CN110182502B

CN110182502B - Automatic material grabbing device for material handling equipment and handling method

Info

Publication number: CN110182502B
Application number: CN201910378426.3A
Authority: CN
Inventors: 张亚南
Original assignee: Fuzhou Xingchuang Yunda New Material Technology Co ltd
Current assignee: FAW logistics (Chengdu) Co.,Ltd.
Priority date: 2019-05-08
Filing date: 2019-05-08
Publication date: 2020-11-06
Anticipated expiration: 2039-05-08
Also published as: CN110182502A

Abstract

The invention discloses an automatic material grabbing device for material handling equipment, which comprises a material grabbing mechanism, wherein the material grabbing mechanism comprises an operation guide rail, a rotating mechanism and a multifunctional clamping jaw; the multifunctional clamping jaw slides along the operation guide rail, and the operation guide rail is arranged on the rotating mechanism; the conveying device comprises a loading space, and a plurality of balls are arranged on the bottom surface of the loading space; the conveying mechanism comprises a conveying roller and a settling platform, the conveying roller is arranged above the loading space, the settling platform moves up and down along the loading space in the vertical direction, and the blanking position of the multifunctional clamp claw corresponds to the starting end of the conveying line of the conveying roller; the material arranging mechanism comprises a plurality of material flattening push plates; the discharge port comprises a discharge bin, and the carrying method comprises the following steps: s100, material grabbing; s200, discharging; s300, transporting; s400, charging; s500, material arrangement; s600, blanking, the material can be accurately grabbed, transported and stacked, and the carrying efficiency is improved.

Description

Automatic material grabbing device for material handling equipment and handling method

Technical Field

The invention relates to the field of storage and transportation, in particular to an automatic material grabbing device and a material grabbing method for material handling equipment.

Background

Due to the improvement of the automation degree of industrial production, the enlargement of production scale and the great influence of material handling cost on profit in the production process, enterprises are promoted to increasingly adopt large-scale, efficient and automatic material handling machines in production. With the increasing competitive power of material handling equipment manufacturing enterprises in China in the international market and the market demand of the developing national economic construction for continuous and stable development, the overall demand of the world market for material handling machines in China will increase continuously. Material handling refers to the lifting, moving and placing of materials to produce time and place utility, i.e., the storage of materials and the management of short-distance movement. Stated another way, material handling is to provide the correct amount of the correct material in the correct place, at the correct time, in the correct place, in the correct order, at the correct cost, using the correct methodology, under the appropriate conditions. Simply, it is known to use various power and handling machines to transport materials, such as, for example, materials, from and to designated locations in a timely, safe, and economical manner. The carrying equipment of material is last generally to be equipped with automatic or semi-automatic material device of grabbing to the realization is grabbed the accuracy of material, improves the efficiency of transport material.

For example, patent application No. 201510608436.3, entitled invention of an automatic material gripping device:

the lifting mechanism is driven by a lifting cylinder and is vertically provided with a pull rod; a mechanical claw mechanism which is fixed with the pull rod and synchronously ascends and descends along with the pull rod, and a rotating mechanism which is driven by a cylinder and realizes rotation by a gear set. The automatic product conveying device has the advantages that the position of a product is transferred through the lifting mechanism, the rotating mechanism, the mechanical claw mechanism and the control system, the structure is simple and practical, the automation degree is high, and the production efficiency is improved.

However, the existing automatic material grabbing device has the following defects:

(1) the existing automatic material grabbing device can only adjust local direction generally, but does not have the direction adjusting function of grabbing materials in all directions, so that the working efficiency is not improved;

(2) generally, the material grabbing mechanism grabs and conveys materials and then randomly places the materials on a carrying device, the materials are placed in a mess, and are easy to collide and damage with each other, so that the space among the materials is not utilized, the limited carrying space is saved, and the carrying times are reduced;

(3) carrying materials of different nature usually requires matching different clamping jaws, changing the clamping jaw is time consuming and laborious.

Disclosure of Invention

In order to overcome the defects of the prior art, the invention provides an automatic material grabbing device and a material handling method for material handling equipment, which can effectively solve the problems in the background art.

