Reclaiming equipment

Abstract

The present application provides a material-grabbing device, which relates to the technical field of material-grabbing devices. The material-grabbing device includes: a material-holding mechanism, which has a main structure and two clamping claws respectively arranged on the front and rear sides of the main structure to release or clamp the material; a material-forking mechanism has a base structure and a material fork arranged on the base structure; a sliding mechanism has a sliding guide part and a sliding adapter part that can guide the sliding along the lifting direction, and the main structure is connected to the base structure by sliding along the lifting direction through the mutual adaptation of the sliding adapter and the sliding guide part; the lifting mechanism has a lifting output end that can move along the lifting direction, and the lifting output end lifts the main structure and the base structure, and when the abutting part descends to abut the ground, the lifting output end drives the main structure to move downward relative to the base structure through the sliding guide part and the sliding adapter part. It can avoid placing pallets or sleepers at the bottom of the material to ensure the work quality.

Description

Technical Field

[0001] The present application relates to the technical field of material taking devices, and in particular to a material taking device. Background Art

[0002] At present, with the rapid development of the manufacturing industry, the field of robotics has become increasingly important; with the continuous increase in labor costs, the use of robots in factories has become more and more common. In many cases, robots can replace manual operations, and at the same time, the processing accuracy is higher and the efficiency is higher. Therefore, in the process of using robots, it is becoming increasingly important to be able to pick up and put materials.

[0003] In most industries today, materials are generally picked up and placed manually, which has low manual efficiency. People are prone to fatigue after working for a period of time, and their physical strength is limited, so they cannot perform long-term precise work. Therefore, there is an urgent need for robots that can replace manual operations to perform similar work while ensuring the quality and efficiency of the work. Summary of the invention

[0004] The purpose of this application is to provide a material taking device, which is conducive to clamping and carrying materials and improving the quality and efficiency of its work.

[0005] To achieve the above objectives, this application adopts the following technical solutions:

[0006] The present application provides a material taking device, comprising: a material holding mechanism, having a main body structure and two clamping claws, one on each of the left and right sides of the main body structure, wherein one of the two clamping claws can be arranged away from or close to the other to release or clamp the material; a material forking mechanism, having a base structure and a material fork arranged on the base structure, wherein the base structure has an abutting portion at the lower end; a sliding mechanism, having a sliding guide portion and a sliding adapter portion that can guide the sliding along the lifting direction, wherein one of the sliding guide portion and the sliding adapter portion is connected to the main body structure, and the other is connected to the base structure. The main structure is connected to the base structure and is located above the abutment portion, and the sliding adapter portion and the sliding guide portion are adapted to each other, and the main structure is slidably connected to the base structure along the lifting direction; a lifting mechanism has a lifting output end movable along the lifting direction, a part of the main structure is configured to be connected to the lifting output end, and the lifting mechanism lifts the main structure and the base structure through the lifting output end, and when the abutment portion descends to abut the ground, the lifting output end drives the main structure to move downward relative to the base structure through the sliding guide portion and the sliding adapter portion.

[0007] In the above implementation process, the base structure of the fork material mechanism is connected to the main structure of the material holding mechanism through the adaptation of the sliding guide part of the sliding mechanism and the sliding adapter part, and its main structure is connected to the lifting output end of the lifting mechanism, so that the main structure and the base structure are driven to move up and down along the lifting direction under the action of the lifting output end. When the material needs to be clamped, the lifting mechanism first lowers the main structure and the base structure so that the base structure contacts the ground first. Since the main structure can slide relative to the base structure, the main structure can continue to descend a distance after the base structure contacts the ground. At this time, the base structure drives the material fork to retract, and the main structure drives the clamping claw to move to clamp the bottom of the material, which can avoid placing pallets or sleepers at the bottom of the material. After it is raised for a certain distance by the lifting mechanism, the base structure works to make the material fork extend to the bottom of the material, and the main structure controls the clamping claw to release the material, and the material is supported by the material fork. The lifting mechanism then raises the material holding mechanism and the fork mechanism for a certain distance, and the operator moves the material picking equipment to the designated position to complete the entire handling process, ensuring the work quality while ensuring work efficiency and reducing labor cost investment.

[0008] In some embodiments, the main structure has a first limiting body, and the sliding adapter has a second limiting body. The first limiting body is arranged below the second limiting body. When the abutting portion contacts the ground, the main structure moves relative to the base structure to its bottom and abuts against the abutting portion. Thereby, when the lifting output end drives the main structure to rise, the main structure moves relative to the base structure to form abutment between the first limiting body and the second limiting body, and drives the base structure to rise.

[0009] In the above-mentioned implementation process, by setting the first limiting body of the main structure below the second limiting body of the sliding adapter, when the lifting mechanism drives the main structure and the base structure to descend, the abutting portion of the base structure first contacts the ground, and then the first limiting body and the second limiting body are disengaged, and the main structure continues to descend to its bottom and abuts against the abutting portion, thereby forming a clamping claw located at the bottom of the material, which can avoid placing a pallet or sleeper at the bottom of the material, and when the lifting output end drives the main structure to rise, after the main structure moves a certain distance relative to the abutting portion, the first limiting body and the second limiting body come into contact, thereby driving the base structure to leave the ground and rise, thereby realizing the common rise of the main structure and the base structure.

