CN116605576A - Transfer device, control method for transfer device, and board library - Google Patents

Abstract

The application discloses a transfer device, a control method of the transfer device and a plate warehouse, wherein the transfer device comprises a support frame, a lifting mechanism and a picking and placing mechanism, the support frame is defined to have a height direction, and a carrying space is formed in the support frame; the lifting mechanism is arranged in the carrying space and can be lifted along the height direction; the picking and placing mechanism is connected to the lifting mechanism and used for driving the plate materials to move. And one side of the lifting mechanism, facing the supporting frame, is provided with a limiting structure, and the limiting structure is used for being matched and abutted with the supporting frame to limit in the lifting process of the lifting mechanism. The technical scheme of the application aims to improve the moving stability and reliability of the transfer device and further improve the working efficiency of the plate warehouse.

Description

Transfer device, control method for transfer device, and board library

Technical Field

The application relates to the technical field of material storage equipment, in particular to a transfer device, a control method of the transfer device and a plate warehouse.

Background

In the existing plate warehouse, a transfer device with lifting and shifting functions is mostly adopted to take and place plate materials from a warehouse rack of the plate warehouse. The plate material is moved horizontally by lifting and moving to the position where the plate material is required to be taken and placed in the plate material warehouse by utilizing the transfer device, and then the plate material is moved into and out of the warehouse by utilizing the transfer device.

However, most of the existing transfer devices do not conduct limit guiding during lifting movement, so that the transfer devices are easy to shake or shake during lifting movement of plate materials with large bearing weight or uneven gravity center distribution, the transfer devices cannot accurately lift and move to the position height of the plate warehouse corresponding to the plate taking and placing position, normal entering and exiting of the plate materials are affected, the operation efficiency of the plate warehouse is reduced, and automatic operation of the transfer devices is inconvenient.

Disclosure of Invention

The application mainly aims to provide a transfer device, a control method of the transfer device and a plate warehouse, and aims to improve the moving stability and reliability of the transfer device and further improve the working efficiency of the plate warehouse.

In order to achieve the above purpose, the transfer device provided by the application comprises a supporting frame, a lifting mechanism and a picking and placing mechanism, wherein the supporting frame is defined to have a height direction, and a carrying space is formed in the supporting frame; the lifting mechanism is arranged in the carrying space and can be lifted along the height direction; the picking and placing mechanism is connected to the lifting mechanism and used for driving the plate materials to move. And one side of the lifting mechanism, facing the supporting frame, is provided with a limiting structure, and the limiting structure is used for being matched and abutted with the supporting frame to limit in the lifting process of the lifting mechanism.

Optionally, the supporting frame is towards one side of elevating system is equipped with the spacing groove that extends along the direction of height, limit structure is equipped with first locating part, first locating part locates in the spacing groove, and the butt the inside wall in spacing groove.

Optionally, the limiting structure is provided with a second limiting part, and the second limiting part is abutted to the side wall of the supporting frame, which faces the lifting mechanism.

Optionally, the lifting mechanism comprises a lifting table and a lifting device, the lifting table is arranged in the carrying space, the picking and placing mechanism is connected with the lifting table, and one side of the lifting table, facing the supporting frame, is provided with the limiting structure; the lifting device is connected with the supporting frame and the lifting table and is used for driving the lifting table to lift and move in the carrying space.

Optionally, the lifting device comprises a first driving source and a transmission piece, and the first driving source is installed at the top of the supporting frame; the transmission piece is connected with the first driving source and the lifting platform, and the first driving source drives the transmission piece to drive the lifting platform to lift.

Optionally, the picking and placing mechanism comprises a bearing frame body and an extracting device, wherein the bearing frame body is connected to the lifting mechanism and is used for bearing the plate material; the extracting device is arranged on the bearing frame body and is used for driving the plate materials to move between the bearing frame body and the warehouse frame of the plate warehouse.

Optionally, the extracting device comprises a second driving source and a conveying belt, and the second driving source is installed on the bearing frame body; the conveying belt is connected to the second driving source, and the second driving source is used for driving the conveying belt to rotate. The conveying belt is provided with a grabbing piece, and the grabbing piece is used for connecting plate materials in the rotation process of the conveying belt and driving the plate materials to move between the bearing frame body and the warehouse frame of the plate warehouse.

The application also provides a control method of the transfer device, wherein the transfer device is the transfer device, the transplanting device comprises a supporting frame, a lifting mechanism and a picking and placing mechanism, the lifting mechanism is also provided with a distance measuring device, and the control method of the transfer device comprises the following steps: inputting a target movement position of the lifting mechanism; starting the distance measuring device, acquiring an initial position of the lifting mechanism, and determining a first moving stroke and a second moving stroke of the lifting mechanism according to the initial position and a target moving position of the lifting mechanism; and controlling the lifting mechanism to move, and controlling the distance measuring device to monitor the moving position of the lifting mechanism so that the lifting mechanism sequentially passes through a first moving stroke and a second moving stroke to reach a target moving position.

Optionally, the lifting mechanism is further provided with an in-place sensing device, and after the step of controlling the lifting mechanism to move and controlling the ranging device to monitor the moving position of the lifting mechanism, so that the lifting mechanism reaches the target moving position through the first moving stroke and the second moving stroke in sequence, the method further comprises: starting the picking and placing mechanism so that the picking and placing mechanism drives the plate material to enter a carrying space; when the plate materials completely leave the plate warehouse and enter the carrying space, the in-place sensing device is triggered, and in-place sensing device sends in-place instructions to the lifting mechanism.

