CN113320942A - Method and apparatus for transporting articles between levels - Google Patents
Method and apparatus for transporting articles between levels Download PDFInfo
- Publication number
- CN113320942A CN113320942A CN202010128234.XA CN202010128234A CN113320942A CN 113320942 A CN113320942 A CN 113320942A CN 202010128234 A CN202010128234 A CN 202010128234A CN 113320942 A CN113320942 A CN 113320942A
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- Prior art keywords
- station plate
- station
- article
- conveying
- chains
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/12—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface comprising a series of individual load-carriers fixed, or normally fixed, relative to traction element
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/32—Individual load-carriers
- B65G17/34—Individual load-carriers having flat surfaces, e.g. platforms, grids, forks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G17/00—Conveyors having an endless traction element, e.g. a chain, transmitting movement to a continuous or substantially-continuous load-carrying surface or to a series of individual load-carriers; Endless-chain conveyors in which the chains form the load-carrying surface
- B65G17/30—Details; Auxiliary devices
- B65G17/38—Chains or like traction elements; Connections between traction elements and load-carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
- B65G47/56—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections
- B65G47/57—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices to or from inclined or vertical conveyor sections for articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
Abstract
The invention provides a method and a device for conveying articles among different heights, wherein the articles are lifted and conveyed by a station plate, and the station plate performs circular motion; the station board is provided with corresponding article positioning structures according to a required article arrangement mode, and the station board is conveyed in an L-shaped track in a mode of always facing upwards in the article conveying stage; wherein, at the forward convex horizontal segment of L shape, for the station of handing over article according to the article arrangement mode with manipulator or robot in the low level, at the vertical top of L shape, with manipulator or robot handing over article in the high level according to the arrangement mode. The invention can be matched with a manipulator or a robot in the process of an automatic assembly line through the extending part at the bottom of the L shape to finish the position of automatically taking and placing the whole object, and the object can be conveyed to a high layer from a low layer and also can be conveyed to the low layer from the high layer, so that a plurality of conveying lines and arrangement equipment are saved, the space is saved, and the object can be conveyed in the original mode.
Description
Technical Field
The present invention relates to a method and apparatus for transporting articles.
Background
In the past, the hoister is of a cuboid type, a plurality of circularly moving hoisting plates are arranged in a cuboid frame, and articles are scattered and placed on the hoisting plates to be conveyed to a high position. The conveying method and the conveying structure are difficult to be matched with a manipulator or a robot in the input and output links, and a series of devices for re-spacing the articles need to be arranged at the downstream, so that the efficiency of equipment is influenced, and the occupied space is increased.
Disclosure of Invention
The object of the present invention is to provide a method and a device for transporting objects between different heights, which can cooperate with a robot arm or a robot, to achieve an efficient transport and a more space-saving.
According to the first aspect of the invention, the following technical scheme is adopted:
a method for conveying articles among different heights is characterized in that articles are lifted and conveyed by a station plate, and the station plate performs cyclic motion; the station board is provided with corresponding article positioning structures according to a required article arrangement mode, and the station board is conveyed in an L-shaped track in a mode of always facing upwards in the article conveying stage; wherein, at the forward convex horizontal segment of L shape, for the station of handing over article according to the article arrangement mode with manipulator or robot in the low level, at the vertical top of L shape, with manipulator or robot handing over article in the high level according to the arrangement mode.
The article to be connected may be a low-order article to be received and the high-order article to be taken out, or a high-order article to be received and the low-order article to be taken out.
Further, the station board is flexible, and can keep straight and bend to the back direction of the station board.
According to the second aspect of the invention, the following technical scheme is adopted:
a device for conveying articles among different heights is characterized by comprising a station plate mechanism, wherein the station plate mechanism is provided with a station plate, and the station plate is provided with an article positioning structure corresponding to the article arrangement rule; the device comprises a circulating conveying mechanism with a station plate mechanism, so that the station plate mechanism is circularly conveyed, and in the stage of conveying articles, the station plate is always conveyed in an L-shaped track in an upward mode; the length of the L-shaped forward protruding low-position horizontal section corresponds to the station plate, a station is provided for handing over articles at a low position according to the article arrangement mode for the station plate and the manipulator or the robot, and a station for handing over articles at a high position according to the article arrangement mode for the station plate and the manipulator or the robot is arranged at the vertical top end of the L-shaped.
