Efficient four-arm loading equipment

Abstract

The utility model relates to the technical field of loading robots, and discloses efficient four-arm loading equipment which comprises a rack, a walking assembly, a belt conveying assembly and a roller assembly are installed on the rack, a gripper assembly is installed on the walking assembly, and the roller assembly comprises a roller installation frame installed on the rack. A conveying area, a shaping area and a grabbing area are arranged on the roller mounting frame; one roller assembly is matched with the two walking assemblies to work, one walking assembly works in the shaping area, and the other walking assembly works in the grabbing area. By arranging the shaping area, the corresponding walking assembly and the corresponding gripper assembly, the position and posture of the material bag can be well adjusted when the material bag is conveyed to the gripping area from the belt conveying assembly, and it is ensured that the gripper assembly in the gripping area can successfully pick up the material bag at a time and carry the material bag into a compartment; and it is guaranteed that the poses of the stacked material packages are correct, and the efficiency of the material packaging vehicle is greatly improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a loading robot technical field, concretely is a kind of efficient four-arm loading equipment. BACKGROUND

[0002] In building materials, metallurgy, chemical industry, powder material is usually bagged and packaged and then loaded and shipped, and the current loading process mainly relies on mechanical arm loading equipment.For high-frequency and large-scale loading and unloading operations, the use of loading equipment can significantly reduce the labor intensity of workers and improve overall loading efficiency.

[0003] The Chinese invention patent with publication number CN111807087B provides an automatic loading machine assembly, which improves the bagging efficiency by dividing the discharge channel into multiple channels with a material distribution device.However, the mechanical arm can only grasp during loading and cannot adjust like a human, so the mechanical arm may not grasp the material bag stably, the material bags may not be stacked neatly, or the mechanical arm may not grasp the material bag at all due to the pose deviation of the material bag. UTILITY MODEL CONTENT

[0004] The utility model aims to provide an efficient four-arm loading equipment to solve the problem of unstable grasping or failure to grasp the material bag by the mechanical arm due to the non-uniform pose of the material bag.

[0005] The utility model realizes the following technical scheme: an efficient four-arm loading equipment includes a rack, a walking assembly, a belt transmission assembly and a roller assembly installed on the rack, a gripper assembly installed on the walking assembly, a roller mounting frame installed on the rack, a transportation zone, a shaping zone and a grasping zone arranged in sequence along the material bag transportation direction on the roller mounting frame, a first end power unit and a plurality of first end roller assemblies driven by the first end power unit installed on the transportation zone, a shaping power unit and a plurality of shaping roller assemblies driven by the shaping power unit installed on the shaping zone, and a terminal power unit and a plurality of terminal roller assemblies driven by the terminal power unit installed on the grasping zone; one roller assembly is matched with two walking assemblies for operation, one walking assembly operates in the shaping zone, and the other walking assembly operates in the grasping zone.

[0006] To better realize the utility model, further, the cross section of the shaping roller assembly perpendicular to the axial direction is a polygon.

[0007] To better realize the utility model, further, a detection assembly is installed on each area of the roller mounting frame for real-time monitoring of the pose of the material bag.

[0008] For better implementation of the utility model, further, the walking assembly includes walking frame, walking rack is installed on the walking frame, walking trolley, the walking trolley slides on the walking frame;The walking trolley includes trolley frame, lifting power unit is installed on the trolley frame, horizontal power unit, the horizontal power unit output end transmission connects horizontal shift gear, and the horizontal shift gear is engaged with the walking rack;Lifting guide rod is slidably connected on the trolley frame, lifting chain is installed on the lifting guide rod, and the other end of lifting chain is connected on the trolley frame, and sprocket is installed on the output end of lifting power unit, and the sprocket is matched with lifting chain.

[0009] For better implementation of the utility model, further, the gripper assembly includes gripping frame, gripping rack is installed on the gripping frame, gripping power unit, the output end of gripping power unit is transmission connected with the gripping rack;Rotary power unit is installed on the end of lifting guide rod, and the output end of rotary power unit is transmission connected with the gripping frame, and the gripping frame is rotationally connected on the lifting guide rod.

[0010] For better implementation of the utility model, further, the belt conveying assembly includes belt power unit and conveying belt, which are installed on the rack, the output end of belt power unit is transmission connected with the conveying belt;The belt conveying assembly further includes material blocking plate arranged on both sides of the conveying belt, the material blocking plate is installed on the rack, and a material scraping assembly is further installed on the rack, the material scraping assembly is used for alternately distributing material packages to different sides of the material blocking plate, and the two groups of roller assemblies are symmetrically arranged.

