Column type sorting mechanical arm and plate storage system thereof
By designing a column-type sorting robotic arm, and utilizing relative displacement in five directions and counterweight adjustment, the problems of large footprint and poor versatility of traditional gantry-type equipment are solved, enabling efficient application in spaces with limited space or height restrictions.
Patent Information
- Application Number
- CN202520173757.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-25
- Publication Date
- 2025-12-26
- Estimated Expiration
- 2035-01-25
AI Technical Summary
Traditional gantry sorting equipment occupies a large area and has poor versatility and flexibility, making it unsuitable for use in spaces with limited space or height restrictions.
The column-type sorting robotic arm, including a mounting base, column, cantilever, and material handling components, reduces the footprint and improves the flexibility and stability of the equipment through relative displacement in five directions and adjustment of the counterweight.
While reducing the floor space required, it improves the versatility and flexibility of sorting equipment, and broadens its application scenarios, especially in factories with limited space or height restrictions.
Smart Images
Figure CN223719491U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to mechanical equipment technical field especially relates to a column type sorting mechanical arm and plate storage system thereof. BACKGROUND
[0002] The artificial stone plate needs to be stored in the warehouse after production, in order to facilitate the subsequent deep processing of the artificial stone plate, when the artificial stone plate is stored in the warehouse, the pattern, size and weight of the artificial stone plate are obtained for registration and sorting, so that the corresponding size of the artificial stone plate can be quickly selected for processing when the artificial stone plate is discharged. Because the specifications, models, processing technology and varieties of the artificial stone plate are various, the storage space of the warehouse workshop is limited, and the whole bundle or whole box of the plate can not be laid flat on the ground, but the height space of the warehouse workshop can be used to store the plate.
[0003] In the sorting process of the artificial stone plate, the gantry type sorting equipment is often used for classification of the plate due to the large size and heavy weight of the plate. However, the traditional gantry type sorting equipment needs to be equipped with a gantry that spans the whole storage area, which occupies a large space and limits its application in some space-limited places, and has poor versatility. In addition, some factories at home and abroad have height limit, which greatly limits the flexibility of the gantry type sorting equipment. SUMMARY
[0004] The utility model aims at providing a column type sorting mechanical arm and plate storage system, which can effectively improve the versatility and flexibility of the sorting equipment under the premise of reducing the floor area, greatly widen the application scene of the sorting mechanical arm, and overcome the shortcomings in the prior art.
[0005] To achieve this purpose, the utility model adopts the following technical scheme:
[0006] A column type sorting mechanical arm, comprising a mounting base, a column, a cantilever and a material taking assembly, the material taking assembly is used for taking the plate;
[0007] The column is installed on the top of the mounting base, and the column rotates along its own axis relative to the mounting base;
[0008] The cantilever is horizontally extended and protrudedly installed on one side of the column, the cantilever moves up and down relative to the column, and the cantilever rotates along its own axis relative to the column;
[0009] The material taking assembly is installed on the cantilever, and the material taking assembly moves horizontally relative to the cantilever; the material taking assembly rotates along its own axis relative to the cantilever, and the rotation axis of the material taking assembly is perpendicular to the extension direction of the cantilever.
[0010] Preferably, horizontal counterweights are arranged opposite to the cantilever on both sides of the column.
[0011] The horizontal counterweights move horizontally relative to the cantilever, and the moving direction of the horizontal counterweights is parallel to the extending direction of the cantilever.
[0012] Preferably, vertical counterweights are arranged opposite to the cantilever on both sides of the column, and the vertical counterweights move up and down relative to the column.
[0013] Preferably, a moving track is arranged, and the mounting base is arranged on the top of the moving track, and the mounting base moves along the extending direction of the moving track.
[0014] Preferably, a supporting assembly is arranged on the top of the mounting base, and the supporting assembly is used to support the material taking assembly.
[0015] Preferably, the supporting assembly comprises a fixed seat and a supporting frame.
[0016] The column and the fixed seat are respectively arranged on both ends of the top of the mounting base; the supporting frame comprises a connecting end and a supporting end, the connecting end is hinged to the fixed seat, and the supporting frame swings around the connecting end, and the supporting end is used to abut against the material taking assembly.
