Lock pin storage assembly line

Abstract

The lock pin storage assembly line comprises a guide rail, a working module and a driving assembly, the length of the area where the guide rail is located in the at least one linear direction is larger than the arm extension length of a corresponding mechanical arm, a tool module is slidably installed on the guide rail, and the tool module is provided with at least one pin storage hole; the cross section of the pin storage hole is of a long circular structure, the pin storage hole is used for storing a lock pin, receding grooves are formed in the middles of the two straight edges of the pin storage hole so that a torsion tongue of the lock pin can penetrate through the receding grooves in the locked state, and the driving assembly is used for driving the tool module to slide along the extending path of the guide rail. According to the embodiment of the invention, relatively more lock pins can be stored, and the continuous working time of the mechanical arm is prolonged.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of automated loading and unloading equipment, in particular to a locking pin storage assembly line. BACKGROUND

[0002] Container transportation is an important transportation mode in the process of multimodal transport of international trade goods, and plays an important role in economic globalization. Containers are stacked on container ships. To prevent containers from sliding due to wave rocking, adjacent containers on the upper and lower layers are connected by locking pins. Therefore, when the containers are loaded, the locking pins need to be installed in the container connecting holes, and correspondingly, when the containers are unloaded, the locking pins need to be disassembled. The above locking pin loading and unloading process is completed during the horizontal transportation of the container port. Specifically, the container connecting hole is in the form of an oblong hole structure, and the locking pin includes a lock body and a torsion tongue arranged at both ends of the lock body. By rotating the torsion tongue, the state of the corresponding torsion tongue can be adjusted. When the torsion tongue is in the initial state, the length direction of the torsion tongue is consistent with the length direction of the lock body, at which time the torsion tongue can pass through the container connecting hole. When the torsion tongue is in the locked state, the length direction of the torsion tongue is perpendicular to the length direction of the lock body, at which time the torsion tongue and the lock body are located on both sides of the container connecting hole, and the torsion tongue and the lock body cannot be removed from the container connecting hole.

[0003] The existing locking pin automated loading and unloading equipment is arranged on both sides of the container transport lane and is composed of multiple mechanical arms, locking pin boxes and other peripheral accessories, which can adapt to the loading and unloading of the locking pin of the container connecting hole. The locking pin box is used to fix and store the locking pin. When the container is loaded, the corresponding mechanical arm is used to take the locking pin previously stored in the locking pin box and install the locking pin into the container connecting hole. Correspondingly, when the container is unloaded, the corresponding mechanical arm is used to disassemble the locking pin from the container connecting hole and store the locking pin in the locking pin box.

[0004] At present, due to the limited range of movement of the mechanical arm, the volume of the locking pin box should not be too large, and the arrangement area of the locking pin box needs to be within the movement area of the mechanical arm, which results in that the number of locking pins that can be stored in the locking pin box is small, thereby reducing the continuous working time of the mechanical arm. Invention content

[0005] The locking pin storage assembly line provided by the embodiment of the present application can store relatively more locking pins and improve the continuous working time of the mechanical arm.

[0006] The embodiment of the present application provides a lock pin storage pipeline, which comprises a guide rail, the length of the area where the guide rail is located along at least one straight line direction is greater than the arm span length of a corresponding mechanical arm; a tool module is slidingly installed on the guide rail, a plurality of tool modules are distributed along the extension path of the guide rail at intervals, the tool module has at least one storage pin hole, the cross section of the storage pin hole is in a long circular structure, and a clearance groove is formed in the middle of the two straight edges of the storage pin hole to allow the tongue of the lock pin to pass through in the locked state; and a driving assembly is connected to the tool module, and the driving assembly is used to drive the tool module to slide along the extension path of the guide rail.

[0007] In some embodiments, the guide rail comprises an inner rail and an outer rail arranged correspondingly, and the tool module is slidingly connected to the inner rail and the outer rail at the same time, and the spacing between the inner rail and the outer rail along the extension path of the guide rail is the same.

[0008] In some embodiments, the tool module comprises a tool frame, the storage pin hole is located in the middle of the tool frame, pulley sets are installed on the side of the tool frame close to the outer rail and the side of the tool frame close to the inner rail, at least one of the side of the tool frame close to the outer rail and the side of the tool frame close to the inner rail is provided with two or more pulley sets distributed along the extension path of the guide rail, each pulley set comprises three pulleys rotatingly connected to the tool frame, the circumferential sides of the three pulleys of the pulley set abut the top side edge of the corresponding guide rail, the bottom side edge of the corresponding guide rail and the inner side edge of the corresponding guide rail respectively, and a connecting sheet metal is connected to the tool frame and the driving assembly at two ends.

