Door type mobile loading and unloading equipment

Abstract

The utility model relates to the technical field of heavy machinery, in particular to door type movable loading and unloading equipment which comprises a door frame, a movable cross beam, an X-axis driving device, a self-driven rolling trolley, a lifting type grabbing mechanical arm and a container conveyor. The X-axis driving device is arranged between the movable cross beam and the door frame and used for driving the movable cross beam to slide in a reciprocating mode in the X-axis direction, the lifting type grabbing mechanical arm is installed at the bottom of the self-driven rolling trolley, the self-driven rolling trolley is assembled on the movable cross beam in a sliding mode, and the container conveyor is arranged at the corner of the bottom of the door-shaped support. According to the door type movable loading and unloading equipment, the overall structure is simple and stable, almost no blocking part is arranged in the door frame except the stand columns on the side portions to hinder smooth position switching of the cargo box, the movable space of the cargo box is large, and efficient transfer of the cargo box is facilitated.

Description

Technical Field

[0001] The present application relates to the technical field of heavy machinery, and in particular to a door-type mobile loading and unloading device. Background Art

[0002] With the development of the manufacturing industry, the number of cargo boxes on the logistics conveyor line has increased rapidly. At present, mechanical equipment is mainly used to automatically transport relatively large and heavy cargo boxes to replace manual work.

[0003] After searching, the Chinese patent with application number: 202010924372.9 discloses an automatic loading and unloading machine for cargo boxes, including a cargo box posture adjustment mechanism and a cargo box stacking grasping mechanism provided on a mobile conveying mechanism, wherein: the cargo box posture adjustment mechanism includes a rotating seat, a lifting mechanism and a clamping mechanism arranged on the rotating seat, the clamping mechanism includes a horizontal arm whose inner end is connected to the slider and the outer end is connected to the first rotating cylinder, the first rotating cylinder is connected to the horizontal rod, and the horizontal rod is respectively connected to two opposing clamping arms with clamping discs at its lower end through a power cylinder, and the disk shaft of the clamping disc is connected to the second rotating cylinder; the cargo box stacking grasping mechanism includes a telescopic mechanism, a horizontal moving mechanism, a rotating lifting mechanism, and a grasping mechanism.

[0004] Regarding the above-mentioned related technologies, the inventors believe that there are the following technical defects that need to be improved:

[0005] Common automatic loading and unloading equipment for cargo boxes has a complex structure and a small space for switching cargo positions, which is not conducive to the efficient transfer of cargo boxes. Utility Model Content

[0006] This application provides a door-type mobile loading and unloading device to improve the following technical problems:

[0007] Common automatic loading and unloading equipment for cargo boxes has a complex structure and a small space for switching cargo positions, which is not conducive to the efficient transfer of cargo boxes.

[0008] This application provides a portal mobile loading and unloading device, which adopts the following technical solutions:

[0009] A portal mobile loading and unloading equipment, comprising a portal frame, a mobile beam, an X-axis drive device, a self-driven rolling trolley, a lifting and grabbing manipulator and a cargo box conveyor, wherein the mobile beam is arranged along the Y-axis direction and is slidably assembled in the portal frame, the X-axis drive device is arranged between the mobile beam and the portal frame and is used to drive the mobile beam to slide back and forth along the X-axis direction, the lifting and grabbing manipulator is installed at the bottom of the self-driven rolling trolley, the self-driven rolling trolley is slidably assembled on the mobile beam, the servo motor and roller inside the self-driven rolling trolley cooperate to drive itself to slide back and forth along the Y-axis direction, the cargo box conveyor is arranged at the bottom corners of the portal frame, and the cargo box conveyor is used to receive the cargo boxes grasped, transferred and put down by the lifting and grabbing manipulator.

[0010] In a feasible technical solution of the present application, the X-axis drive device includes a stepper motor, a dual-output shaft reducer and two sets of transmission structures. The stepper motor is installed in the middle side of the movable beam and the output shaft is arranged downward. The dual-output shaft reducer is installed in the bottom middle of the beam, and the input shaft of the dual-output shaft reducer is connected to the output shaft of the stepper motor. The two sets of transmission structures are respectively arranged between the output shaft of the dual-output shaft reducer and the side of the door frame.

