Vertical warehouse

Abstract

The invention belongs to the technical field of material storage and transportation, and discloses a vertical warehouse which comprises a material frame, a transfer device, a circulation device and a transfer device, and at least two material storage layers are arranged on the material frame in the vertical direction; the transferring device is arranged on one side of the material frame and comprises a lifting mechanism and a transferring mechanism, the transferring mechanism is arranged at the output end of the lifting mechanism, the lifting mechanism is used for driving the transferring mechanism to ascend and descend, and the transferring mechanism is used for transferring the material trays into the material storage layers and transferring the material trays out of the material storage layers; the transfer device is used for receiving the material trays on the transfer mechanism and / or transferring the material trays on the transfer device to the transfer mechanism; the transferring device is arranged on the side, away from the transferring device, of the material frame and used for transferring the materials in the material trays on the transferring device to the machining station or transferring the materials from the machining station to the transferring device. According to the vertical warehouse, the utilization rate of the transferring device is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of material storage and transportation, and in particular to a vertical warehouse. Background Art

[0002] Vertical warehouse, also known as automatic three-dimensional warehouse or automated three-dimensional warehouse, is an important part of smart factory, which can effectively utilize the space of the whole factory and reduce the waste of manpower and time. Usually, the vertical warehouse includes material racks, transfer devices and manipulators. The transfer device can move the material pallet carrying materials into the material rack for storage or take them out of the material rack for storage, while the manipulator can take the materials from the material pallet and transfer them to the processing equipment of the production line for processing. Generally speaking, for sheet metal parts, in order to make full use of the space, multiple sheet metal raw materials are usually stacked and placed in the material pallet. When the manipulator takes the sheet metal raw materials from the material pallet and puts them into the production line, the material pallet is always on the transfer device before all the sheet metal raw materials in the material pallet are processed. The transfer device occupies too long time, resulting in the transfer device being unable to carry out the storage of other sheet metal raw materials, and the transfer device is inefficient. Summary of the invention

[0003] The object of the present invention is to provide a vertical warehouse to solve the problem of low utilization efficiency of a transfer device.

[0004] To achieve this object, the present invention adopts the following technical solutions:

[0005] A vertical warehouse comprises a material rack, a transfer device, a circulation device and a transfer device, wherein at least two material storage layers are arranged on the material rack in a vertical direction; the transfer device is arranged on one side of the material rack, and the transfer device comprises a lifting mechanism and a transfer mechanism, wherein the transfer mechanism is arranged at the output end of the lifting mechanism, the lifting mechanism is used to drive the transfer mechanism to lift and lower, and the transfer mechanism is used to move material trays into the material storage layer and move the material trays out of the material storage layer; the circulation device is used to receive the material trays moved out of the material rack by the transfer mechanism and / or transfer the material trays on the circulation device from the transfer mechanism to the transfer mechanism; the transfer device is arranged on a side of the material rack away from the transfer device, and the transfer device is used to transfer the materials in the material trays on the circulation device to the processing position and / or transfer the materials from the processing position to the circulation device.

[0006] Optionally, the transfer mechanism and the circulation device both transport the material tray back and forth along a first direction, and the material rack is arranged across the circulation device along a second direction, and the second direction is perpendicular to the first direction.

[0007] Optionally, the transfer mechanism includes a mounting bracket and a sprocket transmission assembly, the sprocket transmission assembly includes a driving sprocket, a driven sprocket, a driving chain, a connecting drive and a material pulling hook, the driving sprocket and the driven sprocket are arranged on the mounting bracket in an alternating rotation manner, the connecting drive is connected to the driving sprocket, the driving chain is wound around the driving sprocket and the driven sprocket, and both ends of the driving chain are connected to the material pulling hook to form a closed loop, and the material pulling hook is used to hook the material tray.

[0008] Optionally, the circulation device includes a circulation frame and a circulation mechanism, the circulation mechanism is arranged on the circulation frame, and the circulation mechanism adopts a sprocket transmission structure.

[0009] Optionally, the transfer device further includes a frame and an anti-falling mechanism, the transfer mechanism is liftably arranged on the frame, and the anti-falling mechanism connects the transfer mechanism and the lifting mechanism.

[0010] Optionally, the anti-fall mechanism includes an anti-fall rack, a mounting seat, an anti-fall tooth block and an anti-fall elastic member, the anti-fall rack is arranged on the frame in the vertical direction, and the mounting seat is provided with a first guide structure inclined downward from an end away from the anti-fall rack to an end close to the anti-fall rack; the anti-fall tooth block has a second guide structure, and the anti-fall tooth block is guided and connected to the first guide structure through the second guide structure; when the second guide structure is located at the lowest end of the first guide structure, the anti-fall tooth block is engaged with the anti-fall rack, and when the second guide structure is located at the highest end of the first guide structure, the anti-fall tooth block is separated from the anti-fall rack; the anti-fall elastic member is connected to the anti-fall tooth block and the mounting seat, so that the second guide structure maintains a trend of moving toward the lowest end of the first guide structure.

[0011] Optionally, a fixed beam is connected between the top of the frame and the top of the material rack.

[0012] Optionally, the transfer device includes a frame, a movable seat, a driving mechanism, a gripping mechanism and a sheet thickness detection mechanism. The movable seat is movably connected to the frame through the driving mechanism. The driving mechanism is used to drive the movable seat to translate and lift. The gripping mechanism and the sheet thickness detection mechanism are both arranged on the movable seat.

[0013] Optionally, the sheet thickness detection mechanism further includes a flipping assembly and a thickness detection assembly, the flipping assembly is used to lift the edge portion of the sheet; the thickness detection assembly includes a first detection drive, a fixed bracket, a sliding swing arm and an angle sensor, the first detection drive is arranged at the output end of the flipping assembly, the first detection drive is used to drive the fixed bracket to move along the inclination direction of the edge of the sheet, the sliding swing arm is rotatably connected to the fixed bracket through a measuring shaft, a clamping space for clamping the sheet is formed between the sliding swing arm and the fixed bracket, and when measuring the thickness of the sheet, the sliding swing arm maintains a tendency to rotate toward the fixed bracket to clamp the sheet, the measuring shaft is connected to the angle sensor, and the angle sensor is used to measure the angle change value of the measuring shaft.

[0014] Optionally, the sliding swing arm includes a swing arm body and a roller, the swing arm body is rotatably connected to the fixed bracket via the measuring shaft, the roller is arranged at the cantilever end of the swing arm body, and the roller cooperates with the fixed bracket to form the clamping space.

[0015] Beneficial effects of the present invention: The sheet metal warehouse proposed in the present invention adds a circulation device and a transfer device between the material rack and the production line. The material tray containing the materials can be placed on the circulation device without occupying the transfer device, thereby improving the utilization rate of the transfer device under the premise of placing multiple materials on the material tray. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a structural schematic diagram of a sheet metal warehouse in an embodiment of the present invention;

[0017] Figure 2 is a structural schematic diagram of a hoist in an embodiment of the present invention;

[0018] Figure 3 is a schematic diagram of a partial structure of a transfer mechanism in an embodiment of the present invention;

[0019] Figure 4 is a schematic structural diagram of a sprocket transmission assembly in an embodiment of the present invention;

[0020] Figure 5 It is a schematic diagram of the exploded structure of the material pulling hook and the driving chain in the embodiment of the present invention;

[0021] Figure 6 is a schematic structural diagram of a guide assembly in an embodiment of the present invention;

[0022] Figure 7 It is a structural schematic diagram of a lifting mechanism and an anti-falling mechanism in an embodiment of the present invention;

[0023] Figure 8 yes Figure 7The enlarged schematic diagram of point A in the middle;

[0024] Fig. 9 is a schematic structural diagram of an anti-falling mechanism in an embodiment of the present invention;

[0025] Fig.10 Schematic diagram of the explosion structure of the anti-fall mechanism in an embodiment of the present invention;

[0026] Fig.11 is a schematic structural diagram of a rack in an embodiment of the present invention;

[0027] Fig.12 is a schematic structural diagram of a buffer mechanism in an embodiment of the present invention;

[0028] Fig.13 is a schematic structural diagram of a transfer device in an embodiment of the present invention;

[0029] Fig.14 yes Fig.13 A schematic diagram of the enlarged structure at B in the middle;

[0030] Fig.15 is a schematic structural diagram of a movable seat in an embodiment of the present invention;

[0031] Fig.16 is a schematic structural diagram of a connecting beam in an embodiment of the present invention;

[0032] Fig.17 is a schematic structural diagram of a movable beam in an embodiment of the present invention;

[0033] Fig.18 It is a schematic diagram of the structure of the material rack in an embodiment of the present invention;

[0034] Fig.19 yes Fig.18 Schematic diagram of the enlarged structure at point C in the middle.

