Multi-posture material taking device and system and automatic butt joint displacement system

Abstract

The invention belongs to the technical field of workpiece machining equipment, and particularly relates to a multi-posture material taking device and system and an automatic butt joint displacement system.The multi-posture material taking device is applied to workpiece movement between a bearing device and a machining device which are arranged in the first direction in a spaced mode and comprises a moving track, a feeding mechanism and a driving mechanism; the feeding mechanism is used for bearing workpieces, and the driving mechanism is in sliding fit with the moving track. According to the automatic feeding and discharging device, the driving mechanism drives the feeding mechanism to move to the first feeding and discharging position and moves the workpiece to the feeding mechanism, and then the driving mechanism drives the feeding mechanism to move to the second feeding and discharging position and moves the workpiece to the machining device; the feeding mechanism moves the workpiece through sliding fit of the driving mechanism and the moving track, so that the stability of the workpiece in the moving process is improved, and then the safety of machining operation is improved.

Description

Technical Field

[0001] The present application belongs to the technical field of workpiece processing equipment, and specifically relates to a multi-posture material taking device and system and an automatic docking and displacement system. Background Art

[0002] As the requirements for workpiece production and processing speed, production and processing quality, and reduction of costs and labor intensity gradually increase, the production line of workpieces is gradually moving towards automation. Different production and processing procedures require production and processing equipment with different functions. Among them, the loading and unloading procedures require a material removal device. For the processing of workpieces with larger structural dimensions, it is first necessary to use a transportation device to transport the workpiece to a carrying device located at the loading and unloading position, and then move the workpiece from the carrying device at the loading and unloading position to the processing device for processing.

[0003] In the prior art, the method of moving the load-carrying device from the loading and unloading position to the processing device for processing still adopts the hoisting movement method. With respect to the above-mentioned related technologies, due to the large size and weight of the workpiece, the workpiece is easy to shake during the hoisting process, thus posing a great safety hazard. Summary of the invention

[0004] The purpose of this application is to provide a multi-posture material picking device and system and an automatic docking and displacement system to improve the stability of the workpiece during movement.

[0005] In order to achieve the above-mentioned purpose, the first aspect of the present application provides a multi-posture material taking device, comprising:

[0006] A moving track extending along a first direction;

[0007] A loading mechanism, the top of which forms a loading structure for carrying workpieces;

[0008] A driving mechanism, movably cooperating with the moving track, wherein the driving mechanism is synchronously connected to the feeding mechanism for movement along the first direction;

[0009] The loading structure is capable of moving between a first loading and unloading position and a second loading and unloading position along the first direction, and the first loading and unloading position is spaced apart from the moving track along the first direction.

[0010] In some embodiments, the number of the movable tracks is two and the two movable tracks are arranged at intervals along the second direction, and a movable wheel is provided at the bottom of the feeding mechanism, and the movable wheel is located between the two movable tracks.

[0011] In some embodiments, the feeding mechanism comprises:

[0012] A feeding mechanism body, wherein the feeding mechanism body is a frame structure and the moving wheel is provided at the bottom;

[0013] A loading platform, with the loading structure formed on the top;

[0014] The lifting assembly is drivingly connected to the loading platform.

[0015] In some embodiments, the driving mechanism includes a driving mechanism body, the bottom of the driving mechanism body is provided with a moving part that cooperates with the moving track, the top of the driving mechanism body forms a unloading structure for carrying the workpiece, and the unloading structure can move along the first direction to the second unloading and loading position.

[0016] In some embodiments, the driving mechanism further comprises:

[0017] A vertical lifting assembly, comprising a lifting member and a lifting driving member, wherein a fixed end of the lifting driving member is connected to the driving mechanism body, and a driving end of the lifting driving member is connected to the lifting member;

[0018] A horizontal adjustment assembly, comprising an adjustment member and an adjustment driving member drivingly connected to the adjustment member, wherein the adjustment member is slidably arranged on the top of the driving mechanism body;

[0019] Wherein, the lifting member, the adjusting member and the top of the driving mechanism body form the material discharge structure.

[0020] In some embodiments, a plurality of limiting members are provided on the top of the driving mechanism body, and the side portions of the limiting members, the top of the lifting member and the top of the adjusting member form the material discharge structure.

[0021] The second aspect of the present application provides a multi-posture material taking system, comprising:

[0022] A docking rack, arranged at the first loading and unloading position and used for placing workpieces;

[0023] In the multi-posture material picking device as described above, the movable track and the docking rack are spaced apart along the first direction, the loading mechanism is relatively close to the docking rack along the first direction, and the driving mechanism is relatively far away from the docking rack along the first direction.

[0024] In some embodiments, the multi-posture material picking system further comprises a trackless transport device for transporting the workpiece to the docking rack, and the trackless transport device can be moved to the first loading and unloading position.

[0025] In some embodiments, the docking rack forms a loading and unloading space, and the trackless transport device and the loading mechanism can both enter the loading and unloading space independently.

