Compact combined device for vertically taking and placing articles

Abstract

The utility model discloses a compact combined device for vertically taking and placing articles. The device comprises a linear conveying device of a main body part and rotating arm mechanisms mounted at the two ends respectively. A moving beam in the linear conveying device drives rotating arm mechanisms at the two ends to move in the vertical direction, and then the rotating arm mechanisms clamp or place objects through swinging motion. Each rotating arm mechanism comprises a working arm, a power source for driving the working arm to rotate and a power transmission mechanism. The tail end of the horizontal part of the working arm is connected with a pin shaft of the transmission mechanism. The transmission mechanism is composed of a driving gear at the output end of a power source, transmission gears fixed to the two ends of the movable beam and a pin shaft. According to the device, a part of a transmission gear is designed in the linear conveying device, and the design of a half-ring gear movable groove is adopted, so that the size of a transmission mechanism is smaller. The device is compact in overall structure, small in occupied installation space and suitable for a scene with a narrow space. The method is expected to be widely applied to the fields of automatic production lines, logistics sorting, intelligent warehousing and the like.

Description

Technical Field

[0001] The present invention relates to the field of automated material handling and warehousing technology, and in particular to a device for efficiently realizing vertical placement and transportation of articles, which can be widely used in scenarios such as automated production lines, logistics sorting centers, and intelligent warehousing systems. Background Art

[0002] In modern industrial fields such as automated production lines, logistics sorting centers, and intelligent warehousing systems, there are extremely high requirements for efficient vertical pick-up, placement, and transportation of items. In particular, with the increasing scarcity of space resources, higher requirements are placed on the compactness, flexibility, and efficiency of the pick-up and placement mechanism. Traditional pick-up and placement mechanism designs often have problems such as complex structures, large space occupation, and high debugging costs, which cannot meet the high-precision and high-efficiency requirements of modern industrial automation.

[0003] In order to meet these needs, the industry has been seeking more optimized solutions. For example, the use of a screw pair and a rotary motor or a synchronous belt and a servo motor can achieve linear reciprocating motion to a certain extent, but the space occupied and the complexity of debugging are still a challenge. In addition, the arm mechanism of the traditional pick-and-place mechanism is usually designed to be bulky, which not only takes up a lot of space, but also limits the flexibility of operation.

[0004] In this context, the need for designing a vertical pick-and-place assembly that is compact, occupies a small space, is flexible to operate, and is efficient has become particularly urgent. Such an assembly needs to be able to quickly and accurately pick and place items, while being able to adapt to different working environments and space constraints. Therefore, this application proposes a design solution for a vertical pick-and-place assembly and its related rotating arm mechanism and transmission mechanism, aiming to solve the problems existing in the prior art and improve the efficiency and flexibility of industrial automation production. Summary of the invention

[0005] In view of the above problems, the present invention provides a compact combination device which has a compact structure, occupies a small space, and can realize efficient and accurate vertical placement of objects.

[0006] To achieve the above object, the technical solution of the present invention is: a compact combination device for vertically taking and placing objects, comprising:

[0007] A linear conveying device for the main body;

[0008] Two rotating arm mechanisms are respectively installed at two ends of the moving beam in the linear conveying device;

[0009] Each of the rotating arm mechanisms comprises: a working arm, a power source for driving the working arm to rotate, and a transmission mechanism for transmitting power from the power source to the working arm;

[0010] The working arm is in a horizontal L-shaped structure as a whole, a rotating shaft is fixedly arranged in the middle position of the horizontal part, the rotating shaft is rotatably mounted on the moving beam, and a shaft sleeve is arranged at the free end of the horizontal part;

[0011] The transmission mechanism comprises transmission gears fixed at both ends of the moving beam, and a pin shaft which is sleeved with the shaft sleeve of the working arm is fixedly arranged on the outer circumference of the transmission gear;

[0012] The output end of the power source is equipped with a driving gear meshing with the transmission gear. The power output of the power source drives the transmission gear to rotate, thereby driving the working arm to swing around the rotating shaft. The technical solution adopts a design scheme combining a linear conveying device with a rotating arm mechanism set at both ends, and realizes efficient vertical placement of items through the linear movement of the moving beam and the swinging movement of the rotating arm. The overall design is compact and occupies little space, which is suitable for scenes with limited space and is the basis for achieving the purpose of the invention.

[0013] Preferably, the transmission gear is designed to be partially located inside the linear conveying device, and the transmission gear is divided into a central fixed part and a gear ring rotating around the central part, the gear ring is a half-circle gear design, and a movable groove for the transmission gear to move up and down is opened on the main body of the linear conveying device. This technical solution designs a part of the transmission gear to be located inside the linear conveying device, and adopts a half-circle gear structure and a movable groove design, which can greatly reduce the volume and occupied space of the transmission mechanism while ensuring the transmission function, making the entire device structure more compact.