[0035] In the figure:

[0036] 100, transfer device; 200, transfer device; 300, material rack; 400, circulation device; 500, fixed beam; 600, material tray;

[0037] 110, transfer mechanism; 111, mounting bracket; 112, sprocket transmission assembly; 1121, drive chain; 1122, connecting drive member; 1123, material pulling hook; 11231, connecting part; 11232, hooking part; 11233, hook groove; 1124, second proximity sensor; 1125, driving sprocket; 1126, driven sprocket; 1127, tensioning wheel; 113, supporting assembly; 1131, roller seat; 1132, roller; 114, guide assembly; 1141, sliding seat; 1142, first guide wheel; 1143, second guide wheel;

[0038] 120, anti-fall mechanism; 121, mounting seat; 1211, first guide structure; 1212, receiving groove; 1213, first inclined surface; 122, anti-fall tooth block; 1221, second inclined surface; 1222, second guide structure; 123, anti-fall rack; 124, anti-fall elastic member;

[0039] 130, frame; 131, bottom crossbeam; 132, top crossbeam; 133, column;

[0040] 140, lifting mechanism; 141, traction member; 142, traction drive member; 143, driving sprocket; 144, reversing sprocket; 145, transmission sprocket; 146, fixing seat; 147, main shaft; 148, first proximity sensor;

[0041] 150. Buffer mechanism; 151. Buffer rack; 152. Buffer;

[0042] 210, sheet thickness detection mechanism; 211, flip assembly; 2111, flip arm; 2112, flip drive; 2113, flip grab; 2114, rotating arm; 212, thickness detection assembly; 2121, fixed bracket; 21211, main body; 21212, cantilever; 21213, limiter; 2122, sliding swing arm; 21221, swing arm body; 21222, roller; 2123, angle sensor; 2124, first detection drive; 2125, second detection drive;

[0043] 220, frame; 221, gantry; 222, connecting beam;

[0044] 230, movable seat; 231, movable beam; 232, mounting frame;

[0045] 240, driving mechanism; 241, first driving assembly; 2411, first motor; 2412, first reducer; 2413, first rack; 2414, mounting plate; 2415, second monitoring member; 2416, first stopper; 2417, drag chain fixing bracket; 2418, first drag chain; 2419, second drag chain; 242, second driving assembly; 2421, second motor; 2422, second reducer; 2423, second rack; 2424, second gear; 2425, third monitoring member; 2426, second stopper;

[0046] 250, grabbing mechanism; 251, grabbing suction cup; 252, first monitoring member;

[0047] 260, sheet separation mechanism; 261, first sheet separation driving member; 262, second sheet separation driving member; 263, sheet separation device;

[0048] 270, electric control box;

[0049] 310, material rack body; 311, vertical pole; 312, support beam; 313, connecting rod; 314, material stop block; 315, inclined rod; 316, slide rail; 320, fourth monitoring component; 330, fifth monitoring component. DETAILED DESCRIPTION

[0050] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for ease of description, only parts related to the present invention, rather than all structures, are shown in the accompanying drawings.

[0051] In the description of the present invention, unless otherwise clearly specified and limited, the terms "connected", "connected", and "fixed" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0053] In the description of this embodiment, the terms "upper", "lower", "left", "right" and other directions or positional relationships are based on the directions or positional relationships shown in the drawings, and are only for the convenience of description and simplification of operation, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operate in a specific direction, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used to distinguish in the description and have no special meaning.

[0054] refer to Figure 1As shown, in an embodiment of the present invention, a vertical warehouse is proposed, including a transfer device 100, a material rack 300, a circulation device 400 and a transfer device 200, wherein at least two storage layers are arranged on the material rack 300 in the vertical direction, the transfer device 100 and the transfer device 200 are respectively arranged on opposite sides of the material rack 300, and the transfer device 100 includes a lifting mechanism 140 and a transfer mechanism 110, and the transfer mechanism 110 is arranged at the output end of the lifting mechanism 140, and the lifting mechanism 140 is used to drive the transfer mechanism 110 to rise and fall, and the transfer mechanism 110 is used to move a material tray 600 carrying materials into the storage layer and The material tray 600 is moved out from the material storage layer. The transfer mechanism 110 can also transfer the material tray 600 to the circulation device 400. The circulation device 400 is used to receive the material tray 600 moved out by the transfer mechanism 110 and / or transfer the material tray 600 on the circulation device 400 to the transfer mechanism 110. The transfer device 200 is used to transfer the material on the material tray 600 from the circulation device 400 to the processing position of the processing equipment in the production line and / or transfer the material from the processing position to the material tray 600 on the circulation device 400. The processing equipment can be but is not limited to cutting equipment or welding equipment, etc.

[0055] The above-mentioned vertical warehouse has both warehousing and outbound functions. When warehousing, the lifting mechanism 140 of the transfer device 100 lifts the transfer mechanism 110 to the target height, and the transfer mechanism 110 transports the material pallet 600 to the storage layer corresponding to the target height to complete the warehousing action; when outbound, according to production needs, the transfer mechanism 110 is lifted to the target height and the material pallet 600 in the storage layer corresponding to the target height is transferred to the transfer mechanism 110, and the transfer mechanism 110 is lowered to the height of the circulation device 400 and pushes the material pallet 600 to the circulation device 400, and the circulation device 400 then transports the material pallet 600 to the material picking position, and the transfer device 200 grabs the material on the material pallet 600 and transfers it to the processing position. During the material transfer process of the transfer device 200, the material pallet 600 is always on the circulation device 400, does not occupy the transfer device 100, and the transfer device 100 can continue to complete the warehousing of raw materials. It is understandable that materials processed by the production line or materials that fail to meet the inspection can be transferred from the transfer device 200 to the material tray 600 on the circulation device 400, and the circulation device 400 then transfers the material tray 600 to the transfer mechanism 110 and returns it to the material rack 300, that is, the materials can be both processed workpieces and unprocessed raw materials. When multiple processed workpieces are successively transferred to the material tray 600 of the material collection position, the transfer device 100 can still continue to complete the raw material storage work.

[0056] In this embodiment, in order to reasonably utilize space and shorten the material transportation time, the transfer mechanism 110 and the circulation device 400 both reciprocate the material pallet 600 along the horizontally arranged first direction, that is, the transfer mechanism 110 and the transfer device 200 are respectively arranged on the two sides of the material rack 300 that are arranged opposite to each other along the first direction, and the material rack 300 is arranged above the circulation device 400 along the second direction perpendicular to the first direction, and the transfer device 200 can transfer along the first direction or along other directions set at an angle to the first direction, such as the second direction. The specific arrangement method depends on the spatial layout of the factory area and is not specifically limited here. For example, the first direction is Figure 1 The middle X direction, the second direction is Figure 1 The middle Y direction, the vertical direction is Figure 1 Middle Z direction.

