CN210794527U

CN210794527U - Material taking and placing device and robot thereof

Info

Publication number: CN210794527U
Application number: CN201921161089.4U
Authority: CN
Inventors: 陆海伟; 李文华; 徐继德
Original assignee: Hangzhou Iplus Tech Co ltd
Current assignee: Hangzhou Iplus Tech Co ltd
Priority date: 2019-07-23
Filing date: 2019-07-23
Publication date: 2020-06-19
Anticipated expiration: 2029-07-23

Abstract

The utility model relates to a material taking and placing device, which comprises a base frame, wherein the base frame comprises a lifting space; the lifting unit comprises a lifting assembly and a first driving assembly, the lifting assembly is arranged in the lifting space of the base frame, and the first driving assembly can drive the lifting assembly to lift relative to the base frame; the temporary storage unit comprises at least one group of supporting components and a second driving component; the supporting component is movably arranged on the side surface of the lifting space of the base frame, the supporting component has a supporting state or a non-supporting state, and the second driving component is used for driving the supporting component to be switched between the supporting state or the non-supporting state. The utility model provides a occupy that the place space is little, get and put the material step simple, the size is nimble, and the material that conveniently uses in narrower passageway is got and is put device and robot.

Description

Material taking and placing device and robot thereof

Technical Field

The utility model relates to a commodity circulation transport technical field especially relates to material is got and is put device and robot.

Background

Modern logistics systems, warehousing systems or industrial production lines have increasingly high requirements for intellectualization. In the factory of intelligent warehouse system, logistics system or industrial production, often stack or concentrate and stack the material, need use the turnover device to transport the material as the carrier, through the cooperation of control system and other mechanisms, replaced traditional unloading work of going up, be favorable to protecting the work piece, improve the motion efficiency, use manpower sparingly the transport, be applicable to the unloading work of the assembly line body of many specifications.

At present, a fixed transfer goods shelf is often installed on a transfer device, a lifting unit is arranged on one side of the transfer goods shelf, materials need to be translated to the transfer goods shelf from the lifting unit, the space occupied by the lifting unit and the transfer goods shelf is large, the steps of taking and placing the materials are complicated, the size of the material taking and placing device is not flexible enough, and the use in a narrow channel is limited.

SUMMERY OF THE UTILITY MODEL

The utility model discloses to the problem that above-mentioned current product exists, it is little to provide an occupation site space, gets to put the material step simple, and the size is nimble, and the material that conveniently uses in narrower passageway is got and is put device and robot.

The utility model relates to a material is got and is put device, include

The base frame comprises a lifting space;

the lifting unit comprises a lifting assembly and a first driving assembly, the lifting assembly is arranged in the lifting space of the base frame, and the first driving assembly can drive the lifting assembly to lift relative to the base frame;

the temporary storage unit comprises at least one group of supporting components and a second driving component; the supporting component is movably arranged on the side surface of the lifting space of the base frame, the supporting component has a supporting state or a non-supporting state, and the second driving component is used for driving the supporting component to be switched between the supporting state or the non-supporting state.

Preferably, one set of the supporting assemblies comprises at least two movable supporting members, and the movable supporting members in one set of the supporting assemblies are arranged in the same plane which is perpendicular to the lifting direction of the lifting assembly.

Preferably, one set of the supporting assembly comprises two pairs of movable supporting members, and the two pairs of the movable supporting members are oppositely arranged at two sides of the lifting space.

Preferably, the movable supporting member is rotatably connected to the base frame, and the movable supporting member is rotatable in a plane perpendicular to a lifting direction of the lifting assembly.

Preferably, the support assembly further comprises a screw pair and a fulcrum;

the screw pair comprises a screw and a nut which are matched with each other, and the second driving assembly is in driving connection with the screw;

the fulcrum is fixedly arranged on the base frame;

the movable support piece comprises a first sliding groove and a second sliding groove;

the movable supporting piece is connected with the nut in a sliding mode through the first sliding groove, and the movable supporting piece is connected with the fulcrum shaft in a sliding mode through the second sliding groove.

Preferably, the movable supporting member is rotatably connected to the base frame, and the movable supporting member is rotatable in a plane parallel to the lifting direction.

