Carrying device

Abstract

The utility model belongs to the technical field of carrying equipment, and particularly relates to a carrying device which comprises a portal frame, a horizontal moving mechanism, a vertical moving mechanism, a lifting seat and a picking manipulator. The horizontal moving mechanism is arranged on the portal frame; the vertical moving mechanism is arranged at the moving end of the horizontal moving mechanism and can be driven by the horizontal moving mechanism to horizontally move in the length direction of the portal frame. The lifting base is connected with the moving end of the vertical moving mechanism and can be driven by the vertical moving mechanism to vertically move in the height direction of the portal frame. The mechanical arm is installed on the lifting base and used for picking up products. The carrying device can rapidly and accurately carry the products, and the efficiency of the production line is improved. The carrying device can adapt to products of different sizes and weights, and only the grabbing mode of the mechanical arm and the height of the lifting base need to be adjusted.

Description

Technical Field

[0001] The utility model belongs to the technical field of transport equipment, and in particular relates to a transport device. Background Art

[0002] In modern industrial production, product handling between workstations is a critical process, directly impacting the efficiency and stability of the production line. Traditional handling methods rely heavily on manual labor, which is not only inefficient but also susceptible to human error and fatigue, leading to reduced production efficiency and increased safety risks. Furthermore, manual handling has limitations when handling heavy or delicate products and cannot meet the demands of high-precision and high-speed handling. Utility Model Content

[0003] The purpose of the utility model is to provide a transport device, aiming to solve the technical problem that the transport methods in the prior art mostly rely on manual operations and are thus inefficient.

[0004] To achieve the above-mentioned purpose, an embodiment of the present utility model provides a handling device, including a gantry, a horizontal moving mechanism, a vertical moving mechanism, a lifting seat and a picking robot; the horizontal moving mechanism is arranged on the gantry; the vertical moving mechanism is arranged at the moving end of the horizontal moving mechanism, and is driven by the horizontal moving mechanism to move horizontally along the length direction of the gantry; the lifting seat is connected to the moving end of the vertical moving mechanism, and is driven by the vertical moving mechanism to move vertically along the height direction of the gantry; the robot is installed on the lifting seat and is used to pick up products.

[0005] Optionally, the robot includes a rotary picking mechanism and two fixed picking mechanisms, which are uniformly arranged on the lifting seat in sequence, wherein the rotary picking mechanism is arranged close to the next workstation.

[0006] Optionally, the rotary picking mechanism includes a rotary driving element, a first connecting plate and a first pneumatic picking module; the rotary driving element is arranged on the lifting seat, the first connecting plate is connected to the rotating end of the rotary driving element, and the first pneumatic picking module is arranged on the first connecting plate and connected to a negative pressure mechanism.

[0007] Optionally, the first pneumatic picking module includes a pressing block and two suction nozzles, the pressing block is connected to the first connecting plate, and the two suction nozzles are arranged on opposite sides of the pressing block.

[0008] Optionally, the pressing block is arranged in an I-shape.

[0009] Optionally, the fixed picking mechanism includes a second connecting plate and a second pneumatic picking module; the second connecting plate is arranged on the lifting seat, the second pneumatic picking module is arranged on the second connecting plate and connected to a negative pressure mechanism.

[0010] Optionally, the vertical moving mechanism includes a moving block and a vertical cylinder, the moving block is slidingly connected to the gantry and connected to the moving end of the horizontal moving mechanism; the vertical cylinder is arranged on the moving block, and the moving end of the vertical cylinder is connected to the lifting seat.

[0011] Optionally, slide rails are provided between the moving block and the gantry, and between the lifting seat and the moving block.

[0012] Optionally, the horizontal moving mechanism includes a drive motor and a belt conveyor assembly, the drive motor is fixed on the gantry, the belt conveyor assembly is arranged on the gantry, and the drive motor is connected to the belt conveyor assembly; the vertical moving mechanism is fixedly connected to the belt of the belt conveyor assembly.

