CN108177939A - Material transport system and material transportation method - Google Patents

Material transport system and material transportation method Download PDF

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Publication number
CN108177939A
CN108177939A CN201711435607.2A CN201711435607A CN108177939A CN 108177939 A CN108177939 A CN 108177939A CN 201711435607 A CN201711435607 A CN 201711435607A CN 108177939 A CN108177939 A CN 108177939A
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CN
China
Prior art keywords
slide unit
lifting
material transportation
space
sliding rail
Prior art date
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Granted
Application number
CN201711435607.2A
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Chinese (zh)
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CN108177939B (en
Inventor
昝学彦
李道龙
张金林
阮伟杰
李家钧
李飞军
邓瑶
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Zhuzhou Makerwit Technology Co Ltd
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Zhuzhou Makerwit Technology Co Ltd
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Priority to CN201711435607.2A priority Critical patent/CN108177939B/en
Publication of CN108177939A publication Critical patent/CN108177939A/en
Application granted granted Critical
Publication of CN108177939B publication Critical patent/CN108177939B/en
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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G35/00Mechanical conveyors not otherwise provided for
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B65CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65GTRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/52Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices

Abstract

The present invention provides a kind of material transport system and material transportation method, material transport system includes material transportation robot and upper and lower transporter, material transportation robot is provided with telescopic platform component, the second slide unit for placing material can be fully extended other than robot body, setting has between two support bases and is inserted into position there are two support base on the lifting platform of upper and lower transporter.Material transportation method includes material transportation robot and obtains material carrier, and the second slide unit stretches out outside main body together with material carrier and stretches into the first lifting space from integral finish, and the second slide unit, which is located at, to be inserted into position;Lifting platform rises and support base support material carrier and material carrier leave the second slide unit.Material transportation robot need not enter the handing-over that carrier is realized in upper and lower transporter, lifting platform, which is realized, transports multiple material carriers, multiple material carriers enter simultaneously or recycling, the working frequency of material transportation robot reduces and transports capacity increase, and transport is stablized, strong applicability and working efficiency are high.

Description

Material transport system and material transportation method
Technical field
The present invention relates to material transport equipment fields, are transported more particularly to a kind of material transport system and using this kind of material The material transportation method that defeated system is realized.
Background technology
A kind of existing material transport system includes the material transportation trolley to cooperate and upper and lower transporter, transports up and down The axial transport space that machine includes two be set up in parallel lifting spaces and is connected between the top in two lifting spaces, often It is respectively provided in front of a lifting space there are one entrance, each lift in space is provided with elevating mechanism, and elevating mechanism can support And lifting transport is carried out to material or charging tray.
The bottom of material transportation trolley is provided with driving wheel and carrying roller, and fixed loading is provided in the main body of trolley Platform.When carrying out the handing-over of the material between trolley and upper and lower transporter, trolley enters liter from the entrance on front side of lifting space It drops in space, the elevating mechanism lifted in space obtains the charging tray for being loaded with material and rises transport;It is small after completing pickup Vehicle is then entered in second lifting space, and unloaded charging tray is recycled.
Existing this kind of material conveyor the problem is that, trolley need it is whole enters in transporter up and down, object The volume of material carrier affects the volume of trolley, and the volume of trolley affects the volume of upper and lower transporter, if the width of trolley is set The width less than material carrier is set to exchange the smaller size smaller of trolley and upper and lower transporter for, on trolley material put it is unstable It can lead to the overturning of material, damage material.
Invention content
The first object of the present invention is to provide a kind of volume minimization, transport stabilization, strong applicability and working efficiency height Material transport system.
The second object of the present invention is to provide the material transportation side that a kind of transport is stable, strong applicability and working efficiency are high Method.
The material transport system that the first invention purpose of the present invention provides includes material transportation robot and upper and lower transporter, object Material transportation robot includes main body and is arranged on the carrying roller group and drive wheel group of bottom part body;Material transportation robot further includes The telescopic platform component being arranged in main body, telescopic platform component are located in interval, and telescopic platform component includes the first sliding rail, the first cunning Platform, the second sliding rail and the second slide unit;First sliding rail is horizontally fixed in main body, and the first slide unit is slidably matched with the first sliding rail, the Two sliding rails are fixed on the first slide unit, and the second slide unit is slidably matched with the second sliding rail, and the first sliding rail and the second sliding rail are mutual It is parallel;Second slide unit can be stretched out in integrally outside main body;Upper and lower transporter includes rack, the lifting gear being arranged in rack peace Moving device, rack include the be laterally set up in parallel first lifting space and the second lifting space, and first lifts space and second liter It is respectively provided in drop space there are one lifting gear, translating device extends the top and the second lifting space in the first lifting space Between top;The front side setting of rack there are two integral finish, the first lifting space, the second lifting space respectively with an entirety Open communication;Lifting gear includes screw component and the lifting platform on screw component, and lifting platform includes being located at lifting platform Two support bases of both lateral sides have interval between two support bases and are formed and be inserted into position, are inserted into plane to integral finish;Object Expect transportation robot and the docking of upper and lower transporter, the second slide unit is stretched into from integral finish is inserted into position, and the upper surface of the second slide unit It is movable to below the horizontal position where the upper surface of support base.
