Multi-robot loading and conveying equipment

Abstract

The utility model relates to the technical field of material conveying equipment, and discloses multi-robot loading and conveying equipment which comprises a rack, a conveying belt for horizontally conveying materials, a sliding frame connected to the rack in a sliding mode in the horizontal direction and loading robots installed on the sliding frame. The number of the conveying belts, the number of the sliding frames and the number of the loading robots are all two, the two conveying belts are arranged front and back, a gap for materials to pass through is formed between the two conveying belts, a driving assembly for controlling the sliding frames to move is arranged on the rack, and a feeding assembly is arranged on the side, away from the sliding frames, of the rack. The device can work cooperatively, and has the effect of improving the production and loading efficiency.

Description

Technical Field

[0001] The utility model relates to the technical field of material conveying equipment, in particular to multi-robot loading and conveying equipment. Background Art

[0002] The loading process of bagged materials is usually carried out automatically via conveyor belts, but the final unloading and loading process often requires manual handling and palletizing. With the continuous development of automation technology, single-robot loading systems have become increasingly popular. However, when faced with the demand for large-scale, high-efficiency material transportation, single-robot systems still seem to be unable to meet the needs. Therefore, it is particularly important to develop a multi-robot loading and conveying system that can work collaboratively and improve production efficiency. Utility Model Content

[0003] The purpose of the utility model is to provide a multi-robot loading and conveying device that can work in coordination and has the effect of improving production loading efficiency.

[0004] Base comprises support, castor, and frame upper is provided with guide rail, and support and conveyer frames movable end contact site are provided with recoil spring or rubber cushion, and castor is arranged on the pin of base bottom four, to carry mobile handler location.

[0005] By adopting the above technical solution, when loading, the vehicle is placed at one end of the rack, the loading component sends the bagged materials to the conveyor belt, the conveyor belt sends the materials through the lifting rack to the discharge rack, the loading robot grabs the materials on the discharge rack and places them on the vehicle for stacking, and the driving component controls the sliding rack to move on the rack, thereby controlling the position of the loading robot to be adaptively adjusted according to the feeding speed and loading position, so that the two loading robots can work together to improve production loading efficiency.

[0006] The present invention is further configured as follows: the loading assembly includes two feeding racks fixedly connected to the frame, the two feeding racks are arranged up and down, a first transition conveyor belt is arranged between the feeding rack located above and the conveyor belt close to the feeding rack, the first transition conveyor belt is arranged horizontally, a second transition conveyor belt is arranged between the feeding rack located below and the conveyor belt away from the feeding rack, the second transition conveyor belt includes a horizontal conveyor belt and an inclined conveyor belt, the horizontal conveyor belt is in contact with the feeding rack, one end of the inclined conveyor belt is in contact with the horizontal conveyor belt, and the other end is in contact with the conveyor belt away from the feeding rack.

[0007] By adopting the above technical solution, after the bagged material enters the feeding rack, the feeding rack transports it and enters the two conveyor belts through the first transition conveyor belt and the second transition conveyor belt respectively, and then the material is sent to the discharge rack through the conveyor belt.

[0008] The utility model is further configured as follows: a plurality of feed rollers are provided on the feed rack, the plurality of feed rollers are evenly arranged along the feeding direction of the feed rack, and limit rods are symmetrically provided at both ends of the feed rack, and the limit rods are inclined outwardly on the side away from the conveyor belt.

[0009] By adopting the above technical solution, the limiting rod can adjust the angle of the material entering the feeding rack so that it remains parallel to the conveying direction.

[0010] The utility model is further configured as follows: a portal frame is fixedly connected to the feeding frame, a rotating frame is hinged on the portal frame, an end of the rotating frame away from the portal frame is rotatably connected to a rotating shaft, a pressing cylinder is fixedly connected to the rotating shaft, and the pressing cylinder faces the material conveying direction, a cylinder is hinged on the feeding frame, an output end of the cylinder is hinged to the rotating frame, and two cylinders are provided and are respectively arranged on both sides of the feeding frame.

[0011] By adopting the above technical solution, when the material enters the feeding rack, the pressing cylinder contacts the upper surface of the material. Under the action of the cylinder and the limit rods at both ends, the pressing cylinder flattens the material, making it convenient for the subsequent loading robot to stack it.

[0012] The utility model is further configured as follows: a plurality of material transfer rollers are evenly arranged on the material discharging rack along the direction of the central axis thereof.

[0013] By adopting the above technical solution, the material transfer roller transports the material on the material rack, making it easier for the loading robot to grab the material.

[0014] The present invention is further configured as follows: a side of the material discharging rack close to the sliding rack is fixedly connected to a limiting plate.

