CN209209931U - Goods movement device and cargo handling system - Google Patents

Abstract

The utility model relates to a kind of goods movement device and cargo handling systems, and wherein goods movement device includes: rack (1)；Cargo is taken mechanism, is arranged on the rack (1), for cargo of taking (6)；Driving mechanism, for driving the cargo to take mechanism kinematic to transport the cargo (6)；With bracket (2), it is fixedly mounted on the rack (1), is taken the cargo (6) that mechanism is transported to above the bracket (2) for support by the cargo.The utility model bracket is fixedly mounted in rack, it can be directly placed on bracket after cargo of taking, without waiting for the movement of bracket, therefore cargo can be reduced and fallen off, fall the generation of the problems such as case, the waiting time can also be reduced, goods movement efficiency is substantially increased.

Description

Goods movement device and cargo handling system

Technical field

The utility model relates to logistics and transportation technical field more particularly to a kind of goods movement device and cargo handling systems System.

Background technique

Currently, the variation that logistics field intelligence degree is just being advanced by leaps and bounds, robot with more and more, machine The link in logistics transportation that people participates in is also more and more.In stacking cargo, the utilization of robot palletizer has reached its maturity, But the operation mode and result type of the grip portion of unstacking robot are relatively single.

Currently, tearing open there are mainly three types of the modes of stamping: single single-piece crawl de-stacking, single flood (including multiple lines and multiple rows) crawl are torn open Pile and single uniline layer grab de-stacking.Wherein, the shortcomings that single single-piece crawl de-stacking is inefficiency, and energy waste is serious.It is single The shortcomings that secondary flood crawl de-stacking is that material crawl is not firm, and when high-speed motion is easy to fall off, and robot load is huge, increases Purchase cost, simultaneously as the material removed is multiple lines and multiple rows, therefore to need to manage material again in single file or single-row for subsequent work stations It could convey backward, increase the increase that reason material link also brings along cost.Single uniline layer grabs the mode of de-stacking, is to answer at present The mode of stamping is torn open with most one kind, grabs a line every time, subsequent reason material link is omitted, but it is illusive to equally exist crawl Problem, when high-speed motion, which is easy to happen, to fall off, falls the problem of case, largely effects on to tear open and stamps efficiency.

It should be noted that the information for being disclosed in the utility model background technology part is merely intended to increase to originally practical new The understanding of the general background of type, and be not construed as recognizing or implying in any form that information composition has been art technology The prior art well known to personnel.

Utility model content

The purpose of this utility model is to propose a kind of goods movement device and cargo handling system, is stamped with solving existing tear open Device, which is easy to happen, to fall off, falls the problem of case, improves efficiency.

To achieve the above object, the utility model provides a kind of goods movement device, comprising:

Rack；

Cargo is taken mechanism, is arranged on the rack, for cargo of taking；

Driving mechanism, for driving cargo to take mechanism kinematic to transport cargo；With

Bracket is fixedly mounted in rack, is taken the cargo that mechanism is transported to above bracket for support by cargo.

Optionally, driving mechanism includes:

First driving mechanism, for driving cargo mechanism of taking vertically moving；With

Second driving mechanism, for driving cargo mechanism of taking to move in the horizontal direction.

Optionally, the first driving mechanism includes:

Screw is mounted on the rack；

Lead screw with screw by being threadedly engaged, and is connect with cargo mechanism of taking；With

Motor drives lead screw to move up and down, and then cargo is driven to take machine for driving screw to rotate, and by screw Structure moves up and down；

Alternatively, the first driving mechanism includes:

Gear is mounted on the rack；

Rack gear is intermeshed with gear, and is connect with cargo mechanism of taking；With

Motor is rotated for sliding tooth wheel, and drives lead screw to move up and down by gear, and then drive cargo is taken machine Structure moves up and down.

Optionally, the second driving mechanism includes:

Sliding rail is horizontally mounted in rack；

Sliding shoe is slidably matched with sliding rail, and is connected through a screw thread with lead screw；With

First force piece, for driving sliding shoe to slide along sliding rail, to drive cargo mechanism of taking to move horizontally.