[0011] For better implementation of the utility model, further, the material blocking plate is rotationally connected with a sliding plate unit, a sliding plate power unit is installed on the rack, and the output end of the sliding plate power unit is connected with the sliding plate unit through a connecting rod;Material receiving baffle is installed on one side of the transportation area.

[0012] For better implementation of the utility model, further, the material scraping assembly includes scraping rack and scraping slide rail, which are installed on the rack, and further includes scraping frame slidably connected on the scraping slide rail, scraping power unit is installed on the scraping frame, scraping gear is transmission connected with the output end of the scraping power unit, and the scraping gear is engaged with the scraping rack, and scraping plate is installed on the scraping frame.

[0013] Compared with the prior art, the utility model has the following advantages and beneficial effects:

[0014] (1) The utility model discloses a shaping area and corresponding walking assembly, gripper assembly are set up, make material package during from the belt conveying assembly to the grabbing area, can adjust the pose of material package, ensure that the gripper assembly of grabbing area can pick up material package once successfully, carry to the carriage, and guarantee the pose of material package after stacking is correct, greatly improve material package truck efficiency;

[0015] (2) The utility model discloses the shape of setting shaping roller, make shaping roller assembly when transporting material package along the axial rotation, can shake material package, make the material in material package even dispersion, prevent the situation that material concentrates in material package one end, facilitate gripper assembly to material package and be grabbed;

[0016] (3) The utility model discloses setting slide plate unit, material baffle, prevent material package from falling directly on the first end roller assembly, reduce the impact force of material package to first end roller assembly, improve the service life of first end roller assembly, reduce maintenance frequency. DRAWINGS

[0017] Figure 1 It is the whole structure schematic diagram of the utility model.

[0018] Figure 2 It is the whole structure front view angle schematic diagram of the utility model.

[0019] Figure 3 It is the whole structure left view angle schematic diagram of the utility model.

[0020] Figure 4 It is the whole structure overhead view angle schematic diagram of the utility model.

[0021] Figure 5 It is the belt conveying assembly structure schematic diagram.

[0022] Figure 6 It is the material scraping assembly structure schematic diagram.

[0023] Figure 7 It is the roller assembly structure schematic diagram.

[0024] Figure 8 It is the walking assembly structure schematic diagram.

[0025] Figure 9 It is the gripper assembly structure schematic diagram.

[0026] Figure 10 It is the walking trolley structure schematic diagram.

[0027] Wherein: 1- rack; 2- walking assembly; 21- walking rack; 22- walking frame; 23- walking trolley; 231- lifting guide rod; 232- lifting power unit; 233- transverse moving power unit; 234- trolley frame; 235- lifting chain; 236- transverse moving gear; 3- belt conveying assembly; 31- slide plate unit; 32- slide plate power unit; 33- belt power unit; 34- conveying belt; 35- material blocking plate; 4- material scraping assembly; 41- material scraping power unit; 42- scraper plate; 43- material scraping rack; 44- material scraping slide rail; 45- material scraping gear; 46- material scraping frame; 5- roller assembly; 51- first end roller assembly; 52- material receiving baffle; 53- first end power unit; 54- shaping roller assembly; 55- end roller assembly; 56- end power unit; 57- roller mounting frame; 58- shaping power unit; 6- gripper assembly; 61- gripper tooth; 62- gripping power unit; 63- rotating power unit; 64- gripping frame; 7- detection assembly. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0029] In the description of the present application, it should be noted that, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connecting" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through intermediate medium, or the communication inside two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0030] Embodiment 1:

[0031] The embodiment provides a high-efficiency four-arm car loading device, specifically as Figures 1-4 , Figure 7As shown, it comprises a rack 1, a walking assembly 2, a belt conveying assembly 3, and a roller assembly 5 mounted on the rack 1, the walking assembly 2 is used to adjust the position of the gripper assembly 6, the gripper assembly 6 is used to grab the material package, the belt conveying assembly 3 is used to convey the material package, and the roller assembly 5 is used to transfer the material package. The walking assembly 2 is mounted on the walking assembly 2, and the roller assembly 5 comprises a roller mounting frame 57 mounted on the rack 1, the roller mounting frame 57 is provided with a conveying area, a shaping area, and a grabbing area in sequence along the conveying direction of the material package, the conveying area is provided with a first end power unit 53 and a plurality of first end roller assemblies 51 driven by the first end power unit 53 through a chain, the shaping area is provided with a shaping power unit 58 and a plurality of shaping roller assemblies 54 driven by the shaping power unit 58 through a chain, and the grabbing area is provided with a terminal power unit 56 and a plurality of terminal roller assemblies 55 driven by the terminal power unit 56 through a chain; one roller assembly 5 is matched with two walking assemblies 2 for operation, one walking assembly 2 operates in the shaping area, and the other walking assembly 2 operates in the grabbing area.

