Loading and unloading equipment

Abstract

The present application discloses a material handling device, including a support platform and a lifting assembly. The support platform is suitable for placing materials. The lifting assembly includes a lifting frame and a driver. The driver is suitable for driving the lifting frame to move up and down. The lifting frame includes a plurality of positioning rods arranged side by side. The positioning rods are suitable for passing through the support platform from the inside of the support platform to be exposed above the support platform. A receiving cavity is formed between two adjacent positioning rods. When the material is placed on the support platform, it is located in the receiving cavity. The support platform supports the material. The lifting assembly is arranged in the support platform. The lifting frame of the lifting assembly can be raised and lowered by the driver, so that it can be raised to a certain height according to the amount of material. When the material needs to be moved away, the driver can control the lifting frame to be lowered to avoid obstruction to the removal of the material. In addition, the lifting frame includes a plurality of positioning rods arranged alternately. The adjacent positioning rods can form partition constraints on the material, so that the stacking of the material is more regular and the stacking height is higher.

Description

Technical Field

[0001] The present application relates to the field of industrial automation technology, and in particular to a material handling device. Background Art

[0002] On some production lines, materials are stacked on loading and unloading equipment manually, using a gantry truck or a robot, to facilitate centralized material management and subsequent use. Manual stacking is inefficient and labor-intensive, while stacking with a gantry truck or a robot overcomes the shortcomings of manual stacking. However, existing loading and unloading equipment does not adapt well to materials. Materials are generally stacked randomly, with uncertain stacking locations and a stacking height that cannot be too high to avoid dumping and safety accidents. Summary of the Invention

[0003] The present application aims to solve the technical problems in the related art at least to a certain extent. To this end, the present application proposes a material taking and placing device.

[0004] To achieve the above objectives, the present application discloses a material handling device, which includes:

[0005] A support platform suitable for placing materials; and

[0006] A lifting assembly includes a lifting frame and a driver, the driver is suitable for driving the lifting frame to move up and down, the lifting frame includes a plurality of positioning rods arranged side by side, the positioning rods are suitable for passing through the support platform from the inside of the support platform to be exposed above the support platform, and a receiving cavity is formed between two adjacent positioning rods, and the material is located in the receiving cavity when placed on the support platform.

[0007] In some embodiments of the present application, the lifting frame further comprises a crossbar, the crossbar being disposed in the support platform, the positioning rod being disposed on the crossbar, and the crossbar having a first portion and a second portion alternately disposed therebetween;

[0008] The lifting assembly further comprises:

[0009] a first guide member;

[0010] a first mounting seat, slidably connected to the first guide member in a transverse direction;

[0011] a connecting rod, one end of which is rotatably connected to the first mounting seat, and the other end of which is rotatably connected to the first portion;

[0012] a second guide member; and

[0013] a second mounting seat, disposed at the second portion and slidably connected to the second guide member in a vertical direction;

[0014] The driver is adapted to drive the first mounting seat to reciprocate so as to move the lifting frame up and down.

[0015] In some embodiments of the present application, the first guide member includes a first guide rail, the first guide rail is arranged transversely, the first mounting seat is provided with a first slider, and the first slider is slidably connected to the first guide rail;

[0016] And / or, the second guide member includes a second guide rail, the second guide rail is vertically arranged, the second mounting seat is provided with a second slider, and the second slider is slidably connected to the second guide rail.

[0017] In some embodiments of the present application, the lifting assembly further includes a first fixing pin and a first blocking piece, wherein the first fixing pin passes through the first mounting seat and the connecting rod, a first notch is provided in the radial direction of the first fixing pin, and the first blocking piece is fixed to the first mounting seat and inserted into the first notch to prevent the first fixing pin from rotating;

[0018] And / or, the lifting assembly also includes a second fixing pin and a second baffle, the first part is provided with a third mounting seat, the second fixing pin passes through the third mounting seat and the connecting rod, a second notch is provided in the radial direction of the second fixing pin, and the second baffle is fixed to the third mounting seat and inserted into the second notch to prevent the second fixing pin from rotating.

[0019] In some embodiments of the present application, the driver includes a cylinder body and a driving rod provided on the cylinder body, the cylinder body is suitable for causing the driving rod to extend and retract to drive the first mounting seat, and the extension and retraction direction of the driving rod is consistent with the movement direction of the first mounting seat.