[0013] One or more of the above-mentioned technical solutions in the handling device provided by the embodiment of the present invention have at least one of the following technical effects: the handling device can quickly and accurately handle products, thereby improving the efficiency of the production line. The handling device can adapt to products of different sizes and weights by simply adjusting the gripping method of the manipulator and the height of the lifting seat. Automated handling reduces the need for manual handling, reduces labor intensity and the risk of work-related injuries. Precise horizontal and vertical movement control ensures accurate placement of products, reducing damage and errors. The modular design makes each component easy to disassemble and maintain, reducing maintenance costs. The automated handling device reduces product handling time and improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or descriptions of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0015] Figure 1 This is a schematic structural diagram of a transport device provided in an embodiment of the present utility model.

[0016] Figure 2 This is a structural diagram of the rotary pickup mechanism provided in an embodiment of the utility model.

[0017] Figure 3 This is a structural diagram of a fixed picking mechanism provided in an embodiment of the utility model.

[0018] Among them, the reference numerals in the figures are:

[0019] Product 1, gantry 10, horizontal moving mechanism 20, drive motor 21, belt conveyor assembly 22, vertical moving mechanism 30, moving block 31, vertical cylinder 32, lifting seat 40, picking robot 50, rotating picking mechanism 51, fixed picking mechanism 52, rotating drive element 511, first connecting plate 512, first pneumatic picking module 513, second connecting plate 521, second pneumatic picking module 522, pressing block 5131, suction nozzle 5134. DETAILED DESCRIPTION

[0020] The following describes the embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. Figures 1 to 3 The described embodiments are exemplary and are intended to explain the embodiments of the present invention, but should not be understood as limiting the present invention.

[0021] In the description of the embodiments of the present invention, it should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present invention and simplifying the description, and do not indicate or imply 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 present invention.

[0022] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the embodiments of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0023] In the embodiments of the present invention, unless otherwise expressly specified or limited, the terms "installed," "connected," "connected," "fixed," etc. should be understood in a broad sense. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium; internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the embodiments of the present invention based on specific circumstances.

[0024] In one embodiment of the present invention, Figures 1 to 3 As shown, a handling device is provided, including a gantry 10, a horizontal moving mechanism 20, a vertical moving mechanism 30, a lifting seat 40 and a picking robot 50; the horizontal moving mechanism 20 is arranged on the gantry 10; the vertical moving mechanism 30 is arranged at the moving end of the horizontal moving mechanism 20, and is driven by the horizontal moving mechanism 20 to move horizontally along the length direction of the gantry 10; the lifting seat 40 is connected to the moving end of the vertical moving mechanism 30, and is driven by the vertical moving mechanism 30 to move vertically along the height direction of the gantry 10; the robot is installed on the lifting seat 40 and is used to pick up the product 1.

[0025] Specifically, the gantry 10 is the main structure of the handling device, providing support and guidance for other components. The horizontal moving mechanism 20 is mounted on the gantry 10 and is responsible for driving the vertical moving mechanism 30 to move horizontally along the length of the gantry 10. The vertical moving mechanism 30 is mounted on the moving end of the horizontal moving mechanism 20 and is responsible for driving the lifting base 40 to move vertically along the height of the gantry 10. The lifting base 40 is connected to the moving end of the vertical moving mechanism 30 and can move up and down along the vertical moving mechanism 30 to adjust the height of the manipulator. The manipulator is mounted on the lifting base 40 and is used to pick up and place products 1. The manipulator can be pneumatic, electric, or mechanical, capable of grasping and releasing products 1 as needed. The horizontal moving mechanism 20 is fixed to the gantry 10, and the vertical moving mechanism 30 is mounted on the moving end of the horizontal moving mechanism 20. The two are connected by a mechanical connection or power transmission system. The lifting base 40 is connected to the moving end of the vertical moving mechanism 30 and can move up and down along the vertical moving mechanism 30. The picking robot 50 is mounted on the lifting base 40 and fixed by a mechanical connection or a quick-change system. It can move precisely in the horizontal and vertical directions to pick up the product 1. The handling device can quickly and accurately transport the product 1, thereby improving the efficiency of the production line. The handling device can adapt to products 1 of different sizes and weights by simply adjusting the gripping method of the robot and the height of the lifting base 40. Automated handling reduces the need for manual handling, reduces labor intensity and the risk of work-related injuries. Precise horizontal and vertical movement control ensures the accurate placement of the product 1, reducing damage and errors. The modular design makes the various components easy to disassemble and maintain, reducing maintenance costs. The automated handling device reduces the handling time of the product 1 and improves production efficiency.