[0026] The third aspect of the present application provides an automatic docking and position changing system, comprising:

[0027] A multi-posture reclaiming system as described above;

[0028] The displacement device is arranged at the second loading and unloading position and is spaced apart from the docking rack along the first direction.

[0029] Through the above technical solution, the multi-posture material taking device provided by the present application has the following beneficial effects:

[0030] The carrying device and the processing device are respectively located upstream and downstream of the production line, the carrying device is located at the first loading and unloading position, the processing device is located at the second loading and unloading position, the workpiece is placed on the carrying device, and before the processing device performs processing, the workpiece needs to be moved from the carrying device to the processing device. In the present application, the driving mechanism drives the loading mechanism to move to the first loading and unloading position and transfers the workpiece from the carrying device to the loading structure, and then the driving mechanism drives the loading mechanism to move to the second loading and unloading position and transfers the workpiece from the loading structure to the processing device. The driving mechanism set on the moving track drives the loading mechanism to move back and forth to improve the stability of the loading mechanism during the movement, thereby improving the stability of the workpiece during the movement.

[0031] Other features and advantages of the embodiments of the present application will be described in detail in the subsequent detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] The accompanying drawings are used to provide a further understanding of the embodiments of the present application and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without creative work. In the drawings:

[0033] Figure 1 It is a structural schematic diagram of a multi-posture material taking device (without workpiece) according to a specific embodiment of the present application;

[0034] Figure 2 It is a structural schematic diagram of a multi-posture material taking device (with a workpiece) according to a specific embodiment of the present application;

[0035] Figure 3 It is an exploded schematic diagram of a feeding mechanism according to a specific embodiment of the present application;

[0036] Figure 4 It is a structural schematic diagram of a material unloading mechanism according to a specific embodiment of the present application;

[0037] Figure 5 It is a schematic diagram of the arrangement of a multi-posture material taking system according to a specific embodiment of the present application;

[0038] Figure 6 It is a structural schematic diagram of a material connection rack according to a specific embodiment of the present application;

[0039] Figure 7 It is a schematic diagram of the plan layout of the automatic docking and shifting system according to a specific embodiment of the present application;

[0040] Figure 8 It is a schematic diagram of the structure of the automatic docking and displacement system according to a specific embodiment of the present application;

[0041] Fig. 9 It is a structural schematic diagram of a displacement device according to a specific embodiment of the present application;

[0042] Fig.10 It is a schematic structural diagram of the clamping mechanism according to a specific embodiment of the present application.

[0043] Description of Reference Numerals

[0044] 1000, automatic docking and displacement system; 100, multi-posture material taking device; 1, moving track; 2, feeding mechanism; 21, feeding mechanism body; 22, feeding platform; 23, lifting assembly; 24, moving wheel; 25, connecting rod; 3, driving mechanism; 31, driving mechanism body; 32, adjusting member; 33, lifting member; 331, movable block; 332, adjusting driving member; 333, fixed pipe; 34, positioning member; 35, limiting member ; 351, positioning part; 200, docking rack; 210, loading and unloading space; 220, workpiece sensor; 230, obstacle sensor; 300, trackless transport device; 400, displacement device; 410, vertical column; 420, active displacement disk; 430, clamping mechanism; 431, clamping mechanism body; 432, longitudinal clamping block; 433, transverse clamping block; 440, vertical track; 450, transverse track; 500, workpiece. DETAILED DESCRIPTION

[0045] The specific implementation of the present application is described in detail below in conjunction with the accompanying drawings. It should be understood that the specific implementation described here is only used to illustrate and explain the present application, and is not used to limit the present application.

[0046] The following describes the noun part of the multi-posture material picking device 100 and system and the automatic docking and shifting system 1000 according to the present application with reference to the accompanying drawings.

[0047] like Figure 1 and Figure 2As shown, a specific embodiment of the present application provides a multi-posture material picking device 100, including a movable track 1, a loading mechanism 2 and a driving mechanism 3, wherein the movable track 1 extends along a first direction; a loading structure for carrying a workpiece 500 is formed at the top of the loading mechanism 2, and the loading structure can move between a first loading and unloading position and a second loading and unloading position along the first direction, and the first loading and unloading position is arranged at intervals along the first direction with the movable track 1; the driving mechanism 3 is slidably matched with the movable track 1, and the driving mechanism 3 and the loading mechanism 2 are arranged at intervals along the first direction and are synchronously moved and connected.

[0048] The multi-posture material-picking device 100 is used to move a workpiece 500 between a carrier device and a processing device arranged at intervals along a first direction, the carrier device is located at a first loading and unloading position and the workpiece 500 is placed on the carrier device, and the processing device is located at a second loading and unloading position. In the present application, the driving mechanism 3 drives the loading mechanism 2 to move to the first loading and unloading position and moves the workpiece 500 to the loading structure, and then the driving mechanism 3 drives the loading mechanism 2 to move to the second loading and unloading position and moves the workpiece 500 to the processing device, and the loading mechanism 2 moves the workpiece 500 through the sliding cooperation between the driving mechanism 3 and the moving track 1, thereby improving the stability of the workpiece 500 during the movement process, and then improving the safety of the processing operation.