Preferably, the supporting assembly further comprises a connecting rod and a moving member, the connecting rod is connected with the movable supporting member and the moving member through a revolute pair, and the moving member and the base frame form a moving pair; the second driving component is in driving connection with the moving part;

the movable supporting piece is hinged with the base frame;

the second driving component can drive the moving part to move relative to the base frame, so that the movable supporting part rotates relative to the base frame.

Preferably, the movable support member and the base frame form a sliding pair, and the movable support member can move in a plane perpendicular to the lifting direction relative to the base frame in a translational manner.

Preferably, the support assembly includes a translation assembly mounted between the movable support and the base frame, the translation assembly being drivingly connected to the second drive assembly.

The utility model relates to a material is got and is put robot, including the robot, the robot on install the material get and put the device.

After the structure more than adopting, compared with the prior art, the utility model, have following advantage:

the utility model discloses an automatic mode of keeping in of over-and-under type has replaced and has gone up and down to the corresponding height of transfer goods shelves through the elevating unit after needing to get the material among the prior art, and the mode of rethread translation is with material translation to transfer goods shelves, the utility model discloses directly through elevating unit lift material to keep in the unit corresponding a set of supporting component's top, drive supporting component switch for the supported state by non-supported state, elevating unit descends and material separation, by supporting component support material, accomplish the extraction process. Not only reduces the occupied space of the field, has simple steps for taking and placing materials, but also has more flexible body type of the material taking and placing device, and is convenient to use in a narrower channel.

Drawings

Fig. 1 is a schematic structural view of a material taking and placing device according to a first embodiment of the present invention.

Fig. 2 is a schematic structural diagram of a support assembly according to a first embodiment of the present invention.

Fig. 3 is a view of the supporting assembly of the first embodiment of the present invention from a direction a in fig. 2.

Fig. 4 is a schematic structural view of a supporting assembly according to a second embodiment of the present invention.

Fig. 5 is a schematic structural view of a third supporting assembly according to the present invention.

Fig. 6 is a schematic diagram of a second support assembly according to a third embodiment of the present invention.

Fig. 7 is a schematic structural view of the material taking and placing robot of the present invention.

1. A base frame;

2. a lifting unit; 21. a lifting assembly; 22. a first drive assembly;

3. a temporary storage unit; 31. a support assembly; 311. a movable support; 312A, a screw pair; 313A, a support shaft; 312B, a connecting rod; 313B, a moving member; 312C, a translation assembly; 32. a second drive assembly;

4. the robot body.

Detailed Description

The invention will be further explained with reference to the drawings and the specific embodiments.

In the prior art, the material is lifted to the corresponding height of the transfer shelf through the lifting unit 212 after the material is required to be taken, and then the material is translated to the transfer shelf through a translation mode. The lifting unit 212 and the transfer rack are provided to lift and temporarily store the materials, respectively. The space of the occupied place is large, the material taking and placing steps are complicated, the size of the material taking and placing device is not flexible enough, and the use in a narrow channel is limited.

Extracting materials according to the carrying information of at least one material;

lifting the extracted material to a temporary storage unit 3, wherein the temporary storage unit 3 comprises at least one group of supporting assemblies 31, and the supporting assemblies 31 can be switched between a supporting state and a non-supporting state;

lifting the materials to the position above the group of supporting components 31 in the non-supporting state, and switching the supporting components 31 from the non-supporting state to the supporting state;

the descending material is placed on the support assembly 31 in the support state.

The utility model discloses a support assembly 31 of setting in the lift space of lift unit 212, support assembly 31 can switch between support status or non-support status. In the supporting state, the rack which is fixed in the prior art is replaced, and in the non-supporting state, the passing of the lifting unit 212 in the lifting space is not influenced. The lifting and temporary storage of the materials can be completed only by the lifting action. The space of occupying the place is little, and it is simple to get and put the material step, and the material is got and is put the device size and nimble, conveniently uses in narrower passageway.

After the descending material is placed on the supporting component 31 in the supporting state, the method further comprises the following steps:

lifting the supporting component 31 which is separated from the supporting state, and switching the supporting component 31 from the non-supporting state to the supporting state;

unloading the material according to the at least one piece of material handling information.