The application also provides a plate warehouse, which comprises a transfer device and a plate warehouse, wherein the transfer device is connected to the plate warehouse and is used for driving plate materials to enter and exit the plate warehouse.

According to the technical scheme, the limiting structure is arranged on one side, facing the supporting frame, of the lifting mechanism of the transfer device, the limiting structure can be used for limiting and guiding lifting movement of the lifting mechanism in the carrying space, so that the lifting mechanism can more stably and reliably lift and move, movement deviation caused by shaking or shaking of the lifting mechanism is reduced, the lifting mechanism can more stably move the taking and placing mechanism to a position where a plate material needs to be taken and placed in the plate material warehouse, the taking and placing mechanism can more accurately extract a target plate from the plate material warehouse or convey the plate material borne on the taking and placing mechanism to the corresponding position of the warehouse rack of the plate material warehouse, stable warehouse entering and warehouse exiting of the plate material are guaranteed, structural stability and reliability of the transfer device are effectively improved, and the storage and taking efficiency of the plate material warehouse is further improved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of an embodiment of a plate magazine according to the present application;

FIG. 2 is a schematic diagram of a transfer apparatus according to an embodiment of the present application;

FIG. 3 is a side partial cross-sectional view of a support frame of one embodiment of the transfer apparatus of FIG. 2;

FIG. 4 is an enlarged view of a portion of FIG. 3 at A;

FIG. 5 is a schematic partial structure of an embodiment of the transfer apparatus of FIG. 2;

FIG. 6 is a schematic view of an embodiment of a lifting platform and a pick-and-place mechanism of the transfer device of FIG. 2 carrying sheet material;

FIG. 7 is an exploded view of one embodiment of the lift table, pick-and-place mechanism and sheet material of FIG. 6;

fig. 8 is a flow chart of an embodiment of a control method of the transfer apparatus of the present application.

Reference numerals illustrate:

reference numerals	Name of the name	Reference numerals	Name of the name
				1000	Board warehouse	33	Lifting device
100	Transfer device	331	First driving source
				10	Supporting frame	3311	Driving wheel
11	Carrying space	333	Transmission piece
				13	Limiting groove	35	Distance measuring device
15	Maintenance staircase	50	Picking and placing mechanism
				17	Spacing pile	51	Bearing frame
30	Lifting mechanism	53	Extraction device
				31	Lifting table	531	A second driving source
311	Limiting structure	533	Conveying belt
				3111	First limiting piece	5331	Grabbing piece
3113	Second limiting piece	200	Warehouse rack
				313	First auxiliary wheel	400	Plate material
315	Second auxiliary wheel	40	Traction piece

The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.

Detailed Description

The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present application are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

In the present application, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

Furthermore, descriptions such as those referred to as "first," "second," and the like, are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implying an order of magnitude of the indicated technical features in the present disclosure. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout is meant to include three side-by-side schemes, for example, "a and/or B", including a scheme, or B scheme, or a scheme that is satisfied by both a and B. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present application.

Most of the existing transfer devices do not conduct limit guiding during lifting movement, so that the transfer devices are easy to shake or shake during lifting movement of plate materials with large bearing weight or uneven gravity center distribution, the transfer devices cannot accurately lift and move to the position height of the plate warehouse, corresponding to the plate picking and placing position, the normal entering and exiting of the plate materials are affected, the working efficiency of the plate warehouse is reduced, and the automatic operation of the transfer devices is inconvenient. In order to solve the above-described problems, the present application proposes a transfer apparatus 100.

Referring to fig. 1 to 7, in the embodiment of the present application, the transfer device 100 includes a support frame 10, a lifting mechanism 30 and a picking and placing mechanism 50, wherein the support frame 10 is defined to have a height direction, and a carrying space 11 is formed in the support frame 10; the lifting mechanism 30 is arranged in the carrying space 11 and can be lifted along the height direction; the picking and placing mechanism 50 is connected to the lifting mechanism 30, and the picking and placing mechanism 50 is used for driving the plate material 400 to move. The lifting mechanism 30 is provided with a limit structure 311 on one side facing the supporting frame 10, and the limit structure 311 is used for being matched and abutted with the supporting frame 10 to limit in the lifting process of the lifting mechanism 30.