[0049] It should be noted that in the specific embodiments of the present application, unless otherwise specified, the directional words such as "up", "down", "left", "right", "front" and "back" used are as indicated by the arrows in the accompanying drawings; the "first direction" used refers to the front and back direction, and the "second direction" used refers to the left and right direction; the "top" used refers to the upper part, and the "bottom" used refers to the lower part.

[0050] In some embodiments, there are two movable rails 1 and the two movable rails 1 are arranged at intervals along the second direction. A movable wheel 24 is provided at the bottom of the feeding mechanism 2 , and the movable wheel 24 is located between the two movable rails 1 .

[0051] Specifically, the moving rails 1 are arranged on the ground, the two moving rails 1 are equal in length, parallel and spaced apart in the left-right direction, and the moving wheels 24 move in the front-back direction between the two moving rails 1. The moving wheels 24 are provided to support the feeding mechanism 2 to improve the carrying capacity of the feeding mechanism 2, so that it is suitable for the movement of large workpieces 500, and the stability of the feeding mechanism 2 can be improved while improving the carrying capacity.

[0052] Furthermore, the number of the moving wheels 24 is at least two, and the two moving wheels 24 are arranged at intervals along the left-right direction, thereby further improving the stability of the feeding mechanism 2.

[0053] like Figure 3As shown, in a specific embodiment of the present application, the loading mechanism 2 includes a loading mechanism body 21, a loading platform 22 and a lifting assembly 23, wherein the loading mechanism body 21 is a frame structure and a moving wheel 24 is provided at the bottom; a loading structure is formed at the top of the loading platform 22; and the lifting assembly 23 is drivingly connected to the loading platform 22.

[0054] In some embodiments, the feeding mechanism body 21 includes an upper rectangular frame, a vertical connecting rod and a lower rectangular portion, wherein the upper rectangular frame and the lower rectangular frame are arranged in parallel and spaced apart in the up-down direction; the vertical connecting rod extends in the up-down direction, the upper end of the vertical connecting rod is connected to the upper rectangular frame, the lower end of the vertical connecting rod is connected to the lower rectangular frame, the number of the vertical connecting rods is four and the four vertical connecting rods are respectively arranged above the four corner points of the lower rectangular frame, the number of the moving wheels 24 is four and the four moving wheels 24 are respectively arranged below the four corner points of the lower rectangular frame. By setting the feeding mechanism body 21 as a rectangular frame structure, the strength of the feeding mechanism body 21 is increased, thereby improving the load-bearing capacity and stability of the feeding mechanism 2.

[0055] In some embodiments, the lifting assembly 23 includes a servo motor, three synchronous reducers, four sets of worm gears and a mounting plate. The servo motor and the synchronous reducer are both installed below the mounting plate. The servo motor and one of the synchronous reducers are connected in a transmission manner along the front-to-back direction. The other two synchronous reducers are arranged on the left and right sides of the synchronous reducer and are connected in a transmission manner. Two sets of worm gears are arranged on the front and back sides of the synchronous reducer on the left and are connected in a transmission manner. Another two sets of worm gears are arranged on the front and back sides of the synchronous reducer on the right and are connected in a transmission manner. The four sets of worm gears move in the up-down direction under the drive of the servo motor and the movable ends pass through the mounting plate and are connected to the loading platform 22. The four sets of worm gears are connected to the same servo motor drive by three synchronous reducers, thereby realizing the synchronous lifting of the four sets of worm gears, thereby improving the lifting stability of the loading platform 22.

[0056] Specifically, the loading platform 22 is placed above the upper rectangular frame, the lower end surface of the loading platform 22 is provided with a connecting seat connected to the movable end of the worm gear, the fixed end of the worm gear is connected to the lower end surface of the mounting plate, and the four groups of worm gears are arranged in a rectangular shape and can pass upward through the inner side of the upper rectangular frame. The four groups of worm gears arranged in a rectangular shape are used to average the force exerted by the workpiece 500 on the loading platform 22, thereby improving the load-bearing capacity of the loading mechanism 2.

[0057] Furthermore, a reinforcing beam is provided on the lower end surface of the loading platform 22 , and a connecting seat is arranged on the reinforcing beam to strengthen the bearing capacity of the loading platform 22 , thereby further improving the bearing capacity of the loading mechanism 2 .

[0058] Preferably, both sides of the lower rectangular frame in the left and right directions extend backward to form a connecting rod 25 connected to the driving mechanism 3 to realize the transmission connection between the driving mechanism 3 and the feeding mechanism 2, and the connection strength between the driving mechanism 3 and the feeding mechanism 2 and the integrity of the driving mechanism 3 and the feeding mechanism 2 are strengthened by the integrally formed connecting rod 25 and the lower rectangular frame.