[0057] refer to Figure 2-Figure 12 As shown, the transfer mechanism 110 includes a mounting bracket 111 and a sprocket transmission assembly 112, and the transfer device 100 also includes a frame 130, the mounting bracket 111 can be lifted and lowered on the frame 130 and connected to the lifting mechanism 140, the sprocket transmission assembly 112 is arranged on the mounting bracket 111, and the sprocket transmission assembly 112 includes a driving sprocket 1125, a driven sprocket 1126, a driving chain 1121, a connecting driving member 1122 and a material pulling hook 1123, wherein the driving sprocket 1125 and the driven sprocket 1126 are connected to the material pulling hook 1123. The sprockets 1126 are each arranged on the mounting bracket 111 to rotate at intervals along the first direction through the central axis. The connecting driving member 1122 is connected to the driving sprocket 1125 to drive the driving sprocket 1125 to rotate. The driving chain 1121 is wound around the driving sprocket 1125 and the driven sprocket 1126. Both ends of the driving chain 1121 are connected to the pulling hook 1123 to form a closed loop. The pulling hook 1123 can pull the material tray 600 by being engaged with the limit groove provided on the material tray 600.

[0058] The driving chain 1121 in the transfer mechanism 110 can reciprocate along the first direction under the action of the connecting driving member 1122, and the material pulling hook 1123 can be engaged with the limiting groove on the material tray 600, and then the material tray 600 is pulled to move away from the initial position along with the driving chain 1121, until the material tray 600 is transferred to the destination position, and then the transfer mechanism 110 is lowered, and the material pulling hook 1123 can be separated from the material tray 600. The material pulling hook 1123 connects the two ends of the driving chain 1121, which is equivalent to saving a chain link of the driving chain 1121, and the structure is more compact, the connection between the material pulling hook 1123 and the driving chain 1121 is tighter, and the structural strength is higher.

[0059] refer to Figure 5As shown, in this embodiment, the material pulling hook 1123 includes a connecting portion 11231 and a hooking portion 11232, wherein the connecting portion 11231 is connected to the driving chain 1121, one end of the hooking portion 11232 is connected to the connecting portion 11231, and the other end extends along the first direction, and a hook groove 11233 is provided at one end of the hooking portion 11232 away from the connecting portion 11231, and a side wall of the hook groove 11233 away from the connecting portion 11231 serves as a hook claw that can cooperate with the limiting groove on the material tray 600 to hook the material tray 600, and the hooked material tray 600 can contact the bottom of the hook groove 11233. Compared with directly setting the material pulling hook 1123 to be L-shaped, the inclination of the material tray 600 can be reduced under the premise of ensuring the connection strength between the material pulling hook 1123 and the driving chain 1121, and the material on the material tray 600 is not easy to slide on the material tray 600.

[0060] In order to further improve the stability of the connection between the material pulling hook 1123 and the driving chain 1121, the driving chain 1121 adopts a double-row chain. Figure 4 As shown, in order to reasonably utilize the space on the mounting bracket 111, two driven sprockets 1126 are provided, which are respectively located on opposite sides of the driving sprocket 1125 along the first direction, and the docking drive member 1122 connected to the driving sprocket 1125 is located on the mounting bracket 111. Specifically, the sprocket transmission assembly 112 also includes a tensioning wheel 1127, and the driving sprocket 1125 is provided with a tensioning wheel 1127 on opposite sides along the first direction, and the tensioning wheel 1127 and the driving sprocket 1125 are respectively located on the inner and outer sides of the driving chain 1121, and the spacing between the two tensioning wheels 1127 in the first direction is adjustable, so as to adjust the tension of the driving chain 1121.

[0061] refer to Figure 3 As shown, two sprocket drive assemblies 112 are arranged on the mounting bracket 111 along the second direction at intervals to improve stability when transferring the material tray 600. Specifically, in order to improve the consistency of the movement of the two sprocket drive assemblies 112, the driving sprockets 1125 of the two sprocket drive assemblies 112 are connected through the same central axis. The connecting drive member 1122 can specifically be a servo motor.

[0062] In this embodiment, the sprocket drive assembly 112 also includes a second proximity sensor 1124 that is communicatively connected to the docking drive member 1122. The second proximity sensor 1124 is used to monitor the position of the material pulling hook 1123. The second proximity sensors 1124 are arranged on both sides of the mounting bracket 111 along the first direction. The two second proximity sensors 1124 correspond to the starting position and the end position of the material pulling hook 1123 respectively. When one of the second proximity sensors 1124 senses the material pulling hook 1123, the docking drive member 1122 drives the active sprocket 1125 in reverse to move the drive chain 1121 in the reverse direction. The starting position and the end position refer to the extreme positions where the material pulling hook 1123 is located on the opposite sides of the drive chain 1121 in the first direction. When the material pulling hook 1123 is at one of the extreme positions, the center of gravity of the material tray 600 can be completely transferred to the mounting bracket 111. When it is at the other extreme position, the center of gravity of the material tray 600 can be completely transferred to the material rack 300.

[0063] In order to further improve the stability of the material tray 600 during transfer and reduce the load of the connecting drive member 1122, the transfer mechanism 110 also includes a support assembly 113, the support surface of the support assembly 113 is highly consistent with the conveying surface of the drive chain 1121, and the material tray 600 abuts against the support surface of the support assembly 113 when moving with the drive chain 1121, and the support assembly 113 can play a role in supporting the material tray 600.

[0064] In this embodiment, the support assembly 113 includes a roller seat 1131 and a roller 1132. The roller seat 1131 is fixedly arranged on the mounting bracket 111. A plurality of rollers 1132 are arranged on the roller seat 1131 to rotate at intervals along a first direction. The horizontal plane where the highest point of the roller 1132 is located is the support surface to support the material tray 600. Since the roller 1132 is in rolling contact with the material tray 600, the wear on the material tray 600 is small, and the service life of the material tray 600 is long. Specifically, the roller 1132 is arranged between the two sprocket drive assemblies 112. In other embodiments, the support assembly 113 can also be a support plate with a smooth surface, which will not be described in detail here.

[0065] refer to Figure 6 As shown, the transfer mechanism 110 further includes two guide assemblies 114, which are respectively disposed on both sides of the mounting bracket 111 along the second direction to improve the stability of the transfer mechanism 110 during lifting and lowering. Figure 5As shown, the guide assembly 114 includes a sliding seat 1141 and a first guide wheel group, wherein the sliding seat 1141 is fixedly set on the mounting bracket 111, two groups of first guide wheel groups are rotatably set on the sliding seat 1141 at intervals in the horizontal direction and form a clamping space for the clamping frame 130, and any first guide wheel group includes at least two first guide wheels 1142 spaced apart in the vertical direction of the material rack 300.

[0066] Furthermore, the sliding seat 1141 further includes a second guide wheel 1143 disposed on the sliding seat 1141. The second guide wheel 1143 is disposed between the two groups of first guide wheel groups and the rotation axis of the second guide wheel 1143 is perpendicular to the rotation axis of the first guide wheel 1142. The second guide wheel 1143 also rolls in contact with the frame 130. Thus, the first guide wheel group and the second guide wheel 1143 are respectively in contact with three surfaces of the frame 130, and the stability is higher. Specifically, two second guide wheels 1143 are also spaced apart in the vertical direction of the material rack 300. Exemplarily, the rotation axis of the first guide wheel 1142 extends along the second direction, and the rotation axis of the second guide wheel 1143 extends along the first direction.

