TWI729714B - Storage modules, storage shelves and storage systems - Google Patents

Abstract

The present invention relates to a storage module, which includes a frame, a carrying platform, a left connecting component and a right connecting component. The carrying platform is detachably arranged on the frame, the workpiece to be processed is placed on the carrying platform, and the left connecting The components are arranged on the left side of the frame, and the right connecting component is arranged on the right side of the frame, so that the two frames can be connected together by the left and right connecting components, so that diversified and flexible combinations can be carried out according to the needs of the client. In addition, the present invention further provides a storage shelf arranged by the aforementioned storage modules and a storage system used by the aforementioned storage shelf with a workpiece pick-and-place device.

Description

Storage modules, storage shelves and storage systems

The present invention is related to storage equipment, and in particular refers to a storage module, a storage shelf arranged by the storage modules, and a storage system using the storage shelves.

The fully automatic three-dimensional storage module disclosed by CN 206265699 U mainly uses the Z-axis lifting movement of a multi-axis mechanical arm to make up for the shortage of the pick-and-place manipulator, so that the pick-and-place manipulator can freely move to the corresponding position of the vertical storage shelf. However, in the aforementioned patent documents, the vertical storage rack has a fixed configuration, and it is difficult to adjust the arrangement or increase or decrease the number of grid positions according to the needs of the client. As for the pick-and-place manipulator, only objects within the range of the claw can be gripped. Lack of flexibility in operation.

The rotary pallet device disclosed in US 9,144,870 B2 mainly uses a sliding table to place the pallet on a rotatable platform, and then uses the platform to send the pallet to different workstations. Each workstation has a rotatable door to allow operation Personnel can access the tray through the door. However, in the aforementioned patent documents, the entire pallet equipment has a fixed configuration, and it is difficult to adjust the arrangement or increase or decrease the number of grid positions according to the needs of the client. As for the platform can only convey the pallet, it does not provide related accessories that can grab the workpiece. .

The processing facility disclosed in US 2010/0018836 A1 mainly uses a pallet changer to remove the sub-pallets used to carry the workpiece. In the aforementioned patent documents, although you can It is necessary to increase or decrease the number of sub-trays, but the arrangement is still difficult to adjust or change, so there is a lack of flexibility in use.

The main purpose of the present invention is to provide a storage module that can be combined flexibly according to the needs of the client.

In order to achieve the above-mentioned main purpose, the storage module of the present invention includes a frame, a carrying platform, a left connecting component, and a right connecting component. The carrying platform is detachably arranged on the frame and used to carry at least one workpiece; the left connecting component is arranged on the left side of the frame, and the right connecting component is arranged on the right side of the frame, so that the two frames can be used The left and right connecting components are connected together, so that a diversified and flexible combination can be carried out according to the needs of the client.

Preferably, the bottom surface of the carrying platform is provided with a supporting plate, and four corners of the supporting plate are respectively provided with an adjusting screw hole, each of the adjusting screw holes is provided with a screw, and the bottom surface of the supporting plate is also provided with a gasket , The bottom end of the screw abuts the washer. Thereby, when one or more of the screws are rotated, the inclination angle of the support plate can be adjusted, so that the inclination angle of the carrying platform can be fine-tuned, so as to achieve the effect of improving the assembly accuracy.

Preferably, the left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate respectively have a screw hole, the left and right ends of the front side of the support plate and the front and rear of the left side of the support plate Two fixing plates are respectively provided at the two ends, which can be rotatably inserted through the four fixing plates and screwed into the four screw holes of the supporting plate by means of four horizontal angle adjustment screws. When one or more of the horizontal angle adjustment screws are rotated When adjusting the screws, the horizontal rotation angle of the carrying platform can be adjusted to achieve the effect of improving the assembly accuracy.