By said program as it can be seen that can fully extended the second slide unit in ontology lifting can be integrally extend into from integral finish At the insertion position of platform, and lifting platform has elevating function, the level between the upper surface of the second slide unit and the upper surface of lifting platform Position relationship is adjustable, so as to fulfill the handing-over of material carrier.And transporter is suitable for the multiple material carriers stacked simultaneously up and down Into and successively rise and transfer, finally the material carrier of all zero loads is recycled together by material transportation robot.Using flexible Platform component can guarantee the volume minimization of material transportation robot and upper and lower transporter, while ensure that the transport in transportational process is steady It is qualitative, and the strong applicability of material transport system and working efficiency height.
Further embodiment is, rack sets that there are four elastic supporting mechanism, four elasticity on the top in the first lifting space Supporting mechanism is symmetricly set on the both lateral sides in the first lifting space;Elastic supporting mechanism includes mounting base and swing component, installation Seat is fixed in rack, and swing component swing is connected in mounting base, and the swing of swing component is limited by mounting base, swing component and peace Elastic component is connected between dress seat;Swing component includes supporting surface and guiding surface, and the angle between guiding surface and supporting surface is small In 90 degree;When mounting base limits swing component, supporting surface is located at horizontality, guiding surface downward, and multiple resilient support machines The supporting surface of structure is located in the same horizontal position.
Therefore when at material carrier arrival elastic supporting mechanism, material carrier is with leading in the first lifting space To contact of incline plane and swing component is pushed to swing, after carrier is by swing component, swing component resets, and one or more carriers then can quilt Support is on the support surface.
Further embodiment is that lifting platform further includes the first limited block and the second limited block on support base, the One limited block is located at the lateral outer side of support base, and in vertical direction, and the upper surface of the first limited block is upper higher than support base Surface, the second limited block are located at the rear side far from integral finish on support base, in vertical direction, the upper surface of the second limited block Higher than the upper surface of support base.
Therefore first limited block carrier is limited in both lateral sides, the second limited block front-rear direction to carry Body is limited, it is ensured that position accuracy of the carrier on lifting platform, so as to ensure the crawl accuracy of following translating device.
Further embodiment is that the first elongate slots are provided on the first limited block, and bolt is locked at across the first elongate slots On support base, the extending direction of the first elongate slots is the transverse direction of lifting gear;The second elongate slots, spiral shell are provided on second limited block Bolt is locked at across the second elongate slots on support base, and the extending direction of the second elongate slots is the opening direction of integral finish.
Therefore adjustable first limited block and the second limited block make upper and lower transporter to various sizes of carrier Also it can guarantee position accuracy when being transported, ensure the crawl accuracy of following translating device.
Further embodiment is that upper and lower transporter is equipped with workbench in the upper end of rack, and upper and lower transporter is flat in work Platform is equipped with catching robot, thermofusion device and apparatus for placing;Catching robot includes truss and is connected to the negative of truss end Press suction nozzle group;Thermofusion device includes being slidably connected at the hot melt seat on workbench and the hot melt head group above hot melt seat; Multiple placement racks to be taken are provided on apparatus for placing;Negative pressure suction nozzle group is moved between translating device and hot melt seat, and negative pressure Suction nozzle group is moved between hot melt seat and placement rack to be taken.
Therefore it is arranged on the catching robot above rack, thermofusion device and apparatus for placing and can realize to material Secondary operation.
Further embodiment is that the second slide unit is respectively arranged with front limit mechanism in the front side of glide direction and rear side with after Position-limit mechanism, rear position-limit mechanism are the limiting stock being erected on the second slide unit;It is connected between limiting stock and pedestal multiple Ribs, two ribs are connected to the both lateral sides of limiting stock, and a ribs is set back to front limit mechanism.
Therefore due to the forward generation inertia of material transportation robot, limiting length is set at the rear of the second slide unit Bar can prevent the multiple charging trays stacked from overturning backward, limit connection reinforcement rib between stock and pedestal and ensure the strong of limiting stock Degree.