[0009] In some embodiments, the connecting sheet metal is rotatingly connected to the tool frame.

[0010] In some embodiments, the driving assembly comprises a chain arranged along the extension path of the guide rail, the chain is connected to the tool module, a sprocket is engaged with the chain, at least each corner position of the guide rail is provided with a corresponding sprocket, and a driver is connected to at least one sprocket through an output shaft, and is used to drive the sprocket to rotate.

[0011] In some embodiments, the output shaft of the driver is connected to the corresponding sprocket through a worm gear reducer.

[0012] In some embodiments, the output shaft of the driver is connected with a transmission shaft, the driver is used to drive the transmission shaft to rotate, a plurality of sprockets are fixedly connected to the transmission shaft, the guide rail is provided with multiple layers, and the plurality of sprockets fixedly connected to the transmission shaft are engaged with the corresponding chains of each layer of the guide rail one by one.

[0013] In some embodiments, part of the guide rail segments of the guide rail is in a spiral structure, and the two ends of the guide rail segment in the spiral structure are connected through a ramp-shaped guide rail segment, so that the whole guide rail is in a closed loop form.

[0014] In some embodiments, the guide rail is provided with multiple layers, at least one side of the multiple-layer guide rail is distributed in a stepped manner, and each layer of the guide rail is in an independent closed loop form.

[0015] In some embodiments, the pin storage assembly further comprises a base, the base comprising: a truss comprising a plurality of crosswise strips of beams, the guide rail and the driving assembly being mounted to the truss; and at least four casters with locking feet mounted to four corner ends of the bottom of the truss.

[0016] The pin storage assembly provided by the embodiments of the present application comprises a guide rail, a tooling module, and a driving assembly, wherein the area where the guide rail is located has a length along at least one straight line direction that is greater than the arm span length of the corresponding mechanical arm, the tooling module is slidably mounted to the guide rail, the tooling module has at least one pin storage hole, the cross section of the pin storage hole is in a long circular structure and is used for storing a pin, and a relief groove is formed in the middle of two straight edges of the pin storage hole to allow the tongue of the pin to pass through in the locked state, and the driving assembly is used for driving the tooling module to slide along the extension path of the guide rail. Since the tooling module can slide along the guide rail, even if the area where the guide rail is located has a range that is greater than the activity range of the corresponding mechanical arm, as long as part of the guide rail is arranged within the activity range of the corresponding mechanical arm, all the tooling modules can be moved into the activity range of the mechanical arm during the running of the tooling module along the guide rail, and then the installation and disassembly of the pin can be completed in cooperation with the mechanical arm. In the technical solution, since the area where the guide rail is located has a length along at least one straight line direction that is greater than the arm span length of the corresponding mechanical arm, more tooling modules can be configured, so that the number of pins that can be stored by the pin storage assembly is significantly more than the number of pins that can be stored by the pin box in the prior art, thereby the continuous working time of the corresponding mechanical arm can be relatively increased, and the working efficiency of the whole pin automatic loading and unloading equipment can be improved; since the relief groove is arranged, the pin can be directly taken and placed from the pin storage hole regardless of whether the tongue is in the initial state or the locked state, the complexity of taking and placing the pin in the pin storage hole is reduced, and thus the working efficiency of the whole pin automatic loading and unloading equipment can be further improved. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows, and other drawings can also be obtained by those of ordinary skill in the art without any creative labor on the premise that the drawings are not attached.

[0018] Figure 1 A structural schematic diagram of a pin storage assembly provided by the embodiments of the present application is shown in FIG. 1.

[0019] Figure 2 A structural schematic diagram of a guide rail in the pin storage assembly is shown in FIG. 2. Figure 1

[0020] Figure 3 ​Another structure schematic diagram of the pin storage pipeline provided by the embodiment of the present application is provided.

[0021] Figure 4 For Figure 3 A structure schematic diagram of the middle slide rail is provided.

[0022] Figure 5 For Figure 3 A structure schematic diagram of the driving assembly is provided.

[0023] Figure 6 A structure schematic diagram of the tool module provided by the embodiment of the present application is provided.

