CN114602825A

CN114602825A - Lifting appliance and sorting robot

Info

Publication number: CN114602825A
Application number: CN202011427890.6A
Authority: CN
Inventors: 许波; 李忠岩; 朱颂国; 肖球勇; 周江明; 梁建业; 林万虎; 宋洋; 钱垂军; 梁学谦; 孙建
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2020-12-09
Filing date: 2020-12-09
Publication date: 2022-06-10

Abstract

The invention relates to a lifting appliance and a sorting robot. The lifting appliance comprises a mounting frame, a first fixing structure, a second fixing mechanism and a lifting mechanism. The first fixing mechanism is movably arranged on the mounting frame and used for grabbing or releasing the prefabricated part. The second fixing mechanism is movably arranged on the mounting frame, and the first fixing mechanism is used for grabbing or releasing the goods shelf. The hoisting mechanism is connected with the mounting frame and used for driving the mounting frame to lift. According to the lifting appliance, the first fixing mechanism and the second fixing mechanism are arranged on the mounting seat, so that the lifting appliance can carry the prefabricated part and also can carry the goods shelf for bearing the prefabricated part, the goods shelf is prevented from being carried manually, and the sorting efficiency of the prefabricated part is improved. Simultaneously, can realize the transport of two kinds of materials of prefabricated component and goods shelves through a hoist, reduce required hoist kind, reduce manufacturing cost.

Description

Lifting appliance and sorting robot

Technical Field

The invention relates to the technical field of automatic sorting equipment, in particular to a lifting appliance and a sorting robot.

Background

With the development of the construction industry, a more efficient and more convenient operation mode is a continuously pursued target of the construction industry. The prefabricated member refers to a steel, wood or concrete member that is previously manufactured in a factory or on the spot according to a design specification. The prefabricated member is convenient to use, and saves the construction time, so that the prefabricated member is widely applied to the building industry. Prefabricated parts in a building generally comprise beams and columns with various specifications, laminated floor slabs, bay windows, kitchens and bathrooms and the like. During the production of prefabricated parts in factories, the prefabricated parts with different types and specifications need to be sorted and boxed.

Specifically, when a prefabricated member factory produces a laminated floor slab, for example, there are two production modes, one is production according to order requirements, and after production, the prefabricated member factory sequentially boxes according to requirements. The other mode is to produce the laminated floor slabs with various specifications in advance in batch and pack the slabs, and then manually sort the laminated floor slabs according to the order requirement and pack the slabs for the second time. In the conventional sorting and secondary boxing processes, a manually operated crane is required to take out one laminated floor slab from different shelves and restock the same in a new shelf in order of order demand. The crane can only realize simpler lifting and releasing operations and has limited functions. And need the manual work to put new goods shelves at the letter sorting in-process, can't satisfy higher automation development requirement, lead to the letter sorting process to waste time and energy.

Disclosure of Invention

Therefore, it is necessary to provide a lifting appliance and a sorting robot for improving the sorting efficiency

A spreader, comprising:

a mounting frame;

the first fixing mechanism is arranged on the mounting rack and used for grabbing or releasing the prefabricated part;

the second fixing mechanism is arranged on the mounting rack and used for grabbing or releasing the goods shelf;

the lifting mechanism is connected with the mounting frame and is used for driving the mounting frame to lift.

According to the lifting appliance, the first fixing mechanism and the second fixing mechanism are arranged on the mounting seat, so that the lifting appliance can carry the prefabricated part and also can carry the goods shelf for bearing the prefabricated part, the goods shelf is prevented from being carried manually, and the sorting efficiency of the prefabricated part is improved. Simultaneously, can realize the transport of two kinds of materials of prefabricated component and goods shelves through a hoist, reduce required hoist kind, reduce manufacturing cost.

In one embodiment, the first retaining mechanism comprises:

a first mounting seat; the first mounting seat is provided with a locking part, and the locking part is used for accommodating the hoisting part of the prefabricated part.

The connecting piece, the connecting piece movably sets up on the locking portion, the connecting piece is used for the locking or loosens locking portion with hoist and mount portion.