[0017] Preferably, the supporting assembly further comprises a supporting driver.
[0018] The supporting driver is arranged on the top of the mounting base, and the output end of the supporting driver is connected to the supporting frame, and the supporting driver is used to drive the swinging of the supporting frame.
[0019] Preferably, the material taking assembly comprises a rotating seat, a material taking frame and a plurality of suction cups.
[0020] The rotating seat is arranged on the cantilever, and the rotating seat moves horizontally relative to the cantilever.
[0021] The material taking frame is arranged on the rotating seat, and the material taking frame rotates relative to the cantilever through the rotating seat.
[0022] The plurality of suction cups are arranged on the same side of the material taking frame.
[0023] Preferably, the horizontal counterweights are arranged on the upper part of the column.
[0024] A plate storage system comprises the column type sorting mechanical arm.
[0025] The technical scheme provided by the utility model can have the following beneficial effects:
[0026] 1、 this scheme replaces the mounting base of the sorting equipment from the traditional gantry type to the column type, greatly reduces the floor area of the sorting equipment, enables the column type sorting mechanical arm to be applied in more use scenarios, especially in the factory building with limited floor space and / or height limit setting.
[0027] 2、 in order to reduce the floor area of the mounting base on the basis of preventing the column type sorting mechanical arm from turning on one side, the column type sorting mechanical arm of the present scheme is additionally provided with horizontal counterweight and / or vertical counterweight on the opposite side of the cantilever for balancing, and the counterweight mode is adjustable to ensure that the cantilever can be balanced in any state, thereby achieving the purpose of widening the use scenarios of the column type sorting mechanical arm.
[0028] 3、 in order to improve the walking speed of the column type sorting mechanical arm in the floor space, the present scheme is additionally provided with a supporting assembly on the top of the mounting base, which can not only support the material taking assembly, but also effectively avoid the shaking of the cantilever during horizontal movement, thereby realizing the stable movement of the column type sorting mechanical arm. BRIEF DESCRIPTION OF DRAWINGS
[0029] Figure 1 is a structure schematic view of one running state of the column type sorting mechanical arm of the utility model.
[0030] Figure 2 is a structure schematic view of another running state of the column type sorting mechanical arm of the utility model.
[0031] Figure 3 is a structure schematic view of still another running state of the column type sorting mechanical arm of the utility model.
[0032] Figure 4 is a use scenario schematic view of the column type sorting mechanical arm of the utility model.
[0033] Figure 5 is another use scenario schematic view of the column type sorting mechanical arm of the utility model.
[0034] Among them: mounting base 1, column 2, cantilever 3, material taking assembly 4, rotating seat 41, material taking support 42, suction cup 43, horizontal counterweight 5, vertical counterweight 6, moving track 7, supporting assembly 8, fixed seat 81, supporting frame 82, supporting driver 83, plate 9;
[0035] Vertical shelves 100, conveyor belts 200. DETAILED DESCRIPTION
[0036] Embodiments of the present application will be described in detail below, examples of which are shown in the drawings, wherein the same or similar reference signs represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by reference to the drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.
[0037] The technical solution provides a column type sorting mechanical arm, which comprises a mounting base 1, a column 2, a cantilever 3 and a material taking assembly 4, the material taking assembly 4 is used for taking a plate 9;
[0038] The column 2 is installed on the top of the mounting base 1, and the column 2 rotates along its own axis relative to the mounting base 1;
[0039] The cantilever 3 is horizontally extended and protrudes from one side of the column 2, the cantilever 3 moves up and down relative to the column 2, and the cantilever 3 rotates along its own axis relative to the column 2;
[0040] The material taking assembly 4 is installed on the cantilever 3, and the material taking assembly 4 moves horizontally relative to the cantilever 3; the material taking assembly 4 rotates along its own axis relative to the cantilever 3, and the rotation axis of the material taking assembly 4 is perpendicular to the extension direction of the cantilever 3.
[0041] In order to overcome the technical defects that the traditional gantry type sorting equipment occupies a large area and has poor versatility and flexibility, the technical solution provides a column type sorting mechanical arm, as shown in Figures 1-3 The column type sorting mechanical arm comprises a mounting base 1, a column 2, a cantilever 3 and a material taking assembly 4 for taking a plate 9. It should be noted that the material taking assembly 4 for taking the plate 9 in the present solution can take the plate 9 by adsorption or clamp the plate 9 by clamping, which is not limited here.