It should be noted that, the plurality of stacked positions for storing the plate materials 400 can be formed in the warehouse rack 200 of the plate warehouse 1000 at intervals, so that the plate materials 400 meeting the requirements of a certain size and height can be arranged and placed in the warehouse rack 200, the plate materials 400 can be stored regularly in the plate warehouse 1000, the plate materials can be taken and stored conveniently, the plate materials 400 with different sizes or different materials can be stored separately, random stacking of the materials can be avoided, and the practicability of the plate warehouse 1000 is improved. Wherein, one side of the warehouse rack 200 may be opened, so that the transfer device 100 may be disposed at one side of the warehouse rack 200 to directly extract the plate material 400 from the warehouse rack 200 to the next process; or the plate material 400 after the processing is transferred and stored in the magazine 200 by the transfer device 100. In the transfer device 100, the support frame 10, the lifting mechanism 30 and the picking and placing mechanism 50 may be included, by setting the support frame 10 at one side of the warehouse rack 200, the carrying space 11 in the support frame 10 may be communicated with the space where the warehouse rack 200 stores boards, so that the lifting mechanism 30 moves up and down in the carrying space 11, and the picking and placing mechanism 50 is connected to the lifting mechanism 30, so that the lifting mechanism 30 drives the picking and placing mechanism 50 to move up and down in the carrying space 11, so that the lifting mechanism 30 and the picking and placing mechanism 50 move up and down to the height plane of the required board material 400, and then the picking and placing mechanism 50 drives the board material 400 to be extracted from the warehouse rack 200 to the picking and placing mechanism 50, or the picking and placing mechanism 50 transfers the material carried on the picking and placing mechanism 50 to the corresponding storage position of the warehouse rack 200, so as to realize stable board material delivery or warehouse entry.

By arranging the limit structure 311 on one side of the lifting mechanism 30 facing the supporting frame 10, the limit structure 311 can be matched and abutted with the supporting frame 10, and the limit structure 311 can be a slide block guide rail structure movably connected to the supporting frame 10 along the height direction; or cup joint on braced frame 10 and can follow the staple bolt structure that the altitude direction removed for when elevating system 30 goes up and down to remove in the transportation space along the altitude direction, can utilize limit structure 311 to carry out spacingly to elevating system 30 with the butt of braced frame 10, make elevating system 30 can be better along the vertical lift removal of altitude direction, reduce elevating system 30 skew in the lift process, and then take place to rock or shake when effectively preventing to move the panel material 400 that moves device 100 and draw weight great or focus uneven, and then make elevating system 30 can more steadily remove in carrying space 11, effectively improved the mobility stability and the reliability that move device 100. When the automatic control or the numerical control operation of the transfer device 100 is realized, the limiting structure 311 is utilized to realize the limiting lifting of the lifting mechanism 30, so that the accurate movement of the lifting mechanism 30 can be ensured, the deviation caused by the movement inertia generated by the shaking or the shaking of the lifting mechanism 30 due to the action of the plate is reduced, the lifting mechanism 30 can be ensured to move to the position where the plate material 400 is required to be taken and placed more accurately, the accurate entering and leaving of the plate are realized, and the structural stability and the reliability of the transfer device 100 are further improved.

According to the technical scheme, the limiting structure 311 is arranged on one side, facing the supporting frame 10, of the lifting mechanism 30 of the transfer device 100, the limiting structure 311 can be used for limiting and guiding lifting movement of the lifting mechanism 30 in the carrying space 11, so that the lifting mechanism 30 can move more stably and reliably, movement deviation caused by shaking or shaking of the lifting mechanism 30 is reduced, the lifting mechanism 30 can move the picking and placing mechanism 50 to a position, needing to pick and place the plate materials 400, in the plate material warehouse 1000 more stably, the picking and placing mechanism 50 can extract target plate materials from the plate material warehouse 1000 more accurately or convey the plate materials 400 borne on the picking and placing mechanism 50 to the corresponding position of the warehouse rack 200 of the plate material warehouse 1000, stable warehouse entry and warehouse exit of the plate materials 400 are guaranteed, structural stability and reliability of the transfer device 100 are effectively improved, and the storage and taking efficiency of the plate material warehouse 1000 is further improved.

Further, referring to fig. 3 to 5, in an embodiment of the present application, a side of the support frame 10 facing the lifting mechanism 30 is provided with a limiting groove 13 extending along a height direction, the limiting structure 311 is provided with a first limiting member 3111, and the first limiting member 3111 is disposed in the limiting groove 13 and abuts against an inner sidewall of the limiting groove 13.

In this embodiment, the limiting structure 311 may utilize the first limiting member 3111 to abut against the inner side wall of the limiting groove 13 on one side of the supporting frame 10 to limit and guide the lifting mechanism 30, at this time, the first limiting member 3111 may be a pulley or a sliding block structure, when the lifting mechanism 30 moves in the transportation space, the lifting mechanism 30 may drive the first limiting member 3111 to slide in the height direction in the limiting groove 13, and further, the lifting limiting of the lifting mechanism 30 is realized by mutually matching and abutting the first limiting member 3111 with the inner side wall of the limiting groove 13, so as to effectively prevent the lifting mechanism 30 from shaking or shaking, so that the lifting mechanism 30 may more stably lift. Wherein, the inside wall of the limit groove 13 can adopt smooth plane treatment, so that the friction between the first limit piece 3111 and the limit groove 13 can be better reduced when the first limit piece 3111 of the roller or slide block structure is in butt limit with the inside wall of the limit groove 13, the lifting mechanism 30 can be lifted and moved more smoothly, and the load of the lifting mechanism 30 is reduced. And the inner side wall of the limit groove 13 can be further provided with a guide rail structure extending along the height direction, so that the first limit part 3111 can be matched with the guide rail structure to slide, the limit effect of the first limit part 3111 on the lifting mechanism 30 can be better improved by utilizing the matching of the guide rail structure and the first limit part 3111, and the structural stability and reliability of the transfer device 100 are further improved.

