CN115744387A - Rolling curtain type anti-falling mechanism and method thereof - Google Patents

Abstract

The invention relates to a rolling curtain type anti-falling mechanism and a method thereof, and provides a protection mechanism and a control method for clamping a work bin by a top clamping plate and preventing heavy objects from falling when moving at high speed by adopting a rolling curtain type mechanism at the bottom, so that the overall conveying and carrying efficiency is effectively improved, and the clamped work bin is prevented from accidental falling accidents. The anti-falling device comprises a mounting bracket, wherein an anti-falling mechanism is mounted on the mounting bracket, the top of a lifting assembly is movably connected to the mounting bracket, and a clamping mechanism is mounted at the bottom of the lifting assembly; the anti-falling mechanism comprises a group of anti-falling motors, a group of main shafts and two groups of anti-falling chain assemblies, wherein the main shafts are driven by the anti-falling motors to rotate and operate; the anti-falling motor is fixed on the mounting bracket, the output end of the anti-falling motor is connected to the main shaft through a group of synchronous belts and belt wheel transmission, two side ends of the main shaft are respectively connected with a plurality of groups of transmission chain wheels, the transmission chain wheel shaft is arranged on the mounting bracket, and the anti-falling chain assembly is wound and connected among the plurality of groups of transmission chain wheels.

Description

Roller shutter type anti-fall mechanism and method thereof

technical field

The invention relates to a rolling shutter type anti-falling mechanism applied to material transfer and a method thereof, belonging to the field of logistics storage and automatic fixtures.

Background technique

At present, in logistics warehousing transfer yards and automated production sites, automatic clamps are usually used to clamp materials to transfer them from one conveyor line to another conveyor line or operation table. Common transport carriers include cartons and material boxes.

The existing carton handling tool is usually a suction cup. Since the surface of the carton is not completely flat, the airtightness of the adsorption is not tight, and an effective vacuum cannot be established. When the carton is heavy, it is easy to fall.

The material box handling tool usually grabs and transfers the handles on both sides through the clamp, such as the grabbing clamp shown in Figure 7 and Figure 8, which includes a connecting base plate 1, which is used to connect to the On the manipulator and provide the mounting platform for the following components. A linear guide rail 2 and a first cylinder 11 are installed on the connecting substrate 1, the output end of the first cylinder 11 is connected to a set of splints 3, and the splint 3 is slidably connected to the linear guide rail 2 through a slider, and the output end of the first cylinder 11 stretches The clamping and loosening action between the clamping plates 3 on both sides can be controlled to clamp the carton or material box. A second air cylinder 12 and a third air cylinder 13 are respectively installed on the splints 3 on both sides, and the output ends of the second air cylinder 12 and the third air cylinder 13 are respectively connected with a group of push blocks 4, which drive the extension and contraction of the output ends of the air cylinders respectively. Back, the push blocks 4 on both sides move reciprocally in the lateral direction to clamp or loosen the handles on both sides of the material box. A fourth air cylinder 14 is installed on at least one side of the splint 3 , the output end of the fourth air cylinder 14 is hinged with a hinge claw 5 , and the hinge claw 5 is arranged at the bottom of the splint 3 . The above-mentioned components constitute the anti-drop device at the bottom end of the splint 3, and the fourth cylinder 14 drives the hinge claw 5 to stretch out to hook the box body from the bottom of the carton or material box.

During the automatic handling and stacking of the above-mentioned material boxes, the gripping device is located in the middle of both sides, resulting in a large distance between goods when stacking, and when the material boxes are stacked, it is easy to interfere with the surrounding material boxes, and the stacking shape is difficult to be compact and occupies a large area Great storage space. In addition, the above-mentioned anti-fall mechanism is difficult to meet the requirements of handling heavy goods, and it is easy to cause loosening when the clamping and weighing speed is fast, so the safety factor of anti-fall is not high.

In view of this, this patent application is proposed.

Contents of the invention

The rolling shutter type anti-falling mechanism and method thereof according to the present invention is to solve the problems existing in the above-mentioned prior art and propose a method of clamping the material box by using the top splint, and adopting a rolling shutter type mechanism at the bottom to prevent heavy objects from moving at high speed. A fall protection mechanism and control method are provided in order to effectively improve the efficiency of overall conveying and handling operations and prevent accidental fall accidents of clamped material boxes.