In one embodiment, the locking part comprises two hanging parts which are arranged on the first mounting seat at intervals, a gap for accommodating a hoisting part of the prefabricated part is formed between the two hanging parts, and the two hanging parts are provided with through holes penetrating through the gap; and the number of the first and second groups,

the first fixing mechanism further comprises a first driving piece, the first driving piece is in driving connection with the connecting piece, and the first driving piece is used for driving the connecting piece to be inserted into the through hole and the hoisting part or used for driving the connecting piece to be withdrawn from the through hole and the hoisting part.

In putting into the clearance of two pendants through the hoist and mount portion with prefabricated component, rethread first driving piece drive connecting piece inserts the through-hole of locating two pendants and the hoist and mount portion of prefabricated component for the connecting piece can form locking structure with two pendants, locks the hoist and mount portion of prefabricated component in the clearance between two pendants.

In one embodiment, the spreader further comprises:

the first traverse component is directly or indirectly connected with the first mounting seat and is used for driving the first mounting seat to reciprocate along a first direction;

the second traverse component is directly or indirectly connected with the first mounting seat and is used for driving the first mounting seat to reciprocate along a second direction;

wherein the first direction is perpendicular to the second direction.

Through the first transverse moving component and the second transverse moving component which are perpendicular to each other, the first fixing mechanism can be moved to different positions in a plane so as to adapt to members with different specifications, and therefore the universality of the lifting appliance is improved.

In one embodiment, the first traverse assembly comprises:

a second mounting seat;

the first motor is arranged on the second mounting seat;

the first screw rod is in driving connection with the first motor, the first screw rod is provided with a first thread section and a second thread section, the thread turning direction of the first thread section is opposite to that of the second thread section, the first thread section is connected with a first nut, the second thread section is connected with a second nut, and the first nut and the second nut are respectively connected with one first fixing mechanism.

The first motor drives the first lead screw to rotate, so that the two first fixing mechanisms can synchronously move close to or away from each other along the first direction, the adjusting time is shortened while the positions of the two first fixing mechanisms in the first direction are adjusted, and the sorting efficiency is improved.

In one embodiment, the first traverse assembly further comprises a first rail disposed on the second mount, the first rail extending in the first direction, the first mount having a first slide block attached thereto, the first slide block being in sliding engagement with the first rail.

Through first slider and first guide rail sliding fit, the stationarity when having improved first fixture and moving along first direction.

In one embodiment, the spreader includes two of the first traverse assemblies, and the second traverse assembly includes:

the second motor is arranged on the mounting rack;

the second screw rod is in driving connection with the second motor, the second screw rod is provided with a third thread section and a fourth thread section, the thread turning direction of the third thread section is opposite to that of the fourth thread section, the third thread section is connected with a third nut, the fourth thread section is connected with a fourth nut, the third nut is connected with one of the first transverse moving assemblies, and the fourth nut is connected with the other first transverse moving assembly.

The second motor drives the second lead screw to rotate, so that the two first transverse moving assemblies can synchronously move close to or away from each other along the second direction, the first holding mechanisms on the two first transverse moving assemblies synchronously move close to or away from each other, the adjustment time is shortened while the position of the first holding mechanisms in the second direction is adjusted, and the sorting efficiency is improved.

In one embodiment, the second traverse assembly further comprises a second rail disposed on the mounting bracket, the second rail extending in the second direction, and a second slider block coupled to the second mounting bracket, the second slider block being in sliding engagement with the second rail.

Through second slider and second guide rail sliding fit to stability when improving first sideslip subassembly and moving along the second direction.

In one embodiment, the second holding mechanism comprises a first clamping jaw and a second clamping jaw which are rotatably arranged on the mounting frame, the first clamping jaw and the second clamping jaw are arranged oppositely, and a second driving piece is connected to each of the first clamping jaw and the second clamping jaw and is used for driving the first clamping jaw and the second clamping jaw to grab or release the goods shelf.

The first clamping jaw and the second clamping jaw are driven by the second driving piece to drive the first clamping jaw and the second clamping jaw to rotate, and then the goods shelf is clamped or released by the first clamping jaw and the second clamping jaw.

In one embodiment, a hoist mechanism includes:

a fixed seat;

the winch is arranged on the fixed seat;

one end of the hoisting piece is in driving connection with the winch; the other end of the lifting piece is connected with the mounting seat; and (c) a second step of,

the guide piece is arranged on the fixed seat and is in sliding fit with the mounting rack.

The first holding mechanism and the second holding mechanism can be lifted up or lowered down by winding or releasing the hoisting piece through the winch. The guide piece plays spacing guide effect to the mounting bracket, prevents that the mounting bracket from appearing horizontal hunting at the lift in-process.