Further, referring to fig. 2, 5 and 6, in one embodiment of the present application, the limiting structure 311 is provided with a second limiting member 3113, and the second limiting member 3113 abuts against a side wall of the support frame 10 facing the lifting mechanism 30.

In this embodiment, the limiting structure 311 is further provided with the second limiting member 3113 that is in abutting connection with the side wall of the supporting frame 10 towards the lifting mechanism 30, so that the second limiting member 3113 can be driven to slide along the height direction in abutting connection with the side wall of the supporting frame 10 when the lifting mechanism 30 moves up and down, which is favorable for limiting the lifting mechanism 30 to horizontally shift in the lifting process by using the second limiting member 3113, so that the first limiting member 3111 and the second limiting member 3113 can respectively abut against two adjacent side walls of the supporting frame 10 to realize the limiting effect on the lifting mechanism 30, and further the lifting mechanism 30 can vertically lift along the height direction under the action of the first limiting member 3111 and the second limiting member 3113, so that the stable movement of the lifting mechanism 30 is ensured, the movement deviation caused by the action of external force in the movement process of the lifting mechanism 30 is further avoided, the lifting mechanism 30 can be more accurately lifted and moved up to the target position of the plate warehouse 1000, the practicability and the structural reliability of the device 100 are further improved. The second limiting member 3113 may be a pulley or a sliding block, and the side wall of the supporting frame 10 facing the lifting mechanism 30 may be a smooth plane, which is favorable to reduce friction force between the second limiting member 3113 and the supporting frame 10, so that the lifting mechanism 30 may be lifted and moved more smoothly. Secondly, the side wall of the supporting frame 10 facing the lifting mechanism 30 can be further provided with a guide rail structure, so that the second limiting piece 3113 can be matched with the guide rail structure to slide, the matching of the guide rail structure and the second limiting piece 3113 is beneficial to better improving the limiting effect of the second limiting piece 3113 on the lifting mechanism 30, and the structural stability and reliability of the transfer device 100 are further improved.

Referring to fig. 5 to 7, in one embodiment of the present application, the lifting mechanism 30 includes a lifting platform 31 and a lifting device 33, the lifting platform 31 is disposed in the carrying space 11, the picking and placing mechanism 50 is connected to the lifting platform 31, and a limit structure 311 is disposed on a side of the lifting platform 31 facing the supporting frame 10; the lifting device 33 is connected to the supporting frame 10 and the lifting platform 31, and the lifting device 33 is used for driving the lifting platform to lift in the carrying space 11.

In this embodiment, the lifting platform 31 may be provided with a supporting structure fixedly connected to the picking and placing mechanism 50, so that the picking and placing mechanism 50 can more stably carry the sheet material 400. Through setting up limit structure 311 at the lateral wall that elevating platform 31 is towards braced frame 10, can be at elevating platform 31 all be provided with limit structure 311 in opposite sides, utilize elevating gear 33 to connect braced frame 10 and elevating platform 31, and then under limit structure 311's effect, can make elevating gear 33 more steadily drive elevating platform 31 and get and put mechanism 50 and go up and down in carrying space 11, realize moving the purpose that device 100 accurately got and put panel. The lifting device 33 can drive the lifting platform 31 to lift through cables, and can control the cable winding and unwinding connected with the lifting platform 31 by using a cable winding device arranged at the top of the supporting frame 10, and realize the lifting movement of the lifting platform 31 by using the action of gravity; alternatively, the lifting device 33 may be connected to the lifting platform 31 by a sliding device disposed on a side wall of the support frame 10 to drive the lifting platform 31 to move up and down along the height direction. Of course, the present application is not limited thereto, and in other embodiments, the lifting device 33 may be a lifting device disposed outside the supporting frame 10, and the lifting device is connected to the lifting platform 31, and the lifting device 33 drives the lifting platform 31 under the abutting and limiting action of the limiting structure 311 of the lifting platform 31 and the supporting frame 10.

Further, referring to fig. 2 and 3, in one embodiment of the present application, the elevating device 33 includes a first driving source 331 and a transmission 333, the first driving source 331 being mounted on the top of the support frame 10; the transmission part 333 is connected with the first driving source 331 and the lifting platform 31, and the first driving source 331 drives the transmission part 333 to drive the lifting platform 31 to lift.

In this embodiment, by installing the first driving source 331 on the top of the supporting frame 10, the driving mechanism with larger size can be accommodated in a relatively spacious position on the top of the transferring device 100, so as to facilitate improving the space utilization of the carrying space 11 and meeting the larger carrying and moving requirement of the lifting mechanism 30. At this time, the first driving source 331 is connected to the lifting platform 31 by using the driving member 333, and the driving member 333 can be directly driven to move by using the first driving source 331, so that the driving member 333 drives the lifting platform 31 to lift and move, which is beneficial to realizing a certain deceleration driving by using the driving member 333; and can be more convenient for the setting of first drive source 331 at braced frame 10 top under the effect of driving medium 333, reduce elevating gear 33 to carrying space 11's area occupied, improve elevating platform 31 lift motion's stationarity when satisfying carrying space 11 demand, further improved and carried device 100's structural reliability and stability.