[0067] refer to Figure 7 As shown, the lifting mechanism 140 includes a traction member 141 and a traction drive member 142, the traction member 141 is connected to the anti-falling tooth block 122, and the traction drive member 142 provides traction power for the traction member 141. In this embodiment, the traction member 141 adopts a traction chain, and both ends of the traction chain are connected to the sliding seat 1141 to form a closed loop. The lifting mechanism 140 also includes a driving sprocket 143 and a reversing sprocket 144, the driving sprocket 143 and the reversing sprocket 144 are both rotatably arranged on the frame 130, the traction drive member 142 is connected to the driving sprocket 143, and the traction chain is wound around the driving sprocket 143 and the reversing sprocket 144. In other embodiments, the lifting mechanism 140 can also use an electric winch arranged on the top of the frame 130, and the electric winch belongs to the prior art and will not be described in detail here.

[0068] Specifically, the traction drive member 142 uses a reduction motor. In order to facilitate routine maintenance and overhaul of the reduction motor, the driving sprocket 143 is arranged at the bottom of the frame 130, and the reversing sprocket 144 is arranged at the top of the frame 130. The reduction motor connected to the driving sprocket 143 is also located at the bottom of the frame 130, which is convenient for installation and routine maintenance and overhaul. In addition, the traction drive member 142 arranged at the bottom of the frame 130 can avoid the risk of the frame 130 being top-heavy, thereby improving the stability of the frame 130. More specifically, the traction drive member 142 is fixed to the bottom of the frame 130 through a fixing seat 146.

[0069] More specifically, the lifting mechanism 140 also includes a transmission sprocket 145, a transmission chain and a main shaft 147. The transmission sprocket 145 is provided on the output shaft of the reduction motor and the main shaft 147. The transmission chain is wound between the transmission sprocket 145 on the reduction motor and the sprocket on the main shaft 147. Two drive sprockets 143 are provided on the main shaft 147. Correspondingly, two reversing sprockets 144 and two traction chains are also provided to synchronously lift the opposite sides of the transfer mechanism 110 respectively, thereby improving stability.

[0070] refer to Fig.11 As shown, the lifting mechanism 140 also includes a first proximity sensor 148 that is communicatively connected to the traction drive member 142. The first proximity sensors 148 are provided at both the upper and lower ends of the frame 130 for monitoring the height of the transfer mechanism 110, so as to timely control the transfer mechanism 110 to stop when the transfer mechanism 110 approaches the highest end or the lowest end of the frame 130, so as to avoid collision between the transfer mechanism 110 and the frame 130.

[0071] refer to Figure 2 and Fig.11 As shown, the frame 130 is configured as a rectangular frame structure as a whole. The frame 130 includes a bottom crossbeam 131, a top crossbeam 132 and a column 133, wherein two columns 133 are provided, the bottom crossbeam 131 connects the bottom ends of the two columns 133, and the top crossbeam 132 connects the tops of the two columns 133 to form a rectangular frame structure. Compared with the gantry 221, the setting of the bottom crossbeam 131 further improves the overall stability of the frame 130, and avoids the distance positioning deviation between the columns 133, reducing the difficulty of installing the columns 133 and the possibility of shaking of the frame 130.

[0072] At the same time, reference Figure 1 As shown, a fixed beam 500 is connected between the frame 130 and the material rack 300, and the fixed beam 500 extends along the first direction and connects the top of the frame 130 and the top of the material rack 300 to further improve the stability of the transfer device 100. Specifically, one end of the fixed beam 500 is connected to the top cross beam 132, and the other end is connected to the top of the material rack 300 to avoid interfering with the lifting and lowering of the transfer mechanism 110. More specifically, at least two fixed beams 500 are arranged at intervals along the second direction.

[0073] refer to Figure 2 , Figure 7-10As shown, in order to prevent the transfer mechanism 110 from falling rapidly when the transfer mechanism 110 is disconnected from the lifting mechanism 140, thereby causing damage to the transfer mechanism 110 or the materials on the transfer mechanism 110, the transfer device 100 also includes an anti-falling mechanism 120, the anti-falling mechanism 120 is connected between the transfer mechanism 110 and the lifting mechanism 140, and the anti-falling mechanism 120 includes a mounting seat 121, an anti-falling tooth block 122, an anti-falling elastic member 124 and an anti-falling rack 123, The rack 123 is arranged on the frame 130 along the vertical direction of the frame 130, and the mounting seat 121 is fixed on the transfer mechanism 110. The mounting seat 121 is also provided with a first guide structure 1211 which is inclined downward from an end away from the anti-falling rack 123 to an end close to the anti-falling rack 123. The anti-falling tooth block 122 is connected to the lifting mechanism 140 and is guided and connected to the first guide structure 1211 through a second guide structure 1222 arranged on the anti-falling tooth block 122. When the second guide structure 1222 is located at the lowest end of the first guide structure 1211, the anti-fall tooth block 122 protrudes from the side of the mounting seat 121 close to the anti-fall rack 123 and engages with the anti-fall rack 123. When the second guide structure 1222 is located at the highest end of the first guide structure 1211, the anti-fall tooth block 122 is separated from the anti-fall rack 123. The anti-fall elastic member 124 is connected to the anti-fall tooth block 122 and the mounting seat 121, and provides elastic force to the anti-fall tooth block 122, so that the second guide structure 1222 maintains a tendency to move toward the lowest end of the first guide structure 1211.

[0074] When the lifting mechanism 140 normally pulls the transferring mechanism 110, under the action of the upward traction force, the second guide structure 1222 is always located at the highest end of the first guide structure 1211, the anti-fall tooth block 122 retracts and does not engage with the anti-fall rack 123, and the transferring mechanism 110 fixedly connected to the mounting seat 121 can be lifted and lowered normally; and when the lifting mechanism 140 is disconnected from the transferring mechanism 110, the second guide structure 1222 that loses the upward traction force moves to the lowest end of the first guide structure 1211 under the action of the anti-fall elastic member 124, and the anti-fall tooth block 122 protrudes from the mounting seat 121 and engages with the anti-fall rack 123, thereby locking the transferring mechanism 110 in the current position, reducing the risk of rapid falling of the transferring mechanism 110, thereby reducing the possibility of damage to the material or the transferring mechanism 110.

[0075] Specifically, continue to refer to Fig. 9 and Fig.10As shown, a receiving groove 1212 is provided on the mounting seat 121, the anti-falling tooth block 122 is located in the receiving groove 1212, and the first guide structure 1211 is provided on the groove side wall of the receiving groove 1212. In this embodiment, the first guide structure 1211 is a guide hole, the second guide structure 1222 is a guide rod, and the two groove side walls of the receiving groove 1212 that are arranged opposite to each other are provided with guide holes, the guide rod is slidably arranged in the guide hole, and both ends of the guide rod pass through the guide hole, the anti-falling elastic member 124 is a spring and is provided with two springs, and the two springs are respectively connected to the two ends of the length of the guide rod to provide sufficient elastic force; and the mounting seat 121 is a metal member with high strength to provide sufficient support force for the anti-falling tooth block 122. In other embodiments, the first guide structure 1211 is a guide rail, and the second guide structure 1222 is a slider that slides with the guide rail, or the first guide structure 1211 is a guide rail, and the second guide structure 1222 is a roller that rolls with the guide rail, that is, the guide connection can be either a rolling connection or a sliding connection, which will not be described in detail here.