In one embodiment, the hanger further comprises a visual detection module and a distance measuring sensor, wherein the visual detection module and the distance measuring sensor are both arranged on the mounting frame, and the distance measuring sensor is used for detecting the distance between the visual detection module and a target object.

The accurate position and the surface defect of the target object can be detected through the visual detection module. The distance between the visual detection module and the target object can be detected through the distance measuring sensor. When the distance is not appropriate, the mounting rack is adjusted to an appropriate height through the lifting mechanism so that the visual detection module can detect and identify conveniently.

A sorting robot comprising:

a robot track;

the traveling mechanism can move along the robot track, and a sliding rail perpendicular to the extending direction of the robot track is arranged on the traveling mechanism;

the lifting trolley can move along the slide rail; and the number of the first and second groups,

the lifting appliance is connected with the lifting trolley.

Above-mentioned letter sorting robot can realize the hoist and remove wantonly in Y axle direction and X axle direction through movably setting up at the orbital running gear of robot to and set up the play to rise dolly on the running gear slide rail, has improved the hoist flexibility. The lifting appliance can move to any position to lift or release the target object, and the flexibility of the lifting appliance is improved. And the first fixing mechanism and the second fixing mechanism are arranged on the mounting seat, so that the lifting appliance can carry the prefabricated part and also can carry a goods shelf for bearing the prefabricated part, the manual carrying of the goods shelf is avoided, and the sorting efficiency of the prefabricated part is improved. Simultaneously, can realize the transport of two kinds of materials of prefabricated component and goods shelves through a hoist, reduce required hoist kind, reduce manufacturing cost.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a sorting robot according to an embodiment;

fig. 2 is a schematic structural view of a spreader according to an embodiment;

fig. 3 is a front view of the spreader shown in fig. 2;

fig. 4 is a partial enlarged view of a portion a shown in fig. 3;

FIG. 5 is a bottom view of a spreader of an embodiment;

FIG. 6 is a schematic illustration of a first traverse assembly of the spreader in accordance with an embodiment;

fig. 7 is a schematic structural view of a spreader clamping rack according to an embodiment.

Description of reference numerals:

10. a spreader; 11. a mounting frame; 111. a hinge fulcrum; 12. a first holding mechanism; 121. a first mounting seat; 122. hanging parts; 1221. a gap; 123. a connecting member; 124. a first driving member; 13. a second holding mechanism; 131. a first jaw; 132. a second jaw; 133. a second driving member; 14. a hoisting mechanism; 141. a guide member; 142. a hoisting member; 15. a visual detection module; 16. a first traverse assembly; 161. a second mounting seat; 162. a first motor; 163. a first lead screw; 1631. a first thread segment; 1632. a second thread segment; 164. a first guide rail; 165. a first slider; 17. a second traverse assembly; 171. a second motor; 172. a second lead screw; 1721. a third thread segment; 1722. a fourth thread segment; 173. a second guide rail; 174. a second slider; 21. lifting the trolley; 22. a traveling mechanism; 221. a slide rail; 23. a robot track; 30. prefabricating a component; 40. and (7) a shelf.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 2-3, fig. 2-3 show schematic structural diagrams of a spreader 10 according to an embodiment of the present invention, and specifically, the spreader 10 according to an embodiment includes a mounting frame 11, a first holding mechanism 12, a second holding mechanism 13, and a hoisting mechanism 14. The first holding mechanism 12 is disposed on the mounting frame 11, and the first holding mechanism 12 is used for grabbing or releasing the prefabricated part 30. The second holding mechanism 13 is movably disposed on the mounting frame 11, and the second holding mechanism 13 is used for grabbing or releasing the shelf 40. The hoisting mechanism 14 is connected with the mounting frame 11, and the hoisting mechanism 14 is used for driving the mounting frame 11 to lift.

Specifically, in use, the empty rack 40 is obtained from the rack 40 position by the second holding mechanism 13, then the empty rack 40 is placed on the placing position, then the required prefabricated part 30 is obtained from the taking position by the first holding mechanism 12, and the prefabricated part 30 is placed on the empty rack 40, so that the prefabricated part 30 is sorted. It should be noted that the spreader 10 of the present application is not limited to be used for hoisting the prefabricated components 30 and the racks 40, and in other embodiments, the spreader 10 may be used for hoisting other materials, which is not limited herein.

