Gantry type unloading device

Abstract

The utility model relates to the field of logistics storage, in particular to a portal frame type unloading device which comprises more than two AGV walking vehicles, a portal frame erected on the walking vehicles, a lifting platform arranged on the portal frame in an up-down lifting mode, a lifting driving device for driving the lifting platform and a grabbing device arranged on the lifting platform. And the grabbing device comprises at least two clamping arms which are close to or separated from each other and a clamping driving device for driving the two clamping arms to act. The technical problem that an existing open type truck is not high in unloading efficiency is solved.

Description

Technical Field

[0001] The utility model relates to the field of logistics warehousing, and particularly relates to a gantry type unloading device. Background Technique

[0002] At present, in the field of logistics truck unloading, in order to achieve better automation and improve work efficiency, robots and other methods have been widely used. For example, an extensible loading and unloading device and its unloading method disclosed by the applicant in Chinese Patent Publication No.: CN113998494A includes a support platform, the support platform has a conveying front end and a conveying rear end, a plurality of transverse moving wheel mechanisms for realizing the transverse movement of the support platform are arranged on both sides of the support platform, a conveyor belt mechanism for conveying materials is arranged on the support platform, the conveying direction of the conveyor belt mechanism is from the conveying front end to the conveying rear end, a walking trolley is arranged on the support platform, and the walking trolley includes a bracket and a multi-degree-of-freedom grasping device arranged on the bracket. It solves the technical problems of low efficiency and large unloading limitations. This kind of unloading device is mainly used for van trucks.

[0003] In some existing open freight transports, the packages are actually stacked naked in the truck bed. At this time, it is not very necessary to use the above-mentioned unloading device, and its efficiency will not be greatly improved. The applicant has studied this solution for unloading open trucks. Content of the Utility Model

[0004] Therefore, in view of the above problems, the utility model provides a gantry type unloading device, which solves the technical problem of low unloading efficiency of existing open trucks.

[0005] To achieve the above object, the utility model adopts the following technical solutions: A gantry type unloading device includes more than two AGV walking vehicles, a gantry erected on the walking vehicles, a lifting platform that can be lifted up and down on the gantry, a lifting drive device for driving the lifting platform, and a grasping device arranged on the lifting platform. The grasping device includes at least two clamping arms that approach or separate from each other and a clamping drive device for driving the two clamping arms to act.

[0006] Further, the grasping device is rotatably arranged on the lifting platform, and a rotation drive device for driving the grasping device to rotate is arranged on the lifting platform.

[0007] Further, the grasping device includes a mounting seat, a sliding rod is arranged on the mounting seat, and the two clamping arms can slide along the sliding rod to approach or separate from each other.

[0008] Further, the clamping drive device is a double-acting oil cylinder or a double-acting air cylinder or a double-acting electric cylinder.

[0009] Furthermore, an anti-falling mechanism is provided on the inner side of the clamping arm, and the anti-falling mechanism has a plurality of fork plates extending horizontally.

[0010] Furthermore, the anti-falling mechanism includes a support member for fixing to the clamping arm, a plurality of support ears provided on the support member, and anti-falling units provided on the support ears. Each fork plate is provided on the anti-falling unit. The fork plates on each anti-falling unit are spaced apart, and the ends are located on the same vertical plane, and each fork plate is lower at the end close to the clamping arm than at the end far from the clamping arm.

[0011] Furthermore, the anti-falling unit is rotatably provided on the support ear. The rotation angle of each fork plate is less than 30 degrees and greater than 10 degrees. When the fork plate rotates, the distance between the end of the lowermost fork plate on the same anti-falling unit and the clamping arm is the largest.

[0012] Furthermore, the AGV mobile vehicle includes a main vehicle body and a parking mechanism provided on the main vehicle body. The parking mechanism includes a parking drive device and a parking support plate provided on the parking drive device. The parking support plate realizes up and down lifting under the action of the parking drive device to achieve parking.

[0013] By adopting the foregoing technical solutions, the beneficial effects of the present utility model are as follows:

[0014] 1. Through the setting of the AGV mobile vehicle in this solution, trackless free movement is realized, improving the convenience of movement. The AGV mobile vehicle here can be set to more than two, mainly to cooperate with the gantry to achieve effective support. In this solution, it is set to four. The lifting platform, the grasping device, and the clamping arm are used to unload goods from the truck. When unloading is required, the AGV mobile vehicle moves the gantry to the truck, makes the gantry span both sides of the truck, then uses the lifting platform to descend to a suitable height, uses the clamping arm on the grasping device to clamp and grasp the goods, then raises the lifting platform, and then the AGV mobile vehicle moves the goods to the stacking position and releases the goods for stacking. In actual application, multiple cameras can be set on the gantry to capture the posture of the goods, thereby assisting in the grasping operation.

[0015] 2. The setting of the rotation drive device can achieve better grasping or placing. For example, the angle adjustment when the goods are tilted.