[0032] The material package is placed on the belt conveying assembly 3, the belt conveying assembly 3 conveys the material package to the conveying area of the roller assembly 5, and then the roller assembly 5 starts to take over the conveying task of the belt conveying assembly 3 and conveys the material package to the shaping area. At this time, the corresponding walking assembly 2 moves the gripper assembly 6 above the material package, and then drives the gripper assembly 6 to approach the material package. At this time, the gripper assembly 6 starts to grab the material package, continuously adjusts the pose of the material package to ensure that it lies flat on the shaping roller assembly 54, and then the material package is further conveyed to the grabbing area. At this time, the corresponding gripper assembly 6 firmly grabs it and moves with the walking assembly 2 to convey the material package to the carriage below the rack 1 and stack neatly. Thus, the conveying and stacking operation of the material package is completed. By setting the shaping area and the corresponding walking assembly 2 and gripper assembly 6, the pose of the material package can be adjusted during conveying from the belt conveying assembly 3 to the grabbing area, ensuring that the gripper assembly 6 in the grabbing area can successfully pick up the material package at one time and convey it to the carriage. Moreover, the pose of the stacked material package is correct, which greatly improves the efficiency of material package loading.

[0033] Embodiment 2:

[0034] This embodiment is further expanded on the basis of the above-mentioned embodiment, specifically as Figure 7 As shown, the cross section of the shaping roller assembly 54 perpendicular to the axial direction is a polygon, preferably a regular quadrilateral. This setting enables the shaping roller assembly 54 to shake the material package when rotating along the axial direction to convey the material package, so that the materials in the material package are uniformly dispersed, preventing the materials from concentrating at one end of the material package, and facilitating the gripper assembly 6 to grab the material package.

[0035] The detection assembly 7 is installed on each area of the roller mounting frame 57, and is used for monitoring the posture of the material package in real time. The information of the material package obtained by the detection assembly 7 is used to determine the operation data of the walking assembly 2 and the gripper assembly 6. The detection assembly 7 is a prior art, and its specific structure can be understood by those skilled in the art, and it is not the main improvement point of the utility model, and will not be described here.

[0036] The other parts of the embodiment are the same as those of the above-described embodiment, and will not be described here.

[0037] Embodiment 3

[0038] The walking assembly 2 and the gripper assembly 6 of the embodiment are further expanded on the basis of the above-described embodiment, and are specifically as shown in the figure. Figures 8-10 The walking assembly 2 comprises a walking frame 22, and a walking rack 21 and a walking trolley 23 are installed on the walking frame 22. The walking trolley 23 slides on the walking frame 22. The walking trolley 23 comprises a trolley frame 234, and a lifting power unit 232 and a horizontal movement power unit 233 are installed on the trolley frame 234. The output end of the horizontal movement power unit 233 is in transmission connection with a horizontal movement gear 236, and the horizontal movement gear 236 is in meshing connection with the walking rack 21. A lifting guide rod 231 is in sliding connection with the trolley frame 234. One end of a lifting chain 235 is installed on the lifting guide rod 231, and the other end is installed on the trolley frame 234. A sprocket is installed at the output end of the lifting power unit 232, and the sprocket is matched with the lifting chain 235.

[0039] The gripper assembly 6 comprises a gripping frame 64, and a gripping tooth 61 and a gripping power unit 62 are installed on the gripping frame 64. The output end of the gripping power unit 62 is in transmission connection with the gripping tooth 61. A rotating power unit 63 is installed at the end of the lifting guide rod 231, and the output end of the rotating power unit 63 is in transmission connection with the gripping frame 64. The gripping frame 64 is in rotary connection with the lifting guide rod 231.

