CN113845038A

CN113845038A - Plate material conveying device and plate material conveying method

Info

Publication number: CN113845038A
Application number: CN202111136626.1A
Authority: CN
Inventors: 张世炜; 吴沙; 钟兴尉; 曹志强; 周海波
Original assignee: CIMC Vehicles Group Co Ltd
Current assignee: CIMC Vehicles Group Co Ltd
Priority date: 2021-09-27
Filing date: 2021-09-27
Publication date: 2021-12-28

Abstract

The invention provides a plate conveying device and a plate conveying method. The plate carrying device comprises a base frame, a travelling crane mechanism, a lifting mechanism and a positioning mechanism. The lifting mechanism is arranged on the travelling mechanism; the lifting mechanism comprises a fixed end and a free end; the adsorption mechanism is used for adsorbing the plate; the adsorption mechanism is connected with the free end and can lift; the positioning mechanism comprises a plurality of groups of positioning components; each positioning assembly comprises a positioning cylinder, a positioning pin and a connecting rod; one of the positioning cylinder and the positioning pin is fixed at the bottom of the travelling mechanism, and the other is arranged at the top of the adsorption mechanism; the connecting rod comprises two rod bodies which are rotatably connected, and the end parts of the two rod bodies, which are far away from each other, are respectively rotatably connected with the bottom of the travelling mechanism and the top of the adsorption mechanism; when the lifting mechanism lifts the adsorption mechanism, the end parts of the two rod bodies of the connecting rods, which are far away from each other, are close to each other in the vertical direction, and each positioning pin is inserted into the corresponding positioning barrel, so that the adsorption mechanism is relatively fixed relative to the horizontal position of the travelling mechanism.

Description

Plate material conveying device and plate material conveying method

Technical Field

The invention relates to the field of plate conveying, in particular to a plate conveying device and a plate conveying method.

Background

At present, the external vacuum hoist of workshop driving is mostly adopted in the last unloading transport of workshop panel, and the vacuum hoist easily rocks at the handling in-process, and during the material loading, the unable accurate panel of aiming at of vacuum hoist to and when the unloading, can't realize accurate place panel in established position, so need spend time to adjust, and then the handling efficiency that has leaded to panel is lower.

Disclosure of Invention

The invention aims to provide a plate material conveying device and a plate material conveying method with high conveying efficiency, so as to solve the problems in the prior art.

To solve the above technical problem, the present invention provides a sheet conveying device, including:

a base frame having a rail extending in a longitudinal direction thereon;

the travelling mechanism is in sliding fit with the track;

the lifting mechanism is arranged on the travelling mechanism and can move along with the travelling mechanism; the lifting mechanism comprises a fixed end fixed on the travelling crane mechanism and a free end capable of lifting relative to the fixed end;

the adsorption mechanism is positioned below the adsorption mechanism, and a plurality of groups of positioning assemblies are arranged at intervals along the circumferential direction of the adsorption mechanism; each positioning assembly comprises a positioning cylinder, a positioning pin and a connecting rod; one of the positioning cylinder and the positioning pin is fixed at the bottom of the travelling mechanism, and the other one is arranged at the top of the adsorption mechanism; the connecting rod comprises two rod bodies which are rotatably connected, and the end parts of the two rod bodies, which are far away from each other, are respectively rotatably connected with the bottom of the travelling mechanism and the top of the adsorption mechanism;

when the lifting mechanism lifts the adsorption mechanism, the end parts, far away from each other, of the two rod bodies of the connecting rods of the positioning mechanism are close to each other in the vertical direction, and the positioning pins are inserted into the corresponding positioning cylinders, so that the horizontal position of the adsorption mechanism relative to the travelling mechanism is relatively fixed.

In one embodiment, the positioning mechanism comprises two groups of positioning components which are arranged at intervals along the transverse direction of the travelling mechanism;

the connecting rod is arranged on the side part of the positioning barrel or the positioning pin facing to the other positioning assembly.

In one embodiment, the positioning cylinder is fixedly connected with one of the travelling mechanism or the adsorption mechanism through a connecting seat, and the positioning pin is fixedly connected with the other of the adsorption mechanism or the travelling mechanism through a mounting seat;

the end parts of the rod bodies, which are far away from each other, are respectively and rotatably connected with the connecting seat and the mounting seat.

In one embodiment, the plate conveying device further comprises a plurality of anti-falling mechanisms arranged at intervals along the transverse direction; each anti-falling mechanism has a folding and folding state and an unfolding and anti-falling state, and when the anti-falling mechanisms are in the folding and folding states, the adsorption mechanisms are allowed to lift; when the anti-falling mechanism is in an unfolded anti-falling state, the plate can be stopped from falling.

In one embodiment, the fall arrest mechanism comprises two fall arrest assemblies arranged in pairs; the two anti-falling assemblies are respectively arranged at two longitudinal sides of the adsorption mechanism, each anti-falling assembly comprises at least two first anti-falling rods, at least one second anti-falling rod and a driving piece, the second anti-falling rods are rotatably connected with the first anti-falling rods, the driving piece is connected with the first anti-falling rods to drive the first anti-falling rods to rotate so as to switch between the transverse direction and the longitudinal direction, and the second anti-falling rods are kept to extend along the longitudinal direction;

when the first anti-falling rods rotate to extend along the transverse direction, all the first anti-falling rods are attached to the second anti-falling rods, and the anti-falling assembly is in a folded and retracted state; when the first anti-falling rod rotates to extend along the longitudinal direction, the anti-falling assembly is in an unfolded anti-falling state.