Optionally, the first force piece includes cylinder, oil cylinder or electric cylinder.

Optionally, cargo mechanism of taking includes Acetabula device for drawing cargo；Alternatively, cargo is taken, mechanism includes using In the clamping plate of clamping cargo；Alternatively, cargo is taken, mechanism includes the hook for hooking cargo.

Optionally, cargo mechanism of taking includes Acetabula device for drawing cargo, and Acetabula device includes:

Mounting rack is arranged on the rack；

First sucker, is mounted on mounting rack, for drawing the top surface of cargo；

Second sucker, is mounted on mounting rack, for drawing the side of cargo.

Optionally, goods movement device further include:

Pile plate is taken mechanism, is arranged on the rack, and for pile plate of taking, pile plate is for support at the cargo of pile.

Optionally, pile plate mechanism of taking includes:

Grapple, for hooking pile plate；With

Third driving mechanism, for driving grapple to move, so that grapple can hook pile plate or be detached from pile plate.

Optionally, there is between pile plate and bracket gap when grapple hooks pile plate.

Optionally, third driving mechanism includes:

Second force piece, is mounted on the rack；

Shaft is installed in rotation in rack；

First connecting rod is connected between the output end and shaft of the second force piece；With

Second connecting rod is connected between shaft and grapple.

Optionally, the second force piece includes cylinder, oil cylinder or electric cylinder.

Optionally, bracket includes:

At least one first support bar, connect and is vertically arranged with rack；

Mounting plate is connected to one end of the separate rack of first support bar；With

At least two second support bars connect on a mounting board in parallel.

To achieve the above object, the utility model additionally provides a kind of cargo handling system, including above-mentioned goods movement Device.

Based on the above-mentioned technical proposal, the utility model embodiment can be transported by setting bracket after cargo of taking In the process by bracket support cargo, prevents cargo from falling off, improve the stability and reliability of transport.Moreover, bracket is fixedly It is mounted on the rack, can be directly placed on bracket after cargo of taking, without waiting for the movement of bracket, therefore occur de- It falls, fall the problem of case and further improved, the waiting time can also be reduced, substantially increase goods movement efficiency.

Detailed description of the invention

Attached drawing described herein is used to provide a further understanding of the present invention, and is constituted part of this application, The exemplary embodiment of the utility model and the description thereof are used to explain the utility model, does not constitute to the improper of the utility model It limits.In the accompanying drawings:

Fig. 1 is the main view of the utility model goods movement device one embodiment.

Fig. 2 is the right view of the utility model goods movement device one embodiment.

Fig. 3 is that the utility model goods movement device one embodiment is tearing the structural schematic diagram before stamping open.

Fig. 4 is that the utility model goods movement device one embodiment is tearing first state figure when stamping open.

Fig. 5 is that the utility model goods movement device one embodiment is tearing the second state diagram when stamping open.

Fig. 6 is that the utility model goods movement device one embodiment is tearing third state figure when stamping open.

Fig. 7 is first state figure of the utility model goods movement device one embodiment in entrucking.

Fig. 8 is second state diagram of the utility model goods movement device one embodiment in entrucking.

Fig. 9 is third state figure of the utility model goods movement device one embodiment in entrucking.

Figure 10 is structural schematic diagram of the utility model goods movement device one embodiment before grabbing pile plate.

Figure 11 is structural schematic diagram of the utility model goods movement device one embodiment when grabbing pile plate.

Figure 12 is the structural schematic diagram of Acetabula device in the utility model goods movement device one embodiment.

In figure:

1, rack；2, bracket；3, grapple；4, third driving mechanism；5, Acetabula device；51, mounting rack；52, the first sucker； 53, the second sucker；6, cargo；7, the first driving mechanism；8, the second driving mechanism；9, goods transport device；10, pile plate.

Specific embodiment

The following will be combined with the drawings in the embodiments of the present invention, the technical solution in embodiment is carried out it is clear, complete Ground description.Obviously, described embodiment is only a part of the embodiment of the utility model, instead of all the embodiments. Based on the embodiments of the present invention, institute obtained by those of ordinary skill in the art without making creative efforts There are other embodiments, fall within the protection scope of the utility model.