In order to achieve the above design purpose, the rolling shutter type anti-fall mechanism described in this application includes a mounting bracket, on which the anti-fall mechanism is installed, the top of the lifting assembly is movably connected to the mounting bracket, and the bottom of the lifting assembly is equipped with a clamping mechanism; The anti-falling mechanism includes a set of anti-falling motors, a set of main shafts driven by the anti-falling motors and two sets of anti-falling chain assemblies, and a set of chain plates are connected between the two sets of anti-falling chain assemblies; the anti-falling motors It is fixed on the mounting bracket, and its output end is connected to the main shaft through a set of synchronous belts and pulleys. The two ends of the main shaft are respectively connected to the array of transmission sprockets. The transmission sprocket shaft is installed on the mounting bracket and wound between the arrays of transmission sprockets Attach the safety chain assembly.

Further, the lifting assembly includes a lifting motor fixed on the mounting bracket, a set of lifting wheels is arranged on the output end of the lifting motor, and the other end of the lifting belt wrapped around the lifting wheels is tightly tied to the bottom of the lifting arm.

Further, two sets of guide rails are arranged on the vertical sides of the lifting arm, and the guide rails are nested and connected to the sliders located inside the mounting bracket.

Further, the clamping mechanism includes a set of fixed splints, a set of movable splints, and a clamping motor, the fixed splints and the clamping motor are respectively installed at the bottom of the lifting arm; two sets of screw rods are arranged on both sides of the fixed splint, The screw rod is passed through the guide block fixed on the movable splint through the shaft sleeve, and the end of the screw rod is covered with a transmission gear; the output end of the clamping motor drives the center wheel shaft to rotate through a set of pulley transmission components. Chains are respectively wound and connected with the transmission gears on both sides.

Further, a pressure sensor is arranged inside the movable splint to detect the clamping force between the fixed splint and the movable splint.

Based on the structural design of the above-mentioned rolling shutter type anti-fall mechanism, the present application proposes the following rolling shutter type anti-falling method at the same time, which method includes the following implementation stages:

1) Hold the material box

In the initial state, the anti-falling motor of the anti-falling mechanism drives the main shaft to rotate to move the chain plate to the side of the mounting bracket through the anti-falling chain assembly, so as to open the channel for the vertical reciprocating movement of the lifting component to drive the clamping mechanism, and the anti-falling motor stops running; Start the lifting motor of the lifting assembly to vertically drop down to the top of the material box through the lifting belt to suspend the lifting arm, and the lifting motor stops running; the clamping motor of the clamping mechanism drives the movable splint to move relative to the side of the fixed splint to clamp on the material The top of the box, the gripper motor stops running;

2) Suspension

The lifting motor runs in reverse, the lifting arm rises vertically to suspend the clamping mechanism together with the material box to the vertical top of the anti-fall mechanism, and the lifting motor stops running again;

3) Anti-fall disposal

The anti-fall motor runs in reverse, the chain plate moves from the side of the mounting bracket to the side of the lifting arm until it is fully deployed horizontally below the material box, and the anti-fall motor stops running again; the third start of the lifting motor will lift the arm Together with the material box, it descends vertically until the material box is placed on the chain plate;

4) Transfer and transfer

The installation bracket slides horizontally to transfer the material box at the bottom of the gripping mechanism and above the chain plate to the designated station; during this process, the material box is always consigned by the chain plate from the bottom;

When the material box reaches the designated station, firstly, the lifting motor starts to run to hang the lifting arm together with the gripping mechanism and the material box vertically from the chain plate; then, the anti-drop motor drives the chain plate to install from the side of the lifting arm One side of the bracket moves to open the lifting arm again to drive the clamping mechanism and the lifting channel of the material box; secondly, the lifting motor runs in reverse to drive the lifting arm to drive the clamping mechanism and the material box to hang down to the designated station; finally, The clamping motor operates to drive the movable clamping plate to move away from the fixed clamping plate, and the material box is released.

To sum up, the rolling shutter type anti-fall mechanism and method described in this application have the advantage that it can be applied to the occasion of cargo handling with suspension at the end of the mechanical arm, and can effectively improve the efficiency of clamping and stacking heavy objects. The roller shutter-type anti-fall mechanism provides thorough safety protection, which helps to achieve high-speed handling operations, and the safety factor is significantly improved. The structure of the whole machine is simple, the reliability is strong, and the cost is low.

Description of drawings

Now further illustrate the present invention in conjunction with following accompanying drawing.

