CN108177939B - Material transport system and material transportation method - Google Patents
Material transport system and material transportation method Download PDFInfo
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- CN108177939B CN108177939B CN201711435607.2A CN201711435607A CN108177939B CN 108177939 B CN108177939 B CN 108177939B CN 201711435607 A CN201711435607 A CN 201711435607A CN 108177939 B CN108177939 B CN 108177939B
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- slide unit
- lifting
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- material transportation
- sliding rail
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G35/00—Mechanical conveyors not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/52—Devices for transferring articles or materials between conveyors i.e. discharging or feeding devices
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides a kind of material transport system and material transportation method, material transport system includes material transportation robot and upper and lower transporter, material transportation robot is provided with telescopic platform component, the second slide unit for placing material can be fully extended other than robot body, setting has insertion position between two support bases there are two support base on the lifting platform of upper and lower transporter.Material transportation method includes that material transportation robot obtains material carrier, and the second slide unit stretches out outside main body together with material carrier and protrudes into the first lifting space from integral finish, and the second slide unit is located in insertion position；Lifting platform rises and support base support material carrier and material carrier leave the second slide unit.Material transportation robot is not necessarily to enter the handover that carrier is realized in upper and lower transporter, lifting platform, which is realized, transports multiple material carriers, multiple material carriers enter simultaneously or recycling, the working frequency of material transportation robot, which reduces and transports capacity, to be increased, and transports stable, strong applicability and work efficiency is high.
Description
Technical field
The present invention relates to material transport equipment fields, more particularly to a kind of material transport system and using this kind of material fortune
The material transportation method that defeated system is realized.
Background technique
A kind of existing material transport system includes mutually matched material transportation trolley and upper and lower transporter, is transported up and down
Machine includes the axial transport space that two be set side by side go up and down spaces and are connected between the top in two lifting spaces, often
It is provided with an entrance in front of a lifting space, elevating mechanism is provided in each lifting space, elevating mechanism is sustainable
And lifting transport is carried out to material or charging tray.
The bottom of material transportation trolley is provided with driving wheel and carrying roller, and fixed loading is provided in the main body of trolley
Platform.When carrying out the material handover between trolley and upper and lower transporter, trolley enters liter from the entrance on front side of lifting space
It drops in space, the elevating mechanism gone up and down in space obtains the charging tray for being loaded with material and rises transport；It is small after completing pickup
Vehicle then enters in second lifting space, recycles to unloaded charging tray.
Existing this kind of material conveyor the problem is that, trolley need it is whole enters in transporter up and down, object
The volume of material carrier affects the volume of trolley, and the volume of trolley affects the volume of upper and lower transporter, if the width of trolley is set
The width less than material carrier is set to exchange the smaller size smaller of trolley and upper and lower transporter for, on trolley material put it is unstable
It will lead to the overturning of material, damage material.
Summary of the invention
The first object of the present invention is to provide a kind of volume minimization, transport is stablized, strong applicability and work efficiency is high
Material transport system.
The second object of the present invention is to provide a kind of material transportation side for transporting stable, strong applicability and work efficiency is high
Method.
The material transport system that first invention purpose of the present invention provides includes material transportation robot and upper and lower transporter, object
Expect that transportation robot includes main body and the carrying roller group and driving wheel group that bottom part body is arranged in；Material transportation robot further includes
Telescopic platform component in main body is set, and telescopic platform component is located in interval, and telescopic platform component is slided including the first sliding rail, first
Platform, the second sliding rail and the second slide unit；First sliding rail is horizontally fixed in main body, and the first slide unit is slidably matched with the first sliding rail, the
Two sliding rails are fixed on the first slide unit, and the second slide unit is slidably matched with the second sliding rail, and the first sliding rail and the second sliding rail are mutual
In parallel；Second slide unit can be stretched out in integrally outside main body；Upper and lower transporter includes rack, the lifting device being arranged in rack peace
Moving device, rack include the first lifting space being laterally set side by side and the second lifting space, and first goes up and down space and second liter
A lifting device is provided in drop space, translating device extends the top and the second lifting space in the first lifting space
Between top；The front side setting of rack there are two integral finish, the first lifting space, the second lifting space respectively with an entirety
Open communication；Lifting device includes screw component and the lifting platform that is mounted on screw component, and lifting platform includes being located at lifting platform
Two support bases of both lateral sides have interval between two support bases and form insertion position, are inserted into plane to integral finish；Object
Expect that transportation robot and the docking of upper and lower transporter, the second slide unit protrude into insertion position, and the upper surface of the second slide unit from integral finish
It is movable to the horizontal position where the upper surface of support base or less.
