CarloaderTechnical field
The present invention relates to logistics equipment technical fields, in particular to a kind of carloader.
Background technique
Currently, logistic industry is either stored in a warehouse or transit link, reach higher automatization level, is entrucking onlyStill generally using the manually store items in railway carriage, cargo is conveyed into railway carriage link by entrucking operation in part by conveyer,But finally still has and manually piled up, be not able to achieve automation.
The cargo that exports to foreign countries generally uses pallet carrying, and cargo and pallet are directly mounted in fork truck into compartment.This sideFormula increases pallet cost, and to occupy cabin space, cargo and compartment inner wall gap larger for pallet, leads to charging burdenIt is few, improve transportation cost.
In the related technology, there is positioning and be not allowed in the robot of use, can not be automatically into boxcar inside, and pile upIt shakes seriously in the process, not can guarantee and pile up quality these problems.
Summary of the invention
The present invention is directed at least solve one of the technical problems existing in the prior art.
For this purpose, the present invention provides a kind of carloaders.
The present invention provides a kind of carloaders, comprising: walking component；Chassis is set to above walking component；Holder machineStructure is set on chassis；Robot is set on cradle head mechanism；Logistics conveyer system is set on chassis；Navigation system, ifIt is placed on chassis；Controller is set on chassis, and controller is connected with navigation system, and controller is used for according to navigation systemThe data information of acquisition, control walking component, cradle head mechanism and robot work.
Carloader provided by the present invention is provided with cradle head mechanism, cradle head mechanism on the chassis being located above walking componentOn be provided with mutually matched robot, logistics conveyer system, navigation system and controller.Wherein, navigation system can be accurateGround obtains the position data on chassis and robot and the outline data in compartment, and then controller is according to navigation system instituteThe data information control walking component movement of acquisition, and then carloader autonomous operation is controlled to job position, specifically, into goodsVehicle interior and the shape information for piling up material.After carloader moves to the job position inside boxcar, material paperCase is transported to predetermined position under the action of logistics conveyer system, and after material carton is in predetermined position, robot is being controlledIt starts to work under the control of device processed, material carton is transported to and piles up position, then robot returns to position of readiness, completes primaryIt piles up, after the completion of material carton is once piled up, navigation system can also obtain the position of material carton to detect material cartonQuality is piled up, when material carton has inclination or piles up irregular problem, can be adjusted in time, then robot continuesNext material carton is grabbed, in cycles, is fully completed until piling up.
It is notably that carloader provided by the present invention can be entered with self-navigation in boxcar (container)Portion reaches job position automatically, and automatically begins to a yard case, and navigation system can also during stacking identification code case quality, andIt corrects and piles up bad material carton, guarantee to pile up quality.
Carloader described in above-mentioned technical proposal according to the present invention can also have following additional technical feature:
In the above-mentioned technical solutions, it is preferable that cradle head mechanism includes: the first guide rail mounting base, is set on chassis；MachinePeople's mounting base, robot mounting base are slidably disposed in the first guide rail mounting base, and robot is rotatablely arranged at machineIn people's mounting base；First driving assembly is connected with robot mounting base, for driving robot mounting base and the first guide rail to pacifyFill the opposite sliding of seat.
In the technical scheme, it is provided with the first guide rail mounting base on chassis, and is arranged in the first guide rail mounting baseThere is robot mounting base, and robot mounting base can be slided in the first guide rail mounting base, and robot can pacify in robotIt rotates on dress seat, so that the flexibility of robot greatly enhances.When machine man-hour, the first driving assembly can be drivenMobile robot mounting base is slided in the first guide rail mounting base, and then drives robot motion, can be according to compartment profileAnd stacking position precisely adjusts position of the robot in compartment, to guarantee that robot is in optimal operating position, in turnGuarantee the quality of code case.
Specifically, the first driving assembly includes servo motor, shaft coupling and ball-screw interconnected, works as navigation systemWhen detecting that robot location needs to adjust, servo motor drives ball screw turns by shaft coupling, thus with mobile robotMounting base is mobile, has the function that adjust robot location.
In any of the above-described technical solution, it is preferable that set on one in the first guide rail mounting base and robot mounting baseIt is equipped with the first guide rail, is provided with the second guide rail compatible with the first guide rail on another.
In the technical scheme, first is provided on one in the first guide rail mounting base and robot mounting base to leadRail, another is provided with the second guide rail being mutually adapted with the first guide rail, passes through the mutual cooperation of the first guide rail and the second guide railGuarantee the Stable sliding of robot mounting base.
In any of the above-described technical solution, it is preferable that cradle head mechanism further include: the second guide rail mounting base is set to chassisOn, third guide rail is provided in the second guide rail mounting base；Sliding block is slidably disposed on third guide rail；Connecting rod, connecting rodBoth ends be connected respectively with the first guide rail mounting base and the second guide rail mounting base.
In the technical scheme, it is provided with the second guide rail mounting base on chassis, and is provided in the second guide rail mounting baseThird guide rail, and sliding block is slidably provided on third guide rail, and then guarantee the movement for being located at mechanism above sliding block.In addition,First guide rail mounting base is connected with the second guide rail mounting base by connecting rod, guarantees the first guide rail mounting base and the second guide rail peaceFill the synchronizing moving of seat.
In any of the above-described technical solution, it is preferable that logistics conveyer system includes: bottom plate, and bottom plate is connected with sliding block；TheOne conveying cylinder, is set on bottom plate；Baffle is set to the end of the first conveying cylinder；Guardrail is set to the first conveying cylinderSide, far from robot side；Box assembly is pushed away, is set on the first conveying cylinder, the first conveying cylinder and guardrail are located atOpposite side.