Fig. 1 is a schematic diagram of the initial state of applying the rolling shutter type fall prevention mechanism described in the present application to clamp the material box;

Fig. 2 is a schematic diagram of the material box being lifted to the height to be transported and placed on the chain plate;

Fig. 3 is a schematic structural view of the clamping mechanism;

Fig. 4 is the structural representation of anti-drop mechanism;

Figure 5-1 and Figure 5-2 are structural schematic diagrams of lifting components at different angles;

Fig. 6 is the schematic diagram when the material boxes of the rolling shutter type anti-fall mechanism of the present application are stacked;

Fig. 7 and Fig. 8 are respectively schematic diagrams of grabbing fixture structure and material box stacking in the prior art.

Detailed ways

Embodiment 1, as shown in Figures 1 to 6, this application proposes a rolling shutter type fall prevention mechanism, which can be assembled on the gantry mechanical arm 100 to suspend the clamped material box 200 to a suitable height, and through the gantry mechanical The arm 100 transfers and transfers to realize the unstacking or stacking operation of the material box.

The rolling shutter type anti-fall mechanism includes a mounting bracket 10 that is slidably connected to the gantry mechanical arm 100 and is reciprocatingly driven to slide axially by a driving device (not shown in the figure) on the mechanical arm. An anti-fall mechanism 20 is installed, the top of the lifting assembly 30 is movably connected to the mounting bracket 10 , and the bottom of the lifting assembly 30 is equipped with a clamping mechanism 40 .

Specifically, the lifting assembly 30 includes a lifting motor 15 fixed on the mounting bracket 10, a group of lifting wheels 16 are arranged on the output end of the lifting motor 15, and the other end of the lifting belt 17 wrapped around the lifting wheels 16 is tightly fastened. At the bottom of the lifting arm 18. Driven by the lifting motor 15, the lifting wheel 16 rotates to drive the lifting belt 17 to run vertically and drive the lifting arm 18 to realize height adjustment.

In order to improve the smooth running performance of the lifting arm 18 when vertically lifting, two sets of guide rails 19 can be set on the vertical sides of the lifting arm 18, and the guide rails 19 are nested and connected to the slide blocks located on the inside of the mounting bracket 10. When the elevating arm 18 is raised and lowered, relying on the position-limiting and guiding effect between the guide rail 19 and the inner slide block of the mounting bracket 10, the horizontal centering and motion balance of the elevating arm 18 carrying the bottom material box 200 during height adjustment can be realized.

The clamping mechanism 40 includes a set of fixed splints 41 and movable splints 42 of U-shaped structure, and a clamping motor 43, and the fixed clamping plate 41 and the clamping motor 43 are installed on the bottom of the lifting arm 18 respectively;

Two sets of screw rods 44 are arranged on both sides of the fixed splint 41, the screw rods 44 are inserted through the bushings on the guide blocks 49 fixed on the movable splint 42, and the ends of the screw rods 44 are covered with transmission gears 46;

The output end of the clamping motor 43 drives the central wheel shaft 47 to rotate through a set of pulley transmission components 48 , and a chain 45 is wound and connected between the central wheel shaft 47 and the transmission gears 46 on both sides.

Driven by the clamping motor 43, the center wheel shaft 47 is driven to rotate through the pulley transmission assembly 48, and the chain 45 transmits driving force to the transmission gear 46 on both sides respectively, and the screw mandrel 44 pushes and pulls the guide block 49 while rotating around the transmission gear 46, Finally, the displacement of the movable splint 42 relative to the fixed splint 41 is realized. When the movable clamp 42 approaches the fixed clamp 41, the top of the material box 200 is jointly clamped by the fixed clamp 41 and the movable clamp 42 from both sides; when the movable clamp 42 moves away from the fixed clamp 41, the feed box 200 can be released.

In order to effectively adjust the clamping force of the clamping material box 200 and prevent the material box from being damaged due to excessive clamping, a pressure sensor can be installed on the inner side of the movable splint 42 to detect the clamping force, and the detection data output by the pressure sensor is uploaded to the monitoring system. The PLC of the clamping motor 43 is used to adjust the output parameters of the clamping motor 43 .

The anti-fall mechanism 20 includes a set of anti-fall motors 21, a set of main shafts 22 driven by the anti-fall motors 21 and two sets of anti-fall chain assemblies 23, and a set of anti-fall chain assemblies 23 is connected between the two sets of anti-fall chain assemblies 23. Chain plate 24.

Wherein, the anti-dropping motor 21 is fixed on the mounting bracket 10, and its output end is connected to the main shaft 22 through a group of synchronous belts and pulleys 25. Installed on the mounting bracket 10 , the anti-falling chain assembly 23 is wound and connected between the groups of drive sprockets 26 .