Further, referring to fig. 3, 4, 6 and 7, in one embodiment of the present application, the first driving source 331 is provided with a driving wheel 3311, the elevating platform 31 is provided with a first auxiliary wheel 313 and a second auxiliary wheel 315, and the first auxiliary wheel 313 and the second auxiliary wheel 315 are disposed at intervals in the height direction. The driving member 333 is a driving belt, two ends of the driving member 333 are connected to the support frame 10, and the driving member 333 is sequentially connected to the first auxiliary wheel 313, the driving wheel 3311 and the second auxiliary wheel 315.

In this embodiment, the first driving source 331 may adopt a driving motor, and the driving motor is used to drive the driving wheel 3311 to rotate so as to provide power for the lifting device 33. The first auxiliary wheel 313 and the second auxiliary wheel 315 are arranged on the lifting platform 31 at intervals along the height direction, the position of the first auxiliary wheel 313 can be higher than that of the second auxiliary wheel 315, at the moment, the transmission part 333 adopts a transmission belt structure, the transmission part 333 is sequentially connected with the first auxiliary wheel 313, the driving wheel 3311 and the second auxiliary wheel 315, two ends of the transmission part 333 are connected to the supporting frame 10, when the driving motor drives the driving wheel 3311 to rotate along the first direction, part of the transmission belt connecting the driving wheel 3311 and the first auxiliary wheel 313 can be moved to the second auxiliary wheel 315, part of the transmission belt between the first auxiliary wheel 313 and the driving wheel 3311 is shortened, and part of the transmission belt between the driving wheel 3311 and the second auxiliary wheel 315 is prolonged, so that lifting and moving of the lifting platform 31 under the movement of the transmission belt can be realized; when the driving motor drives the driving wheel 3311 to rotate along the second direction, part of the driving belt connecting the driving wheel 3311 and the second auxiliary wheel 315 can be moved to the first auxiliary wheel 313, part of the driving belt between the first auxiliary wheel 313 and the driving wheel 3311 is prolonged, and part of the driving belt between the driving wheel 3311 and the second auxiliary wheel 315 is shortened, so that the lifting table 31 can be moved downwards under the movement of the driving belt. And the first auxiliary wheel 313 plays a role of driving the lifting table 31 to lift along with the movement of the transmission belt, and the second auxiliary wheel 315 plays a role of winding and unwinding the transmission belt, so that the normal operation of the lifting mechanism 30 is ensured. The driving belt may be belt or nylon driving belt and has certain friction force to the driving wheel 3311, the first auxiliary wheel 313 and the second auxiliary wheel 315; or, the driving wheel 3311, the first auxiliary wheel 313 and the second auxiliary wheel 315 may adopt a gear or ratchet structure, and the driving belt adopts a transmission chain form, so that the lifting table 31 can be lifted by the effect of the driving belt driven by the first auxiliary wheel 313 when the driving wheel 3311 drives the driving belt to move, and the second auxiliary wheel 315 can better retract and release the driving belt, so that the normal operation of the lifting mechanism 30 is ensured, and the structural stability and reliability of the transfer device 100 are further improved.

Referring to fig. 5 to 7, in one embodiment of the present application, the pick-and-place mechanism 50 includes a carrying frame 51 and an extracting device 53, the carrying frame 51 is connected to the lifting mechanism 30, and the carrying frame 51 is used for carrying the plate material 400; the extracting device 53 is mounted on the carrying frame 51, and the extracting device 53 is used for driving the plate material 400 to move between the carrying frame 51 and the rack 200 of the plate warehouse 1000.

In this embodiment, the bearing frame 51 may be provided with a structure that cooperates with the plate material 400 to guide and limit, so that the extracting device 53 may extract a plate from the apparatus for conveying the plate material 400 and transfer the plate material to the plate material warehouse 1000, or when extracting the plate material 400 from the plate material warehouse 1000, the plate material 400 may be better guided and moved onto the bearing frame 51, and plays a certain role in limiting and fixing the plate material 400 borne on the bearing structure, which is beneficial to avoiding the plate material 400 from separating from the bearing frame 51 in the transferring process, and further improves the structural stability and reliability of the transferring device 100. The extracting device 53 may adopt a telescopic clamping arm or a translational carrying table, so that when the lifting mechanism 30 drives the carrying frame 51 to lift and move to a target extracting position of the board library 1000, the target extracting position may be a position in the library frame 200 where boards need to be taken and placed, or a position in the board library 1000 where a conveying device of other processing procedures is communicated, the extracting device 53 may be driven to move to the bottom of the board material 400 to clamp or adsorb the board material 400, and then the board material 400 is driven to move from the carrying frame 51 to the board library 1000, or move from the board library 1000 to the carrying frame 51, so as to realize storage of the board material 400, and ensure normal operation of the board library 1000.

Further, referring to fig. 6 and 7, in one embodiment of the present application, the extracting device 53 includes a second driving source 531 and a conveyor belt 533, the second driving source 531 being mounted to the carrying frame 51; the conveyor belt 533 is connected to the second driving source 531, and the second driving source 531 is configured to drive the conveyor belt 533 to rotate. The conveyor belt 533 is provided with a gripping member 5331, and the gripping member 5331 is used for connecting the plate material 400 during rotation of the conveyor belt 533 and driving the plate material 400 to move between the carrying frame 51 and the storage frame 200 of the plate storage 1000.