The material transportation method of the offer of second mesh of the invention, transports material using above-mentioned material transport system Defeated, material transportation method includes material transportation robot and obtains material carrier, and material carrier is positioned on the second slide unit;Material is transported At defeated robot is moved to where transporter up and down;Second slide unit is stretched out outside main body together with material carrier and is stretched into from integral finish First lifting space, and the second slide unit is located in insertion position;Lifting platform rises, support base support material carrier and material carrier from Open the second slide unit.
By said program as it can be seen that material transportation robot carries material without integrally entering in upper and lower transporter can be realized The handing-over of body, and the lifting platform of transporter can be realized while the transport of multiple material carriers to stacking up and down, multiple objects Material carrier enters or recycles simultaneously simultaneously, and the working frequency of material transportation robot reduces and each transport capacity increases, fortune Defeated stabilization, strong applicability and working efficiency are high.
Further embodiment is, after support base support material carrier and material carrier leave the second slide unit, further includes second Slide unit exits the first lifting space;Second slide unit stretches into the insertion position in the second lifting space from integral finish;Lifting platform declines, the Two slide unit support material carriers and material carrier leaves support base.
Therefore material recycles, stacking identical with the operation principle of material into upper and lower transporter from upper and lower transporter Multiple material carriers can be carried out at the same time transport.
Further embodiment is, the second slide unit exits behind the first lifting space the top for bouncing back to main body.
Therefore material transportation robot is moved to the second lifting space handing-over position from the first lifting space handing-over position When, the second slide unit of recycling does not cause to hinder to the movement of trolley, and trolley only needs to carry out transverse shifting.
Further embodiment is that the second slide unit stretches out outside main body together with material carrier and stretches into the first lifting from integral finish Space, and the second slide unit is located in insertion position, the first slide unit is slided relative to the first sliding rail and the second slide unit is slided relative to second Rail slip makes outside the fully extended main body of the second slide unit.
Therefore the telescopic platform components containing volume smaller that multilayer is shunk, while the out reach of the second slide unit obtains Ensure.
Description of the drawings
Fig. 1 is the structure chart of material transportation robot in material transport system embodiment of the present invention.
Fig. 2 is the structure chart at another visual angle of material transportation robot in material transport system embodiment of the present invention.
Fig. 3 is the structure chart of another working condition of material transportation robot in material transport system embodiment of the present invention.
Fig. 4 is the structure chart of transporter first embodiment above and below the present invention.
Fig. 5 is the enlarged drawing at A in Fig. 4.
Fig. 6 is the structure chart of transporter second embodiment above and below the present invention.
Fig. 7 is the structure chart at another visual angle of transporter second embodiment above and below the present invention.
Fig. 8 is the enlarged drawing at B in Fig. 7.
Fig. 9 is the schematic diagram of the first working condition of material transportation embodiment of the method for the present invention.
Figure 10 is the schematic diagram of the second working condition of material transportation embodiment of the method for the present invention.
Specific embodiment
Material transport system embodiment
Referring to Fig. 1, Fig. 4 and Fig. 6, Fig. 1 is the structure chart of material transportation robot in material transport system, and Fig. 4 is material transportation The structure chart of upper and lower transporter first embodiment in system, Fig. 6 are upper and lower transporter second embodiment in material transport system Structure chart.Material transport system is made of material transportation robot 1 and upper and lower transporter 2 or the upper and lower mutual cooperation of transporter 3.
With reference to Fig. 1, Fig. 2 and Fig. 3, Fig. 2 and Fig. 3 are the structure chart of 1 different visual angles of material transportation robot.Material transportation Robot 1 includes main body 11 and is arranged on the carrying roller group 134 of 11 bottom of main body and drive wheel group 130, and drive wheel group 130 includes It is rotatably connected on the turntable 131 of 11 bottom of main body and is arranged on two driving wheels independently driven by motor 133 on turntable 131 132.Main body 11 includes pedestal 111, is erected at the two side walls 113 of 111 both lateral sides of pedestal and is connected to two side walls 113 Roof 115 between top has interval between two side walls 113 and forms the placement position for placing material carrier.Material Transportation robot 1 further includes four supporting rods 114 being erected on the angle of upper surface 112 4 of pedestal 111, and side wall 113 is in thin Plate, each side wall 113 are fixedly connected with two supporting rods 114, and are connected between supporting rod 114 and the upper surface 112 of pedestal 111 Triangular shape ribs 151 is connected to ensure mechanical strength.
