CN105523393A - In-vehicle fast loading and unloading robot for commerce logistics - Google Patents
In-vehicle fast loading and unloading robot for commerce logistics Download PDFInfo
- Publication number
- CN105523393A CN105523393A CN201610018620.7A CN201610018620A CN105523393A CN 105523393 A CN105523393 A CN 105523393A CN 201610018620 A CN201610018620 A CN 201610018620A CN 105523393 A CN105523393 A CN 105523393A
- Authority
- CN
- China
- Prior art keywords
- loading
- unloading
- belt conveyor
- connecting gear
- lifting mechanism
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 18
- 230000033001 locomotion Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 5
- 238000007726 management method Methods 0.000 claims 2
- 230000002337 anti-port Effects 0.000 claims 1
- 238000010276 construction Methods 0.000 claims 1
- 230000003028 elevating effect Effects 0.000 claims 1
- 230000000694 effects Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 239000002356 single layer Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G67/00—Loading or unloading vehicles
- B65G67/02—Loading or unloading land vehicles
- B65G67/04—Loading land vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0666—Multiple scissor linkages vertically arranged
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2814/00—Indexing codes relating to loading or unloading articles or bulk materials
- B65G2814/03—Loading or unloading means
- B65G2814/0347—Loading or unloading means for cars or linked car-trains with individual load-carriers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Intermediate Stations On Conveyors (AREA)
- Specific Conveyance Elements (AREA)
Abstract
本发明公开了一种针对标准化和部分非标准化商业物流车内快速装卸机器人，由移动机构，传送机构，升降机构和装卸机构等组成。进行装卸时，机器人首先通过移动机构自行到达车厢内工作位置，利用传送机构，升降机构以及装卸机构对标准化箱式物品进行装卸。移动机构由轮式动力组成，其目的是完成不同工位的切换。传送机构由可伸缩机械臂式传送带和分段式可升降传送带组成，其目的是完成物品的传送及初步堆放。升降机构为一升降台，其目的是使装卸机构可以达到不同的装卸高度。装卸机构由一直线运动机构和吸盘构成，以完成装卸。相比于现有码垛机，本发明具有结构紧凑，易于移动，适应性强，效率高，功能全面等特点。极大的降低了装卸人员的劳动强度，提高了装卸效率。
The invention discloses a fast loading and unloading robot in a standardized and partially non-standardized commercial logistics vehicle, which is composed of a moving mechanism, a transmission mechanism, a lifting mechanism, a loading and unloading mechanism and the like. When loading and unloading, the robot first reaches the working position in the compartment by itself through the moving mechanism, and uses the transmission mechanism, lifting mechanism and loading and unloading mechanism to load and unload standardized box-type items. The moving mechanism is composed of wheeled power, and its purpose is to complete the switching of different stations. The transmission mechanism is composed of a telescopic mechanical arm conveyor belt and a segmented liftable conveyor belt, the purpose of which is to complete the transmission and preliminary stacking of items. The lifting mechanism is a lifting platform, and its purpose is to make the loading and unloading mechanism reach different loading and unloading heights. The loading and unloading mechanism is composed of a linear motion mechanism and a suction cup to complete loading and unloading. Compared with the existing palletizer, the present invention has the characteristics of compact structure, easy movement, strong adaptability, high efficiency and comprehensive functions. It greatly reduces the labor intensity of the loading and unloading personnel and improves the loading and unloading efficiency.
Description
技术领域technical field
本发明涉及一种商业物流车内快速装卸机器人。The invention relates to a fast loading and unloading robot in a commercial logistics vehicle.
背景技术Background technique
电商高速发展的现在，快递物流作为电商产业的线下支柱产业，也获得了高速的发展。同时我们的货运系统的运输能力需要有所提高来适应越来越大的货运需求。本发明应用于物流系统的装车卸车阶段，能帮助将货物快速整齐地码放到货车车厢，并在卸货时一个个卸下。With the rapid development of e-commerce, express logistics, as an offline pillar industry of the e-commerce industry, has also achieved rapid development. At the same time, the transportation capacity of our freight system needs to be improved to meet the increasing demand for freight. The invention is applied to the loading and unloading stage of the logistics system, and can help to quickly and neatly stack goods into the truck compartment, and unload them one by one during unloading.