[0040] When the walking trolley 23 needs to move on the walking frame 22, the horizontal moving force unit 233 is started, the horizontal moving force unit 233 drives the horizontal moving gear 236 to rotate, the horizontal moving gear 236 rolls on the walking rack 21 to realize the horizontal movement of the walking trolley 23 and the gripper assembly 6; when the gripper assembly 6 needs to move longitudinally, the lifting power unit 232 is started, at this time the lifting power unit 232 drives the chain wheel to roll on the lifting chain 235, so as to realize the sliding of the lifting guide rod 231 on the trolley frame 234, and then realize the longitudinal movement of the gripper assembly 6. When the gripper assembly 6 approaches the material package, the grabbing power unit 62 is started, so that the grabbing tooth 61 rotates, the gripper assembly 6 is in an open state at this time, and then the material package is surrounded, and then the grabbing power unit 62 reversely rotates the grabbing tooth 61 to clamp the material package. The start of the rotating power unit 63 drives the grabbing frame 64 to rotate the material package, and adjusts the pose of the material package.

[0041] The other parts of the embodiment are the same as the above-mentioned embodiments, and will not be described again.

[0042] Embodiment 4:

[0043] The embodiment further expands the belt conveying assembly 3 and the material scraping assembly 4 on the basis of the above-mentioned embodiments, as shown in the figure. Figures 5-6 The belt conveying assembly 3 includes a belt power unit 33 installed on the rack 1, and a conveying belt 34, and the output end of the belt power unit 33 is in transmission connection with the conveying belt 34; the belt conveying assembly 3 further includes a material blocking plate 35 arranged on both sides of the conveying belt 34, and the material blocking plate 35 is installed on the rack 1, and the rack 1 further installs the material scraping assembly 4, the material scraping assembly 4 is used for alternately distributing the material package to the material blocking plate 35 on different sides, and two groups of the roller assemblies 5 are symmetrically arranged.

[0044] The material scraping assembly 4 includes a material scraping rack 43 and a material scraping sliding rail 44 installed on the rack 1, and further includes a material scraping frame 46 slidingly connected on the material scraping sliding rail 44, the material scraping frame 46 installs a material scraping power unit 41, the output end of the material scraping power unit 41 is in transmission connection with a material scraping gear 45, the material scraping gear 45 is in meshing connection with the material scraping rack 43, and the material scraping frame 46 installs a scraping plate 42.

[0045] The material package is placed on the conveying belt 34, the belt driving unit 33 is started to make the conveying belt 34 start running, at this time, the material package starts to move, when the material package runs to the end of the conveying belt 34, the scraping driving unit 41 is started, the scraping driving unit 41 drives the material blocking plate 35 to rotate, so that the scraping frame 46 moves laterally on the scraping slide rail 44, and the purpose that the scraping plate 42 pushes the material package at the end of the conveying belt 34 to one side of the material blocking plate 35 is achieved; through the reciprocating movement of the scraping plate 42, the scraping plate 42 moves once, and a new material package is pushed once, so that the material packages transported on the conveying belt 34 are sequentially split to different side drum assemblies 5 to perform the loading operation, so that the loading efficiency is improved.

[0046] Other parts of the embodiment are the same as those of the above-described embodiment, and will not be described again.

[0047] Embodiment 5:

[0048] The embodiment is further extended on the basis of the above-described embodiment, and specifically as shown in Figure 5 、 Figure 7 The material blocking plate 35 is rotationally connected with the sliding plate unit 31, the sliding plate driving unit 32 is installed on the rack 1, and the output end of the sliding plate driving unit 32 is connected with the sliding plate unit 31 through a connecting rod.

[0049] When the material package is pushed to the material blocking plate 35, slides along the material blocking plate 35 to the sliding plate unit 31, and then impacts on the material receiving plate 52, at this time, the sliding plate driving unit 32 is started, the sliding plate unit 31 is rotated and retracted through the connecting rod, at this time, the material package completely lies on the first-end drum assembly 51, and then is transported to the shaping drum assembly 54, through the cooperation of the sliding plate unit 31 and the walking assembly 2 of the first-end driving unit 53, the material package is prevented from directly falling on the first-end drum assembly 51, the impact force of the material package on the first-end drum assembly 51 is reduced, the service life of the first-end drum assembly 51 is improved, and the maintenance frequency is reduced.

[0050] Other parts of the embodiment are the same as those of the above-described embodiment, and will not be described again.

[0051] The above is only a preferred embodiment of the utility model, and does not limit the utility model in any form, and any simple modification and equivalent change made according to the technical essence of the utility model to the above embodiment all fall within the protection scope of the utility model.