[0024] Figure 7 A cooperation structure schematic diagram of the pin storage pipeline and the mechanical arm provided by the embodiment of the present application is provided.

[0025] Figure 8 A structure schematic diagram of the pin in the initial state of the tongue provided by the prior art is provided.

[0026] Figure 9 A structure schematic diagram of the pin in the locked state of the tongue provided by the prior art is provided.

[0027] In the figure:

[0028] 1, base; 101, bar beam; 102, bottom plate; 103, wheel with lock; 2, tool module; 201, tool main plate; 202, pin storage hole; 203, avoiding groove; 204, tool side plate; 205, pulley; 206, connecting sheet metal; 3, guide rail; 301, outer rail; 302, inner rail; 4, support frame; 5, chain; 6, chain wheel; 7, transmission shaft; 8, worm gear reducer; 9, driver; 10, pin; 1001, tongue; 1002, lock body; 11, camera; 12, mechanical arm. DETAILED DESCRIPTION

[0029] The features and exemplary embodiments of various aspects of the present application will be described in detail below, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. For those skilled in the art, the present application can be implemented without some of these specific details. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0030] It is to be understood that the terminology used herein such as first and second, and the like, is only used to differentiate one entity or action from another entity or action, without necessarily requiring or implying any such actual relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. An element proceeded by "comprises... a" does not, without more constraints, exclude the presence of additional identical elements in the process, method, article, or apparatus that comprises the element.

[0031] At present, the locking pin automatic loading and unloading device is arranged on both sides of the container transport lane and is composed of a plurality of mechanical arms 12, a locking pin box and other peripheral accessories, which can adapt to the loading and unloading of the locking pin 10 of the container connecting hole. The locking pin box is used for fixing and storing the locking pin. When the container is loaded on the ship, the corresponding mechanical arm 12 is used to take the locking pin previously stored in the locking pin box and install the locking pin into the container connecting hole. Correspondingly, when the container is unloaded from the ship, the corresponding mechanical arm 12 is used to dismount the locking pin from the container connecting hole and store the locking pin in the locking pin box. Specifically, the container connecting hole is in a long circular hole structure, and the locking pin includes a lock body 1002 and a torsion tongue 1001 arranged at both ends of the lock body 1002. By rotating the torsion tongue 1001, the state of the corresponding torsion tongue 1001 can be adjusted.

[0032] Figure 8 It is a schematic diagram of the locking pin structure in the prior art in which the torsion tongue 1001 is in the initial state. Figure 9 It is a schematic diagram of the locking pin structure in the prior art in which the torsion tongue 1001 is in the locked state.

[0033] As shown in Figure 8 , when the torsion tongue 1001 is in the initial state, the length direction of the torsion tongue 1001 is consistent with the length direction of the lock body 1002. At this time, the torsion tongue 1001 can pass through the container connecting hole. Figure 9 As shown in , when the torsion tongue 1001 is in the locked state, the length direction of the torsion tongue 1001 is perpendicular to the length direction of the lock body 1002. At this time, the torsion tongue 1001 and the lock body 1002 are respectively located on both sides of the container connecting hole, and the torsion tongue 1001 and the lock body 1002 cannot be taken out from the container connecting hole.

[0034] Since the activity range of the mechanical arm 12 is limited, the volume of the locking pin box should not be too large. The arrangement area of the locking pin box needs to be within the activity area of the mechanical arm 12, which leads to a smaller number of locking pins that can be stored in the locking pin box, and further reduces the continuous working time of the mechanical arm 12.

[0035] In order to solve the prior art problems, the embodiment of the present application provides a lock pin storage pipeline. Details are introduced below in combination with the drawings.

[0036] Figure 1 A structural schematic diagram of a lock pin storage pipeline provided by the embodiment of the present application is shown in the figure. Figure 2 A structural schematic diagram of a slide rail in the figure is shown in the figure. Figure 1 A structural schematic diagram of a slide rail in the figure is shown in the figure. Figure 3 A structural schematic diagram of another lock pin storage pipeline provided by the embodiment of the present application is shown in the figure. Figure 4 A structural schematic diagram of a slide rail in the figure is shown in the figure. Figure 3 A structural schematic diagram of a slide rail in the figure is shown in the figure. Figure 5 A structural schematic diagram of a drive assembly in the figure is shown in the figure. Figure 3 A structural schematic diagram of a tooling module 2 provided by the embodiment of the present application is shown in the figure. Figure 6