[0076] In order to prevent the anti-falling tooth block 122 from rotating in the receiving groove 1212 with the guide rod as the axis, affecting the anti-falling effect of the anti-falling mechanism 120 or interfering with the normal lifting and lowering of the transfer mechanism 110, the cross section of the guide rod is set to be rectangular, or, Figure 6 As shown, a first inclined surface 1213 is provided in the accommodating groove 1212, which is consistent with the inclination direction and inclination angle of the first guide structure 1211. At the same time, a second inclined surface 1221 is also provided on the lower surface of the anti-fall tooth block 122, which is consistent with the inclination direction and inclination angle of the first guide structure 1211. The first inclined surface 1213 abuts against the second inclined surface 1221, and the first inclined surface 1213 and the second inclined surface 1221 cooperate with each other to limit the rotation of the anti-fall tooth block 122.

[0077] More specifically, the mounting seat 121 is configured to be U-shaped, including a first side wall, a second side wall and a bottom wall. The first side wall and the second side wall are both provided with guide holes. The bottom wall connects the first side wall and the second side wall to enclose a receiving groove 1212. Based on the premise that the mounting seat 121 is a metal part, the inner side of the first side wall and the inner side of the second side wall are cut to form a first inclined surface 1213 to reduce the difficulty of processing the first inclined surface 1213.

[0078] In order to improve the stability of the anti-falling tooth block 122 when it is meshed with the anti-falling rack 123 and reduce the elastic coefficient of the required anti-falling elastic member 124, the lower groove wall of the tooth groove on the anti-falling rack 123 and the lower wall surface of the tooth on the anti-falling tooth block 122 are both arranged horizontally. Therefore, when the anti-falling tooth block 122 is meshed with the anti-falling rack 123, it will not be subjected to the horizontal reaction force of the anti-falling rack 123, and the locking effect of the anti-falling tooth block 122 and the anti-falling rack 123 is better.

[0079] refer to Fig.12As shown, the elevator also includes a buffer mechanism 150, which includes a buffer frame 151 and a buffer 152. The buffer frame 151 is arranged above the bottom beam 131 and below the transfer mechanism 110. A plurality of buffers 152 are arranged on the buffer frame 151 to slow down the descending speed of the transfer mechanism 110 when it descends to the lowest position, thereby reducing the impact force and extending the service life of the transfer mechanism 110.

[0080] In this embodiment, in order to increase the transfer stroke of the transfer device 200 and improve the flexibility of the processing position setting on the production line, reference Figure 13-Figure 17 As shown, the transfer device 200 includes a frame 220, a movable seat 230, a driving mechanism 240 and a grabbing mechanism 250. The grabbing mechanism 250 is arranged on the movable seat 230. The movable seat 230 is movably arranged on the frame 220 and driven by the driving mechanism 240, thereby realizing translation or lifting relative to the frame 220. The grabbing mechanism 250 is used to grab materials.

[0081] For some materials such as sheets, various basic parameters of the sheets need to be tested before entering the production line, such as sheet weight, sheet width, sheet thickness, etc. On this basis, the transfer device 200 also includes a sheet thickness detection mechanism 210 arranged on the movable seat 230, and the sheet thickness detection mechanism 210 is used to detect the thickness of the sheet.

[0082] refer to Figure 13-Figure 15As shown, the sheet thickness detection mechanism 210 provided in this embodiment includes a flipping assembly 211 and a thickness detection assembly 212, wherein the flipping assembly 211 is used to drive the edge portion of the sheet to flip up, so that the sheet grabbed by the flipping assembly 211 forms a certain gap with the support surface where it is located. It can be understood that the support surface can be either the upper surface of other sheets located in the lower layer of the sheet or the upper surface of the material tray where the sheet is located, that is, the sheets can be stacked or placed individually. The thickness detection assembly 212 includes a first detection drive member 2124, a fixed bracket 2121, a sliding swing arm 2122 and an angle sensor 2123. The first detection drive member 2124 is arranged at the output end of the flipping assembly 211, and the fixed bracket 2121 is located at the output end of the first detection drive member 2124. The first detection drive member 2124 is used to drive the fixed bracket 2121 to move along the inclined direction of the edge of the sheet. The sliding swing arm 2122 is rotatably connected to the fixed bracket 2121 through the measuring shaft, a first clamping surface is formed on the fixed bracket 2121, and a second clamping surface is formed on the sliding swing arm 2122, the first clamping surface and the second clamping surface together form a clamping space for clamping the sheet material, when measuring the thickness of the sheet material, the sliding swing arm 2122 maintains a tendency to rotate toward the fixed bracket 2121, that is, the second clamping surface maintains a tendency to move toward the first clamping surface, so as to be able to clamp the sheet material, and an angle sensor 2123 is connected to the measuring shaft, and the angle sensor 2123 is used to measure the angle change value when the measuring shaft rotates from the starting position to the contact between the second clamping surface and the sheet material.

[0083] Before transporting the sheet material, the above-mentioned transfer device 200 uses the flipping assembly 211 to flip the sheet material, so that one end of the sheet material is lifted upward, so that the fixed bracket 2121 or the sliding swing arm 2122 can be inserted under the sheet material along the inclined direction of the edge of the sheet material. Since the second clamping surface maintains a tendency to move toward the first clamping surface, the sliding swing arm 2122 and the fixed bracket 2121 are respectively attached to the upper surface and the lower surface of the sheet material. The angle sensor 2123 can measure the thickness of the sheet material by calculating the rotation angle of the measuring shaft, thereby reducing the probability of misjudgment of the detection. It can be understood that if the sheet material thickness detected by the sheet material thickness detection mechanism 210 does not meet the requirements, the sheet material can be returned to the return rack 300.

[0084] In this embodiment, the angle sensor 2123 uses an encoder, which has higher accuracy than other angle sensors 2123 .

[0085] In order to keep the sliding swing arm 2122 rotating toward the fixed bracket 2121, the thickness detection assembly 212 further includes an elastic member (not shown in the figure), which is connected to the fixed bracket 2121 and the sliding swing arm 2122. Specifically, the detection elastic member adopts a tension spring, which is easier to replace than a torsion spring.

[0086] In other embodiments, the sliding swing arm 2122 can also maintain the tendency to rotate toward the fixed bracket 2121 by means of its own elasticity, which will not be elaborated here.

[0087] Continue to refer Fig.14 As shown, the fixing bracket 2121 includes a main body portion 21211 and a cantilever portion 21212 , the main body portion 21211 is fixed to the output end of the first detection driver 2124 , and the first clamping surface is formed on the cantilever portion 21212 . Specifically, the sliding swing arm 2122 is located below the cantilever portion 21212. In order to reduce the difficulty of inserting the sliding swing arm 2122 under the sheet, the sliding swing arm 2122 includes a swing arm body 21221 and a roller 21222. The swing arm body 21221 is rotatably arranged on the main body 21211 through a measuring shaft, and the roller 21222 is arranged at the cantilever end of the swing arm body 21221. The outer peripheral surface of the roller 21222 serves as a second clamping surface, which can reduce the friction between the sliding swing arm 2122 and the sheet when the sliding swing arm 2122 is translated relative to the sheet. At the same time, the end of the cantilever portion 21212 away from the main body 21211 is provided with a guide surface which gradually approaches the roller 21222 from the side away from the main body 21211 to the side close to the main body 21211, and the guide surface is connected to the first clamping surface to reduce the difficulty of the sheet entering the clamping space.

[0088] Obviously, the thickness of the sheet material is not only related to the rotation angle of the sliding swing arm 2122, but its accuracy is also affected by whether the actual moving distance of the first detection drive member 2124 is consistent with the preset distance. In order to improve the detection accuracy, the fixed bracket 2121 also includes a limit portion 21213, and the limit portion 21213 is vertically connected to the cantilever portion 21212. After the sheet material is inserted into the clamping space, it can abut against the limit portion 21213, thereby achieving the limit. Specifically, the cantilever portion 21212, the main body 21211 and the limit portion 21213 are integrally bent and formed.