The lifting and unloading of the material can be completed only by the lifting action.

Wherein, lift the material to the support assembly 31 top of the non-support state, include the following step: when the temporary storage unit 3 includes a plurality of sets of support assemblies 31 with different heights, the support assemblies 31 are lifted to the position above the highest non-support state.

Multiple groups of materials can be temporarily stored by adopting multiple groups of supporting assemblies 31 with different heights. Lifting the material to the position above the supporting component 31 in the highest non-supporting state, and switching the supporting component 31 from the non-supporting state to the supporting state; the passage of the lifting space below which the supporting component 31 is installed in the non-supporting state is not affected.

Preferably, the carrying information includes an extraction order and a discharge order of the plurality of materials; the extraction order is opposite to the unloading order.

The material is lifted to the top of the supporting component 31 in the highest non-supporting state, for example, when temporarily stored on the supporting component 31 of the material taking and placing device, the material is extracted according to the extraction sequence and is sequentially placed on the supporting component 31 from top to bottom by the lifting unit 212. The extraction sequence is opposite to the unloading sequence, and the materials are unloaded from bottom to top by the lifting unit 212 according to the unloading sequence.

The utility model relates to a material is got and is put device, include

The base frame 1, the said base frame 1 includes the lifting space;

a lifting unit 212 including a lifting assembly installed in the lifting space of the pedestal 1 and a first driving assembly 22 for driving the lifting assembly to be lifted with respect to the pedestal 1 by the first driving assembly 22;

the temporary storage unit 3 comprises at least one group of supporting assemblies 31 and a second driving assembly 32; the supporting component 31 is movably installed at a side of the lifting space of the base frame 1, the supporting component 31 has a supporting state or a non-supporting state, and the second driving component 32 is used for driving the supporting component 31 to switch between the supporting state or the non-supporting state.

The supporting component 31 can support materials when in a supporting state, and does not influence the passing of the lifting space when in a non-supporting state.

As an embodiment, one set of the supporting members 31 includes at least two movable supporting members 311, and the movable supporting members 311 in one set of the supporting members 31 are installed in the same plane perpendicular to the lifting direction of the lifting member.

As an embodiment, one set of the supporting members 31 includes two pairs of movable supporting members 311, and the two pairs of movable supporting members 311 are oppositely disposed at two sides of the lifting space.

Wherein, the pair of movable supports 311 includes two movable supports 311. A plurality of the movable supporting members 311 may be installed at various positions inside the elevating space to more smoothly place the materials from various positions.

In addition, the support assembly 31 may include a sensor to sense whether the material being lifted reaches a specified height.

Example one

The movable supporting member 311 is rotatably connected to the base frame 1, and the movable supporting member 311 can rotate in a plane perpendicular to the lifting direction of the lifting assembly.

More specifically, as shown in fig. 1-3, the support assembly 31 further includes a screw pair 312A and a fulcrum 313A;

the screw pair 312A comprises a screw and a nut which are matched with each other, and the second driving assembly 32 is in driving connection with the screw;

the fulcrum 313A is fixedly arranged on the base frame 1;

the movable support 311 comprises a first sliding groove and a second sliding groove;

the movable supporting member 311 is slidably connected to the nut through the first sliding groove, and the movable supporting member 311 is slidably connected to the fulcrum 313A through the second sliding groove.

In the implementation process, the materials are extracted according to the carrying information of at least one material;

in the non-supporting state, the support assembly 31 is located at the edge of the lifting space, and does not affect the passage of the lifting unit 212 and the material in the lifting space.

When the non-support state is switched to the support state, the second driving assembly 32 drives the screw rod to rotate, and the nut moves along with the rotation of the screw rod. The nut slides in the first sliding groove, the fulcrum 313A does not move, the second sliding groove slides along the fulcrum 313A, the movable supporting part 311 rotates, and the movable supporting part 311 extends out of the lifting space of the pedestal 1. When the movable supporting member 311 is perpendicular to the inner wall of the lifting space, the maximum extension value is reached, and the second driving assembly 32 stops driving.

