Material sorting and transferring device

Abstract

The utility model relates to logistics sorting, transferring and conveying equipment, in particular to a material sorting and transferring device. By means of the sorting device, efficient sorting of different specifications of material products is achieved, and the sorting cost and the operation maintenance cost are remarkably reduced. The conveying device comprises at least three conveying units which are arranged in parallel, and each conveying unit and a feeding roller line are arranged at an angle of 90 degrees; each conveying unit comprises a feeding line, a storage line and a discharging line which are sequentially arranged from left to right, and a feeding port of the feeding line is in lap joint with the feeding roller line; a transfer machine is arranged at the position, corresponding to an inlet of each feeding line, below the feeding roller line and used for transferring materials to the feeding lines of the conveying units from the feeding roller line. A stacking manipulator is arranged on one side of a butt joint port of the tail of the feeding line and the head of the storage line, and an unstacking manipulator is arranged on one side of a butt joint port of the tail of the storage line and the head of the discharging line and used for unstacking stacked materials at the tail of the storage line one by one and placing the stacked materials at the head of the discharging line.

Description

Technical Field

[0001] The utility model relates to logistics sorting, transporting and conveying equipment, in particular to a material sorting and transporting device. Background Art

[0002] In the production of sheet metal, products are produced in the form of rectangular blocks, and their specifications are generally differentiated by length, width and thickness. The usual practice is to adopt a multi-specification mixed production mode, which means that multiple different specifications of products will be manufactured on the same production line at the same time. Although this multi-specification mixed production mode can improve equipment utilization and production efficiency, it also brings subsequent challenges - that is, how to efficiently classify, sort and stack these mixed-line products according to specifications for subsequent processing, packaging and transportation.

[0003] In the face of this problem, traditionally, product classification and sorting at the end of the production line often rely on manual operations, which not only consumes a lot of manpower, but also has relatively low sorting efficiency. In addition, physical labor such as repeated bending movements has a significant impact on the health of workers. Although some companies have tried to improve this link by introducing automated equipment, independent sorting equipment and specialized storage warehouse designs mean high initial investment and maintenance costs, which is almost unbearable for small and medium-sized enterprises with limited funds.

[0004] Therefore, there is an urgent need to find a solution that can make full use of existing equipment and achieve fast, low-cost sorting and storage of mixed-line products, so as to achieve the goals of improving production efficiency, reducing costs and improving the working environment of workers. Summary of the invention

[0005] The utility model aims to provide a material sorting and transferring device for the defects in the prior art, which can not only optimize the production process, but also promote the overall upgrading of the industry.

[0006] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme, including at least three parallel and parallel conveying units, each conveying unit is arranged at a 90° angle with the feed roller line; each conveying unit includes a feed line, a storage line and a discharge line arranged from left to right in sequence, and the feed port of the feed line overlaps the feed roller line; a transfer machine is provided below the feed roller line and at a position corresponding to the inlet of each feed line, which is used to transfer materials from the feed roller line to the feed line of each conveying unit; a stacking robot is provided on one side of the interface between the tail of the feed line and the head of the storage line, which is used to pick up the materials at the tail of the feed line and place them at the head of the storage line; and stacking of materials is achieved. A destacking robot is provided on one side of the interface between the tail of the storage line and the head of the discharge line, which is used to destacker the stacked materials at the tail of the storage line one by one and place them at the head of the discharge line. This is convenient for subsequent transportation or processing.

[0007] Furthermore, a gap space is left between two adjacent conveying units to facilitate material sorting.

[0008] Furthermore, the center lines of the feed line, the storage line and the discharge line are collinear.

[0009] Furthermore, the tail of the feed line is connected and corresponds to the beginning of the storage line, and the tail of the storage line is connected and corresponds to the beginning of the discharge line, forming a material flow path.