Material transportation robot 1 further includes telescopic platform component 12, between telescopic platform component 12 is between two side walls 113 In;Telescopic platform component 12 includes the first sliding rail 121, the first slide unit 122, the second sliding rail 123 and the second slide unit 124;First slides Rail 121 is horizontally fixed on the upper surface 112 of pedestal 111, and the first slide unit 122 is slidably matched with the first sliding rail 121, the second sliding rail 123 are fixed on the first slide unit 122, and the second slide unit 124 is slidably matched with the second sliding rail 123, the first sliding rail 121 and second Sliding rail 123 is mutually parallel.Material transportation robot 1 is equipped with the first conveyer belt component 128, the first conveyer belt group on pedestal 111 The transmission direction of part 128 is parallel with the extending direction of the first sliding rail 121, and the first slide unit 122 is connected to the first conveyer belt component 128 The first conveyer belt on.First slide unit 122 is equipped with the second conveyer belt component 129, the transmission direction of the second conveyer belt component 129 Parallel with the extending direction of the second sliding rail 123, the second slide unit 124 is connected on the second conveyer belt of the second conveyer belt component 129.
Front limit mechanism and rear position-limit mechanism, front limit mechanism and rear limiting are provided on the upper surface of second slide unit 124 Mechanism is relatively separately fixed at the front-end and back-end of 124 glide direction of the second slide unit.Front limit mechanism is limited block 141, is limited The upper surface of position 141 the second slide unit of high pressure 124 of block, rear position-limit mechanism is the limiting stock 142 being erected on the second slide unit 124, The ribs of multiple triangular shapes is connected between limiting stock 142 and the upper surface 112 of pedestal 111, two ribs 152 connect In the both lateral sides of limiting stock 142, a ribs 153 is set back to limited block 141.It is also associated on limiting stock 142 A piece adjusting stock 143, adjusting stock 143 are parallel to limiting stock 142 and set, and adjusting bolt connects with 142 screw thread of limiting stock It connects, adjusting bolt is rotatablely connected after passing through the screw hole of limiting stock 142 with adjusting stock 143.Adjusting bolt is horizontally disposed with and hangs down Directly with limiting stock 142, therefore twist adjusting bolt and the distance between adjusting stock 143 and limiting stock 142 tune can be realized Section, and then control limited block 141 and adjust the spacing between stock 143, the second slide unit 124 is made to be suitable for different a variety of of length The material carrier of model.
Material carrier is placed on the second slide unit 124, is carrying out transporter 2 up and down or up and down transporter 3 and material transportation During the material carrier handing-over of robot 1, the second slide unit 124 is whole stretch out in main body 11 it is outer and enter transporter 2 up and down or on The handing-over of material carrier can be completed in lower transporter 3.Since material transportation robot has side wall 113 and pedestal 111, even if the The width that the width of two slide units 124 is equal to or less than material carrier also can guarantee the stability of transport, while can transport material Defeated robot and upper and lower transporter are respectively provided with smaller volume, optimization production site arrangement.
Upper and lower transporter first embodiment
Referring to Fig. 4 and Fig. 5, Fig. 4 is the structure chart of upper and lower transporter first embodiment, and Fig. 5 is the enlarged drawing at A in Fig. 4.Up and down Transporter 2 includes rack 21, two lifting gears 22 being arranged in rack 21 and translating device 23;Rack 21 is included laterally simultaneously First lifting space 201 and second of row setting lifts space 202, and the first lifting space 201 and second is lifted in space 202 There are one lifting gear 22, translating device 23 extends the top and the second lifting space 202 in the first lifting space 201 for setting Between top;Rack 21 sets integral finish respectively in the front side of the front side in the first lifting space 201 and the second lifting space 202 203 and integral finish 204.
Lifting gear 22 includes screw component and the lifting platform 221 on screw component, and screw component includes driving Device lifts space 202 lateral two with the first lifting space 201 or second that is oppositely arranged on for being connected to driving device output terminal The two vertical screw 220 of side, lifting platform 221 include the transverse slat 222 being threaded between two vertical screw 220 and consolidate Two support bases 223 of 222 upper end both lateral sides of transverse slat are scheduled on, the upper end of support base 223 is elongated support bar 224, is supported Item 224 extends along the opening direction of integral finish 203 or integral finish 204, has interval between two support bases 223 and is formed Position 229 is inserted into, position 229 is inserted into and faces integral finish 203 or integral finish 204.
Lifting platform 221 further includes the first limited block 225 and the second limited block 226 on support bar 224, two One limited block 225 is located at the lateral outer side of support bar 224, and in vertical direction, and the upper surface of the first limited block 225 is higher than branch The upper surface of stay 224.Second limited block position 226 is after on support bar 224 far from integral finish 203 or integral finish 204 Side, in vertical direction, the upper surface of the second limited block 226 is higher than the upper surface of support bar 224;It is set on first limited block 225 The first elongate slots 227 are equipped with, bolt is locked at across the first elongate slots 227 on support bar 224, the extension of the first elongate slots 227 Direction is the transverse direction of lifting gear 22;The second elongate slots are provided on second limited block 226(It is not shown in figure), bolt passes through the Two elongate slots are locked on support bar 224, and the extending directions of the second elongate slots is opened for integral finish 203 or integral finish 204 Mouth direction.