By above scheme as it can be seen that can fully extended the second slide unit in ontology lifting can be integrally extend into from integral finish
At the insertion position of platform, and lifting platform has elevating function, the level between the upper surface of the second slide unit and the upper surface of lifting platform
Positional relationship is adjustable, to realize the handover of material carrier.And transporter is suitable for multiple material carriers of stacking simultaneously up and down
Into and successively rise and transfer, finally the material carrier of all zero loads is recycled together by material transportation robot.Using flexible
Platform component can guarantee the volume minimization of material transportation robot and upper and lower transporter, while guarantee that the transport in transportational process is steady
It is qualitative, and the strong applicability of material transport system and work efficiency is high.
Further embodiment is, rack sets that there are four elastic supporting mechanism, four elasticity on the top in the first lifting space
Supporting mechanism is symmetricly set on the both lateral sides in the first lifting space；Elastic supporting mechanism includes mounting base and swing component, installation
Seat is fixed on the rack, and swing component swing is connected in mounting base, and the swing of swing component is limited by mounting base, swing component and peace
Elastic component is connected between dress seat；Swing component includes supporting surface and guiding surface, and the angle between guiding surface and supporting surface is small
In 90 degree；When mounting base limits swing component, supporting surface is located at horizontality, guiding surface downward, and multiple resilient support machines
The supporting surface of structure is located in the same horizontal position.
Therefore when be located at first lifting space in material carrier reach elastic supporting mechanism at, material carrier with lead
To contact of incline plane and swing component is pushed to swing, after carrier passes through swing component, swing component resets, and one or more carriers then can quilt
Support is on the support surface.
Further embodiment is that lifting platform further includes the first limit block and the second limit block being mounted on support base, the
One limited block is located at the lateral outer side of support base, and in vertical direction, and the upper surface of the first limited block is higher than the upper of support base
Surface, the second limited block are located at the rear side on support base far from integral finish, in vertical direction, the upper surface of the second limited block
Higher than the upper surface of support base.
Therefore first limited block carrier is limited in both lateral sides, the second limited block is in front-rear direction to load
Body is limited, it is ensured that position accuracy of the carrier on lifting platform, to guarantee the crawl accuracy of following translating device.
Further embodiment is that the first elongate slots are provided on the first limited block, and bolt passes through the first elongate slots and is locked at
On support base, the extending direction of the first elongate slots is the transverse direction of lifting device；The second elongate slots, spiral shell are provided on second limited block
Bolt passes through the second elongate slots and is locked on support base, and the extending direction of the second elongate slots is the opening direction of integral finish.
Therefore adjustable the first limit block and the second limit block make upper and lower transporter to various sizes of carrier
Also it can guarantee position accuracy when being transported, guarantee the crawl accuracy of following translating device.
Further embodiment is that upper and lower transporter is equipped with workbench in the upper end of rack, and upper and lower transporter is flat in work
Platform is equipped with catching robot, thermofusion device and apparatus for placing；Catching robot includes truss and is connected to the negative of truss end
Press suction nozzle group；Thermofusion device includes the hot melt seat being slidably connected on workbench and the hot melt head group above hot melt seat；
Multiple placement racks to be taken are provided on apparatus for placing；Negative pressure tip group moves between translating device and hot melt seat, and negative pressure
Suction nozzle group moves in hot melt seat and wait take between placement rack.
Therefore catching robot, thermofusion device and the apparatus for placing of the side of being arranged on the rack are able to achieve to material
Secondary operation.
Further embodiment is that the second slide unit is respectively arranged with front limit mechanism with after in the front side of glide direction and rear side
Position-limit mechanism, rear position-limit mechanism are the limit stock being erected on the second slide unit；It is connected between limit stock and pedestal multiple
Ribs, two ribs are connected to the both lateral sides of limit stock, and a ribs is arranged back to front limit mechanism.
Therefore due to the forward generation inertia of material transportation robot, in the rear of the second slide unit setting limit length
Bar can prevent the multiple charging trays stacked from overturning backward, limit connection reinforcement rib between stock and pedestal and guarantee the strong of limit stock
Degree.
The material transportation method of the offer of second mesh of the invention, transports material using above-mentioned material transport system
Defeated, material transportation method includes that material transportation robot obtains material carrier, and material carrier is placed on the second slide unit；Material fortune
At defeated robot is moved to where transporter up and down；Second slide unit is stretched out outside main body together with material carrier and is protruded into from integral finish
First lifting space, and the second slide unit is located in insertion position；Lifting platform rises, support base support material carrier and material carrier from
Open the second slide unit.
By above scheme as it can be seen that material transportation robot carries material without integrally entering in upper and lower transporter can be realized
The handover of body, and the lifting platform of upper and lower transporter can realize while the transport of multiple material carriers to stacking, multiple objects
Material carrier enters simultaneously or recycles simultaneously, and the working frequency of material transportation robot reduces and each transport capacity increases, fortune
Defeated stabilization, strong applicability and work efficiency is high.