[0010] In some embodiments, the main structure includes a material holding mounting plate, a material holding linear guide rail and a material holding driving structure; the side of the material holding mounting plate away from the clamping jaw member is configured to be connected to the lifting mechanism; the material holding linear guide rail is configured to be distributed along the left and right directions of the lifting mechanism, and the clamping jaw member is connected to the material holding linear guide rail; the material holding driving structure is fixedly connected to the material holding mounting plate, and at least a part of the structure of the material holding driving structure is configured to be connected to the clamping jaw member to drive the clamping jaw member to slide relative to the material holding linear guide rail.

[0011] In the above implementation process, the clamping jaw member is installed on the material holding mounting plate through the material holding linear guide rail, and the material holding driving structure is fixed on the material holding mounting plate, so that when the material holding driving structure drives the clamping jaw member, the clamping jaw member can be moved relative to the material holding linear guide rail to complete the clamping or release of the material, thereby ensuring work efficiency.

[0012] In some embodiments, the material holding drive structure includes a material holding drive member and a bidirectional drive screw; the material holding drive member is fixedly connected to the material holding mounting plate; the bidirectional drive screw is configured to be distributed along the left and right directions of the lifting mechanism, and the bidirectional drive screw and the material holding drive member are connected through a material holding gear.

[0013] In the above implementation process, the material holding drive member is connected to the bidirectional driving screw through the material holding gear, and the left and right ends of the bidirectional driving screw are connected with clamping claws, so that when the material holding drive member drives the bidirectional driving screw to rotate, the clamping claws on the left and right sides can be moved. The driving method is more reasonably designed, which reduces the failure rate of the structure and thus reduces the transportation cost.

[0014] In some embodiments, lifting connection parts are arranged on the left and right sides of the material holding installation plate, and the distribution direction of the lifting connection parts is to extend from the side of the material holding installation plate away from the clamping claw member to form a connection with the lifting mechanism.

[0015] In the above implementation process, by arranging a lifting connection part on the side of the material holding mounting plate away from the clamping claw part, when the lifting connection part is connected to the lifting mechanism, the lifting mechanism can avoid interference with the clamping claw part when clamping or releasing materials, thereby ensuring its working efficiency.

[0016] In some embodiments, the clamping jaw member includes a clamping jaw mounting portion and a clamping jaw portion; the side of the clamping jaw mounting portion facing away from the clamping jaw portion is configured to be adapted to the material holding linear guide rail, and the clamping jaw mounting portion is distributed on the left and right sides of the lifting mechanism; the clamping jaw portion is configured to be connected to the clamping jaw mounting portion, and an elastic portion is configured on the inner side of the clamping jaw portion to form an elastic contact when clamping the material.

[0017] In the above-mentioned implementation process, the clamping jaw part is installed on the material holding linear guide rail through the clamping jaw mounting part, and an elastic part is arranged on the inner side of the clamping jaw part, so that when the clamping jaw part clamps the material, it can adapt to the unevenness of the material surface, thereby clamping the material more firmly and ensuring that the material will not fall off the clamping jaw part.

[0018] In some embodiments, the material holding mechanism further includes a contact switch, which is disposed on a side of the material holding mounting plate close to the clamping claw member, so as to detect the position of the material picking device when it moves relative to the material.

[0019] In the above implementation process, a contact switch is arranged on one side of the material holding mounting plate close to the clamping claw member, so that when the clamping claw member clamps the material, only when the surface of the material contacts the contact switch, it is determined that the material picking equipment has moved into place, and the material holding driving structure drives the clamping claw member to clamp the material, thereby ensuring the accuracy of the clamping claw member in clamping the material and reducing the risk of the material falling off the clamping claw member.

[0020] In some embodiments, the base structure includes a fork base and a fork driving structure; the fork base is configured to be distributed along the left and right directions of the lifting mechanism, and the fork base is configured to be a structure for accommodating at least a portion of the material fork member and accommodating the fork driving structure, and at least a portion of the structure of the fork base is configured on the side of the main structure away from the clamping claw member, so that the main structure forms a limit position with the fork base after sliding relative to the fork base along the lifting direction; the fork driving structure is configured on the fork base to drive the material fork member to move along the front and rear directions of the lifting mechanism.

[0021] In the above-mentioned implementation process, the fork base is connected to the side of the main structure away from the clamping claw member, which ensures that the overall structural design is reasonable while reducing the volume of the overall structure of the material picking equipment, thereby reducing the production cost of the material picking equipment. A fork driving structure is provided on the fork base to drive the extension or retraction of the material fork member, and when the fork base contacts the ground, the main structure can move a certain distance relative to the fork base to ensure that the clamping claw member can clamp the bottom of the material, thereby avoiding placing the material on a pallet or sleepers, thereby reducing the cost investment in transporting materials.

[0022] In some embodiments, the material fork member includes a material fork portion and a material fork tooth portion; the bottom of the material fork portion is configured with a fork material linear guide rail, and the fork material base of the base structure is configured with a guide portion adapted to the fork material linear guide rail; the material fork tooth portion is configured on the inner side of the material fork portion to engage with the fork material driving structure of the base structure.

[0023] In the above-mentioned implementation process, a fork linear guide rail is arranged at the bottom of the material fork, the sliding lifting frame is provided with a guide portion adapted to the fork linear guide rail, and the material fork tooth portion is arranged on the inner side of the material fork, so that when the fork driving structure is engaged with the material fork tooth portion, the material fork portion can be driven to move along the guide portion, thereby ensuring that the material fork portion avoids the material when carrying the material or the clamping claw clamps the material.