[0037] Please refer to Figures 1 to 6 The embodiment of the present application provides a lock pin storage pipeline, which comprises a guide rail 3, a tooling module 2 and a drive assembly. The length of the area where the guide rail 3 is located along at least one straight line direction is greater than the arm span length of the corresponding mechanical arm 12. The tooling module 2 is slidingly installed on the guide rail 3, and a plurality of tooling modules 2 are distributed at intervals along the extension path of the guide rail 3. The tooling module 2 has at least one storage pin hole 202. Specifically, in the embodiment, each tooling module 2 is provided with two storage pin holes 202. The cross section of the storage pin hole 202 is in a long circular structure, which is used for storing a lock pin. One of the torsion tongues 1001 of the lock pin passes through the storage pin hole 202, and the lock body 1002 of the lock pin can be placed on the storage pin hole 202. The middle part of the two straight edges of the storage pin hole 202 is provided with an avoiding groove 203, so that the torsion tongue 1001 of the lock pin can pass through when in the locked state. When the torsion tongue 1001 is in the initial state, the torsion tongue 1001 can directly pass through the storage pin hole 202, and the lock body 1002 is placed on the storage pin hole 202. When the torsion tongue 1001 is in the locked state, the torsion tongue 1001 can directly pass through the empty area formed by the storage pin hole 202 and the avoiding groove 203, and the lock body 1002 is placed on the storage pin hole 202. The drive assembly is connected to the tooling module 2, and the drive assembly is used to drive the tooling module 2 to slide along the extension path of the guide rail 3.

[0038] Since the tooling module 2 can slide along the guide rail 3, even if the overall area where the guide rail 3 is located is greater than the activity range of the corresponding mechanical arm 12, as long as part of the guide rail 3 is arranged in the activity range of the corresponding mechanical arm 12, all the tooling modules 2 can be moved into the activity range of the mechanical arm 12 during the running process of the tooling module 2 along the guide rail 3, so as to cooperate with the mechanical arm 12 to complete the installation and disassembly of the lock pin.

[0039] ​In the embodiments of the present application, the length of the area where the guide rail 3 is located along at least one straight line direction is greater than the span length of the corresponding mechanical arm 12, so more tooling modules 2 can be configured, so that the number of locking pins that can be stored by the locking pin storage assembly is significantly more than the number of locking pins that can be stored by the locking pin box in the prior art, thereby the continuous working time of the corresponding mechanical arm 12 can be relatively increased, and the working efficiency of the whole locking pin automatic loading and unloading equipment can be improved. Because the avoiding groove 203 is arranged, whether the tongue 1001 is in the initial state or the locked state, the locking pin can be directly taken and placed from the storage hole 202, the complexity of taking and placing the locking pin in the storage hole 202 is reduced, and thus the working efficiency of the whole locking pin automatic loading and unloading equipment can be further improved.

[0040] As shown in Figures 1 to 4 In some embodiments, the guide rail 3 is in a closed loop form, and because the tooling module 2 for storing the locking pin can move along the extension path of the guide rail 3 in a loop, as long as part of the guide rail 3 is arranged in the activity range of the corresponding mechanical arm 12, each tooling module 2 will pass through the activity range of the mechanical arm 12 repeatedly, so that the mechanical arm 12 can take or store the locking pin.

[0041] As shown in Figures 1 to 4 In some embodiments, the guide rail 3 includes an inner rail 302 and an outer rail 301 arranged correspondingly, and the tooling module 2 is simultaneously connected to the inner rail 302 and the outer rail 301 in a sliding manner. Along the extension path of the guide rail 3, the spacing between the inner rail 302 and the outer rail 301 is the same, and the inner rail 302 cooperates with the outer rail 301 to make the connection between the tooling module 2 and the guide rail 3 more stable, thereby the running stability of the tooling module 2 can be improved.

[0042] In some embodiments, the guide rail 3 can be spliced by a straight rectangular steel pipe profile and a bent rectangular steel pipe profile. The bending of the rectangular steel pipe is a common pipe processing method, and the cost is low.