[0059] The structures and principles of the servo motor, synchronous reducer and worm gear for lifting the loading platform 22 are well known to those skilled in the art, and do not belong to the core improvement part of the present application, so they will not be described here.

[0060] Those skilled in the art will appreciate that the present application is not limited to the above-mentioned lifting assembly 23 composed of a servo motor, a synchronous reducer and a worm gear, but may also be composed of a hydraulic pump and a hydraulic cylinder, and may also be other structural forms that can achieve the lifting of the loading platform 22, all of which should fall within the scope of protection of the present application.

[0061] like Figure 4 As shown, in a specific embodiment of the present application, the driving mechanism 3 includes a driving mechanism body 31 and a driving source driven and connected to the driving mechanism body 31. The bottom of the driving mechanism body 31 is provided with a moving part that cooperates with the moving track 1. The top of the driving mechanism body 31 forms a unloading structure for carrying the workpiece 500, and the unloading structure can move along the first direction to a second unloading and loading position.

[0062] In fact, the loading mechanism 2 only moves the workpiece 500 from the carrying device to the processing device, but does not move the workpiece 500 from the processing device to the subsequent device. To achieve the movement of the workpiece 500 from the processing device to the subsequent device, the stroke of the loading mechanism 2 can be extended by increasing the length of the moving track 1 along the front-to-back direction, and the driving mechanism 3 can also be provided with a material unloading structure to use the material unloading mechanism to move the workpiece 500, thereby reducing the length of the moving track 1 along the front-to-back direction, thereby reducing the space required for the multi-position material picking device 100.

[0063] In some embodiments, the moving member is a track wheel and is installed on the lower end surface of the driving mechanism body 31. The number of the track wheels is at least two, and the two track wheels are arranged at intervals in the left and right directions. The two track wheels are provided to improve the stability of the driving mechanism body 31 during the movement process, thereby improving the stability of the unloading structure and the loading structure during the movement process, and further improving the stability of the workpiece 500 during the movement process.

[0064] In a specific embodiment of the present application, the driving mechanism 3 further includes a vertical lifting assembly and a horizontal adjustment assembly, wherein the vertical lifting assembly includes a lifting member 33 and a lifting driving member, the fixed end of the lifting driving member is connected to the driving mechanism body 31, and the driving end of the lifting driving member is connected to the lifting member 33; the horizontal adjustment assembly includes a plurality of adjustment members 32 and an adjustment driving member drivingly connected to the adjustment members 32, and the adjustment members 32 are slidably arranged on the top of the driving mechanism body 31; the lifting member 33, the adjustment member 32 and the top of the driving mechanism body 31 form a material discharge structure. Since the lower end face of the workpiece 500 has an irregular shape, and the lower end faces of different workpieces 500 have different irregular shapes, in order to ensure the stability of the workpiece 500, the material discharge structure needs to change the contact point position with the workpiece 500 according to the shape of the lower end face of different workpieces 500. In the present application, the position of the contact point with the workpiece 500 is adjusted by changing the position of the lifting member 33 through the lifting driving member or by changing the position of the adjusting member 32 through the adjusting driving member to match the shape of the workpiece 500, thereby improving the stability of the workpiece 500 during movement.

[0065] In some embodiments, the lifting drive member adopts a worm gear, and the servo motor driving the worm gear is arranged on the driving mechanism body 31. The worm gear moves in the up and down direction under the drive of the servo motor; the lifting member 33 is a beam structure and extends in the left and right direction. The movable end of the worm gear is connected to the center of the lower end surface of the lifting member 33. The left and right ends of the lifting member 33 are respectively arranged with a guide telescopic rod, the fixed end of the guide telescopic rod is connected to the driving mechanism body 31, and the movable end of the guide telescopic rod is connected to the lower end surface of the lifting member 33. The lifting drive member drives the lifting member 33 to move up and down to adjust the contact point position with the workpiece 500 in the up and down direction, thereby forming a material discharge structure suitable for workpieces 500 of different shapes; the worm gear is set to drive the guide telescopic rod to synchronously push the lifting member 33, thereby improving the carrying capacity of the lifting member 33.

[0066] Furthermore, the lifting member 33 includes a fixed tube portion 333, a movable block portion 331 and an adjusting driving member 332. The movable block portion 331 is arranged on the upper end surface of the fixed tube portion 333 in a sliding manner in the front-rear direction. The adjusting driving member 332 is used to push and pull the movable block portion 331 to make the movable block portion 331 slide left and right on the fixed tube portion 333. Before the workpiece 500 is placed on the movable block portion 331, the contact point position with the workpiece 500 is adjusted in the left-right direction through the sliding cooperation between the movable block portion 331 and the fixed tube portion 333; after the workpiece 500 is placed on the movable block portion 331, the placement direction of the workpiece 500 can also be adjusted in the left-right direction through the sliding cooperation between the movable block portion 331 and the fixed tube portion 333 to adapt to the subsequent device, thereby improving the practicality of the driving mechanism 3.