Rack 21 is set on the top in the first lifting space 201 there are four elastic supporting mechanism 24, four elastic supporting mechanisms 24 are symmetricly set on the both lateral sides in the first lifting space 201;Elastic supporting mechanism 24 includes mounting base 241 and swing component 242, Mounting base 241 is fixed in rack 21, and the swing of swing component 242 is connected in mounting base 241, and the swing of swing component 242 is by pacifying Dress seat 241 limits, and elastic component is connected between swing component 242 and mounting base 241;Swing component 242 includes supporting surface 242a with leading To inclined-plane 242b, the angle between guiding surface 242b and supporting surface 242a is less than 90 degree;Mounting base 241 limits swing component 242 During position, supporting surface 242a is located at horizontality, supporting surface 242a of guiding surface 242b multiple elastic supporting mechanisms 24 downward In in the same horizontal position.
Translating device 23 includes horizontal rail 230 and crawl arm, and horizontal rail 230 is horizontally set on the upper end of rack 21, Crawl arm is slidably matched with horizontal rail 230, crawl arm move in first lifting space 201 and second lifting space 202 it Between.Crawl arm includes 231, two horizontal air cylinders 232 of connector and two arms 233, connector 231 are slided with horizontal rail 230 Dynamic cooperation, the opposite both lateral sides for being mounted on connector 231 over the ground of two horizontal air cylinders 232, two arms 233 are separately mounted to The output terminal of one horizontal air cylinder 232, the extending directions of two arms 233 are each perpendicular to the extending direction of horizontal rail, two Arm 233 is oppositely arranged and is overhung at the top in the first lifting space 201 and the second lifting space 202.Arm 233 is in horizontal gas Material carrier can be gripped and be supported under the control of cylinder 232, so as to fulfill the sideways transfer of single carrier.
Preferably, arm 233 is equipped with third elongate slots, the extending direction of third elongate slots and the extension side of arm 233 To identical, bolt is locked at after passing through third elongate slots on the output terminal of horizontal air cylinder 232.The extension elongation of arm 233 can be into The micro adjustment of row, to adapt to have various sizes of various materials carrier.
Upper and lower transporter second embodiment
Referring to Fig. 6 and Fig. 7, Fig. 6 and the structure chart that Fig. 7 is upper and lower transporter second embodiment different visual angles.Upper and lower transporter 3 Transport operation principle is identical with the transport operation principle of upper and lower transporter 2, and the upper end of upper and lower transporter 3 is additionally provided with work and puts down Platform, to carry out secondary operation to material.Upper and lower transporter 3 includes rack 31 and two lifting gears 32 being arranged in rack 31 With the translating device 33 and workbench 34 above two lifting gears 32, catching robot is provided on workbench 34 4th, processing unit (plant) 5 and apparatus for placing 6.
Rack 31 includes the be laterally set up in parallel first lifting space 301 and second and lifts space 302, the first lifting space 301 and second are respectively provided with there are one lifting gear 32 in lifting space 302, rack 31 in the front side in the first lifting space 301 and The front side in the second lifting space 302 sets integral finish 303 and integral finish 304 respectively.Lifting gear 32 includes screw component With the lifting platform 321 on screw component, screw component includes driving device and is connected to the phase of driving device output terminal To being arranged on the two vertical screw 320 in the first lifting space 301 or the second lifting 302 both lateral sides of space.
Lifting platform 321 includes being threaded in the transverse slat 322 between two vertical screw 320 and being fixed on transverse slat 322 Two support bases 323 of upper end both lateral sides, the upper end of support base 223 are elongated support bar 324, and support bar 324 is along entirety The opening direction of opening 303 or integral finish 304 extends, and has interval between two support bases 323 and is formed and be inserted into position 329, It is inserted into position 329 and faces integral finish 303 or integral finish 304.
Translating device 33 includes horizontal rail 330 and crawl arm, and horizontal rail 330 is horizontally set on the upper end of rack 31, Crawl arm is slidably matched with horizontal rail 330, crawl arm move in first lifting space 301 and second lifting space 302 it Between.Crawl arm includes 331, two horizontal air cylinders 332 of connector and two arms 333, connector 331 are slided with horizontal rail 330 Dynamic cooperation, two horizontal air cylinders 332 are relatively mounted on the both lateral sides of connector 331, and two arms 333 are separately mounted to one The output terminal of a horizontal air cylinder 332, the extending direction of two arms 333 are each perpendicular to the extending direction of horizontal rail, two arms Portion 333 is oppositely arranged and is overhung at the top in the first lifting space 301 and the second lifting space 302.Arm 333 is in horizontal air cylinder Material carrier can be gripped and be supported under 332 control, so as to fulfill the sideways transfer of single carrier.
