Carton cargo conveying device for unloading robot

Abstract

The utility model discloses a carton cargo conveying device for an unloading robot, and relates to the field of logistics. The carton unloading device solves the problem that in the existing carton unloading process, the carton unloading efficiency is low. A walking unit is installed on a base, a supporting balance part is fixedly installed on the base, a lifting unit is installed in the supporting balance part, two telescopic ends are rotationally connected with the lower portion of a telescopic transmission unit through rotating shafts respectively, and the rotating shafts slide on the lower portion of the telescopic transmission unit in the length direction. The conveying unit is embedded in the outer conveying shell, one end of the conveying unit is installed in the telescopic shell, the telescopic shell is installed on the right side of the outer conveying shell, the dragging part is installed on the side end face of the telescopic shell, the lower portion of the unloading robot abuts against the dragging part, and the conveying unit is pulled into the van under driving of the unloading robot. The carton unloading device is used for carton unloading.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic logistics technical field, concretely relates to a paper box goods conveying device for unloading robot, can carry out the automatic unloading operation of paper box goods in the limited space in the van high efficiency, safely. BACKGROUND

[0002] In recent years, the limitations of traditional manual unloading methods have become increasingly prominent, including inefficient work processes, high labor costs, and significant safety hazards. These problems have made it difficult for traditional methods to meet the growing market demand, especially in diversified and complex operating environments. To address these challenges, automatic unloading robots have gradually become key technical solutions, significantly improving the efficiency and accuracy of cargo handling by integrating advanced hardware devices and intelligent software control systems.

[0003] The modern design trend of automatic unloading robots focuses on improving the performance of robots in perception, execution, and control to meet the needs of complex operating environments. In terms of perception, robots commonly use devices such as laser radars, stereo cameras, and depth sensors to obtain multi-dimensional information about the environment and goods in real time, providing reliable data support for subsequent path planning and operation decision-making. In terms of execution, multi-degree-of-freedom motion-based mechanical arms, grippers, and flexible mobile platforms can efficiently complete tasks such as cargo grabbing, handling, and precise placement. In terms of control, artificial intelligence algorithms that integrate multi-sensor information enable robots to dynamically adapt to complex environments, ensuring efficient and stable operating performance.

[0004] For paper boxes loaded in the van, during the unloading process, the automatic unloading robot usually unloads the paper boxes at the rear of the van first, and then enters the interior of the van for unloading. The paper boxes grabbed by the automatic unloading robot are directly conveyed out through the conveyor belt to achieve the purpose of unloading. However, for paper boxes located in the deeper part of the van, the automatic unloading robot needs to return a short distance (the main reason is that the length of the van is relatively long, and the conveyor belt cannot extend into the van, even if it can extend into the van, there are complex mechanisms and high costs), reducing the efficiency of paper box unloading.

[0005] In summary, there is a problem of low efficiency in the existing paper box unloading process. UTILITY MODEL CONTENT

[0006] The utility model aims at solving the problem of low efficiency in the existing paper box unloading process. Further, a paper box goods conveying device for unloading robot is provided.

[0007] The technical scheme of the utility model is:

[0008] The paper box cargo conveying device for the unloading robot comprises a walking unit and a base, the walking unit is installed on the base, it further comprises a supporting balance piece, a lifting unit and a telescopic transmission unit, the supporting balance piece is fixedly installed on the base, the lifting unit is installed in the supporting balance piece, and the telescopic end of the lifting unit is connected with the lower part of the telescopic transmission unit; wherein the number of the lifting unit is 2, the two telescopic ends are respectively connected with the lower part of the telescopic transmission unit through a rotating shaft, and the rotating shaft slides along the length direction of the lower part of the telescopic transmission unit; the telescopic transmission unit comprises an outer conveying shell, a telescopic shell, a dragging part and a conveying unit, the conveying unit is embedded in the outer conveying shell, one end of the conveying unit is installed in the telescopic shell, the telescopic shell is installed on the right side of the outer conveying shell, the dragging part is installed on the side end face of the telescopic shell, and the lower part of the unloading robot is arranged on the dragging part, under the driving of the unloading robot, the conveying unit is pulled into the van.