In the technical scheme, the bottom plate of logistics conveyer system is connected with sliding block, guarantees the fortune of the first conveying cylinderIt is dynamic；The end of first conveying cylinder is provided with baffle, the side of robot is provided with guardrail in the first conveying cylinder, andThe first conveying cylinder side opposite with guardrail, which is provided with, pushes away box assembly, during logistics conveyer system work, material paperCase moves under the action of the first conveying cylinder towards baffle side, when material carton is rolled by the conveying that the first power motor drivesWhen cylinder is delivered at baffle, box assembly start-up operation is pushed away by material carton and is pushed into guardrail, so that material carton abuts guardrail, is completedMaterial carton is in place, so as to subsequent processing progress.
Specifically, the first conveying cylinder is to be connected by bottom plate with sliding block, and random device people's mounting base is moved togetherIt is dynamic, lateral position is adjusted in synchronism with robot.
In any of the above-described technical solution, it is preferable that logistics conveyer system further include: the second conveying cylinder is set to bottomOn disk, one end of the second conveying cylinder is feed end, and the other end is connected with the first conveying cylinder.
In the technical scheme, the second conveying cylinder is provided on chassis, wherein one end of the second conveying cylinder be intoExpect end, the other end is connected with the first conveying cylinder, so that the second conveying cylinder and the first conveying cylinder cooperate, complete objectExpect the conveying of carton.
Specifically, the second conveying cylinder makes material carton enter carloader position, by first as feeding conveying beltPower motor driving；And the first conveying cylinder is material grasping conveyer belt, the position that is material carton in robot crawl, by theThe driving of two power motors.
In any of the above-described technical solution, it is preferable that pushing away box assembly includes: positive case cylinder, is set to the first conveying cylinderOn, it is located at below the first conveying cylinder；One end of swing rod, swing rod is connected with cylinder；Push rod, the other end phase of push rod and swing rodConnection.
In the technical scheme, it is provided with positive case cylinder below the first conveying cylinder, and is connected on positive case cylinderThere is swing rod, push rod is connected on swing rod, when material carton is delivered to gear by the first conveying cylinder that the first power motor drivesWhen at plate, controller controls positive case cylinder driving swing rod and swings, while push rod being driven to dig upwards, by material carton to the other sideIt is in place to complete material carton so that material carton abuts guardrail for movement.In the above-mentioned technical solutions, it is preferable that robot packetInclude: ontology is set in robot mounting base；Handgrip is connected with ontology.
In the technical scheme, robot includes ontology and the handgrip that is connected with ontology, wherein ontology is rotationally setIt is placed in robot mounting base, is main execution unit, and handgrip is the component for grabbing material, handgrip can be in ontology and robotIt rotates and slides under the action of mounting base, and then guarantee crawl material carton.
Specifically, handgrip includes the Suction cup assembly being arranged in main body and fork body component, wherein fork body component and main body canIt is slidably connected, the fork body pitched in body component can be retracted to the other side of main body in the side for extending out to main body.When needing to moveWhen taking material, Suction cup assembly is close to material carton side walls, and material carton is auxiliarily fixed using Suction cup assembly, then pitches body componentFork body extends to material carton bottom, completes movement of revealing all the details, and after material carton moves to target position, fork body is retracted to original positionIt sets, material is detached from Suction cup assembly under the effect of gravity, drops down onto and piles up position, completes primary stacking process.
In any of the above-described technical solution, it is preferable that navigation system includes: mainframe, is set on chassis；Lateral guidanceComponent is set on mainframe, for obtaining the parameter information of lateral position；Visual component is set to the top of mainframe, usesParameter information in acquisition direction of advance.
In the technical scheme, it is provided with mainframe, on chassis to guarantee the steady of lateral guidance component and visual componentDingan County's dress and locational requirement, and lateral guidance component is set on mainframe, during carloader is advanced, lateral guidanceThen the parameter of collect components lateral position feedbacks data to controller, and visual component is provided at the top of mainframe, leads toThe parameter information that visual component obtains in direction of advance is crossed to obtain so that visual component and lateral guidance component cooperateTake carloader lateral and front parameter information, precisely obtain the position of carloader, with guarantee carloader can self-navigation enter goodsVehicle compartment (container) is internal, reaches job position automatically.
In any of the above-described technical solution, it is preferable that lateral guidance component includes: support frame, is connected with mainframe；TheOne cylinder, is set on support frame；First roller assembly, is set on support frame, is connected with the output end of the first cylinder, theOne cylinder drives the first roller assembly flexible；First position sensor, is set on support frame, first position sensor and controlDevice is connected.
In the technical scheme, the first roller assembly for support frame being connected with mainframe, and being set on support frameIt can stretch under the driving of the first cylinder, when the first cylinder drives the first roller assembly flexible, be set on support frameFirst position sensor can synchronize the variation for detecting position, and controller is feedbacked data to, to guarantee controller to entruckingMachine is precisely controlled.
In any of the above-described technical solution, it is preferable that lateral guidance component further include: extensible canopy is set on support frame；Electric cylinder is set on support frame, and the output end of electric cylinder is connected with extensible canopy；Second cylinder, is set to extensible canopyOn；Second roller assembly, is set on extensible canopy, is connected with the output end of the second cylinder, and the second cylinder drives the second rollerComponent is flexible；Second position sensor, is set on extensible canopy, and second position sensor is connected with controller.
In the technical scheme, it is provided with extensible canopy on the support frame, extensible canopy can stretch under the action of electric cylinder,Mutually matched second cylinder, the second roller assembly and second position sensor are provided on extensible canopy.Wherein, the second rollerComponent can stretch under the driving of the second cylinder, when the second cylinder drives the second roller assembly flexible, be set on support frameSecond position sensor can synchronize the variation for detecting position, and controller is feedbacked data to, to guarantee controller to entruckingMachine is precisely controlled.By two groups of roller assemblies of setting and position sensor, and the distance between two groups adjustable, to adapt to notWith the duty requirements in the compartment of size, the applicability of carloader is improved.
In any of the above-described technical solution, it is preferable that visual component includes: mounting bracket, is set on mainframe；At leastOne radar, is installed on bracket；And Image Acquisition part, it is set on mainframe.