[0011] In a feasible technical solution of the present application, the transmission structure includes a transmission shaft, a transmission gear and a transmission rack, one end of the transmission shaft is connected to the output shaft of the dual-output shaft reducer, the transmission gear is arranged at the other end of the transmission shaft, and the transmission rack is connected to the side of the door frame along the X-axis, and the transmission gear and the transmission rack are engaged for transmission.

[0012] In a feasible technical solution of the present application, a movable coupling is provided between the transmission shaft and the output shaft of the dual-output shaft reduction gearbox.

[0013] In a feasible technical solution of the present application, first limit blocks are respectively provided on the upper surfaces of both ends of the movable crossbeam, and the two first limit blocks are used to prevent the self-propelled rolling trolley from slipping and falling.

[0014] In a feasible technical solution of the present application, second limit blocks are respectively provided on the upper surfaces of both ends of the door frame, and the two second limit blocks are used to prevent the movable beam from slipping and falling.

[0015] In a feasible technical solution of the present application, the first limiting block and the second limiting block are both rubber parts and have a cylindrical structure.

[0016] In a feasible technical solution of the present application, the door frame includes multiple groups of vertically arranged door-type brackets, X-axis top beams and Y-axis top beams, the X-axis top beams are connected to the tops of the door-type brackets, the Y-axis top beams are vertically connected to the tops of multiple groups of the door-type brackets, the Y-axis top beams are arranged lower than the movable crossbeams, and the movable crossbeams are slidably assembled between the two X-axis top beams.

[0017] In summary, this application includes at least one of the following beneficial technical effects:

[0018] Driven by the X-axis drive device and the self-propelled rolling trolley, the lifting and grabbing robot can realize free movement in the XY axis direction. Combined with the lifting function of the lifting and grabbing robot itself, it can move along the Z axis, so it can grab almost any cargo box in the transfer door frame, and then automatically send the cargo box out through the cargo box conveyor. The overall structure is simple and stable. Except for the side columns, there are almost no blocking components inside the door frame to hinder the smooth switching of the cargo box. Therefore, the space for the cargo box to move is large, which is conducive to the efficient transfer of the cargo box. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the technical solutions in the embodiments of the present application, 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 application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0020] Figure 1 It is a front structural schematic diagram of the door-type mobile loading and unloading equipment of an embodiment of the present application.

[0021] Figure 2 It is a side structural diagram of the door-type mobile loading and unloading equipment of an embodiment of the present application.

[0022] Description of reference numerals:

[0023] 1. Door frame; 11. Door-type bracket; 12. X-axis top beam; 13. Y-axis top beam; 2. Moving crossbeam; 3. X-axis drive device; 31. Stepper motor; 32. Dual-output shaft reduction gearbox; 33. Drive shaft; 34. Drive gear; 35. Drive rack; 36. Movable coupling; 4. Self-propelled rolling trolley; 5. Lifting grabbing robot; 6. Cargo box conveyor; 7. First limit block; 8. Second limit block. DETAILED DESCRIPTION

[0024] In order to make the technical problems, technical solutions and beneficial effects to be solved by this application more clearly understood, this application is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain this application and are not intended to limit this application.

[0025] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0026] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0027] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. Throughout the description of this application, "plurality" means two or more, unless otherwise specifically defined.

[0028] The following is combined with Figure 1-2 This application is described in further detail.