[0009] Further, a long strip-shaped sliding hole is formed in the lower end face of the outer conveying shell, a plurality of sliding balls are embedded in the inner side wall of the connecting part between the outer conveying shell and the telescopic shell, and the rolling surfaces of the plurality of sliding balls are outwardly protruded.

[0010] Preferably, the dragging part is a solid or hollow plate.

[0011] Further, the conveying unit comprises a conveying motor, a return driving unit, a conveying belt, a driven transmission assembly and a driving transmission assembly; the driven transmission assembly is installed in the inner side of the outer conveying shell, the driving transmission assembly is installed in the telescopic shell, the driven transmission assembly and the inner side wall of the outer conveying shell are slidingly connected, the return driving unit is installed in the outer conveying shell, the return driving unit and the driven transmission assembly are connected through a rope, the driven transmission assembly is pulled back, the conveying motor is installed in the telescopic shell and connected with the driving transmission assembly, and the driven transmission assembly and the driving transmission assembly are connected through the conveying belt.

[0012] Still further, the conveying unit further comprises a sliding support, the sliding support is installed in the outer conveying shell, and a slide is formed in the position corresponding to the sliding support on the inner side wall of the outer conveying shell.

[0013] Further, the driven transmission assembly comprises a driven transmission shaft, two first bearings and a driven pulley, one first bearing is installed at each end of the driven transmission shaft, the driven pulley is sleeved on the driven transmission shaft, and the two first bearings at the end of the driven transmission shaft are slidingly installed in the sliding support and the slide.

[0014] Furthermore, the active transmission assembly includes an active transmission shaft, an active pulley, and a second bearing. One end of the active transmission shaft is connected to the output shaft of the transmission motor, and the other end of the active transmission shaft is fitted with the second bearing and installed on the inner side wall of the telescopic housing. The active pulley is fitted on the active transmission shaft.

[0015] Furthermore, the return drive unit includes a return motor, a drive reel, a driven reel, and a rope. The return motor is installed inside the outer conveyor housing. The drive reel is connected to the output shaft of the return motor. The driven reel is installed on the driven transmission shaft extending from the sliding bracket. One end of the rope is wound around the drive reel, and the other end of the rope is installed on the driven reel.

[0016] Preferably, it also includes a guide plate, which is fixedly installed on the side end face of the upper left side of the outer conveying housing. The guide plate is an obtuse-angled "V"-shaped plate, and the thickness of the "V"-shaped plate gradually increases from left to right.

[0017] Preferably, it also includes multiple telescopic hydraulic cylinders, which are mounted around the base.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] 1. This utility model enables the conveying of cardboard boxes deep within a van, specifically in the following ways: First, in its initial state, the robot only needs to move to the rear of the van; at this point, the unloading robot does not need to be positioned. Second, under the lifting operation of the lifting unit, the retractable transmission unit slides along the sliding hole from its initial horizontal position, placing it in an inclined state with the guide plate touching the ground. At this point, the unloading robot can move from the guide plate to the outer conveying shell, such as... Figure 3 As shown, the unloading robot travels along one side of the outer conveyor shell along its length. Next, the unloading robot unloads the cartons one by one from the entrance of the van. The unloaded cartons are placed directly on the outer conveyor shell, whose tilted position allows the cartons to slide down, thus unloading. If connection to an external conveyor belt is needed, the conveyor belt can be simply brought close to the outer conveyor shell for intelligent unloading. Finally, when the unloading robot enters the van to unload, it drags the telescopic shell, which pulls out the flexible conveyor belt. As the unloading depth increases, the length of the conveyor belt pulled out increases until it reaches its limit, located at the exit end of the outer conveyor shell. At this point, the conveyor belt is at least in the front-middle section of the van. If the van is large enough, the remaining cartons are placed on the conveyor belt by the unloading robot, which moves onto the van and adjusts its unloading freedom and working radius, before being transferred to the outer conveyor shell. The entire unloading process does not require the unloading robot to travel back, saving unloading time and thus improving unloading efficiency.

[0020] 2、The utility model discloses can effectively prevent the conveying belt from being damaged in the process of being pulled out, and the silk is pulled out. It is embodied specifically that: a plurality of sliding balls are used to assist the smooth pulling out of the conveying belt, which not only avoids damaging the conveying belt, but also reduces the friction force, so that the conveying belt is smoothly pulled out and the load of the unloading robot is reduced.

