Robot material rack carrying device

Abstract

The utility model discloses a robot material frame carrying device which comprises a rack, a gripper mechanism and two lifting mechanisms, the two lifting mechanisms are connected to the side faces of the rack respectively, each lifting mechanism comprises a motor, a lead screw nut pair and a lifting fork arm, the gripper mechanism is connected to the top of the rack in a sliding mode, and the lifting fork arms are connected to the top of the rack in a sliding mode. An output shaft of the motor is connected with a lead screw nut pair, the lead screw nut pair is vertically arranged, a lead screw nut of the lead screw nut pair is fixedly connected with a lifting fork arm, the lifting fork arm is used for installing a material frame supporting plate, and the gripper mechanism can be located above the material frame supporting plate. The material frame stacking device has the advantages that material frames stacked on the material frame supporting plate at one end of the machine frame are grabbed and slide to the other end of the machine frame along the top of the machine frame, then the taken material frames are stacked on the material frame supporting plate at the other end of the machine frame, manual taking and stacking are replaced, the material frame stacking device is suitable for taking and stacking large material frames, and production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a robot material rack handling device. Background Art

[0002] With the continuous development and application of robot technology, the advantages of robots are becoming more and more prominent. Especially in the field of mobile handling robots, introducing robots into industrial production to replace manual labor has become an unstoppable trend.

[0003] At present, block parts are generally stored manually by putting them into the side of the rack of the overall structure. In the process of storing parts, there may be friction between the rack and the parts, which may damage the parts. In order to prevent the block parts from being damaged during storage on the rack, the rack is set to a layer-by-layer stacking structure. When a layer of rack is placed, the parts are immediately stored on the layer of rack. After the parts are placed, another layer of rack is placed. At present, the racks are manually picked up and stacked, resulting in low production efficiency. Summary of the invention

[0004] The utility model aims to provide a robot material rack handling device, which grabs the material racks stacked on the material rack pallet at one end below the rack through a gripper mechanism and slides along the top of the rack to the other end, and then stacks the picked material racks on the material rack pallet at the other end below the rack, thereby replacing manual picking and stacking and improving production efficiency.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme.

[0006] A robot material rack handling device includes a frame, a gripper mechanism and two lifting mechanisms, the two lifting mechanisms are respectively connected to the sides of the frame, the lifting mechanism includes a motor, a screw nut pair and a lifting fork arm, the gripper mechanism can be slidably connected to the top of the frame, the output shaft of the motor is connected to the screw nut pair, the screw nut pair is vertically arranged, the screw nut of the screw nut pair is fixedly connected to the lifting fork arm, the lifting fork arm is used to install the material rack support plate, and the gripper mechanism can be located above the material rack support plate.

[0007] The utility model adopts the above-mentioned scheme, by setting two lifting mechanisms, and connecting the two lifting mechanisms to one side of the frame respectively, and also has a gripper mechanism slidably connected to the top of the frame, so that when the motor of the lifting mechanism rotates, the nut of the screw nut pair connected to the output shaft of the motor is driven up and down, and when the nut moves up and down, it drives the lifting fork arm connected to it to move synchronously, and when the lifting fork arm moves, it drives the material rack support plate to move synchronously, so that when the gripper mechanism is working, it can grab the material racks stacked on the material rack support plate at one end of the frame and slide along the top of the frame to the other end of the frame, and then stack the taken material racks on the material rack support plate at the other end of the frame, replacing manual picking and stacking, and is particularly suitable for picking and stacking large material racks, thereby improving production efficiency.

[0008] Preferably, the lifting mechanism further comprises a reduction gear pair, the reduction gear pair comprises an output gear and an input gear, the input gear cooperates with the axial hole of the motor output shaft, and the output gear cooperates with the axial hole at one end of the screw of the screw nut pair.

[0009] In this way, by providing a reduction gear pair and connecting the input gear and the output gear of the reduction gear pair to the motor and the lead screw respectively, it is convenient to control the lifting speed of the lifting fork arm and the accuracy of the lifting point.

[0010] Preferably, the lifting mechanism further comprises a connecting plate, the lead screw nut is fixedly connected to the middle portion of the back side of the connecting plate, and the two lifting fork arms are respectively fixedly connected to the two ends of the front side of the connecting plate.

[0011] In this way, by providing the connecting plate, it is convenient to increase the distance between the two lifting fork arms, so as to facilitate the placement of a material rack support plate with a larger projection area.

[0012] Preferably, the lifting mechanism further comprises two bearings, the inner rings of the two bearings respectively cooperate with the axial holes at both ends of the lead screw, and the outer rings are respectively fixedly connected to the top beam and the bottom beam of the frame.