[0043] As shown in Figure 6As shown, in some embodiments, the tooling module 2 includes a tooling frame, a pulley system, and a connecting sheet metal 206. The pin storage hole 202 is located in the middle of the tooling frame. Pulley systems are installed on both the side of the tooling frame near the outer rail 301 and the side of the tooling frame near the inner rail 302. At least one side of the tooling frame near the outer rail 301 or near the inner rail 302 has two or more pulley systems spaced apart along the extension path of the guide rail 3. Specifically, in this embodiment, two pulley systems are provided at both the position of the tooling frame near the outer rail 301 and the position of the tooling frame near the inner rail 302. The pulley block includes three pulleys 205 rotatably connected to the tooling frame. The periphery of the three pulleys in the pulley block abuts against the top edge, bottom edge, and inner edge of the corresponding guide rail 3, respectively. Specifically, in this embodiment, the inner edge of the outer rail 301 refers to the edge of the outer rail 301 facing the corresponding inner rail 302. The top edge and bottom edge of the outer rail 301 refer to the two edges that connect with the inner edge of the outer rail 301, respectively. The inner edge of the inner rail 302 refers to the edge of the inner rail 302 facing the corresponding outer rail 301. The top edge and bottom edge of the inner rail 302 refer to the two edges that connect with the inner edge of the inner rail 302, respectively. The two ends of the connecting sheet metal 206 are respectively connected to the tooling frame and the drive assembly. The drive assembly drives the connecting sheet metal 206 to move along the extension path of the guide rail 3, thereby driving the corresponding tooling module 2 to move along the guide rail 3. By setting multiple pulley sets, the tooling module 2 can be guided and the friction between the tooling module 2 and the guide rail 3 can be reduced, thereby further improving the operational stability of the tooling module 2.

[0044] In some embodiments, the pulley is rotatably connected to a pulley shaft, and the end of the pulley shaft away from the corresponding pulley is threaded and fixed to the corresponding position of the tooling frame by means of a threaded connection. With the above configuration, it is convenient to replace the damaged pulley. In addition, in the process of designing the locking pin storage assembly line, plastic or metal pulleys can be selected according to the load.

[0045] like Figure 6 As shown, in some embodiments, the tooling frame includes a tooling main plate 201 and two tooling side plates 204 respectively fixed to both sides of the tooling main plate 201. Two pin holes 202 are arranged side by side on the tooling main plate 201, and the two tooling side plates 204 are parallel and perpendicular to the corresponding tooling main plate 201. Two pulleys in each pulley group are rotatably connected to the tooling side plate 204 at a position away from the tooling main plate 201, and the remaining pulley is rotatably connected to the tooling main plate 201. The tooling side plate 204 is provided with a clearance area to avoid the pulley rotatably connected to the tooling main plate 201, so that the periphery of the pulley rotatably connected to the tooling main plate 201 can abut against the inner edge of the corresponding guide rail 3. The tooling main plate 201 and the tooling side plates 204 can be stamped and formed separately, with a simple structure and easy manufacturing.

[0046] In some embodiments, the connecting sheet metal 206 is rotatably connected to the tool frame by corresponding pin shafts. During the process of the tool module 2 passing through the corner of the guide rail 3 or the part of the guide rail 3 with slope change, the tool frame can rotate relative to the connecting sheet metal 206, so as to reduce the deformation of the connecting sheet metal 206, and make the connecting sheet metal 206 have relatively high service life.

[0047] As shown in Figure 5 some embodiments, the driving assembly includes a chain 5, a sprocket 6 and a driver 9. The chain 5 is arranged along the extension path of the guide rail 3, and the chain 5 is connected to the tool module 2. Specifically, in the present embodiment, one end of the connecting sheet metal 206 is rotatably connected to the corresponding tool side plate 204, and the other end of the connecting sheet metal 206 is fixedly connected to the chain 5 at the corresponding position. When the chain 5 moves along the extension path of the guide rail 3, it can drive the connecting sheet metal 206 and the tool module 2 to move along the extension path of the guide rail 3 at the same time. The chain 5 is engaged with the sprocket 6. At least the corner position of the guide rail 3 is provided with a corresponding sprocket 6, so that the chain 5 can be tensioned along the extension path of the guide rail 3. The output shaft of the driver 9 is connected to at least one sprocket 6 for driving the sprocket 6 to rotate.

[0048] As shown in Figure 5 some embodiments, the output shaft of the driver 9 is connected to the corresponding sprocket 6 through the worm gear reducer 8. In the event of a failure of the driver 9, the worm gear reducer 8 can avoid the sprocket 6 from rotating randomly, and thus avoid the tool module 2 from shaking randomly, so that the pin storage assembly has relatively high stability.