Further embodiment is, further includes second after support base support material carrier and material carrier leave the second slide unit
Slide unit exits the first lifting space；Second slide unit protrudes into the insertion position in the second lifting space from integral finish；Lifting platform decline, the
Two slide unit support material carriers and material carrier leaves support base.
Therefore material recycles, stacking identical into the working principle of upper and lower transporter as material from upper and lower transporter
Multiple material carriers can be transported simultaneously.
Further embodiment is, the second slide unit exits behind the first lifting space the top for bouncing back to main body.
Therefore material transportation robot is moved to the second lifting space handover position from the first lifting space handover position
When, the second slide unit of recycling does not cause to hinder to the movement of trolley, and trolley only needs to carry out transverse shifting.
Further embodiment is that the second slide unit stretches out outside main body together with material carrier and protrudes into the first lifting from integral finish
Space, and the second slide unit is located in insertion position, the first slide unit is slided relative to the first sliding rail and the second slide unit is sliding relative to second
Rail sliding makes outside the fully extended main body of the second slide unit.
Therefore the telescopic platform components containing volume that multilayer is shunk is smaller, while the out reach of the second slide unit obtains
Guarantee.
Detailed description of the invention
Fig. 1 is the structure chart of material transportation robot in material transport system embodiment of the present invention.
Fig. 2 is the structure chart at another visual angle of material transportation robot in material transport system embodiment of the present invention.
Fig. 3 is the structure chart of another working condition of material transportation robot in material transport system embodiment of the present invention.
Fig. 4 is the structure chart of the present invention or more transporter first embodiment.
Fig. 5 is the enlarged drawing in Fig. 4 at A.
Fig. 6 is the structure chart of the present invention or more transporter second embodiment.
Fig. 7 is the structure chart at the present invention or more another visual angle of transporter second embodiment.
Fig. 8 is the enlarged drawing in Fig. 7 at B.
Fig. 9 is the schematic diagram of the first working condition of material transportation embodiment of the method for the present invention.
Figure 10 is the schematic diagram of the second working condition of material transportation embodiment of the method for the present invention.
Specific embodiment
Material transport system embodiment
Referring to Fig. 1, Fig. 4 and Fig. 6, Fig. 1 is the structure chart of material transportation robot in material transport system, and Fig. 4 is material
The structure chart of transporter first embodiment, Fig. 6 are that transporter second is implemented up and down in material transport system up and down in transportation system
The structure chart of example.Material transport system is by material transportation robot 1 and upper and lower transporter 2 or 3 mutual cooperation group of upper and lower transporter
At.
In conjunction with Fig. 1, Fig. 2 and Fig. 3, Fig. 2 and Fig. 3 are the structure chart of 1 different perspectives of material transportation robot.Material transportation
Robot 1 includes main body 11 and carrying roller group 134 and driving wheel group 130 that 11 bottom of main body is arranged in, and driving wheel group 130 includes
It is rotatably connected on the turntable 131 of 11 bottom of main body and two driving wheels independently driven on turntable 131 by motor 133 is set
132.Main body 11 includes pedestal 111, is erected at the two side walls 113 of 111 both lateral sides of pedestal and is connected to two side walls 113
Roof 115 between top has interval between two side walls 113 and forms the placement position for placing material carrier.Material
Transportation robot 1 further includes four support rods 114 being erected on the angle of upper surface 112 4 of pedestal 111, and side wall 113 is in thin
Plate, each side wall 113 are fixedly connected with two support rods 114, and are connected between support rod 114 and the upper surface 112 of pedestal 111
Triangular shape ribs 151 is connected to guarantee mechanical strength.
Material transportation robot 1 further includes telescopic platform component 12, between telescopic platform component 12 is between two side walls 113
In；Telescopic platform component 12 includes the first sliding rail 121, the first slide unit 122, the second sliding rail 123 and the second slide unit 124；First is sliding
Rail 121 is horizontally fixed on the upper surface 112 of pedestal 111, and the first slide unit 122 is slidably matched with the first sliding rail 121, the second sliding rail
123 are fixed on the first slide unit 122, and the second slide unit 124 is slidably matched with the second sliding rail 123, the first sliding rail 121 and second
Sliding rail 123 is parallel to each other.Material transportation robot 1 is equipped with the first conveyer belt component 128, the first conveyer belt group on pedestal 111
The transmission direction of part 128 is parallel with the extending direction of the first sliding rail 121, and the first slide unit 122 is connected to the first conveyer belt component 128
The first conveyer belt on.First slide unit 122 is equipped with the second conveyer belt component 129, the transmission direction of the second conveyer belt component 129
Parallel with the extending direction of the second sliding rail 123, the second slide unit 124 is connected on the second conveyer belt of the second conveyer belt component 129.