传统的装车工序中，需要用叉车将大量货物放置于货车车厢口，再由工人将货物码放到车厢内部，工作效率低，工作强度大。本发明利用传送带将货物一个一个传送到车厢内的码放机，码放机将自动对货物进行码放，并在单层货物码放完毕后利用自身移动机构自动转换工位进行下一工位的码放。机器反转运行时又可以进行卸货。进行有着码放速度快，整齐度高，大量减低劳动强度的效果。In the traditional loading process, it is necessary to use a forklift to place a large number of goods at the door of the truck compartment, and then let the workers stack the goods inside the compartment, which is low in work efficiency and high in work intensity. The invention uses the conveyor belt to transfer the goods one by one to the stacking machine in the carriage. The stacking machine will automatically stack the goods, and use its own moving mechanism to automatically switch stations to stack the next station after the single-layer goods are stacked. Unloading can be performed when the machine is running in reverse. It has the effects of fast stacking speed, high uniformity, and a large reduction in labor intensity.
发明内容Contents of the invention
本发明的目标是提供一种便于移动，可用于标准化及部分非标准化的商业物流车内快速装卸机器人。The object of the present invention is to provide a fast loading and unloading robot in a standardized and partially non-standardized commercial logistics vehicle that is easy to move.
本发明提出的一种商业物流车内快速装卸机器人，由移动机构１、传送机构２、升降机构３和装卸机构４组成，其中：传送机构２两端分别通过活动关节连接移动机构１和升降机构３，使传送机构2、升降机构3和装卸机构4可收缩置于移动机构1的上方；升降机构３连接装卸机构４，所述升降机构３采用剪叉式升降架５，装卸机构４由传送带7和直线运动机构6组成，所述直线运载机构6上设有吸盘；所述传送机构2为可伸缩俯仰式传送带，由若干段传送带组成，分段传送带之间可以伸缩，并可以通过机械结构调整俯仰角度，以适应不同工位的传送要求；所述移动机构１采用轮式动力机构；当有车辆需要进行装卸时，移动机构1与传送机构2的传送带部分通过伸展进入车辆的车厢里层。货物由移动机构1逐一被放置到传送机构2的传送带上，经由传送机构2运载至升降机构3，再至装卸机构4的传送带上；当装卸机构4的传送带被填满时，暂停传送，由升降机构3把货物抬升至应至工位，然后装卸机构4推动货物将货物码好，循环此过程即可完成装卸；装卸机构4上设有吸盘，当装卸机构4反向运转并适时开动吸气伐时便可实现货物的卸下。A fast loading and unloading robot in a commercial logistics vehicle proposed by the present invention is composed of a moving mechanism 1, a transmission mechanism 2, a lifting mechanism 3 and a loading and unloading mechanism 4, wherein: the two ends of the transmission mechanism 2 are respectively connected to the moving mechanism 1 and the lifting mechanism through movable joints 3. The transmission mechanism 2, the lifting mechanism 3 and the loading and unloading mechanism 4 can be shrunk and placed above the moving mechanism 1; 7 and a linear motion mechanism 6, the linear carrying mechanism 6 is provided with a suction cup; the transmission mechanism 2 is a telescopic pitch conveyor belt, which is composed of several sections of conveyor belts. Adjust the pitch angle to meet the transmission requirements of different stations; the moving mechanism 1 adopts a wheeled power mechanism; when a vehicle needs to be loaded and unloaded, the conveyor belt part of the moving mechanism 1 and the transmission mechanism 2 enters the inner layer of the vehicle compartment by stretching . The goods are placed on the conveyor belt of the transmission mechanism 2 one by one by the moving mechanism 1, carried to the lifting mechanism 3 by the transmission mechanism 2, and then to the conveyor belt of the loading and unloading mechanism 4; when the conveyor belt of the loading and unloading mechanism 4 is full, the transmission is suspended, and the The lifting mechanism 3 lifts the goods to the corresponding station, and then the loading and unloading mechanism 4 pushes the goods to code the goods, and the loading and unloading can be completed by circulating this process; The unloading of the cargo can be realized when the gas is cut.