[0024] In some embodiments, the base structure further includes a limit block, which is disposed on the material fork member to limit the position of the material fork member when the fork driving structure drives the material fork member to move.

[0025] In the above implementation process, the limit block is arranged on the material fork member, so that when the fork driving structure drives the material fork member, the limit block can be used to limit the material fork member, thereby ensuring that the material fork member will not be separated from the fork base of the base structure during movement.

[0026] In some embodiments, the sliding mechanism includes a sliding mounting seat, a sliding lifting frame and a limiting portion; the sliding mounting seat is slidably connected to the sliding lifting frame, and the side of the sliding mounting seat away from the sliding lifting frame is configured to be fixedly connected to the main structure; the sliding lifting frame is configured on the left and right sides of the fork base, and the sliding lifting frame is distributed along the lifting direction, and the sliding mounting seat and the sliding lifting frame are adapted to form the main structure sliding relative to the base structure; the limiting portion is configured on the inner side of the sliding lifting frame, and the main structure has a limiting seat that is limited by the limiting portion.

[0027] In the above-mentioned implementation process, the sliding lifting frame is adapted to the sliding mounting seat, the sliding lifting frame is arranged on the fork material base, and the sliding mounting seat is arranged on the main structure, so that when the material removal base is in contact with the ground, the main structure can move a moving distance relative to the base structure, and through the contact between its limit seat and the limit part, the clamping claw can be lowered to the lowest position and clamp the material, which can avoid placing pallets or sleepers at the bottom of the material and reduce the workload of material placement.

[0028] In some embodiments, the lifting mechanism includes a lifting chassis, a lifting structure, and a lifting drive assembly; the lifting structure is configured on the lifting chassis, and the left and right sides of the lifting structure are configured with lifting guide rails for connecting with the main structure; the lifting drive assembly is fixedly connected to the lifting structure, and the driving connection part of the lifting drive assembly is connected to the main structure to drive the main structure to rise or fall along the lifting guide rails.

[0029] In the above-mentioned implementation process, the lifting structure is arranged on the lifting chassis, and the lifting drive assembly is arranged on the lifting structure, so that the lifting drive assembly drives the main structure to move up and down along the lifting guide rail of the lifting structure, and then drives the base structure to move up and down, which can ensure that during the movement of the material picking equipment, the main structure and the base structure do not contact the ground.

[0030] In some embodiments, the lifting drive assembly includes a lifting drive member and a gear chain structure; the lifting drive member is configured on the lifting structure; the gear chain structure is configured to be connected to the lifting drive member and the main structure respectively, so as to form an ascent or descent of the main structure through the drive of the lifting drive member.

[0031] In the above-mentioned implementation process, the gear chain structure is respectively connected to the lifting drive member and the main structure, so that when the lifting drive member is working, the gear chain structure can drive the main structure to rise or fall along the lifting guide rail, thereby ensuring that the main structure and the base structure of the material picking equipment do not contact the ground during the movement.

[0032] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the embodiments of the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For users of ordinary technology in this field, other related drawings can be obtained based on these drawings without paying any creative work.

[0034] Figure 1 It is a structural schematic diagram of a material taking device disclosed in an embodiment of the present application.

[0035] Figure 2 It is a schematic diagram of the connection between a material holding mechanism and a material forking mechanism of a material taking device disclosed in an embodiment of the present application.

[0036] Figure 3 It is a connection diagram of a material holding mechanism and a material forking mechanism of a material taking device disclosed in an embodiment of the present application from another perspective.

[0037] Figure 4 It is a schematic diagram of the disassembly of a material holding mechanism and a material forking mechanism of a material taking device disclosed in an embodiment of the present application.

[0038] Figure 5It is a structural schematic diagram of a fork mechanism of a material taking device disclosed in an embodiment of the present application moving to contact the ground.

[0039] Figure 6 It is a left view of a material taking device disclosed in an embodiment of the present application.

[0040] Reference numerals

[0041] 100, lifting mechanism; 101, lifting structure; 102, lifting chassis; 103, lifting drive assembly; 1031, lifting drive member; 1032, gear chain structure; 200, material holding mechanism; 201, main structure; 2011, material holding mounting plate; 20111, limit seat; 2012, material holding linear guide rail; 2013, material holding drive member; 2014, two-way drive screw; 2015, lifting connection; 202, clamping claw member; 2021, clamping claw mounting part ; 2022, clamping claw part; 20221, elastic part; 203, contact switch; 300, fork material mechanism; 301, base structure; 3011, fork material base; 30111, guide part; 3012, fork material driving structure; 302, material fork member; 3021, material fork part; 30211, fork material linear guide rail; 3022, material fork rack part; 303, limit block; 400, sliding mechanism; 401, sliding mounting seat; 402, sliding lifting frame; 403, limit part. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0043] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, or the positions or positional relationships in which the invented product is usually placed when in use. They are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as a limitation on the present application. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0044] In addition, the terms "horizontal", "vertical" and the like do not mean that the components are required to be absolutely horizontal or suspended, but can be slightly tilted. For example, "horizontal" only means that its direction is more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0045] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technical users in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0046] Example

[0047] The present application provides a material-grabbing device that can be applied to the field of construction machinery as well as other fields. It can replace manual handling, ensure the quality and efficiency of the work, and avoid problems such as placing pallets or sleepers at the bottom of the material. The specific structure of the material-grabbing device is described in detail below in conjunction with the accompanying drawings.