In the technical scheme, it is provided with mounting bracket on mainframe, and is provided at least one in mounting bracketRadar and Image Acquisition part with matching control host automatically from vehicle with this by the position of radar scanning compartment entranceEntrance navigation in compartment enters inside, and after material carton is piled up, Image Acquisition part judges material paper by way of visionThe quality for piling up position and stacking of case, to be arranged in time when something goes wrong in material carton.
In any of the above-described technical solution, it is preferable that navigation system includes: laser sensor, is set on chassis, is used forObtain range information of the chassis apart from objects in front.
In the technical scheme, laser sensor is set on chassis, before obtaining chassis distance by laser sensorThe range information of square object body, and then guarantee the traveling safety of carloader.
Specifically, laser sensor is provided with multiple, and is uniformly distributed on chassis, positioned at the direction of travel of carloader.
In the above-mentioned technical solutions, it is preferable that further include: supporting mechanism is telescopically arranged on chassis, is located at chassisAlong the front-end and back-end of direction of travel.
In the technical scheme, it may be provided with telescopic supporting mechanism on chassis, when carloader is in running orderWhen, it is stretched by supporting mechanism towards ground side, is detached from ground, the stabilization of lifting car loader entirety so that carloader is liftedProperty, then robot can carry out a yard casing working.Conversely, supporting mechanism is shunk until walking group when carloader needs to walkPart fits with ground.
In any of the above-described technical solution, it is preferable that supporting mechanism includes: mounting rack, is set on chassis, and chassis is located atLower section；Second driving assembly, is set on mounting rack；Transmission shaft is set on mounting rack, transmission shaft and the second driving assemblyOutput end be connected；Screw rod, screw rod are connected by shaft coupling with transmission shaft, and screw rod is arranged perpendicular to chassis；First supportPortion, the first support portion are connected with the end of screw rod, and towards ground side, the second driving assembly drives transmission shaft, shaft coupling to turnIt is dynamic, and then screw rod lifting is driven, the first support portion is ejected or withdrawn.
In the technical scheme, it is provided with mounting rack below chassis, and is provided on mounting rack interconnectedSecond driving assembly and transmission shaft, and by one end of screw rod and transmission axis connection, the other end is connected with the first support portion, and secondDriving assembly can drive screw rod lifting by transmission shaft, and then drive the ejection of the first support portion or withdraw, to guarantee supporting mechanismNormal work.
Specifically, when carloader is in running order, the second driving assembly driving transmission shaft rotates, transmission shaft bandDynamic screw rod rotation, and screw rod is arranged perpendicular to chassis and is connected with the first support portion, so that the first support portion direction groundFace jacks up, until carloader is integrally detached from ground, i.e., it is by the first support portion and ground when carloader is in running orderIt is in contact, and then guarantees robot attitude stabilization in the process, be not in shake.Conversely, when carloader needs to walk,Supporting mechanism is shunk until walking component fits with ground.
In any of the above-described technical solution, it is preferable that further include: collateral support mechanism is set on chassis, is distributed in chassisSide；Collateral support mechanism includes: third cylinder, is set on chassis；Second support portion is connected with third cylinder, thirdThe side that cylinder drives the second support portion towards chassis is stretched out or is retracted.
In the technical scheme, the side on chassis is provided with collateral support mechanism, the stability of further lifting car loader.Specifically, collateral support mechanism includes mutually matched third cylinder and the second support portion, wherein when carloader reaches operating positionWhen, third cylinder stretches out and then the second support portion is driven to withstand railroad car lateral wall, and the stability of carloader greatly promotes, then machinePeople can carry out a yard casing working.Conversely, third cylinder drives the second support portion to retract when carloader needs to walk.
Specifically, one four groups of third cylinders and the second support portion are shared, and is distributed in four corners of robot mounting basePosition.
In any of the above-described technical solution, it is preferable that walking component includes: crawler belt；Pedestal is connected with chassis, is located atThe lower section on chassis, crawler belt are set on the base；Third driving assembly, is set on the base, and is connected with crawler belt, carries out for drivingBand is advanced.
In the technical scheme, walking component includes chassis and is set to crawler belt interconnected and third driving on pedestalComponent.Wherein, controller passes through the speed for changing two crawler belts, to change direction and the speed of walking, so that entruckingMachine can accurately reach respective target locations.
Additional aspect and advantage of the invention will become obviously in following description section, or practice through the inventionRecognize.
Detailed description of the invention
Above-mentioned and/or additional aspect of the invention and advantage will become from the description of the embodiment in conjunction with the following figuresObviously and it is readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of the carloader of one embodiment of the invention；
Fig. 2 is the structural schematic diagram at another visual angle of carloader of embodiment illustrated in fig. 1；
Fig. 3 is the structural schematic diagram at the another visual angle of carloader of embodiment illustrated in fig. 1；
Fig. 4 is the structural schematic diagram at the another visual angle of carloader of embodiment illustrated in fig. 1；
Fig. 5 is the right view of the carloader of embodiment illustrated in fig. 1；
Fig. 6 is the main view of the carloader of embodiment illustrated in fig. 1；
Fig. 7 is the left view of the carloader of embodiment illustrated in fig. 1；
Fig. 8 is the top view of the carloader of embodiment illustrated in fig. 1；
Fig. 9 is the top view at another visual angle of carloader of embodiment illustrated in fig. 1；
Figure 10 is the structural schematic diagram on chassis in the carloader of embodiment illustrated in fig. 1；
Figure 11 is the cradle head mechanism schematic diagram of the carloader of embodiment illustrated in fig. 1；
Figure 12 is the partial structure diagram of logistics conveyer system in the carloader of embodiment illustrated in fig. 1；
Figure 13 is the partial structure diagram of logistics conveyer system in the carloader of embodiment illustrated in fig. 1；
Figure 14 is the structural schematic diagram of the ontology of robot in the carloader of embodiment illustrated in fig. 1；
Figure 15 is in structural schematic diagram when original state for the handgrip of robot in the carloader of embodiment illustrated in fig. 1；
Figure 16 is the structural schematic diagram when handgrip of robot in the carloader of embodiment illustrated in fig. 1 is in running order；
Figure 17 is the structural schematic diagram when handgrip of robot in the carloader of embodiment illustrated in fig. 1 is in running order；
Figure 18 is the structural schematic diagram of mainframe in the carloader of embodiment illustrated in fig. 1；
Figure 19 is the structural schematic diagram of controller in the carloader of embodiment illustrated in fig. 1；
Figure 20 is in structural schematic diagram when first state for lateral guidance component in the carloader of embodiment illustrated in fig. 1；
Figure 21 is in structural schematic diagram when the second state for lateral guidance component in the carloader of embodiment illustrated in fig. 1；
Figure 22 is the left view of the lateral guidance component of embodiment illustrated in fig. 1；
Figure 23 is the structural schematic diagram of visual component in the carloader of embodiment illustrated in fig. 1；
Figure 24 is the structural schematic diagram of laser sensor in the carloader of embodiment illustrated in fig. 1；
Figure 25 is the structural schematic diagram of supporting mechanism in the carloader of embodiment illustrated in fig. 1；
Figure 26 is the structural schematic diagram of collateral support mechanism in the carloader of embodiment illustrated in fig. 1；
Figure 27 is the structural schematic diagram of walking component in the carloader of embodiment illustrated in fig. 1；
Figure 28 is the work flow diagram of the carloader of embodiment illustrated in fig. 1.