[0026] In this example, the manipulator includes a rotating picking mechanism 51 and two fixed picking mechanisms 52, which are evenly spaced in sequence on the lifting base 40, wherein the rotating picking mechanism 51 is arranged close to the next workstation. Specifically, the rotating picking mechanism 51 is a movable component in the manipulator, which can rotate around a certain center point to pick up the product 1 from different positions and move it to the next workstation. The lifting base 40 is the supporting structure of the manipulator, which can move up and down along the vertical moving mechanism 30 to adjust the height of the manipulator so that it can reach different working heights. The rotating picking mechanism 51 and the two fixed picking mechanisms 52 are both installed on the lifting base 40, and are evenly spaced between them to ensure that when the manipulator moves to different positions, each picking mechanism can cover its respective working area. The rotating picking mechanism 51 is usually designed with a rotating joint, allowing it to rotate within a certain angle range to facilitate approaching and picking up the product 1. The fixed pickup mechanism 52 is directly fixed to the lifting base 40 and has no rotation function, but can move up and down to accommodate products 1 of different heights. The rotating pickup mechanism 51 provides additional degrees of freedom, allowing the robot to pick up products 1 from different angles and positions, thereby improving the flexibility of the handling device. The combination of the fixed pickup mechanism 52 and the rotating pickup mechanism 51 allows the robot to handle multiple products 1 at the same time, thereby improving the handling efficiency of the production line. The rotating pickup mechanism 51 is set close to the next workstation to ensure that the product 1 is accurately placed at the next workstation, reducing positioning errors. The design of the robot can adapt to products 1 of different sizes and shapes by simply adjusting the position and angle of the pickup mechanism.

[0027] In this example, the rotary pickup mechanism 51 includes a rotary drive element 511, a first connecting plate 512, and a first pneumatic pickup module 513. The rotary drive element 511 is mounted on the lifting base 40, with the first connecting plate 512 connected to the rotating end of the rotary drive element 511. The first pneumatic pickup module 513 is mounted on the first connecting plate 512 and connected to a negative pressure mechanism. Specifically, the rotary drive element 511 rotates the first connecting plate 512 about a central axis, thereby changing the direction or position of the pneumatic pickup module. The rotary drive element 511 can be a servo motor, a stepper motor, or a rotary cylinder, which precisely controls the rotation of the first connecting plate 512. The first connecting plate 512 is the mechanical structure that connects the rotary drive element 511 and the pneumatic pickup module, transmitting the power of the rotary drive element 511 to the pneumatic pickup module. The pneumatic pickup module is the part that actually performs the pickup operation, picking up and releasing the product 1 through pneumatic control. This module is connected to a negative pressure mechanism and utilizes the principle of negative pressure adsorption to pick up product 1. The negative pressure mechanism is responsible for providing the required negative pressure to the pneumatic pickup module, enabling the pneumatic pickup module to adsorb and transport product 1. The rotary drive element 511 is fixed to the lifting seat 40, typically by a bearing or similar device. The first connecting plate 512 is connected to the rotating end of the rotary drive element 511 through a mechanical connection (such as a keyway and a shaft) to transmit rotational power. The pneumatic pickup module is mounted on the first connecting plate 512, and the two are connected through an appropriate mechanical interface, such as a quick-change connector or a fixing screw.