[0048] During the design process, the inventor discovered that, taking the field of construction machinery as an example, during the robot masonry operation, it is necessary to take out one or more rows of bricks from the whole chopped bricks and transfer them to the brick supply robot, and then the brick supply robot delivers them one by one to the bricklaying robot for use; if the forklift mechanism commonly used on the market is used, it requires a pallet or sleepers to be placed at the bottom of the goods, but the number of bricks on the construction site is too large, and it is difficult for the construction site to meet the demand for pallets or sleepers, which also increases the workload of placement.

[0049] In view of this, if Figure 1 As shown, Figure 1 It is a structural schematic diagram of a material picking device disclosed in an embodiment of the present application; the present application provides a material picking device, including: a lifting mechanism 100, a material holding mechanism 200, a fork material mechanism 300 and a sliding mechanism 400, the lifting mechanism 100 is placed on the ground, the material holding mechanism 200 is connected to the fork material mechanism 300 through the sliding mechanism 400, and when the fork material mechanism 300 contacts the ground, the material holding mechanism 200 can be raised or moved down a distance relative to the fork material mechanism 300, so that when the material holding mechanism 200 clamps the material, it can move to the bottom position of the material, thereby avoiding placing a pallet or sleeper at the bottom of the material; wherein the material holding mechanism 200 is connected to the lifting mechanism 100, so as to drive the material holding mechanism 200 and the fork material mechanism 300 to rise or fall along the lifting direction (i.e., the up and down direction) through the lifting mechanism 100.

[0050] Specifically, a material holding mechanism 200 has a main structure 201 and two clamping jaws 202, one on each of the left and right sides of the main structure 201, wherein one of the two clamping jaws 202 can be arranged away from or close to the other to release or clamp the material; a material fork mechanism 300 has a base structure 301 and a material fork 302 arranged on the base structure 301, wherein the base structure 301 has an abutting portion at the lower end; a sliding mechanism 400 has a sliding guide portion and a sliding adapter portion that can guide the sliding along the lifting direction, wherein one of the sliding guide portion and the sliding adapter portion is connected to the main structure 201, and the other is connected to the base structure 301. 301 is connected and located above the abutment portion, and the sliding adapter portion and the sliding guide portion are adapted to each other, and the main structure 201 is slidably connected to the base structure 301 along the lifting direction; a lifting mechanism 100 has a lifting output end movable along the lifting direction, a part of the main structure 201 is configured to be connected to the lifting output end, and the lifting mechanism 100 lifts the main structure 201 and the base structure 301 through the lifting output end, and when the abutment portion descends to abut the ground, the lifting output end drives the main structure 201 to move downward relative to the base structure 301 through the sliding guide portion and the sliding adapter portion.

[0051] Exemplarily, the lifting base is provided with moving wheels, through which the overall structure of the material picking equipment can be moved. The material picking equipment can be moved by an operator pushing the material picking equipment, or by controlling the movement of the material picking equipment by power drive or other means.

[0052] It should be noted that the bottom of the main structure 201 is higher than the bottom of the base structure 301, so that when the lifting mechanism 100 drives the main structure 201 and the base structure 301 to descend, the base structure 301 first contacts the ground. At this time, due to the distance between the main structure 201 and the base structure 301, the main structure 201 can continue to move downward for a distance relative to the base structure 301, and then contact at least a part of the structure of the base structure 301, thereby moving the main structure 201 to the lowest position. Thereby, when clamping the material, the clamping claw member 202 can correspond to the bottom of the material, thereby avoiding placing a pallet or sleeper at the bottom of the material. When the base structure 301 drives the material fork member 302 to extend, the material fork member 302 and the clamping claw member 202 are located on the same side of the main structure 201, so as to ensure that when the clamping claw member 202 releases the material, the material fork member 302 can carry the material.

[0053] In the above-mentioned implementation process, the base structure 301 of the fork mechanism 300 is connected to the main structure 201 of the material holding mechanism 200 through the adaptation of the sliding guide part and the sliding adapter part of the sliding mechanism, and its main structure 201 is connected to the lifting structure 101 of the lifting mechanism 100, so as to drive the main structure 201 and the base structure 301 to move up and down along the lifting structure 101 under the action of the lifting output end. When the material needs to be clamped, the lifting drive component 103 of the lifting mechanism 100 first lowers the main structure 201 and the base structure 301 so that the base structure 301 contacts the ground first. Since the main structure 201 can slide relative to the base structure 301, the main structure 201 can contact the base structure 301. The material fork 302 is moved to the bottom of the material to avoid placing a pallet or sleeper at the bottom of the material. After the lifting mechanism 100 lifts it for a distance, the base structure 301 works to extend the material fork 302 to the bottom of the material. The main structure 201 controls the clamping claw 202 to release the material, and the material fork 302 supports the material. The lifting mechanism 100 then lifts the material holding mechanism 200 and the material fork mechanism 300 for a distance, and the operator moves the material picking equipment to the designated position to complete the entire handling process. This ensures work quality while also ensuring work efficiency and reducing labor cost investment.

[0054] In some embodiments, the main structure 201 has a first limiting body (i.e., a limiting seat 20111), and the sliding adapter portion has a second limiting body (i.e., a limiting portion 403). The first limiting body is arranged below the second limiting body. When the abutting portion contacts the ground, the main structure 201 moves relative to the base structure 301 to its bottom and abuts against the abutting portion of the base structure 301. Thereby, when the lifting output end drives the main structure 201 to rise, the main structure 201 moves relative to the base structure 301 to form abutment between the first limiting body and the second limiting body, and drives the base structure 301 to rise.