In this embodiment, the sheet material 400 may be held on a tray to form a sheet material 400 for storage in the sheet material magazine 1000, in which case the sheet material 400 may be provided with traction elements 40 arranged towards the extraction device 53. At this time, by arranging the grabbing piece 5331 on the conveying belt 533 and driving the conveying belt 533 to rotate by using the second driving source 531, when the transferring device 100 extracts the plate material 400 to be delivered out of the warehouse, the conveying belt 533 drives the grabbing piece 5331 to rotate around below the traction piece 40 so as to grab and connect the traction piece 40, and then in the process of driving the grabbing piece 5331 to move by rotating the conveying belt 533, the grabbing piece 5331 can be connected with the traction piece 40 so as to drive the plate material 400 to move from the plate material warehouse 1000 to the bearing frame body 51; when the transfer device 100 transfers the plate material 400 into the plate material warehouse 1000, the grabbing piece 5331 may be connected with the traction piece 40, so that the conveyer belt 533 is rotated to enable the grabbing piece 5331 to drive the plate material 400 to move from the bearing frame 51 to the corresponding storage position of the plate material warehouse 1000. The grabbing piece 5331 and the traction piece 40 may be a clasp and a protrusion structure that are mutually matched and connected, or the grabbing piece 5331 may be made to adopt a gear structure, and the traction piece 40 is made to adopt a gear guide rail that is correspondingly arranged, so that the connection between the grabbing piece 5331 and the traction piece 40 may be more stable and reliable, and the structural stability and reliability of the transfer device 100 are ensured.

Referring to fig. 1 to 3, in one embodiment of the present application, one side of the support frame 10 is provided with an overhaul staircase 15, and the overhaul staircase 15 extends in the height direction. And/or the bottom of the carrying space 11 is provided with a limit pile 17, and the limit pile 17 is arranged below the lifting mechanism 30. In this embodiment, by providing the maintenance escalator 15 extending in the height direction on one side of the support frame 10, it is possible to facilitate the user to perform daily maintenance and maintenance on the whole transfer device 100 through the maintenance escalator 15, and further improve the practicality and structural reliability of the transfer device 100. Wherein, the periphery side of maintenance staircase 15 can also be provided with the protection rail, is favorable to improving the safety protection that the user removed on maintenance staircase 15.

Secondly, through setting up the spacing stake 17 that is located the elevating system 30 below in carrying space 11, can utilize spacing stake 17 to utilize spacing stake 17 butt elevating system 30's bottom to carry out spacing support to elevating system 30 when elevating system 30 goes up and down to the bottom of carrying space 11, be favorable to avoiding elevating system 30 to collide with braced frame 10's bottom, further improved and carried device 100's structural stability and reliability. The surface of the limiting pile 17 facing the lifting mechanism 30 may be provided with a buffer pad or buffer cotton, which is favorable for better buffering the acting force of the lifting mechanism 30 when the lifting mechanism descends to contact with the limiting pile 17, and ensures the reliable and stable operation of the transfer device 100.

In the process of automatically driving the plate material 400 to enter and exit from the warehouse by the transfer device 100, the ranging device 35 is arranged on the lifting mechanism 30, the ranging device 35 can adopt a laser range finder or an acoustic range finder, and the like, the ranging device 35 is used for measuring from one side of the lifting mechanism 30 towards the top or the bottom of the transportation space, the distance between the lifting mechanism 30 and the top or the bottom of the transportation space 11 can be detected by using the ranging device 35, the position of the lifting mechanism 30 in the transportation space 11 is determined, and then the detected position of the lifting mechanism 30 is compared with the position of a target access plate in the plate warehouse 1000, so that a control system can obtain the lifting movement stroke of the lifting mechanism 30 and give out instructions to control the lifting mechanism 30 to operate, so that the lifting mechanism 30 can quickly and accurately move to the target access position in the plate warehouse 1000, and the plate material 400 can be more accurately driven by the picking mechanism 50 to move out of the warehouse rack 200 of the plate warehouse 1000 and be extracted to the picking mechanism 50; or the picking and placing mechanism 50 can more accurately drive the plate material 400 borne on the picking and placing mechanism 50 to be conveyed to the position corresponding to the position where the plate material 400 is stored in the plate material warehouse 1000, so that the automatic warehouse-in and warehouse-out of the plate material 400 can be realized. Through setting up range unit 35 on elevating system 30, can realize the automation of moving device 100 to the counterpoint access material through detecting elevating system 30's position to can also control simultaneously in the in-process that feedback control elevating system 30 removed and get and put mechanism 50 and prepare the action, make elevating system 30 get and put mechanism 50 operation of quick response after putting in place, guarantee to move the lift of moving device 100 and the synchronous going on of material getting and putting action, further improve the efficiency of panel material 400 access in panel storehouse 1000.

The application also provides a control method of the transfer device, wherein the transfer device is any one of the transfer devices, and referring to fig. 1, fig. 1 is a flow chart of an embodiment of the control method of the transfer device. The embodiments of the present application provide embodiments of a control method of a transfer apparatus, and it should be noted that although a logic sequence is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown or described herein. In the embodiment of the application, the transplanting device comprises a supporting frame, a lifting mechanism and a picking and placing mechanism, wherein the lifting mechanism is also provided with a distance measuring device, and the control method of the transferring device comprises the following steps:

step S10: inputting a target movement position of the lifting mechanism;

step S30: starting a distance measuring device, acquiring an initial position of the lifting mechanism, and determining a first moving stroke and a second moving stroke of the lifting mechanism according to the initial position and a target moving position of the lifting mechanism;

step S50: and controlling the lifting mechanism to move, and controlling the distance measuring device to monitor the moving position of the lifting mechanism so that the lifting mechanism sequentially passes through a first moving stroke and a second moving stroke to reach the target moving position.