Workbench 34 is equipped with catching robot 4, processing unit (plant) 5 and apparatus for placing 6.Catching robot 4 includes truss 41 and the negative pressure suction nozzle group 42 of 41 end of truss is connected to, truss 41 is arranged on the surface of translating device 33, the end of truss 41 Translation freedoms of the end with X-axis, Y-axis and Z axis, negative pressure suction nozzle group 42 can translate within the surface of translating device 33.It is negative Pressure suction nozzle group 42 includes connecting plate 44 and is connected to multiple negative pressure suction nozzles 43 of 44 lower section of connecting plate, connecting plate 44 and truss 41 End is fixedly connected, and multiple elongate slots 421 are provided on connecting plate 44, and every four elongate slots 421 are arranged in X-type, each negative pressure Suction nozzle 43 is slidably matched with an elongate slots 421.
Processing unit (plant) 5 includes the processing base 51 being slidably connected on workbench 34 and above processing base 51 Pressure head 52 is processed, processing pressure head 52 includes the pressure head for moulding cast gate flatten processing and planeness of workpiece is carried out The shaping pressure head of processing, processing pressure head 52 may be selected to be pure pressure ram or hot melt pressure head.The transverse direction of workbench 34(X-axis side To)Both sides are both provided with the sliding rail 341 being extended along the Y axis together, and processing base 51 is slidably matched with sliding rail 341, and processes pressure head 52 are fixed by the bracket on workbench 34, and processing base 51 can slide into the top of translating device 33 along Y direction.
With reference to Fig. 8, Fig. 8 is the enlarged drawing at B in Fig. 7.Apparatus for placing 6 includes placing bottom plate 60 and is arranged on placement bottom plate Multiple placement racks 600 to be taken of rectangular array arrangement on 60 place another 341 edge of road sliding rail of bottom plate 60 and workbench 34 X axis is slidably matched, and multiple placement racks 600 to be taken are slidably to the top of translating device, and multiple placement racks 600 to be taken are with placing Bottom plate 60 is slidably matched along Y-axis, and the slip of placement rack to be taken 600 is driven by lead screw device.Placement rack 600 to be taken includes L-type Fixation wall 61, the removable wall 62 of L-type and positioning cylinder 63, fixation wall 61, which is fixed on, places on bottom plate 60, the elasticity of removable wall 62 It is slidably connected on bottom plate 60 is placed, positioning cylinder 63, which is horizontally set on, to be placed on bottom plate 60.The output terminal of positioning cylinder 63 64 can abut and push removable wall 62, so as to which fixation wall 61 and removable wall 62 be made to form rectangular set to be picked and placeed 65.
Negative pressure suction nozzle group 42 is moved between translating device 33 and processing base 52, and negative pressure suction nozzle group 42 move in Between processing base 52 and placement rack to be taken 65.Upper and lower transporter 3 enters or takes simultaneously in addition to the multiple carriers that can be achieved to be laminated Out, secondary operation to material can also be realized by being arranged on the catching robot above rack, processing unit (plant) and apparatus for placing.When For material carrier from the first lifting space 301 after lifting gear 32 is transported to translating device 33, truss 41 drives negative pressure suction nozzle Material in 42 pairs of carriers of group adsorbs, and the subsequent slip of processing base 52 extend out to 32 top of translating device, negative pressure suction nozzle group 42 are placed into material on processing base 52, and material, which can then enter, carries out cast gate processing or Shape correction in processing unit (plant) 5.Processing After the completion of device 5 works, material is sent to 33 top of translating device, then be transferred to by negative pressure suction nozzle group 42 by processing base 52 again It is moved on the placement rack to be taken 600 of 33 top of translating device.
Material transportation embodiment of the method
With reference to Fig. 1, Fig. 3, Fig. 4, Fig. 9 and Figure 10, Fig. 9 is the original of the first working condition of material transportation embodiment of the method for the present invention Reason figure.Figure 10 is the schematic diagram of the second working condition of material transportation embodiment of the method for the present invention.Material fortune provided by the invention Transmission method realizes that material transport system includes material transportation robot 1 and upper and lower transporter based on above-mentioned material transport system, by In upper and lower transporter 2 and upper and lower transporter 3(Fig. 6 shows)Material transition principle it is identical, the present embodiment is with upper and lower transporter 2 It illustrates.Material transportation robot 1 first obtains material carrier 1000, and material carrier 1000 can single can also be made The multiple material carriers being laminated, material carrier 1000 are placed on the second slide unit 124, and telescopic platform component 12 is in retraction shape at this time State, the second slide unit 124 are located in main body 11, and the front and rear side of material carrier 1000 by limited block 141 and adjusts stock 143 respectively Limiting, the both lateral sides of material carrier 1000 are limited respectively by one of side wall 113, therefore 1000 quilt of material carrier in travel position It is securely placed on the second slide unit 124.