[0013] In this way, by providing two bearings, the friction between the lead screw and the cross beam can be reduced, and the lead screw can rotate smoothly.

[0014] Preferably, the lifting mechanism further includes at least two guide columns and sliders, wherein the guide columns are respectively fixedly connected to one side of the corresponding pillars of the rack, the sliders are fixedly connected to both sides of the connecting plate, and the sliders are slidably connected to the guide columns.

[0015] In this way, by providing a guide column and slidably connecting the slider to the guide column, it is convenient to guide the connecting plate and ensure the positioning accuracy of the material rack placed on the lifting fork arm.

[0016] Preferably, the material rack support plate is detachably connected to the lifting fork arm.

[0017] In this way, the rack pallet can be detachably connected to the lifting fork arm, so that after the parts are loaded to a suitable height, the rack pallet can be lifted by a forklift to transport the rack pallet, the rack and the products.

[0018] Preferably, at least one positioning column is formed on each of the lifting fork arms, and a groove matching with the corresponding positioning column is formed on the bottom of the rack support plate.

[0019] In this way, at least one positioning column is formed on each lifting fork arm to cooperate with the groove at the bottom of the rack support plate for positioning, so as to position and connect the rack support plate.

[0020] Preferably, a plurality of positioning posts are formed on the rack support plate, and the positioning posts are used for positioning and cooperating with the rack layer.

[0021] In this way, a plurality of positioning posts are formed on the material rack support plate for cooperating with the material rack layers for positioning, so that the material racks can be accurately positioned and the material racks can be quickly stacked.

[0022] Preferably, a gripper slide rail and a cylinder are installed on the top of the frame, the gripper mechanism includes a frame, sliders are installed on both sides of the frame, the sliders are slidably matched with the gripper slide rail, and the piston rod of the cylinder is fixedly connected to the sliders.

[0023] In this way, by installing a gripper slide rail and a cylinder on the top of the frame, and sliding blocks matching the gripper slide rail are installed on both sides of the frame, the piston rod of the cylinder can drive the frame (i.e., the gripper mechanism) to slide along the gripper slide rail, thereby limiting the sliding path of the gripper mechanism, making it easier to accurately position the gripper mechanism and accurately pick up and stack the material racks.

[0024] Preferably, the gripper mechanism further comprises a gripper cylinder and a gripper body, the gripper body is slidably connected to the lower end of the frame, and the piston rod of the gripper cylinder is fixedly connected to the gripper body.

[0025] In this way, it is convenient for the piston rod of the gripper cylinder to extend and retract to drive the gripper body connected thereto to slide, thereby realizing the picking and placing of the material rack.

[0026] The beneficial effects of the utility model are as follows: by setting two lifting mechanisms, and connecting the two lifting mechanisms to one side of the frame respectively, and also slidably connecting a gripper mechanism to the top of the frame, it is convenient to drive the nut of the lead screw nut pair connected to the output shaft of the motor to move up and down when the motor of the lifting mechanism rotates, and when the nut moves up and down, it drives the lifting fork arm connected to it to move synchronously, and when the lifting fork arm moves, it drives the material rack support plate to move synchronously, so that when the gripper mechanism is working, it grabs the material racks stacked on the material rack support plate at one end of the frame and slides along the top of the frame to the other end of the frame, and then stacks the taken material racks on the material rack support plate at the other end of the frame, replacing manual picking and stacking, which is suitable for picking and stacking large material racks and improving production efficiency. By installing a gripper slide rail and a cylinder on the top of the frame, and installing sliders on both sides of the frame, it is convenient for the piston rod of the cylinder to drive the frame (i.e., the gripper mechanism) to slide along the gripper slide rail, limit the path of the gripper mechanism, and facilitate accurate positioning of the gripper mechanism, accurate picking and stacking of the material racks. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural diagram of the utility model;

[0028] Figure 2 It is a structural diagram of the lifting mechanism of the utility model. DETAILED DESCRIPTION

[0029] The present invention will be further described below in conjunction with the accompanying drawings, but the present invention is not limited to the scope of the embodiments described.

[0030] The figure marks in the drawings of the specification include: frame 1, cross beam 11, pillar 12, gripper mechanism 2, gripper slide rail 3, lifting fork arm 4, positioning column 41, material rack support plate 42, guide column 5, connecting plate 6, motor 7, reduction gear pair 71, screw 72, bearing 73, slider 74, screw nut 75.