[0020] In some embodiments of the present application, the lifting assembly further includes a floating joint and a floating joint seat, the driving rod is connected to the floating joint, the floating joint is clamped to the floating joint seat, and the floating joint seat is fixed to the first mounting seat.

[0021] In some embodiments of the present application, the lifting assembly further includes a first sensor, a second sensor and a controller, wherein the first sensor is adapted to generate a signal when the lifting frame moves to the highest position so that the controller controls the driver to stop driving, and the second sensor is adapted to generate a signal when the lifting frame moves to the lowest position so that the controller controls the driver to stop driving.

[0022] In some embodiments of the present application, when the lifting frame moves to the highest position, the first mounting seat of the lifting assembly is in a first extreme position, and when the lifting frame moves to the lowest position, the first mounting seat of the lifting assembly is in a second extreme position. The first sensor is suitable for detecting that the first mounting seat is in the first extreme position, and the second sensor is suitable for detecting that the first mounting seat is in the second extreme position.

[0023] In some embodiments of the present application, the lifting assembly further includes a guide shaft, which is fixed to the support platform and passes through the cross bar.

[0024] In some embodiments of the present application, the crossbar is provided with a linear bearing, and the guide shaft passes through the linear bearing.

[0025] In some embodiments of the present application, the lifting assembly further includes a controller, and the controller is adapted to control the lifting frame to rise and fall layer by layer.

[0026] In some embodiments of the present application, the lifting frame is raised to a preset height each time, and the lifting frame is lowered to a preset height each time, and the preset height is the height of the material.

[0027] In some embodiments of the present application, the lifting assembly further includes a third sensor, the plurality of positioning rods located at both ends are respectively a first positioning rod and a second positioning rod, the third sensor is provided on the first positioning rod, and the direction from the second positioning rod to the first positioning rod is the first direction;

[0028] The material is suitable for being placed in the accommodating cavity in sequence along the first direction, and when the material is placed in the accommodating cavity surrounded by the first positioning rod, the third sensor generates a signal to enable the controller to control the driver to drive the lifting frame to rise to a preset height; and / or, the material is suitable for being taken out of the accommodating cavity in sequence along the first direction, and when the material is taken out of the accommodating cavity surrounded by the first positioning rod, the third sensor generates a signal to enable the controller to control the driver to drive the lifting frame to descend to a preset height.

[0029] In some embodiments of the present application, the lifting assembly includes two sets, and the two sets of lifting assemblies are arranged side by side and alternately along the length direction of the material.

[0030] The support platform of the present invention supports the materials. A lifting assembly is provided within the support platform. The lifting frame of the lifting assembly is driven by a driver to rise and fall, thereby increasing the height according to the quantity of materials. When materials need to be removed, the driver lowers the lifting frame to avoid obstructing the removal of the materials. Furthermore, the lifting frame includes multiple, spaced-apart positioning rods. Adjacent positioning rods can form partitioned constraints for the materials, allowing for more accurate positioning and more orderly stacking of materials. This effectively improves work efficiency and facilitates industrial automation.

[0031] Other advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other designs can be obtained based on the structures shown in these drawings without paying any creative work.

[0033] Figure 1 Schematic diagram of materials stacked on a loading and unloading device in some embodiments;

[0034] Figure 2 Schematic diagram of material handling equipment in some embodiments;

[0035] Figure 3 A partial schematic diagram of a material handling device in some embodiments;

[0036] Figure 4 Exploded views of the material handling equipment in some embodiments;

[0037] Figure 5 Schematic diagram of the structure of the material taking and unloading equipment in some embodiments;

[0038] Figure 6 Schematic diagram of the partial structure of the material taking and unloading equipment in some embodiments;

[0039] Figure 7 for Figure 6 The enlarged view marked as A in FIG;

[0040] Figure 8 for Figure 6 The enlarged image marked as B in the figure;

[0041] Figure 9 for Figure 6 The enlarged image marked as C in the figure;

[0042] Figure 10 for Figure 6 The enlarged image marked with D in the figure;

[0043] Figure 11 for Figure 6 Exploded view of the structure shown;

[0044] Figure 12 for Figure 11 The enlarged image marked with E in the figure.

