CN-116812587-B - Loading robot and loading method

CN116812587BCN 116812587 BCN116812587 BCN 116812587BCN-116812587-B

Abstract

The invention relates to the technical field of loading and unloading devices, in particular to a loading robot and a loading method. The loading robot comprises a receiving and feeding mechanism, a stacking mechanism, a pushing mechanism and a loading mechanism, wherein the receiving and feeding mechanism is used for receiving cargoes and conveying the cargoes along a first direction, the stacking mechanism comprises a temporary storage platform for receiving the cargoes conveyed by the receiving and feeding mechanism, an arrangement shifting sheet for shifting cargoes on the temporary storage platform to a second direction, a first expansion stop component arranged on the side edge of the temporary storage platform, a discharging platform and the pushing mechanism is used for pushing cargoes placed on the temporary storage platform to the discharging platform. The cargo loading efficiency can be effectively improved through the scheme.

Inventors

LIU WENHAO
XIAO HAO
ZHANG GANG
SU TAO
XU ZHIXIANG
Ao Wangwang
MIAO YINGLIANG

Assignees

盛视科技股份有限公司

Dates

Publication Date: 20260505
Application Date: 20230523

Claims (9)

1. A loading robot, comprising: the receiving and feeding mechanism is used for receiving cargoes and conveying the cargoes along a first direction; The stacking mechanism comprises a temporary storage platform for receiving the goods conveyed by the receiving and conveying mechanism and an arrangement shifting piece for shifting the goods on the temporary storage platform to a second direction; discharge platform, and The pushing mechanism pushes the goods placed on the temporary storage platform to the unloading platform; wherein, the platform of unloading includes the unloading frame with install in the unloading frame: A carrying plate; the unloading assembly comprises a push plate guide rail, an unloading push plate movably connected to the push plate guide rail and arranged at the top of the bearing plate, and a push plate driving motor for driving the unloading push plate to move along the push plate guide rail; The plate receiving assembly comprises a plate receiving guide rail, a discharging plate movably connected to the plate receiving guide rail and arranged at the bottom of the bearing plate, a plate receiving driving motor for driving the discharging plate to move along the push plate guide rail, and The second expansion stop component comprises an expansion guide rail, a translation plate movably connected with the expansion guide rail, an expansion driving mechanism used for driving the translation plate to move along the expansion guide rail, and a second expansion flange arranged on one side of the bearing plate and connected with the translation plate in parallel.
2. The loading robot of claim 1, wherein the staging platform comprises: the distributing position is provided with a first roller, and the arranging plectrum is movably connected with the first roller; a second roller arranged at one side of the first roller, and The temporary storage table is adjacently arranged on one side, far away from the first roller, of the second roller.
3. The loading robot of claim 1, wherein the staging platform comprises: The distributing position is provided with at least 2 first rollers which are distributed side by side towards the first direction, and at least two arranging poking sheets are respectively and movably connected with the first rollers; a second roller, at least two of which are arranged side by side towards the second direction and are respectively arranged at two sides of the first roller, and The temporary storage tables are at least provided with 2 temporary storage tables and are respectively matched and adjacently arranged on one side, far away from the first roller, of the second roller.
4. A loading robot according to claim 2 or 3, wherein a blocking piece and a guide rod cylinder for driving the blocking piece to lift are arranged on one side of the distributing position away from the material receiving and conveying mechanism; The stacking mechanism further includes: The first expansion stop component comprises an expansion guide rail, a translation plate movably connected to the expansion guide rail, an expansion driving mechanism for driving the translation plate to move along the expansion guide rail, and a first expansion flange arranged on the side edge of the temporary storage table; an arrangement guide rail which is in the same axial direction as the first roller and is movably connected with the arrangement shifting sheet, and The arrangement driving motor drives the arrangement shifting sheet to move along the arrangement guide rail; Wherein, the arrangement plectrum is equipped with by the guiding port that first roller interlude.
5. The loading robot of claim 1, wherein the pushing mechanism comprises: The pushing guide rail is movably provided with a connecting seat, and the connecting seat is provided with a supporting arm; one end of the pushing swing arm is hinged to the supporting arm; the push rod is connected with one end of the push swing arm far away from the support arm; A forward pushing cylinder for pushing the supporting arm to move along the pushing guide rail, and And one end of the jacking cylinder is arranged on the connecting seat, and the other end of the jacking cylinder is connected with the pushing swing arm.
6. The loading robot of claim 1, wherein the pick-up and delivery mechanism comprises: A conveying roller; The guide rail is arranged in the same direction as the axial direction of the conveying roller; a guiding pulling piece movably connected with the guiding guide rail and provided with a guiding opening penetrated by the conveying roller, and And the guide driving motor drives the guide poking piece to move along the guide rail.
7. The loading robot of claim 4, further comprising a lifting mechanism for driving the discharge platform to lift, the lifting mechanism comprising: The first lifting frame is provided with a first lifting guide rail sliding block; A second lifting frame movably connected with the first lifting guide rail slide block and provided with a second lifting guide rail slide block, a transition table arranged at the top of the second lifting frame and positioned at one side of the blocking piece far away from the distributing position, and The lifting fork is movably connected with the second lifting guide rail sliding block; wherein, the platform of unloading is installed on the lift fork.
8. The loading robot of claim 1, wherein the expansion driving mechanism includes a screw rod connected to the translation plate and an expansion driving motor for driving the screw rod; The translation plate is provided with: a travel switch electrically connected with the extension driving motor, and The hollow rod is provided with a guide groove on the side wall, a shifting piece moving along the guide groove and adjacent to the travel switch, and a spring propping against the shifting piece is arranged in the hollow rod.
9. The loading method is characterized by comprising the following steps of: The step of machine adjustment, in which the screw rod rotates to enable the second expansion flange to be in an expansion state, when the second expansion flange touches the inner wall of the carriage, a shifting piece on the hollow rod compresses a spring and shifts a travel switch to control the screw rod to rotate reversely, so that the second expansion flange is separated from contact with the inner wall of the carriage and is separated from a preset distance; The goods discharge analysis step is to calculate the number of goods which can be arranged in each row on the temporary storage platform; a guiding, shifting and feeding step, namely shifting and clamping the goods flowing into the conveying roller to a preset position by a guiding shifting piece, and conveying the goods by the conveying roller to an allocation position on a temporary storage platform; a goods discharging step, namely arranging the stirring sheets on the temporary storage platform to stir the goods flowing into the distributing position to the direction of the temporary storage platform so as to obtain goods discharging bodies distributed on the temporary storage platform in rows; The pushing step is that when the number of the goods discharging body reaches a preset value, the blocking piece descends, and the pushing rod pushes the goods discharging body into the bearing plate on the discharging platform; the first stacking step is to lift the second lifting frame and/or the lifting fork according to the height of the goods to be stacked in the carriage so as to drive the unloading platform to lift; And a second stacking step, in which a discharging connecting plate below the bearing plate extends out, the discharging pushing plate pushes the discharging body on the bearing plate to the direction of the discharging connecting plate, the connecting plate driving motor drives the discharging connecting plate to retract below the bearing plate, and the discharging pushing plate abuts against the discharging body, so that the discharging body falls to the bottom of a carriage or the upper layer of piled goods.