Lifting the materials to the position above the group of supporting components 31 in the non-supporting state, and switching the supporting components 31 from the non-supporting state to the supporting state; the descending material is placed on the support assembly 31 in the support state.

Example two

The movable supporting member 311 is rotatably connected to the base frame 1, and the movable supporting member 311 can rotate in a plane parallel to the lifting direction.

More specifically, as shown in fig. 4, the supporting assembly 31 further includes a connecting rod 312B and a moving member 313B, the connecting rod 312B couples the movable supporting member 311 and the moving member 313B through a revolute pair, and the moving member 313B and the base frame 1 form a moving pair; the second driving assembly 32 is in driving connection with the moving member 313B;

the movable supporting member 311 is hinged with the base frame 1;

the second driving assembly 32 can drive the moving member 313B to move relative to the base frame 1, so that the movable supporting member 311 rotates relative to the base frame 1.

When the non-support state is switched to the support state, the second driving assembly 32 drives the moving member 313B to move. More specifically, the second driving assembly 32 may be a motor, and the moving member 313B may be a screw nut structure. The second driving motor can also be an air cylinder or a hydraulic cylinder. The connecting rod 312B couples the movable supporting member 311 and the moving member 313B via a revolute pair. More specifically, the two ends of the connecting rod 312B are hinged to the movable supporting member 311 and the moving member 313B, respectively. The moving member 313B moves to drive the connecting rod 312B to rotate, so as to drive the movable supporting member 311 to rotate along the base frame 1. When the movable supporting member 311 is perpendicular to the inner wall of the lifting space, the maximum extension value is reached, and the second driving assembly 32 stops driving.

When the supporting state is switched to the non-supporting state, the second driving assembly 32 drives the moving member 313B to move. The moving member 313B moves to drive the connecting rod 312B to rotate, so as to drive the movable supporting member 311 to rotate along the base frame 1. Until the movable support 311 does not affect the passage of the lifting space.

EXAMPLE III

The movable supporting member 311 and the base frame 1 form a moving pair, and the movable supporting member 311 can move in a plane perpendicular to the lifting direction relative to the base frame 1.

More specifically, as shown in fig. 5 to 6, the support assembly 31 includes a translation assembly 312C, the translation assembly 312C is installed between the movable support 311 and the base frame 1, and the translation assembly 312C is drivingly connected to the second driving assembly 32.

A translation assembly 312C may be installed between the movable support 311 and the frame, the translation assembly 312C may be a telescopic member, and the second driving assembly 32 may be a pushing cylinder. The translation assembly 312C may be in the form of a rack and pinion, a sprocket chain, a worm gear, a lead screw nut, or the like, and the second driving room may be a motor.

When the lifting device is in the non-supporting state, the movable support 311 is located at the edge of the lifting space, and does not affect the passage of the lifting unit 212 and the material in the lifting space.

When the non-support state is switched to the support state, the second driving assembly 32 drives the translation assembly 312C to drive the movable support 311 to approach from the edge of the lifting space to the center. Until the movable support 311 is located in the lifting space, the material can be held. Lifting the materials to the position above the group of supporting components 31 in the non-supporting state, and switching the supporting components 31 from the non-supporting state to the supporting state; the descending material is placed on the support assembly 31 in the support state.

When the support state is switched to the non-support state, the second driving assembly 32 drives the translation assembly 312C to move. The translation assembly 312C moves the movable support 311 from the center to the edge of the lifting space. Until the movable support 311 does not affect the passage of the lifting space.

Example four

For implementing a shelf with N levels, the buffer unit 3 comprises N + M levels of support members 31, both N and M being non-negative integers. When the utility model discloses a material is got and is put device when getting the material, can place the material in proper order in the supporting component 31 on the top M layer of unit of keeping in 3.

Because the utility model discloses an in the implementation, can influence the liftable height of lift unit 212 after placing the material on supporting component 31, in order to solve this problem, in this embodiment, the lift space be higher than the height of goods shelves. In order to realize flexible taking and placing, any height layer of the goods shelf can be taken, the Mth layer at the top of the temporary storage unit 3 is positioned at the position higher than the highest height of the goods shelf, and M is more than or equal to N-1. Therefore, when the material is taken from the N layers of shelves for less than or equal to N times, even if the material is taken from the last time, the lifting heights of the lifting units 212 are all greater than or equal to the height of the shelves, so that the flexible passing of the lifting units 212 is not influenced.

