CN220131292U - Material box taking and placing device and automatic material taking equipment - Google Patents

Abstract

The embodiment of the utility model provides a material box taking and placing device and automatic material taking equipment, wherein the material box taking and placing device comprises: a directional module and a handling module; the orientation module comprises a first placing plate, a rotating mechanism and a first linear module; the rotating mechanism is arranged below the first placing plate, and the first placing plate can rotate by taking the rotating mechanism as a center, so that a first linear module fixed above the first placing plate points to the direction of the feed box; the carrying module is connected to the first linear module in a sliding manner; the first linear module is fixed above the first placing plate; the carrying module is slidably connected to the first linear module and can translate along the linear direction of the first linear module under the driving of the first linear module, so that the carrying module can accurately move to the position where the material box is located and transport is started, the risk of the material box falling is greatly reduced, and the transport efficiency of the material box is improved.

Description

Material box taking and placing device and automatic material taking equipment

Technical Field

The utility model relates to the technical field of storage logistics, in particular to a material box taking and placing device and automatic material taking equipment.

Background

The original warehouse logistics work needs to carry goods manually, which causes great labor intensity. Therefore, the related art adopts automatic material taking equipment to realize the carrying of goods so as to improve the storage efficiency.

In the related art, the material taking apparatus includes a carrying mechanism and a storage mechanism. When carrying goods, the workbin on the goods shelves is directly transported to the storage mechanism through the transport mechanism, and although the automatic transportation of workbin can be realized, but because the position of last workbin can't be aimed at very accurately to transport mechanism to make the workbin unable accurate fall on transport mechanism, lead to the workbin to have the risk that drops in the transportation, reduced transport efficiency.

Disclosure of Invention

The embodiment of the utility model aims to provide a material box taking and placing device and automatic material taking equipment so as to achieve the purpose of reducing the risk of falling of a material box and improving the transportation efficiency. The specific technical scheme is as follows:

an embodiment of the first aspect of the present utility model provides a bin pick-and-place device, including: a directional module and a handling module; the orientation module comprises a first placing plate, a rotating mechanism and a first linear module; the rotating mechanism is arranged below the first placing plate, and the first placing plate can rotate by taking the rotating mechanism as a center; the first linear module is fixed above the first placing plate; the carrying module is slidably connected to the first linear module and can translate along the linear direction of the first linear module under the driving of the first linear module.

In some embodiments of the utility model, the handling module comprises a primary assembly comprising a second placement plate, a second linear module, and a claw mechanism; the second placing plate is connected to the first linear module in a sliding manner; the second linear module is fixed on the second placing plate; the claw hooking mechanism is connected to the second linear module in a sliding manner and can translate along the linear direction of the second linear module under the driving of the second linear module; wherein, the hook claw mechanism is used for hooking and pulling the feed box.

In some embodiments of the present utility model, the handling module further includes a secondary assembly including two third placing plates disposed on the second placing plate with a gap therebetween, and the claw mechanism is capable of translating in the gap under the drive of the second linear module.

In some embodiments of the present utility model, guide strips are disposed on both the third placement plates, and a guide slope structure is disposed at a first end of each guide strip, where the first end of each guide strip is a bin inlet side end, and a distance between the two guide strips at the bin inlet side end is narrowed from a wide distance based on the guide slope structure.

In some embodiments of the utility model, roller grooves are formed on both of the third placing plates; at least one roller is arranged in the roller groove; the height of the roller exceeds the opening surface of the roller groove.

In some embodiments of the utility model, the handling module further comprises at least one clamping mechanism comprising a linear drive mechanism and a rotational drive mechanism; the rotary driving mechanism can translate along the linear direction of the second linear module in the gap under the driving of the linear driving mechanism; the rotation driving mechanism comprises a baffle rod which is not higher than the upper surface of the third placing plate in a horizontal state; the blocking rod is higher than the upper surface of the third placing plate in the vertical state.