[0089] The thickness detection assembly 212 also includes a second detection driver 2125, which is disposed at the output end of the first detection driver 2124 through a fixing plate, and the fixing bracket 2121 is indirectly disposed at the output end of the first detection driver 2124 by being disposed at the output end of the second detection driver 2125. When the transfer device 200 hoists the sheet material, the entire sheet material thickness detection mechanism 210 can be driven by the second detection driver 2125 to be located above the sheet material, thereby reducing the occupied space on the plane where the sheet material is located and avoiding interference with other structures.

[0090] Since the driving strokes of the second detection driver 2125, the first detection driver 2124 and the flip driver 2112 are fixed, in this embodiment, the second detection driver 2125, the first detection driver 2124 and the flip driver 2112 are all cylinders. Of course, in other embodiments, the above-mentioned drivers can also be electric cylinders or oil cylinders.

[0091] refer to Fig.14 and Fig.15 As shown, the flip assembly 211 includes a flip driving member 2112, a flip arm 2111 and a flip grabbing member 2113. The flip grabbing member 2113 is arranged on the flip arm 2111 for grabbing the sheet material. The flip driving member 2112 is connected to the movable seat 230 and the flip arm 2111, and is used to drive the flip arm 2111 to flip relative to the movable seat 230, so that a certain gap is formed between the sheet material grabbed by the flip grabbing member 2113 and the supporting surface where it is located. It can be understood that the supporting surface can be either the upper surface of other sheets located at the lower layer of the sheet material, or the upper surface of the material tray where the sheet material is located, that is, the sheets can be stacked or placed individually.

[0092] The flip gripper 2113 uses a suction cup, which can flip the sheet upward by adsorbing the upper surface of the edge of the sheet, and is less difficult to operate than other gripping structures such as clamps. Specifically, the flip gripper 2113 uses a vacuum suction cup, which can adsorb more types of sheets and has a wide range of applications compared to an electromagnetic suction cup.

[0093] Continue to refer Fig.14 As shown, in order to improve the stability of the sheet thickness detection mechanism 210 on the movable seat 230, the flipping assembly 211 also includes a rotating arm 2114, and at least two rotating arms 2114 are arranged at intervals along the length direction of the flipping arm 2111. The flipping arm 2111 is connected to the movable seat 230 by rotating the rotating arm 2114 connected to the movable seat 230, thereby improving the stability of the flipping assembly 211 assembled on the movable seat 230, and two flipping driving members 2112 are also arranged at intervals along the length direction of the flipping arm 2111.

[0094] refer to Fig.13 As shown, taking the processing position at the side of the material taking position away from the material rack 300 along the first direction as an example, the flip arm 2111 extends along the first direction, and the first detection drive member 2124 drives the fixed bracket 2121 to move along the second direction. Of course, the first detection drive member 2124 can also drive the fixed bracket 2121 to move along the first direction.

[0095] refer to Fig.13 , Fig.16 and Fig.17As shown, the frame 220 includes a gantry 221 and a connecting beam 222, two gantries 221 are arranged at intervals along the first direction, and the two ends of the connecting beam 222 are respectively connected to the two gantries 221 to form the frame 220, and the driving mechanism 240 includes a first driving component 241 and a second driving component 242, wherein the first driving component 241 includes a first motor 2411 and a first reducer 2412, the first motor 2411 is movably connected to the connecting beam 222 along the first direction through a mounting plate 2414 slidably connected to the connecting beam 222, the first reducer 2412 is connected to the first motor 2411 and is transmission-connected to the connecting beam 222, and when the first motor 2411 is working, the movable seat 230 arranged on the mounting plate 2414 moves along the first direction under the action of the first motor 2411. The second driving assembly 242 includes a second motor 2421 and a second reducer 2422 , wherein the second motor 2421 is disposed on the mounting plate 2414 and moves along the first direction with the mounting plate 2414 , and the second reducer 2422 is connected to the second motor 2421 .

[0096] Specifically, the first motor 2411 and / or the second motor 2421 adopts a servo motor to improve the accuracy of the movable seat 230 moving along the first direction and / or the vertical direction, and the first reducer 2412 and / or the second reducer 2422 adopts a planetary gear reducer. Compared with the integrated reduction motor, the separately arranged motor and reducer structure reduces the installation space required for the driving mechanism 240 in the first direction and the vertical direction, which is conducive to the miniaturization and high integration of the transfer device 200.

[0097] In this embodiment, in order to convert the rotational motion of the first motor 2411 into linear motion, the first drive assembly 241 also includes a first rack 2413 and a first gear, the first rack 2413 is arranged on the connecting beam 222 along the first direction, and the first gear is connected to the first reducer 2412 and meshed with the first rack 2413. Similarly, the second drive assembly 242 also includes a second rack 2423 and a second gear 2424, the second rack 2423 is arranged on the movable seat 230 along the vertical direction, and the second gear 2424 is connected to the second reducer 2422 and meshed with the second rack 2423. In other embodiments, the first drive assembly 241 and the second drive assembly 242 can also convert the rotational motion of the first motor 2411 and the second motor 2421 into linear motion through a pulley transmission structure or a sprocket transmission structure, which will not be described in detail here.

[0098] Continue to refer Fig.17As shown, the first driving assembly 241 also includes a second monitoring member 2415 and a first stopper 2416, wherein when the mounting plate 2414 moves to the detectable range of the second monitoring member 2415, the first motor 2411 stops working, and two first stops 2416 are arranged at intervals along the first direction, and the first stops 2416 serve as hard limits, and cooperate with the second monitoring member 2415 to further limit the moving stroke of the mounting plate 2414, thereby improving the walking accuracy of the movable seat 230 along the first direction. Specifically, the second monitoring member 2415 adopts a photoelectric switch.

[0099] At the same time, the first driving component 241 also includes a drag chain fixing frame 2417, a first drag chain 2418, a second drag chain 2419 and a drag chain guide plate. The drag chain guide plate is arranged on the connecting beam 222 along the first direction and is located on opposite sides of the connecting beam 222 along the second direction with the first motor 2411 to avoid interfering with the movement of the first motor 2411. The first drag chain 2418 is arranged on the drag chain guide plate, and the second drag chain 2419 is installed on the mounting plate 2414 through the drag chain fixing frame 2417.

[0100] Continue to refer Figure 5 As shown, the second driving assembly 242 also includes a third monitoring member 2425 and a second stopper 2426. The functions of the third monitoring member 2425 and the second stopper 2426 are similar to those of the second monitoring member 2415 and the first stopper 2416, and are both for providing the precision of the movable seat 230 moving in the vertical direction, which will not be described in detail here. The third monitoring member 2425 can also be a photoelectric switch.

[0101] refer to Fig.13 , Fig.15 and Fig.17 As shown, the movable seat 230 includes a movable beam 231 and a mounting frame 232, wherein the movable beam 231 is slidably set on the mounting plate 2414 along the vertical direction, the second rack 2423 is set on the movable beam 231, the mounting frame 232 is set at the bottom of the movable beam 231, and the mounting frame 232 is consistent with the shape of the sheet material. For example, the sheet material is a rectangular sheet material, and the mounting frame 232 is also set to a rectangular shape. The gripping mechanism 250 and the sheet material thickness detection mechanism 210 are both set on the mounting frame 232.