[0029] The embodiment of the present application discloses a door-type mobile loading and unloading device. Figure 1 and Figure 2 The gantry mobile loading and unloading equipment includes a door frame 1, a moving beam 2, an X-axis drive device 3, a self-driven rolling trolley 4, a lifting and grabbing manipulator 5 and a cargo box conveyor 6. The moving beam 2 is arranged along the Y-axis direction and is slidably assembled in the door frame 1. The X-axis drive device 3 is arranged between the moving beam 2 and the door frame 1 and is used to drive the moving beam 2 to slide back and forth along the X-axis direction. The lifting and grabbing manipulator 5 is installed at the bottom of the self-driven rolling trolley 4. The self-driven rolling trolley 4 is slidably assembled on the moving beam 2. The servo motor and roller inside the self-driven rolling trolley 4 cooperate to drive itself to slide back and forth along the Y-axis direction. The cargo box conveyor 6 is arranged at the bottom corner of the door frame 1. The cargo box conveyor 6 is used to receive the cargo boxes grabbed, transferred and put down by the lifting and grabbing manipulator 5.

[0030] The door type mobile loading and unloading equipment has the following beneficial technical effects:

[0031] The lifting type grabbing manipulator 5 is driven by the X-axis driving device 3 and the self-driving rolling trolley 4 to realize free movement in the XY-axis direction, and in combination with the lifting function of the lifting type grabbing manipulator 5, the lifting type grabbing manipulator 5 can move along the Z-axis, so that the container at any position in the door frame 1 can be grabbed and transferred, and the container is automatically sent out through the container conveyor 6. The overall structure is simple and stable, and the door frame 1 has no any blocking part in the interior except the upright column at the edge, so that the space for movement of the container is large, which is beneficial to efficient transfer of the container.

[0032] In the embodiment, the X-axis driving device 3 includes a stepping motor 31, a double-output shaft reduction box 32 and two sets of transmission structures. The stepping motor 31 is installed at the middle part of the side of the moving beam 2 and the output shaft is arranged downward. The double-output shaft reduction box 32 is installed at the middle part of the bottom of the beam, and the input shaft of the double-output shaft reduction box 32 is connected with the output shaft of the stepping motor 31. The two sets of transmission structures are respectively arranged between the output shaft of the double-output shaft reduction box 32 and the side of the door frame 1.

[0033] The transmission structure includes a transmission shaft 33, a transmission gear 34 and a transmission rack 35. One end of the transmission shaft 33 is connected with the output shaft of the double-output shaft reduction box 32. The transmission gear 34 is arranged at the other end of the transmission shaft 33. The transmission rack 35 is connected with the side of the door frame 1 along the X-axis. The transmission gear 34 and the transmission rack 35 are in meshing transmission. The movable coupling 36 is arranged between the transmission shaft 33 and the output shaft of the double-output shaft reduction box 32.

[0034] The X-axis driving device 3 designed above has simple structure and stable operation, and can smoothly drive the heavy moving beam 2 and the self-driving rolling trolley 4 to stably slide along the X-axis. The stepping motor 31 can be automatically controlled by the PLC program module to work according to the preset program flow, and the degree of automation is high.

[0035] In order to ensure the safe movement of the lifting type grabbing manipulator 5 in the limited XY-axis direction, in the embodiment, the upper surfaces of the two ends of the moving beam 2 are respectively provided with first limiting blocks 7, and the two first limiting blocks 7 are used to prevent the self-driving rolling trolley 4 from slipping off and falling. The upper surfaces of the two ends of the door frame 1 are respectively provided with second limiting blocks 8, and the two second limiting blocks 8 are used to prevent the moving beam 2 from slipping off and falling. The first limiting blocks 7 and the second limiting blocks 8 are rubber parts and have a cylindrical structure.

[0036] In this embodiment, the door frame 1 includes multiple groups of vertically arranged door-shaped supports 11, X-axis top beams 12, and Y-axis top beams 13. The X-axis top beams 12 are connected to the tops of the door-shaped supports 11, and the Y-axis top beams 13 are perpendicularly connected to the tops of the multiple groups of door-shaped supports 11. The Y-axis top beams 13 are arranged below the movable crossbeams 2, and the movable crossbeams 2 are slidably assembled between the two X-axis top beams 12. The door-shaped supports 11, X-axis top beams 12, and Y-axis top beams 13 are all steel structures. In order to enhance the structural strength of the door-shaped supports 11, diagonal beams can also be provided inside the door-shaped supports 11.