Wherein, corresponding relationship of the Fig. 1 into Figure 27 between appended drawing reference and component names are as follows:
100 carloaders, 12 walking components, 122 crawler belts, 124 pedestals, 126 third driving assemblies, 14 chassis, 16 robots,162 ontologies, 164 handgrips, 166 Suction cup assemblies, 168 fork body components, 18 logistics conveyer systems, 182 first conveying cylinders, 184 gearsPlate, 186 guardrails, 188 positive case cylinders, 190 swing rods, 192 push rods, 194 first power motors, 196 second conveying cylinders, 198Two power motors, 200 link blocks, 202 bottom plates, 22 mainframes, 24 lateral guidance components, 242 support frames, 244 first cylinders,246 first roller assemblies, 248 first position sensors, 250 extensible canopies, 252 electric cylinders, 254 second cylinders, 256 second rollingsSub-component, 258 second position sensors, 26 visual components, 262 mounting brackets, 264 radars, 266 Image Acquisition parts, 28 laserSensor, 30 supporting mechanisms, 302 mounting racks, 304 transmission shafts, 306 screw rods, 308 first support portions, 310 hollow speed reducers, 312Bearing block, 32 collateral support mechanisms, 322 third cylinders, 324 second support portions, 34 first guide rail mounting bases, the installation of 36 robotsSeat, 382 servo motors, 384 shaft couplings, 386 ball-screws, 40 second guide rail mounting bases, 42 sliding blocks, 44 connecting rods, 46 controlsDevice, 48 limited blocks, 300 material cartons.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific realApplying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the applicationFeature in example and embodiment can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used alsoImplement in a manner of using other than the one described here, therefore, protection scope of the present invention is not by following public toolThe limitation of body embodiment.
The carloader 100 provided according to some embodiments of the invention is described referring to Fig. 1 to Figure 28.
The invention proposes a kind of carloaders 100, as shown in Figures 1 to 10, comprising: walking component 12, chassis 14, holderMechanism, robot 16, logistics conveyer system 18, navigation system and controller；
Wherein, chassis 14 are set to 12 top of walking component；Cradle head mechanism is set on chassis 14；Robot 16, ifIt is placed on cradle head mechanism；Logistics conveyer system 18 is set on chassis 14；Navigation system is set on chassis 14；Controller46, it is set on chassis 14, controller 46 is connected with navigation system, and controller 46 is used for the data obtained according to navigation systemInformation, control walking component 12, cradle head mechanism and robot 16 work.
Carloader 100 provided by the present invention is provided with cradle head mechanism on the chassis 14 being located above walking component 12,Mutually matched robot 16, logistics conveyer system 18, navigation system and controller 46 are provided on cradle head mechanism.Wherein, it leadsBoat system can be accurately obtained the position data on chassis 14 and robot 16 and the outline data in compartment, then controlThe data information according to acquired in navigation system of device 46 control walking component 12 processed moves, and then controls carloader 100 and independently transportRow arrives job position, specifically, into inside boxcar.When carloader 100 moves to the job position inside boxcarAfterwards, material carton 300 is transported to predetermined position under the action of logistics conveyer system 18, when material carton 300 is in predeterminedBehind position, robot 16 starts to work under the control of controller 46, and material carton 300 is transported to and piles up position, then machineDevice people 16 returns to position of readiness, completes primary stacking, after the completion of material carton 300 is once piled up, navigation system can also be obtainedThe position of material carton 300 is to detect the stacking quality of material carton 300, when material carton 300 has inclination or piles up not wholeIt when neat problem, can be adjusted in time, then robot 16 continues to grab next material carton 300, in cycles, until codeIt puts and is fully completed.
It is notably that carloader 100 provided by the present invention can enter boxcar (container) with self-navigationInside reaches job position automatically, and automatically begins to a yard case, and navigation system can also during stacking identification code case quality,And correct and pile up bad material carton 300, guarantee to pile up quality.
In one embodiment of the invention, it is preferable that as shown in figure 11, cradle head mechanism includes: the first guide rail mounting base34, it is set on chassis 14；Robot mounting base 36, robot mounting base 36 are slidably disposed in the first guide rail mounting base 34On, robot 16 is rotatablely arranged in robot mounting base 36；First driving assembly is connected with robot mounting base 36It connects, for driving robot mounting base 36 and the opposite sliding of the first guide rail mounting base 34.