The technical scheme adopted by the invention for solving the technical problems is as follows:

an automatic material grabbing device for material handling equipment comprises

The material grabbing mechanism comprises a running guide rail, a rotating mechanism and a multifunctional clamping jaw; the multifunctional clamping jaw slides along the operation guide rail, and the operation guide rail is arranged on the rotating mechanism and rotates along with the rotating mechanism;

the conveying device comprises a loading space which is formed by surrounding four walls and a bottom surface of the conveying device, and a plurality of balls which are convenient for materials to slide on the loading space are arranged on the bottom surface of the loading space;

the transportation mechanism comprises a transportation roller and a sedimentation platform positioned at the tail end of a conveying line of the transportation roller, the transportation roller is arranged above the loading space, the sedimentation platform moves up and down along the loading space in the vertical direction, and the blanking position of the multifunctional clamping jaw corresponds to the starting end of the conveying line of the transportation roller;

the material arranging mechanism comprises a plurality of material flattening push plates which are arranged on the side wall of the interior of the carrying device and have different horizontal heights;

and the discharge port comprises a discharge bin which is positioned in the loading space and is close to the lower part of the initial end of the conveying line of the conveying mechanism.

Furthermore, the operation guide rails comprise an X-axis operation guide rail, a Y-axis operation guide rail and a Z-axis operation guide rail, the Y-axis operation guide rail is slidably mounted on the X-axis operation guide rail, the Z-axis operation guide rail is slidably mounted on the Y-axis operation guide rail, and the multifunctional clamping jaw is movably mounted on the Z-axis operation guide rail.

Further, multi-functional clamping jaw includes clamping jaw mount pad, revolving cylinder and clamping jaw, revolving cylinder fixed mounting be in on the clamping jaw mount pad, the last rotary platform that installs of revolving cylinder, the clamping jaw is installed rotary platform is last.

Further, the clamping jaw comprises a mechanical clamping jaw for mechanically clamping the material, an adsorption clamping jaw for adsorbing the material and a hook-shaped clamping jaw for hooking the material.

Furthermore, the transportation roller comprises a transportation supporting platform and a roller, the starting end of the transportation line of the transportation supporting platform inclines towards the tail end of the transportation line, a plurality of roller shaft grooves are arrayed on the transportation supporting platform, and the roller is movably arranged on the roller shaft grooves.

Furthermore, a weight sensor used for sensing the existence of the materials on the settling platform is arranged on the settling platform.

Furthermore, an accommodating groove for accommodating the descending sedimentation platform is formed in the bottom surface of the loading space, and a photosensitive sensor for sensing that the sedimentation platform descends to the bottom end is arranged in the accommodating groove.

Furthermore, the material flattening push plate comprises an X-axis push plate and a Y-axis push plate, the X-axis push plate is used for pushing the materials on the sinking platform far away from one end of the sinking platform, and the Y-axis push plate is used for pushing the materials in the front-back direction.

Further, an on-off blocking plate is arranged at a bin opening of the discharging bin and is used for controlling the connection and disconnection between the discharging bin and the loading space.

A method of handling an automated material handling apparatus for material handling equipment, comprising the steps of:

s100, material grabbing: the clamping jaw moves to a material stacking position through translation and rotation to grab the material;

s200, unloading: the clamping jaws place the grabbed materials at the starting end of a conveying line of the conveying mechanism;

s300, transportation: the materials are conveyed to a settling platform at the tail end of a conveying line of the conveying mechanism through the inclined and rolling conveying rollers;

s400, charging: the materials are sunk into the loading space through the settling platform;

s500, material arrangement: the material flattening push plate pushes and stacks materials orderly;

s600, blanking: and pushing the material to the discharge hole to finish blanking.

Compared with the prior art, the invention has the beneficial effects that:

(1) the material grabbing mechanism has a three-dimensional and all-directional adjusting function, and can accurately grab and place materials in a specified place on the carrying device;

(2) the conveying mechanism and the material arranging mechanism sequentially convey materials placed on a conveying line to the conveying device, push and arrange the materials, avoid mutual collision and damage, facilitate the utilization of space among the materials, save limited conveying space and reduce conveying times;

(3) the multifunctional clamping jaw is provided with a plurality of clamping jaws suitable for materials with different properties, and the corresponding clamping jaws are required to be rotated to the direction facing the materials.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic side view of the present invention;

FIG. 3 is a schematic top view of the present invention with the transport mechanism removed;

FIG. 4 is an enlarged schematic view of A of FIG. 1 according to the present invention;

FIG. 5 is a schematic structural view of the transport mechanism of the present invention;

fig. 6 is a flow chart of a conveying method according to the present invention.

