Material taking device capable of rectifying deviation, deviation rectifying method and planar material bin thereof

Abstract

The invention relates to the technical field of warehouse logistics, in particular to a material taking device capable of rectifying deviation, a deviation rectifying method and a planar material bin thereof. The material taking device comprises a support and a grabbing mechanism installed through the support; the material taking device further comprises an angle measuring mechanism and a rotating mechanism, the rotating mechanism is connected with the support, the angle measuring mechanism is installed through the support, and the angle measuring mechanism is suitable for detecting the angle deviation between the placing posture of the plate in the horizontal plane and the expected placing posture. The rotating mechanism can enable the support to rotate on the horizontal plane.

Description

Technical Field

[0001] The present application relates to the technical field of warehousing and logistics, and specifically to a material-retrieving device capable of correcting deviation; the present application also relates to a correction method for the material-retrieving device; the present application also relates to a flat silo utilizing the material-retrieving device. Background Art

[0002] Known boards are stored in racks in silos. When stacking, they are adsorbed, transferred and placed on selected pallet positions or stacking positions using a transfer device.

[0003] For example, a transfer rack is recorded in the utility model patent with the announcement number CN212652803U and the name "Artificial Board Cutting Device". The transfer rack is in the shape of a rectangular frame, and a plurality of rollers are provided at the bottom thereof. The rollers cooperate with the slide groove and can move left and right in the slide groove. A mounting rack is provided on the top of the transfer rack, and a cylinder is provided at the bottom of the mounting rack. The end of the push rod of the cylinder is connected to a suction cup rack, and a plurality of vacuum suction cups are provided on the suction cup rack to adsorb large-sized artificial boards and transport the large-sized artificial boards to the stacking area to reduce labor intensity.

[0004] For example, a material picking mechanism is recorded in the utility model patent with the announcement number CN212312254U and the name “A feeding device for a veneer hot press”. The material picking mechanism includes a transmission assembly and several material picking assemblies installed on the transmission assembly. The material picking assembly is provided with a vacuum suction cup for adsorbing the plate.

[0005] In reality, the placement of wood-based panels waiting to be transferred or retrieved is often irregular: some have their long sides parallel to the long sides of the transfer or retrieval device, while others are tilted and non-parallel. Therefore, after the transfer or retrieval device transfers the panels to the next process, functional components in the next process must correct the panels' tilt, such as with movable supports or guide supports, to ensure they are placed at the specified angle. Summary of the Invention

[0006] In fact, it is difficult to set a correction device on each stacking position in the silo, or to equip each pallet with a correction device. Therefore, using the existing transfer device or material removal device to place it cannot achieve neat stacking, and the stacking rack is likely to be crooked. The present application provides a transfer device capable of correction, which can detect the deflection of the plate compared to the standard position, correct the deflection, and finally stack it on the target pallet position or stacking position to achieve neat stacking. The present application specifically uses the following technical solutions:

[0007] A material-picking device capable of correcting deviation, the material-picking device comprising a bracket and a gripping mechanism installed through the bracket; the material-picking device also comprising an angle measuring mechanism and a rotating mechanism, the rotating mechanism being connected to the bracket, the angle measuring mechanism being installed through the bracket, the angle measuring mechanism being suitable for detecting the angular deviation between the placement posture of a plate in a horizontal plane and an expected placement posture, and the rotating mechanism being capable of causing the bracket to rotate in a horizontal plane.

[0008] With the help of the above structure, through the setting of the angle measuring mechanism, after the grabbing mechanism grabs the plate, the angle measuring mechanism first detects and measures the angular deviation between the placement posture of the plate in the horizontal plane and the expected placement posture, and then transmits it to the rotating mechanism through the control system. Finally, the rotating mechanism corrects this angle deviation by deflecting the plate by an equivalent angle, so that the posture of the plate conforms to the expected placement posture.

[0009] Preferably, the angle measuring mechanism is adapted to detect an angular deviation between the edge of the plate and a standard rod.

[0010] Preferably, the angle measuring mechanism includes the standard rod, a swing arm that rotates the standard rod around a base point, a rotary drive that drives the swing arm to rotate, a plurality of photoelectric sensors spaced apart along the axial direction of the standard rod, and a rotary encoder. The swing arm is hingedly mounted on the bracket, and during rotation, the axial direction of the standard rod always coincides with the x-axis direction. The rotary encoder is mounted on the hinge point of the swing arm.

[0011] Preferably, the swing arm includes a first connecting rod and a second connecting rod, the first connecting rod and the second connecting rod are of equal length and parallel to each other, and the standard rod, the first connecting rod, the second connecting rod and the bracket constitute a planar four-bar mechanism.

[0012] Preferably, the rotary drive is a gas rod, which is pivotally connected to the bracket via a gas rod seat, and the telescopic end of the gas rod is hinged to the first connecting rod.