[0014] Preferably, a movable connection mechanism is provided between the horizontal part and the vertical part of the working arm, so that the vertical part can swing horizontally within a certain angle range relative to the horizontal part. The movable connection mechanism includes a movable hinge or a universal joint, and the horizontal part and the vertical part of the working arm are respectively provided with matching guide grooves and guide members to stabilize the relative movement between the two parts. This technical solution sets a movable connection mechanism between the horizontal and vertical parts of the working arm, so that the vertical part can swing horizontally, expanding the operating range of the working arm. And through the design of the guide groove and the guide member, the stability of the lateral swinging movement is ensured, and the accuracy and flexibility of picking and placing are improved.

[0015] Preferably, the power source is a hollow motor, whose stator, rotor and other components are arranged in a hollow cavity and has a slim appearance; the output end of the power source is connected to the driving gear through a universal joint.

[0016] A vibration isolation buffer structure is provided between the outer shell and the inner cavity of the hollow motor. The technical solution uses a hollow motor as a power source, and the stator and rotor are arranged in the cavity, which is thin and space-saving. At the same time, a vibration isolation structure is provided to reduce the impact of noise and vibration on the motor and the device, thereby improving the service life and reliability.

[0017] Preferably, a clamp or other bearing mechanism is installed at the end of the vertical part of the working arm for clamping or placing objects. The technical solution of setting a clamp or other bearing mechanism at the end of the vertical part of the working arm is a necessary condition for clamping and placing objects, and is the key to the final function of the device.

[0018] Preferably, the power source is a servo motor or a stepper motor, which is electrically connected to the controller to accurately control the swing angle and direction of the working arm according to the control command. This technical solution uses a servo or stepper motor, which is electrically connected to the control system, to achieve precise control of the swing motion of the working arm, and adjust its swing angle and direction according to the control command, further improving the flexibility and accuracy of picking and placing.

[0019] The present invention also provides an automatic picking and placing system for articles, which includes the compact combined device for vertically picking and placing articles described in the above technical solution.

[0020] In summary, the present invention has the following advantages compared with the prior art:

[0021] 1. The overall structure is compact, occupies little installation space, and is suitable for use in small scenes with limited space.

[0022] 2. The design combining the linear conveying device with the rotating arm mechanism can efficiently realize the vertical picking and placing operation of items.

[0023] 3. The rotating arm mechanism adopts the coordinated design of L-shaped working arm and transmission mechanism, so that the rotating and swinging motion of the working arm can be realized in a limited space.

[0024] 4. A part of the transmission gear is designed inside the linear conveying device, and a half-circle tooth movable groove design is adopted to further reduce the volume of the transmission mechanism.

[0025] 5. A movable connection mechanism is set on the working arm to enable it to swing horizontally, expanding the operating range and improving the flexibility and accuracy of picking and placing.

[0026] 6. Use hollow motor as the power source, which is slim and saves space; set up vibration isolation structure to reduce noise and vibration impact and increase service life.

[0027] 7. The end of the working arm is equipped with a clamping claw and other bearing mechanisms, which can effectively clamp and place objects.

[0028] 8. Using servo / stepper motor, connected with the control system, the swing angle and direction of the working arm can be accurately adjusted according to the control instructions.

[0029] In general, the vertical pick-and-place component integrates a number of innovative designs, enabling it to complete vertical pick-and-place operations of objects efficiently, flexibly and accurately in a small space, and has extremely high practical value. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a structural stereogram of the present invention;

[0031] Figure 2 It is a structural stereogram of the present invention from another angle;

[0032] Figure 3 It is an exploded view of some parts of the present invention;

[0033] Figure 4 It is a structural stereogram of the working arm;

[0034] Figure 5 It is a structural stereogram of the transmission gear.

[0035] The serial numbers in the figure are: linear conveying device-10, moving beam-20, rotating arm mechanism-30, working arm-31, rotating shaft-311, bushing-312, power source-32, transmission mechanism-33, transmission gear-331, pin shaft-332. DETAILED DESCRIPTION

[0036] The present invention is further described below in conjunction with specific embodiments and all of Figures 1-5. More details are elaborated in the following description to facilitate a full understanding of the present invention, but the present invention is obviously capable of being implemented in a variety of other ways different from the description herein. Those skilled in the art can make similar generalizations and deductions based on actual application situations without violating the connotation of the present invention. Therefore, the protection scope of the present invention should not be limited by the content of this specific embodiment.

[0037] Example 1

[0038] The present application discloses a compact assembly device for vertically picking and placing objects, which can be widely used in scenes such as automated production lines, logistics sorting centers, and intelligent warehousing systems, and is used to achieve efficient vertical picking and placing and conveying of objects. In particular, the rotating arm mechanism of the vertical picking and placing assembly has a compact structure and occupies little space, which has obvious advantages in some narrow or space-constrained scenes.