[0055] In the above-mentioned implementation process, by setting the first limiting body of the main structure 201 below the second limiting body of the sliding adapter, when the lifting mechanism 100 drives the main structure 201 and the base structure 301 to descend, the abutting portion of the base structure 301 first contacts the ground, and then the first limiting body and the second limiting body are disengaged, and the main structure 201 continues to descend until its bottom abuts against the abutting portion of the base structure 301, thereby forming the clamping claw member 202 at the bottom of the material, which can avoid placing a pallet or sleeper at the bottom of the material, and when the lifting mechanism 100 drives the main structure 201 to rise, after the main structure 201 moves a certain distance relative to the base structure 301, the first limiting body and the second limiting body come into contact, thereby driving the base structure 301 to leave the ground and rise, thereby realizing the common rise of the main structure 201 and the base structure 301.

[0056] like Figure 2 As shown, Figure 2 It is a schematic diagram of the connection between a material holding mechanism 200 and a fork mechanism 300 of a material picking device disclosed in an embodiment of the present application; the main structure 201 includes a material holding mounting plate 2011, a material holding linear guide rail 2012 and a material holding drive structure; the side of the material holding mounting plate 2011 away from the clamping jaw member 202 is configured to be connected to the lifting structure 101; the material holding linear guide rail 2012 is configured to be distributed along the left and right directions of the lifting mechanism 100, and the clamping jaw member 202 is connected to the material holding linear guide rail 2012; the material holding drive structure is fixedly connected to the material holding mounting plate 2011, and at least a part of the structure of the material holding drive structure is configured to be connected to the clamping jaw member 202 to drive the clamping jaw member 202 to slide relative to the material holding linear guide rail 2012.

[0057] Exemplarily, at least two material holding linear guides 2012 are provided, and in order to ensure the stability of the connection between the clamping jaw 202 and the material holding mounting plate 2011, four material holding linear guides 2012 are provided, with two being arranged on each of the left and right sides of the material holding mounting plate 2011, and the two material holding linear guides 2012 located on the same side of the material holding mounting plate 2011 are distributed up and down; it should be noted that the lengths of the material holding mounting plate 2011 and the material holding linear guides 2012 can be set according to different materials, which will not be elaborated here.

[0058] In the above-mentioned implementation process, the clamping jaw member 202 is installed on the material holding mounting plate 2011 through the material holding linear guide rail 2012, and the material holding driving structure is fixed on the material holding mounting plate 2011, so that when the material holding driving structure drives the clamping jaw member 202, the clamping jaw member 202 can be moved relative to the material holding linear guide rail 2012 to complete the clamping or release of the material, thereby ensuring work efficiency.

[0059] Please refer to Figure 2 The material holding driving structure includes a material holding driving member 2013 and a bidirectional driving screw 2014; the material holding driving member 2013 is fixedly connected to the material holding mounting plate 2011, and the material holding driving member 2013 includes but is not limited to a driving motor; the bidirectional driving screw 2014 is configured to be distributed along the left and right directions of the lifting mechanism 100, and the bidirectional driving screw 2014 is connected to the material holding driving member 2013 through a material holding gear. In order to achieve a reasonable structural design, taking the four material holding linear guides 2012 as an example, the end of the bidirectional driving screw 2014 is set between the two material holding linear guides 2012 on the same side to ensure the force balance of the clamping jaw 202 on one side.

[0060] In the above-mentioned implementation process, the material holding driving component 2013 is connected to the bidirectional driving screw 2014 through the material holding gear, and the left and right ends of the bidirectional driving screw 2014 are connected with the clamping claw components 202, so that when the material holding driving component 2013 drives the bidirectional driving screw 2014 to rotate, the clamping claw components 202 on the left and right sides can be moved. The driving method design is more reasonable, which reduces the failure rate of the structure and thus reduces the transportation cost.

[0061] like Figure 3 As shown, Figure 3 It is a connection diagram of a material holding mechanism 200 and a fork mechanism 300 of a material picking device disclosed in an embodiment of the present application from another perspective; the left and right sides of the material holding mounting plate 2011 are provided with lifting connection parts 2015, and the distribution direction of the lifting connection parts 2015 is to extend from the side of the material holding mounting plate 2011 away from the clamping claw member 202 to form a connection with the gear chain structure 1032 of the lifting drive assembly 103. By arranging the lifting connection part 2015 on the side of the material holding mounting plate 2011 away from the clamping claw member 202, when the lifting connection part 2015 is connected with the gear chain structure 1032 of the lifting drive assembly 103, it can avoid the interference of the lifting mechanism 100 on the clamping claw member 202 when clamping or releasing materials, thereby ensuring its working efficiency.