[0016] 3. The setting of the anti-falling mechanism can achieve relatively effective clamping. Compared with the existing clamping arm, it has a better clamping effect. The anti-falling mechanism can be composed of a support member, support ears, anti-falling units, and fork plates, or can be just a rubber plate with a large friction force, or can also be a clamping surface composed of multiple similar suction cups.

[0017] 4. The anti-falling unit is rotatably arranged on the supporting ear, and the rotation angle of each fork plate is less than 30 degrees and greater than 10 degrees. When the fork plate rotates, the distance between the end of the lowermost fork plate on the same anti-falling unit and the clamping arm is the largest. Such a setting makes it possible that when the clamping arm descends, if the fork plate touches the goods, rotation will occur, thus avoiding friction between multiple fork plates and the goods. Moreover, the fork plate can be curved, thus forming a relatively effective guide. When the clamping arm is lifted upward, the anti-falling unit will reset, and good anti-falling purposes can be achieved by the contact between multiple fork plates and the goods.

[0018] 5. The setting of the parking mechanism can achieve good stability and good stability during the grasping and stacking of goods. Brief Description of the Drawings

[0019] Figure 1 is the structural schematic diagram of the present utility model;

[0020] Figure 2 is Figure 1 the schematic right view state diagram;

[0021] Figure 3 is the structural schematic diagram of the AGV walking vehicle;

[0022] Figure 4 is the schematic top view state diagram of the AGV walking vehicle;

[0023] Figure 5 is the structural schematic diagram of the anti-falling mechanism;

[0024] Figure 6 is the state diagram when the anti-falling mechanism touches the surface of the goods.

[0025] Reference Signs:

[0026] 1. AGV walking vehicle; 2. Gantry; 3. Lifting platform; 4. Lifting drive device; 51. Clamping arm; 52. Clamping drive device; 53. Rotation drive device; 54. Mounting seat; 55. Sliding rod; 56. Anti-falling mechanism; 561. Support member; 562. Support ear; 563. Anti-falling unit; 564. Fork plate; 61. Parking drive device; 62. Parking support plate. Detailed Description of the Preferred Embodiment

[0027] The present utility model will be further described below in conjunction with the accompanying drawings and specific embodiments.

[0028] Reference Figures 1 to 6, this embodiment provides a gantry unloading device, including more than two AGV walking vehicles 1, a gantry 2 erected on the walking vehicles, a lifting platform 3 that can be lifted up and down on the gantry 2, a lifting drive device 4 for driving the lifting platform 3, and a grasping device provided on the lifting platform 3. The grasping device includes at least two clamping arms 51 that approach or separate from each other and a clamping drive device 52 for driving the two clamping arms 51 to act. The grasping device is rotatably provided on the lifting platform 3, and a rotation drive device 53 for driving the grasping device to rotate is provided on the lifting platform 3. The grasping device includes a mounting base 54, and a sliding rod 55 is arranged on the mounting base 54. The two clamping arms 51 can slide along the sliding rod 55 to approach or separate from each other. The clamping drive device 52 is a two-way oil cylinder or a two-way air cylinder or a two-way electric cylinder, or other mechanisms that can achieve two-way drive. A fall prevention mechanism 56 is arranged on the inner side of the clamping arm 51, and the fall prevention mechanism 56 has a plurality of fork plates 564 extending horizontally. The fall prevention mechanism 56 includes a support member 561 for fixing to the clamping arm 51, a plurality of support ears 562 arranged on the support member 561, and a fall prevention unit 563 arranged on the support ears 562. Each fork plate 564 is arranged on the fall prevention unit 563. The fork plates 564 on each fall prevention unit 563 are arranged at intervals, and the ends are located on the same vertical plane, and each fork plate 564 is lower at the end close to the clamping arm 51 than at the end far from the clamping arm 51. The fall prevention unit 563 is rotatably arranged on the support ear 562, and the rotation angle α of each fork plate 564 is less than 30 degrees and greater than 10 degrees, and is set to 15 degrees in this solution. As Figure 5 shown, where the dotted line shows the maximum angle at which the fall prevention unit can rotate, and in the normal state, the fall prevention unit is in a horizontal static state under the action of gravity. As Figure 6 shown, when the clamping arm descends to clamp an item, it will cause the fall prevention unit to contact the side of the goods, thereby achieving rotation.

[0029] When the fork plate 564 rotates, the distance between the end of the lowermost fork plate 564 on the same fall prevention unit 563 and the clamping arm 51 is the largest. The AGV walking vehicle 1 includes a main vehicle body and a parking mechanism arranged on the main vehicle body. The parking mechanism includes a parking drive device 61 and a parking support plate 62 arranged on the parking drive device 61. The parking support plate 62 realizes up and down lifting under the action of the parking drive device 61 to achieve parking.