According to the lifting appliance 10, the first fixing mechanism 12 and the second fixing mechanism 13 are arranged on the mounting seat, so that the lifting appliance 10 can carry the prefabricated part 30 and also can carry the goods shelf 40 for bearing the prefabricated part 30, manual carrying of the goods shelf 40 is avoided, and the sorting efficiency of the prefabricated part 30 is improved. Meanwhile, the two materials of the prefabricated part 30 and the goods shelf 40 can be carried by one lifting appliance 10, the types of the required lifting appliances 10 are reduced, and the production cost is reduced.

Specifically, referring to fig. 3-4, the first holding mechanism 12 includes a first mounting seat 121 and a connecting member 123; the first installation seat 121 is provided with a locking part for receiving a lifting part of the prefabricated part. Specifically, the hoisting part can be a truss rib or a lifting lug. Connecting piece 123 movably sets up in locking portion, and connecting piece 123 is used for the locking or loosens locking portion and hoist and mount portion to realize the hoist and mount or loosen prefabricated component.

Further, the locking part includes two hanging parts 122, and the two hanging parts 122 are spaced apart from each other on the first mounting seat 121 to form a gap 1221 for receiving the hanging part of the prefabricated part 30. Both of the hangers 122 are provided with through holes penetrating the gaps 1221. The first holding mechanism 12 further includes a first driving member 124, the first driving member 124 drives the connecting member 123, the first driving member 124 is used for driving the connecting member 123 to be inserted into the through hole or used for driving the connecting member 123 to exit from the through hole, when the prefabricated component 30 needs to be hoisted, the hoisting part of the prefabricated component 30 is placed into the gap 1221 between the two hanging members 122, and then the first driving member 124 drives the connecting member 123 to be inserted into the through hole of the two hanging members 122 and the hoisting part of the prefabricated component 30, so that the connecting member 123 and the two hanging members 122 can form a locking structure, and the hoisting part of the prefabricated component 30 is locked in the gap 1221 between the two hanging members 122. When the prefabricated part 30 needs to be released, the first driving element 124 drives the connecting element 123 to exit the through hole and the sling portion of the prefabricated part 30, so that the sling portion of the prefabricated part 30 exits from the gap 1221 between the two suspension elements 122, and the hanger 10 releases the prefabricated part 30.

Further, in the initial state, the connecting member 123 is located in the through hole of the first hanging member 122, and when the prefabricated part 30 needs to be hoisted, the driving member drives the connecting member 123 to extend into the through hole of the second hanging member 122, so that the hoisting part of the prefabricated part 30 is locked in the gap 1221 between the hanging members 122. When the prefabricated part 30 needs to be released, the first driving member 124 drives the connecting member 123 so that the through hole of the second hanging member 122 is withdrawn and the through hole of the first hanging member 122 is retracted, so that the sling portion of the prefabricated part 30 is withdrawn from the gap 1221 between the two hanging members 122, and preferably, the first driving member 124 is a cylinder. The connecting piece 123 comprises a connecting plate connected with the output shaft of the air cylinder and a hook plate inserted into the through hole, one end of the hook plate is of a wedge-shaped structure, and the hook plate of the wedge-shaped structure can easily penetrate through the through hole and a lifting part for manufacturing a component.

Further, a plurality of first holding mechanisms 12 may be disposed on the lifting tool 10, so as to improve the stability of lifting the prefabricated component 30, for example, as shown in fig. 5, the lifting tool 10 is disposed with four first holding mechanisms 12, and the four first holding mechanisms 12 correspond to four corners of the prefabricated component, respectively, so as to ensure that the prefabricated component 30 is kept balanced when the prefabricated component 30 is lifted, and damage to the prefabricated component 30 is avoided. It should be noted that the number of the first holding mechanisms 12 is not limited to four, and may be two, three, five or more in other embodiments, which are not described herein.