The station plate mechanism is flexible and can keep straight and bend towards the back of the station plate.
Furthermore, the station plate mechanism comprises the station plate and a flexible connecting piece, the station plate consists of a plurality of article bearing plates, and when a plurality of article bearing plates are arranged on the flexible connecting piece in sequence along the conveying direction; the front end and the rear end of the flexible connecting piece are respectively connected with the mounting piece and connected with the circulating conveying mechanism; the article bearing plate is provided with the article positioning structure.
Further, the device comprises an L-shaped frame; the transverse size of the vertical section of the rack is matched with that of the station plate mechanism, and the station plate can be unfolded in a plane and conveyed upwards or downwards in a face-up mode in the article conveying stage; the lower horizontal section of the frame is matched with the size of the station plate mechanism, so that when the station plate is connected with the manipulator or the robot in an article arrangement mode at a low position, the station plate can be displayed to the manipulator or the robot to place or take articles.
Furthermore, the circulating conveying mechanism comprises a first group of circulating chains and a second group of circulating chains, each group of circulating chains comprises circulating chains arranged on two sides, the first group of circulating chains is connected with the front end of the station plate mechanism, and the second group of circulating chains is connected with the rear end of the station plate mechanism; in the vertical section of the L-shaped article conveying track, the distance between the first set of circulating chains and the second set of circulating chains is matched with the length of the station plate mechanism, so that the station plate can be flatly unfolded and conveyed upwards or downwards in a face-up mode; the positions of the first group of circulating chains and the second group of circulating chain pulleys are matched with the length of the station plate mechanism, and the horizontal station plate in a straight state can be positioned between the first group of circulating chains and the second group of circulating chains; the circular rotating track of the station plate mechanism is positioned on the outer side of the L-shaped article conveying track, the station plate mechanism is circularly conveyed and rotated with the head at the front and the tail at the back, and in the circular rotating stage, the first group of circular chains and the second group of circular chains are bent coaxially.
Furthermore, the station plate mechanism comprises the station plate and a flexible connecting piece, the station plate consists of a plurality of article bearing plates, and when the plurality of article bearing plates are arranged on the flexible connecting piece in sequence along the conveying direction; the front end and the rear end of the flexible connecting piece are respectively connected with the mounting piece and connected with the circulating conveying mechanism; the article bearing plate is provided with the article positioning structure.
Further, flexible connectors divide into about two, flexible connectors's front end and rear end set up the connecting rod respectively, the both ends of connecting rod set up connection installed part, the connection installed part of the connecting rod of front end is connected from inboard and first group circulation chain, and the connection installed part of the connecting rod of rear end is connected from inboard and second group circulation chain.
Furthermore, the circular rotating track of the station plate mechanism is parallel to the vertical section of the L-shaped article conveying track at the outer side of the vertical section, and the circular rotating track of the station plate mechanism is obliquely upward below the horizontal section at the outer side of the horizontal section of the L-shaped article conveying track.
By adopting the technical scheme of the invention, the automatic picking and placing device can be matched with a manipulator or a robot in the automatic assembly line process through the extending part at the bottom of the L shape to finish the automatic picking and placing position of the whole group of articles, and the articles can be conveyed from a low layer to a high layer and also from the high layer to the low layer, so that a plurality of conveying lines and arrangement equipment are saved, the space is saved, and the articles can be conveyed as original molds.
Drawings
Fig. 1 is a schematic view of a lifting conveyor provided in the present invention.
Fig. 2 is an exploded view of the station plate mechanism as viewed from one direction.
Fig. 3 is an exploded view of the station plate mechanism viewed from another direction.
Fig. 4 is a cross-sectional view of a lift delivery device provided by the present invention.
Fig. 5 is a simulated schematic view of a shipped item of the invention.