[0045] Description of Figure Numbers:

[0046] Support platform 1000, hole 1100;

[0047] Lifting assembly 2000;

[0048] Lifting frame 2100;

[0049] Positioning rod 2110, first positioning rod 2111, second positioning rod 2112, first portion 2113, second portion 2114, accommodating cavity 2115;

[0050] Crossbar 2120, guide shaft 2121, linear bearing 2122, connecting rod 2123;

[0051] First guide member 2130, first guide rail 2131;

[0052] Second guide member 2140, second guide rail 2141;

[0053] A first mounting seat 2150 and a first sliding block 2151;

[0054] A second mounting seat 2160 and a second sliding block 2161;

[0055] Third mounting seat 2170;

[0056] A first fixing pin 2181 and a first blocking piece 2183;

[0057] A second fixing pin 2191 and a second blocking piece 2193;

[0058] Driver 2200, cylinder 2210, driving rod 2220, floating joint 2230, floating joint seat 2240, first sensor 2310, second sensor 2320, third sensor 2330, protective cover 2331;

[0059] Material 3000.

[0060] The realization of the objectives, functional features and advantages of this application will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0061] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0062] It should be noted that all directional indications in the embodiments of the present application (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0063] In this application, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. For those skilled in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0064] In addition, the descriptions of "first", "second", etc. in this application are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0065] On some production lines, materials are stacked on loading and unloading equipment manually, using a gantry truck or a manipulator to centrally manage materials and facilitate subsequent use of materials. Manual stacking is inefficient and labor-intensive, while gantry truck stacking overcomes the shortcomings of manual stacking. However, existing loading and unloading equipment does not adapt well to materials. Materials are generally stacked randomly, with uncertain stacking locations and a stacking height that cannot be too high to avoid dumping and safety accidents.

[0066] In view of the shortcomings of the existing technology, this application proposes a material taking and placing device, which combines Figures 1 to 5As shown, in some embodiments of the present application, the material taking and placing equipment includes a support table 1000 and a lifting assembly 2000, the support table 1000 is suitable for placing material 3000, the lifting assembly 2000 includes a lifting frame 2100 and a driver 2200, the driver 2200 is suitable for driving the lifting frame 2100 to move up and down, the lifting frame 2100 includes a plurality of positioning rods 2110 arranged side by side, the positioning rods 2110 are suitable for passing through the support table 1000 from the inside of the support table 1000 to be exposed above the support table 1000, and a accommodating cavity 2115 is formed between two adjacent positioning rods 2110, and the material 3000 is located in the accommodating cavity 2115 when placed on the support table 1000.

[0067] The support platform 1000 supports the material 3000. A lifting assembly 2000 is disposed within the support platform 1000. The lifting frame 2100 of the lifting assembly 2000 can be raised and lowered by a driver 2200, thereby raising and lowering the material 3000 to a certain height depending on the quantity of the material 3000. When the material 3000 needs to be removed, the driver 2200 controls the lifting frame 2100 to lower, thereby preventing any obstruction to the removal of the material 3000. Furthermore, the lifting frame 2100 includes a plurality of alternately arranged positioning rods 2110. Adjacent positioning rods 2110 can form partitions to constrain the material 3000, ensuring more accurate positioning and more orderly stacking of the material 3000. This effectively improves work efficiency and facilitates industrial automation.

[0068] Specifically, combined Figure 2 、 Figure 3 and Figure 4 As shown, the support platform 1000 is generally shaped like a cover, which not only serves to place the material 3000, but also serves to install the lifting assembly 2000. In order to save space, ensure safe operation, and be more neat and generous, the lifting assembly 2000 is installed inside the support platform 1000. A number of holes 1100 are opened on the surface of the support platform 1000 for the lifting assembly 2000 to move up and down. When the lifting assembly 2000 moves, the positioning rods 2110 of the lifting assembly 2000 can pass through the holes 1100 of the support platform 1000, thereby moving up and down. Since the lifting assembly 2000 is installed inside the support platform 1000, it is prevented from being interfered with by the outside during the movement of the lifting assembly 2000, ensuring safe operation.

[0069] Combine Figure 5As shown, the driver 2200 drives the lifting frame 2100 to move up and down. When the material 3000 needs to be stacked, the driver 2200 drives the lifting frame 2100 to rise. When the material 3000 needs to be moved, the driver 2200 drives the lifting frame 2100 to descend. For example, in a production line, a robot is used to pick up and place the material 3000. The lifting frame 2100 is raised and lowered to avoid interference and collision between the positioning rod 2110 and the robot during operation, making the operation more flexible. Optionally, the driver 2200 of the lifting assembly 2000 is electric, thereby achieving servo control, smoother operation, and more accurate positioning.