Front limit mechanism and rear position-limit mechanism, front limit mechanism and rear limit are provided on the upper surface of second slide unit 124
Mechanism is relatively separately fixed at the front-end and back-end of 124 glide direction of the second slide unit.Front limit mechanism is limited block 141, limit
The upper surface of position 141 the second slide unit of high pressure 124 of block, rear position-limit mechanism is the limit stock 142 being erected on the second slide unit 124,
The ribs of multiple triangular shapes is connected between limit stock 142 and the upper surface 112 of pedestal 111, two ribs 152 connect
In the both lateral sides of limit stock 142, a ribs 153 is arranged back to limited block 141.It is also connected on limit stock 142
A piece adjusting stock 143 adjusts stock 143 and is parallel to the limit setting of stock 142, adjusts bolt and limit 142 screw thread of stock connects
It connects, adjusts after bolt passes through the screw hole for limiting stock 142 and be rotatablely connected with adjusting stock 143.It is horizontally disposed and vertical to adjust bolt
Directly with limit stock 142, therefore twists to adjust bolt and can be realized and adjust stock 143 and limit the distance between stock 142 is adjusted
Section, and then control limited block 141 and adjust the spacing between stock 143, so that the second slide unit 124 is suitable for different a variety of of length
The material carrier of model.
Material carrier is placed on the second slide unit 124, is carrying out transporter 2 up and down or up and down transporter 3 and material transportation
When the material carrier handover of robot 1, the second slide unit 124 is whole stretch out in main body 11 it is outer and enter transporter 2 up and down or on
The handover of material carrier can be completed in lower transporter 3.Since material transportation robot has side wall 113 and pedestal 111, even if the
The width that the width of two slide units 124 is equal to or less than material carrier also can guarantee the stability of transport, while material can be made to transport
Defeated robot and upper and lower transporter all have smaller volume, optimization production site arrangement.
Upper and lower transporter first embodiment
Referring to fig. 4 and Fig. 5, Fig. 4 are the structure chart of upper and lower transporter first embodiment, and Fig. 5 is the enlarged drawing in Fig. 4 at A.
Upper and lower transporter 2 includes rack 21, two lifting devices 22 and translating device 23 being arranged in rack 21；Rack 21 includes cross
To the first lifting space 201 being set side by side and the second lifting space 202, the first lifting space 201 and the second lifting space 202
In be provided with a lifting device 22, translating device 23 extends the top and the second lifting space in the first lifting space 201
Between 202 top；Rack 21 is respectively set whole in the front side in the first lifting space 201 and the front side in the second lifting space 202
Body opening 203 and integral finish 204.
Lifting device 22 includes screw component and the lifting platform 221 being mounted on screw component, and screw component includes driving
Device and the first lifting space 201 or second that is oppositely arranged on for being connected to driving device output end go up and down space 202 lateral two
The vertical screw rod 220 of two of side, lifting platform 221 include the transverse slat 222 being threaded between two vertical screw rod 220 and consolidate
Two support bases 223 of 222 upper end both lateral sides of transverse slat are scheduled on, the upper end of support base 223 is elongated support bar 224, support
Item 224 extends along the opening direction of integral finish 203 or integral finish 204, has interval between two support bases 223 and is formed
It is inserted into position 229, insertion position 229 faces integral finish 203 or integral finish 204.
Lifting platform 221 further includes the first limited block 225 and the second limited block 226 being mounted on support bar 224, and two
One limited block 225 is located at the lateral outer side of support bar 224, and in vertical direction, and the upper surface of the first limited block 225 is higher than branch
The upper surface of stay 224.Second limited block position 226 is after on support bar 224 far from integral finish 203 or integral finish 204
Side, in vertical direction, the upper surface of the second limited block 226 is higher than the upper surface of support bar 224；It is set on first limited block 225
The first elongate slots 227 are equipped with, bolt passes through the first elongate slots 227 and is locked on support bar 224, the extension of the first elongate slots 227
Direction is the transverse direction of lifting device 22；It is provided with the second elongate slots (not shown) on second limited block 226, bolt passes through the
Two elongate slots are locked on support bar 224, and the extending directions of the second elongate slots is opening for integral finish 203 or integral finish 204
Mouth direction.