Detailed Description
Reference is made to the accompanying drawings. The invention provides a device and a method for conveying articles among different heights, which comprises a station plate mechanism, wherein the station plate mechanism is flexible and can keep straight and bend towards the back direction of the station plate, and an article positioning structure 11 corresponding to the article arrangement rule is arranged on the station plate 1; the device comprises a circulating conveying mechanism with a station plate mechanism, so that the station plate mechanism is circularly conveyed, and in the stage of conveying articles, the station plate 1 is always conveyed in an L-shaped track in an upward mode; the length of the L-shaped forward protruding low-level horizontal section corresponds to the station plate, a station W1 is provided for the station plate 1 and the manipulator or the robot to hand over the articles according to the article arrangement mode at the low position, and a station W2 is provided for the station plate 1 and the manipulator or the robot to hand over the articles according to the article arrangement mode at the high position at the vertical top end of the L shape.
This embodiment is exemplified by conveying articles from a lower level (e.g., factory floor F1) to an upper level (e.g., factory floor F2).
The station plate mechanism comprises a station plate 1 and a flexible connecting piece 2. The station board is composed of a plurality of article receiving boards 10, and when the plurality of article receiving boards 10 are arranged on the flexible connecting member 2 in sequence along the conveying direction, the distance therebetween is determined, and the plurality of article receiving boards are generally arranged at equal intervals. The flexible connecting piece 2 can be formed by a chain and divided into a left part and a right part, and the station board 1 can be bent by taking the article bearing board 10 as a unit to present flexibility.
The back of the article receiving plate 10 can be provided with a supporting strip 34, and the supporting strip 34 is connected with the flexible connecting piece 2.
The chain can be straightened and can also be bent towards the inside, i.e. the work plate 1 is bent towards the direction of the back and returns to straightening. In this embodiment, the chain includes an inner chain piece 21 and an outer chain piece 22, each inner chain piece 21 is provided with a left connecting shaft 23 and a right connecting shaft 23 at a position far away from the article receiving plate 10, two adjacent outer chain pieces 22 are respectively rotatably connected with the left connecting shaft 23 and the right connecting shaft 23, each inner chain piece 21 is provided with a positioning shaft 24 at a position close to the article receiving plate 10, two adjacent outer chain pieces 22 are provided with positioning grooves 26, the chain can be straightened through the limit matching of the positioning grooves 26 and the positioning shafts 24, the outer chain pieces 22 are provided with connecting portions 25, and the supporting bars 34 are connected with the connecting portions 25.
The front end and the rear end of the flexible connecting piece 2 are respectively provided with a connecting rod 31 and a connecting rod 32, the two ends of the connecting rods 31 and 32 are provided with a connecting installation piece 33, and the connecting installation piece 33 can adopt a connecting pin.
The article receiving plate 10 is provided with the article positioning structure 11, as shown in the figure, the embodiment is a plurality of round holes arranged, and may be other shapes adapted to the article. When the station board 1 is in the low station W1 and the robot or robot hands over the articles, the articles are positioned on the article positioning structure 11 in the article arrangement.
The device for transporting the articles between different heights further comprises an L-shaped frame; the transverse dimension of the vertical section 102 of the frame is matched with the dimension of the station plate mechanism so that the station plate 1 can be flatly unfolded and conveyed upwards in an upward mode in the article conveying stage; the lower horizontal section 101 of the rack is sized to the station plate mechanism so that the station plate can present the robot arm or robot with articles positioned according to the article positioning structure when the lower station W1 interfaces with the robot arm or robot in an article alignment. In fig. 5, 201 denotes a low robot which transfers articles to and from a low station W1 of the apparatus of the present invention, R1 denotes a trajectory of an operation arm of the robot 201, reference numeral SR denotes an article transfer mechanism which is located at a low station, and the robot 201 transfers articles on the article transfer mechanism SR to a station board at a low station W1 of the apparatus of the present invention in an article arrangement manner, and the robot 201 may be a robot installed at one floor. The reference numeral 202 denotes a high-position robot which transfers articles to and from the high-position station W2 of the apparatus of the present invention, R2 denotes a working path of a working arm of the robot 202, reference numeral SC denotes an article transfer mechanism at a high position, and the robot 202 transfers articles on the station plate 1 of the high-position station W2 of the apparatus of the present invention to the article transfer mechanism SC in an article arrangement manner for output, and the robot 202 may be a robot installed at the second floor.