[0067] In some embodiments, the adjustment member 32 is a plate-like structure arranged on the driving mechanism body 31 in a sliding manner in the left-right direction, and the adjustment driving member is used to push and pull the adjustment member 32 to slide in the left-right direction. Before the workpiece 500 is placed on the adjustment member 32, the adjustment driving member drives the adjustment member 32 to move left and right to adjust the contact point position with the workpiece 500 in the left-right direction, thereby forming a material discharge structure suitable for workpieces 500 of different shapes.

[0068] Furthermore, a positioning member 34 is provided on the adjusting member 32. The positioning member 34 is a rod-shaped structure. The positioning member 34 contacts the side of the workpiece 500 to prevent the workpiece 500 from sliding out of the range of the adjusting member 32 in the front-to-back direction or the left-to-right direction, thereby causing a safety accident.

[0069] Preferably, the vertical lifting assembly is arranged on the left side of the driving mechanism body 31, and the horizontal adjustment assembly is arranged on the right side of the driving mechanism body 31; there are two adjusting members 32 and they are arranged at intervals in the front-to-back direction, and two positioning members 34 are provided on the adjusting member 32 at the rear, one of the positioning members 34 is arranged at the right end of the adjusting member 32, and the other positioning member 34 is arranged at the rear end of the adjusting member 32, and a positioning member 34 is provided at the right end of the adjusting member 32 at the front.

[0070] In some embodiments, a plurality of stoppers 35 are disposed on the top of the driving mechanism body 31, and the side of the stoppers 35, the top of the lifting member 33, and the top of the adjusting member 32 form a material discharge structure. The side of the stoppers 35 contacts the side of the workpiece 500 to prevent the workpiece 500 from sliding out of the range of the driving mechanism body 31 in the front-to-back direction or the left-to-right direction, thereby causing a safety accident.

[0071] Specifically, the limiting member 35 includes a column portion, a beam portion and a positioning portion 351. The column portion is arranged on the upper end surface of the driving mechanism body 31, the beam portion is connected to the upper end of the column portion, and the positioning portion 351 is arranged on the beam portion. The positioning portion 351 is used to prevent the workpiece 500 from sliding off the driving mechanism body 31 in the front-to-back direction or the left-to-right direction.

[0072] Furthermore, there are two stoppers 35 disposed at the front and rear ends of the driving mechanism body 31 , respectively, to prevent the stoppers 35 from sliding off the driving mechanism body 31 in the front-rear direction.

[0073] like Figure 5As shown, a specific embodiment of the present application also provides a multi-posture material picking system, including a docking rack 200 and a multi-posture material picking device 100, wherein the docking rack 200 is arranged at a first loading and unloading position and is used to place a workpiece 500; a moving track 1 of the multi-posture material picking device 100 and the docking rack 200 are arranged at intervals along a first direction, a loading mechanism 2 of the multi-posture material picking device 100 is relatively close to the docking rack 200 along the first direction, and a driving mechanism 3 of the multi-posture material picking device 100 is relatively far away from the docking rack 200 along the first direction.

[0074] The docking rack 200 is used as the above-mentioned carrying device to place the workpiece 500, and the multi-posture material picking device 100 is used to move the workpiece 500 from the docking rack 200 to the processing device along the front-rear direction. Since the multi-posture material picking system adopts all embodiments of the multi-posture material picking device 100, the multi-posture material picking system has all the beneficial effects brought by the multi-posture material picking device 100.

[0075] like Figure 6 As shown, in some embodiments, the docking rack 200 includes two rack bodies, and the two rack bodies are arranged at intervals in the left and right directions. The rack body includes a bearing portion and a base portion. The bearing portion is located above the base portion and is used to place the workpiece 500. The base portion is fixed on the ground and is used to support the bearing portion.

[0076] Specifically, a loading and unloading space 210 is formed between the two base parts. The size of the loading and unloading mechanism 2 is smaller than the size of the loading and unloading space 210 . The loading mechanism 2 can enter the loading and unloading space 210 to move the workpiece 500 .

[0077] Furthermore, the front end of the movable rail 1 is located behind the loading and unloading space 210, and the distance between the front end of the movable rail 1 and the docking rack 200 along the front-to-back direction must at least meet the requirement that when the driving mechanism 3 slides to the front end of the movable rail 1, the loading mechanism 2 is located in the loading and unloading space 210.

[0078] Preferably, when the driving mechanism 3 slides to the front end of the moving track 1, the loading mechanism 2 is just located in the loading and unloading space 210. Under this condition, the length of the moving track 1 is the shortest and the size of the multi-posture picking device 100 is the smallest.

[0079] In some embodiments, the multi-posture material picking system further includes a trackless transport device 300 for transporting the workpiece 500 to the docking rack 200, and the trackless transport device 300 can be moved to the first loading and unloading position. The workpiece 500 can be moved to the docking rack 200 from different directions by cooperating with the trackless transport device 300 and the docking rack 200, so that the preceding device can be arranged in any direction of the docking rack 200, thereby increasing the application range of the multi-posture material picking system.