Description

Loading robot and loading method Technical Field The invention relates to the technical field of loading and unloading devices, in particular to a loading robot and a loading method. Background Chinese patent publication No. CN108750726B (hereinafter referred to as document one) discloses a loading system and method, which receives and groups goods through a box assembly to form a box assembly, and then the box assembly is arranged in rows and stacked in carriages. However, the first document has the problems that the goods can be stacked into the carriage only through the arrangement after grouping, the grouping process and the arrangement process are complex, particularly the dialing through a box-grouping dialing mechanism in the grouping process is low in fault tolerance and harmony, and accordingly the loading efficiency of the goods is low. Disclosure of Invention The invention aims to provide a loading robot and a loading method aiming at overcoming the defects of the prior art, and aims to further improve the loading efficiency of cargoes. The invention realizes the aim through the following technical scheme that the loading robot comprises: the receiving and feeding mechanism is used for receiving cargoes and conveying the cargoes along a first direction; The stacking mechanism comprises a temporary storage platform for receiving the goods conveyed by the receiving and conveying mechanism and an arrangement shifting piece for shifting the goods on the temporary storage platform to a second direction; discharge platform, and And the pushing mechanism pushes the goods placed on the temporary storage platform to the discharging platform. As a further proposal of the invention, the temporary storage platform comprises: the distributing position is provided with a first roller, and the arranging plectrum is movably connected with the first roller; a second roller arranged at one side of the first roller, and The temporary storage table is adjacently arranged on one side, far away from the first roller, of the second roller. As a further proposal of the invention, the temporary storage platform comprises: The distributing position is provided with at least 2 first rollers which are distributed side by side towards the first direction, and at least two arranging poking sheets are respectively and movably connected with the first rollers; a second roller, at least two of which are arranged side by side towards the second direction and are respectively arranged at two sides of the first roller, and The temporary storage tables are at least provided with 2 temporary storage tables and are respectively matched and adjacently arranged on one side, far away from the first roller, of the second roller. The invention further provides a further scheme that a blocking piece and a guide rod cylinder for driving the blocking piece to lift are arranged on one side of the distributing position away from the material receiving and conveying mechanism; The stacking mechanism further includes: The first expansion stop component comprises an expansion guide rail, a translation plate movably connected to the expansion guide rail, an expansion driving mechanism for driving the translation plate to move along the expansion guide rail, and a first expansion flange arranged on the side edge of the temporary storage table; an arrangement guide rail which is in the same axial direction as the first roller and is movably connected with the arrangement shifting sheet, and The arrangement driving motor drives the arrangement shifting sheet to move along the arrangement guide rail; Wherein, the arrangement plectrum is equipped with by the guiding port that first roller interlude. As a further proposal of the invention, the pushing mechanism comprises: The pushing guide rail is movably provided with a connecting seat, and the connecting seat is provided with a supporting arm; one end of the pushing swing arm is hinged to the supporting arm; the push rod is connected with one end of the push swing arm far away from the support arm; A forward pushing cylinder for pushing the supporting arm to move along the pushing guide rail, and And one end of the jacking cylinder is arranged on the connecting seat, and the other end of the jacking cylinder is connected with the pushing swing arm. As a further proposal of the invention, the material receiving and feeding mechanism comprises: A conveying roller; The guide rail is arranged in the same direction as the axial direction of the conveying roller; a guiding pulling piece movably connected with the guiding guide rail and provided with a guiding opening penetrated by the conveying roller, and And the guide driving motor drives the guide poking piece to move along the guide rail. As a further proposal of the invention, the loading robot also comprises a lifting mechanism for driving the unloading platform to lift, and the lifting mechanism comprises: The first lifting frame is provided with a fi