Rack 21 is set on the top in the first lifting space 201 there are four elastic supporting mechanism 24, four elastic supporting mechanisms
24 are symmetricly set on the both lateral sides in the first lifting space 201；Elastic supporting mechanism 24 includes mounting base 241 and swing component 242,
Mounting base 241 is fixed in rack 21, and the swing of swing component 242 is connected in mounting base 241, and the swing of swing component 242 is by pacifying
It fills seat 241 to limit, is connected with elastic component between swing component 242 and mounting base 241；Swing component 242 include supporting surface 242a with lead
To inclined-plane 242b, the angle between guiding surface 242b and supporting surface 242a is less than 90 degree；Mounting base 241 limits swing component 242
When position, supporting surface 242a is located at horizontality, and supporting surface 242a of guiding surface 242b multiple elastic supporting mechanisms 24 downward
In in the same horizontal position.
Translating device 23 includes horizontal rail 230 and crawl arm, and horizontal rail 230 is horizontally set on the upper end of rack 21,
Crawl arm is slidably matched with horizontal rail 230, crawl arm move in first lifting space 201 with second go up and down space 202 it
Between.Crawl arm includes 231, two horizontal air cylinders 232 of connector and two arms 233, and connector 231 and horizontal rail 230 are sliding
Dynamic cooperation, two horizontal air cylinders 232 are mounted on the both lateral sides of connector 231 over the ground opposite to each other, and two arms 233 are separately mounted to
The output end of one horizontal air cylinder 232, the extending direction of two arms 233 are each perpendicular to the extending direction of horizontal rail, and two
Arm 233 is oppositely arranged and is overhung at the top in the first lifting space 201 and the second lifting space 202.Arm 233 is in horizontal gas
Material carrier can be clamped and be supported under the control of cylinder 232, to realize the sideways transfer of single carrier.
Preferably, arm 233 is equipped with third elongate slots, the extending direction of third elongate slots and the extension side of arm 233
To identical, bolt is locked on the output end of horizontal air cylinder 232 after passing through third elongate slots.The extension elongation of arm 233 can be into
The micro adjustment of row, to adapt to have various sizes of various materials carrier.
Upper and lower transporter second embodiment
Referring to Fig. 6 and Fig. 7, Fig. 6 and Fig. 7 are the structure chart of upper and lower transporter second embodiment different perspectives.Transport up and down
The transport working principle of machine 3 is identical as the transport working principle of upper and lower transporter 2, and the upper end of transporter 3 is additionally provided with up and down
Workbench, to carry out secondary operation to material.Upper and lower transporter 3 includes rack 31 and two liftings being arranged in rack 31
Device 32 and translating device 33 and workbench 34 above two lifting devices 32 are provided with crawl on workbench 34
Manipulator 4, processing unit (plant) 5 and apparatus for placing 6.
Rack 31 includes the first lifting space 301 being laterally set side by side and the second lifting space 302, the first lifting space
301 and second are provided with a lifting device 32 in lifting space 302, rack 31 the first lifting space 301 front side and
Integral finish 303 and integral finish 304 is respectively set in the front side in the second lifting space 302.Lifting device 32 includes screw component
With the lifting platform 321 being mounted on screw component, screw component includes driving device and the phase for being connected to driving device output end
To the two vertical screw rod 320 that the first lifting space 301 or the second lifting 302 both lateral sides of space is arranged in.
Lifting platform 321 includes being threaded in the transverse slat 322 between two vertical screw rod 320 and being fixed on transverse slat 322
The upper end of two support bases 323 of upper end both lateral sides, support base 223 is elongated support bar 324, and support bar 324 is along entirety
The opening direction of opening 303 or integral finish 304 extends, and has interval between two support bases 323 and forms insertion position 329,
It is inserted into position 329 and faces integral finish 303 or integral finish 304.
Translating device 33 includes horizontal rail 330 and crawl arm, and horizontal rail 330 is horizontally set on the upper end of rack 31,
Crawl arm is slidably matched with horizontal rail 330, crawl arm move in first lifting space 301 with second go up and down space 302 it
Between.Crawl arm includes 331, two horizontal air cylinders 332 of connector and two arms 333, and connector 331 and horizontal rail 330 are sliding
Dynamic cooperation, two horizontal air cylinders 332 are relatively mounted on the both lateral sides of connector 331, and two arms 333 are separately mounted to one
The output end of a horizontal air cylinder 332, the extending direction of two arms 333 are each perpendicular to the extending direction of horizontal rail, two arms
Portion 333 is oppositely arranged and is overhung at the top in the first lifting space 301 and the second lifting space 302.Arm 333 is in horizontal air cylinder
Material carrier can be clamped and be supported under 332 control, to realize the sideways transfer of single carrier.