[0021] 3、The utility model discloses can automatically pull back the conveying unit, and it is realized through the following technical means: the utility model discloses through setting back motor and the line wheel and the rope's cooperation, when the conveying belt is pulled to the extreme position, gradually pull back by the return drive unit, and still through the limiting of sliding support and slide, guarantee the precision of pulling back, avoid the failure problem existing in the process of pulling back. BRIEF DESCRIPTION OF DRAWINGS

[0022] Figure 1 It is the structure schematic diagram when the utility model is used with the van.

[0023] Figure 2 It is the whole structure schematic diagram of the utility model.

[0024] Figure 3 It is the schematic diagram of the telescopic transmission unit of the utility model in the inclined working state.

[0025] Figure 4 It is the transverse section view of the telescopic transmission unit of the utility model.

[0026] Figure 5 It is Figure 4 It is the section view along D-D.

[0027] Figure 6 It is Figure 5 It is the local enlarged view at C.

[0028] Figure 7 It is the schematic diagram of the telescopic transmission unit of the utility model extending into the van. The solid arrow indicates the movement direction of the carton, and the dotted arrow indicates the movement direction of the conveying unit.

[0029] In the drawing: 1, walking unit, 2, base, 3, supporting balance piece, 4, lifting unit, 5, rotating shaft, 6, outer conveying shell, 7, telescopic shell, 8, pulling part, 9, sliding hole, 10, sliding ball, 11, conveying motor, 12, return drive unit, 13, conveying belt, 14, sliding support, 15, slide, 16, driven transmission shaft, 17, first bearing, 18, driven pulley, 19, driving transmission shaft, 20, driving pulley, 21, second bearing, 22, return motor, 23, driving line wheel, 24, driven line wheel, 25, rope, 26, guide plate, 27, telescopic hydraulic cylinder, A, unloading robot, B, van. DETAILED DESCRIPTION

[0030] DETAILED DESCRIPTION I: COMBINATION Figures 1 to 7 To illustrate the embodiment, the embodiment includes a walking unit 1 and a base 2, the walking unit 1 is installed on the base 2, it further includes a support balance 3, a lifting unit 4 and a telescopic transmission unit, the support balance 3 is fixedly installed on the base 2, the lifting unit 4 is installed in the support balance 3, and the telescopic end of the lifting unit 4 is connected with the lower part of the telescopic transmission unit; wherein the number of the lifting unit 4 is 2, the two telescopic ends are respectively connected with the lower part of the telescopic transmission unit through the rotation shaft 5, and the rotation shaft 5 slides along the length direction in the lower part of the telescopic transmission unit; the telescopic transmission unit includes an outer conveying shell 6, a telescopic shell 7, a dragging part 8 and a conveying unit, the conveying unit is embedded in the outer conveying shell 6, one end of the conveying unit is installed in the telescopic shell 7, the telescopic shell 7 is installed on the right side of the outer conveying shell 6, the dragging part 8 is installed on the side end face of the telescopic shell 7, and the lower part of the unloading robot A is arranged on the dragging part 8, under the driving of the unloading robot A, the conveying unit is pulled into the van B.

[0031] The embodiment mainly realizes the automatic telescopic function through the telescopic transmission unit, avoiding the traditional large conveying belt to extend into the van. When the conveying unit is pulled out of the outer conveying shell 6, a gap L is left between the conveying belt of the conveying unit and the bottom end face inside the van, as shown in Figure 7 , preventing the conveying belt from being damaged due to friction with the end face of the van. In addition, when the carton is transported on the conveying belt and meets the right side end face of the outer conveying shell 6, the carton is smoothly pushed over the right side end face of the outer conveying shell 6 by the pushing force of the conveying belt, and then directly slides downward, successfully completing the unloading. In order to ensure that the carton smoothly overcomes the right side end face of the outer conveying shell 6, a chamfer is arranged on the upper part of the right side end face of the outer conveying shell 6 to reduce the climbing resistance.