[0015] By adopting the above technical solution, the limiting plate limits the position of the material on the material rack, and the material is clamped within the range that the loading robot can grasp.

[0016] The utility model is further configured as follows: the driving assembly includes a driving motor fixedly connected to the sliding frame, a rack arranged along the feeding direction of the conveyor belt is fixedly connected to the frame, a gear engaged with the rack is fixedly connected to the output end of the driving motor, slide rails are provided at both ends of the frame, the sliding frame is slidably connected to the slide rails, and the sliding frame moves back and forth above the conveyor belt along the slide rails.

[0017] By adopting the above technical solution, the driving motor controls the rotation of the gear, thereby controlling the sliding frame to slide on the frame under the restriction of the rack.

[0018] The present invention is further configured as follows: both ends of the material placing rack are provided with limit racks which slide on the slide rails.

[0019] The present invention is further configured as follows: a grabbing piece for grabbing materials is provided at the end of the loading robot.

[0020] The utility model is further configured as follows: a guardrail is provided on one end of the frame.

[0021] By adopting the above technical solution, the safety of the equipment is improved.

[0022] The beneficial effects of the utility model are:

[0023] 1. When loading a vehicle, the utility model places the vehicle at one end of the frame, the loading assembly sends the bagged materials to the conveyor belt, the conveyor belt sends the materials to the discharge rack through the lifting rack, the loading robot grabs the materials on the discharge rack and places them on the vehicle for palletizing, and the driving assembly controls the sliding rack to move on the frame, thereby controlling the position of the loading robot to be adaptively adjusted according to the feeding speed and the loading position, so that the two loading robots can work together to improve the production loading efficiency.

[0024] 2. The feeding rack of the utility model is provided with a door frame, a rotating frame and a pressing cylinder. Under the action of the cylinder and the limit rod, the material can be leveled, making it convenient for the subsequent loading robot to grab it and load and stack it. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0026] Figure 1 It is a schematic structural diagram of the utility model.

[0027] Figure 2 It is a rear view structural schematic diagram of the utility model.

[0028] Figure 3 yes Figure 1 A magnified schematic diagram of the structure in the middle.

[0029] Figure 4 yes Figure 2 Enlarged schematic diagram of the structure at point B in the middle.

[0030] Figure 5 It is a schematic structural diagram of the utility model.

[0031] Figure 6 It is a schematic structural diagram of the second transition conveyor belt of the present utility model.

[0032] In the figure, 1. frame; 2. conveyor belt; 3. sliding frame; 4. loading robot; 5. driving assembly; 51. driving motor; 52. rack; 53. gear; 6. unloading rack; 61. transfer roller; 7. lifting frame; 71. lifting belt; 8. loading assembly; 81. feeding rack; 82. first transition conveyor belt; 83. second transition conveyor belt; 831. horizontal conveyor belt; 832. inclined conveyor belt; 84. feeding roller; 85. limiting rod; 86. portal frame; 87. rotating frame; 88. pressing cylinder; 89. cylinder; 9. gap; 10. limiting plate; 11. limiting frame; 12. guardrail. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions of the present invention in conjunction with specific embodiments. Obviously, the embodiments described are only some of the embodiments of the present invention, and not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are also within the scope of protection of the present invention.

[0034] Example: See Figure 1-6A multi-robot loading and conveying equipment includes a frame 1, on which a conveyor belt 2 for horizontally conveying materials is provided, a sliding frame 3 connected to the frame 1 in a horizontal sliding direction, and a loading robot 4 installed on the sliding frame 3. There are two of each of the conveyor belt 2, the sliding frame 3, and the loading robot 4. The two conveyor belts 2 are arranged in front and behind, and a gap 9 for materials to pass through is provided between the two conveyor belts 2. A driving component 5 for controlling the movement of the sliding frame 3 is provided on the frame 1. A horizontal material discharge device is fixed on the side of the sliding frame 3 close to the conveyor belt 2. The unloading rack 6 is slidably connected to the frame 1, and the unloading rack 6 is fixedly connected to an inclined lifting rack 7 on the side away from the sliding rack 3. The lifting rack 7 is slidably connected to the frame 1. The lifting rack 7 is provided with a lifting belt 71 for obliquely conveying materials, and the lifting belt 71 contacts with the conveyor belt 2 on the side away from the sliding rack 3. The conveyor belt 2 and the lifting belt 71 convey materials to the unloading rack 6. The two sliding racks 3 are arranged front and back and the sliding racks 3 are both arranged in line with the feeding direction of the conveyor belt 2. A loading assembly 8 is provided on the side of the frame 1 away from the sliding rack 3.

