TWI616389B - Material rack structure capable of automatically moving the bin - Google Patents
Material rack structure capable of automatically moving the bin Download PDFInfo
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Abstract
本發明揭示一種可自動搬移料箱的料架結構，其包含一基座，至少具有二個料箱置放區；一橫向軌道組，配置在該基座且對應各該料箱置放區；一橫移載板，係結合該橫向軌道組；一橫移驅動裝置，連接該橫移載板；一縱向軌道組，係配接在該橫移載板的一側且相對各該料箱置放區，該縱向軌道組具有一升降滑塊；一夾箱機構，連接該縱向軌道組的該升降滑塊，該夾箱機構相對該料箱置放區；一縱向驅動裝置，連接該縱向軌道組的該升降滑塊；其中該縱向驅動裝置帶動該升降滑塊及該夾箱機構縱向位移，該夾箱機構用以夾持及置放該料箱；該橫移驅動裝置帶動該橫移載板、該縱向軌道組、該縱向驅動裝置及該夾箱機構橫向位移，使該夾箱機構在不同的該料箱置放區上方移動。 The invention discloses a rack structure capable of automatically moving a bin, comprising a base having at least two bin placement areas; a transverse track set disposed on the base and corresponding to each bin placement area; a traversing carrier plate coupled to the transverse track set; a traverse drive device coupled to the traversing carrier plate; a longitudinal track set coupled to one side of the traversing carrier plate and opposite to each of the bins a vertical zone group having a lifting slider; a clamping mechanism connecting the lifting slider of the longitudinal rail group, the clamping mechanism is opposite to the bin placement area; and a longitudinal driving device connecting the longitudinal rail The lifting slider of the group; wherein the longitudinal driving device drives the lifting slider and the clamping mechanism to longitudinally displace, the clamping mechanism is for clamping and placing the bin; the traverse driving device drives the traverse loading The plate, the longitudinal track set, the longitudinal drive and the clamping mechanism are laterally displaced such that the clamping mechanism moves over a different one of the bin placement areas.
Description
本發明係關於一種料架結構，特別是指可自動搬移料箱的料架結構。 The present invention relates to a rack structure, and more particularly to a rack structure that can automatically move a bin.
許多物件的置放或搬移都可以搭配適當的料台，例如可以將待加工物件擺置在一料台上，並以一機械手臂夾持該待加工物件以進行換料工序，是以料台與機構手臂常見的搭配形式。 Many items can be placed or moved together with a suitable table. For example, the object to be processed can be placed on a table, and the object to be processed is clamped by a mechanical arm for the refueling process. A common form of interaction with the body arm.
一般而言，該料台可以提供平台循環轉動的功能。待加工物與已加工物可以經由循環轉動而更換位置；此外機械手臂需搭配升降動作才能順利地夾取工件。 In general, the table can provide the function of cyclic rotation of the platform. The workpiece and the processed object can be replaced by the rotation of the cycle; in addition, the mechanical arm needs to be combined with the lifting motion to smoothly grip the workpiece.
平台循環轉動形式的料台結構若要增加置物量，必須擴大料台的平面面積，因此料台會佔用較大的空間，對於空間較小的廠房而言，空間利用率差。 If the platform structure of the platform rotation type is to increase the amount of storage, the plane area of the material table must be enlarged, so the material table will occupy a large space, and the space utilization rate is poor for a workshop with a small space.
另一種解決方法，可令機械手臂搭配一補料臂。該補料臂係用以自該料盤夾持一工件給機械臂，或是自機械臂取下已完成加工的工件再置於該料盤上；然而因為需要一組補料臂，所以整體的設備費用較高；此外還需要適度的空間供該補料臂安裝。 Another solution is to have the robot arm with a feed arm. The feeding arm is used for clamping a workpiece from the tray to the robot arm, or removing the finished workpiece from the robot arm and placing it on the tray; however, because a set of feeding arms is required, the whole The equipment costs are higher; in addition, a moderate amount of space is required for the feed arm to be installed.