In one embodiment, the first end of the first anti-crash bar is connected to the driving member;

the second anti-drop bar is rotatably coupled to the first anti-drop bar in an area other than the first end.

In one embodiment, the driving member comprises a power unit, a driving shaft, at least two driven shafts, a first transmission unit and at least one second transmission unit;

the driving shaft and the driven shaft is all along vertical extension, just the driving shaft with the parallel interval of driven shaft sets up, the bottom of driven shaft with first prevent weighing down the pole one-to-one and connect, power pack with the driving shaft is connected and is driven the driving shaft rotates, the driving shaft and be close to the driven shaft of driving shaft passes through first drive unit connects, keeps away from the driving shaft the driven shaft passes through first drive unit with the second drive unit is connected, realizes the rotation of driving shaft drives the rotation of driven shaft.

In one embodiment, the first transmission unit and the second transmission unit are both of a four-bar linkage structure.

In one embodiment, the lifting mechanism comprises:

the winding drum is arranged at the top of the travelling mechanism; the winding drum extends along the longitudinal direction and can rotate around the longitudinal direction;

the fixed pulley is arranged at the top of the travelling crane mechanism; the fixed pulley forms the fixed end;

the movable pulley is arranged at the top of the adsorption mechanism; the movable pulley forms the free end;

one end of the lifting rope is wound on the winding drum, and the other end of the lifting rope is wound around the fixed pulley, extends to the position of the movable pulley, is wound around the movable pulley, and is fixedly connected with the travelling crane mechanism;

and the power part is connected with the winding drum to drive the winding drum to rotate so as to drive the hoisting rope to wind on the winding drum or be released from the winding drum.

In one embodiment, the fixed pulley, the movable pulley and the lifting rope are arranged on two sides of the winding drum;

the hoisting ropes respectively arranged on the two sides of the winding drum are wound on the winding drum in opposite directions.

In one embodiment, the base frame comprises two side walls arranged in parallel at intervals, and each side wall is arranged vertically; the inner side surface of each rail is provided with the rail;

the driving mechanism comprises:

the frame is positioned between the two side walls;

the sliding blocks are arranged on two sides of the frame, correspond to the tracks respectively and are in sliding fit with the tracks;

and the driving piece is connected with the sliding block to drive the sliding block to move along the track, so that the frame is driven to move along the track.

In one embodiment, the driving member is a servo motor.

In one embodiment, the adsorption mechanism includes:

a top plate;

the suckers are arranged at the bottom of the top plate at intervals along the circumferential direction of the top plate; the sucking disc is used for adsorbing a plate;

a plurality of automatic valves provided corresponding to the plurality of suckers; and each automatic valve controls whether the corresponding suction cup works or not according to the size of the plate.

The invention also provides a plate conveying method, which adopts the plate conveying device; the plate conveying method comprises the following steps:

moving the travelling crane mechanism, and moving the adsorption mechanism to a feeding station;

the lifting mechanism is used for lowering the adsorption mechanism, and the plate is adsorbed by the adsorption mechanism;

lifting the adsorption mechanism and the plate until the positioning pins are inserted into the corresponding positioning cylinders;

moving the travelling crane mechanism, moving the adsorption mechanism and the plate to a blanking station:

and the lifting mechanism is used for lowering the adsorption mechanism and putting down the plate.

In one embodiment, before the step of moving the traveling crane mechanism and moving the adsorption mechanism and the plate to a blanking station, the method further includes:

driving a fall prevention mechanism to enable the fall prevention mechanism to be changed from a folding state to a unfolding state, so that the plate is stopped from falling;

the step of moving the travelling crane mechanism and moving the adsorption mechanism and the plate to a blanking station further comprises the following steps:

and driving the anti-falling mechanism to enable the anti-falling mechanism to be converted from an unfolded anti-falling state to a folded retracted state, so that the adsorption mechanism and the plate are allowed to descend.

According to the technical scheme, the invention has the advantages and positive effects that:

the plate conveying device comprises a base frame, a travelling mechanism, a lifting mechanism, an adsorption mechanism and a positioning mechanism. Adsorption element is located the below of driving mechanism, makes adsorption element go up and down for driving mechanism through hoist mechanism, and at adsorption element lift in-process, owing to the combined action of two connecting rods, guaranteed that everywhere rises in the adsorption element horizontal plane in step, avoided rocking of adsorption element and panel, guaranteed the steady promotion of adsorption element in the horizontal direction. And along with the lifting action, the locating pin inserts respectively to the location section of thick bamboo that corresponds in, has guaranteed the horizontal position between adsorption equipment and the driving mechanism, has guaranteed the accurate nature of panel position, and then makes the adsorption equipment can be at the accurate absorption panel of material loading station, at the accurate panel of placing of unloading station, has improved the handling efficiency of panel.

Drawings

FIG. 1 is a schematic structural diagram of a plate material handling device according to an embodiment of the present invention.

Fig. 2 is a partial schematic view of fig. 1.

Fig. 3 is a schematic diagram showing a configuration of the plate conveying apparatus shown in fig. 1 after the suction mechanism is lifted.

Fig. 4 is a partial schematic view in a plan view of the plate material conveying apparatus of the present invention.

Figure 5 is a schematic diagram of the fall arrest mechanism of the present invention.

Fig. 6 is a schematic structural diagram of the falling protection mechanism for protecting the plate adsorbed by the adsorption mechanism according to the present invention.

Fig. 7 is a partial schematic view of fig. 6.