[0010] Furthermore, the stacking robot and the destacking robot have the same structure, both including a column, which is vertically fixed to the ground, and the top of the column supports the X-axis beam. The side walls of the X-axis beam are provided with X-axis guide rails and X-axis racks parallel to each other, and a connecting plate is slidably connected to the X-axis guide rail, and the X-axis guide rail is slidably connected to the slider on the connecting plate; an X-axis motor is installed on the connecting plate, and the X-axis motor is meshed with the X-axis rack through a gear to drive the connecting plate to translate along the X-axis direction; a Y walking axis is provided on the side of the connecting plate away from the X-axis rack; a suction cup device for grasping is provided on the Y walking axis.

[0011] Furthermore, the Y-axis walking axis includes a Y-axis mounting plate slidably connected to the connecting plate, the Y-axis mounting plate is fixed with vertical mutually parallel Y-axis guide rails and Y-axis racks, and a slider is provided on the connecting plate, which is slidably connected to the Y-axis guide rails through the slider.

[0012] A Y-axis motor is installed on the connecting plate, the mounting base of the Y-axis motor is fixed on the connecting plate, a gear is sleeved on the motor shaft end of the Y-axis motor, the Y-axis motor is meshed and connected with the Y-axis rack through the gear, and the Y-axis mounting plate is controlled to rise and fall along the Y-axis direction; a suction cup device is installed at the bottom of the Y-axis mounting plate.

[0013] Furthermore, the suction cup device includes a suction cup mounting plate, a docking flange is provided on the top of the suction cup mounting plate, an end picker mounting plate is fixedly connected to the bottom end of the Y walking axis, and the suction cup mounting plate is fixedly connected to the end picker mounting plate through the docking flange; suction cups are evenly fixed on the suction cup mounting plate for adsorbing and transporting materials.

[0014] Furthermore, an auxiliary fixing mechanism is provided at each of the left and right ends of the suction cup mounting plate, which is used to assist in fixing the material products after being grasped; and the two auxiliary fixing mechanisms are arranged in a mirror image; the auxiliary fixing mechanism includes a pneumatic push rod hingedly installed on the top of the suction cup mounting plate, and a bent arm structure is hinged on one side wall of the suction cup mounting plate, and the middle part of the bent arm is hinged to the side wall of the suction cup mounting plate through a flip axis, and the bottom of the bent arm is set as a grab hook structure, which is used to assist in fixing the material products sucked by the suction cup; the top of the bent arm is hinged to the end of the rod body of the pneumatic push rod.

[0015] Furthermore, the bent arm structure is hinged to the side wall of the suction cup mounting plate to form a seesaw structure.

[0016] Compared with the prior art, the utility model has beneficial effects.

[0017] This utility model adopts the conveyor line as the basic sorting and storage unit, which not only realizes the efficient classification of different specifications of material products, but also significantly reduces the cost of sorting and operation and maintenance. By deploying a truss manipulator on the conveyor line, it can accurately complete the stacking operation of the same product without manual intervention. And at the end of the conveyor line, a depalletizing manipulator is cleverly configured to ensure the flexible management of stored products - whether it is full stack extraction or single piece delivery, it can be easily handled. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The utility model is further described below in conjunction with the accompanying drawings and specific implementation methods. The protection scope of the utility model is not limited to the following descriptions.

[0019] Figure 1 It is a top view of the material sorting and transferring device in the embodiment.

[0020] Figure 2 It is a front view of the material sorting and transferring device of the embodiment.

[0021] Figure 3 It is a three-dimensional view of the manipulator of the material sorting and transferring device in the embodiment.

[0022] Figure 4 It is a rear view of the manipulator of the material sorting and transferring device in the embodiment.

[0023] Figure 5 It is a front view of the suction cup device of the material sorting and transferring device in the embodiment.

[0024] In the figure, 1 is the first conveying unit, 2 is the second conveying unit, 3 is the third conveying unit, 4 is the feeding roller line, 5 is the material product, and 6 is the stop mechanism;

[0025] 101 is a first lifting and transferring machine, 102 is a first feeding line, 103 is a first stacking robot, 104 is a first storage line, 105 is a first depalletizing robot, and 106 is a first discharging line;

[0026] 201 is a second lifting and transferring machine, 202 is a second feeding line, 203 is a second stacking robot, 204 is a second storage line, 205 is a second depalletizing robot, and 206 is a second discharging line;