In this embodiment, the first guide rail mounting base 34 is provided on chassis 14, and in the first guide rail mounting base 34It is provided with robot mounting base 36, and robot mounting base 36 can be slided in the first guide rail mounting base 34, and machine can beIt rotates in robot mounting base 36, so that the flexibility of robot 16 greatly enhances.When robot 16 works, theOne driving assembly can drive robot mounting base 36 to slide in the first guide rail mounting base 34, and then transport with mobile robot 16It is dynamic, position of the robot 16 in compartment can be precisely adjusted according to compartment profile and stacking position, to guarantee robot 16In optimal operating position, and then guarantee the quality of code case.In addition, being provided with limit in the end of the first guide rail mounting base 34Block 48, to play the role of limit.
In specific embodiment, the first driving assembly includes servo motor 382, shaft coupling 384 and ball wire interconnectedThick stick 386, when navigation system detects that 16 position of robot needs to adjust, servo motor 382 drives ball by shaft coupling 384Lead screw 386 rotates, thus it is mobile with mobile robot mounting base 36, have the function that adjust 16 position of robot.
In one embodiment of the invention, it is preferable that one in the first guide rail mounting base 34 and robot mounting base 36It is provided with the first guide rail on a, is provided with the second guide rail compatible with the first guide rail on another.
In this embodiment, first is provided on one in the first guide rail mounting base 34 and robot mounting base 36 to leadRail, another is provided with the second guide rail being mutually adapted with the first guide rail, passes through the mutual cooperation of the first guide rail and the second guide railGuarantee the Stable sliding of robot mounting base 36.
In one embodiment of the invention, it is preferable that as shown in figure 11, cradle head mechanism further include: the second guide rail installationSeat 40, is set on chassis 14, is provided with third guide rail in the second guide rail mounting base 40；Sliding block 42 is slidably disposed inOn three guide rails；Connecting rod 44, the both ends of connecting rod 44 are connected with the first guide rail mounting base 34 and the second guide rail mounting base 40 respectivelyIt connects.
In this embodiment, it is provided with the second guide rail mounting base 40 on chassis 14, and is set in the second guide rail mounting base 40It is equipped with third guide rail, and is slidably provided with sliding block 42 on third guide rail, and then guarantees the fortune for being located at 42 top structure of sliding blockIt is dynamic.In addition, the first guide rail mounting base 34 is connected with the second guide rail mounting base 40 by connecting rod 44, guarantee the installation of the first guide railThe synchronizing moving of seat 34 and the second guide rail mounting base 40.In addition, being provided with limited block in the end of the second guide rail mounting base 4048, to play the role of limit.
In one embodiment of the invention, it is preferable that as shown in figure 12, logistics conveyer system 18 includes: bottom plate 202,Bottom plate 202 is connected with sliding block 42；First conveying cylinder 182, is set on bottom plate 202；Baffle 184 is set to the first conveyingThe end of roller 182；Guardrail 186 is set to the side of the first conveying cylinder 182, the side far from robot 16；Push away case groupPart is set on the first conveying cylinder 182, the side opposite with guardrail 186 positioned at the first conveying cylinder 182.
In this embodiment, the bottom plate 202 of logistics conveyer system 18 is connected with sliding block 42, guarantees the first conveying cylinder182 movement；The end of first conveying cylinder 182 is provided with baffle 184, in the first conveying cylinder 182 far from robot 16Side be provided with guardrail 186, and the first conveying cylinder 182 side opposite with guardrail 186 is provided with and pushes away box assembly, in logisticsDuring transportation system 18 works, material carton 300 is transported under the action of the first conveying cylinder 182 towards 184 side of baffleIt is dynamic, when material carton 300 is delivered to baffle 184 by the conveying cylinder that the first power motor 194 drives, pushes away box assembly and startMaterial carton 300 is pushed into guardrail 186 by work, so that material carton 300 abuts guardrail 186, completes material carton 300 in place,So as to subsequent processing progress.
In specific embodiment, the first conveying cylinder 182 is to be connected by bottom plate 202 with sliding block 42, and random devicePeople's mounting base 36 moves together, and is adjusted in synchronism lateral position with robot 16.
In one embodiment of the invention, it is preferable that as shown in figure 13, logistics conveyer system 18 further include: second is defeatedRoller 196 is sent, is set on chassis 14, one end of the second conveying cylinder 196 is feed end, the other end and the first conveying cylinder182 are connected.
In this embodiment, the second conveying cylinder 196 is provided on chassis 14, wherein the one of the second conveying cylinder 196End is feed end, and the other end is connected with the first conveying cylinder 182, so that the second conveying cylinder 196 and the first conveying cylinder 182It cooperates, the conveying of complete material carton 300.
Specifically, the second conveying cylinder 196 is linked together by link block 200 and robot mounting base 36.
In specific embodiment, the second conveying cylinder 196 is used as feeding conveying belt, and material carton 300 is made to enter carloader instituteIn position, driven by the first power motor 194；And the first conveying cylinder 182 is material grasping conveyer belt, is material carton 300 in machinePosition when device people 16 grabs, is driven by the second power motor 198.
In one embodiment of the invention, it is preferable that as shown in figure 12, pushing away box assembly includes: positive case cylinder 188, ifIt is placed on the first conveying cylinder 182, is located at 182 lower section of the first conveying cylinder；One end of swing rod 190, swing rod 190 is connected with cylinderIt connects；Push rod 192, push rod 192 are connected with the other end of swing rod 190.
In this embodiment, the lower section of the first conveying cylinder 182 is provided with positive case cylinder 188, and in positive case cylinder 188On be connected with swing rod 190, push rod 192 is connected on swing rod 190, is driven when material carton 300 by the first power motor 194When first conveying cylinder 182 is sent to baffle 184, controller 46 controls positive case cylinder 188 and swing rod 190 is driven to swing, while bandDynamic push rod 192 is dug upwards, and material carton 300 is moved to the other side, so that material carton 300 abuts guardrail 186, completes objectExpect that carton 300 is in place.