The reference numerals are explained below: 1. a board conveying device; 11. a side wall; 12. a travelling mechanism; 121. a frame; 1211. a cross beam; 1212. a stringer; 122. a slider; 123. a drive member; 131. a reel; 132. a lift cord; 133. a fixed pulley; 134. a movable pulley; 135. a power member; 14. an adsorption mechanism; 141. a top plate; 142. a suction cup; 143. assembling a seat; 15. a positioning mechanism; 151. a positioning cylinder; 152. positioning pins; 153. a connecting rod; 1531. a first rod body; 1532. a second rod body; 154. a connecting seat; 155. a mounting seat; 16. a fall prevention mechanism; 161. a first fall prevention lever; 162. a second fall prevention lever; 163. a drive shaft; 164. a driven shaft; 165. a power unit; 1661. a transition rod; 1662. a first link; 1663. a first driven lever; 1672. a second link; 1673. a second driven lever;

2. a plate material.

Detailed Description

Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.

For further explanation of the principles and construction of the present invention, reference will now be made in detail to the preferred embodiments of the present invention, which are illustrated in the accompanying drawings.

The invention provides a plate conveying device which is suitable for conveying large plates. This panel handling device is accurate to the location of panel when carrying panel, has improved handling efficiency.

Specifically, referring to fig. 1, 2 and 3, the plate conveying device 1 includes a base frame, a traveling mechanism 12, a lifting mechanism, an adsorption mechanism 14 and a positioning mechanism 15. The travelling crane mechanism 12 can move longitudinally relative to the base frame, the lifting mechanism is arranged on the travelling crane mechanism 12 and can move along with the travelling crane, the adsorption mechanism 14 is used for adsorbing the plate 2, the adsorption mechanism 14 is connected with the free end of the lifting mechanism and can lift relative to the travelling crane mechanism 12 along with the free end, namely, the plate 2 can lift and move longitudinally along with the adsorption mechanism 14, and the carrying function is realized. The positioning mechanism 15 is used for ensuring the relative fixation and stability between the adsorption mechanism 14 and the traveling mechanism 12 in the conveying process, so as to ensure the stability of the plate 2 in the conveying process, and the position of the plate 2 is relatively fixed, so that the position accuracy of the plate 2 is improved.

The base frame comprises two side walls 11 arranged in parallel at intervals, and each side wall 11 is vertically arranged. For convenience of description, the longitudinal direction of the sidewall 11 is defined as a longitudinal direction, and the other direction in the horizontal direction is defined as a transverse direction. I.e. the two side walls 11 are arranged at a spacing in the lateral direction.

In an exemplary embodiment, the two side walls 11 are erected on the ground in the factory. In other embodiments, the support device can be arranged on other support surfaces.

The inner side surfaces of the side walls 11 are provided with rails extending in the longitudinal direction. The inner side surface of the side wall 11 refers to a side surface of the side wall 11 facing the other side wall 11.

There is a height difference between the rails and the bottom of the side walls 11. Wherein, the height difference between the rail and the bottom of the sidewall 11 is set according to the actual situation.

The travelling mechanism 12 is in sliding fit with the track. Specifically, the traveling mechanism 12 includes a frame 121, a slider 122, and a driver 123.

The frame 121 includes two cross beams 1211 disposed in parallel and spaced apart along a longitudinal direction, and at least one longitudinal beam 1212 disposed between the two cross beams 1211.

The sliding blocks 122 are disposed on two lateral sides of the frame 121, and the sliding blocks 122 on the two sides of the frame 121 are disposed corresponding to the tracks of the two side walls 11. The slider 122 is capable of sliding along the rail.

Specifically, both ends of each cross member 1211 are provided with sliders 122. That is, in the present embodiment, the number of the sliders 122 is four.

The driving member 123 is connected to the slider 122 to drive the slider 122 to move along the track. In this embodiment, the number of the driving members 123 is two, and the two driving members 123 are respectively arranged on both lateral sides of the frame 121.

In particular, the driving member 123 employs a servo motor, thereby enabling precise control of the position of the traveling mechanism 12.

In the present embodiment, the driving member 123 is fixed to the end of the cross beam 1211, and the driving member 123 is connected to the sliding block 122 through a transition portion. Specifically, the transition portion is i-shaped, and the driving member 123 is fixed at the top and the sliding block 122 is fixed at the bottom. The housing of the driving member 123 is fixedly connected to the end of the cross member 1211.

The driving mechanism 12 drives the sliding block 122 to move relative to the rail through the driving member 123, so that the driving mechanism 12 moves relative to the side wall 11, and the driving mechanism 12 can move from the first position to the second position. Wherein the first position and the second position are longitudinally spaced apart. Illustratively, the first position is a loading station and the second position is a unloading station.

The lifting mechanism is provided on the traveling mechanism 12 and can move together with the traveling mechanism 12. Specifically, the frame 121 has a longitudinal beam 1212 at a middle region in the lateral direction, and the longitudinal beam 1212 is defined as a mounting beam on which the lifting mechanism is disposed. The frame 121 further includes two longitudinal beams 1212, the two longitudinal beams 1212 being arranged on both sides of the mounting beam.

Referring to fig. 4, the lifting mechanism includes a winding drum 131, a lifting rope 132, a fixed pulley 133, a movable pulley 134, and a power member 135.

The winding drum 131 is arranged at the top of the travelling crane mechanism 12, is specifically arranged on the mounting beam, and can rotate 360 degrees. Specifically, the length of the drum 131 extends in the longitudinal direction, and the rotational axis thereof extends in the longitudinal direction.

The lift cords 132 are wound around the drum 131. Specifically, one end of the lift cord 132 is fixed to the drum 131, and the other end is fixed to the frame 121 after being wound around the fixed sheave 133 and the movable sheave 134.