[0049] As shown in Figure 5 some embodiments, the output shaft of the driver 9 is connected to the transmission shaft 7. The driver 9 is used to drive the transmission shaft 7 to rotate. The transmission shaft 7 is fixedly connected to a plurality of sprockets 6. When the transmission shaft 7 rotates, it can simultaneously drive a plurality of corresponding sprockets 6 to rotate. The guide rail 3 is provided with multiple layers. The plurality of sprockets 6 fixedly connected to the transmission shaft 7 are engaged with the corresponding chains 5 of each layer of the guide rail 3 one by one. The multiple layers of the guide rail 3 improve the space utilization. In a limited space, the guide rail 3 can be installed with relatively more tool modules 2, so that the pin storage assembly can store relatively more pins. The transmission shaft 7 and the plurality of sprockets 6 fixedly connected thereto can simultaneously provide power to the corresponding chains 5 of the multiple layers of the guide rail 3. In the state that each layer of the chain 5 is driven by relatively uniform driving force, the number of the drivers 9 can be reduced, and the number of electrical components and the control difficulty are reduced.

[0050] As shown in Figures 1 to 2As shown in the figure, in some embodiments, the guide rail 3 is in a spiral structure, and the two ends of the guide rail 3 in the spiral structure are connected by a ramp-shaped guide rail 3, so that the guide rail 3 is in a closed loop form. The guide rail 3 can store relatively more locking pins in a closed loop form, and in addition, the mechanical arm 12 or the artificial can only take and place the locking pins in the fixed area of the topmost layer, which is convenient to operate. In this embodiment, the chain 5 can be a bending chain to adapt to the multi-directional bending of the guide rail 3. It should be noted that the guide rail 3 is a part of the guide rail 3, and the guide rail 3 is connected by a plurality of guide rail 3.

[0051] Figure 7 The cooperation structure diagram of the locking pin storage pipeline provided by the embodiment of the application and the mechanical arm 12 is shown.

[0052] As Figure 3 , Figure 4 and Figure 7 shown, in some embodiments, the guide rail 3 is provided with multiple layers, at least one side of the multiple layers of guide rails 3 is in a stepped distribution, and each layer of guide rail 3 is in an independent closed loop form. A relatively large number of locking pins can be stored, and the multiple layers of guide rails 3 in a stepped distribution can leave a relatively large activity space for the mechanical arm 12, so as to facilitate the mechanical arm 12 to take or store the locking pins in the tooling module 2 corresponding to each layer of guide rail 3.

[0053] As Figures 3 to 4 shown, in some embodiments, the locking pin storage pipeline further includes a base 1, including a truss and a locking caster 103, the truss includes a plurality of longitudinal and transverse intersecting strip beams 101, the strip beams 101 are fixedly connected by welding or bolt connection. Specifically, in this embodiment, the strip beams 101 are fixedly connected by welding. The guide rail 3 and the driving assembly are installed on the truss, and at least four locking casters 103 are installed on the four corner ends at the bottom of the truss, which facilitates the overall movement of the locking pin storage pipeline to lock it in the preset position. The locking pin storage pipeline can be flexibly deployed, the application efficiency is improved, the application cost is reduced, and an advantage is occupied in the future marketization promotion process.

[0054] As Figure 3 and Figure 4 shown, in some embodiments, a plurality of support frames 4 are fixedly connected to the truss in a spaced distribution, and the guide rail 3 is directly installed on the support frame 4 at the corresponding position, that is, the guide rail 3 is indirectly installed on the base 1 through the support frame 4. Specifically, in this embodiment, the support frame 4 is in a door type structure, and the assembly precision of the guide rail 3 can be ensured by improving the machining and assembly precision of the support frame 4.

[0055] As Figure 3 and Figure 4As shown, at least part of the truss is covered with a bottom plate 102, which is fixed to the corresponding position of the truss. By arranging the bottom plate 102, it is convenient to install the drive 9, the worm gear reducer 8 and other components. Specifically, in this embodiment, each sprocket 6 is rotatably connected to the bottom plate 102 through a corresponding rotating shaft or transmission shaft 7, so that each sprocket 6 has relatively high stability.

[0056] As shown in the drawings, Figure 7 As shown, the base 1 is provided with a camera 11 near the position of the corresponding mechanical arm 12 through the support frame 4, which is used to identify the type of the corresponding position of the lock pin, so as to avoid the mechanical arm 12 from taking the wrong lock pin.