[0070] The lifting frame 2100 of the lifting assembly 2000 includes a plurality of positioning rods 2110 arranged side by side, which pass through the support platform 1000 from the inside of the support platform 1000 to be exposed above the support platform 1000. A accommodating cavity 2115 is formed between two adjacent positioning rods 2110. When the material 3000 is placed on the support platform 1000, it is located in the accommodating cavity 2115. With the constraint of the positioning rods 2110, the problem of the material 3000 collapsing due to stacking too high can be avoided, so that the material 3000 can be stacked more neatly, the working process is smoother, the work efficiency is higher, and the subsequent removal of the material 3000 is convenient, which is conducive to the realization of industrial automation. Positioning rod 2110 needs to pass through hole 1100 and be exposed above the support platform. Optionally, the size of hole 1100 is designed to be larger than the size of positioning rod 2110, that is, there is a clearance fit between hole 1100 and positioning rod 2110. This ensures that positioning rod 2110 can be raised and lowered smoothly without excessive friction with the edge of hole 1100. Moreover, due to the size deviation of the materials, when a larger material is placed into the accommodating chamber 2115, the clearance fit between hole 1100 and positioning rod 2110 can also cause positioning rod 2110 to deform to a certain extent, ensuring that slightly larger materials can be placed normally. In addition, by optimizing the size of the gap, for example, the distance between the edge of hole 1100 and positioning rod 2110 is 3mm to 10mm, which can be 3mm, 5mm, 8mm or 10mm, this can also prevent the shaking of positioning rod 2110, especially when the distance is 5mm, the shaking and deformation of positioning rod 2110 can be better controlled.

[0071] Combine Figures 6 to 12 As shown, in some embodiments of the present application, the lifting frame 2100 also includes a cross bar 2120, which is arranged inside the support platform 1000, and the positioning rod 2110 is arranged on the cross bar 2120. The cross bar 2120 also has a first portion 2113 and a second portion 2114 alternately spaced apart for installing lifting components. The cross bar 2120 and the positioning rod 2110 form a flat structure as a whole, which is compact and saves space.

[0072] Lifting assembly 2000 further includes a first guide member 2130, a first mounting block 2150, a connecting rod 2123, a second guide member 2140, and a second mounting block 2160. First mounting block 2150 is laterally slidably coupled to first guide member 2130. Connecting rod 2123 has one end rotatably coupled to first mounting block 2150 and the other end rotatably coupled to first portion 2113 of crossbar 2120 of lifting frame 2100. Second mounting block 2160 is vertically slidably coupled to second guide member 2140 and mounted to second portion 2114. The driver 2200 drives the first mounting seat 2150 to reciprocate in the transverse direction along the first guide member 2130. When the first mounting seat 2150 moves, the connecting rod 2123, which is rotatably connected to the first mounting seat 2150, also moves accordingly. Therefore, the connecting rod 2123 can drive the crossbar 2120 to move. Because the connecting rod 2123 is also rotatably connected to the first portion 2113 of the crossbar 2120, when the connecting rod 2123 drives the crossbar 2120 to move, the second mounting seat 2160, which is mounted on the second portion 2114 of the crossbar 2120, moves vertically, driven by the second guide member 2140. In this way, the lifting frame 2100 and the driver 2200 cooperate to achieve the lifting movement of the lifting frame 2100. The provision of the connecting rod 2123 significantly saves space while achieving the same lifting range.

[0073] Combine 6 and Figure 7 As shown, in some embodiments of the present application, the first guide member 2130 includes a first guide rail 2131, which is horizontally arranged at the bottom of the support platform 1000, and the first mounting seat 2150 is provided with a first slider 2151, which is slidingly connected to the first guide rail 2131, so that the first mounting seat 2150 can move in a horizontal direction along the first guide rail 2131. This design is relatively simple and convenient, saves space, and can achieve precise matching through the guide rail slider structure, thereby making the control accuracy of the lifting assembly 2000 higher.

[0074] Combine Figure 6 and Figure 12 As shown, in some embodiments of the present application, the second guide member 2140 includes a second guide rail 2141, which is vertically arranged on the side of the support platform 1000, and the second mounting seat 2160 is provided with a second slider 2161, which is slidingly connected to the second guide rail 2141, so that the second mounting seat 2160 can realize vertical movement along the second guide rail 2141. This design is simple and effective, and the movement route is precise.

