A column loading robot

Abstract

The utility model relates to a kind of vertical column loading manipulator, belong to the field of handling transfer mechanical.The technical scheme used in the present application is: vertical column loading manipulator, including longitudinal track, vertical column, transverse cantilever, transverse track, lifting counterweight and manipulator, vertical column is set on longitudinal track, vertical column moves along longitudinal track back and forth, transverse cantilever is set on vertical column by lifting trolley, manipulator is set in the lower portion of transverse cantilever, the space for loading below transverse cantilever, lifting counterweight that is also equipped with with transverse cantilever is connected by balance chain on vertical column, lifting counterweight and transverse cantilever are set on the two sides of vertical column.Transverse cantilever span is large, suitable for the transfer loading of various equipment of truck, railway carriage;The vertical column of the device structure can move and rotate, follow loading position movement, and loading efficiency is high.

Description

Technical Field

[0001] This utility model relates to a column loading robot, belonging to the field of handling and transshipment machinery. Background Technology

[0002] Most current transfer robots are single robotic arms with a rotary hand at the front end and multiple rotating joint arms connected together. However, their transfer distance is limited, only allowing transfers from one side of the conveyor line to the other side of the palletizing line.

[0003] For box trucks or open-air railway carriages, if loading or unloading is required, traditional robotic arms need to move along with the unloading location, which affects the accuracy of the robotic arm's movement and makes the chassis unstable.

[0004] For box trucks or open-air railway carriages, the process involves lifting the cargo from its stacked position, raising it, moving it above the carriage, and then lowering it to release the cargo. This entire process requires significant vertical lifting and swinging distances, necessitating a large span and sufficiently high lifting height for the transshipment equipment. This necessitates a new type of transshipment equipment. Summary of the Invention

[0005] To address the aforementioned problems, this invention provides a column-mounted loading robot that enables high-lift, large-span loading and handling.

[0006] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0007] A column-mounted loading robot includes a longitudinal track, a column, a transverse cantilever, a transverse track, a lifting counterweight, and a robot arm.

[0008] The column is set on the longitudinal track and moves back and forth along the longitudinal track. The lateral cantilever is set on the column by a lifting trolley. A robot arm is set at the lower part of the lateral cantilever. The space below the lateral cantilever is a loading space. The column is also equipped with a lifting counterweight connected to the lateral cantilever by a balance chain. The lifting counterweight and the lateral cantilever are set on both sides of the column.

[0009] According to the column loading robot, the bottom of the column is provided with a rotating support, the lower part of the rotating support is provided with a longitudinal trolley, the rotating part of the rotating support is fixed to the bottom of the column, and the fixed part of the rotating support is fixed to the longitudinal trolley.

[0010] According to the column loading manipulator, the bottom of the longitudinal trolley is provided with a pair of longitudinal rollers, which clamp the longitudinal track. The trolley is also provided with a longitudinal motor, the output shaft of which is provided with a longitudinal gear, and the longitudinal track is provided with a longitudinal rack, which cooperates with the longitudinal gear.

[0011] According to the column loading manipulator, a transverse trolley is set on the transverse track of the transverse cantilever. The transverse trolley has an upper wheel and a lower wheel located at the upper and lower parts of the transverse track. The transverse trolley is equipped with a transverse motor. A transverse gear is set on the output shaft of the transverse motor. A transverse rack is provided on the transverse track. The transverse rack and the transverse gear mesh and drive each other.

[0012] According to the column loading manipulator, the transverse cantilever consists of an upper crossbeam, a lower crossbeam, and an inclined beam connecting the upper and lower crossbeams. The lower crossbeam is horizontal, the upper crossbeam is inclined, and the free end is low. The upper and lower crossbeams are fixed on the lifting trolley, which is mounted on the column.

[0013] According to the column loading robot, a vertical guide rail is provided on the front side of the column. The vertical guide rail is a grooved groove. The lifting trolley is equipped with lifting guide wheels, and the lifting pulley moves in the vertical rail.