At being then moved to after the acquisition material carrier of material transportation robot 1 1000 where transporter 2 up and down, prepare and upper and lower Transporter 2 is joined.After material transportation robot 1 is reached at 2 place of transporter up and down, before material transportation robot 1 Integral finish 203 above and below the alignment of side on transporter 2, subsequent telescopic platform component 12 work, and the first slide unit 122 is slided relative to first Rail 121 slides and the second slide unit 124 is slided relative to the second sliding rail 123, outside 124 fully extended main body of the second slide unit, subsequent Two slide units 124 are stretched out outside main body 11 together with material carrier 1000 and are stretched into the first lifting space 201 from integral finish 203, this When the second slide unit 124 be located at and be inserted into position 229 and material carrier 1000 is still supported in the upper surface 124a of the second slide unit 124 On, and still have certain distance between the upper surface 221a of lifting platform 221 and material carrier 1000.
Then the lifting platform 221 of transporter 2 starts and rises up and down.After lifting platform 221 rises certain distance, lifting platform 221 upper surface 221a is abutted with material carrier 1000;Lifting platform 221 continues after rising certain distance, the support of lifting platform 221 223 support material carriers 1000 of seat and material carrier 1000 leave the upper surface 124a of the second slide unit 124.
Subsequent second slide unit 124 is retracted to from insertion position 229 in main body 11, and lifting platform 221 continues to rise with to material Carrier 1000 continues up transport.When material carrier 1000 is reached at elastic supporting mechanism 24, material carrier 1000 is oblique with being oriented to Face 242b is contacted and swing component 242 is pushed to swing, and after material carrier 1000 is by swing component 242, swing component 242 resets, object Material carrier 1000 can be then supported on multiple supporting surface 242a of multiple elastic supporting mechanisms 24.
After the material on material carrier 1000 is removed, unloaded material carrier 1000 is by translating device 23 from first liter Drop space 201 is transferred in the second lifting space 202, if material transportation robot 1 receives recovery command, material transportation machine People 1 is then moved on the cooperation position that space 202 is lifted with second.Since the second slide unit 124 is had been positioned in main body 11 at this time, The cooperation position that upper and lower transporter 2 only needs transverse shifting i.e. reachable with the second lifting space 202.
Subsequent second slide unit 124 is stretched into from integral finish 204 in the insertion position 229 in the second lifting space 202, at this time material Carrier 1000 is supported on the upper surface 221a of 221 upper support seat 223 of lifting platform, and lifting platform 221 declines, the second slide unit 124 Support material carrier 1000 and material carrier 1000 leave upper surface 221a, and the second last slide unit 124 is bounced back in main body 11 i.e. Complete the recycling to unloaded material carrier 1000.
Material transportation robot 1 can be realized without integrally entering in upper and lower transporter 2 by the handing-over of material carrier 1000, And the lifting platform 221 of transporter 2 can be realized while the transport of multiple material carriers to stacking up and down, multiple material carriers 1000 enter or recycle simultaneously simultaneously, and the working frequency of material transportation robot 1 reduces and each transport capacity increases, transport Stable, strong applicability and working efficiency height.
Finally it is emphasized that the foregoing is merely the preferred embodiment of the present invention, it is not intended to restrict the invention, it is right For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention, Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.

Claims (10)

1. material transport system, including material transportation robot and upper and lower transporter, it is characterised in that:
The material transportation robot includes main body and is arranged on the carrying roller group and drive wheel group of the bottom part body;
The material transportation robot further includes the telescopic platform component of setting on the body, and the telescopic platform component is located at institute It states in interval;
The telescopic platform component includes the first sliding rail, the first slide unit, the second sliding rail and the second slide unit, and the first sliding rail level is consolidated Fixed first slide unit is slidably matched with first sliding rail on the body, and second sliding rail is fixed at described On first slide unit, second slide unit is slidably matched with second sliding rail, and first sliding rail and second sliding rail are mutual It is parallel;Second slide unit can be integrally stretched out in outside the main body;
The transporter up and down includes rack, the lifting gear and translating device being arranged in the rack, and the rack includes The the first lifting space and the second lifting space being laterally set up in parallel, the first lifting space and described second is lifted in space It is respectively provided with there are one the lifting gear, the translating device extends the described first top for lifting space and described second liter Between the top for dropping space;
The front side setting of the rack there are two integral finish, the first lifting space, the second lifting space respectively with One integral finish connection;
The lifting gear includes screw component and the lifting platform on the screw component, and the lifting platform includes being located at Two support bases of the lifting platform both lateral sides have interval between two support bases, and the interval, which is formed, is inserted into position, The insertion plane is to the integral finish;
The material transportation robot and the transporter docking up and down, second slide unit stretch into described from the integral finish Position is inserted into, and the upper surface of second slide unit is movable to below the horizontal position where the upper surface of the support base.