In addition, the present invention further provides a storage rack composed of a plurality of storage units, each of the storage units has a plurality of the aforementioned storage modules, and the storage modules of each of the storage units are arranged in an up-and-down manner, as far as adjacent 2. The storage units are connected together by a plurality of positioning screws, and each positioning screw is connected to a left connecting component and a right connecting component adjacent to each other. In this way, the storage shelf can be flexibly combined into a linear shape or an arc shape according to the needs of the client, or even the two can be matched with each other, that is, one part is arranged in a straight line and the other parts are arranged in an arc shape.

In addition, the aforementioned storage rack can be further used with a workpiece pick-and-place device to form a storage system. When the load is high, the zero-point clamping system of the telescopic shaft of the workpiece pick-and-place device is used to transfer the workpiece to the machine tool or the load-bearing platform. At this time, the double radius of gyration is used to make the workpiece pick-and-place device in limited space Folding in and out in the area, thereby improving the applicability of the workpiece pick-and-place device, and provide more diverse path combinations in a narrow space. As for the light load, use the end joint module of the workpiece pick-and-place device with clamping jaws to directly clamp and transfer the workpiece to the machine tool or the load-bearing platform. The clamping jaws of the end joint module can also be equipped with flexible quick-change The system switches fixtures under different processing conditions, and the overall system is highly flexible and can also improve production efficiency.

The detailed structure, characteristics, assembly or use of the storage module, storage rack, and storage system provided by the present invention will be described in the detailed description of the subsequent embodiments. However, those with ordinary knowledge in the field of the present invention should be able to understand that these detailed descriptions and specific examples for implementing the present invention are only used to illustrate the present invention, and are not intended to limit the scope of the patent application of the present invention.

10: Storage module

12: storage unit

20: Frame

21: Top frame

211: Horizontal connector

23: bottom frame

24: Pillar

25: Left front column

26: Left rear upright

27: Right front column

28: Right rear column

29: Reclaiming port

30: Carrying platform

31: Upper countersunk hole

32: countersunk screw

33: Gasket

34: Support plate

341: Adjusting screw hole

342: positioning hole

343: Stop Screw

35: Tolerance

37: screw hole

38: Pull bolt

39: guide

41: Level adjustment screw

42: fixing screw

43: fixed plate

44: Piercing

50: Left connection component

51: The first short connector

52: The first long connector

53: Right connection component

54: The second short connector

55: The second long connector

56: positioning screw

60: storage shelves

62: storage shelves

64: storage shelves

70: Warehousing System

71: Workpiece pick-and-place device

72: Motor

73: sliding table

74: Rotation axis

75: Lifting platform

76: Gripper

77: Telescopic pillow block

C1: The first combination

C2: The second combination

T: triangular connecting block

Figure 1 is a perspective view of the storage module of the present invention.

Figure 2 is a partial three-dimensional exploded view of the storage module of the present invention.

Fig. 3 is a partial enlarged view of Fig. 2.

Figure 4 is a partial top view of the storage module of the present invention.

FIG. 5 is another perspective view of the storage module of the present invention, which mainly shows that the left connecting component and the right connecting component are two long and two short.

Fig. 6 is another perspective view of the storage module of the present invention, which mainly shows that only the left connecting component is two long and two short.

Fig. 7 is a partial three-dimensional view of the storage shelves of the present invention arranged in a straight line, mainly showing the state of two storage modules connected to each other.

Fig. 8 is a partial three-dimensional view of the storage shelves of the present invention arranged in an arc, mainly showing the state that two storage modules are connected to each other.

Figure 9 is a partial three-dimensional view of the storage shelves of the present invention arranged in a mixed manner, mainly showing the state of two storage modules connected to each other.

Figure 10 is a perspective view of the storage system of the present invention, in which storage shelves are arranged in a straight line.

Fig. 11 is another perspective view of the storage system of the present invention, in which the storage shelves are arranged in an arc shape.

Fig. 12 is another perspective view of the storage system of the present invention, in which the storage shelves are arranged in a straight line and an arc shape.