In specific embodiment, carton material enters carloader, drives the second conveying cylinder 196 by the second power motor 198It is delivered on the first conveying cylinder 182.First conveying cylinder 182 is linked together by link block 200 with pedestal 124.Work as objectWhen material carton is delivered to baffle 184 by the first conveying cylinder 182 that the first power motor 194 drives, control instruction is controlled justCase cylinder 188 drives cylinder swing rod 190 to swing, while push rod 192 being driven to dig upwards, and material carton is clapped to the other side and is squeezed,So that carton material abuts guardrail 186, it is in place to complete carton.Entire first conveying cylinder 182 be by conveyer belt bottom plate 202 withThe sliding block 42 in the second guide rail mounting base 40 on chassis 14 is connected, and random device people mounting base 36 moves together, with robot16 are adjusted in synchronism lateral position.
In one embodiment of the invention, it is preferable that as shown in Figure 14 to Figure 17, robot 16 includes: ontology 162,It is set in robot mounting base 36；Handgrip 164 is connected with ontology 162.
In this embodiment, robot 16 includes ontology 162 and the handgrip 164 being connected with ontology 162, wherein ontology162 are rotatablely arranged in robot mounting base 36, are main execution units, and handgrip 164 is the component for grabbing material, is grabbedHand 164 can be rotated and be slided under the action of ontology 162 and robot mounting base 36, and then guarantee crawl material carton300。
In specific embodiment, if 15 to shown in Figure 17, handgrip 164 includes the Suction cup assembly 166 being arranged in main body and forkBody component 168, wherein fork body component is slidably connected with main body, and the fork body pitched in body component can extend out to main bodySide is retracted to the other side of main body.Further, Suction cup assembly includes sucker and the fixed frame for installing sucker, suckerQuantity be it is multiple, be evenly distributed on side of the main body towards working face；Pitching body component includes fork body, drive system and slidingPortion, fork body are connected with drive system, pitch body and realize opposite sliding by sliding part and main body under the driving of drive system, withIt realizes extending and retracting for fork body, carries out linear reciprocating motion.When needing to pipette material, Suction cup assembly 166 is close to material paperMaterial carton 300 is auxiliarily fixed using Suction cup assembly 166 in 300 side wall of case, and the fork body for then pitching body component 168 extends to material paperMovement of revealing all the details is completed in 300 bottom of case, and after material carton 300 moves to target position, fork body is retracted to original position, material paperCase 300 is detached from Suction cup assembly 166 under the effect of gravity, drops down onto and piles up position, completes primary stacking process.The handgrip is not take up objectThe headspace of material, the requirement for workplace is lower, can in a limited space in realize the arrangement of material, and to material categoryThe requirement of property and locating space environment is lower, adaptable.
In one embodiment of the invention, it is preferable that as shown in Figure 18 to Figure 23, navigation system includes: mainframe 22,It is set on chassis 14；Lateral guidance component 24 is set on mainframe 22, for obtaining the parameter information of lateral position；Depending onFeel component 26, the top of mainframe 22 is set to, for obtaining the parameter information in direction of advance.
In this embodiment, it is provided with mainframe 22, on chassis 14 to guarantee lateral guidance component 24 and visual component26 stable installation and locational requirement, and lateral guidance component 24 is set on mainframe 22, in the mistake that carloader 100 is advancedCheng Zhong, lateral guidance component 24 collect the parameter of lateral position, then feedback data to controller 46, and on the top of mainframe 22Portion is provided with visual component 26, the parameter information in direction of advance is obtained by visual component 26, so that visual component 26Cooperate with lateral guidance component 24, obtain carloader 100 side to and front parameter information, precisely obtain carloader 100Position, with guarantee carloader 100 can self-navigation to enter boxcar (container) internal, reach job position automatically.
In one embodiment of the invention, it is preferable that as shown in Figure 20 to Figure 23, lateral guidance component 24 includes: branchSupport 242 is connected with mainframe 22；First cylinder 244, is set on support frame 242；First roller assembly 246, is set toOn support frame 242, it is connected with the output end of the first cylinder 244, the first cylinder 244 drives the first roller assembly 246 flexible；TheOne position sensor 248, is set on support frame 242, and first position sensor 248 is connected with controller 46.
In this embodiment, the first rolling for support frame 242 being connected with mainframe 22, and being set on support frame 242Sub-component 246 can stretch under the driving of the first cylinder 244, when the first cylinder 244 drives the first roller assembly 246 flexibleWhen, the first position sensor 248 being set on support frame 242 can synchronize the variation for detecting position, and feedback data to controlDevice 46 processed, to guarantee being precisely controlled to carloader 100 of controller 46.
In one embodiment of the invention, it is preferable that as shown in Figure 20 to Figure 23, lateral guidance component 24 further include:Extensible canopy 250 is set on support frame 242；Electric cylinder 252 is set on support frame 242, the output end of electric cylinder 252It is connected with extensible canopy 250；Second cylinder 254, is set on extensible canopy 250；Second roller assembly 256, is set to extensible canopyOn 250, it is connected with the output end of the second cylinder 254, the second cylinder 254 drives the second roller assembly 256 flexible；The second positionSensor 258 is set on extensible canopy 250, and second position sensor 258 is connected with controller 46.
In this embodiment, extensible canopy 250 is provided on support frame 242, extensible canopy 250 can be in electric cylinder 252Effect is lower flexible, and mutually matched second cylinder 254, the second roller assembly 256 and the second position are provided on extensible canopy 250Sensor 258.Wherein, the second roller assembly 256 can stretch under the driving of the second cylinder 254, when the second cylinder 254 driving theWhen two roller assemblies 256 stretch, the second position sensor 258 being set on support frame 242 can synchronize the change for detecting positionChange, and feedback data to controller 46, to guarantee being precisely controlled to carloader 100 of controller 46.By the way that two groups of rollers are arrangedComponent and position sensor, and the distance between two groups are adjustable, to adapt to the duty requirements in various sizes of compartment, improve dressThe applicability of vehicle device.
In one embodiment of the invention, it is preferable that as shown in figure 24, visual component 26 includes: mounting bracket 262,It is set on mainframe 22；At least one radar 264, is installed on bracket；And Image Acquisition part 266, it is set to mainframeOn 22.