2. material transport system according to claim 1, it is characterised in that:
The rack is set on the top in the described first lifting space there are four elastic supporting mechanism, four elastic supporting mechanisms It is symmetricly set on the both lateral sides in the first lifting space;
The elastic supporting mechanism includes mounting base and swing component, and the mounting base is fixed in rack, and the swing component is swung It is connected in the mounting base, and the swing of the swing component is limited by the mounting base, the swing component and the mounting base Between be connected with elastic component;
The swing component includes supporting surface and guiding surface, and the angle between the guiding surface and the supporting surface is less than 90 Degree;
When the mounting base limits the swing component, the supporting surface is located at horizontality, and the guiding surface is downward, and more The supporting surface of a elastic supporting mechanism is located in the same horizontal position.
3. material transport system according to claim 2, it is characterised in that:
The lifting platform further includes the first limited block and the second limited block on the support base, first limited block Positioned at the lateral outer side of the support base, and in vertical direction, the upper surface of first limited block is higher than the support base Upper surface, second limited block be located on the support base far from the integral finish rear side, in vertical direction, institute The upper surface for stating the second limited block is higher than the upper surface of the support base.
4. material transport system according to claim 3, it is characterised in that:
The first elongate slots are provided on first limited block, bolt is locked at the support base across first elongate slots On, the first elongate slots being laterally extended along the lifting gear;
The second elongate slots are provided on second limited block, bolt is locked at the support base across second elongate slots On, second elongate slots extend along the opening direction of the integral finish.
5. material transport system according to any one of claims 1 to 4, it is characterised in that:
The transporter up and down is equipped with workbench in the upper end of the rack, and the transporter up and down is on the workbench Equipped with catching robot, processing unit (plant) and apparatus for placing;
The catching robot includes truss and the negative pressure suction nozzle group for being connected to the truss end;
The processing unit (plant) includes being slidably connected at the processing base on the workbench and above the processing base Processing pressure head;
Multiple placement racks to be taken are provided on the apparatus for placing;
The negative pressure suction nozzle group is moved between the translating device and the processing base, and the negative pressure suction nozzle group is removable It moves between the processing base and the placement rack to be taken.
6. material transport system according to any one of claims 1 to 4, it is characterised in that:
Second slide unit is respectively arranged with front limit mechanism and rear position-limit mechanism in the front side of glide direction and rear side, after described Position-limit mechanism is the limiting stock being erected on second slide unit;
Multiple ribs are connected between the limiting stock and the pedestal, two ribs are connected to the limiting length The both lateral sides of bar, a ribs are set back to the front limit mechanism.
7. material transportation method, it is characterised in that:
The material transportation method transports material using 1 to 6 any one of them material transport system of the claims Defeated, the material transportation method includes:
The material transportation robot obtains material carrier, and the material carrier is positioned on second slide unit;
At the material transportation robot is moved to where the transporter up and down;
Second slide unit stretches out outside the main body together with the material carrier and stretches into described first liter from the integral finish Space drops, and second slide unit is located in the insertion position;
The lifting platform rises, material carrier described in the support base support and material carrier leaves second slide unit.
8. material transportation method according to claim 7, it is characterised in that:
After material carrier described in the support base support and the material carrier leave second slide unit, further include:
Second slide unit exits the first lifting space;
Second slide unit stretches into the insertion position in the second lifting space from the integral finish;
The lifting platform declines, material carrier described in the second slide unit support and material carrier leaves the support base.
9. material transportation method according to claim 8, it is characterised in that:
Second slide unit bounces back to the top of the main body after exiting the first lifting space.
10. material transportation method according to any one of claims 7 to 9, it is characterised in that:
Second slide unit stretches out outside the main body together with the material carrier and stretches into described first liter from the integral finish Space drops, and second slide unit is located in the insertion position, first slide unit is slided relative to first sliding rail and institute Stating the second slide unit makes relative to second sliding rail slip outside the fully extended main body of second slide unit.
CN201711435607.2A 2017-12-26 2017-12-26 Material transport system and material transportation method Active CN108177939B (en)

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CN110356860A (en) * 2019-08-05 2019-10-22 珠海创智科技有限公司 Material disc folded disassemble a machine people, material disc stacking method and material disc method for splitting

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