In some embodiments of the utility model, the linear drive mechanism comprises: the device comprises a first fixing piece, a first motor, a screw rod, a guide shaft, a first linear bearing and a second linear bearing; the first fixing piece is fixed on the second placing plate; one end of the first fixing piece is provided with a screw rod mounting hole and a guide shaft mounting hole; the other end of the first fixing piece is provided with the first linear bearing and the second linear bearing; one end of the screw rod is connected to the first motor through the screw rod mounting hole, the other end of the screw rod is sleeved in the first linear bearing, and when the first motor drives the screw rod to rotate, the first linear bearing moves along the direction of the screw rod; one end of the guide shaft is installed in the guide shaft installation hole, the other end of the guide shaft is sleeved in the second linear bearing, the guide shaft and the screw rod are installed on the first fixing piece in parallel, and when the first motor drives the screw rod to rotate, the second linear bearing and the first linear bearing move in the same direction and are used for limiting the moving direction of the first linear bearing.

In some embodiments of the utility model, the rotational drive mechanism further comprises: the second fixing piece, the second motor and the rotating shaft; the second fixing piece is fixed on the first linear bearing and/or the second linear bearing, and moves along the direction of the screw rod along with the first linear bearing and/or the second linear bearing; the second fixing piece is provided with a rotating shaft mounting hole; the rotating shaft is connected to the second motor through the rotating shaft mounting hole; the baffle rod is vertically connected to the guide shaft, and when the first motor drives the guide shaft to rotate, the baffle rod rotates between a horizontal state and a vertical state by taking the guide shaft as an axis.

In some embodiments of the utility model, the third placing plate is provided with a spring at an end far from the inlet side of the bin, and the compression direction of the spring is the same as the linear direction of the second linear module.

A second aspect of the embodiment of the present utility model provides an automatic material taking apparatus, including the material box taking and placing device, the vehicle body, the storage device and the lifting device described in any one of the embodiments; the lifting device and the storage device are both arranged on the vehicle body; the lifting device is provided with the sliding lifting mechanism; the feed box taking and placing device is fixed on the sliding lifting mechanism; the sliding lifting mechanism is connected to the lifting device in a sliding manner and is used for moving the material box taking and placing device to any height of the storage device.

In some embodiments of the utility model, the storage device comprises a plurality of layers of storage shelves, the distance between each layer of storage shelves being greater than the height of the bin pick and place device.

The embodiment of the utility model provides a material box taking and placing device and automatic material taking equipment, wherein the material box taking and placing device comprises a directional module and a carrying module; the orientation module comprises a rotating mechanism arranged below the first placing plate, and the first placing plate rotates by taking the rotating mechanism as a center, so that a first linear module fixed above the first placing plate can accurately point to the direction of the feed box; the carrying module is slidably connected to the first linear module, and driven by the first linear module to move in the linear direction of the first linear module, so that the carrying module can accurately move to the position where the feed box is located and transport is started, the risk of the feed box falling is greatly reduced, and the transport efficiency of the feed box is improved.

Of course, it is not necessary for any one product to practice the utility model to achieve all of the advantages set forth above at the same time.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings used 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 utility model, and other drawings may be obtained according to these drawings for a person having ordinary skill in the art.

The drawings are included to provide a better understanding of the present utility model and are not to be construed as limiting the utility model. Wherein:

FIG. 1 is a schematic view of an automatic material taking apparatus according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of a material box pick-and-place device according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram of an orientation module according to an embodiment of the present utility model;

FIG. 4 is a schematic view of a primary assembly and clamping mechanism in accordance with an embodiment of the present utility model;

FIG. 5 is a schematic diagram of a secondary assembly according to an embodiment of the present utility model;

FIG. 6 is a schematic view of a clamping mechanism in a first direction according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a clamping mechanism in a second direction according to an embodiment of the present utility model;

FIG. 8a is a schematic diagram of a first operation step of the automatic material taking apparatus according to an embodiment of the present utility model;

FIG. 8b is a schematic diagram of a second working step of the automatic material taking apparatus according to an embodiment of the present utility model;

FIG. 8c is a schematic diagram of a third and fourth working steps of the automatic material taking apparatus according to an embodiment of the present utility model;

fig. 8d is a schematic diagram of working steps five and six of the automatic material taking device in the embodiment of the utility model.