[0062] Please refer to Figure 2The clamping jaw member 202 includes a clamping jaw mounting portion 2021 and a clamping jaw portion 2022; the side of the clamping jaw mounting portion 2021 away from the clamping jaw portion 2022 is configured to be adapted to the material holding linear guide rail 2012, and the clamping jaw mounting portion 2021 is distributed on the left and right sides of the lifting structure 101 of the lifting mechanism 100; the clamping jaw portion 2022 is configured to be connected to the clamping jaw mounting portion 2021, and the inner side of the clamping jaw portion 2022 is configured with an elastic portion 20221 to form an elastic contact when clamping the material; illustratively, the clamping jaw mounting portion 2021 and the clamping jaw portion 2022 can be fixed by welding, or by other fixing methods, the The length of the clamping jaw portion 2022 can be set according to the actual situation of the material. Therefore, due to the production error of the material, the surface flatness of the material is uneven. Therefore, the elastic portion 20221 can be set on the inner side of the clamping jaw portion 2022 to eliminate the problem of uneven force applied to the material by the clamping jaw portion 2022. The number of elastic portions 20221 arranged in the clamping jaw portion 2022 is not particularly limited, and when there are several elastic portions 20221, the several elastic portions 20221 can be arranged to be distributed along the length direction of the clamping jaw portion 2022. Of course, it is not ruled out that the elastic portions 20221 are arranged in several rows.

[0063] In the above-mentioned implementation process, the clamping jaw portion 2022 is installed on the material holding linear guide rail 2012 through the clamping jaw mounting portion 2021, and an elastic portion 20221 is provided on the inner side of the clamping jaw portion 2022, so that when the clamping jaw portion 2022 clamps the material, it can adapt to the unevenness of the material surface, thereby clamping the material more firmly and ensuring that the material will not detach from the clamping jaw portion 2022.

[0064] Please refer to Figure 2 The material holding mechanism 200 also includes a contact switch 203, which is arranged on one side of the material holding mounting plate 2011 close to the clamping jaw 202, so as to detect the position of the material picking device relative to the material when it moves, wherein the contact switch 203 includes a contact sensor and a connecting piece, and the contact sensor is arranged on the connecting piece, and the connecting piece is arranged on the material holding mounting plate 2011, so that when the material needs to be clamped, the clamping jaw 202 of the material holding mechanism 200 is first moved to the outer edge of the material, and the material is gradually located between the two clamping jaws 202 until the wall of the material abuts against the contact switch 203.

[0065] In the above-mentioned implementation process, a contact switch 203 is set on the side of the material holding mounting plate 2011 close to the clamping jaw 202, so that when the clamping jaw 202 clamps the material, only when the surface of the material contacts the contact switch 203, it is determined that the material picking equipment has moved into place, and the clamping jaw 202 is driven by the material holding driving structure to clamp the material, thereby ensuring the accuracy of the clamping jaw 202 in clamping the material and reducing the risk of the material falling off the clamping jaw 202.

[0066] like Figure 4 As shown, Figure 4 1 and 12. The fork drive structure 3012 is a schematic diagram of a disassembled material holding mechanism 200 and a fork drive mechanism 300 of a material picking device disclosed in an embodiment of the present application. The base structure 301 includes a fork base 3011 and a fork drive structure 3012. The fork base 3011 is configured to be distributed in the left and right directions of the lifting structure 101 of the lifting mechanism 100, and the fork base 3011 is configured to be used to accommodate at least a part of the material fork member 302 and to accommodate the fork drive structure 3012. At least a part of the structure of the fork base 3011 is configured on the side of the main structure 201 away from the clamping claw member 202, so that the main structure 201 slides relative to the fork base 3011 along the lifting direction and forms a limit with the fork base 3011; the fork drive structure 3012 includes a fork drive member and a fork gear. The fork drive member includes but is not limited to left and right drive motors. Wheels are arranged on the left and right sides of the left and right driving motors to respectively engage with the material fork tooth portion 3022 of the material fork member 302; the fork material driving structure 3012 is arranged on the fork material base 3011 to drive the material fork member 302 to move along the front and rear direction of the lifting mechanism 100, wherein the fork material base 3011 is connected to the side of the main structure 201 away from the clamping claw member 202, which ensures that the overall structural design is reasonable while also reducing the volume of the overall structure of the material picking equipment, thereby reducing the production cost of the material picking equipment, and a fork material driving structure 3012 is provided on the fork material base 3011 for driving the material fork member 302 to extend or retract, and when the fork material base 3011 is in contact with the ground, the main structure 201 can move a certain distance relative to the fork material base 3011 to ensure that the clamping claw member 202 can clamp the bottom of the material, thereby avoiding placing the material on a pallet or sleepers, and reducing the cost investment in transporting materials.

[0067] Please refer to Figure 4-Figure 5The sliding mechanism 400 includes a sliding mounting seat 401, a sliding lifting frame 402 and a limiting portion 403; the sliding mounting seat 401 is slidably connected to the sliding lifting frame 402, and the side of the sliding mounting seat 401 away from the sliding lifting frame 402 is configured to be fixedly connected to the main structure 201; the sliding lifting frame 402 is configured on the left and right sides of the fork base 3011, and the sliding lifting frame 402 is distributed along the lifting direction, and through the adaptation of the sliding mounting seat and the sliding lifting frame, the main structure 201 slides relative to the base structure 301; the limiting portion 403 is configured on the inner side of the sliding lifting frame 402, and the main structure 201 has a limiting seat 20111 that is limited by the limiting portion 403, wherein the limiting seat 20111 is located below the limiting portion 403.

