A transfer robot for a container roof

Abstract

The application relates to a transfer manipulator for a container roof, and relates to the technical field of the transfer manipulator, which comprises a manipulator main body, a negative pressure system arranged on the manipulator main body, a plurality of connecting rods arranged on the manipulator main body, and a plurality of suction cups which are installed on the connecting rods in one-to-one correspondence, wherein the connecting rods, the suction cups and the negative pressure system are in communication with each other, and the suction cups are provided with waist-shaped suction surfaces which are matched with the widths and recesses of the suction cups. The application has the effects of avoiding interference with a supporting part, improving the stability and safety of transfer under the premise of ensuring the suction area.

Description

Technical Field

[0001] This application relates to the technical field of transfer robots, and in particular to a transfer robot for container top plates. Background Technology

[0002] Containers are a set of tools that can carry packaged or unpackaged goods for transport and are easy to load and unload using mechanical equipment. They enable the standardization of a huge object with a load capacity of tens of tons and are widely used in logistics systems that support ships, ports, shipping routes, highways, transfer stations, bridges, tunnels, and multimodal transport.

[0003] Reference Figure 1 A container roof panel includes several spaced recesses 1 and support portions 2. Both recesses 1 and support portions 2 extend along the longitudinal direction of the container panel and are arranged in an orderly manner to form a corrugated shape. The function of the reinforcing material is replaced by a groove-shaped bend. Under the premise of ensuring the same strength, the structural weight can be reduced and steel can be saved. At the same time, the bending resistance of the container panel can be significantly improved, so that the surface of the container is not easily deformed when subjected to compression or impact.

[0004] During the production of shipping containers, the container top panels need to be transferred for container assembly. In related technologies, a transfer robot typically uses its circular suction cups to pick up and transfer the container top panels.

[0005] Regarding the aforementioned technologies, due to the alternating arrangement of recessed and supporting parts on the container roof, the circular suction cup needs to precisely align with the recessed part to achieve stable adsorption. When the diameter of the suction surface of the circular suction cup increases, the edge of the suction cup will interfere with the supporting part, making it impossible to adhere to the surface of the recessed part. When the diameter of the suction surface of the circular suction cup decreases, the adsorption force will decrease due to the reduced adsorption area, which may lead to the risk of the roof falling off during transportation. There is still room for improvement. Utility Model Content

[0006] To address the issues that increasing the diameter of the circular suction cup of a transfer robot causes interference with the support, while decreasing the diameter of the circular suction cup leads to a reduction in suction force due to a smaller suction area, this application provides a transfer robot for container top plates.

[0007] The container top plate transfer robot provided in this application adopts the following technical solution: A container top plate transfer robot includes a robot body, a negative pressure system disposed on the robot body, a plurality of connecting rods disposed on the robot body, and suction cups installed one-to-one on the connecting rods. The connecting rods, suction cups and negative pressure system are interconnected. The suction cups are provided with waist-shaped adsorption surfaces with adapted width and recesses.

[0008] By adopting the above technical solution, the width of the waist-shaped adsorption surface is adapted to the recessed part, which can accurately fit the surface of the recessed part. At the same time, its length extends moderately along the longitudinal direction of the recessed part. While ensuring the adsorption area, it avoids interference with the support part. This not only solves the interference problem when the diameter of the circular suction cup increases, but also ensures the adsorption force through sufficient adsorption area, reduces the risk of the top plate falling off during the transfer process, and improves the stability and safety of the transfer.

[0009] Optionally, the connecting rod includes an outer tube mounted on the main body of the robot and an inner rod embedded in the outer tube. The suction cup is mounted on the end of the inner rod away from the outer tube. A positioning groove is provided on the outer side wall of the inner rod. A screw and a threaded hole are provided on the outer tube. When the screw passes through the threaded hole and is inserted into the positioning groove, the radial displacement of the inner rod and the outer tube is locked.