Reference numerals illustrate:

a bin 1, a handle 1a;

a bin pick-and-place device 10;

the device comprises an orientation module 11, a first placing plate 111, a rotating mechanism 112, a first linear module 113, a first linear guide rail 114, a first sliding block 115 and a first linear motor 116;

a handling module 12;

the first-stage assembly 13, the second placing plate 131, the second linear module 132, the second linear guide rail 133, the second slider 134, the second linear motor 135, the claw mechanism 136 and the buckle 1361;

secondary assembly 14, third placement plate 141, guide bar 142, guide ramp structure 1421, roller slot 143a, roller 143b, spring 144;

a clamping mechanism 15;

the linear driving mechanism 16, the first fixing member 161, the first motor 162, the screw 163, the guide shaft 164, the first linear bearing 165, the second linear bearing 166

The rotation driving mechanism 17, the gear lever 171, the second fixing member 172, the second motor 173, the rotation shaft 174;

the vehicle comprises a vehicle body 20, a storage device 30, a storage rack 31 and a lifting device 40.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by the person skilled in the art based on the present utility model are included in the scope of protection of the present utility model.

Referring to fig. 2, in order to achieve a reduced risk of dropping the bin 1 and thereby an improved transport efficiency, an embodiment of the first aspect of the utility model provides a bin pick-and-place device 10 comprising: a direction module 11 and a handling module 12; the orientation module 11 includes a first placing plate 111, a rotating mechanism 112, and a first linear module 113; the rotation mechanism 112 is provided below the first placing plate 111, and the first placing plate 111 can rotate about the rotation mechanism 112; the first linear module 113 is fixed above the first placing plate 111; the carrying module 12 is slidably connected to the first linear module 113, and can translate along the linear direction of the first linear module 113 under the driving of the first linear module 113.

The material box picking and placing device 10 provided by the embodiment of the utility model comprises an orientation module 11 and a carrying module 12; the orientation module 11 includes a rotation mechanism 112 disposed below the first placement plate 111, and the first placement plate 111 rotates around the rotation mechanism 112, so that a first linear module 113 fixed above the first placement plate 111 points in a direction in which the bin 1 is located; the carrying module 12 is slidably connected to the first linear module 113, and the carrying module 12 is driven by the first linear module 113 to move along the linear direction of the first linear module 113, so that the carrying module can accurately move to the position where the material box 1 is located and transport is started, the risk of the material box 1 falling is greatly reduced, and the transport efficiency of the material box 1 is improved.

Common rotating mechanisms 112 include rotary disk, screw, cam, crank, hinge, link, and the like. As shown in fig. 3, a circular turntable is fixed below the first placing plate 111, and a motor transmission shaft (not shown) is arranged in the center of the circular turntable, and the motor (not shown) drives the motor transmission shaft to rotate, so that the circular turntable is driven to support the first placing plate 111 to rotate around the motor transmission shaft.

The first linear module 113 may include a ball screw 163, a linear guide, an aluminum alloy profile sliding table, and the like. As shown in fig. 3, a first linear guide 114 is fixed above the first placing plate 111, a first linear motor 116 is connected to the first linear guide 114, and the first linear motor 116 drives a first slider 115 slidably connected to the first linear guide 114 to perform linear motion along the linear guide. The linear guide rail is also called a sliding rail, a linear guide rail and a linear sliding rail, is used for the occasion of linear reciprocating motion, has higher rated load, and can realize high-precision linear motion under the condition of high load. The linear modules in the utility model can be directly used in the prior art, and the structure of the linear modules is not particularly limited in the utility model.

In some embodiments of the present utility model, as shown in fig. 4, the handling module 12 includes a primary assembly 13, and the primary assembly 13 includes a second placement plate 131, a second linear module 132, and a claw mechanism 136; the second placing plate 131 is slidably connected to the first linear module 113; the second linear module 132 is fixed on the second placing plate 131; the hook claw mechanism 136 is slidably connected to the second linear module 132, and can translate along the linear direction of the second linear module 132 under the driving of the second linear module 132; the hook claw mechanism 136 is used for hooking the feed box 1.