Driven by the anti-fall motor 21, the main shaft 22 rotates and drives the anti-fall chain assembly 23 to reciprocate through the array of transmission sprockets 26, finally realizing the switch of the horizontal position of the chain plate 24 relative to the clamping mechanism 40.

Based on the above-mentioned structural design features, the installation bracket 10 connected to the gantry mechanical arm 100 provides the clamping, suspension and transplanting basis of the entire rolling curtain type fall prevention mechanism. The fall prevention mechanism 20, the lifting assembly 30 and the clamping mechanism 40 are Operate independently and cooperate with each other.

Accordingly, the application proposes the following rolling shutter type fall prevention method, which method includes the following implementation stages:

1) Hold the material box

In the initial state, the anti-fall motor 21 of the anti-fall mechanism 20 drives the main shaft 22 to rotate to move the chain plate 24 to the side of the mounting bracket 10 through the anti-fall chain assembly 23, so as to open the lift assembly 30 and drive the clamping mechanism 40 to move vertically back and forth. Passage, anti-falling motor 21 stops running;

Start the hoisting motor 15 of the lifting assembly 30 to drop vertically down to the top of the material box 200 by the hoisting belt 17 to suspend the lifting arm 18, and the hoisting motor 15 stops running;

The clamping motor 43 of the clamping mechanism 40 drives the pulley transmission assembly 48, the center wheel shaft 47, the chain 45 and the transmission gear 46 to rotate in turn, and the movable splint 42 is driven by the screw mandrel 44 to move relative to the fixed splint 41 and clamp on At the top of the feed box 200, the clamping motor 43 stops running;

2) Suspension

The lifting motor 15 runs in reverse, and the lifting arm 18 rises vertically to suspend the clamping mechanism 40 together with the material box 200 to the vertical top of the anti-fall mechanism 20, and the lifting motor 15 stops running again;

3) Anti-fall disposal

The anti-falling motor 21 of the anti-falling mechanism 20 runs in reverse, and the chain plate 24 moves from the side of the mounting bracket 10 to the side of the lifting arm 18 until it is fully deployed horizontally below the material box 200, and the anti-falling motor 21 stops again. run;

Start the lifting motor 15 for the third time to vertically lower the lifting arm 18 together with the material box 200 until the material box 200 is placed on the chain plate 24;

4) Transfer and transfer

The driving device on the gantry mechanical arm 100 drives the installation bracket 10 to slide in the axial direction, so as to transfer the material box 200 at the bottom of the clamping mechanism 40 and above the chain plate 24 to the designated station; during this process, the material box 200 is always held by the chain Board 24 is consigned from the bottom, so no accidental falls can occur;

Compared with Fig. 6 and Fig. 8, in the transfer and loading stage described in the present application, when the material box 200 reaches the designated station, first, the lifting motor 15 starts to run to move the lifting arm 18 together with the clamping mechanism 40 and the material box 200 along the Vertical suspension is separated from the chain plate 24; then, the anti-fall motor 21 drives the chain plate 24 to move from the side of the lifting arm 18 to the side of the mounting bracket 10, so as to open the lifting arm 18 again to drive the lifting of the clamping mechanism 40 and the material box 200 secondly, the lifting motor 15 runs in reverse to drive the lifting arm 18 to drive the clamping mechanism 40, and the material box 200 hangs down to the top of the designated station; finally, the clamping motor 43 of the clamping mechanism 40 runs to drive the splint 42 moves away from the side of the fixed splint 41, and the magazine 200 is released.

Comparing with Fig. 8, it can be seen that, in the prior art grabbing fixture, the hinge claw 5 is arranged at the bottom of the splint 3, that is, it is located at the bottom of the material box 200 when gripping, so it is necessary to reserve a corresponding space when handling, unstacking or stacking. Larger spacing between adjacent bins, otherwise it is difficult to pick and place.

However, in the present application, no matter when the material box 200 is transported and unstacked or stacked and picked, the anti-fall mechanism 20 does not contact the material box 200 as a whole, so it is only necessary to reserve a small distance between adjacent material boxes.

As mentioned above, the embodiments given in conjunction with the accompanying drawings are only preferred solutions for realizing the object of the present invention. Those skilled in the art can obtain inspiration based on this, and directly deduce other alternative structures conforming to the design concept of the present invention. Other structural features thus obtained should also belong to the scope of the solutions described in the present invention.