[0010] By adopting the above technical solution, the radial displacement of the inner rod and outer sleeve can be locked by passing the screw through the threaded hole and embedding it into the positioning groove, which prevents the suction cup from rotating during the operation of the robot and causing interference between the suction cup and the support, thus ensuring the stability of the adsorption.

[0011] Optionally, the positioning groove is provided along the length direction of the inner rod, a limiting block is fixedly connected to the inner rod, and a spring is also sleeved on the inner rod. One end of the spring is fixedly connected to the outer tube, and the other end of the spring is fixedly connected to the limiting block.

[0012] By adopting the above technical solution, the positioning groove is set along the length of the inner rod, which allows the inner rod to be axially adjusted inside the outer tube. The spring provides elastic support for the inner rod. When the suction cup contacts the container top plate, the spring can play a buffering role, avoiding rigid collision between the suction cup and the top plate and damage to the top plate or suction cup, thus ensuring the service life and buffering effect of the connecting rod.

[0013] Optionally, the main body of the robotic arm includes a central frame and a plurality of extension rods mounted on the central frame for mounting the connecting rods.

[0014] By adopting the above technical solution, the central frame serves as the main support structure, providing a mounting base for the extension rods, which are then used to install connecting rods and suction cups. This allows multiple suction cups to be distributed in a dispersed manner, resulting in more uniform force distribution on the robot body and improved transport stability.

[0015] Optionally, the central frame is fitted with a plurality of mounting seats for mounting the extension rod along its length. Each mounting seat includes two mounting blocks, a first locking bolt and a first locking nut that cooperate to fix the two mounting blocks to the central frame.

[0016] By adopting the above technical solution, the mounting base can be adjusted in position along the length of the central frame, thereby changing the installation position of the extension rod and adjusting the suction point of the suction cup in the width direction of the top plate; the two mounting blocks are fixed to the central frame by the first locking bolt and the first locking nut, which are firmly connected and easy to disassemble, making it convenient to adjust the number and position of the mounting base according to actual needs; thus enhancing the flexibility and adjustability of the robot.

[0017] Optionally, the mounting block is provided with a connecting assembly for mounting the extension rod.

[0018] By adopting the above technical solution, the connection components make the installation and disassembly of the extension rod more convenient, and improve the ease of maintenance or replacement of the extension rod.

[0019] Optionally, the connecting assembly includes two mounting portions integrally disposed on the mounting block, and a second locking bolt and a second locking nut disposed on the mounting block. Each of the two mounting portions is provided with a mounting groove, and the two mounting grooves cooperate to form an embedding groove for the extension rod to be embedded. The second locking bolt and the second locking nut cooperate to lock the extension rod in the embedding groove.

[0020] By adopting the above technical solution, the extension rod is embedded in the mounting groove formed by the two mounting parts, which can achieve the initial positioning of the extension rod. The cooperation of the second locking bolt and the second locking nut can tighten the two mounting parts, thereby firmly locking the extension rod in the mounting groove and improving the stability of the extension rod embedded in the mounting groove.

[0021] Optionally, the connecting assembly includes an insert sleeve integrally disposed on the mounting block for the extension rod to be inserted, and a locking pin disposed on the insert sleeve. The extension rod has a plurality of adjustment holes along its length, and the insert sleeve has a locking hole. The locking pin passes through the locking hole and is threaded into one of the adjustment holes.

[0022] By adopting the above technical solution, the extension rod can be fixed in different positions by threading the locking pin through the locking hole of the insert cylinder and then into the adjustment hole on the extension rod. This allows for multi-position adjustment of the extension rod's length, enabling quick and accurate adjustment of the extension rod's extension length and, consequently, the position of the suction cup. This adapts to container tops of different sizes, improving the versatility of the transfer robot.