[0014] According to the column loading robot, the top of the column is provided with an upper steering sprocket and an upper lifting sprocket, and the inner side of the vertical track steering sprocket is provided with a lower lifting sprocket. The circulating chain is looped between the upper lifting sprocket and the lower lifting sprocket. One end of the lifting sprocket is connected to the lifting trolley, and the other end is connected to the lifting counterweight after wrapping around the upper steering sprocket. The axle of the upper steering sprocket is connected to the lifting drive motor, and the output shaft of the lifting drive motor is provided with a brake.

[0015] The advantages of this utility model are:

[0016] With a large cantilever span, it is suitable for loading and unloading various equipment in freight cars and railway carriages;

[0017] The structural columns of this device can move and rotate, following the loading position, resulting in high loading efficiency.

[0018] The cantilever of this device is equipped with a counterweight mechanism, ensuring stable lifting and a sufficiently safe structure. Attached Figure Description

[0019] Figure 1 This is an overall structural diagram of the present invention.

[0020] Figure 2 This is a structural diagram of one side of the robotic arm of this utility model.

[0021] Figure 3 yes Figure 2 Sectional view along line AA,

[0022] Figure 4 This is a top view of the present invention.

[0023] Figure 5 This is a partial top view of the column structure of this utility model.

[0024] Figure 6 This is a structural diagram of the robotic arm of this utility model.

[0025] Figure 7 This is a diagram of the longitudinal trolley mechanism of this utility model.

[0026] Figure label:

[0027] 1. Longitudinal track; 2. Column; 21. Longitudinal trolley; 22. Longitudinal motor; 23. Longitudinal gear; 24. Longitudinal rack; 25. Vertical guide rail; 26. Lifting guide wheel; 27. Longitudinal roller; 3. Lateral cantilever; 31. Lateral trolley; 32. Lateral motor; 33. Lateral gear; 34. Lateral gear; 35. Upper crossbeam; 36. Lower crossbeam; 37. Inclined beam; 38. Lifting trolley; 4. Lateral track; 5. Lifting counterweight; 6. Lifting chain; 61. Upper lifting sprocket; 62. Lower lifting sprocket; 7. Balance chain; 71. Front balance sprocket; 72. Steering pressure roller; 73. Lifting motor; 74. Rear balance sprocket; 8. Robotic arm; 9. Rotary bearing. Detailed Implementation

[0028] The specific details of this utility model are further described below:

[0029] This utility model of a column-mounted loading robot includes a longitudinal track 1, a column 2, a transverse cantilever 3, a transverse track 4, a lifting counterweight 45, and a robot arm.

[0030] The longitudinal track of this device is located on one side of the loading space. A swivel support 9 is provided at the bottom of the column 2. A longitudinal trolley 21 is provided at the lower part of the swivel support. The rotating part of the swivel support is fixed to the bottom of the column 2, and the fixed part of the swivel support 9 is fixed to the longitudinal trolley 21. The column can rotate horizontally around the center of the longitudinal trolley via the swivel support 9.

[0031] The column 2 is set on the longitudinal track 1, and the column 2 moves back and forth along the longitudinal track 1.

[0032] The transverse cantilever 3 is mounted on the column 2 via a lifting trolley, and the transverse cantilever moves up and down on the column via the lifting trolley.

[0033] A transverse track 4 is installed at the lower part of the transverse cantilever 3. A transverse trolley 31 is mounted on the transverse track 4, and a robotic arm is mounted on the transverse trolley 31. The transverse trolley can move on the transverse track of the transverse cantilever 3.

[0034] The loading compartment of this device is located on one side of the longitudinal transfer track, while the material can be piled up on the other side. The longitudinal transfer trolley moves the robotic arm closer to the material. By rotating the column and the horizontal cantilever, the robotic arm is moved to the top of the material. Then, the lifting trolley drives the horizontal cantilever to rise and fall on the column to approach the material. The robotic gripper grabs the material, and then rises horizontally. The column rotates, and the robotic gripper releases the material, completing the entire handling process.

[0035] Specifically, the longitudinal track of this device consists of two parallel guide rails. The guide rails are raised by feet and do not touch the ground. The feet are secured by expansion bolts or pre-embedded in the ground.

[0036] The longitudinal trolley of this device is fixed with a longitudinal motor 22. The output shaft of the longitudinal motor is equipped with a longitudinal gear 23. A longitudinal rack 24 is provided between the two guide rails of the longitudinal track 1. The teeth of the longitudinal rack 24 are arranged vertically and the output shaft of the longitudinal motor is oriented vertically. The longitudinal gear 23 and the longitudinal rack 24 cooperate.