Fig. 13 is a perspective view of a workpiece pick-and-place device provided by the storage system of the present invention.

The applicant first explains here that throughout the specification, including the following embodiments and claims in the scope of the patent application, the nouns related to directionality are based on the directions in the drawings. Secondly, in the following embodiments and drawings, the same element numbers represent the same or similar elements or their structural features.

Please refer to FIGS. 1 and 2, the storage module 10 of the present invention includes a frame 20, a carrying platform 30, a left connecting component 50, and a right connecting component 53.

The frame 20 has a top frame 21, a bottom frame 23, a left front column 25, a left rear column 26, a right front column 27, and a right rear column 28 made of aluminum extrusion. The bottom frame 23 has the same size as the top frame 21. The left front column 25, the left rear column 26, the right front column 27, and the right rear column 28 are connected by a plurality of triangular connecting blocks T and locked by screws. The four corners of the bottom frame 23 are connected together so that the top frame 21, the bottom frame 23, the left front upright column 25 and the right front upright column 27 surround a reclaiming port 29. In addition, the top frame 21 further has two horizontal connecting members 211 and four pillars 24 arranged at intervals. The four pillars 24 are divided into two groups and are respectively erected on the two horizontal connecting members 211. The top ends of the four pillars 24 are respectively provided with a gasket 33, and the four gaskets 33 jointly support a supporting plate 34. The top surface of the supporting plate 34 has four pockets 35, and each pocket 35 is provided with a guide 39 , The guide member 39 is screwed to make the support plate 34 and the guide member 39 integrated into one body. As shown in FIG. 3, the support plate 34 is provided with an adjusting screw hole 341 and two positioning holes 342 on the periphery of each receiving groove 35, and the adjusting screw hole 341 is located between the two positioning holes 342. The support plate 34 is also provided with four stop screws 343, the top of the stop screws 343 is provided with a hexagonal hole, and the stop screws 343 are provided in each adjustment screw hole. 341 and the bottom end of the stop screw 343 abuts against the washer 33, so as to adjust the inclination angle of the supporting plate 34 and the supporting platform 30 which will be described later. The positioning holes 342 are used to allow screws (not shown in the figure) to pass through, so that the support plate 34 can be locked with the four pillars 24 as a whole.

Please return to FIG. 2, the carrying platform 30 is detachably arranged above the supporting plate 34 to carry the workpiece to be processed. The carrying platform 30 is rectangular, and the four corners of the carrying platform 30 each have an upper countersunk hole 31, each of the upper countersunk holes 31 is embedded with a countersunk screw 32, and each countersunk screw 32 is screwed with a pull bolt 38, The load-bearing platform 30 can be positioned on the support plate 34 through each pull bolt 38. In addition, the front side of the carrying platform 30 is also provided with a first coupling member C1.

In addition, as shown in FIGS. 2 and 4, the left and right ends of the front side of the support plate 34 and the front and rear ends of the left side of the support plate 34 respectively have a screw hole 37. The front side and the left side of the two front pillars 24 Two fixing screws 42 are used to lock a fixing plate 43 on the left side of each pillar 24. Each fixing plate 43 has two perforations 44. Each perforation 44 is penetrated by a horizontal adjustment screw 41, one of which is adjusted horizontally. The screw 41 is screwed to the screw hole 37 of the support plate 34. In this way, when one or more of the horizontal adjustment screws 41 are rotated, the supporting plate 34 can synchronously drive the bearing platform 30 to deflect left and right, so that the horizontal rotation angle of the bearing platform 30 can be fine-tuned to improve the assembly accuracy of the bearing platform 30 .

The left connecting assembly 50 has two aspects in total: the first aspect has four first short connecting pieces 51, as shown in FIG. 1, in which two first short connecting pieces 51 are fixed on the top and bottom of the left front pillar 25 At two ends, the other two first short connecting pieces 51 are fixed at the top and bottom ends of the left rear column 26; the second aspect has two first short connecting pieces 51 and two first long connecting pieces 52, such as As shown in FIG. 5, the two first short connecting members 51 are fixed at the top and bottom ends of the left front column 25, and the two first long connecting members 52 are fixed at the top and bottom ends of the left rear column 26.