[0023] In summary, this application includes at least one of the following beneficial technical effects: 1. The waist-shaped adsorption surface of the suction cup is designed to ensure the adsorption area while avoiding interference with the support, thus improving the stability and safety of the transfer. 2. By using screws to pass through threaded holes and embed them into positioning grooves, the radial displacement of the inner rod and outer sleeve is locked to prevent the suction cup from rotating and interfering with the support, thus ensuring the stability of the suction. 3. The spring provides elastic support for the inner rod, acting as a buffer to prevent damage to the top plate or suction cup from rigid collisions, thus ensuring the service life of the connecting rod. Attached Figure Description

[0024] Figure 1 This is a structural schematic diagram of a container roof panel in related technologies.

[0025] Figure 2 This is a schematic diagram of the structure of the transfer robot for the container top plate in Embodiment 1 of this application.

[0026] Figure 3 This is a partial exploded view of the mounting base and central frame in Embodiment 1 of this application.

[0027] Figure 4 yes Figure 3 A magnified view of section A in the middle.

[0028] Figure 5 This is an exploded view of the extension rod and adsorption assembly in Embodiment 1 of this application.

[0029] Figure 6 yes Figure 5 A magnified view of section B in the middle.

[0030] Figure 7 This is a schematic diagram of the negative pressure system, the suction hose, and the adsorption assembly in Embodiment 1 of this application.

[0031] Figure 8 This is a schematic diagram of the structure of the mounting block, extension rod, and connecting assembly in Embodiment 2 of this application.

[0032] Explanation of reference numerals in the attached drawings: 1. Recessed portion; 2. Support portion; 3. Main body of the robot; 31. Central frame; 32. Extension rod; 321. Mounting hole; 322. Adjustment hole; 33. Mounting base; 331. Mounting block; 332. First locking bolt; 333. First locking nut; 334. Sleeve hole; 3341. Sleeve groove; 335. First lug; 336. Connecting assembly; 3361. Mounting portion; 3362. Second locking bolt; 3363. Second locking nut; 3364. 3365. Mounting slot; 3366. Second lug; 3367. Mounting tube; 3368. Locking pin; 3369. Locking hole; 4. Adsorption assembly; 41. Connecting rod; 411. Outer tube; 4111. Threaded hole; 412. Inner rod; 4121. Positioning slot; 4122. Spring; 4123. Limiting block; 413. Fixing nut; 414. Screw; 415. Through hole; 416. Suction hose; 42. Suction cup; 421. Mounting nut; 5. Negative pressure system. Detailed Implementation

[0033] The following is in conjunction with the appendix Figure 1-8 This application will be described in further detail.

[0034] Reference Figure 1 A container roof panel includes several recessed portions 1 and support portions 2 spaced apart. The recessed portions 1 and support portions 2 extend along the longitudinal direction of the container panel and are arranged in an orderly manner to reduce structural weight and save steel while ensuring the same strength, and at the same time significantly improve the bending resistance of the container panel.

[0035] This application discloses a robotic arm for transferring container top panels.

[0036] Example 1 Reference Figure 2 The container top panel transfer robot includes a robot body 3, an adsorption component 4, and a negative pressure system 5. The adsorption component 4 is mounted on the robot body 3 to adsorb the container top panel. The negative pressure system 5 is mounted on the robot body 3 and connected to the adsorption component 4 to provide negative pressure to the adsorption component 4.

[0037] Reference Figure 3The main body 3 of the robotic arm includes a central frame 31 and several extension rods 32. A mounting base 33 is installed on the central frame 31 for mounting the extension rods 32. The mounting base 33 includes two mounting blocks 331, a first locking bolt 332, and a first locking nut 333. Each mounting block 331 has a fitting groove 3341, which fits together to form a fitting hole 334, allowing the mounting base 33 to be fitted onto the central frame 31. A first lug 335 is also fixedly connected to each mounting block 331. The first locking bolt 332 passes through the first lug 335 located on the two mounting blocks 331 in sequence. The first locking nut 333 is threaded onto the first locking bolt 332 and abuts against the side of the first lug 335 away from the head of the first locking bolt 332, thereby tightening the two mounting blocks 331 and fixing the mounting base 33 to the central frame 31.