[0037] The longitudinal trolley is equipped with a pair of rollers that clamp the guide rails, with the rollers forming an integral structure at the upper and lower parts of the guide rails. The rollers on the two guide rails stably clamp the guide rails, forming an integral rigid structure capable of withstanding the overturning moment caused by the weight of the material in the mechanical gripper on the transverse cantilever.

[0038] The longitudinal trolley is equipped with the aforementioned rotating support 9, which consists of a rotating part and a fixed part. The fixed part is fixed in the middle of the longitudinal trolley, while the rotating part is located at the bottom of the column. An external gear ring is provided around the circumference of the rotating part. A rotary motor is installed on the longitudinal trolley, and the output shaft of the rotary motor is equipped with a rotating gear that meshes with the external gear ring for transmission. The rotation of the rotary motor drives the external gear ring and the column to rotate, thereby realizing the rotation of the lateral cantilever.

[0039] Specifically, a vertical guide rail 25 is installed on the front side of the column 2. The vertical guide rail 25 has an inner groove structure. The lifting trolley is equipped with lifting guide wheels 26, which move within the vertical guide rail. The lifting trolley is driven by a lifting motor to lift the lifting chain.

[0040] Furthermore, an upper lifting sprocket is installed at the top of the vertical guide rail on the front side of the column, and a lower lifting sprocket is installed at the bottom of the column. The two ends of the lifting chain are connected to the upper and lower parts of the lifting trolley, respectively. The lifting chain engages with the upper lifting sprocket at the top of the column and with the lower lifting sprocket at the bottom. The axle of the upper lifting sprocket is connected to the output shaft of the lifting motor. The lifting motor drives the upper lifting sprocket, causing it to rotate around the upper and lower lifting sprockets, thus raising and lowering the lifting trolley and the horizontal cantilever.

[0041] A brake is installed on the output shaft of the lifting drive motor. When the lateral cantilever needs to stop, the brake is activated to control the braking of the output shaft and the upper lifting sprocket.

[0042] In order to reduce the driving power during the lifting process, a lifting counterweight 45 is provided on the column 2 of this device and connected to the transverse cantilever 3 by a balance chain. The lifting counterweight 45 and the transverse cantilever 3 are located on both sides of the column 2 and connected by a lifting chain.

[0043] Specifically, the top of the column is equipped with a front balance sprocket, a balance pressure roller, and a rear balance sprocket. The front balance sprocket and the upper lifting sprocket are coaxially arranged and rotate synchronously. The front end of the balance chain is connected to the lifting trolley, then it goes around the top of the front balance sprocket, then down through the balance pressure roller, and finally turns downward at the top of the rear balance sprocket, before finally connecting to the rear balance counterweight.

[0044] The lifting trolleys and lifting counterweights on both sides of the balance chain have approximately different weights, which can reduce the power required for the lifting trolleys during lifting and can also balance the instantaneous descent speed of the lifting trolleys after the lifting motor loses power, thus improving the safety of operation.

[0045] Furthermore, the transverse trolley 31 is equipped with upper wheels and lower wheels located above and below the transverse track 4. Multiple upper wheels and multiple lower wheels clamp the transverse track, which consists of two parallel guide rails. The transverse trolley 31 is also equipped with a transverse motor 32, and a transverse gear 33 is mounted on the output shaft of the transverse motor 32. A transverse rack is provided between the two guide rails of the transverse track 4, and the transverse rack and the transverse gear 33 mesh for transmission.

[0046] The traverse motor drives the traverse gear to rotate, which meshes with the transverse rack, driving the traverse trolley to move on the transverse track. The mechanical gripper is located at the bottom of the traverse trolley. When the traverse trolley moves, it moves the mechanical gripper closer to or away from the column structure, achieving the ability to grab goods from a distance and release them at a nearby location, or grab goods at a nearby location and release them from a distance.