[0042] Specifically, the mounting base of the sorting equipment is replaced from the traditional gantry type to the column type in the present solution, which greatly reduces the floor area of the sorting equipment, enables the column type sorting mechanical arm to be applied in more use scenarios, especially in the factory with limited floor space and / or height limit.
[0043] In addition, due to the structural design of the present solution, the material taking assembly 4 has five different relative displacements relative to the mounting base 1, so that the degree of freedom of the material taking assembly 4 is larger, which can better meet the use in multiple scenarios. In a specific use scenario, as shown in Figure 4As shown, the column type sorting mechanical arm of the present scheme can realize the taking and placing of the plate 9 in the vertical shelf 100, and the transfer between the vertical shelf 100 and the conveying belt 200.
[0044] Further, the horizontal counterweight 5 is arranged opposite to the cantilever 3 and mounted on both sides of the column 2.
[0045] The horizontal counterweight 5 moves horizontally relative to the cantilever 3, and the moving direction of the horizontal counterweight 5 is parallel to the extending direction of the cantilever 3.
[0046] Some enterprises in the industry also use column type sorting equipment in the prior art, but in order to prevent the column type sorting mechanical arm from overturning due to the weight of the plate 9, the length of the mechanical arm of the existing column type sorting equipment is generally short, or the floor area of the mounting base for fixing the column is increased, which causes the existing column type sorting equipment to also have the defects of limited use scenarios or large floor area.
[0047] Therefore, in one preferred embodiment of the present scheme, in order to reduce the floor area of the mounting base on the basis of preventing the column type sorting mechanical arm from overturning, the column type sorting mechanical arm of the present scheme is particularly provided with a horizontal counterweight 5 for balancing on the opposite side of the cantilever 3, which is adjusted by horizontal movement to ensure that the cantilever 3 in any state can be balanced, thereby achieving the purpose of widening the use scenarios of the column type sorting mechanical arm.
[0048] It should be noted that the horizontal movement of the horizontal counterweight 5 relative to the cantilever 3 in the present scheme can be realized by using a conventional driving member such as a telescopic cylinder, which is not limited herein.
[0049] Further, the vertical counterweight 6 is arranged opposite to the cantilever 3 and mounted on both sides of the column 2, and the vertical counterweight 6 moves up and down relative to the column 2.
[0050] In a more preferred embodiment, in order to reduce the floor area of the mounting base on the basis of preventing the column type sorting mechanical arm from overturning, the column type sorting mechanical arm of the present scheme can directly add an internal counterweight (i.e., the vertical counterweight 6) in the column 2, which is adjusted by vertical movement to further achieve the purpose of widening the use scenarios of the column type sorting mechanical arm.
[0051] It should be noted that the up and down movement of the vertical counterweight 6 relative to the column 2 in the present scheme can be realized by using a conventional driving member such as a lifting cylinder, which is not limited herein.
[0052] In another specific use scenario, as shown in FIG. 6, the column type sorting mechanical arm of the present scheme can be used in a warehouse with a large number of vertical shelves 100, and the plate 9 is placed in the vertical shelf 100. Figure 5As shown, the column type sorting mechanical arm of the present solution can increase the length of the cantilever 3 to realize the transfer of the plate 9 between the same side of the column 2 and the conveying belt 200, thanks to the optimization of the counterweight mode in the present solution.
[0053] Further, the mounting base 1 is mounted on the top of the moving track 7, and the mounting base 1 moves along the extension direction of the moving track 7.
[0054] Further, the column type sorting mechanical arm of the present solution is also provided with a moving track 7 for realizing the movement of the column type sorting mechanical arm, so as to increase the movable range of the column type sorting mechanical arm in space. It is worth mentioning that, thanks to the provision of the horizontal counterweight 5 and / or the vertical counterweight 6 in the present solution, the width of the moving track 7 can be effectively narrowed under the premise of avoiding rollover, so as to be more conducive to reducing the floor area occupied by the column type sorting mechanical arm.