The circulating conveying mechanism adopts a chain circulating structure and comprises a first group of circulating chains 300 and a second group of circulating chains 400, each group of circulating chains comprises circulating chains arranged on two sides, the first group of circulating chains 300 is connected with the front end of the station plate mechanism, and the second group of circulating chains 400 is connected with the rear end of the station plate mechanism. The connecting and mounting members 33 at both ends of the connecting rods 31 and 32 are connected to the first and second endless chains 300 and 400 from the inside, respectively, in such a manner that connecting pins are inserted into links to be rotatably connected.
In the vertical section of the L-shaped article conveying track, the distance between the first set of endless chains 300 and the second set of endless chains 400 matches the length of the station plate mechanism (i.e. the length of the flexible connecting element 2 is basically) so that the station plate 1 can be unfolded flat and horizontally upward, and is conveyed upward in a flat state between the first set of endless chains and the second set of endless chains; the positions of the sprockets of the first set of endless chains 300 and the second set of endless chains 400 are matched with the length of the station plate mechanism, so that the station plate mechanism with two ends respectively connected with the first set of endless chains 300 and the second set of endless chains 400 is kept straight in the linear running section after the first set of endless chains 300 and the second set of endless chains 400 are guided by the sprockets.
The circular rotating track 500 of the station plate mechanism is positioned outside the L-shaped article conveying track, the head of the station plate mechanism is circularly conveyed and rotated in a front-to-back mode, in the circular rotating stage, the first group of circular chains and the second group of circular chains are bent coaxially, optimally, the circular rotating track 500 of the station plate mechanism is a track 502 parallel to the vertical section of the L-shaped article conveying track on the outer side of the vertical section of the L-shaped article conveying track, and the circular rotating track 500 of the station plate mechanism is a track 501 which is below the horizontal section and is inclined upwards on the outer side of the horizontal section of the L-shaped article conveying track, so that the volume occupation can be reduced to the maximum extent, meanwhile, the circular path is shortest, and the efficiency is highest.
The above description is only an embodiment of the present invention, but the structural features of the present invention are not limited thereto, and any changes or modifications within the scope of the present invention by those skilled in the art are covered by the present invention.
Claims (10)
1. A method for conveying articles among different heights is characterized in that articles are lifted and conveyed by a station plate, and the station plate performs cyclic motion; the station board is provided with corresponding article positioning structures according to a required article arrangement mode, and the station board is conveyed in an L-shaped track in a mode of always facing upwards in the article conveying stage; wherein, at the forward convex horizontal segment of L shape, for the station of handing over article according to the article arrangement mode with manipulator or robot in the low level, at the vertical top of L shape, with manipulator or robot handing over article in the high level according to the arrangement mode.
2. An apparatus for transporting articles between different heights, wherein the station board is flexible, capable of remaining straight and curved in a direction toward a rear surface of the station board.
3. A device for conveying articles among different heights is characterized by comprising a station plate mechanism, wherein the station plate mechanism is provided with a station plate, and the station plate is provided with an article positioning structure corresponding to the article arrangement rule; the device comprises a circulating conveying mechanism with a station plate mechanism, so that the station plate mechanism is circularly conveyed, and in the stage of conveying articles, the station plate is always conveyed in an L-shaped track in an upward mode; the length of the L-shaped forward protruding low-position horizontal section corresponds to the station plate, a station is provided for handing over articles at a low position according to the article arrangement mode for the station plate and the manipulator or the robot, and a station for handing over articles at a high position according to the article arrangement mode for the station plate and the manipulator or the robot is arranged at the vertical top end of the L-shaped.