The number of the lift cords 132 is four, that is, two lift cords are respectively disposed on both sides of the drum 131. Two lift cords 132 on the same side of the drum 131 are longitudinally spaced apart.

The winding direction of the hoisting ropes 132 on both sides of the winding drum 131 is different on the winding drum 131. For example, the lifting cord 132 of one side of the winding drum 131 is wound in a clockwise direction, and the lifting cord 132 of the other side of the winding drum 131 is wound in a counterclockwise direction, so that when the winding drum 131 rotates, the lifting cords 132 of both sides of the winding drum 131 are simultaneously wound or simultaneously released. The retraction means to wind the lift cord 132 outside the spool 131 onto the spool 131, and the release means to release the lift cord 132 wound onto the spool 131.

The fixed pulley 133 is disposed on the longitudinal beam 1212 for winding the lift cord 132, thereby changing the direction of the lift cord 132. Specifically, lift cords 132 transition from a horizontal extension in the horizontal direction to a vertical extension. Wherein the fixed pulley 133 constitutes a fixed end of the lifting mechanism.

The number of the fixed pulleys 133 is the same as the number of the lift cords 132 and is provided in one-to-one correspondence. That is, the number of the fixed pulleys 133 is four, and two fixed pulleys 133 are provided at intervals on each side member 1212.

The movable pulley 134 is disposed on the top of the suction mechanism 14 for winding the lifting rope 132, so as to change the direction of the lifting rope 132. Specifically, lift cords 132 transition from a vertically downward direction to a vertically upward direction. And the end of the lifting rope 132 wound by the movable pulley 134 extends upwards to the bottom of the longitudinal beam 1212 and is fixedly connected with the bottom of the longitudinal beam 1212. Wherein the movable pulley 134 constitutes the free end of the hoisting mechanism.

The number of the movable pulleys 134 is the same as that of the fixed pulleys 133, and they are arranged in one-to-one correspondence. That is, the movable pulleys 134 are four in number and are provided at intervals at the top of the suction mechanism 14.

The power member 135 is connected to the drum 131 to supply rotational power to the drum 131. In this embodiment, the power member 135 is a motor.

The lifting principle of the lifting mechanism is as follows:

the power member 135 is started, the winding drum 131 rotates, the lifting rope 132 is retracted, and when the lifting rope 132 is retracted, the length of the lifting rope 132 outside the winding drum 131 is reduced, so that the movable pulley 134 is driven to move upwards, and a lifting function is realized.

When the vehicle needs to descend, the power member 135 is started, the winding drum 131 rotates, the lifting rope 132 is released, the length of the lifting rope 132 outside the winding drum 131 is increased, and therefore the movable pulley 134 is driven to move downwards, and the descending function is achieved.

The adsorption mechanism 14 is used for adsorbing the plate material. Specifically, referring to fig. 1 and 7, the suction mechanism 14 includes a top plate 141 and a plurality of suction cups 142 disposed at the bottom of the top plate 141.

Two mounting seats 155 are arranged at intervals in the transverse direction on the top of the top plate 141, and each mounting seat 155 extends in the longitudinal direction. The movable pulleys 134 are provided on the mounting seats 155, and two movable pulleys 134 are provided on each mounting seat 155 at an interval. The connection between the suction mechanism 14 and the movable pulley 134, and thus the connection between the suction mechanism 14 and the free end of the lifting mechanism, is realized by the mounting seat 155. And the length of the mount 155 is smaller than that of the top plate 141 in the longitudinal direction.

The suction pads 142 are provided at intervals in the longitudinal direction of the top plate 141, and the suction pads 142 are provided at intervals in the width direction of the top plate 141. In this embodiment, the plurality of suction pads 142 are provided at equal intervals in the longitudinal direction of the top plate 141, and the plurality of suction pads 142 are provided at equal intervals in the width direction of the top plate 141. In other embodiments, the positional relationship between the suction cups 142 may be set according to actual conditions.

Further, the adsorption mechanism 14 also includes a plurality of automatic valves. The plurality of automatic valves are provided in one-to-one correspondence with the plurality of suction cups 142. The automatic valve enables the corresponding suction cup 142 to select whether the suction cup 142 operates or not depending on the width and length of the sucked sheet 2.

In this embodiment, the suction cup 142 is connected to the top plate 141 through the mounting seat 143. The mounting seat 143 is fixedly connected with the suction cup 142, and the mounting seat 143 is detachably connected with the top plate 141, so that the position of the suction cup 142 on the top plate 141 can be adjusted. Illustratively, a plurality of assembling holes are formed at intervals on the top plate 141, and a plurality of assembling matching holes are formed on the assembling seat 143, so as to realize detachable connection through fasteners. The fitting holes can be matched with the fitting holes at different positions on the top plate 141, so that the position can be adjusted.

The positioning mechanism 15 is disposed between the traveling mechanism 12 and the adsorbing mechanism 14, and is configured to ensure that the adsorbing mechanism 14 moves stably and ensure that the horizontal position between the adsorbing mechanism 14 and the traveling mechanism 12 is kept unchanged, so that the plate conveying device 1 can accurately suck the plate 2 and put down the plate 2 at the loading and unloading positions.

Specifically, the positioning mechanism 15 includes a positioning cylinder 151, a positioning pin 152, and a link 153.

One of the positioning cylinder 151 and the positioning pin 152 is disposed at the bottom of the traveling mechanism 12, the other is disposed at the top of the adsorption mechanism 14, and the positioning pin 152 is inserted into the positioning cylinder 151. In this embodiment, the positioning cylinder 151 is fixed to the bottom of the traveling mechanism 12, specifically, to the bottom of the longitudinal beam 1212.