[0032] DETAILED DESCRIPTION II: COMBINATION Figure 2 To illustrate the embodiment, the lower end face of the outer conveying shell 6 of the embodiment is provided with a long strip-shaped sliding hole 9, and the inner side wall of the connection part between the outer conveying shell 6 and the telescopic shell 7 is embedded with a plurality of sliding balls 10 on the upper part and the lower part, and the rolling surfaces of the plurality of sliding balls 10 are outwardly protruding.

[0033] In this way, the long strip-shaped sliding hole 9 in the embodiment is used for adjusting the pose of the telescopic transmission unit. In the initial state of the telescopic transmission unit, it is supported and limited by the support balance 3, and the telescopic transmission unit is in a horizontal state. When the lifting unit 4 is extended, the sliding hole 9 of the telescopic transmission unit is weak in stress ability, the outer conveying shell 6 slides in the sliding hole 9, and an inclination is generated, providing a platform for the unloading robot A to climb the van. The other components and connection relationships are the same as those of the embodiment I.

[0034] The plurality of sliding balls 10 of the embodiment mainly guide the conveying belt, and the conveying belt is smoothly pulled out and combed. Problems such as abrasion caused by the direct contact of the conveying belt with the corner of the side wall of the outer conveying shell 6 are avoided.

[0035] Specific embodiment three: combination Figure 4 In this embodiment, the dragging part 8 is a solid or hollow plate.

[0036] In this way, during the dragging process, the unloading robot A can directly drag the telescopic shell 7 or the dragging part 8. The other components and connection relationships are the same as those in specific embodiments one or two.

[0037] The unloading robot A in this embodiment is a robot with walking and unloading functions in the prior art.

[0038] Specific embodiment four: combination Figure 4 In this embodiment, the conveying unit includes a conveying motor 11, a return driving unit 12, a conveying belt 13, a driven transmission assembly, and a driving transmission assembly.

[0039] The driven transmission assembly is installed on the inner side of the outer conveying shell 6, the driving transmission assembly is installed in the telescopic shell 7, and the driven transmission assembly in the outer conveying shell 6 is slidingly connected between the driving transmission assembly and the inner side wall of the outer conveying shell 6. The return driving unit 12 is installed in the outer conveying shell 6, and the return driving unit 12 and the driven transmission assembly are connected by a rope, which realizes pulling back the driven transmission assembly. The conveying motor 11 is installed in the telescopic shell 7 and connected with the driving transmission assembly. The driven transmission assembly and the driving transmission assembly are connected by the conveying belt 13.

[0040] In this way, it is convenient to drive the cartons grabbed by the unloading robot A counterclockwise, and then to the outer conveying shell 6 to complete the unloading of the cartons. The other components and connection relationships are the same as those in any one of specific embodiments one to three.

[0041] Specific embodiment five: combination Figure 4 In this embodiment, the conveying unit further includes a sliding bracket 14, and the sliding bracket 14 is installed in the outer conveying shell 6. The inner side wall of the outer conveying shell 6 is provided with a slide 15 corresponding to the sliding bracket 14.

[0042] In this way, it is convenient to ensure that the driven transmission assembly can run stably during being pulled out or pulled back. The other structures and components are the same as those in any one of specific embodiments one to four.

[0043] Specific embodiment six: combination Figure 4The embodiment is described as follows. The driven transmission assembly of the embodiment comprises a driven transmission shaft 16, two first bearings 17 and a driven pulley 18. One first bearing 17 is mounted at each end of the driven transmission shaft 16. The driven pulley 18 is sleeved on the driven transmission shaft 16, and the two first bearings 17 at the ends of the driven transmission shaft 16 are slidingly mounted in the sliding support 14 and the slide 15 respectively.

[0044] In this way, the structure is simple, and the transmission is stable. The other components and connection relationships are the same as those in any one of the first to third embodiments.

[0045] The seventh embodiment is described as follows. Figure 4 The embodiment is described as follows. The driven transmission assembly of the embodiment comprises a driven transmission shaft 16, two first bearings 17 and a driven pulley 18. One first bearing 17 is mounted at each end of the driven transmission shaft 16. The driven pulley 18 is sleeved on the driven transmission shaft 16, and the two first bearings 17 at the ends of the driven transmission shaft 16 are slidingly mounted in the sliding support 14 and the slide 15 respectively.