本发明中，所述移动机构１采用轮式动力机构，目的是完成不同工位的切换。In the present invention, the moving mechanism 1 adopts a wheeled power mechanism for the purpose of switching between different stations.
本发明中，传送机构由可伸缩机械臂式传送带和分段式可升降分段传送带组成，其目的是完成物品的传送及初步堆放。In the present invention, the conveying mechanism is composed of a telescopic mechanical arm conveyer belt and a segmented liftable segmental conveyer belt, and its purpose is to complete the conveyance and preliminary stacking of articles.
本发明中，升降机构为一升降台，其目的是使装卸机构可以达到不同的装卸高度。装卸机构由一直线运动机构和吸盘构成，以完成装卸。In the present invention, the lifting mechanism is a lifting platform, and its purpose is to enable the loading and unloading mechanism to reach different loading and unloading heights. The loading and unloading mechanism is composed of a linear motion mechanism and a suction cup to complete loading and unloading.
相比于现有码垛机，本发明具有结构紧凑，易于移动，适应性强，效率高，功能全面等特点。极大的降低了装卸人员的劳动强度，提高了装卸效率。Compared with the existing palletizer, the present invention has the characteristics of compact structure, easy movement, strong adaptability, high efficiency and comprehensive functions. It greatly reduces the labor intensity of the loading and unloading personnel and improves the loading and unloading efficiency.
附图说明Description of drawings
图1是该机器人机构结构（侧视）；Figure 1 is the mechanism structure of the robot (side view);
图2是其中升降机构和装卸机构的细节图（斜二测视）；Figure 2 is a detailed view of the lifting mechanism and the loading and unloading mechanism (oblique second view);
图中标号：1移动机构，2传送机构，3升降机构，4装卸机构，5剪叉式升降架，6直线运动机构，7传送带。Labels in the figure: 1 moving mechanism, 2 transmission mechanism, 3 lifting mechanism, 4 loading and unloading mechanism, 5 scissor lifting frame, 6 linear motion mechanism, 7 conveyor belt.
具体实施方式detailed description
下面结合附图和实施例对本发明作进一步说明。The present invention will be further described below in conjunction with drawings and embodiments.
实施例1：Example 1:
如图1所示，移动机构1的底端具有动力，可进行自主运动。移动机构1的顶端以及传送机构2由传送带以及可伸缩的滑轨组成。通常状态时传送机构2、升降机构3和装卸机构4可收缩置于移动机构1的上方，当有车辆需要进行装卸时，移动机构1的顶端以及传送机构2的传送带部分可以进行伸展使传送机构2之后的部分进入车厢的里层。货物由移动机构1逐一被放置到传送带上来，经由传送机构2运载至升降机构3再至装卸机构4的传送带，当装卸机构4的传送带被填满时，前面停止传送，由升降机构3把货物抬升至应至工位，然后装卸机构4推动货物将货物码好，循环此过程即可完成装卸。因装卸机构4上有吸盘，当装卸机构4反向运转并适时开动吸气伐时便可实现货物的卸下。As shown in FIG. 1 , the bottom end of the moving mechanism 1 is powered and can move autonomously. The top of the moving mechanism 1 and the conveying mechanism 2 are made up of conveyor belts and telescopic slide rails. In the normal state, the transmission mechanism 2, the lifting mechanism 3 and the loading and unloading mechanism 4 can be retracted and placed above the moving mechanism 1. When a vehicle needs to be loaded and unloaded, the top of the moving mechanism 1 and the conveyor belt part of the transmission mechanism 2 can be stretched to make the transmission mechanism The part after 2 enters the inner layer of the compartment. The goods are placed on the conveyor belt one by one by the moving mechanism 1, and then carried to the conveyor belt of the lifting mechanism 3 by the conveying mechanism 2 and then to the conveyor belt of the loading and unloading mechanism 4. Lift to the corresponding station, then the loading and unloading mechanism 4 pushes the goods to stack the goods, and the loading and unloading can be completed by circulating this process. Because there is a suction cup on the loading and unloading mechanism 4, when the loading and unloading mechanism 4 runs in reverse and starts the suction cutting in good time, the unloading of the goods can be realized.