In the longitudinal direction, the positioning cylinder 151 is located between the two lift cords 132, or the positioning cylinder 151 is located between the two fixed pulleys 133. In the transverse direction, the two positioning cylinders 151 are arranged in parallel at intervals. That is, the two positioning cylinders 151 are disposed corresponding to the two longitudinal beams 1212.

Further, a connecting seat 154 is arranged between the positioning cylinder 151 and the bottom of the longitudinal beam 1212. That is, the connecting seat 154 is fixed at the bottom of the longitudinal beam 1212, the positioning cylinder 151 is fixed at the bottom of the connecting seat 154, so that the top opening of the positioning cylinder 151 is closed, and the bottom has an opening for inserting the positioning pin 152.

The positioning pins 152 are provided in one-to-one correspondence with the positioning cylinders 151. That is, the positioning pins 152 are two in number and arranged in parallel at intervals in the lateral direction. Referring to fig. 2, the positioning pin 152 is disposed on the mounting base 155. In the longitudinal direction, the positioning pin 152 is located between the two movable pulleys 134 disposed on the same mounting base 155.

In an exemplary embodiment, the diameter of the opening at the bottom of the positioning cylinder 151 gradually increases from top to bottom, and is flared, so as to maximize the diameter at the bottom of the positioning cylinder 151. The top of the positioning pin 152 has a circular truncated cone structure with an aperture gradually increasing from top to bottom, and the circular truncated cone structure enables the aperture at the top of the positioning pin 152 to be the smallest. The positioning pin 152 can be easily inserted into the positioning cylinder 151 by adopting the above structure.

The number of the links 153 is two, and the links are provided corresponding to the positioning cylinder 151. Two sets of links 153 are laterally spaced apart.

Specifically, each set of connecting rods 153 includes two rods rotatably connected, and the end portions of the two rods away from each other are respectively rotatably connected to the bottom of the traveling mechanism 12 and the top of the adsorbing mechanism 14. The two rods are a first rod 1531 and a second rod 1532, wherein the first rod 1531 is connected to the connecting seat 154, and the second rod 1532 is connected to the mounting seat 155.

One end of the first rod 1531 is rotatably connected to the connecting seat 154, and the other end is rotatably connected to the second rod 1532. One end of the second rod 1532 is rotatably connected to the mounting base 155, and the other end is rotatably connected to the first rod 1531.

The connecting rod 153 is disposed inside the positioning cylinder 151, i.e., the connecting rod is disposed on a side portion of the positioning cylinder 151 facing the other positioning cylinder 151. Specifically, in one of the links 153, the first rod 1531 is disposed obliquely downward toward the other link 153, and the second rod 1532 is disposed obliquely upward toward the other link 153. That is, each link 153 forms a horizontal V-shape, and the openings of the two links 153 are separated from each other.

In an exemplary embodiment, two support lugs are disposed on an inner side of the connecting seat 154, the support lugs are provided with connecting holes, one end portion of the first rod 1531 is provided with a connecting fitting hole, the first rod 1531 is disposed between the two support lugs, and the connecting seat 154 and the first rod 1531 are rotatably connected by inserting a pin into the connecting hole and the connecting fitting hole. The rotatable connection between the mounting seat 155 and the second rod 1532 can refer to the rotatable connection between the first rod 1531 and the connecting seat 154, which is not described herein in detail.

The end of the first rod 1531 close to the second rod 1532 is provided with a rotation hole, the end of the second rod 1532 close to the second rod 1532 is also provided with a through hole, and the rotation shaft is inserted into the rotation hole of the first rod 1531 and the through hole of the second rod 1532 to realize the rotatable connection between the first rod 1531 and the second rod 1532.

Further, the end of the first rod 1531 close to the second rod 1532 has a bending portion, and the number of the rotating holes is two. The end of the second shaft 1532 close to the second shaft 1532 also has a bending portion, and the bending portion is also provided with two through holes. The bending portion of the first rod 1531 and the bending portion of the second rod 1532 are longitudinally overlapped.

The two connecting rods 153 are respectively located at two transverse ends of the adsorption mechanism 14, so as to ensure the relative positions of the traveling mechanism 12 and the adsorption mechanism 14 in the horizontal direction.

The positioning principle of the positioning mechanism 15 is as follows:

the initial state is that adsorption apparatus constructs 14 and adsorbs panel 2 at material loading station, adsorbs behind the panel 2, needs to promote adsorption apparatus structure 14. In the lifting process, due to the combined action of the two connecting rods 153, synchronous lifting of all parts of the adsorption mechanism 14 is ensured, shaking of the adsorption mechanism 14 and the plate 2 is avoided, and stable lifting of the adsorption mechanism 14 in the horizontal direction is ensured. And along with the lifting action, the locating pins 152 of both sides insert respectively to the location section of thick bamboo 151 that corresponds in, have guaranteed the horizontal position between adsorption equipment 14 and the driving mechanism 12, have guaranteed the accurate nature of 2 positions of panel, and then make adsorption equipment 14 can be at the accurate absorption panel 2 of material loading station, at the accurate panel 2 of placing of material unloading station, improved the handling efficiency of panel 2.

It will be appreciated that the link 153 may also ensure synchronous descent of the suction mechanism 14 throughout the descent of the suction mechanism 14.

