CN210392958U - Material disc folding and unfolding robot - Google Patents
Material disc folding and unfolding robot Download PDFInfo
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- CN210392958U CN210392958U CN201921261218.7U CN201921261218U CN210392958U CN 210392958 U CN210392958 U CN 210392958U CN 201921261218 U CN201921261218 U CN 201921261218U CN 210392958 U CN210392958 U CN 210392958U
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Abstract
The utility model provides a material disc folding and unfolding robot, which comprises a machine body, a lifting device and a supporting device; a folding space is formed between the two side walls of the machine body, and a lifting platform of the lifting device can move between a first horizontal position and a second horizontal position; the holding piece of the holding device can move between a contraction position and an extending position along the horizontal direction. The lifting platform conveys the material trays upwards one by one, and the material trays can be stacked by supporting and converting the material trays by a supporting and supporting device; the lifting platform upwards conveys a plurality of stacked material trays, and the lifting platform is matched with a rack holding device to hold a target material tray, so that the one or more material trays can be detached. The material disc folding and unfolding robot can adjust the butt joint height according to the transport platforms of different material transport robots, and has strong applicability; when the material tray stacking and disassembling robot carries out material tray stacking or disassembling, the material conveying robot simultaneously conveys materials, and the working efficiency is improved.
Description
Technical Field
The utility model relates to a commodity circulation transportation machines people technical field, concretely relates to material dish folds and tears robot open.
Background
The front end of the AGV forklift is provided with a telescopic gripper which can be matched with the bottom of a material tray. When the stacking operation is carried out, the lifting platform supports the first material disc from the bottom, the grippers extend outwards, the first material disc is pushed out and stacked on the second material disc, and then the grippers retract from a gap between the first material disc and the second material disc; when the tray is disassembled, the AGV forklift reaches the position of the stacked material trays, the grippers of the lifting platform stretch into the gaps between the material trays, and then the grippers retract and push the material trays above the grippers back to the lifting platform, so that the material trays are disassembled.
The existing AGV forklift has the problems that firstly, the formation of gaps among material trays influences the inner contour of the material trays to influence the material placing effect of the material trays, or the height of the material trays needs to be additionally increased; secondly, the transportation, the stacking and the splitting of the material tray are all completed by the same AGV forklift, the workload and the working difficulty of the AGV forklift are increased, and the working efficiency is reduced.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a material dish that suitability is strong and improve work efficiency folds and tears robot open.
The utility model provides a material disc folding and unfolding robot, which comprises a machine body, a lifting device and a supporting device; the machine body comprises two opposite side walls, a stacking and disassembling space is formed between the two side walls, and the stacking and disassembling space is provided with a material tray inlet positioned between the two side walls; the lifting device comprises a lifting platform positioned in the stacking space, and the lifting platform can move between a first horizontal position and a second horizontal position along the vertical direction; the frame holding device comprises at least two frame holding pieces, each side wall is provided with at least one frame holding piece, and the frame holding part of each frame holding piece faces to the folding space; the holder can move between a contraction position and an extending position along the horizontal direction, the contraction position is a position where the holder is positioned in the side wall, and the extending position is a position where the holder is positioned in the folding space; the support member is located at a third horizontal position, and the third horizontal position is located above the first horizontal position and above the second horizontal position.
According to the scheme, the material tray enters the stacking and disassembling space through the material tray inlet, the lifting platform is used for bearing the material tray, and the support holding piece is used for supporting the material tray; when the material trays are stacked, the first material tray is upwards conveyed by the lifting platform and reaches the position of the frame holding part, the first material tray is held by the frame holding part, the second material tray is upwards conveyed by the lifting platform again until the second material tray is overlapped to the position below the first material tray, the first material tray is loosened by the frame holding part, the lifting platform continues to ascend until the second material tray reaches the position of the frame holding part, the second material tray is held by the frame holding part, stacking between the two material trays is completed, the operation is repeated according to the operation until the material trays reach the target stacking number, stacking of the material trays is completed, the lifting platform bears the plurality of material trays to move downwards, and the tray can be taken by the material conveying robot. When the material trays are detached, the lifting platform bears a plurality of stacked material trays to rise, then the material trays and the frame holding piece are matched and held according to the target number of the material trays to be detached, and then the lifting platform bears other material trays below the material trays to be transported downwards, so that the material trays are detached. Because the lifting platform has the lifting function, a material transport robot without the lifting function can also be butted with the material disc folding and unfolding robot for use, and the material disc folding and unfolding robot can adjust the butting height according to the transport platforms of different material transport robots, so that the applicability is strong; in addition, the material disc stacking and disassembling robot and the material conveying robot have a distinguishing function, when the material disc stacking and disassembling robot stacks or disassembles material discs, the material conveying robot can convey the material discs simultaneously, and the working efficiency is improved.