[0055] Further, the mounting base 1 is mounted on the top of the moving track 7, and the mounting base 1 moves along the extension direction of the moving track 7.
[0056] In another preferred embodiment of the present solution, in order to improve the walking speed of the column type sorting mechanical arm in the floor space, the present solution is particularly provided with a support assembly 8 on the top of the mounting base 1, which can not only play a supporting role on the material taking assembly 4, but also effectively avoid the shaking of the cantilever 3 during horizontal movement, so as to realize the stable movement of the column type sorting mechanical arm.
[0057] Further, the support assembly 8 comprises a fixed seat 81 and a support frame 82.
[0058] The column 2 and the fixed seat 81 are respectively mounted on the top of the two ends of the mounting base 1; the support frame 82 comprises a connecting end and a supporting end, the connecting end is hinged to the fixed seat 81, and the support frame 82 swings with the connecting end as the axis, and the supporting end is used to abut against the material taking assembly 4.
[0059] Specifically, the support assembly 8 of the present solution comprises a fixed seat 81 and a support frame 82, and the support frame 82 swings with the connecting end as the axis. When necessary, the support frame 82 can be vertically extended by swinging, i.e. the supporting end abuts against the material taking assembly 4; when unnecessary, the support frame 82 can also be horizontally extended by swinging, so as to prevent the support frame 82 from hindering the taking and placing of the plate 9 by the material taking assembly 4.
[0060] Further, the support assembly 8 further comprises a support driver 83.
[0061] The support driver 83 is installed on the top of the mounting base 1, and the output end of the support driver 83 is connected with the support frame 82, and the support driver 83 is used for driving the swing of the support frame 82.
[0062] As a further optimization of the above embodiment, the swing of the support frame 82 can be realized by a support driver 83 (such as a support cylinder or the like), so as to improve the automation degree of the column type sorting mechanical arm.
[0063] Further, the material taking assembly 4 comprises a rotating seat 41, a material taking support 42 and a suction cup 43.
[0064] The rotating seat 41 is installed on the cantilever 3, and the rotating seat 41 moves horizontally relative to the cantilever 3.
[0065] The material taking support 42 is installed on the rotating seat 41, and the material taking support 42 rotates relative to the cantilever 3 through the rotating seat 41.
[0066] The suction cup 43 is provided in plurality, and the plurality of suction cups 43 are installed on the same side of the material taking support 42.
[0067] In another preferred embodiment of the present technical solution, the rotating seat 41 is used to realize the connection between the cantilever 3 and the material taking support 42, so as to realize the separation between the horizontal movement and the rotation along the axis of the material taking support 42 relative to the cantilever 3, which is more conducive to improving the flexibility of the column type sorting mechanical arm and meeting the use requirements of more scenes.
[0068] Further, the horizontal counterweight 5 is located at the upper part of the column 2.
[0069] More specifically, the present solution also optimizes the installation position of the horizontal counterweight 5, which can better achieve the balance between the cantilever 3 on one hand, and also play a role in avoiding, such as avoiding the vertical goods shelf 100, on the other hand.
[0070] A plate storage system comprising the column type sorting mechanical arm.
[0071] The present technical solution also proposes a plate storage system comprising the column type sorting mechanical arm, which uses the column type sorting mechanical arm to realize the transfer of the plate 9, which is conducive to improving the sorting efficiency of the plate 9, while reducing the floor area and operation energy consumption of the plate storage system.
[0072] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and / or "comprising," when used in this specification, specify the presence of stated features, steps, operations, devices, components and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components and / or combinations thereof.
[0073] The relative arrangement of parts and steps, numerical expressions, and numerical values set forth in the examples are not intended to limit the scope of the present application unless otherwise specifically stated. It is to be understood that the drawings are not necessarily to scale of the various parts shown in the drawings. Techniques, methods, and apparatus known to those of ordinary skill are not discussed in detail because they would be understood that such techniques, methods, and apparatus are considered part of the art. In all examples shown and discussed herein, any specific values are to be interpreted as merely illustrative and not limiting. Thus, other examples of example embodiments can have different values. It is noted that like numbers and letters on the figures identify like parts throughout the several views, and thus, once an item is defined in one figure, it is not necessary to discuss it further in connection with other figures where it is understood that the item will be similarly constructed and function in the same manner.