如图2所示，图２为图１中升降机构3和装卸机构4部分的细节展示，剪叉式升降架5为剪叉式抬升机构，可实现动力行程较短时整体平台大幅度的抬升，直线运动机构6为上图中的吸盘，传送带7为分段式带式传送带，下有微形成抬升机构及与传送带运动方向相垂直的滚轮，在直线运动机构6推动货物时适时抬升此滚轮，可实现减小摩擦的作用。As shown in Figure 2, Figure 2 shows the details of the lifting mechanism 3 and loading and unloading mechanism 4 in Figure 1. The scissor lift frame 5 is a scissor lift mechanism, which can achieve a large lift of the overall platform when the power stroke is short , the linear motion mechanism 6 is the suction cup in the above figure, and the conveyor belt 7 is a segmented belt conveyor belt. There is a micro-formed lifting mechanism and a roller perpendicular to the moving direction of the conveyor belt. When the linear motion mechanism 6 pushes the goods, the roller is lifted in due course. , can achieve the effect of reducing friction.
Claims (2)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610018620.7A CN105523393A (en) | 2016-01-13 | 2016-01-13 | In-vehicle fast loading and unloading robot for commerce logistics |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610018620.7A CN105523393A (en) | 2016-01-13 | 2016-01-13 | In-vehicle fast loading and unloading robot for commerce logistics |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105523393A true CN105523393A (en) | 2016-04-27 |
Family
ID=55765987
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610018620.7A Pending CN105523393A (en) | 2016-01-13 | 2016-01-13 | In-vehicle fast loading and unloading robot for commerce logistics |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105523393A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298272A (en) * | 2017-08-10 | 2017-10-27 | 徐州德坤电气科技有限公司 | A kind of handler of logistics code fetch system |
| CN107640229A (en) * | 2017-10-25 | 2018-01-30 | 西安航空学院 | Compartment is provided in a kind of automatic express delivery |
| CN109250140A (en) * | 2018-11-14 | 2019-01-22 | 四川大学 | A kind of airdrome luggage handling system and its operation method |
| CN111392060A (en) * | 2020-03-27 | 2020-07-10 | 深圳市人工智能与机器人研究院 | A kind of aircraft luggage loading and unloading robot and its control method |
| CN113200268A (en) * | 2021-03-28 | 2021-08-03 | 大连廉川人工智能技术研发有限公司 | Imitation biological material conveyor robot |
| CN114180358A (en) * | 2022-01-11 | 2022-03-15 | 合肥泰禾智能科技集团股份有限公司 | Loading robot, loading method and loading system |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5193013A (en) * | 1975-02-10 | 1976-08-14 | Keitaikanona rifutosochinyoru niekihoho oyobi rifutosochinokozo | |
| CN102923461A (en) * | 2012-11-08 | 2013-02-13 | 湖州吴兴灵动机电设备制造厂 | Loader conveyor |
| CN202953505U (en) * | 2012-12-03 | 2013-05-29 | 呼伦贝尔市海拉尔区轻工机械有限责任公司 | Material conveyor |
| CN104310040A (en) * | 2014-09-12 | 2015-01-28 | 中国农业大学 | Automatic stacking device for grafted seedling trays |
| CN105035773A (en) * | 2015-08-19 | 2015-11-11 | 浙江路帆机电科技有限公司 | Stacking belt conveyor capable of moving radially |
| US20150353291A1 (en) * | 2014-06-09 | 2015-12-10 | Ty-Crop Manufacturing Ltd. | Control System for Material Handling Conveyor Vehicle |
-
2016
- 2016-01-13 CN CN201610018620.7A patent/CN105523393A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5193013A (en) * | 1975-02-10 | 1976-08-14 | Keitaikanona rifutosochinyoru niekihoho oyobi rifutosochinokozo | |
| CN102923461A (en) * | 2012-11-08 | 2013-02-13 | 湖州吴兴灵动机电设备制造厂 | Loader conveyor |
| CN202953505U (en) * | 2012-12-03 | 2013-05-29 | 呼伦贝尔市海拉尔区轻工机械有限责任公司 | Material conveyor |