[0046] In this way, the structure is simple, and the transmission is stable. The other components and connection relationships are the same as those in any one of the first to third embodiments.

[0047] The driven pulley 18 and the driving pulley 20 in the embodiment are preferably toothed pulleys, which ensure the transmission accuracy.

[0048] The eighth embodiment is described as follows. Figure 4 The embodiment is described as follows. The driven transmission assembly of the embodiment comprises a driven transmission shaft 16, two first bearings 17 and a driven pulley 18. One first bearing 17 is mounted at each end of the driven transmission shaft 16. The driven pulley 18 is sleeved on the driven transmission shaft 16, and the two first bearings 17 at the ends of the driven transmission shaft 16 are slidingly mounted in the sliding support 14 and the slide 15 respectively.

[0049] In this way, the structure is simple, and the transmission is stable. The other components and connection relationships are the same as those in any one of the first to third embodiments.

[0050] In the process of pulling out the conveying unit, the return motor 22 does not work, and the rope 25 is gradually released from the driving pulley 23 under the pulling of the driven pulley 24. When it is necessary to pull back the conveying unit, the return motor 22 is started, the driving pulley 23 is rotated, the rope 25 in the elongated state is wound on the driving pulley 23, and then the conveying unit is recycled.

[0051] In order to avoid the problem of jamming of the driven line wheel 24, a bearing is installed between the driven line wheel 24 and the driven transmission shaft 16, so that the driven line wheel 24 does not rotate with the rotation of the driven transmission shaft 16, and the driven line wheel 24 provides linear motion of the driven transmission shaft 16, rather than continuous rotary motion.

[0052] Specific embodiment nine: in combination Figure 1 、 2 , 3, 5 and Figure 7 This embodiment is described, and the embodiment further comprises a guide plate 26 fixedly installed on the side end face of the left upper portion of the outer conveying shell 6, the obtuse-angled "V"-shaped plate of the guide plate 26, and the thickness of the "V"-shaped plate gradually increases from left to right.

[0053] In this way, not only is it convenient for the unloading robot to travel upward from the ground, but it is also convenient for the buffering effect when the carton is conveyed to the ground. The other components and connection relationships are the same as any one of the specific embodiments one to eight.

[0054] Specific embodiment ten: in combination Figures 1 to 3 This embodiment is described, and the embodiment further comprises a plurality of telescopic hydraulic cylinders 27 installed around the base 2.

[0055] In this way, the positioning effect is achieved, and the stability of the parking position during the entire work period is ensured. The other components and connection relationships are the same as any one of the specific embodiments one to eight.

[0056] In combination Figures 1 to 7 The working principle of the utility model is described as follows:

[0057] First, the utility model is moved to the rear of the van, and the rear door of the van is opened. The lifting unit is raised, the telescopic transmission unit is inclined to the left side, the unloading robot travels to the side of the van, and travels upward from the guide plate until it reaches the telescopic shell. At this time, unloading can be started.

[0058] When the position where the carton is unloaded reaches the maximum working radius of the unloading robot, the unloading robot drives the towing part to travel into the van. At this time, the conveying unit is pulled out, and the length of the pulling-out is related to the working radius of the unloading robot. Thus, the conveying unit is pulled out in a reciprocating manner until it is completely pulled out. At this time, the unloading robot can be moved into the van and unloaded through its own working radius until the carton unloading of the entire van is completed.

[0059] After unloading is completed, the return driving unit is started, the main driving wheel is rotated by the return motor, the rope on the main driving wheel is pulled in the process of winding, the driven line wheel is pulled back by the driven transmission shaft, and the conveying unit is pulled back.