As shown in fig. 7, the utility model relates to a material is got and is put robot, including robot 4, robot 4 on install material get and put the device. The robot body 4 is provided with a control system which can respectively control the actions of the first driving assembly 22 and the second driving assembly 32. The control system of the robot body 4 can realize the functions of pointing, navigating and positioning of the robot and the material taking and placing device thereof.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been illustrated and described above, it is not intended that they be construed as limiting the claims. The present invention is not limited to the above embodiments, and the specific structure thereof allows for variations, and all variations made within the scope of the independent claims of the present invention are within the scope of the present invention.

Claims

1. Device is got to material, its characterized in that: comprises that

The base frame (1), the base frame (1) comprises a lifting space;

the lifting unit (2) comprises a lifting assembly (21) and a first driving assembly (22), the lifting assembly (21) is arranged in the lifting space of the pedestal (1), and the first driving assembly (22) can drive the lifting assembly (21) to lift relative to the pedestal (1);

the temporary storage unit (3) comprises at least one group of supporting assemblies (31) and a second driving assembly (32); the supporting component (31) is movably arranged on the side surface of the lifting space of the base frame (1), the supporting component (31) has a supporting state or a non-supporting state, and the second driving component (32) is used for driving the supporting component (31) to be switched between the supporting state or the non-supporting state.

2. The material handling device of claim 1, wherein:

the group of the supporting assemblies (31) comprises at least two movable supporting pieces (311), and the movable supporting pieces (311) in the group of the supporting assemblies (31) are arranged in the same plane which is perpendicular to the lifting direction of the lifting assembly (21).

3. The material handling device of claim 2, wherein:

the supporting assembly (31) comprises two pairs of movable supporting pieces (311), and the two pairs of movable supporting pieces (311) are oppositely arranged on two sides of the lifting space.

4. The material handling device of claim 2, wherein:

the movable supporting piece (311) is rotatably connected with the base frame (1), and the movable supporting piece (311) can rotate in a plane vertical to the lifting direction of the lifting assembly (21).

5. The material handling device of claim 4, wherein:

the support assembly (31) further comprises a screw pair (312A) and a fulcrum (313A);

the screw pair (312A) comprises a screw and a nut which are matched with each other, and the second driving assembly (32) is in driving connection with the screw;

the fulcrum (313A) is fixedly arranged on the base frame (1);

the movable support (311) comprises a first sliding chute and a second sliding chute;

wherein, the movable supporting piece (311) is connected with the nut in a sliding way through the first sliding chute, and the movable supporting piece (311) is connected with the fulcrum (313A) in a sliding way through the second sliding chute.

6. The material handling device of claim 2, wherein:

the movable supporting piece (311) is rotatably connected with the base frame (1), and the movable supporting piece (311) can rotate in a plane parallel to the lifting direction.

7. The material handling device of claim 6, wherein:

the supporting component (31) further comprises a connecting rod (312B) and a moving part (313B), the connecting rod (312B) is connected with the movable supporting part (311) and the moving part (313B) through a rotating pair, and the moving part (313B) and the base frame (1) form a moving pair; the second driving component (32) is in driving connection with the moving part (313B);

the movable supporting piece (311) is hinged with the base frame (1);

wherein, the second driving component (32) can drive the moving part (313B) to move relative to the base frame (1), so that the movable supporting part (311) rotates relative to the base frame (1).

8. The material handling device of claim 2, wherein:

the movable supporting piece (311) and the pedestal (1) form a moving pair, and the movable supporting piece (311) can be translated in a plane vertical to the lifting direction relative to the pedestal (1).

9. The material handling device of claim 8, wherein:

the support assembly (31) comprises a translation assembly (312C), the translation assembly (312C) is installed between the movable support (311) and the base frame (1), and the translation assembly (312C) is in driving connection with the second driving assembly (32).

10. The utility model provides a material is got and is put robot which characterized in that: comprising a robot body (4), said robot body (4) having mounted thereon a material handling device according to claims 1-9.