The right connecting component 53 has two modes in total: the first mode has four second short connecting pieces 54 as shown in FIG. 1, wherein two second short connecting pieces 54 are fixed on the top and bottom of the right front pillar 27 Two ends, the other two second short connecting pieces 54 are fixed at the top and bottom ends of the right rear column 28; the second aspect has two second short connecting pieces 54 and two second long connecting pieces 55, such as As shown in FIG. 5, two second short connecting members 54 are fixed at the top and bottom ends of the right front pillar 27, and two second long connecting members 55 are fixed at the top and bottom ends of the right rear pillar 28. It should be noted that in this embodiment, the configurations of the first short connecting member 51 and the second short connecting member 54 are completely the same, and the configurations of the first long connecting member 52 and the second long connecting member 55 are also completely the same. identical.

In addition, each first short connecting piece 51 and each second short connecting piece 54 have the same length and can be pivoted together with a set screw 56. Each first long connecting piece 52 and each second long connecting piece 55 have The same length can also be pivoted together with a set screw 56.

From the foregoing, it can be seen that the storage module 10 of the present invention can select different types of left connection components 50 and right connection components 53 to form different types of storage shelves 60. For example, as shown in FIG. 10, the first type of storage shelf 60 includes multiple storage units 12 (here six are taken as an example, but not limited to this), and each storage unit 12 has more than three storage units. The storage modules 10 are arranged in a stacked manner (the uppermost storage module 10 is not provided with a bearing platform 30), and then the first type of left connecting assembly 50 (that is, four The first short connecting piece 51) is pivotally connected to the first type right connecting component 53 (that is, the four second short connecting pieces 54), as shown in FIG. 7, so that the first type storage shelves 60 are arranged in a straight line.

As shown in FIG. 11, the second type of storage shelf 62 includes a plurality of storage units 12 (seven storage units 12 are used here as an example, but not limited to this), and each storage unit 12 has more than three storage units. The storage modules 10 are arranged in a bottom stacking manner (the uppermost storage module 10 is not provided with a bearing platform 30), and then the second type of left connecting assembly 50 (that is, two One first short connecting piece 51 and two first long connecting pieces 52) are pivotally connected to the second right connecting assembly 53 (that is, two second short connecting pieces 54 and two second long connecting pieces 55) , As shown in Fig. 8, the second type of storage shelves 62 are presented in an arc-shaped arrangement.

As shown in Figure 12, the third type of storage rack 64 combines the aforementioned two types of storage racks 60 and 62, that is, it is divided into a first part 14 and a second part 16, and the first part 14 is arranged in a straight line. The second part 16 is arranged in an arc shape. As for the storage module 10 at the junction, the second left connecting assembly 50 (that is, two first short connecting pieces 51 and two first long connecting pieces 52) and The second part 16 is assembled together, and then the first right connecting component 53 (that is, four second short connecting members 54) is used to combine the first part 14 together, as shown in FIG. 9.