The further scheme is that the lifting device comprises a pair of lifting platforms which are oppositely arranged, each side wall is provided with one lifting platform, and a gap is formed between the two lifting platforms to form a butt joint space.
It is from top to bottom visible, this setting makes the material dish fold and tear the robot open and is applicable to the material transport robot who has flexible transport table, and the width of the transport table overhang portion of material transport robot is less than the interval width between two elevating platforms and can realize that the material dish bears the butt joint.
The further scheme is that the opening direction of the material tray inlet is a first horizontal direction, the lifting platform is provided with a supporting surface, and the supporting surface extends into a long shape along the first horizontal direction.
From above, when the conveying platform of the material conveying robot is provided with the conveying belt, the material tray enters the stacking and disassembling space along the supporting surface under the driving of the conveying belt, and finally, the material tray is completely supported on the lifting platform.
The supporting surface is provided with a slope guiding part facing the material tray inlet, and the horizontal height of the slope guiding part gradually decreases along the first horizontal direction.
From top to bottom, the arrangement of the slope guide part enables the bearing butt joint between the material transportation robot and the material disc stacking and disassembling robot to be smoother.
The further proposal is that the lifting platform also comprises a protective wall positioned between the side wall and the supporting surface, and the protective wall is raised above the supporting surface.
Therefore, the protective wall limits the horizontal position of the material tray, and the material tray is prevented from colliding with the wall surface of the side wall to influence transportation.
The frame holding part comprises at least two frame holding bulges extending towards the folding space along the second horizontal direction, the plurality of frame holding bulges are arranged along the first horizontal direction, and a frame holding concave position is formed between every two adjacent frame holding bulges; the second horizontal direction is perpendicular to the first horizontal direction.
It can be seen from above that, for the intensity and the bearing capacity that improve the material dish, set up the strengthening rib outside the perisporium of material dish, the frame of putting up the portion of holding holds the jack cooperation that forms between arch and the strengthening rib, puts up and holds concave position and strengthening rib cooperation to make the frame hold the cooperation between piece and the material dish more firm, put up and hold the position more accurate.
Further, the holder is movable in the second horizontal direction between a retracted position and an extended position.
As can be seen from the above, the movement direction of the rack holding piece is opposite to the forming direction of the reinforcing ribs, and the arrangement makes the matching process of the rack holding piece and the material tray more flow.
Further, in the first horizontal direction, the second width of the shelf holding recess is greater than the first width of the shelf holding protrusion.
As can be seen, the provision of the larger frame holding recess ensures that the reinforcing bars enter the frame holding recess more easily.
Drawings
Fig. 1 is a structural diagram of the material tray folding robot of the embodiment of the present invention.
Fig. 2 is the structure diagram of the material tray folding robot of the present invention, which conceals the upper part of the shell of the main body.
Fig. 3 is a first schematic view of the material tray folding and unfolding robot of the present invention, wherein the material tray folding and unfolding robot comprises a support and a material tray.
Fig. 4 is a second schematic view of the material tray folding and unfolding robot of the present invention, wherein the material tray folding and unfolding robot comprises a support and a material tray.
Fig. 5 is a schematic view of a first operating state in an embodiment of the material tray stacking method of the present invention.
Fig. 6 is a schematic view of the bearing and docking between the lifting table and the sliding table in the embodiment of the material tray stacking method of the present invention.
Fig. 7 is a schematic diagram of a second operating state in an embodiment of the material tray stacking method of the present invention.
Fig. 8 is a schematic view of a third operating state in an embodiment of the material tray stacking method of the present invention.