In this embodiment, mounting bracket 262 is provided on mainframe 22, and be provided in mounting bracket 262 toA few radar 264 and Image Acquisition part 266 with matching are scanned the position of compartment entrance by radar 264, are controlled with thisCarloader processed navigates from compartment entrance automatically enters inside, and after material carton 300 is piled up, Image Acquisition part 266 is logicalThe mode for crossing vision judges the quality for piling up position and stacking of material carton 300, to go wrong in material carton 300When arrange in time.
In specific embodiment, Image Acquisition part 266 may be mounted at 164 position of handgrip of robot 16.Image Acquisition part266 can acquire the device of image for depth camera, camera etc..
In one embodiment of the invention, it is preferable that as shown in figure 25, navigation system includes: laser sensor 28, ifIt is placed on pedestal 124, for obtaining range information of the pedestal 124 apart from objects in front.
In this embodiment, it is set to laser sensor 28 on pedestal 124, pedestal is obtained by laser sensor 28124 range information apart from objects in front, and then guarantee the traveling safety of carloader 100.
In specific embodiment, laser sensor 28 is provided with multiple, and is uniformly distributed on pedestal 124, is located at carloader100 direction of travel.Further, mounting rack is provided on chassis, laser sensor 28 is arranged on mounting rack, convenient to swashThe installation and replacement of optical sensor 28.
In one embodiment of the invention, it is preferable that as shown in figure 25, further includes: supporting mechanism 30 is telescopically setIt is placed on chassis 14, positioned at chassis 14 along the front-end and back-end of direction of travel.
In this embodiment, it may be provided with telescopic supporting mechanism 30 on chassis 14, when carloader 100 is in workWhen state, is stretched by supporting mechanism 30 towards ground side, be detached from ground, lifting car loader so that carloader 100 is lifted100 whole stability, then robot 16 can carry out a yard casing working.Conversely, when carloader 100 needs to walk, supportMechanism 30 is shunk until walking component 12 fits with ground.
In one embodiment of the invention, it is preferable that as shown in figure 25, supporting mechanism 30 includes: mounting rack 302, ifIt is placed on chassis 14, positioned at the lower section on chassis 14；Second driving assembly is set on mounting rack 302；Transmission shaft 304, is set toOn mounting rack 302, transmission shaft 304 is connected with the output end of the second driving assembly；Screw rod 306, screw rod 306 pass through shaft coupling384 are connected with transmission shaft 304, and screw rod 306 is arranged perpendicular to chassis 14；First support portion 308, the first support portion 308 and spiral shellThe end of bar 306 is connected, and towards ground side, the second driving assembly drives transmission shaft 304, shaft coupling 384 to rotate, and then bandDynamic screw rod 306 is gone up and down, and the first support portion 308 is ejected or withdrawn.
In this embodiment, the lower section on chassis 14 is provided with mounting rack 302, and is provided with mutually on mounting rack 302The second driving assembly and transmission shaft 304 of connection, and one end of screw rod 306 are connect with transmission shaft 304, the other end and firstSupport part 308 is connected, and the second driving assembly can drive screw rod 306 to go up and down by transmission shaft 304, and then drive the first support portion308 ejections are withdrawn, to guarantee the normal work of supporting mechanism 30.
In specific embodiment, it is connected between screw rod 306 and transmission shaft 304 by hollow speed reducer 310 and bearing block 312It connects, when carloader 100 is in running order, the second driving assembly driving transmission shaft 304 rotates, and transmission shaft 304 drivesScrew rod 306 rotates, and screw rod 306 is arranged perpendicular to chassis 14 and is connected with the first support portion 308, so that the first supportPortion 308 is jacked up towards ground, until the whole ground that is detached from of carloader 100 is logical that is, when carloader 100 is in running orderThe first support portion 308 and ground touching are crossed, and then guarantees the attitude stabilization in the process of robot 16, is not in shake.Conversely, supporting mechanism 30 is shunk until walking component 12 fits with ground when carloader 100 needs to walk.Further,Before direction of travel along carloader is, one group of supporting mechanism 30, and every group of supporting mechanism 30 are respectively arranged with before and after chassisIn be provided with multiple first support portions 308, multiple first support portions 308 are uniformly distributed along screw rod 306, so that multiple firstWhile support part 308 with uniform stressed, can guarantee the stability of complete machine, extend the service life of the first support portion 308.
In one embodiment of the invention, it is preferable that as shown in figure 26, further includes: collateral support mechanism 32 is set to bottomOn disk 14, it is distributed in the side on chassis 14；Collateral support mechanism 32 includes: third cylinder 322, is set on chassis 14；SecondSupport part 324 is connected with third cylinder 322, and the side that third cylinder 322 drives the second support portion 324 towards chassis 14 is stretched outOr it retracts.
In this embodiment, the side on chassis 14 is provided with collateral support mechanism 32, further lifting car loader 100 it is steadyIt is qualitative.Specifically, collateral support mechanism 32 includes mutually matched third cylinder 322 and the second support portion 324, wherein works as entruckingWhen machine 100 reaches operating position, third cylinder 322 stretches out and then the second support portion 324 is driven to withstand railroad car lateral wall, carloader100 stability greatly promotes, and then robot 16 can carry out a yard casing working.Conversely, when carloader 100 needs to walk,Third cylinder 322 drives the second support portion 324 to retract.
In specific embodiment, one shares four groups of third cylinders 322 and the second support portion 324, and is distributed in robot installationFour corner locations of seat 36.Direction of travel along carloader is front and back, and four groups of third cylinders 322 and the second support portion 324 areIt is even to be distributed in the non-sagittal two sides in chassis 14.
In one embodiment of the invention, it is preferable that as shown in figure 27, walking component 12 includes: crawler belt 122；Pedestal124, it is connected with chassis 14, positioned at the lower section on chassis 14, crawler belt 122 is arranged on pedestal 124；Third driving assembly 126, ifIt sets on pedestal 124, is connected with crawler belt 122, for driving crawler belt 122 to advance.