台灣第M401004號專利揭示一種升降平移料台。該專利案的技術內容包含二個升降機構、一平移機構及一搬移裝置的組合。料盤或料 箱可搭配其中一該升降機構、該平移機構及搬移裝置，被移至另一升降機構，藉此達到搬移換位的功效。 Taiwan Patent No. M401004 discloses a lifting and lowering material table. The technical content of the patent includes a combination of two lifting mechanisms, a translation mechanism and a moving device. Tray or material The box can be combined with one of the lifting mechanism, the translation mechanism and the moving device, and moved to another lifting mechanism, thereby achieving the effect of moving the transposition.
本發明的目的在於提供一種可自動搬移料箱的料架結構，其具有可擴充性，進而滿足不同的使用需求。 It is an object of the present invention to provide a rack structure that can automatically move a bin, which is expandable to meet different usage requirements.
本發明的目的在於提供一種可自動搬移料箱的料架結構，其具有能夠提供升降及平移的位移運動，且能搭配機械手臂使用，如此能夠提供工件物料的擺置數量，且滿足小空間的使用需求。 The object of the present invention is to provide a rack structure capable of automatically moving a bin, which has a displacement movement capable of providing lifting and translation, and can be used with a robot arm, so as to provide the number of workpiece materials to be placed, and to satisfy a small space. Usage requirements.
為達上述目的，本發明揭示的料架結構包含一基座，至少具有二個料箱置放區；一橫向軌道組，配置在該基座且對應各該料箱置放區；一橫移載板，係結合該橫向軌道組；一橫移驅動裝置，連接該橫移載板；一縱向軌道組，係配接在該橫移載板的一側且相對各該料箱置放區，該縱向軌道組具有一升降滑塊；一夾箱機構，連接該縱向軌道組的該升降滑塊，該夾箱機構相對該料箱置放區；一縱向驅動裝置，連接該縱向軌道組的該升降滑塊；其中該縱向驅動裝置帶動該升降滑塊及該夾箱機構縱向位移，該夾箱機構用以夾持及置放該料箱；該橫移驅動裝置帶動該橫移載板、該縱向軌道組、該縱向驅動裝置及該夾箱機構橫向位移，使該夾箱機構在不同的該料箱置放區上方移動。 To achieve the above objective, the rack structure disclosed in the present invention comprises a base having at least two bin placement areas; a transverse track set disposed on the base and corresponding to each bin placement area; a carrier plate is coupled to the transverse track set; a traverse drive device is coupled to the traversing carrier plate; a longitudinal track set is coupled to one side of the traversing carrier plate and opposite to each of the bin placement areas, The longitudinal rail group has a lifting slider; a clamping mechanism connecting the lifting slider of the longitudinal rail group, the clamping mechanism is opposite to the bin placement area; and a longitudinal driving device connecting the longitudinal rail group a lifting slider; wherein the longitudinal driving device drives the lifting slider and the clamping mechanism to longitudinally displace, the clamping mechanism is for clamping and placing the bin; the traverse driving device drives the traversing carrier, The longitudinal track set, the longitudinal drive and the clamping mechanism are laterally displaced such that the clamping mechanism moves over a different one of the bin placement areas.
10‧‧‧料箱 10‧‧‧ bin
20‧‧‧基座 20‧‧‧ Pedestal
22‧‧‧料箱置放區 22‧‧‧ bin placement area
24‧‧‧導板 24‧‧‧ Guide
26‧‧‧立桿 26‧‧‧ pole
28‧‧‧滾輪組 28‧‧‧Roller set
29‧‧‧滾輪組 29‧‧‧Roller set
30‧‧‧置放空間 30‧‧‧Place space
40‧‧‧橫向軌道組 40‧‧‧Horizontal track group
42‧‧‧軌道滑塊組 42‧‧‧Track slider set
44‧‧‧軌道滑塊組 44‧‧‧Track slider set
50‧‧‧橫移載板 50‧‧‧Transverse carrier board
60‧‧‧橫移驅動裝置 60‧‧‧ traverse drive
62‧‧‧動力裝置 62‧‧‧Powerplant
64‧‧‧螺桿螺母組件 64‧‧‧ screw nut assembly
70‧‧‧縱向軌道組 70‧‧‧Longitudinal track group
72‧‧‧滑軌 72‧‧‧rails
74‧‧‧滑軌 74‧‧‧Slide rails
76‧‧‧升降滑塊 76‧‧‧ Lift slider
80‧‧‧夾箱機構 80‧‧‧Clamping mechanism
82‧‧‧框體 82‧‧‧ frame
84‧‧‧夾臂 84‧‧‧ clip arm
86‧‧‧驅動器 86‧‧‧ drive
88‧‧‧凸塊 88‧‧‧Bumps
90‧‧‧縱向驅動裝置 90‧‧‧Longitudinal drive
92‧‧‧螺桿 92‧‧‧ screw
94‧‧‧動力源 94‧‧‧Power source
100‧‧‧機械手臂 100‧‧‧ Robotic arm
102‧‧‧資料單元 102‧‧‧data unit
第1圖係本發明的結構示意圖一。 Figure 1 is a schematic view of the structure of the present invention.