Further, referring to fig. 5, the spreader 10 further includes a first traverse assembly 16 and a second traverse assembly 17 for driving the first holding mechanism 12 in translation. The first traverse assembly 16 is directly or indirectly connected to the first mounting seat 121, and the first traverse assembly 16 is used for driving the first mounting seat 121 to reciprocate along a first direction. And the second traverse assembly 17, the second traverse assembly 17 is directly or indirectly connected with the first mounting seat 121, and the second traverse assembly 17 is used for driving the first mounting seat 121 to reciprocate along the second direction. The first direction is perpendicular to the second direction, for example, the first direction is a Y-axis direction, and the second direction is an X-axis direction. Specifically, the types and specifications of the prefabricated components 30 are various, the positions of the hoisting parts of the prefabricated components 30 of different specifications and types are also different, and the first holding mechanism 12 can be moved to different positions in a plane through the first transverse moving component 16 and the second transverse moving component 17 which are perpendicular to each other, so as to adapt to the components of different specifications, and thus the universality of the hanger 10 is improved.

Further, referring to fig. 5-6, the first traverse assembly 16 includes a second mount 161, a first motor 162, and a first lead screw 163. The first motor 162 is disposed on the second mounting base 161, and the first motor 162 is in driving connection with the first lead screw 163, so that the first motor 162 drives the lead screw to rotate. Further, the first lead screw 163 is provided with a first thread section 1631 and a second thread section 1632, and the thread direction of the first thread section 1631 is opposite to the thread direction of the second thread section 1632. For example, first thread segment 1631 is left-handed thread and second thread segment 1632 is right-handed thread, or first thread segment 1631 is right-handed thread and second thread segment 1632 is left-handed thread. Further, a first nut is connected to the first threaded section 1631, a second nut is connected to the second threaded section 1632, and the first and second nuts are each connected to a first holding mechanism 12.

When the positions of the first holding mechanisms 12 in the first direction need to be adjusted for the prefabricated parts 30 with different specifications, and the first screw 163 is driven to rotate by the first motor 162, the two first holding mechanisms 12 can synchronously move close to or away from each other along the first direction, so that the adjustment time is shortened while the position adjustment of the two first holding mechanisms 12 in the first direction is realized, and the sorting efficiency is improved.

Further, the first traverse assembly 16 further includes a first guide rail 164 disposed on the second mounting base 161, the first guide rail 164 extends along the first direction, the first mounting base 121 is connected with a first sliding block 165, and the first sliding block 165 is slidably engaged with the first guide rail 164, so as to improve the smoothness of the first holding mechanism 12 moving along the first direction. Preferably, the second mounting base 161 is provided with two first guide rails 164, the two first guide rails 164 are respectively located at two sides of the first lead screw 163, and correspondingly, the first mounting base 121 is provided with two sliding blocks, the two sliding blocks are respectively in sliding fit with the two first guide rails 164, so as to further improve the stability of the first holding mechanism 12 moving along the first direction.

Further, referring to fig. 5, the spreader 10 includes two first traverse assemblies 16, each first traverse assembly 16 receiving a tube provided with two first retaining mechanisms 12. Further, the second traverse assembly 17 includes a second motor 171 and a second lead screw 172, wherein the second motor 171 is disposed on the mounting frame 11.

The second screw shaft 172 is in driving connection with the second motor 171, the second screw shaft 172 is provided with a third thread section 1721 and a fourth thread section 1722, and the thread direction of the third thread section 1721 is opposite to the thread direction of the fourth thread section 1722. For example, the third thread segment 1721 may be left-handed and the fourth thread segment 1722 may be right-handed, or the third thread segment 1721 may be right-handed and the fourth thread segment 1722 may be left-handed. A third nut is connected to the third thread section 1721 and a fourth nut is connected to the fourth thread section 1722. Further, a third nut is coupled to one of the two first traverse assemblies 16, and in particular, the third nut is coupled to the second mount 161 of the first traverse assembly 16. The fourth nut is coupled to the other of the two first traverse assemblies 16, and in particular, to the second mount 161 of the other first traverse assembly 16.

When the positions of the first holding mechanisms 12 in the second direction need to be adjusted for the prefabricated parts 30 with different specifications, and the second screw 172 is driven to rotate by the second motor 171, the two first traverse assemblies 16 can synchronously move close to or away from each other along the second direction, so that the first holding mechanisms 12 on the two first traverse assemblies 16 synchronously move close to or away from each other, the adjustment time is shortened while the position of the first holding mechanisms 12 in the second direction is adjusted, and the sorting efficiency is improved.