[0013] Preferably, the angle measuring mechanism includes two photoelectric sensors, which are respectively arranged at two ends of the standard rod.

[0014] Preferably, the material taking device further includes a lifting mechanism connecting the bracket and the rotating mechanism.

[0015] Preferably, the material taking device further includes a size measuring mechanism installed through the bracket.

[0016] Preferably, the dimension measuring mechanism includes a cylinder and a rope encoder.

[0017] In this technical solution, the correction function is realized by the angle measuring mechanism and the rotation mechanism, so that the dimension measuring mechanism composed of the cylinder and the rope encoder can also correct the detected dimension data to avoid the influence of the deflection of the plate posture on the detected dimension data, and obtain a more accurate plate width and / or length.

[0018] The second object of the present application is to provide a correction method for such a material picking device, a correction method, which utilizes the material picking device as described above, wherein when the material picking device grabs the plate, the rotating mechanism is in the initial position, and the standard rod of the angle measuring mechanism can rotate around the base point and the axis direction always coincides with the x-axis direction; if several photoelectric sensors on the standard rod simultaneously sense the edge of the plate, the posture of the plate is correct; if several photoelectric sensors sense the edge of the plate one after another, it means that the posture of the plate is deflected, and the rotary encoder obtains the rotation angle of the standard rod between the first photoelectric sensor that senses the edge of the plate to the last photoelectric sensor that senses the edge of the plate, and controls the rotating mechanism to rotate in the opposite direction and at the same angle to correct the deflection angle.

[0019] The third object of the present application is to provide a planar silo that utilizes the aforementioned corrective material taking device.

[0020] Preferably, the planar silo further comprises a fence for dividing a storage area of ​​the silo, a transfer mechanism for transferring the gripping device between a loading position and a specific stacking position in the storage area, and a control system.

[0021] The use of a material-retrieving device, a correction method, and a flat material bin provided in the present application can correct the deviation between the initial placement posture of the plate in the horizontal plane and the predetermined posture, thereby achieving the effect of neat stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] The drawings in the specification, which constitute a part of this application, are used to provide further explanation of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute improper limitations on this application.

[0023] Figure 1 It is a structural schematic diagram of a material-retrieving device capable of correcting deviation and a planar material bin thereof provided in an embodiment of the present application.

[0024] Figure 2 It is a structural schematic diagram of the material taking device provided in an embodiment of the present application.

[0025] Figure 3 This is a structural diagram of the gripping mechanism provided in an embodiment of the present application.

[0026] Figure 4This is a structural diagram of the angle measurement mechanism provided in an embodiment of the present application.

[0027] In the above drawings: 10. Material picking device, 110. Lifting mechanism, 120. Bracket, 130. Grabbing mechanism, 140. Angle measuring mechanism, 141. Standard rod, 142. Driving swing arm, 1421. First connecting rod, 1422. Second connecting rod, 143. Rotary drive, 144. Photoelectric sensor, 145. Rotary encoder, 150. Rotating mechanism, 160. Dimension measuring mechanism, 1161. Cylinder, 162. Pull rope encoder, 20. Transfer device, 30. Plate, 40. Loading position, 50. Stacking position, 60. Fence. DETAILED DESCRIPTION

[0028] The technical solutions in this application are described clearly and completely below. Obviously, the embodiments described are only some of the embodiments of this application, not all of them. The following description of at least one exemplary embodiment is merely illustrative and in no way limits the present application and its application or use. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0029] Reference Figure 1 The flat silo shown includes a fence 60 for demarcating the storage area of ​​the discharge silo, a retrieving device 10, a transfer device 20 for transferring the retrieving device 10, whether it has grabbed or not grabbed a sheet material 30, between a loading position 40 and a specific stacking position 50 within the storage area, and a control system. The control system can be any conventional one, such as a PLC control cabinet, and both the retrieving device 10 and the transfer device 20 are electrically connected to the control system.

[0030] The fence 60 comprises at least two fence surfaces arranged opposite to each other, the fence surfaces having a certain height and length and having a certain strength. In this embodiment, the fence 60 comprises a frame structure, on the top of which the transfer device 20 is installed.

[0031] The transfer device 20 includes any of the conventional x-axis and y-axis mechanisms. In this embodiment, both the x-axis and y-axis mechanisms are synchronous belt servo modules. The y-axis mechanism is threadedly connected to a movable base on which the retrieving device 10 is mounted. This allows the transfer device 20 to drive the retrieving device 10 in both the x- and y-axis directions. In other words, the retrieving device 10 can be moved between the loading station 40 and a specific stacking station 50 within the storage area.

[0032] The material-retrieving device 10 includes a lifting mechanism 110 , a bracket 120 , a gripping mechanism 130 , an angle measuring mechanism 140 and a rotating mechanism 150 .