The second linear module 132 includes a ball screw 163, a linear guide, an aluminum alloy profile sliding table, and the like. As an example, as shown in fig. 4, a linear guide rail is fixed to the second placing plate 131, a second linear motor 135 is connected to the linear guide rail, and the second linear motor 135 drives a second slider 134 slidably connected to the second linear guide rail 133 to perform linear motion along the second linear guide rail 133.

The primary component 13 is fixed on the first slider 115, which is equivalent to the primary component 13 being slidably connected to the first linear module 113, and the maximum travel of the primary component 13 driven by the first motor 162 to move along the first sliding rail is X; the hook claw mechanism 136 is fixed on the second slider 134, which is equivalent to the hook claw mechanism 136 being slidably connected to the second linear module 132, and the maximum stroke of the second motor 173 for driving the hook claw mechanism 136 to move along the second sliding rail is Y; as can be seen, the maximum travel of the actual movement of the catch mechanism 136 is X+Y, and the catch distance is increased.

The handle 1a that is convenient for take is generally provided with at workbin 1 both ends, colludes to get and is provided with the buckle 1361 that can block feeding case handle 1a on the device, colludes the device and removes to the direction of workbin 1, until buckle 1361 joint is in handle 1a, colludes the device and drives the direction opposite direction removal of workbin 1 to reach the purpose of colluding and taking workbin 1.

In some embodiments of the present utility model, as shown in fig. 5, the handling module 12 further includes a secondary assembly 14, where the secondary assembly 14 includes two third placing plates 141, and the third placing plates 141 are disposed on the second placing plate 131, and a gap is formed between the two third placing plates 141, and the claw mechanism 136 can translate in the gap under the driving of the second linear module 132.

The two third placing plates 141 arranged on the second placing plate 131 play a role in heightening, and the bin 1 is hooked and falls on the third placing plates 141, so that the falling distance of the bin 1 brought to the carrying module by the hooking mechanism is shortened, the impact force generated by gravitational potential energy is reduced, the collision force between the bin 1 and the carrying module 12 is reduced, and the equipment damage caused by collision is avoided to a great extent; the gap between the two third placing plates 141 for accommodating the movement of the hooking mechanism 136 is provided in order not to affect the normal hooking of the hooking mechanism 136.

In some embodiments of the present utility model, as shown in fig. 5, the guide bars 142 are disposed on the two third placement plates 141, and the first ends of the guide bars 142 are provided with guide slope structures 1421, wherein the first ends of the guide bars 142 are inlet side ends of the bin 1, and the distance between the two guide bars 142 at the inlet side ends of the bin 1 is narrowed from wide based on the guide slope structures 1421.

The bin 1 is carried by the picking mechanism to the third placing plate 141 for transmission between the two guide strips 142, and the guide strips 142 limit the moving direction of the bin 1 in the transportation process, so that the bin 1 plays a guiding role, and the accuracy of the butt joint between the bin 1 and the carrying module 12 is improved.

The first end of the guide bar 142 on the inlet side of the bin 1 is configured as a guide slope structure 1421, which results in the narrowest cross section of the first end of the guide bar 142 and the widest distance between the first sections of the two parallel guide bars 142, so that the bin 1 can smoothly enter from the first end of the guide bar 142.

In some embodiments of the present utility model, as shown in fig. 5, the roller grooves 143a are provided on both the third placing plates 141; at least one roller 143b is disposed in the roller groove 143a; the height of the roller 143b exceeds the opening surface of the roller groove 143 a.

If the bin 1 falls directly onto the third placing plate 141, the frictional force existing between the bottom surface of the bin 1 and the third placing plate 141 may hinder the bin 1 from being transported; the third placing plate 141 is provided with a plurality of rollers 143b with heights exceeding the opening surfaces of the roller grooves 143a, and the bin 1 falls on each roller 143b, so that friction force is greatly reduced, and stable and efficient butt joint between the bin 1 and the carrying module 12 is realized.