[0080] Specifically, the trackless transport device 300 is an automatically guided trackless transport vehicle and has the function of moving in a horizontal plane and lifting the workpiece 500 in the up and down directions. The trackless transport device 300 moves the workpiece 500 processed by the preceding device to above the docking rack 200. The size of the trackless transport device 300 is smaller than the size of the loading and unloading space 210. The trackless transport device 300 can enter the loading and unloading space 210 to move the workpiece 500.

[0081] Furthermore, since the front end of the moving track 1 is located behind the loading and unloading space 210 , the trackless transport device 300 will not interfere with the moving track 1 when entering the loading and unloading space 210 .

[0082] Furthermore, when the workpiece 500 is placed on the trackless transport device 300, a loading gap is formed between the workpiece 500 and the trackless transport device 300. When the trackless transport device 300 enters the loading and unloading space 210, the trackless transport device 300 adjusts the position of the loading gap through the lifting function so that the bearing part is aligned with the loading gap along the front-to-back direction. After the trackless transport device 300 completely enters the loading and unloading space 210, the bearing part is located in the loading gap, and the trackless transport device 300 places the workpiece 500 downward on the bearing part through the lifting function.

[0083] In some embodiments, the multi-posture material picking system also includes a control unit, a workpiece sensor 220 is provided on the bearing part, and an obstacle sensor 230 is provided on the base part, and both the workpiece sensor 220 and the obstacle sensor 230 are electrically connected to the control unit. The control unit determines whether a workpiece 500 is placed on the bearing part according to the detection result of the workpiece sensor 220, and the control unit determines whether there is an obstacle, a multi-posture material picking device 100 or a trackless transport device 300 between the two base parts according to the detection result of the obstacle sensor 230.

[0084] Specifically, the workpiece sensor 220 adopts a distance sensor. When a workpiece 500 is placed on the supporting part, the detection value of the distance sensor will change, and the control unit can record the change in advance as a judgment standard; the obstacle sensor 230 adopts an infrared sensor. When there is an obstacle, a multi-posture material picking device 100 or a trackless transport device 300 between the two base parts, the infrared rays emitted by the infrared sensor will be blocked. The control unit can record in advance the changes in the infrared sensor when the infrared rays are blocked as a judgment standard.

[0085] Furthermore, the driving source of the driving mechanism 3 is electrically connected to the control unit. When the control unit determines that a workpiece 500 is placed on the bearing part and there are no obstacles and trackless transport devices 300 on the two base parts, the control unit starts the driving source of the driving mechanism 3 to drive the loading and unloading mechanism 2 to enter the loading and unloading space 210, thereby avoiding the collision between the multi-posture material picking device 100 and the trackless transport device 300 and improving the degree of automation of the multi-posture material picking system.

[0086] In a specific embodiment of the present application, the working process of the multi-posture material taking system is as follows:

[0087] The workpiece 500 is moved from the preceding device to the trackless transport device 300;

[0088] The trackless transport device 300 moves close to the docking rack 200 and is adjusted to align the load-bearing portion with the loading gap along the front-to-back direction;

[0089] The trackless transport device 300 slowly moves backward into the loading and unloading space 210 until the load-bearing portion enters the loading gap;

[0090] The trackless transport device 300 places the workpiece 500 downward on the carrying portion and moves forward to leave the loading and unloading space 210;

[0091] The driving mechanism 3 drives the loading mechanism 2 to move forward until the loading mechanism 2 completely enters the loading and unloading space 210;

[0092] The loading mechanism 2 lifts the workpiece 500 upward and moves backward to a second loading and unloading position.

[0093] In the present application, the entire working process of the multi-posture material picking system can be highly automated with the cooperation of sensors and control units, thereby improving production efficiency and reducing labor intensity; at the same time, during the entire loading and unloading process, the workpiece 500 is in a stable state, thereby improving the safety of the multi-posture material picking system.

[0094] like Figure 7 and Figure 8 As shown, a specific embodiment of the present application also provides an automatic docking and shifting system 1000, including a multi-posture material picking system and a shifting device 400, wherein the shifting device 400 is arranged at a second loading and unloading position and is spaced apart from the docking rack 200 along the first direction.

[0095] The displacement device 400 as the above-mentioned processing device is used to displace the workpiece 500, and the multi-posture material taking device 100 is used to move the workpiece 500 from the docking rack 200 to the displacement device 400 along the front-back direction. The displacement device 400 is used to change the position of the workpiece 500 to facilitate subsequent processing. Especially for the production of large workpieces 500, the use of the displacement device 400 can greatly reduce the safety risks in the displacement process. Since the automatic docking displacement system 1000 adopts all embodiments of the multi-posture material taking system, the automatic docking displacement system 1000 has all the beneficial effects brought by the multi-posture material taking system.