[0028] In this example, the first pneumatic pickup module 513 includes a pressure block 5131 and two suction nozzles 5134. The pressure block 5131 is connected to the first connecting plate 512, and the two suction nozzles 5134 are located on opposite sides of the pressure block 5131. Specifically, the suction nozzles 5134 are connected to the negative pressure mechanism via a pneumatic tube. When the negative pressure mechanism generates negative pressure, the suction nozzles 5134 can absorb the product 1; when the negative pressure is released, the suction nozzles 5134 release the product 1. The pressure block 5131 is connected to the first connecting plate 512, typically secured by bolts, pins, or other mechanical fastening methods.

[0029] In this embodiment, the pressing block 5131 is arranged in an I-shape. Specifically, its I-shape structure design makes it have high stability and load-bearing capacity.

[0030] In this example, the fixed pickup mechanism 52 includes a second connecting plate 521 and a second pneumatic pickup module 522. The second connecting plate 521 is mounted on the lifting base 40, and the second pneumatic pickup module 522 is mounted on the second connecting plate 521 and connected to a negative pressure mechanism. Specifically, the second connecting plate 521 is the fixed portion of the fixed pickup mechanism 52, mounted on the lifting base 40 and providing support for the pneumatic pickup module. The second pneumatic pickup module 522 is mounted on the second connecting plate 521 and performs the actual picking and placing operations. It uses pneumatic control to absorb and release the product 1. The second pneumatic pickup module 522 is connected to the negative pressure mechanism and utilizes the principle of negative pressure absorption to pick up the product 1. The negative pressure mechanism is responsible for providing the required negative pressure to the pneumatic pickup module. The fixed pickup mechanism 52 can quickly and accurately pick up and place the product 1, improving the efficiency of the production line. The design of the fixed pickup mechanism 52 enables the pneumatic pickup module to precisely locate the product 1, improving picking accuracy. The fixed picking mechanism 52 can adapt to products 1 of different sizes and shapes by simply adjusting the position and angle of the pneumatic picking module.

[0031] In this example, the vertical moving mechanism 30 includes a moving block 31 and a vertical cylinder 32. The moving block 31 is slidably connected to the gantry 10 and connected to the moving end of the horizontal moving mechanism 20. The vertical cylinder 32 is set on the moving block 31, and the moving end of the vertical cylinder 32 is connected to the lifting base 40. Specifically, the vertical cylinder 32 is the power source that drives the vertical moving mechanism 30 to move up and down. It can be a pneumatic or hydraulic cylinder, which performs telescopic movements according to the instructions of the control system. The moving block 31 is connected to the gantry 10 through a sliding connection (such as a guide rail or a slider), ensuring that the vertical moving mechanism 30 can move up and down smoothly along the gantry 10. The moving block 31 is connected to the moving end of the horizontal moving mechanism 20, possibly through a mechanical hinge or other connection method, so as to transmit the power of the horizontal movement to the vertical moving mechanism 30. The vertical cylinder 32 is fixed on the moving block 31, and its moving end is connected to the lifting base 40, usually fixed by a mechanical connector (such as a pin, bolt or flange).

[0032] In this example, slide rails are provided between the moving block 31 and the gantry 10, and between the lifting seat 40 and the moving block 31. Specifically, the moving block 31 is connected to the gantry 10 via the slide rails, which provide a stable guide for the moving block 31, ensuring its smooth movement in the vertical direction. The lifting seat 40 is connected to the moving block 31 via another set of slide rails, which also provide a guiding function to ensure the smooth movement of the lifting seat 40. The moving end of the vertical cylinder 32 is connected to the lifting seat 40, and the lifting seat 40 is precisely positioned along the slide rails through the telescopic action of the cylinder. The slide rail system provides a smooth movement path, reduces errors caused by friction or vibration, and improves the smoothness of movement.