[0035] The working principle of the utility model is as follows: when loading, the vehicle is placed at one end of the frame 1, the loading component 8 sends the bagged materials to the conveyor belt 2, the conveyor belt 2 sends the materials through the lifting frame 7 to the discharge rack 6, the loading robot 4 grabs the materials on the discharge rack 6 and places them on the vehicle for stacking, the driving component 5 controls the sliding frame 3 to move on the frame 1, thereby controlling the position of the loading robot 4 to be adaptively adjusted according to the feeding speed and the loading position, so that the two loading robots 4 can work together to improve the production loading efficiency.

[0036] Furthermore, the loading assembly 8 includes two feeding racks 81 fixedly connected to the frame 1, and the two feeding racks 81 are arranged up and down. A first transition conveyor belt 82 is arranged between the feeding rack 81 located above and the conveyor belt 2 close to the feeding rack 81, and the first transition conveyor belt 82 is arranged horizontally. A second transition conveyor belt 83 is arranged between the feeding rack 81 located below and the conveyor belt 2 away from the feeding rack 81, and the second transition conveyor belt 83 includes a horizontal conveyor belt 831 and an inclined conveyor belt 832. The horizontal conveyor belt 831 is in contact with the feeding rack 81, and one end of the inclined conveyor belt 832 is in contact with the horizontal conveyor belt 831, and the other end is in contact with the conveyor belt 2 away from the feeding rack 81. After the bagged material enters the feeding rack 81, the feeding rack 81 transports it, and enters the two conveyor belts 2 through the first transition conveyor belt 82 and the second transition conveyor belt 83 respectively, and then the material is sent to the discharge rack 6 through the conveyor belt 2.

[0037] Furthermore, a plurality of feed rollers 84 are provided on the feed rack 81, and the plurality of feed rollers 84 are evenly arranged along the feeding direction of the feed rack 81. Limit rods 85 are symmetrically provided at both ends of the feed rack 81, and the limit rods 85 are tilted outward away from the side of the conveyor belt 2. The limit rods 85 can adjust the angle of the material entering the feed rack 81 so that it remains parallel to the conveying direction.

[0038] Furthermore, the feeding rack 81 is fixedly connected to a portal frame 86, and a rotating frame 87 is hinged on the portal frame 86. The end of the rotating frame 87 away from the portal frame 86 is rotatably connected to a rotating shaft, and a pressing cylinder 88 is fixedly connected to the rotating shaft. The pressing cylinder 88 faces the material conveying direction, and the feeding rack 81 is hinged to a cylinder 89. The output end of the cylinder 89 is hinged to the rotating frame 87. There are two cylinders 89 and they are respectively arranged on both sides of the feeding rack 81. When the material enters the feeding rack 81, the pressing cylinder 88 contacts the upper surface of the material. Under the action of the cylinder 89 and the limiting rods 85 at both ends, the pressing cylinder 88 levels the material, making it convenient for the subsequent loading robot 4 to stack it.

[0039] Furthermore, a plurality of material transfer rollers 61 are evenly arranged on the unloading rack 6 along the central axis thereof. The material transfer rollers 61 transport the material on the unloading rack 6 to facilitate the grabbing by the loading robot 4 .

[0040] Furthermore, a limiting plate 10 is fixedly connected to one side of the material discharging rack 6 close to the sliding rack 3 , and the limiting plate 10 limits the position of the material on the material discharging rack 6 , and clamps the material within the range that the loading robot 4 can grasp.

[0041] Furthermore, the driving assembly 5 includes a driving motor 51 fixedly connected to the sliding frame 3, a rack 52 arranged along the feeding direction of the conveyor belt 2 is fixedly connected to the frame 1, and a gear 53 engaged with the rack 52 is fixedly connected to the output end of the driving motor 51. Slide rails are provided at both ends of the frame 1, and the sliding frame 3 is slidably connected to the slide rails. The sliding frame 3 moves back and forth along the slide rails above the conveyor belt 2, and the driving motor 51 controls the rotation of the gear 53, thereby controlling the sliding frame 3 to slide on the frame 1 under the restriction of the rack 52.

[0042] Furthermore, both ends of the unloading rack 6 are provided with limit racks 11 that slide on the slide rails; and the end of the loading robot 4 is provided with a grabbing piece for grabbing materials.

[0043] Furthermore, a guardrail 12 is provided at one end of the frame 1 to improve the safety of the equipment.