Workbench 34 is equipped with catching robot 4, processing unit (plant) 5 and apparatus for placing 6.Catching robot 4 includes truss
41 and it is connected to the negative pressure tip group 42 of 41 end of truss, the surface of translating device 33, the end of truss 41 is arranged in truss 41
The translation freedoms with X-axis, Y-axis and Z axis are held, negative pressure tip group 42 can translate within the surface of translating device 33.It is negative
Pressure suction nozzle group 42 includes connecting plate 44 and the multiple negative pressure tips 43 being connected to below connecting plate 44, connecting plate 44 and truss 41
End is fixedly connected, and multiple elongate slots 421 are provided on connecting plate 44, and every four elongate slots 421 are arranged in X-type, each negative pressure
Suction nozzle 43 is slidably matched with an elongate slots 421.
Processing unit (plant) 5 includes the processing base 51 that is slidably connected on workbench 34 and above processing base 51
Process pressure head 52, processing pressure head 52 include for moulding cast gate carry out flatten processing pressure head and to planeness of workpiece carry out
The shaping pressure head of processing, processing pressure head 52 may be selected to be pure pressure ram or hot melt pressure head.Transverse direction (the X-axis side of workbench 34
To) two sides are provided with the sliding rail 341 being extended along the Y axis together, processing base 51 is slidably matched with sliding rail 341, and processes pressure head
52 are fixed by the bracket on workbench 34, and processing base 51 can slide into the top of translating device 33 along the y axis.
It is the enlarged drawing in Fig. 7 at B in conjunction with Fig. 8, Fig. 8.Apparatus for placing 6 includes placing bottom plate 60 and setting to place bottom plate
Multiple placement racks 600 to be taken of rectangular array arrangement on 60, place another 341 edge of road sliding rail of bottom plate 60 and workbench 34
X axis is slidably matched, and multiple placement racks 600 to be taken are slidably to the top of translating device, multiple placement racks 600 to be taken and placement
Bottom plate 60 is slidably matched along Y-axis, and the sliding of placement rack to be taken 600 is driven by lead screw device.Placement rack 600 to be taken includes L-type
Fixation wall 61, L-type removable wall 62 and positioning cylinder 63, fixation wall 61, which is fixed on, places on bottom plate 60, the elasticity of removable wall 62
It is slidably connected on placing bottom plate 60, positioning cylinder 63, which is horizontally set on, to be placed on bottom plate 60.The output end of positioning cylinder 63
64 can abut and push removable wall 62, to make the set to be picked and placed 65 of 62 groups of squarelys of fixation wall 61 and removable wall.
Negative pressure tip group 42 moves between translating device 33 and processing base 52, and negative pressure tip group 42 move in
Between processing base 52 and placement rack to be taken 65.Upper and lower transporter 3 enters or takes simultaneously in addition to multiple carriers of stacking can be achieved
Out, the catching robot, processing unit (plant) and apparatus for placing for the side of being arranged on the rack also are able to achieve the secondary operation to material.When
For material carrier from the first lifting space 301 after lifting device 32 is transported to translating device 33, truss 41 drives negative pressure tip
Material in 42 pairs of carriers of group adsorbs, and the subsequent sliding of processing base 52 extend out to 32 top of translating device, negative pressure tip group
42 are placed into material on processing base 52, and material, which can then enter, carries out cast gate processing or Shape correction in processing unit (plant) 5.Processing
After the completion of device 5 works, material is sent to 33 top of translating device by processing base 52 again, then is transferred to by negative pressure tip group 42
It is moved on the placement rack to be taken 600 of 33 top of translating device.
Material transportation embodiment of the method
In conjunction with Fig. 1, Fig. 3, Fig. 4, Fig. 9 and Figure 10, Fig. 9 is the first working condition of material transportation embodiment of the method for the present invention
Schematic diagram.Figure 10 is the schematic diagram of the second working condition of material transportation embodiment of the method for the present invention.Object provided by the invention
Expect that transportation resources is realized based on above-mentioned material transport system, material transport system includes material transportation robot 1 and transport up and down
Machine, since upper and lower transporter 2 and upper and lower transporter 3(Fig. 6 show) material transition principle it is identical, the present embodiment to transport up and down
Defeated machine 2 illustrates.Material transportation robot 1 obtains material carrier 1000 first, and material carrier 1000 can be single
It can make multiple material carriers of stacking, material carrier 1000 is placed on the second slide unit 124, and telescopic platform component 12 is at this time
Retracted state, the second slide unit 124 are located in main body 11, and the front and back side of material carrier 1000 by limited block 141 and is adjusted respectively
Stock 143 limits, and the both lateral sides of material carrier 1000 are limited by one of side wall 113 respectively, therefore the material in travel position carries
Body 1000 is securely placed on the second slide unit 124.