[0075] Combine Figure 7As shown, in some embodiments of the present application, the lifting assembly 2000 also includes a first fixing pin 2181 and a first baffle 2183, which are used to connect the first mounting seat 2150 and the connecting rod 2123. Specifically, the first fixing pin 2181 needs to pass through the first mounting seat 2150 and the connecting rod 2123, and the connecting rod 2123 and the first fixing pin 2181 are rotatably connected. Since the first fixing pin 2181 will move with the movement of the first mounting seat 2150, in order to reduce the wear between the first fixing pin 2181 and the first mounting seat 2150, a first notch (not shown in the figure) is provided radially of the first fixing pin 2181, and the first baffle 2183 is fixed on the first mounting seat 2150 and inserted into the first notch to prevent the first fixing pin 2181 from rotating, thereby avoiding wear between the first fixing pin 2181 and the first mounting seat 2150. Optionally, a first sleeve can be provided, which is provided between the first fixing pin 2181 and the connecting rod 2123 to reduce the friction between the first fixing pin 2181 and the connecting rod 2123. For example, the first sleeve can be an oil-containing copper sleeve to play a lubricating role, reduce noise and prevent wear.

[0076] The installation of the connecting rod 2123 on the cross bar 2120 is also designed in the same way. Figure 8 As shown, in some embodiments of the present application, a third mounting seat 2170 is set in the first part 2113, and the lifting assembly 2000 also includes a second fixing pin 2191 and a second baffle 2193, which are used to connect the third mounting seat 2170 and the connecting rod 2123. Specifically, the second fixing pin 2191 needs to pass through the third mounting seat 2170 and the connecting rod 2123, and the connecting rod 2123 and the second fixing pin 2191 are rotatably connected. In order to reduce the wear between the second fixing pin 2191 and the third mounting seat 2170, a second notch (not shown in the figure) is provided in the radial direction of the second fixing pin 2191, and the second baffle 2193 is fixed on the third mounting seat 2170 and inserted into the second notch to prevent the second fixing pin 2191 from rotating, thereby avoiding wear between the second fixing pin 2191 and the third mounting seat 2170. Optionally, a second sleeve can be provided, which is provided between the second fixing pin 2191 and the connecting rod 2123 to reduce the friction between the second fixing pin 2191 and the connecting rod 2123. For example, the second sleeve can be an oil-containing copper sleeve to play a lubricating role, reduce noise and prevent wear.

[0077] Combine Figure 11 and Figure 12As shown, in some embodiments of the present application, the driver 2200 includes a cylinder body 2210 and a driving rod 2220 provided on the cylinder body 2210. The cylinder body 2210 is installed at one end of the support platform 1000. The driver 2200 can be electric, which can realize servo control, smoother operation, more reliable work, and accurate positioning. The cylinder body 2210 is suitable for making the driving rod 2220 extend and retract to drive the first mounting seat 2150. When the driving rod 2220 is continuously retracted in the cylinder body 2210, the lifting frame 2100 is gradually raised. When the driving rod 2220 is continuously extended out of the cylinder body 2210, the lifting frame 2100 is gradually lowered. The extension and retraction direction of the driving rod 2220 is consistent with the movement direction of the first mounting seat 2150, reducing the transmission complexity between the driver 2200 and the first mounting seat 2150.

[0078] Optionally, combined Figure 12 As shown, in some embodiments of the present application, the driving rod 2220 is extended and retracted to drive the first mounting seat 2150. Therefore, the driving rod 2220 needs to be driven and connected to the first mounting seat 2150. In order to reduce the impact generated by the driving rod 2220 during operation, to prevent the driving rod 2220 from being separated from the first mounting seat 2150 during movement, and to achieve more accurate and convenient installation, the lifting assembly 2000 also includes a floating joint 2230 and a floating joint seat 2240. The floating joint 2230 is connected to the driving rod 2220. The floating joint 2230 is provided with a slot for engaging with the floating joint seat 2240. The floating joint seat 2240 is screwed into the first mounting seat 2150. This design can firmly connect the driving rod 2220 and the first mounting seat 2150, providing a strong connection and good impact resistance.