In this embodiment, walking component 12 include chassis 14 and be set on pedestal 124 crawler belt 122 interconnected andThird driving assembly 126.Wherein, controller 46 passes through the speed for changing two crawler belts 122, to change direction and the speed of walkingDegree, so that carloader 100 can accurately reach respective target locations.
In specific embodiment, several single wheels that crawler belt 122 can change drive into and can turn to；Synchronous belt, chain etc. passFlowing mode is not specified, general each other；Line slide rail, dovetail groove sliding rail, roller type sliding rail, cylinder guiding isoline director element are notIt is specified, it is general each other；Cylinder, hydraulic cylinder, the plug-type dynamical element of electric cylinders isoline are not specified, general each other；Servo motor, stepIt is not specified into the rotations such as motor, direct-drive motor driving, it is general each other.
In specific embodiment, the workflow of carloader 100 as shown in figure 28 and detailed description below:
Operator travels carloader 100 to compartment, and carloader 100 starts, and the radar 264 of visual component 26 scansCompartment entrance situation, the third driving assembly 126 that controller 46 controls chassis 14 rotates, and rubber belt track is driven to move, thusFor complete machine automatically into interior, this process is gross navigation.
After carloader 100 enters interior, controller 46 controls electric cylinder 252 and stretches out, then the first cylinder 244It is stretched out with the second cylinder 254, so that the first roller assembly 246 and the second roller assembly 256 stretch out and be close to the side wall in compartment；TogetherWhen drive rubber belt track continue to move, position first position sensor 248 and second position sensor 258 can be measured in the processThe variation of the distance between the side wall in carloader 100 and compartment, and two slat gum crawler belts are controlled by controller 46 and are moved respectively, comeThe direction of advance of carloader 100 is adjusted, this process is to be accurately positioned.
It moves on, when 4 laser sensors 28 of navigation system measure carloader 100 at a distance from compartment most inner wallReach default value, controller 46 halts caterpillar chassis is controlled.Controller 46 is according to lateral guidance component 24 at this timeThe numerical value measured calculates the left-right position of carloader 100 and the deviation in predetermined position, then controls the first of cradle head mechanismDriving assembly operating, so as to adjust the left-right position of robot 16.
Then, controller 46 controls the first cylinder 244 and the second cylinder 254 and retracts, so that the first roller assembly 246 and theTwo roller assemblies 256 retract away from the side wall in compartment, and then controller 46 controls electric cylinder 252 and retracts.
Then, the first support portion 308 that controller 46 controls supporting mechanism 30 stretches out, so that carloader 100 is lifted oneFixed height.Then, the third cylinder 322 that controller 46 controls collateral support mechanism 32 stretches out, so that the second support portion 324 withstands vehicleCompartment side wall.
Meanwhile logistics carton has passed through the second conveying cylinder 196 and has reached the first conveying cylinder 182, controller 46 controls justCase cylinder 188 drives swing rod 190 to swing, while push rod 192 being driven to dig upwards, and material carton 300 is clapped to the other side and is squeezed, is madeIt obtains carton material and abuts guardrail 186, completion carton is in place, and then positive case cylinder 188 retracts, and push rod 192 is driven to pack up downwards.
Then robot 16 acts, and the ontology 162 of robot 16 is sent handgrip 164 to 300 side of material carton, machine16 handgrip 164 of people catches material carton 300.Then robot 16 acts, and material carton 300 is sent to target position, then machine16 handgrip 164 of device people puts down carton, the then movement of robot 16 to position of readiness.The then Image Acquisition part of visual component 26266 shoot and calculate the relative position of material carton 300 Yu compartment side, to examine the stacking quality of material carton 300.AndRobot 16 continues to grab next carton material afterwards, in cycles.
After piling up certain amount material carton 300, carloader 100 needs to move backward a distance.Controller at this timeSecond driving assembly of 46 control supporting mechanisms 30 retracts, and then controller 46 controls the first support portion 308 of supporting mechanism 30It retracts, so that carloader 100 lands.Then controller 46 controls electric cylinder 252 and stretches out, and then controller 46 controls the first gasCylinder 244 and the second cylinder 254 stretch out.The third driving assembly 126 of the then control of controller 46 walking component 12 rotates, thus bandDynamic rubber belt track movement, carries out precise navigation.4 laser sensors 28 of Present navigation system measure carloader 100 with beforeWhen arranging the distance arrival default value of material carton 300, the control walking component 12 of controller 46 stops.Then, above-mentioned side is repeatedIt is retracted to navigation arrangement 24, supporting mechanism 30 is propped up, and collateral support mechanism 32 supports the process of wall, and then repeats 16 yards of above-mentioned robotThe process of case.In cycles, until completion is all piled up in entire compartment.
In the description of the present invention, term " multiple " then refers to two or more, unless otherwise restricted clearly, termThe orientation or positional relationship of the instructions such as "upper", "lower" is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of retouchingIt states the present invention and simplifies description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specificOrientation construction and operation, therefore be not considered as limiting the invention；Term " connection ", " installation ", " fixation " etc. should allIt is interpreted broadly, for example, " connection " may be fixed connection or may be dismantle connection, or integral connection；It can be straightConnect it is connected, can also be indirectly connected through an intermediary.It for the ordinary skill in the art, can be according to specific feelingsCondition understands the concrete meaning of above-mentioned term in the present invention.
In the description of this specification, the description of term " one embodiment ", " some embodiments ", " specific embodiment " etc.Mean that particular features, structures, materials, or characteristics described in conjunction with this embodiment or example are contained at least one reality of the inventionIt applies in example or example.In the present specification, schematic expression of the above terms are not necessarily referring to identical embodiment or realityExample.Moreover, description particular features, structures, materials, or characteristics can in any one or more of the embodiments or examples withSuitable mode combines.
These are only the preferred embodiment of the present invention, is not intended to restrict the invention, for those skilled in the artFor member, the invention may be variously modified and varied.All within the spirits and principles of the present invention, it is made it is any modification,Equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.