In some embodiments of the present utility model, as shown in fig. 4, the handling module 12 further includes at least one clamping mechanism 15, and the clamping mechanism 15 includes a linear driving mechanism 16 and a rotational driving mechanism 17; the rotation driving mechanism 17 can translate along the linear direction of the second linear module 132 in the gap under the driving of the linear driving mechanism 16; the rotation driving mechanism 17 includes a lever 171, the lever 171 being not higher than the upper surface of the third placing plate 141 in the flat state; the lever 171 is higher than the upper surface of the third placing plate 141 in the raised state.

One or two clamping mechanisms 15 may be disposed on the carrying module 12, so that the bin 1 is conveyed on the third placing plate 141 more stably, as shown in fig. 4, one clamping mechanism 15 is disposed on one side of the carrying module 12, and the linear driving mechanism 16 in the clamping mechanism 15 drives the rotation driving mechanism 17 to move to a proper position due to different sizes of bins 1 with different specifications, so that a stop lever on the rotation driving mechanism 17 is clung to one end of the bin 1 far away from the hooking mechanism.

When the bin 1 completely falls into the third placing plate 141, the rotation driving mechanism 17 drives the stop lever to be in a standing state, and the stop lever is higher than the upper surface of the third placing plate 141 at the moment, and is matched with the two guide strips 142 to clamp the bin 1 in the third placing plate 141, so that the stability of the bin 1 in the transportation process is improved; otherwise, the stop lever is in a horizontal state, and at the moment, the stop lever is not higher than the upper surface of the third placing plate 141, so that the blockage to the process that the bin 1 falls into the third placing plate 141 is avoided.

In some embodiments of the present utility model, as shown in fig. 6, the linear drive mechanism 16 includes: the first fixing member 161, the first motor 162, the screw 163, the guide shaft 164, the first linear bearing 165, and the second linear bearing 166; the first fixing member 161 is fixed to the second placing plate 131; one end of the first fixing member 161 is provided with a screw 163 mounting hole and a guide shaft 164 mounting hole; the other end of the first fixing member 161 is provided with a first linear bearing 165 and a second linear bearing 166; one end of the screw rod 163 is connected to the first motor 162 through a screw rod 163 mounting hole, the other end of the screw rod 163 is sleeved in the first linear bearing 165, and when the first motor 162 drives the screw rod 163 to rotate, the first linear bearing 165 moves along the direction of the screw rod 163; one end of the guide shaft 164 is installed in the installation hole of the guide shaft 164, the other end of the guide shaft 164 is sleeved in the second linear bearing 166, the guide shaft 164 and the screw rod 163 are installed on the first fixing piece 161 in parallel, and when the first motor 162 drives the screw rod 163 to rotate, the second linear bearing 166 moves in the same direction with the first linear bearing 165, so as to limit the moving direction of the first linear bearing 165.

The first fixing member 161 is a supporting frame with a plurality of different supporting plates at different positions, and the position and the setting direction of each supporting plate are determined by the positions of the parts to be fixed on the first fixing member 161. As shown in fig. 6, the screw rod 163, the guide shaft 164, the first linear bearing 165 and the second linear bearing 166 are all fixed on the first fixing member 161, the screw rod 163 is sleeved in the first linear bearing 165, the guide shaft 164 and the screw rod 163 are arranged on the first fixing member 161 side by side and sleeved in the second linear bearing 166, the second bearing and the first bearing move in the same direction, the moving direction of the first linear bearing 165 is limited, vibration is avoided when the first bearing moves, and stable linear motion is ensured. The linear bearing is a linear motion system, is used for linear travel and is matched with a cylindrical shaft for use, has the characteristics of small friction, stable motion and the like, and can obtain stable linear motion with high sensitivity and high precision.

In some embodiments of the present utility model, as shown in fig. 7, the rotation driving mechanism 17 further includes: a second fixing member 172, a second motor 173, a rotation shaft 174; the second fixing member 172 is fixed on the first linear bearing 165 and/or the second linear bearing 166, and the second fixing member 172 moves along the direction of the screw 163 along with the first linear bearing 165 and/or the second linear bearing 166; the second fixing member 172 is provided with a rotation shaft 174 mounting hole; the rotation shaft 174 is connected to the second motor 173 through a rotation shaft 174 mounting hole; the lever 171 is vertically connected to the guide shaft 164, and when the first motor 162 drives the guide shaft 164 to rotate, the lever 171 rotates between a horizontal state and a vertical state with the guide shaft 164 as an axis.