Claims (6)

1. The utility model provides a mechanism of preventing falling is prevented to roll up curtain formula which characterized in that: the anti-falling device comprises a mounting bracket, wherein an anti-falling mechanism is mounted on the mounting bracket, the top of a lifting assembly is movably connected to the mounting bracket, and a clamping mechanism is mounted at the bottom of the lifting assembly;

the anti-falling mechanism comprises a group of anti-falling motors, a group of main shafts driven by the anti-falling motors to rotate and operate and two groups of anti-falling chain components, and a group of chain plates are connected between the two groups of anti-falling chain components;

the anti-falling motor is fixed on the mounting bracket, the output end of the anti-falling motor is connected to the main shaft through a group of synchronous belts and belt wheel transmission, two side ends of the main shaft are respectively connected with a plurality of groups of transmission chain wheels, the transmission chain wheel shaft is arranged on the mounting bracket, and the anti-falling chain assembly is wound and connected among the plurality of groups of transmission chain wheels.

2. The rolling shutter type fall arrest mechanism of claim 1, wherein: the lifting assembly comprises a lifting motor fixed on the mounting bracket, a group of lifting wheels are arranged at the output end shaft of the lifting motor, and one end of the lifting motor is wound on the lifting belt of the lifting wheels, and the other end of the lifting belt is tightly tied to the bottom of the lifting arm.

3. The rolling shutter type fall arrest mechanism of claim 2, wherein: two groups of guide rails are arranged on two vertical sides of the lifting arm, and the guide rails are nested in the sliding blocks positioned on the inner side of the mounting bracket.

4. The rolling shutter type fall arrest mechanism according to claim 1, 2 or 3, characterized in that: the clamping mechanism comprises a group of fixed clamping plates, a group of movable clamping plates and a clamping motor, and the fixed clamping plates and the clamping motor are respectively arranged at the bottom of the lifting arm;

two groups of screw rods are arranged on two sides of the fixed clamping plate, the screw rods penetrate through a guide block fixed on the movable clamping plate through a shaft sleeve, and a transmission gear is sleeved at the end part of each screw rod;

the output end of the clamping motor drives the central wheel shaft to rotate through a group of belt wheel transmission assemblies, and chains are respectively wound and connected between the central wheel shaft and the transmission gears on the two sides.

5. The roller shutter type fall arrest mechanism of claim 4, wherein: a pressure sensor is arranged on the inner side of the movable clamping plate to detect the clamping force between the fixed clamping plate and the movable clamping plate.

6. A method of fall arrest employing a roller shutter type fall arrest mechanism according to any one of claims 1 to 5, wherein: comprises the following implementation stages of the method,

1) Clamping material box

In an initial state, an anti-falling motor of the anti-falling mechanism drives a main shaft to rotate so as to move a chain plate to one side of the mounting bracket through the anti-falling chain assembly, so that a channel for driving the clamping mechanism to vertically reciprocate through the lifting assembly is opened, and the anti-falling motor stops running;

starting a lifting motor of the lifting assembly to suspend a lifting arm through a lifting belt to descend to the upper part of the material box along the vertical direction, and stopping the operation of the lifting motor;

a clamping motor of the clamping mechanism drives a movable clamping plate to move relative to one side of a fixed clamping plate and clamp the top of the material box, and the clamping motor stops running;

2) Suspension device

The lifting motor runs reversely, the lifting arm rises vertically to suspend the clamping mechanism and the material box above the vertical direction of the anti-falling mechanism, and the lifting motor stops running again;

3) Fall arrest procedure

The anti-falling motor runs in the reverse direction, the chain plate moves from one side of the mounting bracket to one side of the lifting arm until the chain plate is horizontally and completely unfolded below the vertical part of the material box, and the anti-falling motor stops running again;

starting the lifting motor for the third time to vertically descend the lifting arm together with the bin until the bin is placed on the chain plate;

4) Transferring load-transferring device

The mounting bracket slides transversely to convey the bottom of the clamping mechanism and a material box above the chain plate to a designated station; in the process, the bin is always carried from the bottom by the chain plate;

when the work position of the work bin is reached, firstly, the lifting motor is started to operate so as to suspend the lifting arm together with the clamping mechanism and the work bin in the vertical direction and separate from the chain plate; then, the anti-falling motor drives the chain plate to move from one side of the lifting arm to one side of the mounting bracket so as to open the lifting arm again to drive the clamping mechanism and the lifting channel of the material box; secondly, the lifting motor runs reversely to drive the lifting arm to drive the clamping mechanism and the material box to suspend and descend above the designated station; and finally, the clamping motor operates to drive the movable clamping plate to move away from one side of the fixed clamping plate, and the bin is released.

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