[0038] Reference Figure 3 and Figure 4 To stably mount the extension rod 32 onto the mounting block 331, a connecting assembly 336 is arranged on the mounting block 331. The connecting assembly 336 includes a mounting part 3361, a second locking bolt 3362, and a second locking nut 3363. There are two mounting parts 3361, both of which are integrally connected to the mounting block 331. Each of the two mounting parts 3361 has a mounting groove 3364 on its opposite side, and the two mounting grooves 3364 cooperate to form an insert groove 3365 for the extension rod 32 to be inserted. A plurality of extension rods 32 are inserted one-to-one into the insert groove 3365. Each of the two mounting parts 3361 is fixedly connected with a second lug 3366. The second locking bolt 3362 passes through the two second lugs 3366 in sequence. The second locking nut 3363 is threaded onto the second locking bolt 3362 and abuts against the side of the second lug 3366 away from the screw head of the second locking bolt 3362, so as to tighten the two mounting parts 3361 and thereby lock the extension rod 32 into the recess 3365.

[0039] Reference Figure 5 and Figure 6The extension rod 32 has a mounting hole 321 for mounting the adsorption assembly 4. The adsorption assembly 4 includes a connecting rod 41 and a suction cup 42. The connecting rod 41 includes an outer sleeve 411 and an inner rod 412. The outer sleeve 411 passes through the mounting hole 321 and is threaded with two fixing nuts 413, which abut against both sides of the extension rod 32 to fix the outer sleeve 411. The inner rod 412 is embedded in the outer sleeve 411. The outer wall of the inner rod 412 has a positioning groove 4121. The outer sleeve 411 has a screw 414 and a threaded hole 4111. When the screw 414 passes through the threaded hole 4111 and is inserted into the positioning groove 4121, the radial displacement of the inner rod 412 and the outer sleeve 411 is locked. The positioning groove 4121 is arranged along the length of the inner rod 412 so that the inner rod 412 can slide axially within the outer sleeve 411.

[0040] Reference Figure 5 The suction cup 42 is threadedly connected to the end of the inner rod 412 away from the outer sleeve 411. The suction cup 42 has an adsorption surface with a width and recess that are adapted to the shape of the adsorption surface, and the adsorption surface is waist-shaped to increase the adsorption area of ​​the suction cup 42 without interfering with the support. To avoid rigid collision between the suction cup 42 and the container top plate when it comes into contact with the top plate, which could damage the top plate or the suction cup 42, a spring 4122 is fitted on the inner rod 412. A limit block 4123 is fixedly connected to the side of the inner rod 412 near the suction cup 42. One end of the spring 4122 is fixedly connected to the outer sleeve 411, and the other end of the spring 4122 is fixedly connected to the limit block 4123, thereby providing elastic support for the inner rod 412 and ensuring a cushioning effect.

[0041] Reference Figure 7 The connecting rod 41 has a through hole 415 along its length, and the through hole 415 is connected to the adsorption surface of the suction cup 42. The end of the connecting rod 41 away from the suction cup 42 is threadedly connected to a suction hose 416, and the end of the suction hose 416 away from the connecting rod 41 is threadedly connected to the negative pressure system 5, so as to realize the interconnection of the connecting rod 41, the suction cup 42 and the negative pressure system 5.

[0042] The implementation principle of Example 1 is as follows: control the transfer robot to approach the container top plate. When the suction cup 42 contacts the container top plate, the negative pressure system 5 is activated so that the suction cup 42 adsorbs the container top plate. Then, control the transfer robot to transfer the container top plate. When changing the container top plate model, the position of the mounting base 33 along the length direction of the central frame 31 can be adjusted by disassembling the first locking bolt 332 and the first locking nut 333 to adapt to the length of the container top plate.

[0043] Example 2 Reference Figure 8The difference between this embodiment and Embodiment 1 is that the connecting assembly 336 includes an insert cylinder 3367 and a locking pin 3368. The insert cylinder 3367 is integrally connected to the mounting block 331 for the extension rod 32 to be inserted. The insert cylinder 3367 has a locking hole 3369, and the extension rod 32 has several adjustment holes 322 distributed along its length. The locking pin 3368 passes through the locking hole 3369 and is threaded into one of the adjustment holes 322 to lock the extension rod 32.