[0096] In a specific embodiment of the present application, the connecting rack 200 is located in front of the positioning device 400, and the rear end of the movable rail 1 is located behind the positioning device 400; there are two positioning devices 400 and they are arranged symmetrically along the left and right directions, and the two positioning devices 400 rotate synchronously by fixing the left and right ends of the workpiece 500, thereby completing the displacement of the workpiece 500.

[0097] In fact, the travel of the multi-posture material taking device 100 needs to pass through at least the first loading and unloading position, the second loading and unloading position and the third loading and unloading position. Specifically, the loading structure of the loading mechanism 2 needs to move the workpiece 500 from the first loading and unloading position to the second loading and unloading position, and the unloading structure of the driving mechanism 3 needs to move the workpiece 500 from the second loading and unloading position to the third loading and unloading position, wherein the first loading and unloading position corresponds to the docking rack 200, the second loading and unloading position corresponds to the position shifting device 400, and the third loading and unloading position corresponds to the subsequent device.

[0098] In some embodiments, the moving rail 1 is located between two displacement devices 400, and the distance between the rear end of the moving rail 1 and the displacement device 400 along the front-to-back direction must at least meet the requirement that when the driving mechanism 3 slides to the rear end of the moving rail 1, the loading mechanism 2 is located at the second loading and unloading position; the distance between the front end of the moving rail 1 and the displacement device 400 along the front-to-back direction must at least meet the requirement that when the driving mechanism 3 slides to the front end of the moving rail 1, the driving mechanism 3 is located at the second loading and unloading position.

[0099] Preferably, when the driving mechanism 3 moves to the third loading and unloading position, the loading mechanism 2 is located at the second loading and unloading position; when the driving mechanism 3 moves to the second loading and unloading position, the loading mechanism 2 is located at the first loading and unloading position. Under this condition, the length of the movable track 1 is the shortest and the size of the multi-posture material picking device 100 is the smallest.

[0100] Furthermore, when the loading mechanism 2 moves the workpiece 500 to the second loading and unloading position, the control unit drives the displacement device 400 to work. When the displacement device 400 completes the displacement, the control unit controls the driving mechanism 3 to move to the second loading and unloading position, thereby achieving a high degree of automation, thereby improving production efficiency and reducing labor intensity.

[0101] Those skilled in the art will appreciate that by providing a sensor electrically connected to the control unit at the second loading and unloading position, it is possible to detect whether the workpiece 500 has reached the second loading and unloading position and whether the workpiece 500 has completed the position change, thereby feeding back corresponding information to the control unit.

[0102] like Fig. 9 As shown, in a specific embodiment of the present application, the displacement device 400 includes a vertical column 410, an active displacement disk 420, a clamping mechanism 430, a vertical rail 440 and a transverse rail 450, wherein the transverse rail 450 extends in the left-right direction and is arranged on the ground, the vertical column 410 extends in the up-down direction and slides with the transverse rail 450, the vertical rail 440 is arranged on the vertical column 410 and extends in the up-down direction, the active displacement disk 420 slides with the vertical rail 440, the clamping mechanism 430 is connected to the active displacement disk 420, and the clamping mechanism 430 is used to clamp the end of the workpiece 500.

[0103] In some embodiments, the active displacement disk 420 includes a rotating drive member, a fixed disk portion and a rotating disk portion. The fixed disk portion and the rotating disk portion are coaxially rotatably connected, the rotating drive member is drivingly connected to the rotating disk portion, the fixed disk portion is slidingly matched with the vertical rail 440, and the rotating disk portion is connected to the clamping mechanism 430. The rotating drive member drives the rotating disk portion to rotate to drive the clamping mechanism 430 to rotate, thereby rotating the workpiece 500 to complete the displacement.

[0104] like Fig.10 As shown, in some embodiments, the clamping mechanism 430 includes a clamping mechanism body 431, a longitudinal rail, a longitudinal clamping drive and two longitudinal clamping blocks 432, wherein the longitudinal rail extends along the front-to-back direction and is arranged on the clamping mechanism body 431, the two longitudinal clamping blocks 432 are slidably matched with the longitudinal rail, the longitudinal clamping drive is drivingly connected to the longitudinal clamping blocks 432, the clamping mechanism body 431 is connected to the rotating disk portion, and the longitudinal clamping block 432 is driven by the longitudinal clamping drive to move to adjust the distance between the two longitudinal clamping blocks 432, thereby achieving clamping and fixing of the end of the workpiece 500 along the front-to-back direction.

[0105] Furthermore, the clamping mechanism 430 also includes a transverse clamping block 433 and a transverse clamping drive, which drives the transverse clamping block 433 to rotate or move to reduce the distance between the left and right transverse clamping blocks 433, thereby achieving clamping and fixing of the end of the workpiece 500 along the left and right directions.

[0106] Preferably, the longitudinal clamping block 432 and the transverse clamping block 433 form a clamping structure on one side facing the workpiece 500 , and the clamping structure is adapted to the shape of the workpiece 500 to strengthen the clamping of the longitudinal clamping block 432 and the transverse clamping block 433 on the workpiece 500 .