[0079] Combine Figure 6 and Figure 11 As shown, in some embodiments of the present application, to achieve industrial automation and effectively control the movement of the lifting assembly 2000, the lifting assembly 2000 further includes a first sensor 2310, a second sensor 2320, and a controller (not shown). The first sensor 2310 and the second sensor 2320 are used to detect the position of the object being measured and control the movement of the lifting assembly 2000. The controller receives signals from the first sensor 2310 and the second sensor 2320 and controls the movement of the driver 2200. When the driver 2200 drives the first mounting seat 2150 to move, the lifting frame 2100 moves accordingly. When the lifting frame 2100 reaches an extreme position, the driver 2200 must stop driving to stop the lifting frame 2100, thus achieving industrial automation. The first sensor 2310 and the second sensor 2320 are used to detect the extreme position. The first sensor 2310 and the second sensor 2320 can be of various types, such as photoelectric sensors.

[0080] Optionally, in some embodiments of the present application, when the lifting frame 2100 moves to the highest position, the first mounting seat 2150 moves to the first extreme position, and the first sensor 2310 can be set at the first extreme position, so that the first sensor 2310 senses that the first mounting seat 2150 has moved to the first extreme position, and transmits the relevant signal to the controller. The controller controls the driver 2200 to stop working, and the lifting frame 2100 immediately stops rising.

[0081] When the lifting frame 2100 moves to the lowest position, the first mounting seat 2150 moves to the second extreme position. The second sensor 2320 can be set at the second extreme position so that the second sensor 2320 senses that the first mounting seat 2150 has moved to the second extreme position. The second sensor 2320 generates a signal and transmits it to the controller. The controller reacts and controls the driver 2200 to stop working, and the lifting frame 2100 stops descending immediately.

[0082] Combine Figure 6 As shown, in some embodiments of the present application, one end of the cross bar 2120 of the lifting frame 2100 can run smoothly on the second guide rail 2141 through the second mounting seat 2160, but the lifting frame 2100 itself has a certain weight. In order to allow the lifting frame 2100 to run more smoothly and accurately, the lifting assembly 2000 also includes a guide shaft 2121. The guide shaft 2121 is fixed to the support platform 1000 and vertically passes through the cross bar 2120. When the cross bar 2120 moves vertically, it is constrained by the guide shaft 2121 in the vertical direction, so it is not easy to shake and sway, and the operation is more stable.

[0083] Combine Figure 10 As shown, in some embodiments of the present application, the crossbar 2120 is provided with a linear bearing 2122, and the guide shaft 2121 is passed through the linear bearing 2122. The linear bearing 2122 can ensure better guidance when the crossbar 2120 and the guide shaft 2121 undergo relative motion, ensuring that the guide shaft 2121 passes through the crossbar 2120 vertically, and the crossbar 2120 also rises and falls vertically during the lifting motion. The linear bearing 2122 also acts as a buffer to withstand friction and collision of the guide shaft 2121, thereby reducing wear on the crossbar 2120, an important component.

[0084] To achieve industrial automation and facilitate the placement of material 3000 relative to the loading and unloading equipment, in some embodiments of the present application, the lifting assembly 2000 further includes a controller (not shown) that controls the movement of the lifting frame 2100. By pre-setting parameters in the controller, when placing material 3000 onto the support platform 1000, the controller controls the driver 2200 to drive the lifting frame 2100, causing it to rise layer by layer, cooperating with the robot to stack the material 3000 layer by layer. Similarly, when removing material 3000 from the support platform 1000, the controller controls the driver 2200 to drive the lifting frame 2100, causing it to lower layer by layer, cooperating with the robot to remove the material 3000 layer by layer. Since the lifting frame 2100 rises and lowers layer by layer to facilitate the placement of the material 3000, it can avoid obstruction to the robot and improve work efficiency. For example, when the robot is stacking material 3000, the lifting frame 2100 is raised to a preset height under the action of the controller. At this time, the robot controls the material 3000 to be stacked in each accommodating cavity 2115. Since the preset height is much smaller than the depth of the accommodating cavity 2115, the robot can move and leave quickly, thereby avoiding the lifting frame 2100 from hindering the movement of the robot.

[0085] Optionally, in some embodiments of the present application, the lifting frame 2100 is raised to a preset height each time, and the lifting frame 2100 is lowered to a preset height each time. The aforementioned preset height is the height of the material 3000. By setting the preset height to the height of the material 3000, while ensuring that the lifting frame 2100 can form a better limit for the material 3000, the lifting frame 2100 can cooperate with the robot arm more flexibly to take and place materials, thereby improving work efficiency.