Fig. 9 is a schematic view of a fourth operating state in an embodiment of the material tray stacking method of the present invention.
Fig. 10 is a schematic view of a fifth operating state in an embodiment of the material tray stacking method of the present invention.
Fig. 11 is a schematic diagram of a first operating state in an embodiment of the material tray splitting method of the present invention.
Fig. 12 is a schematic diagram of a second operating state in an embodiment of the material tray splitting method according to the present invention.
Fig. 13 is a schematic diagram of a third operating state in an embodiment of the material tray splitting method of the present invention.
Fig. 14 is a schematic diagram of a fourth operating state in an embodiment of the material tray splitting method of the present invention.
Detailed Description
Material disc folding and unfolding robot embodiment
Referring to fig. 1 and fig. 2, fig. 1 is a structural diagram of an embodiment of the material tray folding and unfolding robot of the present invention, and fig. 2 is a structural diagram of an embodiment of the material tray folding and unfolding robot of the present invention hiding a housing of an upper portion of a main body. The material disc folding and unfolding robot is provided with a machine body 1, the machine body 1 is integrally in a quadrilateral frame shape, and the machine body 1 comprises a base 11, two side walls 12 erected from the left side and the right side of the base 11 and a top plate 13 connected between the tops of the two side walls 12. The bottom of the base 11 is provided with four legs 14 arranged in a matrix and four universal pulleys 15 arranged in a matrix. The machine body 1 forms a folding and unfolding space 100 at the surrounding positions of the base 11, the side walls 12, the side walls 13 and the top plate 14, the folding and unfolding space 100 penetrates through the x-axis direction to form integral openings at the front side and the rear side of the x-axis direction, and the opening of the folding and unfolding space 100 in the x-axis positive direction is a material tray inlet 101.
The material disc stacking and disassembling robot further comprises a lifting device 2 and a frame holding device 3. The lifting device 3 comprises two sets of lifting mechanisms respectively arranged on the two side walls 12, each lifting mechanism comprises a lifting motor (not shown in the figure), a screw rod 23 connected with the rotating output end of the lifting motor, a nut member 22 sleeved on the screw rod 23, a lifting platform 21 fixed relative to the nut member 22, and a guide rail 24 vertically arranged along the z-axis direction and in sliding fit with the lifting platform 21, wherein the lifting motor, the screw rod 23, the nut member 22 and the guide rail 24 are all positioned in the side walls 12.
The lifting platforms 21 are located in the stacking and dismantling space 100, a gap is formed between the two lifting platforms 21 on the two side walls 12 to form a butt joint space 102, and the butt joint space 102 is used for butt joint matching with a sliding platform of the material transportation robot. The opening direction of the material tray inlet 101 is the positive direction of an x axis, the lifting platform 21 is provided with an upward supporting surface 210, the supporting surface 210 extends into a long shape along the direction of the x axis, the supporting surface 210 is provided with a slope surface guide part 211 facing the material tray inlet 101, and the horizontal height of the slope surface guide part 211 gradually descends along the positive direction of the x axis. The elevator platform 21 further comprises a retaining wall 212 between the side wall 12 and the support surface 210, the retaining wall 212 protruding from the support surface 210. The side wall 12 has a wall plate 121 facing the stacking space 100, the wall plate 121 is provided with a window 122 provided to escape from the elevating platform 21, a folding plate 123 is installed between the window 122 and the elevating platform 21, and the installation of the folding plate 123 does not hinder the vertical movement of the elevating platform 21 and has a dust-proof function.
The supporting device 3 comprises four groups of supporting components respectively arranged in two side walls 12, two groups of supporting components positioned on the same horizontal position are arranged on each side wall 12, the four groups of supporting components are arranged in a matrix, the four groups of supporting components are positioned on a third horizontal position, and the third horizontal position is positioned above the highest horizontal position which can be reached by the lifting motion of the lifting table 21. The frame holding assembly comprises an air cylinder 33 and a sliding rail 32 which are arranged on a fixed panel, a piston rod of the air cylinder 33 and the sliding rail 32 are arranged along the y-axis direction, the piston rod of the air cylinder 33 is fixedly connected with a frame holding part 31, the frame holding part 31 is provided with a frame holding part 310 facing the folding and unfolding space 100, the frame holding part 310 comprises four frame holding protrusions 311 extending towards the folding and unfolding space 100 along the y-axis direction, the four frame holding protrusions 311 are arrayed along the x-axis direction, a frame holding concave position 312 is formed between every two adjacent frame holding protrusions 311, and in the x-axis direction, the second width of the frame holding concave position 312 is larger than the first width of the frame holding protrusions 311.