In the description of the present invention, it should be understood that term " center ", " transverse direction ", " longitudinal direction ", "front", "rear", The orientation or positional relationship of the instructions such as "left", "right", "upper", "lower", "vertical", "horizontal", "top", "bottom", "inner", "outside" is It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than indicate Or imply that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore cannot understand For the limitation to scope of protection of the utility model.

Referring to fig. 1 and fig. 2, in an illustrative examples of goods movement device provided by the utility model, The goods movement device includes that rack 1, cargo are taken mechanism, driving mechanism and bracket 2, and cargo mechanism of taking is arranged in rack 1 On, cargo takes mechanism for cargo 6 of taking, and driving mechanism is for driving cargo to take mechanism kinematic to transport cargo 6, bracket 2 are fixedly mounted in rack 1, and bracket 2 is taken the cargo 6 that mechanism is transported to above bracket 2 for support by cargo.

In the present embodiment, by the way that bracket 2 is arranged, pass through 2 support of bracket during can transporting after cargo 6 of taking Cargo 6 prevents cargo 6 from falling off, and improves the stability and reliability of transport.Moreover, bracket 2 is fixedly mounted in rack 1, Taking can be directly placed on bracket 2 after cargo 6, without waiting for the movement of bracket 2, therefore fall off, fall asking for case Topic is further improved, and can also be reduced the waiting time, be substantially increased goods movement efficiency.

In the present embodiment, bracket 2 includes mounting plate, at least one first support bar and at least two second support bars, At least one first support bar connect and is vertically arranged with rack 1, and mounting plate is connected to the one of the separate rack 1 of first support bar End, at least two second support bars connect on a mounting board in parallel.The bracket 2 of this structure can realize supporting role Under the premise of reduce overall weight as far as possible, be conducive to light-weight design.

In other embodiments, bracket 2 can also use other structures form.

Specifically, driving mechanism includes the first driving mechanism 7 and the second driving mechanism 8, and the first driving mechanism 7 is for driving Dynamic cargo is taken, and mechanism is vertically moving, so that cargo is taken, mechanism is stopped at various height；Second driving mechanism 8 is used In driving cargo, mechanism of taking moves in the horizontal direction, so that cargo is taken, mechanism rests on different horizontal positions.Pass through Cargo 6 is transported to bracket 2 after horizontally and vertically moving by one driving mechanism 7 and the second driving mechanism 8, cargo mechanism of taking Top.

First driving mechanism 7 includes screw, lead screw and motor, and screw is mounted in rack 1, and lead screw and screw pass through screw thread Cooperation, and lead screw and cargo mechanism of taking connects, motor does to go up and down and transport for driving screw to rotate by screw driving lead screw It is dynamic, and then cargo mechanism of taking is driven to move up and down.

Alternatively, the first driving mechanism 7 includes gear, rack gear and motor, gear is mounted in rack 1, rack and pinion phase Mutually engagement, and rack gear and cargo mechanism of taking connects, motor is gone up and down for the rotation of sliding tooth wheel, and by gear driving lead screw Movement, and then cargo mechanism of taking is driven to move up and down.

Second driving mechanism 8 includes sliding rail, sliding shoe and the first force piece, and sliding rail is horizontally mounted in rack 1, is slided Block is slidably matched with sliding rail, and sliding shoe is connected through a screw thread with lead screw, and the first force piece is for driving sliding shoe sliding along sliding rail It is dynamic, to drive cargo mechanism of taking to move horizontally.Wherein, the first force piece can be cylinder, oil cylinder or electric cylinder.

Other than above structure, in other embodiments, the first driving mechanism 7 and the second driving mechanism 8 can also be used Other structures form, as long as can be realized its effect.

Cargo mechanism of taking includes Acetabula device 5, draws cargo 6 by Acetabula device 5, Acetabula device 5 can be used for inhaling Taking a variety of various sizes of cargos, in row's cargo 6 that Acetabula device 5 is drawn every time, the size of each cargo 6 can be identical, It can also be different.