[0027] 301 is a third lifting and transferring machine, 302 is a third feeding line, 303 is a third stacking robot, 304 is a third storage line, 305 is a third depalletizing robot, and 306 is a third discharging line;

[0028] 10301 is a column, 10302 is an X-axis beam, 10303 is an X-axis guide rail, 10304 is an X-axis rack, 10305 is an X-axis motor, 10306 is a Y-axis walking axis, 10307 is a Y-axis guide rail, 10308 is a Y-axis rack, 10309 is a Y-axis motor, 10310 is an end picker mounting plate, 10311 is a connecting plate, 10312 is a docking flange, 10313 is a suction cup mounting plate, 10314 is a suction cup, 10315 is a pneumatic push rod, 10316 is a flip axis, and 10317 is a grab hook structure. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and beneficial effects of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are part of the embodiments of the utility model, rather than all of the embodiments.

[0030] like Figure 1-5 As shown, the material sorting and transferring device includes three parallel conveying units, wherein the first conveying unit 1, the second conveying unit 2 and the third conveying unit 3 are parallel and arranged in parallel, and the three conveying units are arranged at 90 degrees to the feed roller line; a gap space is left between two adjacent conveying units.

[0031] Each conveying unit includes a feed line, a storage line, and a discharge line arranged from left to right. The feed port of the feed line overlaps the feed roller line; a lifting transfer machine is set below the feed roller line for materials to enter the corresponding feed line through the corresponding transfer machine. The center lines of the feed line, storage line, and discharge line are collinear; and the tail of the feed line is butted with the head of the storage line, and the tail of the storage line is butted with the head of the discharge line.

[0032] A stacking robot is provided on one side of the interface between the end of the feeding line and the beginning of the storage line. This stacking robot is used to pick up the products located at the end of the feeding line and place them at the beginning of the storage line, completing the above actions in sequence and realizing the stacking of products. A destacking robot is provided on one side of the interface between the end of the storage line and the beginning of the discharging line. This destacking robot picks up the stacked products located at the end of the storage line from top to bottom in sequence and places them at the beginning of the discharging line (the products are transported away immediately after being placed), completing the above actions in sequence and realizing the destacking of products.

[0033] The utility model can directly complete the stacking and unstacking of products on the conveyor line, and then seamlessly connect to the online storage process, thus avoiding the tediousness and cost of setting up additional storage libraries in the traditional mode. The overall structure design is simple, the equipment maintenance is simple, the operation is stable and reliable, and it demonstrates the efficiency and intelligence of modern logistics management.

[0034] Embodiment 1: The lifting and transferring machine has lifting and transferring functions, and cooperates with the roller line to realize the product changing direction conveying. The lifting and transferring machine is installed at the bottom of the roller line. When the transferred and conveyed items reach the top of the lifting and transferring machine, the lifting mechanism of the lifting and transferring machine extends through the gap between the roller lines to lift the items, and then the transferring machine drives its own conveying unit to convey the items to the docking conveying line. A stop mechanism 6 (stop plate) is installed at the end of each feeding line and storage line.

[0035] Embodiment 2, the stacking robot and the destacking robot have the same structure, both of which include a column 10301, specifically, two columns, and an X-axis beam 10302 is located on the top of the two columns; the column 10301 is vertically fixed to the ground, and the top of the column 10301 supports the X-axis beam 10302, and the side wall of the X-axis beam 10302 is provided with X-axis guide rails 10303 and X-axis racks 10304 parallel to each other, and a connecting plate 10311 is slidably connected to the X-axis guide rail 10303, and the X-axis guide rail 10303 is slidably connected to the slider on the connecting plate 10311; an X-axis motor 10305 is installed on the connecting plate, and the X-axis motor 10305 is meshed and connected with the X-axis rack 10304 through a gear, so as to drive the connecting plate to translate along the X-axis direction; a Y walking axis is provided on the side of the connecting plate away from the X-axis rack 10304; a suction cup device for grasping is provided on the Y walking axis.