Material transportation robot 1 is then moved to where transporter 2 up and down after obtaining material carrier 1000, is prepared and upper and lower
Transporter 2 is joined.After material transportation robot 1 reaches at 2 place of transporter up and down, before material transportation robot 1
Side is directed at the integral finish 203 on transporter 2 up and down, and subsequent telescopic platform component 12 works, and the first slide unit 122 is sliding relative to first
The sliding of rail 121 and the second slide unit 124 is slided relative to the second sliding rail 123, outside the fully extended main body of the second slide unit 124, subsequent the
Two slide units 124 are stretched out outside main body 11 together with material carrier 1000 and are protruded into the first lifting space 201 from integral finish 203, this
When the second slide unit 124 be located in insertion position 229 and material carrier 1000 is still supported in the upper surface 124a of the second slide unit 124
On, and still have certain distance between the upper surface 221a of lifting platform 221 and material carrier 1000.
Then the lifting platform 221 of transporter 2 starts and rises up and down.After lifting platform 221 rises certain distance, lifting platform
221 upper surface 221a is abutted with material carrier 1000；Lifting platform 221 continues after rising certain distance, the support of lifting platform 221
223 support material carriers 1000 of seat and material carrier 1000 leave the upper surface 124a of the second slide unit 124.
Subsequent second slide unit 124 retracts in main body 11 from insertion position 229, and lifting platform 221 continues to rise to material
Carrier 1000 continues up transport.When material carrier 1000 reaches at elastic supporting mechanism 24, material carrier 1000 and guiding are oblique
Face 242b is contacted and swing component 242 is pushed to swing, and after material carrier 1000 passes through swing component 242, swing component 242 resets, object
Material carrier 1000 can be then supported on multiple supporting surface 242a of multiple elastic supporting mechanisms 24.
After the material on material carrier 1000 is removed, unloaded material carrier 1000 is by translating device 23 from first liter
Drop space 201 is transferred in the second lifting space 202, if material transportation robot 1 receives recovery command, material transportation machine
People 1 is then moved on the cooperation position for going up and down space 202 with second.Since the second slide unit 124 has been positioned in main body 11 at this time,
The cooperation position that upper and lower transporter 2 only needs transverse shifting i.e. reachable with the second lifting space 202.
Subsequent second slide unit 124 is from the insertion position 229 that integral finish 204 protrudes into the second lifting space 202, material at this time
Carrier 1000 is supported on the upper surface 221a of 221 upper support seat 223 of lifting platform, and lifting platform 221 declines, the second slide unit 124
Support material carrier 1000 and material carrier 1000 leave upper surface 221a, and the second last slide unit 124 bounces back in main body 11 i.e.
Complete the recycling to unloaded material carrier 1000.
Material transportation robot 1 enters in upper and lower transporter 2 without entirety can be realized the handover of material carrier 1000,
And the lifting platform 221 of upper and lower transporter 2 can realize while the transport of multiple material carriers to stacking, multiple material carriers
1000 enter simultaneously or recycle simultaneously, and the working frequency of material transportation robot 1 reduces and each transport capacity increases, transport
Stablize, strong applicability and work efficiency is high.
Finally it is emphasized that the above description is only a preferred embodiment of the present invention, it is not intended to restrict the invention, it is right
For those skilled in the art, the present invention can have various change and change, all within the spirits and principles of the present invention,
Any modification, equivalent substitution, improvement and etc. done, should all be included in the protection scope of the present invention.
Claims (10)
1. material transport system, including material transportation robot and upper and lower transporter, it is characterised in that:
The material transportation robot includes main body and the carrying roller group and driving wheel group that the bottom part body is arranged in；
The material transportation robot further includes the telescopic platform component of setting on the body, and the main body includes pedestal and erects
The two side walls in the pedestal both lateral sides are found, the telescopic platform component is located in the main body between two side walls
In interval；
The telescopic platform component includes the first sliding rail, the first slide unit, the second sliding rail and the second slide unit, and the first sliding rail level is solid
Fixed first slide unit is slidably matched with first sliding rail on the body, and second sliding rail is fixed at described
On first slide unit, second slide unit is slidably matched with second sliding rail, and first sliding rail and second sliding rail are mutual
In parallel；Second slide unit can integrally stretch out in outside the main body；
The transporter up and down includes rack, the lifting device and translating device that are arranged in the rack, and the rack includes
The the first lifting space and the second lifting space being laterally set side by side, the first lifting space and described second is gone up and down in space
It is provided with the lifting device, the translating device extends the top that described first goes up and down space and described second liter
Between the top for dropping space；
The front side setting of the rack there are two integral finish, first lifting space, second lifting space respectively with
One integral finish connection；
The lifting device includes screw component and the lifting platform that is mounted on the screw component, and the lifting platform includes being located at
Two support bases of the lifting platform both lateral sides have interval between two support bases, and the interval, which is formed, is inserted into position,
The insertion plane is to the integral finish；
The material transportation robot and the transporter docking up and down, second slide unit protrude into described from the integral finish
It is inserted into position, and the upper surface of second slide unit is movable to the horizontal position where the upper surface of the support base or less.