As shown in figure 12, Acetabula device 5 may include mounting rack 51, the first sucker 52 and the second sucker 53, mounting rack 51 It is arranged in rack 1, the first sucker 52 and the second sucker 53 are installed on mounting rack 51, and the first sucker 52 is arranged at top, Second sucker 53 is arranged in side, in this way when drawing cargo 6 by Acetabula device 5, can draw goods by the first sucker 52 The top surface of object 6, while by the side of the second sucker 53 absorption cargo 6, stronger to the absorption of cargo 6, stability is more preferable.

In other embodiments, cargo mechanism of taking also may include clamping plate, passes through clamping plate and clamps cargo 6.Cargo is taken Mechanism can also include hook, and by hooking cargo 6, taking for cargo also may be implemented.

Goods movement device may include Chai Duo robot, and the mechanical arm of Chai Duo robot is connect with rack 1, be used for band Motivation frame 1 moves.

The cargo at pile tear open stamp when, through this embodiment in goods movement device cargo 6 can be torn open and stamp simultaneously It is moved on bracket 2, specific operating process is as follows:

As shown in figure 3, being preparation state, Acetabula device 5 is first in the horizontal direction to remote under the action of the second driving mechanism 8 Direction from bracket 2 is released, and then moves to the height of setting vertically downwards under the action of the first driving mechanism 7, It is ready to draw the state of cargo 6；

As shown in figure 4, Chai Duo robot drives rack 1 to move, make Acetabula device 5 close to the top of cargo 6, then sucker Falls downward under the action of the first driving mechanism 7 of device 5, until cargo 6 is sucked；

As shown in figure 5, being ramped up under the action of the first driving mechanism 7 after wherein row's cargo 6 is sucked in Acetabula device 5 It rises, the bottom surface of cargo 6 is made to be higher than bracket 2；

As shown in fig. 6, Acetabula device 5 is under the action of the second driving mechanism 8 in the horizontal direction to the direction close to bracket 2 Movement, until move to the top of bracket 2, then falls downward under the action of the first driving mechanism 7 again, cargo 6 is put It sets on bracket 2, Acetabula device 5 is closed, and is realized to tear open and is stamped process.

Then, Chai Duo robot drives rack 1 to move to goods transport device 9, can be by goods by goods transport device 9 Object 6 is delivered to entrucking position.

Cargo 6 is moved to the operating process of goods transport device 9 from bracket 2 are as follows:

As shown in fig. 7, cargo 6 is placed on carrier 2, Chai Duo robot drives rack 1 to move to close to cargo conveying dress Set 9 position, the upper surface of bracket 2 is concordant with the transporting flat of goods transport device 9, after 5 falls downward of Acetabula device in The heart is aligned with the center of goods transport device 9；

As shown in figure 8, being first raised above a distance after cargo 6 is sucked in Acetabula device 5, cargo 6 is made to leave bracket 2；

As shown in figure 9, it is defeated to reach cargo in the horizontal direction to close to the movement of the direction of goods transport device 9 for Acetabula device 5 Falls downward behind the top of device 9 is sent, cargo 6 is placed on goods transport device 9, Acetabula device 5 is closed, and is realized goods Object 6 is moved to the process on goods transport device 9 from bracket 2.

Above-mentioned tear cargo 6 open is stamped and is moved on bracket 2 and move cargo 6 in arrival object conveying device 9 from bracket 2 The two processes, which connect, to be carried out, and be may be implemented to tear row's cargo into the process for stamping and being delivered to entrucking position open, is repeated above-mentioned Two processes can will tear open at the cargo of pile and stamp and be delivered to the progress entrucking of entrucking position.

Certainly, for the disassembly process of cargo, principle be also it is similar, only need first by cargo 6 from cargo It is moved in conveying device 9 on bracket 2, then cargo 6 is moved into arrival object storage location from bracket 2.

Goods movement device further includes that pile plate is taken mechanism, and pile plate mechanism of taking is arranged in rack 1, and pile plate is taken mechanism For pile plate 10 of taking, pile plate 10 is for support at the cargo 6 of pile.