| US20150353291A1 (en) * | 2014-06-09 | 2015-12-10 | Ty-Crop Manufacturing Ltd. | Control System for Material Handling Conveyor Vehicle |
| CN104310040A (en) * | 2014-09-12 | 2015-01-28 | 中国农业大学 | Automatic stacking device for grafted seedling trays |
| CN105035773A (en) * | 2015-08-19 | 2015-11-11 | 浙江路帆机电科技有限公司 | Stacking belt conveyor capable of moving radially |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107298272A (en) * | 2017-08-10 | 2017-10-27 | 徐州德坤电气科技有限公司 | A kind of handler of logistics code fetch system |
| CN107298272B (en) * | 2017-08-10 | 2022-11-29 | 徐州德坤电气科技有限公司 | Handling device of code system is got in commodity circulation |
| CN107640229A (en) * | 2017-10-25 | 2018-01-30 | 西安航空学院 | Compartment is provided in a kind of automatic express delivery |
| CN109250140A (en) * | 2018-11-14 | 2019-01-22 | 四川大学 | A kind of airdrome luggage handling system and its operation method |
| CN111392060A (en) * | 2020-03-27 | 2020-07-10 | 深圳市人工智能与机器人研究院 | A kind of aircraft luggage loading and unloading robot and its control method |
| CN113200268A (en) * | 2021-03-28 | 2021-08-03 | 大连廉川人工智能技术研发有限公司 | Imitation biological material conveyor robot |
| CN113200268B (en) * | 2021-03-28 | 2022-06-24 | 大连廉川人工智能技术研发有限公司 | Imitation biological material conveyor robot |
| CN114180358A (en) * | 2022-01-11 | 2022-03-15 | 合肥泰禾智能科技集团股份有限公司 | Loading robot, loading method and loading system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105523393A (en) | In-vehicle fast loading and unloading robot for commerce logistics | |
| CN109573443B (en) | Warehouse sorting system | |
| CN103224142B (en) | A kind of product automatic basket loading and transmission system | |
| CN110239966A (en) | A compact loading and unloading mobile robot and loading and unloading methods | |
| CN107344662A (en) | A kind of movable altitude lifting operation platform of auto parts and components warehouse stacking | |
| CN111003537A (en) | Automatic material preparation loading system and loading method | |
| CN112338893A (en) | Full-automatic loading and unloading goods robot | |
| CN112758577B (en) | Multi-station storage, picking and stacking conveyor and stacking method | |
| CN217102934U (en) | Intelligent transportation robot for loading | |
| CN111439606A (en) | Loader, system and method | |
| CN213169987U (en) | Automatic change tray and transport production line | |
| CN213616682U (en) | Full-automatic loading and unloading goods robot | |
| CN206692006U (en) | A kind of transfer packaging line | |
| CN208916102U (en) | For the anode plate movement system between casting equipment and electrolysis installation | |
| JP2018521931A (en) | Apparatus and method for conveying a conveyed product | |
| CN212268890U (en) | A vehicle loading machine | |
| CN108569571A (en) | A kind of goods transport device | |
| CN211254513U (en) | Automatic pile up neatly loading and unloading car system tears open | |
| CN204735458U (en) | Sort system in groups | |
| CN219620391U (en) | Whole row automatic loading equipment for box packaging products | |
| CN110641915A (en) | Automatic change long-pending conveyor chain of putting | |
| CN106516800A (en) | Full automatic loader | |
| CN217263397U (en) | Stack unloading equipment | |
| CN113860007B (en) | A robot for loading bagged goods into a van | |
| CN108891881A (en) | A kind of axle housing pipeline |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20160427 |