[0107] Preferably, clamping sensors are provided on the longitudinal clamping block 432 and the transverse clamping block 433, and the clamping sensors are electrically connected to the control center. The clamping sensors are used to detect the distance between the longitudinal clamping block 432 and the transverse clamping block 433 and the surface of the workpiece 500. The control center determines whether the clamping of the workpiece 500 is completed based on the distance between the longitudinal clamping block 432 and the transverse clamping block 433 and the surface of the workpiece 500, and adjusts the driving force of the longitudinal clamping drive and the transverse clamping drive in real time.

[0108] It can be understood by those skilled in the art that the longitudinal clamping drive member adopts a servo motor and a transmission screw, and the longitudinal clamping block 432 is provided with a screw nut that cooperates with the transmission screw; the transverse clamping drive member adopts a hydraulic cylinder. In addition to the above-mentioned mechanisms, other mechanisms that can apply driving force to the longitudinal clamping block 432 and the transverse clamping block 433 also fall within the scope of protection of this application.

[0109] In the description of the present application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present application, "plurality" means at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0110] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like 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, an electrical connection, or communication with each other; it can be a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0111] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0112] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations on the present application. Ordinary technicians in the field can change, modify, replace and modify the above embodiments within the scope of the present application.

Claims

1. A multi-posture material taking device, characterized in that: include: A movable track (1) extending along a first direction; A loading mechanism (2), the top of which forms a loading structure for carrying a workpiece (500); A driving mechanism (3) is movably matched with the movable track (1), and the driving mechanism (3) is connected to the feeding mechanism (2) for synchronous movement along the first direction; The loading structure is capable of moving between a first loading and unloading position and a second loading and unloading position along the first direction, and the first loading and unloading position is spaced apart from the moving track (1) along the first direction.

2. The multi-posture material taking device according to claim 1, characterized in that: The number of the movable rails (1) is two and the two movable rails (1) are arranged at intervals along the second direction; a movable wheel (24) is provided at the bottom of the feeding mechanism (2); and the movable wheel (24) is located between the two movable rails (1).

3. The multi-posture material taking device according to claim 2, characterized in that: The feeding mechanism (2) comprises: A feeding mechanism body (21), wherein the feeding mechanism body (21) is a frame structure and the moving wheel (24) is provided at the bottom; A loading platform (22) having the loading structure formed on the top; A lifting assembly (23) is drivingly connected to the loading platform (22).

4. The multi-posture material taking device according to claim 1, characterized in that: The driving mechanism (3) comprises a driving mechanism body (31), the bottom of which is provided with a moving part that cooperates with the moving track (1), and the top of the driving mechanism body (31) forms a material unloading structure for carrying the workpiece (500), and the material unloading structure can move along the first direction to the second loading and unloading position.

5. The multi-posture material taking device according to claim 4, characterized in that: The driving mechanism (3) further comprises: A vertical lifting assembly comprises a lifting member (33) and a lifting driving member, wherein a fixed end of the lifting driving member is connected to the driving mechanism body (31), and a driving end of the lifting driving member is connected to the lifting member (33); A horizontal adjustment component, comprising an adjustment member (32) and an adjustment driving member drivingly connected to the adjustment member (32), wherein the adjustment member (32) is slidably arranged on the top of the driving mechanism body (31); Wherein, the lifting member (33), the adjusting member (32) and the top of the driving mechanism body (31) form the material discharge structure.

6. The multi-posture material taking device according to claim 5, characterized in that: A plurality of limiting members (35) are provided on the top of the driving mechanism body (31), and the side portions of the limiting members (35), the top of the lifting member (33) and the top of the adjusting member (32) form the material discharge structure.

7. A multi-posture material taking system, characterized in that: include: A docking rack (200), arranged at a first loading and unloading position and used for placing a workpiece (500); According to the multi-posture material picking device (100) according to any one of claims 1 to 6, the movable track (1) and the docking rack (200) are arranged at intervals along the first direction, the loading mechanism (2) is relatively close to the docking rack (200) along the first direction, and the driving mechanism (3) is relatively far away from the docking rack (200) along the first direction.

8. The multi-posture material taking system according to claim 7, characterized in that: The multi-posture material picking system further comprises a trackless transport device (300) for transporting the workpiece (500) to the docking rack (200), and the trackless transport device (300) is capable of moving to the first loading and unloading position.

9. The multi-posture material taking system according to claim 8, characterized in that: The docking rack (200) forms a loading and unloading space (210), and the trackless transport device (300) and the loading mechanism (2) can both enter the loading and unloading space (210) independently.

10. An automatic docking position changing system, characterized in that: include: The multi-posture material taking system according to any one of claims 7 to 9; and The displacement device (400) is arranged at the second loading and unloading position and is spaced apart from the docking rack (200) along the first direction.

Images