It is taken mechanism by the way that pile plate is arranged, goods movement can be made to link up, for example, leading to after having torn a pile cargo open It crosses pile plate mechanism of taking to take pile plate 10 away, can continue to remove a pile, the continuity for stamping movement is torn in realization open, and raising, which is torn open, stamps effect Rate.Certainly, when filling pile, and as a same reason, after filling a pile, next pile plate 10 can be taken by pile plate mechanism of taking Come, then proceed to pile up cargo on next pile plate 10, realize the continuity of dress pile movement, improves dress pile efficiency.

Pile plate mechanism of taking includes grapple 3 and third driving mechanism 4, and grapple 3 is for hooking pile plate 10, third driving mechanism 4 for driving grapple 3 to move, so that grapple 3 can hook pile plate 10 or be detached from pile plate 10.

In other embodiments, pile plate take mechanism can also using other structures form, for example, pile plate take mechanism can To include clamping plate, pile plate 10 is clamped by clamping plate.

There is between pile plate 10 and bracket 2 gap when grapple 3 hooks pile plate 10.The benefit that gap is arranged is can to prevent Pile plate 10 collides and rubs with bracket 2, effective protection pile plate 10 and bracket 2.

In the present embodiment, the quantity of grapple 3 is set as at least four, and at least two grapples 3 are for grabbing pile plate 10 First side, at least another two grapple 3 are used to grab second side opposite with the first side of pile plate 10.The benefit being arranged so is, Balance and stability that grapple 3 grabs cargo 6 can be improved, prevent pile plate 10 from shaking or falling.

Certainly, in other embodiments, according to actual needs, the quantity of grapple 3 can be with flexible setting, such as one, two It is a, three etc..

Third driving mechanism 4 includes the second force piece, shaft, first connecting rod and second connecting rod, and the second force piece is mounted on In rack 1, shaft is installed in rotation in rack 1, and first connecting rod is connected between the output end and shaft of the second force piece, Second connecting rod is connected between shaft and grapple 3.When the output end of second force piece stretches out, first connecting rod and shaft is driven to turn Dynamic, shaft rotation drives second connecting rod rotation, and then grapple 3 is driven to swing., it can be achieved that opening after the opposite swing of two grapples 3 Or return, it is detached from pile plate 10 when opening, when return can hook pile plate 10.Wherein, the second force piece can for cylinder, oil cylinder or Person's electric cylinder.

The operating process for grabbing pile plate is as follows:

As shown in Figure 10, Chai Duo robot drive rack 1 is moved to the top of pile plate 10, so that in goods movement device The heart is aligned with the center of pile plate 10, and height apart is preset height h；

As shown in figure 11, grapple 3 rotates under the action of third driving mechanism, and the side of pile plate 10, which is equipped with, to extend internally The hook portion of through-hole, grapple 3 protrudes into through-hole, realizes the crawl to pile plate 10, then sheet piler device human action, moves pile plate 10 It is sent to the position of setting, realizes the crawl and carrying of pile plate 10.

The utility model additionally provides a kind of cargo handling system, including above-mentioned goods movement device.

Positive technical effect possessed by goods movement device is equally applicable to cargo handling system in above-mentioned each embodiment System, which is not described herein again.

Pass through the explanation to the utility model goods movement device and multiple embodiments of cargo handling system, it can be seen that The utility model goods movement device and cargo handling system embodiment at least have the advantages that one or more of:

1, support is carried out to cargo by bracket, the stability during goods handling can be improved, prevent cargo from falling off；

2, bracket is fixedly provided in rack, it is possible to reduce the waiting time is further reduced the hair for the case problem that falls off, falls It is raw, goods movement efficiency can also be improved；

3, it takes mechanism, pile plate can be transported after the movement for completing a pile cargo equipped with pile plate, realize that cargo moves Dynamic continuity, improves efficiency.

Finally it should be noted that: above embodiments are only to illustrate the technical solution of the utility model rather than limit it System；Although the utility model has been described in detail with reference to the preferred embodiment, those of ordinary skill in the art should Understand: specific implementation of the utility model can still be modified or is equally replaced to some technical characteristics It changes；Without departing from the spirit of technical solutions of the utility model, should all cover in the claimed technical solution of the utility model In range.