[0031] Embodiment 1, as Figure 1 and Figure 2 As shown; a robot material rack handling device, including a frame 1, a gripper mechanism 2 and two lifting mechanisms, the two lifting mechanisms are respectively connected to the sides of the frame 1, the lifting mechanism includes a motor 7, a screw nut pair and a lifting fork arm 4, the gripper mechanism 2 can be slidably connected to the top of the frame 1, the output shaft of the motor 7 is connected to the screw nut pair, the screw nut pair is vertically arranged, the screw nut 75 of the screw nut pair is fixedly connected to the lifting fork arm 4, the lifting fork arm 4 is used to install the material rack support plate 42, and the gripper mechanism 2 can be located above the material rack support plate 42.

[0032] See also Figure 1 and Figure 2The lifting mechanism further includes a reduction gear pair 71, which includes an output gear and an input gear. The input gear is matched with the shaft hole of the output shaft of the motor 7, and the output gear is matched with the shaft hole at one end of the lead screw 72 of the lead screw nut pair. In this way, by providing the reduction gear pair 71 and connecting the input gear and the output gear of the reduction gear pair 71 with the motor 7 and the lead screw 72 respectively, it is convenient to control the lifting speed of the lifting fork arm 4 and the accuracy of the lifting point.

[0033] See also Figure 1 and Figure 2 The lifting mechanism further comprises a connecting plate 6, the lead screw nut 75 is fixedly connected to the middle of the back of the connecting plate 6, and the two lifting fork arms 4 are respectively fixedly connected to the two ends of the front of the connecting plate 6. In this way, by providing the connecting plate 6, it is convenient to increase the distance between the two lifting fork arms 4, and it is convenient to place the rack support plate 42 with a larger projection area.

[0034] See also Figure 1 and Figure 2 The lifting mechanism further includes two bearings 73, the inner rings of the two bearings 73 are respectively matched with the shaft holes at both ends of the lead screw 72, and the outer rings are respectively fixedly connected to the top crossbeam 11 and the bottom crossbeam 11 of the frame 1. In this way, by providing two bearings 73, it is convenient to reduce the friction between the lead screw 72 and the crossbeam 11, and make the lead screw 72 rotate smoothly.

[0035] See also Figure 1 and Figure 2 The lifting mechanism further includes at least two guide columns 5 and a slider 74. The guide columns 5 are respectively fixedly connected to one side of the corresponding pillar 12 of the frame 1, and the slider 74 is fixedly connected to both sides of the connecting plate 6. The slider 74 is slidably connected to the guide column 5. In this way, by providing the guide column 5 and slidably connecting the slider 74 to the guide column 5, it is convenient to guide the connecting plate 6 and ensure the positioning accuracy of the material rack placed on the lifting fork arm 4.

[0036] See also Figure 1 and Figure 2 , the rack support plate 42 is detachably connected to the lifting fork arm 4. In this way, the rack support plate 42 is detachably connected to the lifting fork arm 4, so that after the parts are installed to a suitable height, the rack support plate 42 can be lifted by a forklift to transport the rack support plate 42, the rack and the product. At least one positioning column 41 is formed on each lifting fork arm 4, and a groove matching the corresponding positioning column 41 is formed at the bottom of the rack support plate 42. At least one positioning column 41 is formed on each lifting fork arm 4 to cooperate with the groove at the bottom of the rack support plate 42 for positioning, so as to position and connect the rack support plate 42.

[0037] See also Figure 1, the rack support plate 42 is formed with a plurality of positioning posts 41, and the positioning posts 41 are used to cooperate with the rack layer. In this way, the rack support plate 42 is formed with a plurality of positioning posts 41 for coordinating with the rack layer, so that the rack can be accurately positioned and the rack can be quickly stacked.

[0038] See also Figure 2 , the top of the frame 1 is equipped with a gripper slide rail 3 and a cylinder, the gripper mechanism 2 includes a frame, and sliders 74 are installed on both sides of the frame, the sliders 74 are slidably matched with the gripper slide rail 3, and the piston rod of the cylinder is fixedly connected with the slider 74. In this way, by installing the gripper slide rail 3 and the cylinder on the top of the frame 1, and installing sliders 74 matched with the gripper slide rail 3 on both sides of the frame, it is convenient for the piston rod of the cylinder to drive the frame (i.e., the gripper mechanism 2) to slide along the gripper slide rail 3, limiting the sliding path of the gripper mechanism 2, and facilitating accurate positioning of the gripper mechanism 2, and accurate picking and stacking of the rack.