第2圖係本發明的結構示意圖二。 Figure 2 is a schematic view of the structure of the present invention.
第3圖係本發明的料箱置放區結構外觀圖。 Figure 3 is a perspective view showing the structure of the bin placement area of the present invention.
第4圖係本發明的橫向軌道組、橫移驅動裝置、縱向軌道組及縱向驅動 裝置的結構及配置示意圖。 Figure 4 is a transverse track set, traverse drive, longitudinal track set and longitudinal drive of the present invention Schematic diagram of the structure and configuration of the device.
第5圖係本發明使用狀態示意圖一。 Figure 5 is a schematic view of the state of use of the present invention.
第6圖係本發明使用狀態示意圖二。 Figure 6 is a schematic view of the state of use of the present invention.
第7圖係本發明增加料箱置放區的結構示意圖。 Figure 7 is a schematic view showing the structure of the loading box of the present invention.
第8圖係本發明配置機械手臂的結構示意圖。 Figure 8 is a schematic view showing the structure of the mechanical arm of the present invention.
第9圖係本發明夾箱機構的結構外觀圖。 Fig. 9 is a structural appearance view of the clip box mechanism of the present invention.
請參閱第1、2圖，圖中揭示一種可自動搬移料箱的料架結構係用以容置複數料箱10，且各料箱10可以呈現疊置狀態。該料架結構係一基座20具有至少二個料箱置放區22。 Referring to Figures 1 and 2, there is shown a rack structure for automatically moving the bin for accommodating the plurality of bins 10, and each bin 10 can assume a stacked state. The rack structure is a base 20 having at least two bin placement areas 22.
一橫向軌道組40配置在該基座20且對應各該料箱置放區22。圖中顯示二個軌道構成一橫向軌道組40。一橫移載板50結合該橫向軌道組40；一橫移驅動裝置60連接該橫移載板50；一縱向軌道組70係配接在該橫移載板50的一側且相對各該料箱置放區22；一夾箱機構80連接該縱向軌道組70，且該夾箱機構80相對該料箱置放區22；一縱向驅動裝置90連接該縱向軌道組70。 A transverse track set 40 is disposed on the base 20 and corresponds to each of the bin placement areas 22. The figure shows two tracks forming a transverse track set 40. A traversing carrier 50 is coupled to the transverse track set 40; a traverse drive 60 is coupled to the traverse carrier 50; a longitudinal track set 70 is coupled to one side of the traversing carrier 50 and opposite the material a box placement area 22; a clamping mechanism 80 is coupled to the longitudinal track set 70, and the clamping mechanism 80 is opposite the bin placement area 22; a longitudinal drive unit 90 is coupled to the longitudinal track set 70.