The fall prevention mechanism 16 is used to prevent the sheet 2 from falling off the adsorption mechanism 14 during conveyance, and to ensure the safety of the sheet conveying apparatus 1 during conveyance. The anti-falling mechanism 16 has a retracted state and an extended state, and when the anti-falling mechanism 16 is in the retracted state, the adsorption mechanism 14 and the adsorbed plate 2 are allowed to ascend and pass through; when the fall prevention mechanism 16 is in the deployed state, the sheet 2 detached from the adsorption mechanism 14 can be stopped from falling, and the sheet 2 can be protected.

Wherein a plurality of anti-falling mechanisms 16 are provided at intervals in the lateral direction to sufficiently protect the sheet 2. In this embodiment, the number of the fall preventing mechanisms is three. In other embodiments, the number of the first electrode and the second electrode may be two, four or other numbers, which are set according to actual situations.

Referring to fig. 5 and 6, each fall arrest mechanism 16 includes two fall arrest components spaced apart in the longitudinal direction, the two fall arrest components being arranged in pairs. That is, the two fall prevention assemblies work together on both longitudinal sides of the adsorption mechanism 14 to protect the sheet 2 adsorbed by the adsorption mechanism 14.

Specifically, each fall arrest assembly comprises at least two first fall arrest bars 161, at least one second fall arrest bar 162 and a drive member. The driving member is connected to each of the first falling preventive bars 161 to drive the first falling preventive bars 161 to rotate, so that the first falling preventive bars 161 are switched between the lateral direction and the longitudinal direction, the second falling preventive bars 162 are simultaneously connected to each of the first falling preventive bars 161, and the second falling preventive bars 162 extend in the lateral direction. When the first fall prevention rods 161 rotate to extend along the transverse direction, each first fall prevention rod 161 is attached to the second fall prevention rod 162, and the fall prevention assembly is in a folded and retracted state; when the first fall prevention lever 161 rotates to extend in the longitudinal direction, the first fall prevention lever 161 is perpendicular to the second fall prevention lever 162, and the first fall prevention lever 161 and the second fall prevention lever 162 can be located below the adsorption mechanism 14, thereby preventing the fall of the sheet material 2, which is an unfolded fall prevention state at this time.

In this embodiment, the number of the first fall prevention levers 161 is two, and the number of the second fall prevention levers 162 is one. In other embodiments, the number of the second anti-drop bars 162 is two. The number of the first falling preventive levers 161 may be other numbers, for example, three. The selection is made according to the actual situation.

The second fall prevention lever 162 is rotatably coupled to the first fall prevention lever 161 such that the second fall prevention lever 162 maintains the extension in the lateral direction while the first fall prevention lever 161 rotates between the lateral direction and the longitudinal direction.

One end of the first falling preventive bar 161 is connected to the driving member, and defines the end as a first end and the other end as a second end.

The second fall prevention lever 162 is connected to an end region of the first fall prevention lever 161 excluding the first end portion including the second end portion. Preferably, the end region is a region from a midpoint of the first falling preventive bar 161 in the longitudinal direction to the second end.

The driving member comprises a power unit 165, a driving shaft 163, two driven shafts 164, a first transmission unit and a second transmission unit.

The power unit 165 is fixed to the bottom of the frame 121 of the traveling mechanism 12. Specifically, the power unit 165 is fixedly connected to the cross member 1211. In this embodiment, the power unit 165 includes a motor and a speed reducer.

The driving shaft 163 extends vertically and can rotate about the vertical direction. The driving shaft 163 is connected to the power unit 165 so as to be rotatable by the power unit 165. Specifically, the drive shaft 163 is connected to the output shaft of the speed reducer.

Specifically, in the present embodiment, the rotation angle of the driving shaft 163 is 90 degrees. In other embodiments, the rotation angle of the driving shaft 163 may be set according to the actual situation.

The two driven shafts 164 are parallel to the driving shaft 163 and are arranged at intervals in the lateral direction. Both driven shafts 164 are connected to the driving shaft 163 and can rotate in accordance with the rotation of the driving shaft 163.

The bottom of the two driven shafts 164 are respectively connected with a first anti-falling rod 161, and the bottom end of the driven shaft 164 is connected with the first end of the first anti-falling rod 161.

The two driven shafts 164 are located on the same side of the driving shaft 163, that is, in the two driven shafts 164, one driven shaft 164 is close to the driving shaft 163, and the other driven shaft 164 is far away from the driving shaft 163. It is understood that the driven shaft 164, the driven shaft 164 and the driving shaft 163, or the driving shaft 163, the driven shaft 164 and the driven shaft 164 are sequentially arranged in the transverse direction.

The driven shaft 164 adjacent to the driving shaft 163 is connected to the driving shaft 163 through a first transmission unit. Specifically, the first transmission unit adopts a four-bar linkage structure to realize that the rotation of the driving shaft 163 drives the rotation of the driven shaft 164. The first transmission unit includes a transition lever 1661, a first link 1662, a first eccentric shaft, a second eccentric shaft, and a first driven lever 1663. The transition stem 1661, the first link 1662, and the first driven stem 1663 all extend in the transverse direction, and the first link 1662 is located above the first driven stem 1663 and the transition stem 1661. The drive shaft 163, the first eccentric shaft and the second eccentric shaft all extend vertically. The two ends of the transition rod 1661 are respectively connected to the driving shaft 163 and the first eccentric shaft, and the two ends of the first link 1662 are respectively connected to the first eccentric shaft and the second eccentric shaft. The two ends of the first driven lever 1663 are connected to the second eccentric shaft and the end of the driven shaft 164 near the driving shaft 163, respectively.

When the driving shaft 163 rotates vertically, the driving shaft drives the first link 1662 to reciprocate, so as to drive the first driven link 1663 to reciprocate, and further drive the driven shaft 164 to rotate vertically.