Claims (14)

1. a kind of goods movement device characterized by comprising

Rack (1)；

Cargo is taken mechanism, is arranged on the rack (1), for cargo of taking (6)；

Driving mechanism, for driving the cargo to take mechanism kinematic to transport the cargo (6)；With

Bracket (2) is fixedly mounted on the rack (1), for support by the cargo take mechanism be transported to it is described The cargo (6) above bracket (2).

2. goods movement device according to claim 1, which is characterized in that the driving mechanism includes:

First driving mechanism (7), for driving cargo mechanism of taking vertically moving；With

Second driving mechanism (8), for driving cargo mechanism of taking to move in the horizontal direction.

3. goods movement device according to claim 2, which is characterized in that first driving mechanism (7) includes:

Screw is mounted on the rack (1)；

Lead screw with the screw by being threadedly engaged, and is connect with cargo mechanism of taking；With

Motor drives the lead screw to move up and down, and then drives institute for driving the screw to rotate, and by the screw Cargo mechanism of taking is stated to move up and down；

Alternatively, first driving mechanism (7) includes:

Gear is mounted on the rack (1)；

Rack gear is intermeshed with the gear, and is connect with cargo mechanism of taking；With

Motor drives the lead screw to move up and down, and then drives institute for driving the gear to rotate, and by the gear Cargo mechanism of taking is stated to move up and down.

4. goods movement device according to claim 3, which is characterized in that second driving mechanism (8) includes:

Sliding rail is horizontally mounted on the rack (1)；

Sliding shoe is slidably matched with the sliding rail, and is connected through a screw thread with the lead screw；With

First force piece, for driving the sliding shoe to slide along the sliding rail, to drive cargo mechanism of taking to do level Movement.

5. goods movement device according to claim 4, which is characterized in that first force piece includes cylinder, oil cylinder Or electric cylinder.

6. goods movement device according to claim 1, which is characterized in that cargo mechanism of taking includes for drawing The Acetabula device (5) of the cargo (6)；Alternatively, the cargo is taken, mechanism includes the clamping plate for clamping the cargo (6)； Alternatively, the cargo is taken, mechanism includes the hook for hooking the cargo (6).

7. goods movement device according to claim 1, which is characterized in that cargo mechanism of taking includes for drawing The Acetabula device (5) of the cargo (6), the Acetabula device (5) include:

Mounting rack (51) is arranged on the rack (1)；

First sucker (52) is mounted on the mounting rack (51), for drawing the top surface of the cargo (6)；

Second sucker (53) is mounted on the mounting rack (51), for drawing the side of the cargo (6).

8. described in any item goods movement devices according to claim 1~7, which is characterized in that further include:

Pile plate is taken mechanism, is arranged on the rack (1), for take pile plate (10), the pile plate (10) for support at The cargo (6) of pile.

9. goods movement device according to claim 8, which is characterized in that pile plate mechanism of taking includes:

Grapple (3), for hooking the pile plate (10)；With

Third driving mechanism (4), for driving the grapple (3) to move, so that the grapple (3) can hook the pile plate (10) or it is detached from the pile plate (10).

10. goods movement device according to claim 9, which is characterized in that the grapple (3) hooks the pile plate (10) There is gap between Shi Suoshu pile plate (10) and the bracket (2).

11. goods movement device according to claim 9, which is characterized in that the third driving mechanism (4) includes:

Second force piece is mounted on the rack (1)；

Shaft is installed in rotation on the rack (1)；

First connecting rod is connected between the output end and the shaft of second force piece；With

Second connecting rod is connected between the shaft and the grapple (3).

12. goods movement device according to claim 11, which is characterized in that second force piece includes cylinder, oil Cylinder or electric cylinder.

13. goods movement device according to claim 1, which is characterized in that the bracket (2) includes:

At least one first support bar connect and is vertically arranged with the rack (1)；

Mounting plate is connected to one end far from the rack (1) of the first support bar；With

At least two second support bars are connected in parallel on the mounting plate.

14. a kind of cargo handling system, which is characterized in that including the described in any item goods movement dresses of such as claim 1~13 It sets.