reducer, the belt conveyor base plate can rotate relative to the U-shaped connecting plate, thereby realizing the rotation of the device body relative to the central conveyor arm.

4. The automatic loading and unloading robot boom conveying mechanism according to claim 3, characterized in that: The two ends of the U-shaped connecting plate are connected to the spiral bevel gear commutator of the middle conveying arm, and the two side plates of the U-shaped connecting plate are arranged horizontally in the upper and lower positions; under the action of the spiral bevel gear commutator, the U-shaped connecting plate can be driven to rotate, thereby realizing the horizontal swing of the device body relative to the middle conveying arm in the left and right directions and the vertical swing of the device body in the upper and lower directions.

5. The automatic loading and unloading robot boom conveying mechanism according to claim 1, characterized in that: The cargo box actuation lever includes a crossbar, a connecting block, a movable rod, and a timing belt clamp; the left and right sides of the crossbar are respectively connected to one of the connecting blocks; the upper end of the movable rod is rotatably connected to the connecting block; the lower end of the movable rod is rotatably connected to the timing belt clamp; the timing belt clamp is driven to move by the timing belt.

6. The automatic loading and unloading robot boom conveying mechanism according to claim 5, characterized in that: The device body is also provided with a limiting groove and a guide plate. The timing belt clamp is movably disposed in the limiting groove. The guide plate is provided with a guide groove. The inner side of the movable rod is provided with a lead pin corresponding to the guide groove. The guide groove corresponding to the clearance groove has a downward curved arc groove structure, which serves to guide the cargo box toggle rod to be retracted into the clearance groove.

7. The automatic loading and unloading robot boom conveying mechanism according to claim 1, characterized in that: Each side of the structural support is provided with a movable rod, and the conveyor arm body is provided with a plurality of guide groove blocks corresponding to the movable rods; the movable conveyor belt assembly is movably connected to the conveyor arm body through the movable rods.

8. The automatic loading and unloading robot boom conveying mechanism according to claim 1, characterized in that: 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.

9. The automatic loading and unloading robot boom conveying mechanism according to claim 8, characterized in that: 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.

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