[0037] The above description is only a preferred embodiment of the present application and is not intended to limit the present application. Any modifications, equivalent replacements and improvements made within the spirit and principles of the application should be included in the scope of protection of the present application.

Claims

1. A door-type mobile loading and unloading equipment, characterized in that: The invention comprises a door frame (1), a moving beam (2), an X-axis driving device (3), a self-driven rolling trolley (4), a lifting grabbing manipulator (5) and a cargo box conveyor (6), wherein the moving beam (2) is arranged along the Y-axis direction and is slidably assembled in the door frame (1), the X-axis driving device (3) is arranged between the moving beam (2) and the door frame (1) and is used to drive the moving beam (2) to slide back and forth along the X-axis direction, the lifting grabbing manipulator (5) is installed at the bottom of the self-driven rolling trolley (4), the self-driven rolling trolley (4) is slidably assembled on the moving beam (2), the servo motor and roller inside the self-driven rolling trolley (4) cooperate to drive the self-driven rolling trolley (4) to slide back and forth along the Y-axis direction, and the cargo box conveyor (6) is arranged at the bottom corner of the door frame (1), and the cargo box conveyor (6) is used to receive the cargo box grasped, transferred and put down by the lifting grabbing manipulator (5).

2. The door-type mobile loading and unloading equipment according to claim 1, characterized in that: The X-axis drive device (3) comprises a stepper motor (31), a dual-output shaft reduction gearbox (32) and two sets of transmission structures, wherein the stepper motor (31) is mounted on the side middle portion of the movable crossbeam (2) with the output shaft arranged downward, the dual-output shaft reduction gearbox (32) is mounted on the bottom middle portion of the crossbeam, and the input shaft of the dual-output shaft reduction gearbox (32) is connected to the output shaft of the stepper motor (31), and the two sets of transmission structures are respectively arranged between the output shaft of the dual-output shaft reduction gearbox (32) and the side portion of the door frame (1).

3. The door-type mobile loading and unloading equipment according to claim 2, characterized in that: The transmission structure comprises a transmission shaft (33), a transmission gear (34) and a transmission rack (35); one end of the transmission shaft (33) is connected to the output shaft of the dual-output shaft reduction box (32); the transmission gear (34) is provided at the other end of the transmission shaft (33); the transmission rack (35) is connected to the side of the door frame (1) along the X-axis; the transmission gear (34) and the transmission rack (35) are engaged for transmission.

4. The door-type mobile loading and unloading equipment according to claim 3, characterized in that: A movable coupling (36) is provided between the transmission shaft (33) and the output shaft of the dual-output shaft reduction box (32).

5. The door-type mobile loading and unloading equipment according to claim 1, characterized in that: First limit blocks (7) are respectively provided on the upper surfaces of both ends of the movable crossbeam (2), and the two first limit blocks (7) are used to prevent the self-propelled rolling trolley (4) from slipping off and falling.

6. The door-type mobile loading and unloading equipment according to claim 5, characterized in that: Second limit blocks (8) are respectively provided on the upper surfaces of both ends of the door frame (1), and the two second limit blocks (8) are used to prevent the movable beam (2) from slipping off and falling.

7. The door-type mobile loading and unloading equipment according to claim 6, characterized in that: The first limiting block (7) and the second limiting block (8) are both rubber pieces and have a cylindrical structure.

8. The door-type mobile loading and unloading equipment according to claim 1, characterized in that: The door frame (1) comprises a plurality of groups of vertically arranged door-shaped brackets (11), an X-axis top beam (12) and a Y-axis top beam (13), wherein the X-axis top beam (12) is connected to the top of the door-shaped bracket (11), and the Y-axis top beam (13) is vertically connected to the top of the plurality of groups of the door-shaped brackets (11), and the Y-axis top beam (13) is arranged below the movable crossbeam (2), and the movable crossbeam (2) is slidably assembled between the two X-axis top beams (12).

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