[0102] refer to Fig.15As shown, the gripping mechanism 250 includes a plurality of gripping suction cups 251 arranged at the bottom of the mounting frame 232, and the plurality of gripping suction cups 251 are distributed in an array on the mounting frame 232, so that the gripping mechanism 250 can maintain a consistent clamping force on each part of the sheet material, thereby improving the gripping stability of the sheet material. More specifically, the position of the gripping suction cup 251 on the mounting frame 232 is adjustable, so as to adjust the position of the gripping suction cup 251 according to the size of the sheet material, and the gripping suction cup 251 is a vacuum suction cup, and the gripping mechanism 250 also includes a vacuum pump connected to the vacuum suction cup. In order to reduce the manufacturing cost of the transfer device 200, the vacuum suction cup as the flip gripping member 2113 in the sheet material thickness detection mechanism 210 is also connected to the vacuum pump. In addition, the gripping mechanism 250 also includes a first monitoring member 252 that is communicatively connected to the vacuum pump, and the first monitoring member 252 is used to monitor the distance between the movable seat 230 and the sheet material in the vertical direction, so as to start the vacuum pump in time. The first monitoring member 252 can also be, but not limited to, a proximity switch. Specifically, the first monitoring component 252 is slidably disposed on the mounting frame 232 along the vertical direction.

[0103] Based on the premise that the sheets are stacked up and down, in order to better separate adjacent sheets, the transfer device 200 also includes a sheet separation mechanism 260, which includes a sheet separator 263, a first sheet separation drive member 261 and a second sheet separation drive member 262. The first sheet separation drive member 261 is arranged on the mounting frame 232, and is used to drive the sheet separator 263 to move to the edge of the sheet along the first direction or the second direction. The second sheet separation drive member 262 is arranged at the output end of the first sheet separation drive member 261, and is used to drive the sheet separator 263 to move in the vertical direction to fit with the edge of the sheet. The sheet separator 263 is arranged at the output end of the second sheet separation drive member 262, and is used to separate the sheets. The sheet separator 263 belongs to the prior art and will not be described in detail here.

[0104] At the same time, the transfer device 200 also includes an electric control box 270 arranged on the movable seat 230. The electric control box 270 is communicatively connected with the driving mechanism 240, the sheet separation mechanism 260, the gripping mechanism 250 and the sheet thickness detection mechanism 210 to control the actions of the above-mentioned functional mechanisms.

[0105] When the transfer device 200 is used to transfer the sheet material, the first driving component 241 transfers the movable seat 230 to the material taking position, the second driving component 242 drives the movable seat 230 to descend and uses the grabbing mechanism 250 to grab the sheet material, and the first monitoring component 252 determines the distance between the movable seat 230 and the uppermost sheet material, and timely uses the grabbing suction cup 251 to absorb the sheet material, and the first sheet separation driving component 261 and the second sheet separation driving component 262 respectively drive the sheet separation device 263 to move, so that the sheet separation device 263 is attached to the sheet material. At the edge of the sheet, the spreader 263 separates the adjacent layers of sheet, and the swing arm driving member retracts, so that the flip grabbing member 2113 on the flip arm 2111 drives the sheet to flip up to a predetermined angle, and the first detection driving member and the second detection driving member 2125 drive the fixed bracket 2121 and the sliding swing arm 2122 to move, so that the fixed bracket 2121 and the sliding swing arm 2122 are respectively attached to the upper surface and the lower surface of the sheet, and the angle can be calculated according to the angle sensor 2123 to obtain the sheet thickness. After the thickness detection is completed, the fixed bracket 2121 and the sliding swing arm 2122 leave the sheet, and the flip driving member 2112 extends, so that the flip grabbing member 2113 on the flip arm 2111 drives the sheet to return to its original state, and the Z-axis driving assembly drives the movable seat 230 to rise to a safe height, and the first driving assembly 241 transports the sheet grabbed by the grabbing suction cup 251 to the target position and descends to the discharge height to complete the discharge work.

[0106] refer to Figure 18-19 As shown, the rack 300 includes a rack body 310 and a fourth monitoring component 320. The material enters and exits the storage layer along the second direction. A plurality of fourth monitoring components 320 corresponding to each storage layer are adjustable in height direction on the rack body 310. The fourth monitoring component 320 is in communication connection with the lifting mechanism 140. The fourth monitoring component 320 is configured to sense the height of the transfer mechanism 110. The fourth monitoring component 320 is adjustable in height on the rack body 310. The height of the fourth monitoring component 320 on the rack body 310 can be adjusted according to the transfer mechanism 110, so that the transfer mechanism 110 can accurately stay at the target height to complete the material placement.

[0107] refer to Fig.19 As shown, the rack body 310 is provided with a slide rail 316 extending in the vertical direction, and the fourth monitoring member 320 is slidably provided on the slide rail 316. The fourth monitoring member 320 is slidably provided on the slide rail 316. The fourth monitoring member 320 is steplessly adjusted in the vertical direction of the rack body 310 by sliding on the slide rail 316. In order to improve the stability of the fourth monitoring member 320 after the position adjustment, the rack 300 further includes a positioning member, which is threadedly connected to the fourth monitoring member 320. By screwing the positioning member so that the positioning member is pressed against the slide rail 316, the fourth monitoring member 320 can be fixed on the slide rail 316. Of course, the fourth monitoring member 320 can also be fixed on the slide rail 316 by the cooperation of a nut and a stud.

[0108] Specifically, refer to Fig.18 As shown, the rack body 310 includes vertical poles 311 and support beam groups, wherein four vertical poles 311 are arranged, and the four vertical poles 311 are distributed in a rectangular shape. Multiple support beam groups are arranged at intervals along the vertical direction to form multiple storage layers. The circulation device 400 is arranged below the bottom support beam group. Any support beam group includes two support beams 312 arranged at intervals along the second direction. The support beam 312 extends along the first direction and is fixedly connected to the two vertical poles 311 arranged at intervals along the first direction.

[0109] In order to improve the stability of the material rack 300, the material rack body 310 also includes a connecting rod group, and multiple connecting rod groups are arranged on the vertical pole 311 at intervals along the vertical direction. Any connecting rod group includes two connecting rods 313 arranged at intervals along the first direction, and the connecting rod 313 extends along the second direction and is fixedly connected to the two vertical poles 311 arranged at intervals along the second direction. It should be emphasized that the number of connecting rod groups is less than the number of support beam groups to avoid interference of the connecting rod 313 with the placement of materials. Exemplarily, there are at least three connecting rod groups, one of which is arranged below the bottom support beam group, another is arranged above the top support beam group, and at least one is arranged in the middle of the vertical pole 311.

[0110] Furthermore, the rack body 310 also includes an inclined rod 315 , at least two of which are staggered and connected to two vertical rods 311 spaced apart along the second direction, thereby further improving the structural stability of the rack 300 .

[0111] Generally, the spacing between adjacent storage layers on the material rack 300 is fixed. If the spacing is too large, storage space is easily wasted; if the spacing is too small, it may not be able to adapt to materials of various heights, and it also interferes with the transfer mechanism 110 in taking and placing materials. On this basis, in the material rack 300 of this embodiment, the spacing between adjacent storage layers and the spacing between the storage layer and the docking layer are adjustable, corresponding to the support beam group, that is, the height of the support beam 312 on the vertical pole 311 is adjustable. Specifically, one of the support beam 312 and the vertical pole 311 is provided with a strip hole extending in the vertical direction of the vertical pole 311, and the other of the support beam 312 and the vertical pole 311 is provided with a threaded hole. The support beam 312 and the vertical pole 311 are fixedly connected by fasteners inserted into the strip hole and the threaded hole. The height adjustment of the support beam 312 relative to the vertical pole 311 can be achieved by adjusting the position of the fastener in the strip hole.