[0039] See also Figure 1 The gripper mechanism 2 also includes a gripper cylinder and a gripper body, the gripper body is slidably connected to the lower end of the frame, and the piston rod of the gripper cylinder is fixedly connected to the gripper body. In this way, the piston rod of the gripper cylinder is convenient for the gripper body connected thereto to slide when it is extended and retracted, so as to realize the picking and placing of the material rack.

[0040] During operation, one lifting mechanism will lift the rack pallet 42 with only one end of the material rack placed on it for a certain distance, and the other lifting mechanism will lower the rack pallet 42 with one end of the parts stored on it for a certain distance, and then start the gripper cylinder, so that the gripper body will grab the material rack on the rack pallet 42 with only the material rack stacked on it and slide along the top of the frame 1 to above another rack pallet 42 of the frame 1, and then stack the taken material rack on the rack pallet with parts stored on it, and the gripper mechanism will return to above the rack pallet 42 with only the material rack, and at this time another robot or manual labor will store the parts on the material rack that has just been stacked, and the picking and stacking will be repeated in this way, replacing manual picking and stacking and improving production efficiency.

[0041] The preferred specific embodiments of the utility model are described in detail above. It should be understood that ordinary technicians in this field can make many modifications and changes based on the concept of the utility model without creative work. Therefore, all technical solutions that can be obtained by technicians in this technical field based on the concept of the utility model through logical analysis, reasoning or limited experiments on the basis of the existing technology should be within the scope of protection determined by the claims.

Claims

1. A robot rack handling device, characterized in that: The invention comprises a frame (1), a gripper mechanism (2) and two lifting mechanisms, wherein the two lifting mechanisms are respectively connected to the side of the frame (1), the lifting mechanism comprises a motor (7), a screw nut pair and a lifting fork arm (4), the gripper mechanism (2) can be slidably connected to the top of the frame (1), the output shaft of the motor (7) is connected to the screw nut pair, the screw nut pair is vertically arranged, the screw nut (75) of the screw nut pair is fixedly connected to the lifting fork arm (4), the lifting fork arm (4) is used to install a material rack support plate (42), and the gripper mechanism (2) can be located above the material rack support plate (42).

2. The robot rack handling device according to claim 1, characterized in that: The lifting mechanism also includes a reduction gear pair (71), the reduction gear pair (71) includes an output gear and an input gear, the input gear is matched with an axial hole of an output shaft of the motor (7), and the output gear is matched with an axial hole at one end of the lead screw (72).

3. The robot rack handling device according to claim 2, characterized in that: The lifting mechanism also includes a connecting plate (6), the lead screw nut (75) is fixedly connected to the middle of the back side of the connecting plate (6), and the two lifting fork arms (4) are respectively fixedly connected to the two ends of the front side of the connecting plate (6).

4. The robot rack handling device according to claim 2, characterized in that: The lifting mechanism also includes two bearings (73), the inner rings of the two bearings (73) respectively cooperate with the two end axial holes of the lead screw (72), and the outer rings are respectively fixedly connected to the top beam (11) and the bottom beam (11) of the frame (1).

5. The robot rack handling device according to claim 3, characterized in that: The lifting mechanism further comprises at least two guide columns (5) and a slider (74), wherein the guide columns (5) are respectively fixedly connected to one side of a corresponding pillar (12) of the frame (1), and the slider (74) is fixedly connected to both sides of the connecting plate (6), and the slider (74) is slidably connected to the guide columns (5).

6. The robot rack handling device according to claim 1, characterized in that: The material rack support plate (42) is detachably connected to the lifting fork arm (4).

7. The robot rack handling device according to claim 6, characterized in that: At least one positioning column (41) is formed on each lifting fork arm (4), and a groove matching the corresponding positioning column (41) is formed on the bottom of the material rack support plate (42).

8. The robot rack handling device according to any one of claims 1 to 7, characterized in that: A plurality of positioning columns are formed on the material rack support plate (42), and the positioning columns are used for positioning and cooperating with the material rack layer.

9. The robot rack handling device according to claim 1, characterized in that: A gripper slide rail (3) and a cylinder are installed on the top of the frame (1); the gripper mechanism (2) comprises a frame body, and sliders (74) are installed on both sides of the frame body; the sliders (74) are slidably matched with the gripper slide rail (3); and the piston rod of the cylinder is fixedly connected to the sliders (74).

10. The robot rack handling device according to claim 9, characterized in that: The gripper mechanism (2) further comprises a gripper cylinder and a gripper body, wherein the gripper body is slidably connected to the lower end of the frame, and the piston rod of the gripper cylinder is fixedly connected to the gripper body.

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