The output shaft 164 remote from the drive shaft 163 is connected to the drive shaft 163 via a second transmission unit and a first transmission unit. Specifically, the second transmission unit is the same as the first unit in a four-bar linkage structure, and the two transmission units have the same principle. Specifically, the second transmission unit includes a second connecting rod 1672, a second driven rod 1673, and a third eccentric shaft. The second connecting rod 1672 and the second driven rod 1673 both extend in the lateral direction, and are disposed in parallel at an interval. The third eccentric shaft is arranged vertically. The second eccentric shaft and the third eccentric shaft are connected to two ends of the second connecting rod 1672, respectively. The two ends of the second driven rod 1673 are respectively connected with the third eccentric shaft and the top end of the driven shaft 164 far away from the driving shaft 163.

The driving shaft 163 drives the first link 1662 to reciprocate when rotating vertically, so as to drive the second link 1672 and the second driven rod 1673 to reciprocate, and further drive the driven shaft 164 far away from the driving shaft 163 to rotate.

Specifically, in the present embodiment, the rotation angle of the driving shaft 163 is 90 degrees. Further, the outer peripheries of the upper portions of the two driven shafts 164 are both sleeved with a rotating cylinder. Each driven shaft 164 is capable of rotating relative to the drum.

The protection principle of the fall arrest mechanism 16 is as follows:

in the initial state, the first fall prevention lever 161 and the second fall prevention lever 162 both extend in the lateral direction and are located on both sides of the adsorption mechanism 14. At this time, the fall arrest mechanism 16 is in a collapsed state, allowing the adsorption mechanism 14 to be raised and lowered.

After the adsorption mechanism 14 has adsorbed the plate 2 and lifted to the positioning pin 152 by the lifting mechanism to be inserted into the positioning cylinder 151, the fall preventing mechanism starts to operate. The power unit 165 is turned on, the driving shaft 163 rotates, and the two driven shafts 164 are driven to rotate through the first transmission unit and the second transmission unit, so that the first falling prevention rod 161 rotates from extending along the transverse direction to extending along the longitudinal direction, and the second falling prevention rod 162 is changed from being positioned at the side part of the adsorption mechanism 14 to being positioned below the adsorption mechanism 14. At this time, the first fall prevention lever 161 and the second fall prevention lever 162 are both positioned below the plate material 2 adsorbed by the adsorption mechanism 14.

The two anti-falling assemblies of the anti-falling mechanism act together to receive the plate 2 separated from the adsorption mechanism 14, so that the plate 2 is prevented from falling, and the safety of the plate 2 in the carrying process is improved.

In order to further make those skilled in the art specifically understand how the plate material conveying device 1 provided in the present embodiment realizes the conveying of the plate material 2, the specific process of the plate material conveying method will be described below.

The plate conveying method comprises the following steps:

and S1, moving the travelling crane mechanism 12, and moving the adsorption mechanism 14 to a feeding station.

Specifically, the traveling mechanism 12 is started, and the adsorption mechanism 14 is driven to move to the feeding station by the movement of the traveling mechanism 12, as shown in fig. 1.

S2, the suction mechanism 14 is lowered by the lifting mechanism, and the plate material 2 is sucked by the suction mechanism 14.

Specifically, the lifting mechanism is started, the adsorption mechanism 14 is lowered to a position suitable for adsorbing the sheet material 2 by the lifting mechanism, and then the sheet material 2 is adsorbed by the suction cups 142 of the adsorption mechanism 14.

The lift cord 132 wound around the winding drum 131 is released, and the movable pulley 134 is lowered, so that the suction mechanism 14 is lowered.

S3, lifting the suction mechanism 14 and the plate 2 until the positioning pins 152 are inserted into the corresponding positioning cylinders 151.

Specifically, after the adsorption mechanism 14 adsorbs the plate 2, the lifting mechanism is started, the adsorption mechanism 14 and the plate 2 are lifted together by the lifting mechanism, and the positioning pins 152 are lifted to be inserted into the corresponding positioning cylinders 151, as shown in fig. 3.

The lift cord 132 is wound around the drum 131, and the movable pulley 134 is lifted, thereby lifting the suction mechanism 14 together with the plate material 2.

In the lifting and descending processes of the lifting mechanism, the adsorption mechanism 14 can stably ascend or descend in the horizontal plane through the combined action of the plurality of connecting rods 153 of the positioning mechanism 15, and the shaking is avoided.

At the in-process that promotes panel 2, insert the location that corresponds a location section of thick bamboo 151 through a plurality of locating pins 152 of positioning mechanism 15, ensure the horizontal position between adsorption equipment 14 and the driving mechanism 12, guaranteed the accurate nature of panel 2 position, and then make adsorption equipment 14 can be at the accurate absorption panel 2 of material loading station, at the accurate panel 2 of placing of material unloading station, improved the handling efficiency of panel 2.

And S4, moving the travelling crane mechanism 12, and moving the adsorption mechanism 14 and the plate 2 to a blanking station.

Specifically, the traveling mechanism 12 is driven to move the traveling mechanism 12 along the rail to the blanking station.

S5, the suction mechanism 14 is lowered by the lifting mechanism, and the plate 2 is dropped.

Specifically, the lifting mechanism is driven to release the lifting rope 132, so that the suction mechanism 14 and the plate 2 are lowered, and when the plate 2 is lowered to a proper position, the plate 2 is put down, and the conveyance of one plate 2 is completed.

Further, before step S4, the method further includes the following steps:

and S04, driving the anti-falling mechanism 16 to change the anti-falling mechanism 16 from the folding state to the unfolding state, thereby stopping the plate 2 from falling.