The holder 31 is movable in the horizontal direction between a retracted position where the holder 310 is located inside the sidewall 12 and an extended position where the holder 310 is located in the stacking and unpacking space 100; the holders 31 on different side walls 12 are disposed opposite to each other, and two holders 310 on opposite sides of the folding space 100 face each other. From the retracted position to the extended position, the distance between the two holders 31 decreases.
With reference to fig. 3 and 4, fig. 3 is the utility model discloses the first schematic diagram of piece and material tray cooperation relation is held to material tray folding and tearing robot embodiment frame, and fig. 4 is the utility model discloses material tray folding and tearing robot embodiment frame holds the second schematic diagram of piece and material tray cooperation relation. The upper end of the peripheral wall 91 of the material tray 9 is provided with a flange 92, under the flange 92, the outer surface of the peripheral wall 91 is protruded with criss-cross reinforcing ribs 93, insertion holes 94 are formed among the reinforcing ribs 93, the holding protrusion 311 of the holding member 31 can be inserted into the insertion hole 94, and correspondingly, the reinforcing ribs 93 are positioned in the holding concave position 312. Therefore, when the rack holders 31 located on opposite sides of the folding space 100 are moved from the retracted position to the extended position, the rack holders 310 engage with the outer circumference of the tray 9 to hold the tray.
Method for stacking material trays
Referring to fig. 1, 5 and 6, fig. 5 is a schematic view of a first working state in an embodiment of a material tray stacking method of the present invention, and fig. 6 is a schematic view of a bearing butt joint between a lifting table and a sliding table in an embodiment of a material tray stacking method of the present invention. The material tray stacking method is implemented by the material tray stacking and disassembling robot. In an initial state, no material tray is placed or held on the lifting platform 21 and the holding piece 310 of the material tray folding and unfolding robot, and the lifting platform 21 is in a first horizontal position. At this time, the material transporting robot 7 transports the first material tray 9a to the butt joint position with the material tray folding and unfolding robot 8, and the sliding table 71 of the material transporting robot 7 enters the folding and unfolding space 100 from the material tray inlet 101 and reaches the butt joint space 102 between the two lifting tables 21. Since the material tray stacking and unstacking robot 8 adjusts the height of the lifting table 21 before starting the stacking and unstacking operation, the support surface 210 of the lifting table 21 at the first horizontal position is located below the support surface of the slide table 71 (shown in a state a in fig. 6). After the sensor senses that the sliding table 71 reaches the target position, the lifting table 21 rises and bears the first material disc 9a until the material disc 9a leaves the sliding table 71 (shown in a state b in fig. 6), so that bearing and butt joint are completed.
With reference to fig. 7, fig. 7 is a schematic diagram of a second working state in an embodiment of the material tray stacking method of the present invention. Subsequently, the lifting platform 21 carrying the first material tray 9a is raised to the second horizontal position, at which time the first material tray 9a is in the third horizontal position. Then the holding device 3 is started, and the four holding pieces 31 on the two sides move from the contraction position to the extending position, so that the first material tray 9a is held. Due to the support of the support 31, the first material tray 9a is released from the supporting relationship with the lifting table 21. While the step is carried out, the material conveying robot 7 can recycle the sliding table 71 and drive to bear another material tray.
With reference to fig. 8 and 9, fig. 8 is a schematic diagram of a third operating state in an embodiment of the material tray stacking method of the present invention, and fig. 9 is a schematic diagram of a fourth operating state in an embodiment of the material tray stacking method of the present invention. Then the material transportation robot 7 sends the second material tray 9b to the lifting platform 21, after the bearing and butt joint are completed, the lifting platform 21 bearing the second material tray 9b rises to a fourth horizontal position below the second horizontal position, at the moment, the second material tray 9b is overlapped below the first material tray 9a, at the moment, the holding pieces 31 holding the first material tray 9a are all moved to the contraction position from the extending position, the lifting platform 21 continues to rise to the second horizontal position, at the moment, the second material tray 9b is located at the third horizontal position, and the four holding pieces 31 at the two sides are all moved to the extending position from the contraction position, so that the holding of the second material tray 9b is realized.