Reference numbers in the figures:

1-a material grabbing mechanism; 11-running rails; 111-X axis running rails; 112-Y axis running guide rails; 113-Z axis running rails; 12-a rotation mechanism; 13-a multi-functional jaw; 131-a jaw mount; 132-a rotary cylinder; 133-a jaw; 1331-a mechanical jaw; 1332-an adsorption jaw; 1333-hook-shaped jaws; 134-a rotating platform;

2-a handling device; 21-a loading space; 22-a ball bearing; 23-a holding tank; 24-a light sensitive sensor;

3-a transport mechanism; 31-transport rollers; 311-a transport support platform; 312-a drum; 313-roller shaft groove; 32-a settling platform; 33-weight sensor;

4-a material arranging mechanism; 41-flattening push plate; 411-X axis push plate; a 412-Y axis push plate;

5-a discharge hole; 51-a discharge bin; 52-on/off blocking plate.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

As shown in fig. 1 to 5, the present invention provides an automatic material grabbing device for material handling equipment, which includes a material grabbing mechanism 1, wherein the material grabbing mechanism 1 includes a running guide rail 11 providing three-dimensional motion, a rotating mechanism 12, and a multifunctional clamping jaw 13 providing different material grabbing modes for different materials. The multi-function jaw 13 slides along the running rail 11, and the running rail 11 is mounted on the swivel mechanism 12 and rotates with the swivel mechanism 12.

The carrying device 2 comprises a loading space 21 which is formed by four walls and a bottom surface of the carrying device 2 in a surrounding mode and used for bearing materials, a plurality of balls 22 which are convenient for the materials to slide on the loading space 21 are arranged on the bottom surface of the loading space 21, and the balls 22 reduce friction force of the materials sliding on the bottom surface of the loading space 21.

The transportation mechanism 3, the transportation mechanism 3 includes transportation roller 31 and the settlement platform 32 that is located the transfer chain end of transportation roller 31, and transportation roller 31 sets up in the top of loading space 21, and the settlement platform 32 moves up and down in the vertical direction along loading space 21, and the unloading position of multi-functional clamping jaw 13 corresponds the initiating terminal of the transfer chain of transportation roller 31. Explained further, the multi-functional jaws 13 grab the material onto the transport rollers 31, the material being transported from the transport rollers 31 upstream of the transport line to the transport line downstream and being sunk into the loading space 21 via the settling platform 32.

The material distributing mechanism 4, the material distributing mechanism 4 includes several material distributing push boards 41 installed inside the conveying device 2. The materials entering the loading space 21 are pushed and stacked to the other end of the loading space 21 through the material leveling push plate 41, and the space is effectively utilized.

And the discharge port 5, the discharge port 5 comprises a discharge bin 51 which is positioned below the loading space 21 close to the starting end of the conveying line of the conveying mechanism 3. When the material is discharged after the material is conveyed, the material is firstly fed into the discharging bin 51, and the layer-by-layer ordered discharging is realized.

In order to enable the multifunctional clamping jaw 13 to move in all directions to grab materials, the operation guide rail 11 comprises an X-axis operation guide rail 111, a Y-axis operation guide rail 112 and a Z-axis operation guide rail 113, the Y-axis operation guide rail 112 is slidably mounted on the X-axis operation guide rail 111, the Z-axis operation guide rail 113 is slidably mounted on the Y-axis operation guide rail 112, and the multifunctional clamping jaw 13 is movably mounted on the Z-axis operation guide rail 113. And the multifunctional clamping jaw 13 can realize three-dimensional operation and material grabbing at various angles by adding the rotating mechanism 12 positioned below the operation guide rail 11. Preferably, the multi-functional jaws 13 may be one or more working simultaneously for improved efficiency.

The multifunctional clamping jaw 13 comprises a clamping jaw mounting seat 131, a rotary air cylinder 132 and a clamping jaw 133, wherein the rotary air cylinder 132 is fixedly mounted on the clamping jaw mounting seat 131, a rotary platform 134 is mounted on the rotary air cylinder 132, and the clamping jaw 133 is mounted on the rotary platform 134. The clamping jaw 133 rotates with the rotary platform 134 under the action of the rotary cylinder 132. In order to make the multi-functional gripping jaw 13 suitable for gripping of a number of different types of material, such as containers, plates, bulk material, etc. The clamping jaws 133 comprise a mechanical clamping jaw 1331 for mechanically clamping the material, an adsorption clamping jaw 1332 for adsorbing the material and a hook-shaped clamping jaw 1333 for hooking the material. The rotary cylinder 132 is rotated to replace the corresponding jaw 13 to be used.