請參閱第3圖，該料箱置放區22係包含二導板24、複數立桿26及二滾輪組28和29。二該導板24係配置成相對，複數立桿26分別安裝在各該導板24上，如此二該導板24及複數該立桿26可以圍出一置放空間30。一該滾輪組28配置在一該導板24，另一該滾輪組29配置在另一導板24，且 二該滾輪組28和29相對且位在該置放空間30內。 Referring to FIG. 3, the bin placement area 22 includes two guide plates 24, a plurality of uprights 26, and two roller sets 28 and 29. The guide plates 24 are disposed opposite to each other, and the plurality of uprights 26 are respectively mounted on the guide plates 24, so that the guide plates 24 and the plurality of the uprights 26 can surround a placement space 30. One roller set 28 is disposed on one of the guide plates 24, and the other roller set 29 is disposed on the other guide plate 24, and The roller sets 28 and 29 are opposite and located within the placement space 30.
請參閱第4圖，該橫向軌道組40包含二個軌道滑塊組42和44。二該軌道滑塊組合42和44配置在基座20。該橫移驅動裝置60包含一動力裝置62及一螺桿螺母塊組件64。其中該螺桿螺母塊組件64的該螺桿連接該驅動裝置62，且該螺桿螺母塊組件64及該動力裝置62安裝在該基座20。 Referring to Figure 4, the transverse track set 40 includes two track slider sets 42 and 44. The track slider assemblies 42 and 44 are disposed on the base 20. The traverse drive 60 includes a power unit 62 and a screw nut block assembly 64. The screw of the screw nut block assembly 64 is coupled to the drive unit 62, and the screw nut block assembly 64 and the power unit 62 are mounted to the base 20.
該橫移載板50結合該橫向軌道組40及該橫移裝置60。進一步，該橫移載板50可與該軌道滑塊組合42和44的滑塊結合，以及該橫移載板50可與該螺桿螺母塊組件64的螺母塊結合。 The traversing carrier 50 incorporates the transverse track set 40 and the traverse device 60. Further, the traversing carrier 50 can be coupled to the sliders of the track slider assemblies 42 and 44, and the traversing carrier 50 can be coupled to the nut block of the screw nut block assembly 64.
該縱向軌道組70包含二個滑軌72和74及一升降滑塊76。該升降滑塊76配接在二該滑軌72和74間。該縱向驅動裝置90包含一螺桿92及一動力源94。其中該螺桿92與該升降滑塊76結合，該動力源94係動力連接該螺桿92。例如直接以馬達驅動該螺桿92，或是以馬達結合與皮帶輪組，再以該皮帶輪組驅動該螺桿92。 The longitudinal track set 70 includes two slide rails 72 and 74 and a lift slider 76. The lifting slider 76 is coupled between the two sliding rails 72 and 74. The longitudinal drive unit 90 includes a screw 92 and a power source 94. The screw 92 is coupled to the lift slider 76, and the power source 94 is mechanically coupled to the screw 92. For example, the screw 92 is driven directly by a motor, or is coupled to a pulley set by a motor, and the screw 92 is driven by the pulley set.
其次，由第2圖的說明內容可知，該夾箱機構80連接該縱向軌道組70，特別是，該夾箱機構80與該升降滑塊76結合。 Next, as is apparent from the description of FIG. 2, the folder mechanism 80 is connected to the longitudinal rail group 70, and in particular, the chuck mechanism 80 is coupled to the lift slider 76.
請再參閱第3圖，使用者可將複數料箱10重疊並推入該置放空間30內。特別是，本實施例具有相對的二該滾輪組28和29，所以該料箱10被推入該置放空間30的過程，位在最底層的該料箱10可靠在該滾輪組28和29的上方表面，藉由該滾輪組28和29的滾動，該各該料箱10可順利且省力的被移入該置放空間30。 Referring to FIG. 3 again, the user can overlap and push the plurality of bins 10 into the placement space 30. In particular, the present embodiment has two opposing roller sets 28 and 29 so that the magazine 10 is pushed into the placement space 30, and the magazine 10 located at the lowest level is reliable in the roller sets 28 and 29 By the rolling of the roller sets 28 and 29, the upper casing 10 can be smoothly and labor-savingly moved into the placement space 30.