It can be understood that this rangefinder can be laser rangefinder equipment, can set up the light barrier through corresponding rangefinder on braced frame this moment, utilize rangefinder towards the light barrier transmission range light and make rangefinder receive after the light barrier reflection can calculate the position of measuring elevating system this moment, and then utilize rangefinder can monitor elevating system's removal position in real time better, realize the control to elevating system lift.

Before the transfer device needs to be started to move in the carrying space, the control unit or other terminal control equipment of the transfer device can be used for inputting the lifting mechanism to the transfer device to move to the corresponding picking and placing position of the plate warehouse, so that the transfer device can set the position as a target moving position, and specific height distance information of the target moving position is acquired. When the lifting mechanism receives a starting instruction to start lifting and moving to a position corresponding to the plate material taking and placing position in the carrying space, the distance measuring device can be started simultaneously to monitor the initial position of the lifting mechanism, so that the overall moving stroke of the lifting mechanism moving to the target moving position can be obtained according to the height distance between the height of the initial position of the lifting mechanism and the height distance between the height of the target moving position, at the moment, the position, which is close to the target moving position by a certain distance, in the overall moving stroke can be further set to be a transition position, the moving stroke between the initial moving position and the transition position of the lifting mechanism is a first moving stroke, and the moving stroke between the transition position and the target moving position is a second moving stroke. The lifting mechanism can be enabled to keep higher power operation after being started to rapidly pass through the first moving stroke, the moving position of the lifting mechanism is obtained in real time by utilizing the ranging device through feedback of the photometric light in the moving process, the lifting mechanism can be timely monitored by the ranging device and sends a control instruction to the transfer device when the first moving stroke rapidly reaches the excessive position, at the moment, the moving power of the lifting mechanism can be controlled to be reduced according to the instruction, the lifting mechanism can be enabled to keep slowly lifting and moving in the second moving stroke, and the lifting mechanism can smoothly and stably reach the target moving position after the second moving stroke.

The moving position of the lifting mechanism is obtained in real time by utilizing the distance measuring device, when the lifting mechanism can be accelerated to move to the vicinity of the target picking and placing position in the process of moving to the target picking and placing position of the plate warehouse in the carrying space, the moving position feedback lifting mechanism of the lifting mechanism is monitored in real time by utilizing the distance measuring device to approach the target picking and placing position, the moving speed of the lifting mechanism can be reduced in time, the lifting mechanism can smoothly and accurately reach the target picking and placing position to be stopped at the target picking and placing position, the situation that the moving speed of the lifting mechanism is too high and deviates from the target picking and placing position due to inertia action is effectively avoided, the whole moving speed of the lifting mechanism is prevented from being slow, the transportation efficiency of the transfer device is reduced, and further, the lifting moving speed of the lifting mechanism in the carrying space is improved better, the efficiency of picking or placing plate materials by the transfer device is further improved, and the practicability and reliability of the transfer device are improved.

Further, in an embodiment of the present application, the lifting mechanism is further provided with an in-place sensing device, and after the step of controlling the lifting mechanism to move and controlling the distance measuring device to monitor the moving position of the lifting mechanism so that the lifting mechanism reaches the target moving position through the first moving stroke and the second moving stroke in sequence, the method further includes:

step S70: starting the picking and placing mechanism so that the picking and placing mechanism drives the plate material to enter the carrying space;

step S90: when the plate materials completely leave the plate warehouse and enter the carrying space, the in-place sensing device is triggered, and in-place sensing device sends an in-place instruction to the lifting mechanism.

It can be understood that the in-place sensing device can be a photoelectric sensing switch or a travel switch, and when the plate material is completely extracted to the picking and placing mechanism, at least part of the structure of the plate material can trigger the in-place sensing device, so that the in-place sensing device sends a control instruction to the control system to control the transfer device to operate.

After the lifting mechanism is accurately moved to the target picking and placing position corresponding to the plate materials in the plate warehouse under the action of the distance measuring device, the lifting mechanism can send a moving-in-place signal to the picking and placing mechanism, so that the picking and placing mechanism is started by receiving the signal, the grabbing structure on the picking and placing mechanism is correspondingly matched with the plate materials to drive the plate materials to horizontally move from the plate warehouse to the picking and placing mechanism, the continuous action that the transferring device moves in place to the extracting action is realized, and the extracting efficiency of the transferring device is favorably improved.