[0033] In this example, the horizontal movement mechanism 20 includes a drive motor 21 and a belt conveyor assembly 22. The drive motor 21 is fixed to the gantry 10, and the belt conveyor assembly 22 is mounted on the gantry 10. The drive motor 21 is connected to the belt conveyor assembly 22. The vertical movement mechanism 30 is fixedly connected to the belt of the belt conveyor assembly 22. Specifically, the vertical movement mechanism 30, consisting of the drive motor 21 and the belt conveyor assembly 22, is used to achieve vertical movement of the transport device. The drive motor 21 is fixed to the gantry 10 and provides power to the belt conveyor assembly 22. The motor drives the belt through rotation, thereby transmitting force in the vertical direction. The belt conveyor assembly 22 is mounted on the gantry 10 and includes a belt and several pulleys or rollers to transmit power and guide the belt's movement. The vertical movement mechanism 30 is connected to the belt of the belt conveyor assembly 22. The tension and friction of the belt transmit the motor's power to the lifting platform 40, achieving the lifting platform 40's up and down movement. The drive motor 21 is fixed to the gantry 10 via a coupling or other connection method and is connected to the driving pulley of the belt conveyor assembly 22. The belt of the belt conveyor assembly 22 passes over multiple pulleys or rollers fixed to the gantry 10, transmitting power to the driven pulley connected to the lifting platform 40. The lifting platform 40 is connected to the moving block 31 via slide rails. As the belt moves, the lifting platform 40 moves up and down along the slide rails.

[0034] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A transport device, characterized in that: It includes a gantry, a horizontal moving mechanism, a vertical moving mechanism, a lifting seat and a picking robot; the horizontal moving mechanism is arranged on the gantry; the vertical moving mechanism is arranged at the moving end of the horizontal moving mechanism, and is driven by the horizontal moving mechanism to move horizontally along the length direction of the gantry; the lifting seat is connected to the moving end of the vertical moving mechanism, and is driven by the vertical moving mechanism to move vertically along the height direction of the gantry; the robot is installed on the lifting seat and is used to pick up products.

2. The transport device according to claim 1, wherein: The manipulator includes a rotary picking mechanism and two fixed picking mechanisms, which are uniformly arranged on the lifting seat in sequence, wherein the rotary picking mechanism is arranged close to the next workstation.

3. The transport device according to claim 2, wherein: The rotary picking mechanism includes a rotary driving element, a first connecting plate and a first pneumatic picking module; the rotary driving element is arranged on the lifting seat, the first connecting plate is connected to the rotating end of the rotary driving element, and the first pneumatic picking module is arranged on the first connecting plate and connected to a negative pressure mechanism.

4. The transport device according to claim 3, wherein: The first pneumatic picking module includes a pressing block and two suction nozzles. The pressing block is connected to the first connecting plate, and the two suction nozzles are arranged on opposite sides of the pressing block.

5. The transport device according to claim 4, characterized in that: The pressing block is arranged in an I-shape.

6. The transport device according to claim 2, wherein: The fixed picking mechanism includes a second connecting plate and a second pneumatic picking module; the second connecting plate is arranged on the lifting seat, and the second pneumatic picking module is arranged on the second connecting plate and connected to a negative pressure mechanism.

7. The transport device according to any one of claims 1 to 6, characterized in that: The vertical moving mechanism includes a moving block and a vertical cylinder. The moving block is slidingly connected to the gantry and connected to the moving end of the horizontal moving mechanism. The vertical cylinder is arranged on the moving block, and the moving end of the vertical cylinder is connected to the lifting seat.

8. The transport device according to claim 7, characterized in that: Slide rails are provided between the moving block and the gantry, and between the lifting seat and the moving block.

9. The transport device according to any one of claims 1 to 6, characterized in that: The horizontal moving mechanism includes a drive motor and a belt conveyor assembly, the drive motor is fixed on the gantry, the belt conveyor assembly is arranged on the gantry, and the drive motor is connected to the belt conveyor assembly; the vertical moving mechanism is fixedly connected to the belt of the belt conveyor assembly.

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