The second fixing member 172 is fixed on the first linear bearing 165 and/or the second linear bearing 166, so that the rotating mechanism moves to a proper position along with the linear driving mechanism 16, and a stop lever on the driving mechanism is tightly attached to one end of the feed box 1 far away from the hooking mechanism. The first motor 162 and the second motor 173 are used for respectively controlling the linear driving mechanism 16 and the rotating mechanism 112, so that the transmission structure is simplified, and the installation space is saved.

In some embodiments of the present utility model, as shown in fig. 5, the third placing plate 141 is provided with a spring 144 at an end far from the inlet side of the bin 1, and the compression direction of the spring 144 is the same as the linear direction of the second linear module 132.

After the bin 1 falls into the third placing plate 141 completely, two guide strips 142 are respectively arranged in the left-right direction to limit the movement of the bin 1, a stop rod 171 in a standing state is arranged at the rear to limit the movement of the bin 1, the spring 144 is pressed by the bin 1 and then applies a backward reaction force to the bin 1, and the spring 144 cooperates with the forward reaction force applied by the stop rod 171 to the feeding bin 1 to clamp the bin 1 on the third placing plate 141, so that the bin 1 is placed to vibrate in the transportation process, and the purpose of stable transportation is achieved.

Referring to fig. 1, a second aspect of the embodiment of the present utility model provides an automatic material taking apparatus, including the bin pick-and-place device 10, the vehicle body 20, the storage device 30, and the lifting device 40 in any of the above embodiments; the lifting device 40 and the storage device 30 are both mounted on the vehicle body 20; the lifting device 40 is provided with a sliding lifting mechanism (not shown in the figures); the bin pick-and-place device 10 is fixed on the sliding lifting mechanism; the slide and lift mechanism is slidably coupled to the lift 40 for moving the bin pick and place device 10 to any height of the bin storage device 30.

The working process of the automatic material taking equipment is as follows:

step one, as shown in fig. 8a, a carriage carrying and picking device body 20 is moved to a pick-and-place box 1, and a hooking and pulling box pick-and-place device 10 is lifted to a designated height under the action of a lifting device 40;

step two, as shown in fig. 8b, the orientation module 11 and the carrying module 12 of the bin pick-and-place device 10 extend out;

step three, as shown in fig. 1, 4 and 8c, the claw mechanism 136 is driven by the second linear module 132 to move, so that the fastener 1361 extends into the handle 1a of the bin;

step four, as shown in fig. 1, 4 and 8c, the bin pick-and-place device 10 is lifted by the lifting device 40, so that the buckle 1361 is embedded in the handle 1a;

step five, as shown in fig. 8d, the claw mechanism 136 pulls the bin 1 into the bin pick-and-place device 10;

step six, as shown in fig. 8d, the clamping mechanism 15 moves and erects the lever 171, and the lever 171 and the spring 144 clamp the bin 1.

In some embodiments of the present utility model, as shown in FIG. 1, the storage device 30 includes multiple layers of storage shelves 31, with the distance between each layer of storage shelves 31 being greater than the height of the bin pick and place device 10.

The distance between the storage racks 31 is larger than the height of the bin picking and placing device 10, so that the bin picking and placing device 10 can smoothly send the bin 1 to each layer of storage racks 31.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

In this specification, each embodiment is described in a related manner, and identical and similar parts of each embodiment are all referred to each other, and each embodiment mainly describes differences from other embodiments. In particular, for system embodiments, since they are substantially similar to method embodiments, the description is relatively simple, as relevant to see a section of the description of method embodiments.

The foregoing description is only of the preferred embodiments of the present utility model and is not intended to limit the scope of the present utility model. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model are included in the protection scope of the present utility model.

Claims (11)

1. A bin pick-and-place device, comprising: a directional module and a handling module;

the orientation module comprises a first placing plate, a rotating mechanism and a first linear module;

the rotating mechanism is arranged below the first placing plate, and the first placing plate can rotate by taking the rotating mechanism as a center;

the first linear module is fixed above the first placing plate;

the carrying module is slidably connected to the first linear module and can translate along the linear direction of the first linear module under the driving of the first linear module.