Further, the second traverse assembly 17 further includes a second guide rail 173 disposed on the mounting frame 11, the second guide rail extends along the second direction, the second mounting seat 161 is connected with a second slider 174, and the second slider 174 is slidably engaged with the second guide rail 173, so as to improve the smoothness of the first traverse assembly 16 moving along the second direction. Preferably, two second guide rails 173 are disposed on the mounting frame 11, the two second guide rails 173 are respectively disposed on two sides of the second lead screw 172, and correspondingly, two sliding blocks are disposed on the second mounting base 161 and are respectively in sliding fit with the two second guide rails 173, so as to further improve the stability of the second traverse assembly 17 moving along the second direction.

Further, referring to fig. 7, the second holding mechanism 13 includes a first jaw 131 and a second jaw 132 rotatably disposed on the mounting frame 11, the first jaw 131 and the second jaw 132 are disposed opposite to each other, and a second driving member 133 is connected to each of the first jaw 131 and the second jaw 132, and the second driving member 133 is used for driving the first jaw 131 and the second jaw 132 to grab or release the rack 40. Preferably, the mounting frame 11 is provided with hinge points at two sides, and the first clamping jaw 131 and the second clamping jaw 132 are respectively rotatably connected to the hinge points at two sides. Further, the first clamping jaw 131 and the second clamping jaw 132 each include two clamping jaw portions and a connecting portion connected to the two clamping jaw portions, and the connecting portions are connected to the second driving member 133, so that the connecting portions are driven by the second driving member 133, and the clamping jaw portions are driven to rotate around the hinge points, so that the clamping jaw portions are far away from one ends of the connecting portions to clamp or release the shelf 40. Preferably, the second driving member 133 is a cylinder.

Referring to fig. 2-3, the hoist mechanism 14 includes a mounting block, a hoist, and a hoist member 142. Wherein, the hoist engine is arranged on the fixed seat. One end of the hoisting piece 142 is in driving connection with the winch; the other end of the lifting piece 142 is connected to the mounting base, so that the first holding mechanism 12 and the second holding mechanism 13 can be lifted or lowered by winding or releasing the lifting piece 142 by the winding machine. Preferably, the lifting member 142 may be a wire rope. Further, the hoisting mechanism 14 may further include a guide 141. The guide 141 is provided on the fixing base, and the guide 141 is slidably fitted with the mounting bracket 11. Specifically, the guide 141 is a guide post, and the extending direction of the guide post coincides with the lifting direction of the spreader 10. The mount pad is equipped with the guiding hole, and the guide post is worn to establish in the guiding hole to make the guide post play spacing guide effect to mounting bracket 11, prevent that the horizontal hunting from appearing in mounting bracket 11 at the lift in-process.

Preferably, at least two guiding members 141 are arranged on the fixing base, the at least two guiding members 141 are arranged at intervals, and the at least two guiding members 141 are in sliding fit with the mounting frame 11, so that the movement stability of the mounting frame 11 is further improved.

Further, hoist 10 still includes visual detection module 15 and range sensor, and visual detection module 15 and range sensor all locate mounting bracket 11 on for detect the distance between visual detection module 15 to the target object. Specifically, the vision inspection module 15 is used to detect the exact position and surface defects of the target object (the prefabricated part 30 or the shelf 40). The detection accuracy of the visual detection module 15 is related to the height distance between the visual detection module and the target object. The distance between the vision detection module 15 and the target object is detected by the ranging sensor. When the spacing is improper, the mounting frame 11 is adjusted to the proper height by the lifting mechanism 14 so as to facilitate the detection and identification of the visual detection module 15.

Further, referring to fig. 1, the present application also provides a sorting robot. Specifically, the sorting robot of an embodiment includes a robot rail 23, a traveling mechanism 22, a lifting trolley 21, and the spreader 10 of any of the above embodiments. The traveling mechanism 22 is movable along the robot rail 23, and the traveling mechanism 22 is provided with a slide rail 221 perpendicular to the extending direction of the robot rail 23. The hoist carriage 21 is movable along the slide rail 221. The spreader 10 is connected to a hoist trolley 21. Specifically, the robot rail 23 is a cloud rail, and the robot rail 23 is slidably connected to the traveling mechanism 22, so that the traveling mechanism 22 can drive the hoisting trolley 21 and the spreader 10 to move along the robot rail 23. The extending direction of the slide rail 221 on the lifting trolley 21 is perpendicular to the extending direction of the robot rail 23, for example, the robot rail 23 extends along the Y-axis direction, and the slide rail 221 on the lifting trolley 21 extends along the X-axis direction. The lifting trolley 21 is in sliding fit with the sliding rail 221 of the walking structure, so that the lifting trolley 21 can drive the lifting appliance 10 to move along the direction of the sliding rail 221 (the X-axis direction). Further, a hoisting trolley 21 is connected to the hoisting mechanism 14 of the spreader 10. In this embodiment, the lifting direction of the spreader 10 is the Z-axis direction.