[0068] It should be noted that when the fork base 3011 is slidably connected to the material holding mounting plate 2011 of the main structure 201 through the adaptation of the sliding mounting seat 401 and the sliding lifting frame 402, the fork base 3011 is lowered to contact the ground through the lifting drive assembly 103 of the lifting mechanism 100. At this time, since there is still a distance between the material holding mounting plate 2011 of the main structure 201 and the fork base 3011, the material holding mounting plate 2011 can be relative to the fork base 3011 through the adaptation of the sliding mounting seat 401 and the sliding lifting frame 402. The fork base 3011 slides until the bottom of the material holding mounting plate 2011 contacts the upper surface of the fork base 3011, thereby achieving the correspondence between the clamping portion 2022 of the clamping member 202 and the bottom of the material; when the lifting drive assembly 103 of the lifting mechanism 100 drives the material holding mounting plate 2011 and the fork base 3011 to rise, the material holding mounting plate 2011 first moves a distance until the limit seat 20111 forms abutment with the limit portion 403, thereby driving the fork base 3011 to rise together.

[0069] In the above-mentioned implementation process, the sliding lifting frame 402 is adapted to the sliding mounting seat 401, the sliding lifting frame 402 is arranged on the fork base 3011, and the sliding mounting seat 401 is arranged on the main structure 201, so that when the material removal base is in contact with the ground, the main structure 201 can move a moving distance relative to the base structure 301, and through the contact between its limit seat 20111 and the limit part 403, the clamping claw 202 can be lowered to the lowest position and clamp the material, which can avoid placing pallets or sleepers at the bottom of the material, thereby reducing the workload of material placement.

[0070] Please refer to Figure 4-Figure 5The material fork member 302 includes a material fork portion 3021 and a material fork tooth portion 3022; the bottom of the material fork portion 3021 is provided with a fork material linear guide rail 30211, and the fork material base 3011 of the base structure 301 is provided with a guide portion 30111 adapted to the fork material linear guide rail 30211; the material fork tooth portion 3022 is arranged on the inner side of the material fork portion 3021 to mesh with the fork material gear of the fork material driving structure 3012 of the base structure 301, and the bottom of the material fork tooth portion 3022 is provided with a fork material linear guide rail 30211. A rack is provided in the part, wherein a fork linear guide 30211 is provided at the bottom of the material fork part 3021, and the sliding lifting frame 402 is provided with a guide part 30111 adapted to the fork linear guide 30211, and the material fork rack part 3022 is provided on the inner side of the material fork part 3021, so that when the fork driving structure 3012 is engaged with the material fork rack part 3022, the material fork part 3021 can be driven to move along the guide part 30111, thereby ensuring that the material fork part 3021 avoids the material load or the clamping claw part 202 when clamping the material.

[0071] In some embodiments, the base structure 301 also includes a limit block 303, and the limit block 303 is configured on the material fork member 302, so as to limit the position of the material fork member 302 when the fork driving structure 3012 drives the material fork member 302 to move. It should be noted that the position of the limit block 303 is not specifically limited. It can be set on the material fork part 3021, or on the fork linear guide 30211, and of course it can also be set on the material fork rack part 3022. As long as the material fork member 302 can be limited in movement, it belongs to the protection scope of this application; wherein the limit block 303 is set on the material fork member 302, so that when the fork driving structure 3012 drives the material fork member 302, it can be limited by the limit block 303 to ensure that the material fork member 302 will not be separated from the fork base 3011 of the base structure 301 during movement.

[0072] Please refer to Figure 1 The lifting mechanism 100 includes a lifting chassis 102, a lifting structure 101 and a lifting drive assembly 103; the lifting structure 101 is arranged on the lifting chassis 102, and the left and right sides of the lifting structure 101 are both provided with lifting guide rails for connecting with the main structure 201; the lifting drive assembly 103 is fixedly connected to the lifting structure 101, and the driving connection part of the lifting drive assembly 103 is connected to the main structure 201 to drive the main structure 201 to rise or fall along the lifting guide rails.

[0073] In the above-mentioned implementation process, the lifting structure 101 is arranged on the lifting chassis 102, and the lifting drive assembly 103 is arranged on the lifting structure 101, so that the lifting drive assembly 103 drives the main structure 201 to move up and down along the lifting guide rail of the lifting structure 101, and then drives the base structure 301 to move up and down, which can ensure that during the movement of the material picking equipment, the main structure 201 and the base structure 301 are not in contact with the ground.

[0074] Please refer to Figure 1-Figure 6 The lifting drive assembly 103 includes a lifting drive member 1031 and a gear chain structure 1032; the lifting drive member 1031 is arranged on the lifting structure 101; the gear chain structure 1032 is configured to be connected with the lifting drive member 1031 and the main structure 201 respectively, so as to form the rise or fall of the main structure 201 through the drive of the lifting drive member 1031, and the gear chain structure 1032 is connected with the lifting drive member 1031 and the main structure 201 respectively, so that when the lifting drive member 1031 is working, it can drive the main structure 201 to rise or fall along the lifting guide rail through the gear chain structure 1032, which can ensure that during the movement of the material taking equipment, the main structure 201 and the base structure 301 are not in contact with the ground.

[0075] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For technical users in the field, the present application may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A material taking device, characterized in that: include: A material holding mechanism comprises a main structure and two clamping jaws, one on each of the left and right sides of the main structure, wherein one of the two clamping jaws can be arranged away from or close to the other to release or clamp the material; A material fork mechanism, comprising a base structure and a material fork member arranged on the base structure, wherein the base structure has an abutment portion at the lower end; A sliding mechanism, comprising a sliding guide portion and a sliding adapter portion that can guide the sliding along the lifting direction, one of the sliding guide portion and the sliding adapter portion is connected to the main structure, and the other is connected to the base structure and is located above the abutment portion, and the main structure is slidably connected to the base structure along the lifting direction through the mutual adaptation of the sliding adapter portion and the sliding guide portion; A lifting mechanism has a lifting output end movable along the lifting direction, a part of the main structure is configured to be connected to the lifting output end, the lifting mechanism lifts the main structure and the base structure through the lifting output end, and when the abutting portion descends to abut the ground, the lifting output end drives the main structure to move downward relative to the base structure through the sliding guide portion and the sliding adapter portion.