[0057] In some embodiments, the lock pin storage pipeline is provided with a position switch at the grabbing position of the corresponding mechanical arm 12. When the connecting sheet metal 206 of the tool module 2 passes through the monitoring area of the position switch, an in-position signal will be generated, which can improve the operation accuracy of the mechanical arm 12. Specifically, the position switch can be a non-contact position switch such as a magnetic induction switch or a photoelectric induction switch, so as to improve the reliability and anti-interference ability of the position switch.

[0058] The above is only a specific embodiment of the present application, and those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described system, module and unit can refer to the corresponding process in the foregoing method embodiments, which will not be described here. It should be understood that the protection scope of the present application is not limited to this. Any person skilled in the art can easily think of various equivalent modifications or replacements within the technical range disclosed in the present application, and these modifications or replacements should be covered within the protection scope of the present application.

Claims

1. A lock pin storage pipeline, comprising: The utility model relates to a kind of mechanical arm, including: Guide rail, the area where the guide rail is located is greater than the length of arm spread length of corresponding mechanical arm along at least one linear direction length; Tool module, slidingly installed in the guide rail, multiple tool modules are distributed along the extension path of the guide rail, the tool module has at least one storage pin hole, the cross section of the storage pin hole is long circular structure, the two straight edges of the storage pin hole are provided with avoiding slot in the middle, to pass through the tongue of locking pin in the locked state; Driving assembly, connected to the tool module, the driving assembly is used to drive the tool module to slide along the extension path of the guide rail.

2. The lock storage pipeline of claim 1, wherein, The guide rail includes corresponding inner rail and outer rail, the tool module is simultaneously slidingly connected to the inner rail and the outer rail, and the spacing between the inner rail and the outer rail along the extension path of the guide rail is the same.

3. The lock storage pipeline of claim 2, wherein, The tool module includes: Tool holder, the storage pin hole is located in the middle of the tool holder; Pulley set, the side of the tool holder close to the outer rail and the side of the tool holder close to the inner rail are both provided with the pulley set, at least one side of the tool holder close to the outer rail or the tool holder close to the inner rail is provided with more than two pulley sets distributed along the extension path of the guide rail, the pulley set includes three pulleys rotatingly connected to the tool holder, and the circumferential sides of the three pulleys of the pulley set respectively abut against the top side edge of the corresponding guide rail, the bottom side edge of the corresponding guide rail and the inner side edge of the corresponding guide rail; Connecting sheet metal, two ends of the connecting sheet metal are respectively connected to the tool holder and the driving assembly.

4. The lock storage pipeline of claim 3, wherein, The connecting sheet metal is rotatingly connected to the tool holder.

5. The lock storage pipeline of claim 1, wherein, The driving assembly includes: Chain, arranged along the extension path of the guide rail, the chain is connected to the tool module; Sprocket, the chain is engaged with the sprocket, at least each corner position of the guide rail is provided with corresponding sprocket; Driver, the output shaft of the driver is connected to at least one sprocket, for driving the sprocket to rotate.

6. The lock storage pipeline of claim 5, wherein, The output shaft of the driver is connected to the corresponding sprocket through a worm gear reducer.

7. The lock storage pipeline of claim 5, wherein, The output shaft of the driver is connected with a transmission shaft, the driver is used to drive the transmission shaft to rotate, the transmission shaft is fixedly connected with multiple sprockets, the guide rail is provided with multiple layers, and the multiple sprockets fixedly connected to the transmission shaft are engaged with the corresponding chains of each layer of the guide rail one by one.

8. The lock storage pipeline of claim 1, wherein, Part of the guide rail segments is in spiral structure, and the two ends of the guide rail segments in spiral structure are connected through inclined guide rail segments, so that the whole guide rail is in closed loop form.

9. The lock storage pipeline of claim 1, wherein, The guide rail is provided with multiple layers, and at least one side of the multiple guide rails is distributed in ladder shape, and each layer of the guide rail is in independent closed loop form.

10. The lock storage pipeline of claim 1, wherein, It also includes a base, and the base includes: Truss, including multiple longitudinal and transverse intersecting strip beams, the guide rail and the driving assembly are both installed on the truss; Locking caster, at least four locking casters are installed on the four corner ends of the bottom of the truss.

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