When the plate material is not completely placed on the picking and placing mechanism, the in-place sensing device can be not triggered due to long photoelectric reflection receiving time or the closed state of the travel switch, so that the normal extraction action of the picking and placing mechanism is maintained. After a period of time, the plate material is driven by the picking and placing mechanism to completely leave the plate warehouse and enter the carrying space to be borne on the picking and placing mechanism, so that part of the plate material structure can be moved to the position of the in-place sensing device, the time for receiving reflected photoelectric signals of the in-place sensing device is shortened or a travel switch is triggered to be opened, the in-place sensing signal is triggered to send out in-place signals to the lifting mechanism according to the signals, the in-place instructions can be used for controlling the picking and placing mechanism to continuously move, and meanwhile, the lifting mechanism is controlled to continuously move, so that the lifting mechanism can be accurately moved to the position to be unloaded under the action of the ranging device to unload the plate material, the actions of automatically moving, picking and placing the plate material and loading and unloading the plate material can be more smoothly realized, the automatic operation reliability of the transferring device can be further improved under the action of the in-place sensing device and the ranging device, the stable and reliable operation of the transferring device can be ensured, and the practicability and reliability of the transferring device can be further improved.

The present application also provides a board library 1000, which includes a transfer device 100 and a board library 1000, where the specific structure of the transfer device 100 refers to the foregoing embodiments, and since the board library 1000 adopts all the technical solutions of all the foregoing embodiments, at least has all the beneficial effects brought by the technical solutions of the foregoing embodiments, and will not be described in detail herein. The transfer device 100 is connected to the board storage 1000, and is used for driving the board material 400 to enter and exit the board storage 1000.

The foregoing description is only of the preferred embodiments of the present application and is not intended to limit the scope of the application, and all equivalent structural changes made by the description of the present application and the accompanying drawings or direct/indirect application in other related technical fields are included in the scope of the application.

Claims (10)

1. A transfer device, comprising:

a supporting frame defining a height direction of the supporting frame, wherein a carrying space is formed in the supporting frame;

the lifting mechanism is arranged in the carrying space and can be lifted along the height direction; and

the picking and placing mechanism is connected with the lifting mechanism and is used for driving the plate materials to move;

and one side of the lifting mechanism, facing the supporting frame, is provided with a limiting structure, and the limiting structure is used for being matched and abutted with the supporting frame to limit in the lifting process of the lifting mechanism.

2. The transfer device according to claim 1, wherein a side of the supporting frame facing the lifting mechanism is provided with a limiting groove extending in a height direction, the limiting structure is provided with a first limiting piece, and the first limiting piece is arranged in the limiting groove and abuts against the inner side wall of the limiting groove.

3. The transfer device according to claim 2, wherein the limiting structure is provided with a second limiting member, and the second limiting member abuts against a side wall of the supporting frame facing the lifting mechanism.

4. A transfer device according to any one of claims 1 to 3, wherein the lifting mechanism comprises:

the lifting platform is arranged in the carrying space, the picking and placing mechanism is connected to the lifting platform, and one side of the lifting platform, facing the supporting frame, is provided with the limiting structure; and

and the lifting device is connected with the supporting frame and the lifting table and is used for driving the lifting table to lift and move in the carrying space.

5. The transfer device according to claim 4, wherein the lifting device includes:

a first driving source mounted on the top of the support frame; and

the transmission piece is connected with the first driving source and the lifting platform, and the first driving source drives the transmission piece to drive the lifting platform to lift.

6. A transfer device according to any one of claims 1 to 3, wherein the pick-and-place mechanism comprises:

the bearing frame body is connected to the lifting mechanism and used for bearing plate materials; and

the extracting device is arranged on the bearing frame body and is used for driving the plate materials to move between the bearing frame body and the warehouse frame of the plate warehouse.

7. The transfer device according to claim 6, wherein the extracting device comprises:

the second driving source is arranged on the bearing frame body; and

the conveying belt is connected to the second driving source, and the second driving source is used for driving the conveying belt to rotate;

the conveying belt is provided with a grabbing piece, and the grabbing piece is used for connecting plate materials in the rotation process of the conveying belt and driving the plate materials to move between the bearing frame body and the warehouse frame of the plate warehouse.

8. A control method of a transfer device, wherein the transfer device is the transfer device according to any one of claims 1 to 7, the transfer device comprises a support frame, a lifting mechanism and a picking and placing mechanism, the lifting mechanism is further provided with a distance measuring device, and the control method of the transfer device comprises the following steps:

inputting a target movement position of the lifting mechanism;

starting the distance measuring device, acquiring an initial position of the lifting mechanism, and determining a first moving stroke and a second moving stroke of the lifting mechanism according to the initial position and a target moving position of the lifting mechanism;

and controlling the lifting mechanism to move, and controlling the distance measuring device to monitor the moving position of the lifting mechanism so that the lifting mechanism sequentially passes through a first moving stroke and a second moving stroke to reach a target moving position.

9. The method of claim 8, wherein the lifting mechanism is further provided with an in-place sensor, and the step of controlling the lifting mechanism to move and controlling the distance measuring device to monitor the moving position of the lifting mechanism so that the lifting mechanism reaches the target moving position through the first moving stroke and the second moving stroke in sequence further comprises:

starting the picking and placing mechanism so that the picking and placing mechanism drives the plate material to enter a carrying space;

when the plate materials completely leave the plate warehouse and enter the carrying space, the in-place sensing device is triggered, and in-place sensing device sends in-place instructions to the lifting mechanism.

10. A board warehouse, which is characterized by comprising a transfer device and a board warehouse, wherein the transfer device is as claimed in any one of claims 1 to 7, and the transfer device is connected to the board warehouse and is used for driving board materials to enter and exit the board warehouse.