4. A device for transporting goods between different heights as claimed in claim 3, wherein said station plate mechanism comprises said station plate and a flexible connecting member, said station plate is composed of a plurality of goods receiving plates, and when a plurality of goods receiving plates are provided, they are arranged on the flexible connecting member in sequence along the conveying direction; the front end and the rear end of the flexible connecting piece are respectively connected with the mounting piece and connected with the circulating conveying mechanism; the article bearing plate is provided with the article positioning structure.
5. An apparatus for transporting objects between different levels as claimed in claim 3, including an L-shaped frame; the transverse size of the vertical section of the rack is matched with that of the station plate mechanism, and the station plate can be unfolded in a plane and conveyed upwards or downwards in a face-up mode in the article conveying stage; the lower horizontal section of the frame is matched with the size of the station plate mechanism, so that when the station plate is connected with the manipulator or the robot in an article arrangement mode at a low position, the station plate can be displayed to the manipulator or the robot to place or take articles.
6. An apparatus for transporting objects between different levels as claimed in claim 3, wherein said endless conveyor means comprises a first set of endless chains and a second set of endless chains, each set of endless chains comprising endless chains arranged on both sides, wherein the first set of endless chains is connected to the front end of the station plate means and the second set of endless chains is connected to the rear end of the station plate means;
in the vertical section of the L-shaped article conveying track, the distance between the first set of circulating chains and the second set of circulating chains is matched with the length of the station plate mechanism, so that the station plate can be flatly unfolded and conveyed upwards or downwards in a face-up mode; the positions of the first group of circulating chains and the second group of circulating chain pulleys are matched with the length of the station plate mechanism, and the horizontal station plate in a straight state can be positioned between the first group of circulating chains and the second group of circulating chains;
the circular rotating track of the station plate mechanism is positioned on the outer side of the L-shaped article conveying track, the station plate mechanism is circularly conveyed and rotated with the head at the front and the tail at the back, and in the circular rotating stage, the first group of circular chains and the second group of circular chains are bent coaxially.
7. An apparatus for transporting objects between different heights as claimed in claim 6, wherein said station plate mechanism comprises said station plate, and a flexible connecting member, said station plate comprising a plurality of object receiving plates, and when a plurality of receiving plates are provided, said plurality of receiving plates are sequentially arranged on said flexible connecting member in the conveying direction; the front end and the rear end of the flexible connecting piece are respectively connected with the mounting piece and connected with the circulating conveying mechanism; the article bearing plate is provided with the article positioning structure.
8. The device for transporting objects between different heights according to claim 7, wherein the flexible connecting member is divided into a left and a right, the front end and the rear end of the flexible connecting member are respectively provided with the connecting rods, the connecting installation members are provided at both ends of the connecting rods, the connecting installation member of the front connecting rod is connected with the first set of circulating chains from the inside, and the connecting installation member of the rear connecting rod is connected with the second set of circulating chains from the inside.
9. An apparatus for transporting goods between different levels as claimed in claim 6, wherein the path of said station plate mechanism's endless rotation is parallel to the vertical section of the L-shaped goods transporting path on the outside thereof, and the path of said station plate mechanism's endless rotation is below and obliquely upward from the horizontal section of the L-shaped goods transporting path on the outside thereof.
10. An apparatus for transporting objects between different levels as defined in claim 3 wherein said station plate means is flexible to remain straight and bend toward the back of the station plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010128234.XA CN113320942A (en) | 2020-02-28 | 2020-02-28 | Method and apparatus for transporting articles between levels |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010128234.XA CN113320942A (en) | 2020-02-28 | 2020-02-28 | Method and apparatus for transporting articles between levels |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113320942A true CN113320942A (en) | 2021-08-31 |
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ID=77412667
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010128234.XA Pending CN113320942A (en) | 2020-02-28 | 2020-02-28 | Method and apparatus for transporting articles between levels |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113320942A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115432230A (en) * | 2022-10-08 | 2022-12-06 | 北京泰德制药股份有限公司 | Control method of packaging manipulator |
-
2020
- 2020-02-28 CN CN202010128234.XA patent/CN113320942A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115432230A (en) * | 2022-10-08 | 2022-12-06 | 北京泰德制药股份有限公司 | Control method of packaging manipulator |
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