With reference to fig. 10, fig. 10 is a schematic view of a fifth working state in an embodiment of the material tray stacking method of the present invention. At this time, since the holding of the holder 31 is obtained, the second material tray 9 is out of the bearing relation with the lifting table 21, and the lifting table 21 can move down and prepare to convey another material tray upward. The stacking of a plurality of material trays can be completed by circulating the steps, after the stacking number of the material trays reaches the target, the lifting platform 21 rises to the second horizontal position to bear the stacked material trays, the support holding piece 31 loosens the support for the material trays, the lifting platform 21 descends and is in bearing butt joint with the material transportation robot, and the stacked material trays can be sent out.
Embodiment of material tray splitting method
With reference to fig. 1, fig. 11 and fig. 12, fig. 11 is a schematic diagram of a first working state in an embodiment of the material tray splitting method of the present invention, and fig. 12 is a schematic diagram of a second working state in an embodiment of the material tray splitting method of the present invention. The material transport robot 7 transports the three material trays in the stacking state to the material tray folding and unfolding robot 8 and completes bearing and butt joint, the lifting table 21 bearing the three material trays rises to a fifth horizontal position below the second horizontal position, the fourth material trays 9d sequenced from bottom to top to be the second are located at the third horizontal position, the four holding pieces 31 at the two sides all move from the contraction position to the extension position, holding of the fourth material trays 9d is achieved, the lifting table 21 moves downwards at the moment, the third material trays 9c located at the bottom can be conveyed downwards, and therefore splitting of the third material trays 9c is achieved.
Referring to fig. 13 again, fig. 13 is a schematic diagram of a third working state in an embodiment of the material tray splitting method of the present invention. Subsequently, the material transport robot 7 sends out the third material tray 9c, and simultaneously the lifting table 21 moves up to the second horizontal position, and then the four holding members 31 on both sides move from the extended position to the retracted position, so that the holding of the fourth material tray 9d is released, and the fourth material tray 9d and the fifth material tray 9e, which are overlapped with each other, are carried on the lifting table 21.
Referring to fig. 14 again, fig. 14 is a schematic view of a third operating state in an embodiment of the material tray splitting method of the present invention. Subsequently, the lifting platform 21 moves down to a fifth horizontal position from the second horizontal position, the fifth material tray 9e is located at the third horizontal position, the four holding pieces 31 all move from the retracted position to the extended position, the fifth material tray 9e is held, the lifting platform 21 moves down, the fourth material tray 9d located at the bottom can be conveyed downwards, and therefore the fourth material tray 9d can be detached.
Because the lifting platform has the lifting function, a material transport robot without the lifting function can also be butted with the material disc folding and unfolding robot for use, the material disc folding and unfolding robot can adjust the butting height according to the transport platforms of different material transport robots, and the applicability is strong; in addition, the material disc stacking and disassembling robot and the material conveying robot have a distinguishing function, when the material disc stacking and disassembling robot stacks or disassembles material discs, the material conveying robot can convey the material discs simultaneously, and the working efficiency is improved.
In addition, because commodity circulation transportation place space use value is big, when material transportation robot and material dish pile up and tear the robot butt joint, the super closely butt joint between material transportation robot's the organism and the material dish pile up and tear the robot's the organism, this setting makes the material dish pile up and the material dish use space minimizing when splitting the butt joint.
In addition, in order to embody the usage of the docking space 102 between the two lifting platforms 21, the material transporting robot in this embodiment is illustrated as a material transporting robot with an extendable sliding platform 71, in other embodiments, the carrying surface of the material transporting robot may be formed by a transporting roller or a transporting belt, and after the material transporting robot reaches the docking position between the material transporting robot and the material tray folding and unfolding robot, the motor is started to drive the transporting roller or the transporting belt, so that the material tray is previously pushed and transported onto the lifting platforms 21 to complete carrying and docking. In other implementations, the material handling robot may also be a material handling robot with a grabbing manipulator, which may clamp the material tray, and the grabbing manipulator has freedom of movement, which may send the material tray into the stacking and unpacking space 100 and place it on the lifting table 21.