Claims

1. A high-efficiency four-arm car loading device, comprising a frame (1), a walking assembly (2), a belt transmission assembly (3) and a roller assembly (5) mounted on the frame (1), a grab hand assembly (6) mounted on the walking assembly (2), characterized in that: The roller assembly (5) comprises a roller mounting frame (57) mounted on the frame (1), the roller mounting frame (57) is sequentially provided with a conveying area, a shaping area and a grabbing area along the conveying direction of the material package, the conveying area is provided with a first end power unit (53) and a plurality of first end roller assemblies (51) driven by the first end power unit (53), the shaping area is provided with a shaping power unit (58) and a plurality of shaping roller assemblies (54) driven by the shaping power unit (58), and the grabbing area is provided with a last end power unit (56) and a plurality of last end roller assemblies (55) driven by the last end power unit (56); one roller assembly (5) is matched with two walking assemblies (2) to work, one walking assembly (2) works in the shaping area, and the other walking assembly (2) works in the grabbing area.

2. A high efficiency four arm car loading apparatus as claimed in claim 1, wherein: The vertical axial cross section of the shaping roller assembly (54) is a polygon.

3. The high efficiency four-arm car loading apparatus of claim 1, wherein: Each area of the roller mounting frame (57) is provided with a detection assembly (7) for real-time monitoring of the pose of the material package.

4. The high efficiency four-arm car loader of claim 1, wherein: The walking assembly (2) comprises a walking frame (22), the walking frame (22) is provided with a walking rack (21) and a walking trolley (23), the walking trolley (23) slides on the walking frame (22); the walking trolley (23) comprises a trolley frame (234), the trolley frame (234) is provided with a lifting power unit (232) and a horizontal movement power unit (233), the horizontal movement power unit (233) is provided with a horizontal movement gear (236) at the output end, the horizontal movement gear (236) is engaged with the walking rack (21); the trolley frame (234) is provided with a lifting guide rod (231) slidingly connected thereto, the lifting guide rod (231) is provided with a lifting chain (235) connected thereto, the other end of the lifting chain (235) is connected to the trolley frame (234), and the lifting power unit (232) is provided with a chain wheel at the output end, and the chain wheel is matched with the lifting chain (235).

5. A high efficiency four arm car loading apparatus as claimed in claim 4 wherein: The gripper assembly (6) comprises a grabbing frame (64), the grabbing frame (64) is provided with a grabbing tooth (61) and a grabbing power unit (62), the output end of the grabbing power unit (62) is drivingly connected with the grabbing tooth (61); the end of the lifting guide rod (231) is provided with a rotating power unit (63), the output end of the rotating power unit (63) is drivingly connected with the grabbing frame (64), and the grabbing frame (64) is rotatably connected to the lifting guide rod (231).

6. The high efficiency four-arm car loading apparatus of any one of claims 1-5, wherein: The belt conveying assembly (3) comprises a belt power unit (33) installed on the rack (1), and a conveying belt (34), wherein the output end of the belt power unit (33) is in driving connection with the conveying belt (34); the belt conveying assembly (3) further comprises a material blocking plate (35) arranged on both sides of the conveying belt (34), the material blocking plate (35) is installed on the rack (1), a material scraping assembly (4) is further installed on the rack (1), the material scraping assembly (4) is used for alternately distributing material packages to different material blocking plates (35), and two groups of the roller assemblies (5) are symmetrically arranged.

7. A high efficiency four arm car loading apparatus as claimed in claim 6 wherein: A sliding plate unit (31) is rotationally connected on the material blocking plate (35), a sliding plate power unit (32) is installed on the rack (1), and the output end of the sliding plate power unit (32) is connected with the sliding plate unit (31) through a connecting rod; a material receiving blocking plate (52) is installed on one side of the conveying area.

8. A high efficiency four arm car loading apparatus as claimed in claim 6 wherein: The material scraping assembly (4) comprises a material scraping rack (43) and a material scraping slide rail (44) installed on the rack (1), further comprises a material scraping frame (46) slidably connected on the material scraping slide rail (44), a material scraping power unit (41) is installed on the material scraping frame (46), the output end of the material scraping power unit (41) is in driving connection with a material scraping gear (45), the material scraping gear (45) is in meshing connection with the material scraping rack (43), and a scraping plate (42) is installed on the material scraping frame (46).

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