[0033] refer to Figure 2and Figure 3 As shown, rotating mechanism 150 connects the movable base and lifting mechanism 110. Rotating mechanism 150 is a conventional gear transmission mechanism, comprising, for example, a motor fixedly mounted on the movable base, an input shaft connected to the motor's output shaft bearing, a pinion sleeved on the input shaft, a large gear meshing with the pinion, and an output shaft inserted into the large gear. Lifting mechanism 110 is screwed or welded to the output shaft, enabling rotating mechanism 150 to drive horizontal rotation of lifting mechanism 110, as well as bracket 120 and gripping mechanism 130 mounted thereon.

[0034] Lifting mechanism 110 can be any conventional method. In this embodiment, lifting mechanism 110 includes a mounting base connected to a rotating mechanism, a robotic arm mounted via the mounting base, and an assembly base. Bracket 120 is threadedly mounted to the assembly base at the end of the robotic arm, enabling lifting mechanism 110 to elevate bracket 120 and the gripping mechanism 130 mounted via bracket 120 in the z-axis direction.

[0035] In some other embodiments, the lifting mechanism can serve as the z-axis mechanism of the transfer mechanism 20 . The rotating mechanism 150 is connected to the lifting mechanism, and the bracket 120 is installed on the rotating mechanism 150 .

[0036] The bracket 120 is a metal frame that provides space and support for the installation of the gripping mechanism 130 and the angle measuring mechanism 140. The bracket 120 of this embodiment includes a support plate screwed onto the assembly seat, and a frame having a certain width that is screwed or welded to the support plate.

[0037] The gripping mechanism 130 is conventional, such as a clamping arm mechanism or a vacuum suction mechanism. The gripping mechanism 130 of this embodiment is a vacuum suction mechanism, and for the purpose of stably adsorbing the large-format sheet material 30, includes a plurality of vacuum suction cups mounted on a frame and connected to an external vacuum source.

[0038] Angle measurement unit 140 is mounted on bracket 120. Angle measurement unit 140 includes a standard rod 141, a swing arm 142 that rotates standard rod 141 about a base point, a rotary drive 143 that drives swing arm 142, a plurality of photoelectric sensors 144 spaced along the axis of standard rod 141, and a rotary encoder 145. Swing arm 142 is hingedly mounted on bracket 120, and during rotation, the axis of standard rod 141 always coincides with the x-axis. Rotary encoder 145 is mounted at the hinge point of swing arm 142.

[0039] In this embodiment, swing arm 142 includes a first link 1421 and a second link 1422. The first link 1421 and the second link 1422 are equal in length and parallel to each other. Standard rod 141, first link 1421, second link 1422, and bracket 120 form a parallelogram-shaped four-bar mechanism. As standard rod 141 rotates with swing arm 142, its axis always coincides with the x-axis. Here, the x-axis is used as the longitudinal axis of the predetermined plate 30 placement posture.

[0040] In addition, the rotation driver 143 is a gas rod, which is pivotally connected to the bracket 120 through a gas rod seat, and the telescopic end of the rotation driver 143 is hinged to the first connecting rod 1421.

[0041] Furthermore, the angle measurement mechanism 140 includes two photoelectric sensors 144, one disposed at each end of the standard rod 141. The two photoelectric sensors 144 are electrically connected to a rotary encoder 145. Thus, the angle measurement mechanism 140 can detect the angular deviation between the horizontal position of the plate 30 and the expected position, specifically, the angular deviation between the edge of the plate 30 and the standard rod 141.

[0042] The material taking mechanism 10 further comprises a size measuring mechanism 160 mounted by the bracket 120. The size measuring mechanism 160 comprises a combination of a cylinder 161 and a wire encoder 162, which are respectively arranged in the width direction and the length direction to measure the length and width.

[0043] The planar silo of this embodiment operates as follows: the transfer device 20 moves the material removal device 10 above the loading position 40, the lifting mechanism 110 descends, and the gripping mechanism 130 absorbs the sheet 30. At this point, the rotating mechanism 150 is in its initial position, with the axis of the standard rod 141 aligning with the x-axis and approaching the bracket 120. Subsequently, the rotary drive 143 retracts to drive the standard rod 141 to swing away from the bracket 120. If the two photoelectric sensors 144 mounted on the standard rod 141 simultaneously sense the edges of the sheet 30, it indicates that the sheet 30 is in the correct position, with its longitudinal axis aligning with the x-axis. The rotary encoder 145 then acquires the angle data 0, converts it into an electrical signal, and controls the rotating mechanism 150 to remain stationary. If the two photoelectric sensors 144 installed on the standard rod 141 sense the edges of the plate 30 one after another, it means that the posture of the plate 30 has deflected. The rotary encoder 145 obtains the angle of rotation of the standard rod 141 between the two photoelectric sensors 144 sensing the edges of the plate 30 one after another, converts the angle data into an electrical signal, and controls the rotating mechanism 150 to rotate at the same angle to correct the deflection angle.

[0044] For example, Figure 3For example, if the standard rod 141 swings counterclockwise, if the first photoelectric sensor 144 first senses the edge of the plate 30, the rotation mechanism 150 drives the plate 30 to rotate clockwise by the same angle to correct the angular deviation. If the second photoelectric sensor 144 first senses the edge of the plate 30, the rotation mechanism 150 drives the plate 30 to rotate counterclockwise by the same angle to correct the angular deviation.

[0045] While the angle measuring mechanism 140 and the rotating mechanism 150 are performing deviation correction, the size measuring mechanism 160 detects the width and length of the plate 30 to determine the designated stacking position 50 for the plate 30 .

[0046] Finally, the control system causes the transfer device 20 to carry the plate 30 to the top of the designated stacking position 50 , the lifting mechanism 110 to descend, and the gripping mechanism 130 to be deactivated to place the plate 30 .

[0047] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A material-retrieving device capable of correcting deviation, the material-retrieving device (10) comprising a bracket (120) and a gripping mechanism (130) mounted via the bracket (120); characterized in that: The material taking device (10) further comprises an angle measuring mechanism (140) and a rotating mechanism (150), wherein the rotating mechanism (150) is connected to the bracket (120), and the angle measuring mechanism (140) is installed through the bracket (120). The angle measuring mechanism (140) is suitable for detecting an angular deviation between a placement posture of the plate (30) in a horizontal plane and an expected placement posture, and the rotating mechanism (150) can cause the bracket (120) to rotate in the horizontal plane.

2. The material-retrieving device capable of correcting deviation according to claim 1, characterized in that: The angle measuring mechanism (140) is suitable for detecting the angle deviation between the edge of the plate (30) and the standard rod (141).

3. The material-retrieving device capable of correcting deviation according to claim 2, characterized in that: The angle measuring mechanism (140) comprises the standard rod (141), a swing arm (142) for rotating the standard rod (141) around a base point, a rotary drive (143) for driving the swing arm (142) to rotate, a plurality of photoelectric sensors (144) spaced apart along the axial direction of the standard rod (141), and a rotary encoder (145). The swing arm (142) is hingedly mounted on the bracket (120), and during the rotation process, the axial direction of the standard rod (141) always coincides with the x-axis direction. The rotary encoder (145) is mounted on the hinge point of the swing arm (142).

4. The material-retrieving device capable of correcting deviation according to claim 3, characterized in that: The swing arm (142) comprises a first connecting rod (1421) and a second connecting rod (1422), wherein the first connecting rod (1421) and the second connecting rod (1422) are of equal length and parallel to each other, and the standard rod (141), the first connecting rod (1421), the second connecting rod (1422) and the bracket (120) form a planar four-bar mechanism.

5. The material-taking device capable of correcting deviation according to claim 3 or 4, characterized in that: The rotary drive (143) is a gas rod, and the rotary drive (143) is pivotally connected to the bracket (120) via a gas rod seat, and its telescopic end is hinged to the first connecting rod (1421).

6. The material-taking device capable of correcting deviation according to claim 3, characterized in that: The angle measuring mechanism (140) comprises two photoelectric sensors (144) respectively arranged at two ends of the standard rod (141).

7. The material-retrieving device capable of correcting deviation according to claim 1, characterized in that: The material taking device (10) further comprises a lifting mechanism (110) connecting the bracket (120) and the rotating mechanism (150).

8. The material-taking device capable of correcting deviation according to claim 1, characterized in that: The material taking device (10) further comprises a dimension measuring mechanism (160) installed via the bracket (120), wherein the dimension measuring mechanism (160) comprises a cylinder (161) and a rope encoder (162).

9. A deviation correction method, characterized in that: The material picking device (10) according to any one of claims 1 to 8 is utilized. When the material picking device (10) grabs the plate (30), the rotating mechanism (150) is in an initial position, and the standard rod (141) of the angle measuring mechanism (140) can rotate around the base point and the axis direction always coincides with the x-axis direction; if several photoelectric sensors (144) on the standard rod (141) sense the edge of the plate (30) at the same time, the posture of the plate (30) is correct; if several photoelectric sensors (144) sense the edge of the plate (30) one after another, it means that the posture of the plate (30) is deflected, and the rotary encoder (145) obtains the rotation angle of the standard rod (141) between the first photoelectric sensor (144) that senses the edge of the plate (30) and the last photoelectric sensor (144) that senses the edge, and controls the rotating mechanism (150) to rotate in the opposite direction and at the same angle to correct the deflection angle.

10. A planar silo, characterized in that: The material removal device (10) according to any one of claims 1 to 8 is utilized.

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