[0086] Combine Figure 6 As shown, in some embodiments of the present application, the lifting assembly 2000 further includes a third sensor 2330. The third sensor 2330 is a sensor used to sense the placement of the material 3000 and is similar to the first sensor 2310 and the second sensor 2320, for example, both are photoelectric sensors. The positioning rods 2110 include multiple positioning rods 2110, which are arranged side by side. The first positioning rod 2111 and the second positioning rod 2112 are located at both ends, respectively, forming the end point and starting point of the placement of the material 3000. The third sensor 2330 is disposed on the first positioning rod 2111, for example, it can be disposed at the top of the first positioning rod 2111. The direction from the second positioning rod 2112 to the first positioning rod 2111 is the first direction, which is also the direction of placement of the material 3000.

[0087] The function of the third sensor 2330 is to sense the last material 3000 after a layer of material 3000 has been placed. The sensor then transmits a signal to the controller, which controls the movement of the driver 2200, which in turn drives the lifting frame 2100 up and down, thus continuing to place and place the next layer of material 3000. For example, if material 3000 is used for welding a base frame, which is welded from seven channel steels of varying lengths, each of which forms a layer of material 3000, the lifting frame 2100 can lift and lower the material layer by layer, facilitating the welding of the base frame and reducing errors. For example, there are 10 layers of material 3000, each of which can be welded to form a bottom frame (7 channel steels). When stacking the materials 3000, the materials 3000 on the bottom layer are stacked first. The materials 3000 on the bottom layer are then stacked sequentially along the first direction. The lifting frame 2100 is then raised to the height of one material 3000, and the materials 3000 on the next layer are stacked sequentially along the first direction. To prevent the materials 3000 from striking the third sensor 2330 when placing or removing the materials 3000, a protective cover 2331 can be installed outside the third sensor 2330 to prevent damage.

[0088] Specifically, the robot stacks the materials 3000 in the accommodating cavity 2115 formed by these positioning rods 2110 in sequence along the first direction. When the material 3000 is placed in the accommodating cavity 2115 next to the first positioning rod 2111, the robot has placed the current layer of materials 3000. At this time, the third sensor 2330 generates a signal to the controller, and the controller controls the movement of the driver 2200. The driver 2200 drives the lifting frame 2100 to rise to the preset height of a material 3000. The robot can continue to place the previous layer of materials 3000 neatly. When the lifting frame 2100 runs to the highest position, the first sensor 2310 generates a signal to control the lifting frame 2100 to stop moving.

[0089] Similarly, when removing the material 3000, it is removed sequentially along the first direction from the cavities 2115 formed by adjacent positioning rods 2110 (layer by layer, from top to bottom). When the material 3000 in the cavities 2115 enclosed by the first positioning rods 2111 is removed, one layer of material 3000 has been removed, and the next layer of material 3000 can be removed. Therefore, the third sensor 2330 generates a signal, which is transmitted to the controller, controlling the driver 2200 to drive the lifting frame 2100 to descend to the preset height of one material 3000. When the lifting frame 2100 reaches its lowest position, the second sensor 2320 generates a signal, thereby controlling the lifting frame 2100 to stop moving.

[0090] Combine Figure 1 and Figure 2As shown, the material 3000 has a certain size. A set of lifting components 2000 can only ensure that the position of one end of the material 3000 is not offset, and the other end is more difficult to ensure. In this way, the material 3000 is easy to tilt and fall. Therefore, in order to stack the material 3000 more neatly, the material loading and unloading equipment includes two sets of lifting components 2000. The two sets of lifting components 2000 are arranged side by side and alternately along the length direction of the material 3000. The two sets of lifting components 2000 work at the same time, so that the material 3000 can be stacked more neatly.

[0091] The above description is only a preferred embodiment of the present application and does not limit the patent scope of the present application. All equivalent structural transformations made based on the contents of the present application specification and drawings, or direct / indirect application in other related technical fields, are included in the patent protection scope of the present application.