[0030] The above AGV walking vehicle is a conventional technology in the field. Its wheels can use Mecanum wheels or ordinary wheels. The above lifting drive device can use a servo motor, the clamping drive device can use a bidirectional electric cylinder, and the rotation drive device can use a servo motor. The above fork plate can use materials with small deformation such as hard rubber and engineering plastics, or a metal fork plate can be used and a layer of rubber material can be coated on the fork plate. The above parking drive device can be a telescopic motor.

[0031] The beneficial effects of the present utility model are as follows:

[0032] 1. Through the setting of the AGV walking vehicle in this solution, trackless free walking is realized, improving the convenience of movement. Here, more than two AGV walking vehicles can be set, mainly to cooperate with the gantry to achieve effective support. In this solution, four are set. The lifting platform, the grasping device, and the clamping arm are used to unload goods from the truck. When unloading is required, the AGV walking vehicle moves the gantry to the truck, making the gantry span both sides of the truck. Then, the lifting platform is lowered to an appropriate height, and the clamping arm on the grasping device is used to clamp and grab the goods. Then, the lifting platform is raised, and then the AGV walking vehicle moves the goods to the stacking position and releases the goods for stacking. In actual application, multiple cameras can be set on the gantry to capture the posture of the goods, thereby assisting in the grasping operation.

[0033] 2. The setting of the rotation drive device can achieve better grasping or placing. For example, the angle adjustment when the goods are tilted.

[0034] 3. The setting of the anti-falling mechanism can achieve relatively effective clamping. Compared with the existing clamping arms, it has a better clamping effect. The anti-falling mechanism can be composed of a support member, a support ear, an anti-falling unit, and a fork plate, or it can be just a rubber plate with a large friction force, or it can also be a clamping surface composed of multiple similar suction cups.

[0035] 4. The anti-falling unit is rotatably arranged on the support ear. The rotation angle of each fork plate is less than 30 degrees and greater than 10 degrees. When the fork plate rotates, the distance between the end of the lowermost fork plate on the same anti-falling unit and the clamping arm is the largest. Such a setting makes the clamping arm rotate when the fork plate touches the goods when the clamping arm descends, thus avoiding the friction between multiple fork plates and the goods. Moreover, the fork plate can be bent, thus forming a relatively effective guide. When the clamping arm is lifted upward, the anti-falling unit will reset, and the purpose of better anti-falling is achieved by the contact between multiple fork plates and the goods.

[0036] 5. The setting of the parking mechanism can achieve better stability and better stability during the grasping and stacking of goods.

[0037] Although the present utility model is specifically shown and described in conjunction with preferred embodiments, those skilled in the art should understand that various changes can be made to the present utility model in terms of form and details without departing from the spirit and scope of the present utility model defined by the appended claims, and all such changes are within the protection scope of the present utility model.

Claims

1. A gantry type unloading device, characterized in that: It includes more than two AGV walking vehicles, a gantry erected on the walking vehicles, a lifting platform that can be lifted up and down on the gantry, a lifting drive device for driving the lifting platform, and a grasping device arranged on the lifting platform. The grasping device includes at least two clamping arms that approach or separate from each other and a clamping drive device for driving the two clamping arms to act. An anti-falling mechanism is arranged on the inner side of the clamping arms, and there are a plurality of fork plates extending horizontally on the anti-falling mechanism.

2. The gantry unloading device according to claim 1, wherein: The grasping device is rotatably arranged on the lifting platform, and a rotation drive device for driving the grasping device to rotate is arranged on the lifting platform.

3. The gantry unloading device according to claim 1, characterized in that: The grasping device includes a mounting seat, and a sliding rod is arranged on the mounting seat. The two clamping arms can slide along the sliding rod to approach or separate from each other.

4. The gantry unloading device according to claim 3, characterized in that: The clamping drive device is a two-way oil cylinder or a two-way air cylinder or a two-way electric cylinder.

5. The gantry unloading device according to claim 1, wherein: The anti-falling mechanism includes a support member for fixing to the clamping arm, a plurality of support ears arranged on the support member, and anti-falling units arranged on the support ears. Each fork plate is arranged on the anti-falling unit. The fork plates on each anti-falling unit are arranged at intervals, and the ends are located on the same vertical plane, and each fork plate is lower at the end close to the clamping arm than at the end far from the clamping arm.

6. The gantry unloading device according to claim 5, wherein: The anti-falling unit is rotatably arranged on the support ear. The rotation angle of each fork plate is less than 30 degrees and greater than 10 degrees. When the fork plate rotates, the distance between the end of the lowermost fork plate on the same anti-falling unit and the clamping arm is the largest.

7. The gantry unloading device according to claim 5, wherein: The AGV walking vehicle includes a main vehicle body and a parking mechanism arranged on the main vehicle body. The parking mechanism includes a parking drive device and a parking support plate arranged on the parking drive device. The parking support plate realizes up and down lifting under the action of the parking drive device to achieve parking.

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