[0036] The Y-axis walking axis includes a Y-axis mounting plate slidably connected to a connecting plate, the Y-axis mounting plate is fixedly provided with vertical mutually parallel Y-axis guide rails 10307 and Y-axis racks 10308, the connecting plate is provided with a slider, which is slidably connected to the Y-axis guide rails 10307 through the slider; a Y-axis motor 10309 is mounted on the connecting plate, a mounting seat of the Y-axis motor 10309 is fixed on the connecting plate, a gear is sleeved on the motor shaft end of the Y-axis motor 10309, the Y-axis motor 10309 is meshed and connected with the Y-axis rack 10308 through the gear, so as to control the lifting and lowering of the Y-axis mounting plate along the Y-axis direction; a suction cup device is installed at the bottom of the Y-axis mounting plate.

[0037] Embodiment 3, the suction cup device comprises a suction cup mounting plate, a docking flange 10312 is arranged on the top of the suction cup mounting plate, an end picker mounting plate 10310 is fixedly connected to the bottom end of the Y walking axis 10306, and the suction cup mounting plate 10313 is fixedly connected to the end picker mounting plate 10310 via the docking flange 10312; suction cups (10314) are evenly fixed on the suction cup mounting plate 10313 for adsorbing and transporting materials. An auxiliary fixing mechanism is provided at each of the left and right ends of the suction cup mounting plate 10313, which is used to assist in fixing the material product after being grasped; and the two auxiliary fixing mechanisms are arranged in a mirror image; the auxiliary fixing mechanism includes a pneumatic push rod 10315 hingedly mounted on the top of the suction cup mounting plate 10313, and a curved arm structure is hingedly mounted on one side wall of the suction cup mounting plate 10313, and the middle part of the curved arm is hingedly mounted on the side wall of the suction cup mounting plate 10313 through a flip shaft 10316, and the bottom of the curved arm is provided with a grab hook structure, which is used to assist in fixing the material product sucked by the suction cup; the top of the curved arm is hingedly mounted on the rod end of the pneumatic push rod 10315. The curved arm structure is hingedly mounted on the side wall of the suction cup mounting plate 10313 to form a seesaw structure.

[0038] Embodiment 3: The rod bodies of the two pneumatic push rods 10315 extend out, driving the bent arm structure to rotate around the flip axis, and the two grabbing hooks hold the bottom of the material product to enhance the bottom holding function during grabbing and ensure the stability and safety of material grabbing.

[0039] Embodiment 4, working principle and workflow:

[0040] When the product is delivered from the feed roller line 4, it is assigned to the corresponding transfer machine according to the product model information sent by the control system, and the product is delivered to the corresponding conveyor line through the lifting and transplanting action of the transfer machine. When the product on the corresponding conveyor line reaches the stacking robot position, the stop mechanism stops the product, and the stacking robot uses the suction cup it carries to absorb the product and transport it to the adjacent station for stacking. During the process of the robot sucking the product for transportation, the product is protected by the grab hook structure to avoid the risk of the product falling and being damaged during transportation.

[0041] Incoming products are stacked continuously (a certain number of products make up a stack), and the stacked products are directly stored on the storage line for subsequent use and transportation.

[0042] When the product needs to be shipped out, the product stack passes through the depalletizing robot during the transportation process. If the product is shipped out in single piece form, the depalletizing robot will pick up the products from the product stack in turn and place them on the adjacent conveyor line (depalletizing the stacked products). The conveyor line transports the single product to the end of the line to facilitate the subsequent product transportation. If the product is subsequently shipped out in the form of a whole stack, it does not need to be depalletized at the depalletizing robot position and can be directly transported to the end of the line.

[0043] Different numbers of conveyor line units can be set up to cope with the actual number of product specifications. This solution only takes three types of products as examples.

[0044] The depalletizing robot has the same structure as the stacking robot.

[0045] 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 the technical solutions described in the aforementioned embodiments may still be modified, or some or all of the technical features thereof may be replaced by equivalents. Therefore, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope defined by the claims of the present invention.