In order to transport the materials on the transporting mechanism 3 under the action of self gravity without external force, the transporting roller 31 comprises a transporting supporting platform 311 and a roller 312, and the starting end of the transporting line of the transporting supporting platform 311 inclines towards the tail end of the transporting line, so that the materials can be conveniently transported under the action of gravity. Rolling down the rollers 312 on the transport support platform 311. A plurality of roller shaft grooves 313 are arrayed on the transportation supporting platform 311, and the rollers 312 are movably arranged on the roller shaft grooves 313.

Meanwhile, in order to enable the materials transported to the end of the transport line of the transport mechanism 3 to be automatically sensed by the settling platform 32, thereby triggering the settling platform 32 to do a settling motion, a weight sensor 33 for sensing the existence of the materials on the settling platform 32 is installed on the settling platform 32.

In order to enable the loading space 21 to automatically sense that the material on the descending sedimentation platform 32 sinks to the bottom end, the material arranging and stacking mechanism 4 is triggered. The bottom surface of the loading space 21 is provided with an accommodating groove 23 for accommodating the descending sedimentation platform 32, and the accommodating groove 23 is internally provided with a photosensitive sensor 24 for sensing the descending of the sedimentation platform 32 to the bottom end.

In order to enable the material arranging mechanism 4 to push and arrange the materials from all directions, the material leveling push plate 41 includes an X-axis push plate 411 for pushing the materials on the sinking platform 32 to the end far away from the sinking platform 32 and a Y-axis push plate 412 for pushing the materials in the front-back direction. The materials can be pushed in the same plane. Preferably, when the loading space 21 in the lower level is fully stacked, the final position of the sinking after the settling platform 32 will be above the bottom material, and the stacking and pushing of the second layer of material is started, which effectively saves the space in each layer of the loading space 21.

In order to enable the materials after the conveying is finished to be orderly discharged by the multifunctional clamping jaw 13, the opening of the discharging bin 51 is provided with an on-off blocking plate 52, and the on-off blocking plate 52 is configured to control the connection and disconnection between the discharging bin 51 and the loading space 21. The material in the discharging bin 51 is discharged in batches.

As shown in fig. 6, as a preferred embodiment: a method of handling an automated material handling apparatus for material handling equipment, comprising the steps of:

s100, material grabbing: the clamping jaw 133 moves to a material stacking position through translation and rotation to grab the material; the material passes through the X-axis running guide rail 111, the Y-axis running guide rail 112 and the Z-axis running guide rail 113 to realize three-dimensional motion, and the material is grabbed more conveniently and quickly under the action of the rotating mechanism 12.

S200, unloading: the clamping jaw 133 places the grabbed materials at the starting end of the conveying line of the conveying mechanism 3;

s300, transportation: the materials are transported to a settling platform 32 at the tail end of a transport line of the transport mechanism 3 through the transport rollers 31 which roll obliquely; the speed of the material sliding downwards can be controlled by adjusting the inclination angle of the transportation supporting platform 311.

S400, charging: the material sinks into the loading space 21 through the settling platform 32; after the lower layer of material is fully stacked, the settling platform 32 sinks to the upper layer of the stacked material, so that the upper layer of material is conveniently stacked.

S500, material arrangement: the material flattening push plate 41 pushes and stacks materials orderly; the X-axis push plate 411 pushes the material to one side of the loading space 21, and the rear Y-axis push plate 412 pushes the material to one corner of the loading space 21 where the material is located.