The sorting robot can realize any movement of the lifting appliance 10 in the Y-axis direction and the X-axis direction through the travelling mechanism 22 movably arranged on the robot track 23 and the lifting trolley 21 arranged on the sliding rail 221 of the travelling mechanism 22, so that the flexibility of the lifting appliance 10 is improved. The lifting appliance 10 can move to any position to lift or release the target object, and the flexibility of the lifting appliance 10 is improved. In addition, the first fixing mechanism 12 and the second fixing mechanism 13 are arranged on the mounting seat of the lifting appliance 10, so that the lifting appliance 10 can carry the prefabricated part 30 and also can carry the shelf 40 for bearing the prefabricated part 30, manual carrying of the shelf 40 is avoided, and the sorting efficiency of the prefabricated part 30 is improved. Meanwhile, the two materials of the prefabricated part 30 and the goods shelf 40 can be carried by one lifting appliance 10, the types of the required lifting appliances 10 are reduced, and the production cost is reduced.

The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless explicitly specified otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature "under," "beneath," and "under" a second feature may be directly under or obliquely under the second feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A spreader, comprising:

a mounting frame;

the second fixing mechanism is arranged on the mounting rack and used for grabbing or releasing the goods shelf; and (c) a second step of,

2. The spreader of claim 1, further comprising:

the first traverse component is connected with the first holding mechanism and is used for driving the first holding mechanism to reciprocate along a first direction;

the second traverse component is connected with the first holding mechanism and is used for driving the first holding mechanism to reciprocate along a second direction;

wherein the first direction is perpendicular to the second direction.

3. The spreader of claim 2, wherein the first traverse assembly comprises:

a second mounting seat;

the first motor is arranged on the second mounting seat; and (c) a second step of,

4. The spreader of claim 3, wherein the first traverse assembly further comprises a first rail disposed on the second mount, the first rail extending in the first direction, the first retaining mechanism having a first slider attached thereto, the first slider being in sliding engagement with the first rail.

5. The spreader of claim 3, wherein the spreader comprises two of the first traverse assemblies, and the second traverse assembly comprises:

the second motor is arranged on the mounting rack; and the number of the first and second groups,

6. The spreader of claim 5, wherein the second traverse assembly further comprises a second rail disposed on the mounting bracket, the second rail extending in the second direction, a second block being attached to the second mounting bracket, the second block being in sliding engagement with the second rail.

7. The spreader of claim 1, wherein the first retention mechanism comprises:

8. The spreader of claim 1, wherein:

the locking part comprises two hanging pieces which are arranged on the first mounting seat at intervals, a gap for accommodating the hanging part of the prefabricated part is formed between the two hanging pieces, and the two hanging pieces are provided with through holes penetrating through the gap; and the number of the first and second groups,

9. The lifting appliance according to claim 1, wherein the second holding mechanism comprises a first clamping jaw and a second clamping jaw rotatably disposed on the mounting frame, the first clamping jaw and the second clamping jaw are disposed opposite to each other, and a second driving member is connected to each of the first clamping jaw and the second clamping jaw, and the second driving member is used for driving the first clamping jaw and the second clamping jaw to grab or release the shelf.

10. The spreader of claim 1, wherein the hoisting mechanism comprises:

a fixed seat;

the winch is arranged on the fixed seat;

one end of the lifting piece is in driving connection with the winch, and the other end of the lifting piece is connected with the mounting seat; and (c) a second step of,

11. The lifting appliance according to claim 1, wherein the lifting appliance further comprises a vision detection module and a distance measurement sensor, the vision detection module and the distance measurement sensor are both arranged on the mounting frame, and the distance measurement sensor is used for detecting the distance between the vision detection module and a target object.

12. A sorting robot, comprising:

the spreader of any one of claims 1 to 11, which is connected to the hoist trolley.