請參閱第5圖，該縱向驅動裝置90的螺桿92轉動可用以帶動該升降滑塊76及該夾箱機構80產生縱向位移。例如該夾箱機構80可向下位 移且用以夾持該料箱10後，該升降滑塊76及該夾箱機構80再向上位移。在該夾箱機構80夾持該料箱10的狀態下，該升降滑塊76及該夾箱機構80可向下位移，藉此將該料箱10擺置到預定位置。 Referring to FIG. 5, the rotation of the screw 92 of the longitudinal driving device 90 can be used to drive the lifting slider 76 and the clamping mechanism 80 to generate longitudinal displacement. For example, the folder mechanism 80 can be down After being moved to hold the magazine 10, the lifting slider 76 and the clamping mechanism 80 are further displaced upward. In a state where the folder mechanism 80 holds the magazine 10, the lift slider 76 and the chuck mechanism 80 can be displaced downward, thereby placing the magazine 10 to a predetermined position.
請參閱第6圖，該橫移載板50連結該橫移驅動裝置60及該橫向軌道組40，所以該橫移驅動裝置60可用以帶動該橫移載板50，以及位在該橫移載板50的該縱向軌道組70、該縱向驅動裝置90及該夾箱機構80，產生橫向位移，如此該夾箱機構80可在不同的該料箱置放區22上方移動。換言之，該夾箱機構80產生橫向位移可同步將該料箱10移到不同的料箱置放區22上方。 Referring to FIG. 6, the traversing carrier 50 is coupled to the traverse drive unit 60 and the transverse track set 40, so the traverse drive 60 can be used to drive the traversing carrier 50 and the traverse carrier The longitudinal track set 70 of the plate 50, the longitudinal drive unit 90 and the clamping mechanism 80 create lateral displacement such that the clamping mechanism 80 can move over different bin placement areas 22. In other words, the clamping mechanism 80 produces a lateral displacement that can simultaneously move the bin 10 over a different bin placement area 22.
請參閱第7圖，該縱向軌道組70、該縱向驅動裝置90及該夾箱機構80位在該橫移載板50，且該縱向軌道組70、該縱向驅動裝置90、該夾箱機構80及該橫移載板50可同步橫向位置，所以只要適當的延長該橫向軌道組40的長度，便可以使該縱向軌道組70、該縱向驅動裝置90及該夾箱機構80對應更多的料箱置放區22。藉此滿足實際使用的需求。 Referring to FIG. 7, the longitudinal track set 70, the longitudinal driving device 90 and the clamping mechanism 80 are located on the traversing carrier 50, and the longitudinal track set 70, the longitudinal driving device 90, and the clamping mechanism 80 And the traversing carrier 50 can synchronize the lateral position, so that the longitudinal rail group 70, the longitudinal driving device 90 and the clamping mechanism 80 can be made to correspond to more materials as long as the length of the transverse rail group 40 is appropriately extended. Box placement area 22. This will meet the needs of actual use.
請參閱第8圖，本實施例係在該料架一側配置一機械手臂100。例如該機械手臂100配置在該基座20一側，該橫移驅動裝置60帶動該橫移載板50、該縱向軌道組70、該縱向驅動裝置90及該夾箱機構80橫向位移接近該機械手臂100，則該機械手臂100可自該料箱(未顯示)內取出待加工件，或將已加工完成的工作放入該料箱。 Referring to FIG. 8, in this embodiment, a robot arm 100 is disposed on one side of the rack. For example, the robot arm 100 is disposed on the side of the base 20, and the traverse driving device 60 drives the traverse carrier 50, the longitudinal track set 70, the longitudinal driving device 90, and the clamping mechanism 80 to laterally displace the mechanical mechanism. With the arm 100, the robotic arm 100 can take out the workpiece to be processed from the magazine (not shown) or place the processed work into the bin.
請再參閱第3圖，各該料箱10可配置一資料單元102。該資料單元92可選自無線射頻單元及二維條碼的其中之。該資料單元102的內容包含該料箱10內該工件的批號、規格、加工日期及加工參數等等。如此搭配 各料箱10自動進出該置放空間30的設計，例如以無人搬運車自動將堆疊的料箱10移入或移出該置放空間30，則可以有效追踪各加工件的產品良率及生產履歷，有助於自動化生產管理及工業4.0的推動。 Referring to FIG. 3 again, each of the bins 10 can be configured with a data unit 102. The data unit 92 can be selected from the group consisting of a radio frequency unit and a two-dimensional bar code. The content of the data unit 102 includes the batch number, specification, processing date, processing parameters, and the like of the workpiece in the magazine 10. So match The design of each bin 10 automatically entering and leaving the placement space 30, for example, automatically moving the stacked bins 10 into or out of the placement space 30 by an automated guided vehicle, can effectively track the product yield and production history of each workpiece. Contribute to the automation of production management and the promotion of Industry 4.0.