In addition, in other embodiments, only one lifting platform with a large supporting surface can be arranged on the material disc stacking and disassembling robot, and the lifting platform extends between two transverse sides of the stacking and disassembling space along the y-axis direction.
Finally, it should be emphasized that the above-described embodiments are merely preferred examples of the present invention, and are not intended to limit the invention, as those skilled in the art will appreciate that various changes and modifications may be made, and any and all modifications, equivalents, and improvements made, while remaining within the spirit and principles of the present invention, are intended to be included within the scope of the present invention.
Claims (8)
1. Material dish is folded and is torn open robot, its characterized in that includes:
the device comprises a machine body, a lifting device and a frame holding device;
the machine body comprises two opposite side walls, a stacking and disassembling space is formed between the two side walls, and the stacking and disassembling space is provided with a material tray inlet positioned between the two side walls;
the lifting device comprises a lifting platform positioned in the stacking and dismantling space, and the lifting platform can move between a first horizontal position and a second horizontal position along the vertical direction;
the frame holding device comprises at least two frame holding pieces, each side wall is provided with at least one frame holding piece, and the frame holding part of each frame holding piece faces to the folding space;
the holder can move between a contraction position and an extending position along the horizontal direction, the contraction position is a position where the holder is positioned in the side wall, and the extending position is a position where the holder is positioned in the folding space;
the frame holding piece is located at a third horizontal position, and the third horizontal position is located above the first horizontal position and above the second horizontal position.
2. The material tray folding and unfolding robot according to claim 1, characterized in that:
the lifting device comprises a pair of oppositely arranged lifting platforms, each lifting platform is arranged on the side wall, and a gap is formed between the two lifting platforms to form a butt joint space.
3. The material tray folding robot according to claim 1 or 2, characterized in that:
the opening direction of the material tray inlet is a first horizontal direction, the lifting platform is provided with a supporting surface, and the supporting surface extends into a long shape along the first horizontal direction.
4. The material tray folding and unfolding robot according to claim 3, characterized in that:
the supporting surface is provided with a slope surface guiding part facing the material disc inlet, and the horizontal height of the slope surface guiding part gradually decreases along the first horizontal direction.
5. The material tray folding and unfolding robot according to claim 3, characterized in that:
the lifting platform further comprises a protective wall positioned between the side wall and the supporting surface, and the protective wall protrudes from the supporting surface.
6. The material tray folding robot according to claim 1 or 2, characterized in that:
the frame holding part comprises at least two frame holding bulges extending towards the folding space along a second horizontal direction, the plurality of frame holding bulges are arranged along the first horizontal direction, and a frame holding concave position is formed between every two adjacent frame holding bulges;
the second horizontal direction is perpendicular to the first horizontal direction.
7. The material tray folding and unfolding robot according to claim 6, characterized in that:
the holder is movable in the second horizontal direction between a retracted position and an extended position.
8. The material tray folding and unfolding robot according to claim 6, characterized in that:
in the first horizontal direction, a second width of the shelf-holding concavity is greater than a first width of the shelf-holding convexity.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921261218.7U CN210392958U (en) | 2019-08-05 | 2019-08-05 | Material disc folding and unfolding robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921261218.7U CN210392958U (en) | 2019-08-05 | 2019-08-05 | Material disc folding and unfolding robot |
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| CN210392958U true CN210392958U (en) | 2020-04-24 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356860A (en) * | 2019-08-05 | 2019-10-22 | 珠海创智科技有限公司 | Material disc folded disassemble a machine people, material disc stacking method and material disc method for splitting |
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2019
- 2019-08-05 CN CN201921261218.7U patent/CN210392958U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356860A (en) * | 2019-08-05 | 2019-10-22 | 珠海创智科技有限公司 | Material disc folded disassemble a machine people, material disc stacking method and material disc method for splitting |
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