Claims

1. A material sorting and transporting device, characterized in that: It comprises at least three conveying units arranged in parallel, each conveying unit being arranged at an angle of 90° to the feed roller line (4); Each conveying unit comprises a feed line, a storage line and a discharge line arranged in sequence from left to right, and the feed inlet of the feed line is overlapped with the feed roller line (4); A lifting and transferring machine is provided below the feed roller line (4) and at a position corresponding to the inlet of each feed line, and is used to transfer materials from the feed roller line (4) to the feed line of each conveying unit; A stacking manipulator is provided on one side of the interface between the tail of the feeding line and the head of the storage line, which is used to pick up the materials at the tail of the feeding line and place them at the head of the storage line; A destacking robot is provided on one side of the interface between the tail of the storage line and the head of the discharging line, for destacking the stacked materials at the tail of the storage line one by one and placing them at the head of the discharging line.

2. The device according to claim 1, characterized in that There is a gap space between two adjacent conveying units.

3. The device according to claim 1, characterized in that The center lines of the feeding line, storage line and discharging line are collinear.

4. The device according to claim 1, characterized in that The tail of the feed line corresponds to the beginning of the storage line, and the tail of the storage line corresponds to the beginning of the discharge line, forming a material flow path.

5. The device according to claim 1, characterized in that The stacking robot and the destacking robot have the same structure, both comprising a column (10301), the column (10301) being vertically fixed to the ground, the top of the column (10301) supporting an X-axis crossbeam (10302), the side wall of the X-axis crossbeam (10302) being provided with mutually parallel X-axis guide rails (10303) and X-axis racks (10304), a connecting plate (10311) being slidably connected to the X-axis guide rail (10303), the X-axis guide rail (10303) being slidably connected to a slider on the connecting plate (10311); an X-axis motor (10305) being mounted on the connecting plate, the X-axis motor (10305) being meshed and connected to the X-axis rack (10304) via a gear, driving the connecting plate to translate along the X-axis direction; a Y-travel axis being provided on the connecting plate at a side away from the X-axis rack (10304); and a suction cup device for grasping being provided on the Y-travel axis.

6. The device according to claim 5, characterized in that The Y-axis travel axis comprises a Y-axis mounting plate slidably connected to the connecting plate, the Y-axis mounting plate is fixedly provided with vertical mutually parallel Y-axis guide rails (10307) and Y-axis racks (10308), and the connecting plate is provided with a slider which is slidably connected to the Y-axis guide rails (10307) via the slider; A Y-axis motor (10309) is installed on the connecting plate, a mounting seat of the Y-axis motor (10309) is fixed on the connecting plate, a gear is sleeved on the motor shaft end of the Y-axis motor (10309), the Y-axis motor (10309) is meshed and connected with the Y-axis rack (10308) through the gear, and the Y-axis mounting plate is controlled to rise and fall along the Y-axis direction; a suction cup device is installed at the bottom of the Y-axis mounting plate.

7. The device according to claim 6, characterized in that The suction cup device comprises a suction cup mounting plate, a docking flange (10312) is arranged on the top of the suction cup mounting plate, an end picker mounting plate (10310) is fixedly connected to the bottom end of the Y walking shaft (10306), and the suction cup mounting plate (10313) is fixedly connected to the end picker mounting plate (10310) via the docking flange (10312); suction cups (10314) are evenly fixed on the suction cup mounting plate (10313) for adsorbing and transporting materials.

8. The device according to claim 7, characterized in that An auxiliary fixing mechanism is respectively arranged at the left and right ends of the suction cup mounting plate (10313) for assisting in fixing the material product after being grasped; and the two auxiliary fixing mechanisms are arranged in a mirror image; the auxiliary fixing mechanism comprises a pneumatic push rod (10315) hingedly mounted on the top of the suction cup mounting plate (10313); a side wall of one side of the suction cup mounting plate (10313) is hingedly connected to a bent arm structure; the middle part of the bent arm is hingedly connected to the side wall of the suction cup mounting plate (10313) through a flip shaft (10316); the bottom of the bent arm is arranged as a grab hook structure, and the grab hook structure is used to assist in fixing the material product sucked by the suction cup; the top of the bent arm is hingedly connected to the end of the rod body of the pneumatic push rod (10315).

9. The device according to claim 7, characterized in that The bent arm structure is hinged to the side wall of the suction cup mounting plate (10313) to form a seesaw structure.

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