[0047] To improve the structural strength of the transverse cantilever, this device assembles multiple crossbeams. The transverse cantilever 3 consists of an upper crossbeam 35, a lower crossbeam 36, and an inclined beam 37 connecting the upper and lower crossbeams. The lower crossbeam is horizontal, while the upper crossbeam 35 is inclined with its free end lower. The upper and lower crossbeams are fixed to a lifting trolley. Specifically, for the structural safety of the transverse cantilever, the ratio of the transverse cantilever length to the height distance between the upper and lower crossbeams at the fixed end is less than 10:1.

[0048] The advantages of this utility model are:

[0049] With a large cantilever span, it is suitable for loading and unloading various equipment in freight cars and railway carriages;

[0050] The structural columns of this device can move and rotate, following the loading position, resulting in high loading efficiency.

[0051] The cantilever of this device is equipped with a counterweight mechanism, ensuring stable lifting and a sufficiently safe structure.

Claims

1. A column-mounted loading robot, characterized in that, It includes a longitudinal track (1), a column (2), a transverse cantilever (3), a transverse track (4), a lifting counterweight (45), and a robotic arm, characterized in that... The column (2) is set on the longitudinal track (1) and moves back and forth along the longitudinal track (1). The transverse cantilever (3) is set on the column (2) by a lifting trolley. A robot arm is set at the lower part of the transverse cantilever (3). The space below the transverse cantilever (3) is a loading space. The column (2) is also equipped with a lifting counterweight (45) connected to the transverse cantilever (3) by a balance chain. The lifting counterweight (45) and the transverse cantilever (3) are set on both sides of the column (2).

2. The column loading robot according to claim 1, characterized in that, The bottom of the column (2) is provided with a rotating support (9), and a longitudinal trolley (21) is provided at the lower part of the rotating support. The rotating part of the rotating support is fixed to the bottom of the column (2), and the fixed part of the rotating support (9) is fixed to the longitudinal trolley (21).

3. The column loading robot according to claim 2, characterized in that, The bottom of the longitudinal trolley is provided with a pair of longitudinal rollers, which clamp the longitudinal track (1). The trolley is also provided with a longitudinal motor (22), and the output shaft of the longitudinal motor is provided with a longitudinal gear (23). The longitudinal track (1) is provided with a longitudinal rack (24), and the longitudinal gear (23) cooperates with the longitudinal rack (24).

4. The column loading robot according to claim 1, characterized in that, A transverse trolley (31) is provided on the transverse track (4) of the transverse cantilever (3). The transverse trolley (31) has an upper wheel and a lower wheel located at the upper and lower parts of the transverse track (4). The transverse trolley (31) is provided with a transverse motor (32). A transverse gear (33) is provided on the output shaft of the transverse motor (32). A transverse rack is provided on the transverse track (4). The transverse rack and the transverse gear (33) mesh and drive each other.

5. The column loading robot according to claim 1, characterized in that, The transverse cantilever (3) consists of an upper crossbeam (35), a lower crossbeam (36), and an inclined beam (37) connecting the upper crossbeam (35) and the lower crossbeam. The lower crossbeam is horizontal, the upper crossbeam (35) is inclined, and the free end is low. The upper crossbeam (35) and the lower crossbeam are fixed on the lifting trolley, which is set on the column (2).

6. The column loading robot according to claim 5, characterized in that, A vertical guide rail (25) is provided on the front side of the column (2). The vertical guide rail (25) has an inner groove structure. The lifting trolley is equipped with lifting guide wheels (26), and the lifting pulley moves in the vertical track.

7. The column loading robot according to claim 6, characterized in that, The vertical track of the column (2) is provided with an upper lifting sprocket (61) and a lower lifting sprocket (62) at both ends. The two ends of the lifting chain (6) are connected to the upper and lower parts of the lifting trolley respectively. The lifting chain cooperates with the upper lifting sprocket at the upper part of the column and with the lower lifting sprocket at the lower part of the column. The axle of the upper lifting sprocket is connected to the output shaft of the lifting motor.

8. The column loading robot according to claim 6, characterized in that, The top of the column is equipped with a front balance sprocket, a balance pressure roller and a rear balance sprocket. The front balance sprocket and the upper lifting sprocket are coaxially set and rotate synchronously. The front end of the balance chain (7) is connected to the lifting trolley, then it goes around the top of the front balance sprocket, then goes down through the balance pressure roller, and finally turns to the bottom at the top of the rear balance sprocket, and finally connects to the rear balance counterweight.

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