2. The material taking device according to claim 1, characterized in that: The main structure has a first limiting body, and the sliding adapter has a second limiting body. The first limiting body is arranged below the second limiting body. When the abutting portion contacts the ground, the main structure moves relative to the base structure to its bottom and abuts against the abutting portion. Thereby, when the lifting output end drives the main structure to rise, the main structure moves relative to the base structure to form abutment between the first limiting body and the second limiting body, and drives the base structure to rise.

3. The material taking device according to claim 1, characterized in that: The main structure includes a material holding mounting plate, a material holding linear guide rail and a material holding drive structure; The side of the material holding mounting plate facing away from the clamping claw member is configured to be connected to the lifting mechanism; The material holding linear guide rail is configured to be distributed along the left and right directions of the lifting mechanism, and the clamping claw member is connected to the material holding linear guide rail; The material holding driving structure is fixedly connected to the material holding mounting plate, and at least a portion of the structure of the material holding driving structure is configured to be connected to the clamping jaw member to drive the clamping jaw member to slide relative to the material holding linear guide rail.

4. The material taking device according to claim 3, characterized in that: The material holding drive structure includes a material holding drive member and a bidirectional drive screw; The material holding driving member is fixedly connected to the material holding mounting plate; The bidirectional driving screw is configured to be distributed along the left and right directions of the lifting mechanism, and the bidirectional driving screw is connected to the material holding driving member through a material holding gear.

5. The material taking device according to claim 3, characterized in that: Lifting connection parts are arranged on the left and right sides of the material holding installation plate, and the distribution direction of the lifting connection parts is to extend from the side of the material holding installation plate away from the clamping claw member to form a connection with the lifting mechanism.

6. The material taking device according to claim 3, characterized in that: The clamping jaw member comprises a clamping jaw mounting portion and a clamping jaw portion; The side of the clamping jaw mounting portion facing away from the clamping jaw portion is configured to be adapted to the material holding linear guide rail, and the clamping jaw mounting portion is distributed on the left and right sides of the lifting mechanism; The clamping jaw portion is configured to be connected to the clamping jaw mounting portion, and an elastic portion is disposed inside the clamping jaw portion to form elastic contact when clamping the material.

7. The material taking device according to claim 3, characterized in that: The material holding mechanism also includes a contact switch, which is arranged on a side of the material holding mounting plate close to the clamping claw member to detect the position of the material picking device when it moves relative to the material.

8. The material taking device according to claim 1, characterized in that: The base structure includes a fork base and a fork driving structure; The fork base is configured to be distributed along the left and right directions of the lifting mechanism, and the fork base is configured to accommodate at least a part of the fork member and the fork driving structure, and at least a part of the fork base is configured on a side of the main structure away from the clamping claw member, so that the main structure slides relative to the fork base along the lifting direction to form a limit with the fork base; The fork material driving structure is arranged on the fork material base to drive the material fork member to move along the front-rear direction of the lifting mechanism.

9. The material taking device according to claim 1 or 8, characterized in that: The material fork member comprises a material fork portion and a material fork tooth portion; The bottom of the material fork portion is provided with a fork material linear guide rail, and the fork material base of the base structure is provided with a guide portion adapted to the fork material linear guide rail; The material fork tooth bar portion is arranged on the inner side of the material fork portion to engage with the fork material driving structure of the base structure.

10. The material taking device according to claim 9, characterized in that: The base structure further includes a limit block, which is disposed on the material fork member and is used for limiting the position of the material fork member when the fork driving structure drives the material fork member to move.

11. The material taking device according to claim 8, characterized in that: The sliding mechanism includes a sliding mounting seat, a sliding lifting frame and a limiting part; The sliding mounting seat is slidably connected to the sliding lifting frame, and a side of the sliding mounting seat facing away from the sliding lifting frame is configured to be fixedly connected to the main structure; The sliding lifting frames are arranged on the left and right sides of the fork base, and the sliding lifting frames are distributed along the lifting direction, and the sliding mounting seat is adapted to the sliding lifting frames to form the main structure sliding relative to the base structure; The limiting portion is arranged on the inner side of the sliding lifting frame, and the main structure has a limiting seat for limiting the position of the limiting portion.

12. The material reclaiming device according to claim 1, characterized in that: The lifting mechanism includes a lifting chassis, a lifting structure and a lifting drive assembly; The lifting structure is arranged on the lifting chassis, and the left and right sides of the lifting structure are both provided with lifting guide rails for connecting with the main structure; The lifting drive assembly is fixedly connected to the lifting structure, and the driving connection part of the lifting drive assembly is connected to the main structure to drive the main structure to rise or fall along the lifting guide rail.

13. The material reclaiming device according to claim 12, characterized in that: The lifting drive assembly includes a lifting drive member and a gear chain structure; The lifting drive member is configured on the lifting structure; The gear chain structure is configured to be connected to the lifting drive member and the main structure respectively, so that the main structure can be raised or lowered through the driving of the lifting drive member.

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