[0039] It includes a linear conveying device 10 as a main body, and two rotating arm mechanisms 30 respectively installed at both ends of a moving beam 20 in the linear conveying device 10. The linear conveying device 10 adopts a common and mature mechanism in the known technology, such as using a screw pair connected to a rotary motor to drive the moving beam 20 to do linear reciprocating motion, or using a synchronous belt connected to a servo motor to drive the moving beam 20 to do reciprocating motion, etc. The rotating arm mechanism 30 receives or places items by means of the linear motion of the moving beam 20.

[0040] The rotating arm mechanism 30 includes a working arm 31, a power source 32 for driving the working arm 31 to rotate, and a transmission mechanism 33 for transmitting motor power to the working arm 31.

[0041] The working arm 31 is in a horizontal L-shaped structure. A rotating shaft 311 is fixedly arranged on the horizontal part of the working arm 31, approximately at the middle position close to one side of the moving beam 20. Both ends of the moving beam 20 are provided with rotating holes matching the rotating shaft 311, so that the horizontal part of the working arm 31 can be rotatably mounted on the moving beam 20. A shaft sleeve 312 is arranged at the free end of the horizontal part of the working arm 31.

[0042] The transmission mechanism 33 includes transmission gears 331 fixed at both ends of the moving beam 20. A pin shaft 332 is fixedly arranged on the lower side of the transmission gear 331 near the outer ring and is sleeved with the shaft sleeve 312 of the working arm 31. The main body of the power source 32 is also fixedly installed on the moving beam 20, and a driving gear meshing with the transmission gear 331 is installed on its output shaft. Through the power output of the power source 32, the transmission gear 331 can rotate forward or reverse, thereby driving the pin shaft 332 to rotate forward or reverse.

[0043] The rotation of the pin 332 drives the working arm 31 to swing around the axis of the rotating shaft 311. This swinging motion enables the vertical part of the working arm 31 to enter the lower part of the object to be extracted or placed, thereby achieving the clamping or placement of the object. Specifically, when the moving beam 20 moves to the target position, the power source 32 drives the transmission mechanism 33 to drive the working arm 31 to swing at an appropriate angle first, so that the vertical part of the working arm 31 is inserted into the shelf or pallet.

[0044] Then the clamp or other bearing mechanism is installed at the end of the vertical part of the working arm 31, which can clamp the object. After the object is clamped, the power source 32 rotates in the reverse direction, and the working arm 31 swings in the reverse direction, so that the vertical part and the object are pulled out of the shelf or pallet. The moving beam 20 then moves to the next target position, and the above process is repeated to complete the placement of the object. The rotating arm mechanism has a compact and flexible structure, can efficiently realize the picking and placing of objects in a limited vertical space, and can adjust the length of the working arm and the swing angle range according to actual needs.

[0045] The transmission mechanism 33 has a compact design and a simple structure, and can efficiently and reliably transmit the power of the power source 32 to the working arm 31 to achieve precise swinging of the working arm 31. It is the core driving device of the entire rotating arm mechanism 30.

[0046] Further references Figure 3 The transmission gear 331 is designed to be partially located inside the linear conveying device 10, and the transmission gear 331 is divided into a central fixed part and a gear ring rotating around the central part. The gear ring can be a half-circle gear design, which further reduces the volume of the transmission mechanism by reducing the number of unnecessary teeth. In order to accommodate this design of the transmission gear 331, it is necessary to open a movable groove on the main body of the linear conveying device 10 for the transmission gear 331 to move up and down. The purpose of this design is to make the entire structure more compact.

[0047] When the power source 32 drives the driving gear to rotate, the driving gear meshes with the transmission gear 331, and the transmission gear 331 can be driven to rotate around the fixed center. The pin shaft 332 on the outer circumference of the transmission gear 331 also rotates accordingly, thereby driving the working arm 31 connected thereto to swing around the rotating shaft 311. By adjusting the forward and reverse rotation of the power source 32, the swing angle and direction of the working arm 31 can be accurately controlled.

[0048] The transmission mechanism adopts a simple gear transmission method, with high transmission efficiency and strong reliability. At the same time, the design of the half-circle teeth combined with the movable groove ensures that the transmission mechanism occupies a smaller installation space and has a more compact overall layout while ensuring the transmission function. The design of this transmission mechanism is highly matched with the overall layout of the rotating arm mechanism 30, which is the key to achieving efficient and accurate pick-and-place.

[0049] Example 2

[0050] This embodiment discloses an improved design of a compact combination device for vertically picking up and placing objects based on the above-mentioned embodiment 1.

[0051] In order to further improve the adaptability and flexibility of the device, this embodiment provides a movable connection mechanism on the vertical part of the working arm 31. Specifically, a movable hinge or universal joint is provided at the corner of the L-shaped structure of the working arm 31, so that the vertical part can swing horizontally within a certain angle range relative to the horizontal part.