[0044] The contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0045] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art will be able to modify the technical solutions described in the aforementioned embodiments or substitute equivalent features for some of the technical features. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A multi-robot loading and conveying device, comprising a frame (1), characterized in that: The frame (1) is provided with a conveyor belt (2) for horizontally conveying materials, a sliding frame (3) connected to the frame (1) in a horizontal sliding direction, and a loading robot (4) installed on the sliding frame (3). The conveyor belt (2), the sliding frame (3) and the loading robot (4) are each provided with two, the two conveyor belts (2) are provided front and back, and a gap (9) for materials to pass through is provided between the two conveyor belts (2). The frame (1) is provided with a driving component (5) for controlling the movement of the sliding frame (3). A horizontally arranged material unloading frame (6) is fixed on one side of the sliding frame (3) close to the conveyor belt (2). The material unloading frame (6) is connected to the frame (1). The unloading rack (6) is slidably connected to the side of the unloading rack (6) away from the sliding rack (3), and is fixedly connected to an inclined lifting rack (7). The lifting rack (7) is slidably connected to the frame (1). A lifting belt (71) for inclinedly conveying materials is provided on the lifting rack (7). The side of the lifting belt (71) away from the sliding rack (3) contacts the conveyor belt (2). The conveyor belt (2) and the lifting belt (71) convey materials to the unloading rack (6). The two sliding racks (3) are arranged front and back and the sliding racks (3) are both arranged in a collinear manner with the feeding direction of the conveyor belt (2). A loading assembly (8) is provided on the side of the frame (1) away from the sliding rack (3).

2. The multi-robot loading and conveying equipment according to claim 1, characterized in that: The loading assembly (8) includes two feeding racks (81) fixedly connected to the frame (1), and the two feeding racks (81) are arranged up and down. A first transition conveyor belt (82) is arranged between the feeding rack (81) located above and the conveyor belt (2) close to the feeding rack (81), and the first transition conveyor belt (82) is arranged horizontally. A second transition conveyor belt (83) is arranged between the feeding rack (81) located below and the conveyor belt (2) away from the feeding rack (81), and the second transition conveyor belt (83) includes a horizontal conveyor belt (831) and an inclined conveyor belt (832). The horizontal conveyor belt (831) contacts the feeding rack (81), and one end of the inclined conveyor belt (832) contacts the horizontal conveyor belt (831) and the other end contacts the conveyor belt (2) away from the feeding rack (81).

3. The multi-robot loading and conveying equipment according to claim 2, characterized in that: The feeding rack (81) is provided with a plurality of feeding rollers (84), and the plurality of feeding rollers (84) are evenly arranged along the feeding direction of the feeding rack (81). Limiting rods (85) are symmetrically arranged at both ends of the feeding rack (81), and the limiting rods (85) are tilted outwards away from the side of the conveyor belt (2).

4. The multi-robot loading and conveying equipment according to claim 3, characterized in that: The feeding frame (81) is fixedly connected to a portal frame (86), and a rotating frame (87) is hinged on the portal frame (86). One end of the rotating frame (87) away from the portal frame (86) is rotatably connected to a rotating shaft, and a pressing cylinder (88) is fixedly connected to the rotating shaft. The pressing cylinder (88) faces the material conveying direction. A cylinder (89) is hinged on the feeding frame (81), and the output end of the cylinder (89) is hinged to the rotating frame (87). Two cylinders (89) are provided and are respectively arranged on both sides of the feeding frame (81).

5. The multi-robot loading and conveying equipment according to claim 1, characterized in that: A plurality of material transfer rollers (61) are evenly arranged on the material discharging rack (6) along the central axis direction thereof.

6. The multi-robot loading and conveying equipment according to claim 1, characterized in that: The side of the material discharging rack (6) close to the sliding rack (3) is fixedly connected to a limiting plate (10).

7. The multi-robot loading and conveying equipment according to claim 1, characterized in that: The driving assembly (5) includes a driving motor (51) fixedly connected to the sliding frame (3); a rack (52) arranged along the feeding direction of the conveyor belt (2) is fixedly connected to the frame (1); a gear (53) engaged with the rack (52) is fixedly connected to the output end of the driving motor (51); slide rails are provided at both ends of the frame (1); the sliding frame (3) is slidably connected to the slide rails, and the sliding frame (3) reciprocates along the slide rails above the conveyor belt (2).

8. The multi-robot loading and conveying equipment according to claim 7, characterized in that: Limiting frames (11) sliding on the slide rails are provided at both ends of the material unloading frame (6).

9. The multi-robot loading and conveying equipment according to claim 1, characterized in that: The end of the loading robot (4) is provided with a grabbing piece for grabbing materials.

10. The multi-robot loading and conveying equipment according to claim 1, characterized in that: A guardrail (12) is provided at one end of the frame (1).

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