[0112] In order to limit the position of the materials transferred to the rack body 310, the rack body 310 includes a material stopper 314 disposed on the support beam 312. Specifically, the material stopper 314 is disposed on one side of the support beam 312 close to the inclined rod 315 to fully utilize the space on the support beam 312. At the same time, the cross section of the support beam 312 is set to be L-shaped, and the two support beams 312 in the same support beam group are symmetrically arranged along the second direction and one end of the support beam 312 arranged horizontally extends toward the other support beam 312, so as to limit the movement of the material tray 600 in the first direction.

[0113] In this embodiment, the rack 300 further includes a fifth monitoring component 330, and the top and bottom of the rack 300 are both provided with a fifth monitoring component 330 that is in communication with the transfer device 100, and the fifth monitoring component 330 is also configured to detect the height of the pick-and-place mechanism of the pick-and-place device. Specifically, the fifth monitoring component 330 provided at the top of the rack 300 and the fifth monitoring component 330 provided at the bottom of the rack 300 can respectively limit the maximum height and the minimum height of the transfer mechanism 110 during lifting and lowering, thereby reducing the ineffective travel of the transfer mechanism 110 during the lifting and lowering process.

[0114] refer to Figure 1 As shown, the circulation device 400 includes a circulation rack and a circulation mechanism, and the circulation mechanism is arranged on the circulation rack, and is used to convey the material tray 600 to the material taking position and the transfer mechanism 110. Exemplarily, the circulation mechanism also adopts a sprocket transmission structure. Obviously, in order to avoid interference between the material rack 300 and the transfer device 200, the movement stroke of the circulation mechanism is greater than the width of the material rack 300 along the conveying direction of the circulation mechanism.

[0115] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, various obvious changes, readjustments and substitutions can be made without departing from the protection scope of the present invention. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. Vertical warehouse, characterized by: The library comprises: A material rack (300), wherein at least two material storage layers are arranged on the material rack (300) in a vertical direction; A transfer device (100) is arranged on one side of the material rack (300), the transfer device (100) comprises a lifting mechanism (140) and a transfer mechanism (110), the transfer mechanism (110) is arranged at the output end of the lifting mechanism (140), the lifting mechanism (140) is used to drive the transfer mechanism (110) to rise and fall, and the transfer mechanism (110) is used to move the material tray (600) into the material storage layer and move the material tray (600) out of the material storage layer; a circulation device (400), the circulation device (400) being used to receive the material tray moved out from the material rack (300) by the transfer device (100) and / or the circulation device (400) being used to transport the material tray located on the circulation device (400) to the transfer mechanism (110); The transfer device (200) is arranged on a side of the material rack (300) away from the transfer device (100), and the transfer device (200) is used to transfer the material in the material tray (600) on the circulation device (400) to the processing position and / or transfer the material from the processing position to the circulation device (400).

2. The vertical warehouse according to claim 1, characterized in that: The transfer mechanism (110) and the circulation device (400) both transport the material tray (600) back and forth along a first direction, and the material rack (300) is arranged above the circulation device (400) along a second direction, and the first direction is perpendicular to the second direction.

3. The vertical warehouse according to claim 1, characterized in that: The transfer mechanism (110) comprises a mounting bracket (111) and a sprocket transmission assembly (112); the sprocket transmission assembly (112) comprises a driving sprocket (1125), a driven sprocket (1126), a driving chain (1121), a connecting driving member (1122) and a material pulling hook (1123); the driving sprocket (1125) and the driven sprocket (1126) are arranged on the mounting bracket (111) in an intermittently rotatable manner; the connecting driving member (1122) is connected to the driving sprocket (1125); the driving chain (1121) is wound around the driving sprocket (1125) and the driven sprocket (1126); and both ends of the driving chain (1121) are connected to the material pulling hook (1123) to form a closed loop; the material pulling hook (1123) is used to hook the material tray (600).

4. The vertical warehouse according to claim 1, characterized in that: The circulation device (400) comprises a circulation frame and a circulation mechanism, wherein the circulation mechanism is arranged on the circulation frame and adopts a sprocket transmission structure.

5. The vertical warehouse according to any one of claims 1 to 4, characterized in that: The transfer device (100) further comprises a frame (130) and an anti-falling mechanism (120); the transfer mechanism (110) is liftably arranged on the frame (130); and the anti-falling mechanism (120) connects the transfer mechanism (110) and the lifting mechanism (140).

6. The vertical warehouse according to claim 5, characterized in that: The anti-falling mechanism (120) comprises an anti-falling rack (123), a mounting seat (121), an anti-falling tooth block (122) and an anti-falling elastic member (124); the anti-falling rack (123) is arranged on the frame (130) in a vertical direction; the mounting seat (121) is provided with a first guide structure (1211) which is inclined downward from an end away from the anti-falling rack (123) to an end close to the anti-falling rack (123); the anti-falling tooth block (122) has a second guide structure (1222); the anti-falling tooth block (122) is connected to the first guide structure (1222) via the second guide structure (1222). 211) guide connection; when the second guide structure (1222) is located at the lowest end of the first guide structure (1211), the anti-fall tooth block (122) is meshed with the anti-fall rack (123); when the second guide structure (1222) is located at the highest end of the first guide structure (1211), the anti-fall tooth block (122) is separated from the anti-fall rack (123); the anti-fall elastic member (124) is connected to the anti-fall tooth block (122) and the mounting seat (121) so that the second guide structure (1222) maintains a tendency to move toward the lowest end of the first guide structure (1211).

7. The vertical warehouse according to claim 5, characterized in that: A fixed beam (500) is connected between the top of the frame (130) and the top of the material rack (300).

8. The vertical warehouse according to any one of claims 1 to 4, characterized in that: The transfer device (200) comprises a frame (220), a movable seat (230), a driving mechanism (240), a gripping mechanism (250) and a sheet thickness detection mechanism (210); the movable seat (230) is movably connected to the frame (220) via the driving mechanism (240); the driving mechanism (240) is used to drive the movable seat (230) to translate and elevate; the gripping mechanism (250) and the sheet thickness detection mechanism (210) are both arranged on the movable seat (230).

9. The vertical warehouse according to claim 8, characterized in that: The sheet material thickness detection mechanism (210) comprises a flipping assembly (211) and a thickness detection assembly (212); the flipping assembly (211) is used to flip up the edge of the sheet material; the thickness detection assembly (212) comprises a first detection drive member (2124), a fixed bracket (2121), a sliding swing arm (2122) and an angle sensor (2123); the first detection drive member (2124) is arranged at the output end of the flipping assembly (211); the first detection drive member (2124) is used to drive the fixed bracket (2121) to move along the edge of the sheet material. The sliding swing arm (2122) moves in the tilting direction, the sliding swing arm (2122) is rotatably connected to the fixed bracket (2121) through the measuring shaft, a clamping space for clamping the sheet material is formed between the sliding swing arm (2122) and the fixed bracket (2121), and when measuring the thickness of the sheet material, the sliding swing arm (2122) maintains a tendency to rotate toward the fixed bracket (2121) to clamp the sheet material, the measuring shaft is connected to the angle sensor (2123), and the angle sensor (2123) is used to measure the angle change value of the measuring shaft.

10. The vertical warehouse according to claim 9, characterized in that: The sliding swing arm (2122) comprises a swing arm body (21221) and a roller (21222); the swing arm body (21221) is rotatably connected to the fixed bracket (2121) via the measuring shaft; the roller (21222) is arranged at the cantilever end of the swing arm body (21221); and the roller (21222) cooperates with the fixed bracket (2121) to form the clamping space.

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