[0052] In this way, the working arm 31 can not only swing up and down with the help of the transmission mechanism 33, but the vertical part can also swing left and right, which expands the operable range. When the moving beam 20 moves to the target position, the working arm 31 first swings up and down to extend the vertical part into the shelf or pallet, and then swings left and right to pick and place the items. This double swinging movement greatly improves the flexibility and accuracy of picking and placing, and can cope with shelves or pallets of various shapes and arrangements.

[0053] At the same time, in order to avoid twisting or displacement during the lateral swing of the working arm 31, the movable connection mechanism is also provided with a guide member, and matching guide grooves are opened in the horizontal part and the vertical part of the working arm 31, so that the relative movement between the two parts is more stable and controllable.

[0054] Example 3

[0055] This embodiment is based on the embodiment 1, and improves the power source 32 of the transmission mechanism 33.

[0056] Specifically, the power source 32 is designed as a hollow motor, and the stator, rotor and other components of the power source 32 are arranged in a hollow cavity, so that the overall appearance is thin and can effectively save installation space. The output end of the power source 32 is connected to the driving gear through a universal joint, avoiding the problem of excessive torque or stress caused by differences in installation position, direction, etc.

[0057] At the same time, in order to reduce noise and vibration, a vibration isolation buffer structure is provided between the outer shell and the inner cavity of the hollow motor, such as a surrounding elastic body or multiple point-shaped vibration reduction blocks, etc. This design can not only reduce noise, but also avoid the impact of high-frequency vibration on the motor itself, thereby extending its service life.

[0058] The power source 32 is compact in size but powerful, and a series of optimization measures such as vibration isolation and noise reduction are adopted, making it very suitable for driving the rotating arm mechanism 30, and highly consistent with the compact and efficient design concept of the device.

Claims

1. A compact assembly device for vertically placing and picking up items, characterized in that: include: The main body portion of the linear conveying device (10); Two rotating arm mechanisms (30) are respectively installed at two ends of the moving beam (20) in the linear conveying device (10); Each of the rotating arm mechanisms (30) comprises: a working arm (31), a power source (32) for driving the working arm (31) to rotate, and a transmission mechanism (33) for transmitting power from the power source (32) to the working arm (31); The working arm (31) is in a horizontal L-shaped structure as a whole, a rotating shaft (311) is fixedly provided in the middle of its horizontal part, the rotating shaft (311) is rotatably mounted on the moving beam (20), and a shaft sleeve (312) is provided at the free end of the horizontal part; The transmission mechanism (33) comprises transmission gears (331) fixed at both ends of the moving beam (20); a pin shaft (332) sleeved with a shaft sleeve (312) of the working arm (31) is fixedly provided on the outer circumference of the transmission gear (331); The output end of the power source (32) is provided with a driving gear meshing with the transmission gear (331); the power output of the power source (32) drives the transmission gear (331) to rotate, thereby driving the working arm (31) to swing around the rotating shaft (311).

2. The compact assembly device for vertically placing and taking articles according to claim 1, characterized in that The transmission gear (331) is designed to be partially located inside the linear conveying device (10), and the transmission gear (331) is divided into a central fixed part and a gear ring rotating around the central part, the gear ring is a half-circle gear design, and a movable groove for the transmission gear (331) to move up and down is opened on the main body of the linear conveying device (10).

3. The compact combination device for vertically placing and taking articles according to claim 1 or 2, characterized in that A movable connection mechanism is provided between the horizontal part and the vertical part of the working arm (31), so that the vertical part can perform lateral swinging motion within a certain angle range relative to the horizontal part.

4. The compact assembly device for vertically placing and taking articles according to claim 3, characterized in that The movable connection mechanism includes a movable hinge or a universal joint, and matching guide grooves and guide members are respectively provided on the horizontal part and the vertical part of the working arm (31) to stabilize the relative movement between the two parts.

5. The compact combined device for vertically placing and taking articles according to claim 1 or 2, characterized in that The power source (32) is a hollow motor, and its stator and rotor components are arranged in a hollow cavity; the output end of the power source (32) is connected to the driving gear via a universal joint.

6. The compact assembly device for vertically placing and taking articles according to claim 5, characterized in that A vibration isolation and buffering structure is provided between the outer shell and the inner cavity of the hollow motor.

7. The compact assembly device for vertically placing and taking articles according to claim 1, characterized in that A clamping claw is installed at the end of the vertical part of the working arm (31) for clamping or placing objects.

8. The compact assembly device for vertically placing and taking articles according to claim 1, characterized in that The power source (32) is a servo motor or a stepper motor, which is electrically connected to the controller to accurately control the swing angle and direction of the working arm (31) according to the control instructions.

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