Claims

1. A material handling device, characterized in that: The material handling equipment includes: A support platform suitable for placing materials; and A lifting assembly, the lifting assembly comprising a lifting frame and a driver, the driver being adapted to drive the lifting frame to move up and down, the lifting frame comprising a plurality of positioning rods arranged side by side, the positioning rods being adapted to pass through the support platform from the inside thereof to be exposed above the support platform, a receiving cavity being formed between two adjacent positioning rods, the material being located in the receiving cavity when placed on the support platform; The lifting assembly further includes a controller and a third sensor; The controller is adapted to control the lifting frame to rise and fall layer by layer, the lifting frame to rise to a preset height each time, and the lifting frame to fall to a preset height each time, the preset height being the height of the material; The multiple positioning rods are located at both ends of the first positioning rod and the second positioning rod respectively, the third sensor is provided on the first positioning rod, and the direction from the second positioning rod to the first positioning rod is the first direction; the material is suitable for being placed in the accommodating cavity in sequence along the first direction, and when the material is placed in the accommodating cavity surrounded by the first positioning rod, the third sensor generates a signal to enable the controller to control the driver to drive the lifting frame to rise to a preset height; and / or, the material is suitable for being taken out of the accommodating cavity in sequence along the first direction, and when the material is taken out of the accommodating cavity surrounded by the first positioning rod, the third sensor generates a signal to enable the controller to control the driver to drive the lifting frame to descend to a preset height.

2. The material handling equipment according to claim 1, characterized in that: The lifting frame further includes a crossbar, the crossbar being arranged in the support platform, the positioning rod being arranged on the crossbar, and the crossbar having a first portion and a second portion alternately arranged therebetween; The lifting assembly further comprises: a first guide member; a first mounting seat, slidably connected to the first guide member in a transverse direction; a connecting rod, one end of which is rotatably connected to the first mounting seat, and the other end of which is rotatably connected to the first portion; a second guide member; and a second mounting seat, disposed at the second portion and slidably connected to the second guide member in a vertical direction; The driver is adapted to drive the first mounting seat to reciprocate so as to move the lifting frame up and down.

3. The material handling equipment according to claim 2, characterized in that: The first guide member includes a first guide rail, the first guide rail is arranged horizontally, the first mounting seat is provided with a first slider, and the first slider is slidably connected to the first guide rail; And / or, the second guide member includes a second guide rail, the second guide rail is vertically arranged, the second mounting seat is provided with a second slider, and the second slider is slidably connected to the second guide rail.

4. The material handling equipment according to claim 2, characterized in that: The lifting assembly further includes a first fixing pin and a first blocking piece, wherein the first fixing pin passes through the first mounting seat and the connecting rod, a first notch is provided in the radial direction of the first fixing pin, and the first blocking piece is fixed to the first mounting seat and inserted into the first notch to prevent the first fixing pin from rotating; And / or, the lifting assembly also includes a second fixing pin and a second baffle, the first part is provided with a third mounting seat, the second fixing pin passes through the third mounting seat and the connecting rod, a second notch is provided in the radial direction of the second fixing pin, and the second baffle is fixed to the third mounting seat and inserted into the second notch to prevent the second fixing pin from rotating.

5. The material handling equipment according to claim 2, characterized in that: The driver includes a cylinder body and a driving rod provided on the cylinder body. The cylinder body is suitable for causing the driving rod to extend and retract to drive the first mounting seat. The extending and retracting direction of the driving rod is consistent with the moving direction of the first mounting seat.

6. The material handling equipment according to claim 5, characterized in that: The lifting assembly further includes a floating joint and a floating joint seat. The driving rod is connected to the floating joint. The floating joint is clamped to the floating joint seat. The floating joint seat is fixed to the first mounting seat.

7. The material handling equipment according to claim 1 or 2, characterized in that: The lifting assembly further includes a first sensor, a second sensor, and a controller. The first sensor is adapted to generate a signal when the lifting frame moves to the highest position so that the controller controls the driver to stop driving. The second sensor is adapted to generate a signal when the lifting frame moves to the lowest position so that the controller controls the driver to stop driving.

8. The material handling equipment according to claim 7, characterized in that: When the lifting frame moves to the highest position, the first mounting seat of the lifting assembly is in a first extreme position, and when the lifting frame moves to the lowest position, the first mounting seat of the lifting assembly is in a second extreme position. The first sensor is suitable for detecting that the first mounting seat is in the first extreme position, and the second sensor is suitable for detecting that the first mounting seat is in the second extreme position.

9. The material handling equipment according to claim 2, characterized in that: The lifting assembly further includes a guide shaft, which is fixed to the support platform and passes through the crossbar.

10. The material handling equipment according to claim 9, characterized in that: The crossbar is provided with a linear bearing, and the guide shaft passes through the linear bearing.

11. The material handling equipment according to claim 1, characterized in that: The lifting components include two sets, and the two sets of lifting components are arranged side by side and alternately along the length direction of the material.

Images