[0074] In the description of the present application, it is to be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship is usually based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a particular orientation or be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application; the orientation words "inner, outer" refer to the inner and outer relative to the contour of each component.
[0075] For purposes of the description hereinafter, the terms "upper", "lower", "right", "left", "rear", "front", "vertical", "horizontal", and derivatives thereof (e.g., "vertical ly", "horizontal ly", etc.) can refer to the relative positions of an apparatus or feature as shown in the drawings, and shall not be construed as limiting the present application to any particular spatial orientation. Furthermore, the terms "first", "second", third", etc. can be used herein to describe various components, but such components should not be limited by these terms. Such terms can be used interchangeably with appropriate spatial terms and / or other descriptive terms to describe the same components.
[0076] In addition, it should be pointed out that the use of the words "first", "second" and the like to describe various components is merely intended to distinguish similar components from each other, and such words do not have special meanings unless otherwise stated, and therefore cannot be understood as limiting the scope of protection of the present application.
[0077] It should be noted that the terms "first", "second", and the like in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than those illustrated or described herein.
[0078] The technical principles of the present application are described above in combination with specific embodiments. These descriptions are only to explain the principles of the present application, and cannot be interpreted in any way as limiting the scope of protection of the present application. Based on the explanation here, those skilled in the art can think of other specific embodiments of the present application without creative labor, and these embodiments will fall within the scope of protection of the present application.
Claims
1. A columnar sorting robot arm, characterized by: The column type sorting mechanical arm comprises a mounting base, a column, a cantilever and a material taking assembly; The column is mounted on the top of the mounting base and rotates along its own axis relative to the mounting base; The cantilever is horizontally extendedly mounted on one side of the column, moves up and down relative to the column and rotates along its own axis relative to the column; The material taking assembly is mounted on the cantilever and moves horizontally relative to the cantilever; the material taking assembly rotates along its own axis relative to the cantilever, and the rotation axis of the material taking assembly is perpendicular to the extending direction of the cantilever.
2. A columnar sorting mechanical arm according to claim 1, characterized in that: Horizontal counterweights are oppositely mounted on both sides of the column relative to the cantilever; The horizontal counterweights move horizontally relative to the cantilever, and the moving direction of the horizontal counterweights is parallel to the extending direction of the cantilever.
3. A columnar sorting mechanical arm according to claim 1, characterized in that: Vertical counterweights are oppositely mounted on both sides of the column relative to the cantilever, and move up and down relative to the column.
4. The columnar sorting mechanical arm according to claim 1, characterized in that: A moving track is provided, and the mounting base is mounted on the top of the moving track and moves along the extending direction of the moving track.
5. The columnar sorting mechanical arm according to claim 1, characterized in that: A supporting assembly is mounted on the top of the mounting base and used for supporting the material taking assembly.
6. A columnar sorting robot arm according to claim 5, characterized in that: The supporting assembly comprises a fixing seat and a supporting frame; The column and the fixing seat are respectively mounted on both ends of the top of the mounting base; the supporting frame comprises a connecting end and a supporting end, the connecting end is hinged to the fixing seat, the supporting frame swings about the connecting end, and the supporting end is used for abutting against the material taking assembly.
7. A columnar sorting robot arm according to claim 6, characterized in that: The supporting assembly further comprises a supporting driver; The supporting driver is mounted on the top of the mounting base, and the output end of the supporting driver is connected with the supporting frame, and the supporting driver is used for driving the swinging of the supporting frame.
8. The columnar sorting mechanical arm according to claim 1, characterized in that: The material taking assembly comprises a rotating seat, a material taking frame and a plurality of suction cups; The rotating seat is mounted on the cantilever and moves horizontally relative to the cantilever; The material taking frame is mounted on the rotating seat and rotates relative to the cantilever through the rotating seat; The plurality of suction cups are mounted on the same side of the material taking frame.
9. A columnar sorting mechanical arm according to claim 2, characterized in that: The horizontal counterweights are located on the upper part of the column.
10. A panel storage system characterized by: The column type sorting mechanical arm comprises the column type sorting mechanical arm according to any one of claims 1-9.