On the other hand, the first three storage shelves 60, 62, 64 can be further used with a workpiece pick-and-place device 71 to form a storage system 70. As shown in Figure 13, the workpiece pick-and-place device 71 is a seven-axis robotic arm with a two-axis horizontal rotary joint arm module with a self-propelled axis on the basis of basic four-axis freedom of movement. The workpiece pick-and-place device 71 can be Drive to move or rotate. To put it simply, in addition to driving the sliding table 73 by the motor 72 to enable the overall structure to perform linear displacement, so as to be able to place the workpiece to be processed on the carrier platform 30 in accordance with the linear arrangement direction of the storage units 12, it can also be rotated by the axis 74 makes the overall structure perform a 360-degree rotational movement, so as to match the arc arrangement direction of the storage units 12 to place the workpiece to be processed on the carrying platform 30. In addition, the lifting table 75 allows the gripper 76 to be lifted and lowered according to the different combinations of the storage shelves 60, 62, 64, so as to pick up or place the workpiece to be processed, and finally borrow The telescopic pillow block 77 provides the clamping jaw 76 to move back and forth to take or place the workpiece to be processed. This telescopic pillow block 77 has an elastic replacement function. On the one hand, the length can be expanded according to the needs of the client, and on the other hand, the length can be expanded according to the client's needs. Need to grip workpieces with large changes in shape. In addition, the front end of the telescopic pillow block 77 is also provided with a second coupling member C2, and the second coupling member C2 is a pneumatic clamping device in this embodiment. The second coupling member C2 can be combined with the first coupling member C1 of the bearing platform 30, so that the workpiece pick-and-place device 71 can also be combined with the first coupling member C1 through the second coupling member C2 of the telescopic pillow block 77, and then take and place the load platform 30. Allow the workpiece pick-and-place device 71 to have the function of picking and placing the processed workpiece or the pick-and-place carrier platform 30 at the same time. Since the workpiece pick-and-place device 71 utilizes the feature of double turning radius, it can be folded in and out in a limited space area, thereby enhancing the combination of multiple paths in a narrow space. It should be supplemented here that, since the workpiece pick-and-place device is not the focus of this case, its detailed structure and operating principle will not be repeated here.

In summary, the storage system 70 of the present invention utilizes storage shelves 60, 62, 64 and a multi-axis workpiece pick-and-place device 71 composed of a plurality of storage modules 10 to be used with processing tools such as CNC machine tools. , The storage shelves 60, 62, 64 can be flexibly combined into different shapes such as linear, curved, or a hybrid of linear and curved according to the space requirements of the client, and then the multi-axis workpiece pick-and-place device 71 can be adjusted according to different The processing conditions can be changed to different fixtures, so that different workpieces to be processed can be picked and placed to achieve the effect of unmanned production. Overall, it has a high degree of flexibility and can also improve production efficiency.

10: Storage module

20: frame

21: Top frame

23: bottom frame

25: Left front column

26: Left rear upright

27: Right front column

28: Right rear column

29: Reclaiming port

30: Carrying platform

32: countersunk screw

50: Left connection component

51: The first short connector

53: Right connection component

54: The second short connector

T: triangular connecting block

Claims (17)