2. The apparatus of claim 1, wherein the handling module comprises a primary assembly comprising a second placement plate, a second linear module, and a claw mechanism;

the second placing plate is connected to the first linear module in a sliding manner;

the second linear module is fixed on the second placing plate;

the claw hooking mechanism is connected to the second linear module in a sliding manner and can translate along the linear direction of the second linear module under the driving of the second linear module;

wherein, the hook claw mechanism is used for hooking and pulling the feed box.

3. The apparatus of claim 2, wherein the handling module further comprises a secondary assembly comprising two third placement plates disposed on the second placement plates with a gap therebetween, the claw mechanism being translatable in the gap under the drive of the second linear module.

4. A device according to claim 3, wherein two third placing plates are provided with guide strips, the first ends of which are provided with guide slope structures, wherein the first ends of the guide strips are the inlet side ends of the feed box, and the distance between the two guide strips at the inlet side ends of the feed box is narrowed from wide based on the guide slope structures.

5. A device according to claim 3, wherein both of the third placement plates are provided with roller grooves; at least one roller is arranged in the roller groove; the height of the roller exceeds the opening surface of the roller groove.

6. The apparatus of claim 3 wherein the handling module further comprises at least one clamping mechanism, the clamping mechanism comprising a linear drive mechanism and a rotational drive mechanism; the rotary driving mechanism can translate along the linear direction of the second linear module in the gap under the driving of the linear driving mechanism;

the rotation driving mechanism comprises a baffle rod which is not higher than the upper surface of the third placing plate in a horizontal state; the blocking rod is higher than the upper surface of the third placing plate in the vertical state.

7. The apparatus of claim 6, wherein the linear drive mechanism comprises: the device comprises a first fixing piece, a first motor, a screw rod, a guide shaft, a first linear bearing and a second linear bearing;

the first fixing piece is fixed on the second placing plate;

one end of the first fixing piece is provided with a screw rod mounting hole and a guide shaft mounting hole;

the other end of the first fixing piece is provided with the first linear bearing and the second linear bearing;

one end of the screw rod is connected to the first motor through the screw rod mounting hole, the other end of the screw rod is sleeved in the first linear bearing, and when the first motor drives the screw rod to rotate, the first linear bearing moves along the direction of the screw rod;

one end of the guide shaft is installed in the guide shaft installation hole, the other end of the guide shaft is sleeved in the second linear bearing, the guide shaft and the screw rod are installed on the first fixing piece in parallel, and when the first motor drives the screw rod to rotate, the second linear bearing and the first linear bearing move in the same direction and are used for limiting the moving direction of the first linear bearing.

8. The apparatus of claim 7, wherein the rotational drive mechanism further comprises: the second fixing piece, the second motor and the rotating shaft;

the second fixing piece is fixed on the first linear bearing and/or the second linear bearing, and moves along the direction of the screw rod along with the first linear bearing and/or the second linear bearing;

the second fixing piece is provided with a rotating shaft mounting hole;

the rotating shaft is connected to the second motor through the rotating shaft mounting hole;

the baffle rod is vertically connected to the guide shaft, and when the first motor drives the guide shaft to rotate, the baffle rod rotates between a horizontal state and a vertical state by taking the guide shaft as an axis.

9. The apparatus according to claim 6, wherein the third placing plate is provided with a spring at an end remote from an inlet side of the bin, and a compression direction of the spring is the same as a linear direction of the second linear module.

10. An automatic material taking device, which is characterized by comprising the material box taking and placing device, a vehicle body, a storage device and a lifting device according to any one of claims 1-9;

the lifting device and the storage device are both arranged on the vehicle body;

the lifting device is provided with a sliding lifting mechanism;

the feed box taking and placing device is fixed on the sliding lifting mechanism;

the sliding lifting mechanism is connected to the lifting device in a sliding manner and is used for moving the material box taking and placing device to any height of the storage device.

11. The apparatus of claim 10, wherein the storage device comprises multiple levels of storage shelves, a distance between each level of storage shelves being greater than a height of the bin pick and place device.