[0060] The above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that the technical solutions recorded in the foregoing examples can still be modified, or some technical features therein can be replaced by equivalents; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A paper box cargo transport device for a de- trucking robot, comprising a traveling unit (1) and a base (2), the traveling unit (1) being installed on the base (2), characterized in that: It also includes support balance (3), lifting unit (4) and telescopic transmission unit, Support balance (3) is fixedly installed on the base (2), the lifting unit (4) is installed in the support balance (3), and the telescopic end of the lifting unit (4) is connected with the lower part of the telescopic transmission unit; Wherein, the number of lifting unit (4) is 2, the two telescopic ends are respectively connected with the lower part of the telescopic transmission unit through the rotating shaft (5), and the rotating shaft (5) slides along the length direction in the lower part of the telescopic transmission unit; The telescopic transmission unit includes outer conveying shell (6), telescopic shell (7), drag part (8) and conveying unit, the conveying unit is embedded in the outer conveying shell (6), one end of the conveying unit is installed in the telescopic shell (7), the telescopic shell (7) is installed on the right side of the outer conveying shell (6), the drag part (8) is installed on the side end face of the telescopic shell (7), and the lower part of the unloading robot (A) is arranged on the drag part (8), under the driving of the unloading robot (A), the conveying unit is pulled into the van (B).

2. The paper box cargo carrying device for a debarking robot according to claim 1, characterized by: The lower end face of the outer conveying shell (6) is provided with a long strip-shaped sliding hole (9), the inner side wall of the outer conveying shell (6) is embedded with a plurality of sliding balls (10) at the upper part and the lower part, and the rolling surfaces of the plurality of sliding balls (10) are outwardly protruding.

3. A carton conveying device for a depiling robot according to claim 2, characterized in that: The drag part (8) is a solid or hollow plate.

4. A carton conveying device for a depiling robot according to claim 3, characterized in that: The conveying unit includes conveying motor (11), return driving unit (12), conveying belt (13), driven transmission assembly and driving transmission assembly; The driven transmission assembly is installed in the inner side of the outer conveying shell (6), the driving transmission assembly is installed in the telescopic shell (7), the driven transmission assembly in the outer conveying shell (6) is slidably connected between the inner side wall of the outer conveying shell (6), the return driving unit (12) is installed in the outer conveying shell (6), and the return driving unit (12) is connected with the driven transmission assembly through a rope, so as to pull back the driven transmission assembly, the conveying motor (11) is installed in the telescopic shell (7) and connected with the driving transmission assembly, and the driven transmission assembly and the driving transmission assembly are connected through the conveying belt (13).

5. A carton conveying device for a depiling robot according to claim 4, characterized in that: The conveying unit further includes a sliding support (14), and the inner side wall of the outer conveying shell (6) is provided with a slide (15) at a position corresponding to the sliding support (14).

6. A carton conveying device for a depiling robot according to claim 5, characterized in that: The driven transmission assembly includes a driven transmission shaft (16), two first bearings (17) and a driven pulley (18), one first bearing (17) is installed at each end of the driven transmission shaft (16), the driven pulley (18) is sleeved on the driven transmission shaft (16), and the two first bearings (17) at the end of the driven transmission shaft (16) are slidably installed in the sliding support (14) and the slide (15).

7. A carton conveying device for a depiling robot according to claim 6, characterized in that: The driving assembly comprises a driving shaft (19), a driving pulley (20) and a second bearing (21), one end of the driving shaft (19) is connected with the output shaft of the transmission motor (11), the other end of the driving shaft (19) is sleeved with the second bearing (21) and is installed on the inner side wall of the telescopic shell (7), and the driving pulley (20) is sleeved on the driving shaft (19).

8. A carton conveying device for a depiling robot according to claim 7, characterized in that: The return driving unit (12) comprises a return motor (22), a driving line wheel (23), a driven line wheel (24) and a rope (25), the return motor (22) is installed in the outer conveying shell (6), the driving line wheel (23) is connected with the output shaft of the return motor (22), the driven line wheel (24) is installed on the driven transmission shaft (16) of the extended sliding support (14), one end of the rope (25) is wound on the driving line wheel (23), and the other end of the rope (25) is installed on the driven line wheel (24).

9. A carton conveying device for a depiling robot according to claim 8, characterized in that: It also comprises a guide plate (26), the guide plate (26) is fixedly installed on the side end face of the left upper portion of the outer conveying shell (6), the obtuse angle "V" shaped plate of the guide plate (26) gradually increases in thickness from left to right.

10. A carton conveying device for a depiling robot according to claim 9, characterized in that: It also comprises a plurality of telescopic hydraulic cylinders (27), and the plurality of telescopic hydraulic cylinders (27) are installed around the base (2).

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