A storage module is used to carry at least one workpiece. The storage module includes: a frame; a carrying platform, which is detachably arranged on the frame and carries the at least one workpiece; and a left connecting component is arranged on the The left side of the frame; and a right connecting component, which is arranged on the right side of the frame; wherein, the bottom surface of the bearing platform is provided with a supporting plate, and the four corners of the supporting plate are provided with an adjusting screw hole, each of the adjusting screw A screw is arranged in the hole, a washer is also arranged on the bottom surface of the support plate, and the bottom end of the screw abuts against the washer. The storage module according to claim 1, wherein the frame has a left front column, a left rear column, a right front column and a right rear column; the left connecting component has two first short connecting pieces, the two first The short connecting piece is arranged on the left front upright column and the left rear upright column, the right connecting assembly has two second short connecting pieces, and the two second short connecting pieces are arranged on the right front upright column and the right rear upright column; each of the first short connecting pieces And each of the second short connecting pieces have the same length. The storage module according to claim 1, wherein the frame has a left front upright, a left rear upright, a right front upright and a right rear upright; the left connecting component has a first short connecting piece and a first long Connecting piece, the first short connecting piece is arranged on the left front upright, the first long connecting piece is arranged on the left rear upright, the right connecting component has a second short connecting piece and a second long connecting piece, the second The short connecting piece is arranged on the right front column, the second long connecting piece is arranged on the right rear column; the first short connecting piece and the second short connecting piece have the same length, and the first long connecting piece and the second long connecting piece have the same length. The long connectors have the same length. The storage module according to claim 1, wherein the frame has a left front upright, a left rear upright, a right front upright and a right rear upright; the left connecting component has a first short connecting piece and a first long Connecting piece, the first short connecting piece is arranged on the left front upright, the first long connecting piece is arranged on the left rear upright, the right connecting component has two second short connecting pieces, the two second short connecting pieces are arranged on the The right front column and the right rear column; the first short connecting piece and each of the second short connecting pieces have the same length. The storage module according to any one of claims 1 to 4, wherein the left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate respectively have a screw hole, and each of the screw holes has a screw hole. Connect a horizontal adjustment screw. The left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate are respectively provided with a fixing plate. Each fixing plate has a perforation, and each perforation is controlled by a horizontal adjustment screw. Worn by. A storage rack includes: a plurality of storage units each having a plurality of storage modules as described in any one of claim items 1 to 4, and the storage modules of each storage unit are arranged in a stacking manner up and down, Two adjacent storage units are connected together by a plurality of positioning screws, and each positioning screw is connected to a left connecting component and a right connecting component that are adjacent to each other. The storage rack according to claim 6, wherein the storage units are arranged in a straight line. The storage rack according to claim 6, wherein the storage units are arranged in an arc shape. The storage rack according to claim 6, wherein the storage units are divided into a first part and a second part, the first part is arranged in a straight line, and the second part is arranged in an arc shape. The storage rack according to claim 6, wherein the bottom surface of the load-bearing platform is provided with a supporting plate, and four corners of the supporting plate are respectively provided with an adjusting screw hole, and each adjusting screw hole is provided with a screw, the supporting plate The bottom surface of the screw is also provided with a washer, and the bottom end of the screw abuts against the washer. The storage rack according to claim 10, wherein the left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate respectively have a screw hole, and each of the screw holes is screwed with a level adjustment screw, The left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate are respectively provided with a fixing plate, each of the fixing plates has a perforation, and each of the perforations is penetrated by a horizontal adjustment screw. A storage system, comprising: a storage shelf as described in claim 6; and a workpiece pick-and-place device arranged in front of the pick-up ports, the workpiece pick-and-place device can be driven to move or rotate; wherein, The carrying platforms of the storage modules of each storage unit have a first coupling member, the workpiece pick-and-place device further includes a second coupling member, and the workpiece pick-and-place device combines the second coupling member with the second coupling member. A connecting piece to take and place the carrying platform. The storage system according to claim 12, wherein the storage units are arranged in a straight line, and the workpiece pick-and-place device is displaced along the arrangement direction of the storage units and can move along the storage modules of the storage unit The arrangement direction rises and falls. The storage system according to claim 12, wherein the storage units are arranged in an arc shape, and the workpiece pick-and-place device rotates along the arrangement direction of the storage units and can follow the storage modules of a storage unit The arrangement direction rises and falls. The storage system according to claim 12, wherein the storage units are divided into a first part and a second part, the first part is arranged in a straight line, the second part is arranged in an arc shape, and the workpiece pick-and-place device is along the The arrangement direction of the first part is displaced and can be rotated along the arrangement direction of the second part and can be raised and lowered along the arrangement direction of the storage modules of the storage unit. The storage system according to claim 12, wherein the bottom surface of the carrying platform is provided with a supporting plate, and four corners of the supporting plate are respectively provided with an adjusting screw hole, and each adjusting screw hole is provided with a screw, and the supporting The bottom surface of the board is also provided with a washer, and the bottom end of the screw abuts against the washer. The storage system according to claim 16, wherein the left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate respectively have a screw hole, and each of the screw holes is screwed with a level adjustment screw, The left and right ends of the front side of the support plate and the front and rear ends of the left side of the support plate are respectively provided with a fixing plate, each of the fixing plates has a perforation, and each of the perforations is penetrated by a horizontal adjustment screw.

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