2. material transport system according to claim 1, it is characterised in that:
The rack is set on the top in first lifting space there are four elastic supporting mechanism, four elastic supporting mechanisms
It is symmetricly set on the both lateral sides in first lifting space；
The elastic supporting mechanism includes mounting base and swing component, and the mounting base is fixed on the rack, and the swing component is swung
It is connected in the mounting base, and the swing of the swing component is limited by the mounting base, the swing component and the mounting base
Between be connected with elastic component；
The swing component includes supporting surface and guiding surface, and the angle between the guiding surface and the supporting surface is less than 90
Degree；
When the mounting base limits the swing component, the supporting surface is located at horizontality, the guiding surface downward, and four
The supporting surface of a elastic supporting mechanism is located in the same horizontal position.
3. material transport system according to claim 2, it is characterised in that:
The lifting platform further includes the first limit block and the second limit block being mounted on the support base, first limited block
Positioned at the lateral outer side of the support base, and in vertical direction, the upper surface of first limited block is higher than the support base
Upper surface, second limited block be located on the support base far from the integral finish rear side, in vertical direction, institute
The upper surface for stating the second limited block is higher than the upper surface of the support base.
4. material transport system according to claim 3, it is characterised in that:
The first elongate slots are provided on first limited block, bolt passes through first elongate slots and is locked at the support base
On, the first elongate slots being laterally extended along the lifting device；
The second elongate slots are provided on second limited block, bolt passes through second elongate slots and is locked at the support base
On, second elongate slots extend along the opening direction of the integral finish.
5. material transport system according to any one of claims 1 to 4, it is characterised in that:
The transporter up and down is equipped with workbench in the upper end of the rack, and the transporter up and down is on the working platform
Equipped with catching robot, processing unit (plant) and apparatus for placing；
The catching robot includes truss and the negative pressure tip group for being connected to the truss end；
The processing unit (plant) includes the processing base being slidably connected on the working platform and is located above the processing base
Processing pressure head；
Multiple placement racks to be taken are provided on the apparatus for placing；
The negative pressure tip group moves between the translating device and the processing base, and the negative pressure tip group is removable
It moves in the processing base and described wait take between placement rack.
6. material transport system according to any one of claims 1 to 4, it is characterised in that:
Second slide unit is respectively arranged with front limit mechanism and rear position-limit mechanism in the front side of glide direction and rear side, after described
Position-limit mechanism is the limit stock being erected on second slide unit；
Multiple ribs are connected between the limit stock and the pedestal, two ribs are connected to the limit length
The both lateral sides of bar, a ribs are arranged back to the front limit mechanism.
7. material transportation method, it is characterised in that:
The material transportation method transports material using the described in any item material transport systems of the claims 1 to 6
Defeated, the material transportation method includes:
The material transportation robot obtains material carrier, and the material carrier is placed on second slide unit；
At the material transportation robot is moved to where the transporter up and down；
Second slide unit stretches out outside the main body together with the material carrier and protrudes into described first liter from the integral finish
Space drops, and second slide unit is located in the insertion position；
The lifting platform rises, material carrier described in the support base support and material carrier leaves second slide unit.
8. material transportation method according to claim 7, it is characterised in that:
After material carrier described in the support base support and the material carrier leave second slide unit, further includes:
Second slide unit exits first lifting space；
Second slide unit protrudes into the insertion position in second lifting space from the integral finish；
Lifting platform decline, material carrier and the material carrier described in the second slide unit support leave the support base.
9. material transportation method according to claim 8, it is characterised in that:
Second slide unit bounces back to the top of the main body after exiting first lifting space.
10. material transportation method according to any one of claims 7 to 9, it is characterised in that:
Second slide unit stretches out outside the main body together with the material carrier and protrudes into described first liter from the integral finish
Space drops, and second slide unit is located in the insertion position, first slide unit is slided relative to first sliding rail and institute
State the second slide unit makes outside the fully extended main body of second slide unit relative to second sliding rail sliding.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711435607.2A CN108177939B (en) | 2017-12-26 | 2017-12-26 | Material transport system and material transportation method |
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| CN201711435607.2A CN108177939B (en) | 2017-12-26 | 2017-12-26 | Material transport system and material transportation method |
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| CN108177939B true CN108177939B (en) | 2019-10-18 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108776235A (en) * | 2018-07-27 | 2018-11-09 | 山东见微生物科技有限公司 | Microscope carrier transport establishment and sample processing device |
| CN110356860A (en) * | 2019-08-05 | 2019-10-22 | 珠海创智科技有限公司 | Material disc folded disassemble a machine people, material disc stacking method and material disc method for splitting |
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| CN108177939A (en) | 2018-06-19 |
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