S600, blanking: the material is pushed to a discharge port 5 to finish blanking; opening the on-off blocking plate 52, pushing the material near the discharge port 5 to the discharge bin 51 by the X-axis pushing plate 411, then closing the on-off blocking plate 52, unloading the material in the discharge bin 51 by the multifunctional clamping jaw 13, opening the on-off blocking plate 52 … … again, and repeating the steps until the material in the loading space 21 is unloaded.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides an automatic material device of grabbing for material handling equipment which characterized in that: comprises that

The material grabbing mechanism (1) comprises an operation guide rail (11), a rotating mechanism (12) and a multifunctional clamping jaw (13); the multifunctional clamping jaw (13) slides along the running guide rail (11), and the running guide rail (11) is installed on the rotating mechanism (12) and rotates along with the rotating mechanism (12);

the conveying device (2) comprises a loading space (21) enclosed by four walls and a bottom surface of the conveying device (2), and a plurality of balls (22) which are convenient for materials to slide on the loading space (21) are arranged on the bottom surface of the loading space;

the conveying mechanism (3) comprises a conveying roller (31) and a settling platform (32) located at the tail end of a conveying line of the conveying roller (31), the conveying roller (31) is arranged above the loading space (21), the settling platform (32) moves up and down in the vertical direction along the loading space (21), and the discharging position of the multifunctional clamping jaw (13) corresponds to the starting end of the conveying line of the conveying roller (31);

the material arranging mechanism (4) comprises a plurality of material arranging push plates (41) which are arranged on the inner side wall of the carrying device (2) at different horizontal heights;

discharge gate (5), discharge gate (5) are including being located loading space (21) are close to discharge hopper (51) of transport mechanism (3) transfer chain initiating end below.

2. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: the operation guide rail (11) comprises an X-axis operation guide rail (111), a Y-axis operation guide rail (112) and a Z-axis operation guide rail (113), the Y-axis operation guide rail (112) is installed on the X-axis operation guide rail (111) in a sliding mode, the Z-axis operation guide rail (113) is installed on the Y-axis operation guide rail (112) in a sliding mode, and the multifunctional clamping jaw (13) is movably installed on the Z-axis operation guide rail (113).

3. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: multifunctional clamping jaw (13) are including clamping jaw mount pad (131), revolving cylinder (132) and clamping jaw (133), revolving cylinder (132) fixed mounting be in on clamping jaw mount pad (131), install rotary platform (134) on revolving cylinder (132), clamping jaw (133) are installed on rotary platform (134).

4. An automatic material grabbing device for material handling equipment according to claim 3, characterized in that: the clamping jaw (133) comprises a mechanical clamping jaw (1331) for mechanically clamping the material, an adsorption clamping jaw (1332) for adsorbing the material and a hook-shaped clamping jaw (1333) for hooking the material.

5. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: the conveying roller (31) comprises a conveying supporting platform (311) and a roller (312), the starting end of a conveying line of the conveying supporting platform (311) inclines towards the tail end of the conveying line, a plurality of roller shaft grooves (313) are arrayed on the conveying supporting platform (311), and the roller (312) is movably mounted on the roller shaft grooves (313).

6. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: and a weight sensor (33) for sensing the existence of the materials on the settling platform (32) is arranged on the settling platform (32).

7. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: an accommodating groove (23) for accommodating the descending sedimentation platform (32) is formed in the bottom surface of the loading space (21), and a photosensitive sensor (24) for sensing that the sedimentation platform (32) descends to the bottom end is arranged in the accommodating groove (23).

8. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: the material leveling push plate (41) comprises an X-axis push plate (411) used for pushing materials on the sinking platform (32) to one end far away from the sinking platform (32) and a Y-axis push plate (412) used for pushing the materials in the front-back direction.

9. An automatic material grabbing device for material handling equipment according to claim 1, characterized in that: the opening of the discharging bin (51) is provided with an on-off blocking plate (52), and the on-off blocking plate (52) is configured to control communication and disconnection between the discharging bin (51) and the loading space (21).

10. A method of handling an automated material handling apparatus for material handling equipment according to any one of claims 1 to 9, characterised in that: the method comprises the following steps:

s100, material grabbing: the multifunctional clamping jaw (13) moves to a material stacking position through translation and rotation to grab materials;

s200, unloading: the multifunctional clamping jaw (13) places the grabbed materials at the starting end of a conveying line of the conveying mechanism (3);

s300, transportation: the materials are transported to a settling platform (32) at the tail end of a transport line of the transport mechanism (3) through the transport rollers (31) which roll obliquely;

s400, charging: the material is sunk into the loading space (21) through the settling platform (32);

s500, material arrangement: the material leveling push plate (41) pushes and stacks materials orderly;

s600, blanking: and pushing the material to the discharge hole (5) to finish blanking.