[0044] The implementation principle of Example 2 is as follows: control the transfer robot to approach the container top plate. When the suction cup 42 contacts the container top plate, the negative pressure system 5 is activated so that the suction cup 42 adsorbs the container top plate. Then, control the transfer robot to transfer the container top plate. When changing the container top plate model, the position of the mounting base 33 along the length direction of the central frame 31 can be adjusted by disassembling the first locking bolt 332 and the first locking nut 333 to adapt to different container top plate lengths. The position of the extension rod 32 along the length direction perpendicular to the central frame 31 can be adjusted by disassembling the locking pin 3368 to adapt to container top plates with different spacing between the recesses 1.

[0045] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A robotic arm for transferring container roof panels, characterized in that: It includes a robotic arm body (3), a negative pressure system (5) provided on the robotic arm body (3), several connecting rods (41) provided on the robotic arm body (3), and suction cups (42) installed on the connecting rods (41) one by one. The connecting rods (41), suction cups (42) and negative pressure system (5) are interconnected. The suction cups (42) are provided with waist-shaped adsorption surfaces with width and recessed portions (1) adapted to each other.

2. The container top plate transfer robot according to claim 1, characterized in that: The connecting rod (41) includes an outer tube (411) mounted on the main body (3) of the robot and an inner rod (412) embedded in the outer tube (411). The suction cup (42) is mounted on the end of the inner rod (412) away from the outer tube (411). The outer wall of the inner rod (412) is provided with a positioning groove (4121). The outer tube (411) is provided with a screw (414) and a threaded hole (4111). When the screw (414) passes through the threaded hole (4111) and is inserted into the positioning groove (4121), the radial displacement of the inner rod (412) and the outer tube (411) is locked.

3. The container top plate transfer robot according to claim 2, characterized in that: The positioning groove (4121) is arranged along the length direction of the inner rod (412). A limiting block (4123) is fixedly connected to the inner rod (412). A spring (4122) is also sleeved on the inner rod (412). One end of the spring (4122) is fixedly connected to the outer tube (411), and the other end of the spring (4122) is fixedly connected to the limiting block (4123).

4. The container top plate transfer robot according to claim 1, characterized in that: The main body (3) of the robotic arm includes a central frame (31) and several extension rods (32) mounted on the central frame (31) for mounting the connecting rod (41).

5. The container top plate transfer robot according to claim 4, characterized in that: The central frame (31) is fitted with a plurality of mounting seats (33) for mounting the extension rod (32) along the length direction. The mounting seat (33) includes two mounting blocks (331), a first locking bolt (332) and a first locking nut (333) that cooperate to fix the two mounting blocks (331) to the central frame (31).

6. The container top plate transfer robot according to claim 5, characterized in that: The mounting block (331) is provided with a connecting assembly (336) for mounting the extension rod (32).

7. The container top plate transfer robot according to claim 6, characterized in that: The connecting assembly (336) includes two mounting portions (3361) integrally disposed on the mounting block (331), and a second locking bolt (3362) and a second locking nut (3363) disposed on the mounting block (331). Each of the two mounting portions (3361) is provided with a mounting groove (3364). The two mounting grooves (3364) cooperate to form an embedding groove (3365) for the extension rod (32) to be embedded. The second locking bolt (3362) and the second locking nut (3363) cooperate to lock the extension rod (32) in the embedding groove (3365).

8. The container top plate transfer robot according to claim 6, characterized in that: The connecting assembly (336) includes an insert tube (3367) integrally disposed on the mounting block (331) for the extension rod (32) to be inserted, and a locking pin (3368) disposed on the insert tube (3367). The extension rod (32) is provided with a plurality of adjustment holes (322) along its length direction. The insert tube (3367) is provided with a locking hole (3369). The locking pin (3368) passes through the locking hole (3369) and is threaded into one of the adjustment holes (322).

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