Specifically, the power unit 165 is started to rotate the driving shaft 163, so as to drive the two driven shafts 164 to rotate, and further, the first anti-falling rod 161 is changed from horizontal extension to longitudinal extension, so that the first anti-falling rod 161 and the second anti-falling rod 162 are located below the plate 2, so as to protect the plate 2.

The sheet material 2 is conveyed under the protection of the falling prevention mechanism 16, and the safety is improved.

After step S4, step S5 is preceded by the steps of:

and S05, driving the anti-falling mechanism 16 to change the anti-falling mechanism 16 from the unfolded anti-falling state to the folded retracted state, thereby allowing the adsorption mechanism 14 and the plate 2 to descend.

Specifically, the power unit 165 is started to rotate the driving shaft 163, so as to drive the two driven shafts 164 to rotate, and further, the first falling prevention rod 161 is changed from longitudinal extension to transverse extension, so that the first falling prevention rod 161 and the second falling prevention rod 162 are located on the side edges of the adsorption mechanism 14 and the plate 2, and the adsorption mechanism 14 and the plate 2 are allowed to descend.

In the plate conveying method in this embodiment, the suction mechanism 14 can be raised or lowered smoothly in the horizontal plane by the action of the link 153 of the positioning mechanism 15, and thus, shaking is avoided. At the in-process that promotes panel 2, insert the location that corresponds a location section of thick bamboo 151 through a plurality of locating pins 152 of positioning mechanism 15, ensure the horizontal position between adsorption equipment 14 and the driving mechanism 12, guaranteed the accurate nature of panel 2 position, and then make adsorption equipment 14 can be at the accurate absorption panel 2 of material loading station, at the accurate panel 2 of placing of material unloading station, improved the handling efficiency of panel 2.

Further, the plate conveying method improves the safety of the plate conveying method through the protection of the anti-falling mechanism 16.

While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A sheet handling device, comprising:

a base frame having a rail extending in a longitudinal direction thereon;

the travelling mechanism is in sliding fit with the track;

the adsorption mechanism is positioned below the adsorption mechanism and used for adsorbing the plate; the adsorption mechanism is connected with the free end and can lift;

the positioning mechanism comprises a plurality of groups of positioning components which are arranged at intervals along the circumferential direction of the adsorption mechanism; each positioning assembly comprises a positioning cylinder, a positioning pin and a connecting rod; one of the positioning cylinder and the positioning pin is fixed at the bottom of the travelling mechanism, and the other one is arranged at the top of the adsorption mechanism; the connecting rod comprises two rod bodies which are rotatably connected, and the end parts of the two rod bodies, which are far away from each other, are respectively rotatably connected with the bottom of the travelling mechanism and the top of the adsorption mechanism;

2. A sheet handling apparatus according to claim 1 wherein the locating means comprises two sets of locating elements spaced apart in the transverse direction of the travelling means;

3. The board conveying device according to claim 2, wherein the positioning cylinder is fixedly connected with one of the travelling mechanism or the adsorption mechanism through a connecting seat, and the positioning pin is fixedly connected with the other of the adsorption mechanism or the travelling mechanism through a mounting seat;

4. A sheet handling apparatus as claimed in claim 1 further comprising a plurality of fall arrest mechanisms spaced laterally; each anti-falling mechanism has a folding and folding state and an unfolding and anti-falling state, and when the anti-falling mechanisms are in the folding and folding states, the adsorption mechanisms are allowed to lift; when the anti-falling mechanism is in an unfolded anti-falling state, the plate can be stopped from falling.

5. A sheet handling apparatus as claimed in claim 4 wherein the fall arrest mechanism comprises two fall arrest assemblies arranged in pairs; the two anti-falling assemblies are respectively arranged at two longitudinal sides of the adsorption mechanism, each anti-falling assembly comprises at least two first anti-falling rods, at least one second anti-falling rod and a driving piece, the second anti-falling rods are rotatably connected with the first anti-falling rods, the driving piece is connected with the first anti-falling rods to drive the first anti-falling rods to rotate so as to switch between the transverse direction and the longitudinal direction, and the second anti-falling rods are kept to extend along the longitudinal direction;

6. The sheet handling device of claim 5, wherein the first end of the first anti-drop bar is connected to the drive member;

7. A panel handling apparatus according to claim 5 wherein the drive means comprises a power unit, a drive shaft, at least two driven shafts, a first transmission unit and at least a second transmission unit;

8. A sheet handling apparatus according to claim 7, wherein the first and second transmission units are each of a four bar linkage configuration.

9. A sheet handling apparatus according to claim 1 wherein the lifting mechanism comprises:

10. A panel handling apparatus according to claim 9, wherein said fixed sheave, said movable sheave and said lift cord are provided on both sides of said drum;

11. A panel conveying apparatus according to claim 1, wherein the base frame includes two side walls spaced apart in parallel, and each side wall is disposed vertically; the inner side surface of each rail is provided with the rail;

the driving mechanism comprises:

the frame is positioned between the two side walls;

12. A sheet handling apparatus according to claim 11 wherein the drive member is a servo motor.

13. A slab handling apparatus according to claim 1, wherein the suction mechanism comprises:

a top plate;

14. A method for conveying a plate material, characterized by using the plate material conveying apparatus according to any one of claims 1 to 13; the plate conveying method comprises the following steps:

moving the travelling crane mechanism, and moving the adsorption mechanism and the plate to a blanking station;

15. The method of claim 14, wherein the step of moving the traveling mechanism and the suction mechanism and the sheet material to a blanking station further comprises, before the step of moving the traveling mechanism and the sheet material to the blanking station: