Nesting material warehouse mechanism

Abstract

The utility model provides a neat material warehouse mechanism which comprises a storage rack component, a transportation component, a robot component and a grabbing component, the robot component is arranged in the transverse middle position of the storage rack component, the transportation component is arranged in the longitudinal middle position of the storage rack component, and the grabbing component is arranged in the transverse middle position of the storage rack component. The grabbing part is arranged at the bottom of the robot part; the storage rack component comprises a U-shaped bottom frame, inclined frames are connected to the two sides of the U-shaped bottom frame respectively, and the symmetrical inclined frames are connected with a set of step-shaped supporting plates respectively. The utility model relates to the technical field of material taking and placing, in particular to a neat material warehouse mechanism. In order to overcome the defects in the prior art, the neat material warehouse mechanism is developed, and the neat material warehouse mechanism can achieve storage of three materials and fast and orderly taking and placing of the three materials.

Description

Technical Field

[0001] The utility model relates to the technical field of taking and placing materials, in particular to a complete set of material storage mechanisms. Background Art

[0002] When optimizing the sawing material list, the material order of different window frames was disrupted, and a relatively high profile utilization rate was obtained. When assembling, workers sorted them out according to the drawings (now not according to the assembly drawings), which was time-consuming and laborious. The truss robot sorted out the window frame profiles in groups in the set material warehouse. When the fourth piece of material came, the three pieces of material on the rack were taken down. The materials that formed a frame were transported out.

[0003] At present, there is still a lack of a device that can facilitate the storage of three kinds of materials and their quick and orderly retrieval.

[0004] Therefore, in view of the above problems, a complete material storage mechanism is proposed to solve the above problems. Utility Model Content

[0005] Aiming at the deficiencies of the prior art, the utility model develops a complete material storage mechanism, which can realize the storage and rapid and orderly taking and placing of three materials.

[0006] The technical solution to the technical problem solved by the utility model is as follows: the utility model provides a complete material warehouse mechanism, including a storage rack component, a transport component, a robot component and a grabbing component, the robot component is arranged in the transverse middle position of the storage rack component, the transport component is arranged in the longitudinal middle position of the storage rack component, and the grabbing component is arranged at the bottom of the robot component; the storage rack component includes a U-shaped base frame, the two sides of the U-shaped base frame are respectively connected to the inclined frames, and the symmetrical inclined frames are respectively connected to a group of step-shaped support plates; the robot component includes a mounting frame, the mounting frame is connected to the top of the U-shaped base frame, the mounting frame is connected to two groups of symmetrical transverse guide rails and transverse racks, a group of transverse clips The blocks are respectively nested in the corresponding transverse guide rails, each of the transverse card blocks is respectively connected to a circular frame, the circular frame is connected to a transverse motion motor, the output shaft of the transverse motion motor passes through the top plate of the circular frame and is connected to a transverse gear, and the transverse gear meshes with the transverse rack; the circular frame is connected to a mounting square plate, and the mounting square plate is fixedly connected to two groups of symmetrical vertical card blocks, the circular frame is connected to a dual-axis motor, the two dual axes of the dual-axis motor pass through the circular frame, and the two dual axes of the dual-axis motor are respectively connected to vertical gears, each of the vertical card blocks is respectively nested in the vertical guide rails, the symmetrical vertical guide rails are respectively connected to the mobile frame, the mobile frame is connected to the symmetrical vertical racks, and the symmetrical vertical gears respectively mesh with the corresponding vertical racks. By adopting robot components, it is possible to drive the grabbing components to move and clamp materials at different positions.

[0007] As an optimization, the grabbing component includes two groups of symmetrical lifting cylinders, each of which is connected to the mobile frame, and the piston rod of each lifting cylinder is connected to the lifting frame, and the lifting frame is rotatably connected to the symmetrical swing cylinder, and the piston rods of the symmetrical swing cylinders are rotatably connected to the cranks, and each crank is connected to the vertical axis, and the symmetrical vertical axes are rotatably connected to the lifting frame, and the symmetrical vertical axes are connected to the swing clamping arms. The device realizes the clamping and placement of materials by setting the lifting cylinders and the swing cylinders.

[0008] As an optimization, the mobile frame is connected to the reversing motor, the bearing of the mobile frame is connected to the upper shaft and the lower shaft, the upper shaft and the lower shaft are respectively connected to at least one synchronous wheel, the two ends of the synchronous belt respectively surround the corresponding synchronous wheels, the output shaft of the reversing motor passes through the mobile frame to connect to the upper shaft, and the lower shaft is fixedly connected to a group of evenly distributed support arms. By adopting the reversing motor and the synchronous belt mechanism, it is convenient to clamp the materials on the stepped support plates on both sides.

[0009] As an optimization, the moving frame is connected to two sets of symmetrical auxiliary guide rails, and the lifting frame is connected to two sets of symmetrical auxiliary card blocks, and each of the auxiliary card blocks is respectively embedded in the corresponding auxiliary guide rail. By using the auxiliary card blocks and auxiliary guide rails, it is convenient to realize the auxiliary swing clamping arm moving in the height direction.

[0010] As an optimization, the transport component includes a group of support frames, each of which is connected to a group of evenly distributed symmetrical L-mounting blocks, each of which is nested in a U-shaped slot, each of which is connected to a roller shaft by a bearing, and each of which is provided with a mounting groove. By using the transport component, the transport of materials is facilitated.

[0011] As an optimization, the U-shaped chassis is connected to a control cabinet. The dual-axis motor, the lateral motion motor, the lifting cylinder, the swing cylinder and the reversing motor are electrically connected to the control cabinet respectively. A controller is installed in the control cabinet. The dual-axis motor, the lateral motion motor, the lifting cylinder, the swing cylinder and the reversing motor are electrically connected to the controller respectively. This facilitates the control of the robot components and the grasping components.

[0012] The effects provided in the utility model content are only the effects of the embodiments, not all the effects of the utility model. The above technical solution has the following advantages or beneficial effects:

[0013] (1) The material rack of this mechanism is symmetrically arranged front and back, left and right, and has a stepped structure, which is convenient for material storage and subsequent rapid retrieval.

[0014] (2) The grabbing part of this mechanism is of rotating type and can swing left and right, making it convenient to remove the materials placed on the stepped support plates on both sides. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation to the present invention.

[0016] Figure 1 The three-dimensional structure of the utility model is shown in FIG. Figure 1 .

[0017] Figure 2 The three-dimensional structure diagram of the robot component and the grasping component of the utility model is shown in FIG. Figure 1 .

[0018] Figure 3 For the utility model Figure 2 A partial enlarged view of middle A.

[0019] Figure 4 It is a partial three-dimensional structural diagram of the robot component and the grasping component of the utility model.

[0020] Figure 5 It is a schematic diagram of a partial three-dimensional structure of a robot component of the utility model.

[0021] Figure 6 It is a schematic diagram of the three-dimensional structure of the transport component of the utility model.

[0022] Figure 7 It is a schematic diagram of a partial three-dimensional structure of the transport component of the utility model.

[0023] Figure 8 It is a schematic diagram of the three-dimensional structure of the storage rack component of the utility model.

[0024] Fig. 9 The three-dimensional structure diagram of the robot component and the grasping component of the utility model is shown in FIG. Figure 2 .

[0025] Fig.10 It is a schematic diagram of the three-dimensional structure of the grabbing component of the utility model.

[0026] Fig.11 The three-dimensional structure of the utility model is shown in FIG. Figure 2 .

[0027] In the figure:

[0028] 1. Robot parts, 11. Mobile frame, 12. Mounting frame, 13. Vertical guide rail, 14. Vertical clamping block, 15. Square plate, 16. Vertical rack, 17. Vertical gear, 18. Double-axis motor, 110. Horizontal motion motor, 111. Horizontal gear, 112. Reciprocating frame, 113. Horizontal clamping block, 114. Horizontal rack, 115. Horizontal guide rail;

[0029] 2. transport component, 21. support frame, 22. L mounting block, 23. U-shaped slot, 24. roller shaft, 25. mounting slot;

[0030] 3. Storage rack components, 31. U-shaped base frame, 32. Oblique frame, 33. Step-shaped support plate;

[0031] 4. Control cabinet;

[0032] 5. Grabbing components, 51. Lifting cylinder, 52. Lifting frame, 53. Swinging cylinder, 54. Crank, 55. Vertical axis, 56. Swinging clamping arm, 57. Lower axis, 58. Synchronous belt, 59. Upper axis, 510. Synchronous wheel, 511. Auxiliary guide rail, 512. Auxiliary clamping block, 513. Reversing motor, 514. Support arm. DETAILED DESCRIPTION

[0033] In order to clearly illustrate the technical features of this solution, the utility model is described in detail below through specific implementation methods and in combination with the accompanying drawings. The disclosure below provides many different embodiments or examples for realizing different structures of the utility model. In order to simplify the disclosure of the utility model, the components and settings of specific examples are described below. In addition, the utility model can repeat reference numbers and / or letters in different examples. This repetition is for the purpose of simplification and clarity, and does not itself indicate the relationship between the various embodiments and / or settings discussed. It should be noted that the components illustrated in the accompanying drawings are not necessarily drawn to scale. The utility model omits the description of known components and processing technologies and processes to avoid unnecessary limitations on the utility model. The terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inside", "outside" and the like indicate the orientation or position relationship based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be internal communication between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0034] like Figures 1 to 11As shown, a complete material storage mechanism includes a storage rack component 3, a transport component 2, a robot component 1 and a grabbing component 5, wherein the robot component 1 is arranged in the horizontal middle position of the storage rack component 3, the transport component 2 is arranged in the longitudinal middle position of the storage rack component 3, and the grabbing component 5 is arranged at the bottom of the robot component 1; the storage rack component 3 includes a U-shaped base frame 31, and the two sides of the U-shaped base frame 31 are respectively connected to the inclined frames 32, and the symmetrical inclined frames 32 are respectively connected to a group of stepped support plates 33; the robot component 1 includes a mounting frame 12, and the mounting frame 12 is connected to the top of the U-shaped base frame 31, and the mounting frame 12 is connected to two groups of symmetrical transverse guide rails 115 and transverse racks 114, and a group of transverse clamping blocks 113 are respectively nested in the corresponding transverse guide rails 115, and each of the transverse clamping blocks 113 The circular frame 112 is connected to the horizontal motion motor 110, and the output shaft of the horizontal motion motor 110 passes through the top plate of the circular frame 112 to connect the horizontal gear 111, and the horizontal gear 111 meshes with the horizontal rack 114; the circular frame 112 is connected to the installation square plate 15, and the installation square plate 15 is fixedly connected to two groups of symmetrical vertical blocks 14, the circular frame 112 is connected to the double-axis motor 18, and the two double axes of the double-axis motor 18 pass through the circular frame 112, and the two double axes of the double-axis motor 18 are respectively connected to the vertical gear 17, and each of the vertical blocks 14 is respectively nested in the vertical guide rail 13, and the symmetrical vertical guide rails 13 are respectively connected to the moving frame 11, and the moving frame 11 is connected to the symmetrical vertical rack 16, and the symmetrical vertical gears 17 are respectively meshed with the corresponding vertical rack 16. By adopting the robot component 1, it is realized to drive the grasping component 5 to move, and to clamp materials at different positions.

[0035] The grabbing component 5 includes two groups of symmetrical lifting cylinders 51, each of which is connected to the mobile frame 11, and the piston rod of each lifting cylinder 51 is connected to the lifting frame 52, which is rotatably connected to the symmetrical swing cylinder 53, and the piston rods of the symmetrical swing cylinders 53 are rotatably connected to the crank 54, each crank 54 is connected to the vertical shaft 55, and the symmetrical vertical shafts 55 are rotatably connected to the lifting frame 52, and the symmetrical vertical shafts 55 are connected to the swing clamping arms 56. The device realizes the clamping and placement of materials by setting the lifting cylinders 51 and the swing cylinders 53.

[0036] The moving frame 11 is connected to the reversing motor 513, and the bearing of the moving frame 11 is connected to the upper shaft 59 and the lower shaft 57, and the upper shaft 59 and the lower shaft 57 are respectively connected to at least one synchronous wheel 510, and the two ends of the synchronous belt 58 respectively surround the corresponding synchronous wheels 510, and the output shaft of the reversing motor 513 passes through the moving frame 11 and is connected to the upper shaft 59, and the lower shaft 57 is fixedly connected to a group of evenly distributed support arms 514. By adopting the reversing motor 513 and the synchronous belt mechanism, it is convenient to realize the clamping of the stepped support plates 33 on both sides.

[0037] The moving frame 11 is connected to two sets of symmetrical auxiliary guide rails 511, and the lifting frame 52 is connected to two sets of symmetrical auxiliary clamping blocks 512, and each auxiliary clamping block 512 is respectively embedded in the corresponding auxiliary guide rail 511. By using the auxiliary clamping blocks 512 and the auxiliary guide rails 511, it is convenient to realize the auxiliary swing clamping arm 56 moving in the height direction.

[0038] The transport component 2 includes a group of support frames 21, each of which is connected to a group of evenly distributed symmetrical L-mounting blocks 22, each of which is nested in a U-shaped card slot 23, each of which is bearing-connected to a roller shaft 24, and each of which is provided with a mounting groove 25. By using the transport component 2, the transport of materials is facilitated.

[0039] The L-mounting block 22 and the U-shaped slot 23 are connected by threads.

[0040] The U-shaped chassis 31 is connected to the control cabinet 4. The dual-axis motor 18, the lateral motion motor 110, the lifting cylinder 51, the swing cylinder 53 and the reversing motor 513 are electrically connected to the control cabinet 4, and a controller is installed in the control cabinet 4. The dual-axis motor 18, the lateral motion motor 110, the lifting cylinder 51, the swing cylinder 53 and the reversing motor 513 are electrically connected to the controller, so as to facilitate the control of the robot component 1 and the grasping component 5.

[0041] The workflow of this embodiment is:

[0042] A sprocket is installed in the installation groove 25, and a chain connects the sprockets, which are driven by a motor to realize the rotation of all roller shafts 24.

[0043] By controlling the reversing motor 513 to rotate, the reversing motor 513 drives the upper shaft 59 and the upper synchronous wheel 510 to rotate, the upper synchronous wheel 510 drives the synchronous belt 58 to move, the synchronous belt 58 drives the lower synchronous wheel 510 to rotate, the lower synchronous wheel 510 drives the lower shaft 57 to rotate, and the lower shaft 57 drives the support arm 514 to swing, so that it is biased toward the stepped support plate 33 on the side where the material needs to be grabbed.

[0044] By controlling the lateral motion motor 110 to rotate, the lateral motion motor 110 drives the lateral gear 111 to rotate, and the lateral gear 111 engages with the lateral rack 114, so as to realize the movement of the lateral motion motor 110, the lateral gear 111 and the circular frame 112, and the circular frame 112 drives the lateral clamping block 113 to move along the lateral guide rail 115, and the circular frame 112 drives the square plate 15, the vertical clamping block 14, the vertical rack 16, the dual-axis motor 18, the vertical gear 17, the vertical guide rail 13, the mobile frame 11 and the grabbing component 5 to move, and match with the table tops of different step-shaped support plates 33.

[0045] By controlling the dual-axis motor 18 to rotate, the dual-axis motor 18 drives the vertical gear 17 to rotate, the vertical gear 17 drives the vertical rack 16 to move, the vertical rack 16 drives the mobile frame 11 to move, the mobile frame 11 drives the vertical guide rail 13 to move along the vertical block 14, and the mobile frame 11 drives the grabbing component 5 to move along the height direction to match the table tops of different step-shaped support plates 33.

[0046] By controlling the lateral motion motor 110 and the dual-axis motor 18, the support arm 514 is moved to the lower side of the material, the dual-axis motor 18 is controlled to make the support arm 514 contact the material, the swing cylinder 53 is controlled to contract, the swing cylinder 53 drives the crank 54 to swing, the crank 54 drives the vertical shaft 55 to rotate, and the vertical shaft 55 drives the swing clamping arm 56 to swing so that it is perpendicular to the material. The lifting cylinder 51 is controlled to extend, the lifting cylinder 51 drives the lifting frame 52 to move downward, the lifting frame 52 drives the auxiliary block 512 to move downward along the auxiliary guide rail 511, and the lifting frame 52 drives the swing cylinder 53, the crank 54, the vertical shaft 55 and the swing clamping arm 56 to move downward, so that the swing clamping arm 56 and the support arm 514 clamp the material.

[0047] Control the movement of the lateral motion motor 110 and the dual-axis motor 18 so that the swing clamping arm 56 and the support arm 514 drive the material to move above the roller shaft 24, control the swing cylinder 53 to extend, control the lifting cylinder 51 to retract, so that the swing clamping arm 56 moves away from the support arm 514, control the movement of the dual-axis motor 18 to move the support arm 514 downward so that the material contacts the roller shaft 24, and control the movement of the lateral motion motor 110 to move the grabbing component 5 away from the transport component 2.

[0048] Although the specific implementation methods of the utility model are described above in conjunction with the accompanying drawings, this does not limit the scope of protection of the utility model. On the basis of the technical solution of the utility model, various modifications or deformations that can be made by technical personnel in this field without creative work are still within the scope of protection of the utility model.

Claims

1. A nesting material storage mechanism, characterized by: The robot component (1) is arranged at a transverse middle position of the storage rack component (3), the transportation component (2) is arranged at a longitudinal middle position of the storage rack component (3), and the grabbing component (5) is arranged at the bottom of the robot component (1); The storage rack component (3) comprises a U-shaped base frame (31), two sides of the U-shaped base frame (31) are respectively connected to inclined frames (32), and the symmetrical inclined frames (32) are respectively connected to a group of step-shaped support plates (33); The robot component (1) comprises a mounting frame (12), wherein the mounting frame (12) is connected to the top of the U-shaped base frame (31), the mounting frame (12) is connected to two groups of symmetrical transverse guide rails (115) and transverse racks (114), a group of transverse clamping blocks (113) are respectively nested in the corresponding transverse guide rails (115), each of the transverse clamping blocks (113) is respectively connected to a circular frame (112), the circular frame (112) is connected to a transverse motion motor (110), an output shaft of the transverse motion motor (110) passes through the top plate of the circular frame (112) and is connected to a transverse gear (111), and the transverse gear (111) meshes with the transverse rack (114); The circular frame (112) is connected to the mounting square plate (15), the mounting square plate (15) is fixedly connected to two groups of symmetrical vertical clamping blocks (14), the circular frame (112) is connected to a double-axis motor (18), the two double shafts of the double-axis motor (18) respectively pass through the circular frame (112), the two double shafts of the double-axis motor (18) are respectively connected to vertical gears (17), each of the vertical clamping blocks (14) is respectively nested in a vertical guide rail (13), the symmetrical vertical guide rails (13) are respectively connected to a moving frame (11), the moving frame (11) is connected to symmetrical vertical racks (16), and the symmetrical vertical gears (17) respectively mesh with the corresponding vertical racks (16).

2. A nesting material storage mechanism according to claim 1, characterized in that: The gripping component (5) comprises two groups of symmetrical lifting cylinders (51), each of the lifting cylinders (51) being respectively connected to the moving frame (11), the piston rod of each of the lifting cylinders (51) being respectively connected to the lifting frame (52), the lifting frame (52) being rotatably connected to a symmetrical swing cylinder (53), the piston rods of the symmetrical swing cylinders (53) being respectively rotatably connected to a crank (54), each of the cranks (54) being respectively connected to a vertical shaft (55), the symmetrical vertical shafts (55) being respectively rotatably connected to the lifting frame (52), and the symmetrical vertical shafts (55) being respectively connected to a swing clamping arm (56).

3. A nested material storage mechanism according to claim 2, characterized in that: The movable frame (11) is connected to a reversing motor (513); a bearing of the movable frame (11) is connected to an upper shaft (59) and a lower shaft (57); the upper shaft (59) and the lower shaft (57) are respectively connected to at least one synchronous wheel (510); two ends of a synchronous belt (58) respectively surround the corresponding synchronous wheel (510); an output shaft of the reversing motor (513) passes through the movable frame (11) and is connected to the upper shaft (59); and the lower shaft (57) is fixedly connected to a group of evenly distributed support arms (514).

4. A nested material storage mechanism according to claim 3, characterized in that: The moving frame (11) is connected to two groups of symmetrical auxiliary guide rails (511), and the lifting frame (52) is connected to two groups of symmetrical auxiliary card blocks (512), and each of the auxiliary card blocks (512) is respectively nested in the corresponding auxiliary guide rail (511).

5. The nesting material storage mechanism according to claim 1 is characterized in that: The transport component (2) comprises a group of support frames (21), each of the support frames (21) being connected to a group of evenly distributed symmetrical L-mounting blocks (22), each of the L-mounting blocks (22) being nested in a U-shaped slot (23), each of the U-shaped slots (23) being bearing-connected to a roller shaft (24), and each of the roller shafts (24) being provided with a mounting groove (25).

6. A nested material storage mechanism according to claim 1, characterized in that: The U-shaped base frame (31) is connected to the control cabinet (4).

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