請參閱第9圖，該夾箱機構80可以包含一框體82配置在該縱向軌道組70及連接該縱向驅動裝置90。如此該框體82可搭配該縱向軌道組70及該縱向驅動裝置90作升降位移。其次二個夾臂84搭配驅動器86配置在各該框體82的相對面。如此二該夾臂84相對位移形成接近狀態，則可用以夾持該料箱(未顯示)；反之，可以置放該料箱。 Referring to FIG. 9, the clamping mechanism 80 can include a frame 82 disposed on the longitudinal rail set 70 and connected to the longitudinal driving device 90. Thus, the frame 82 can be used with the longitudinal track set 70 and the longitudinal driving device 90 for lifting displacement. Next, the two clamp arms 84 and the driver 86 are disposed on the opposite faces of the respective frames 82. So that the clamping arm 84 is in a close state relative to the displacement, it can be used to clamp the bin (not shown); otherwise, the bin can be placed.
其次各該夾臂84的表面可以配置凸塊88。當二該夾臂84相對位移形成接近狀態，各該凸塊88可位在該料箱(未顯示)的凸緣下方，如此各該凸塊88可用以承托該料箱(未顯示)。或利用相對面的各該凸塊88夾持該料箱。 Secondly, the surface of each of the clamp arms 84 can be provided with a bump 88. When the two arms 38 are relatively displaced, the bumps 88 can be positioned below the flange of the bin (not shown) such that each of the bumps 88 can be used to support the bin (not shown). Or the bumps 88 are held by the opposite faces of the bumps 88.
上述實施例僅為例示性說明本發明之技術及其功效，而非用於限制本發明。任何熟於此項技術人士均可在不違背本發明之技術原理及精神的情況下，對上述實施例進行修改及變化，因此本發明之權利保護範圍應如後所述之申請專利範圍所列。 The above embodiments are merely illustrative of the technology of the present invention and its effects, and are not intended to limit the present invention. Any person skilled in the art can modify and change the above embodiments without departing from the technical spirit and spirit of the present invention. Therefore, the scope of protection of the present invention should be as listed in the patent application scope mentioned later. .
Claims (6)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105138313A TWI616389B (en) | 2016-11-22 | 2016-11-22 | Material rack structure capable of automatically moving the bin |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| TW105138313A TWI616389B (en) | 2016-11-22 | 2016-11-22 | Material rack structure capable of automatically moving the bin |
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| Publication Number | Publication Date |
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| TWI616389B true TWI616389B (en) | 2018-03-01 |
| TW201819271A TW201819271A (en) | 2018-06-01 |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200307079A (en) * | 2002-04-05 | 2003-12-01 | Murata Machinery Ltd | An automatic warehouse able for a worker to work on a working place higher than the worker's height |
| US20120101627A1 (en) * | 2010-03-12 | 2012-04-26 | Casepick Systems, Llc | Each pick |
| CN105059811A (en) * | 2015-07-27 | 2015-11-18 | 南京航空航天大学 | Warehousing system and control method thereof |
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2016
- 2016-11-22 TW TW105138313A patent/TWI616389B/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW200307079A (en) * | 2002-04-05 | 2003-12-01 | Murata Machinery Ltd | An automatic warehouse able for a worker to work on a working place higher than the worker's height |
| US20120101627A1 (en) * | 2010-03-12 | 2012-04-26 | Casepick Systems, Llc | Each pick |
| CN105059811A (en) * | 2015-07-27 | 2015-11-18 | 南京航空航天大学 | Warehousing system and control method thereof |
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| TW201819271A (en) | 2018-06-01 |
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