Automatic taking and placing device for intelligent plate stereoscopic warehouse

Abstract

The utility model relates to the technical field of plate picking and placing equipment, in particular to an automatic picking and placing device for an intelligent plate stereoscopic warehouse. The device comprises a main body frame, a moving unit, a stripping unit and a control unit, a moving guide rail is arranged at the lower end of the main body frame, one end of the moving unit is installed on the surface of the main body frame, the other end of the moving unit is connected with the stripping unit, and the control unit is installed on one side of the main body frame. The control unit is connected to the moving unit and the stripping unit through data lines. The controller with the built-in SCARA system is connected to the WMS system through the WCS system, the WCS system receives instructions of the WMS system and then communicates with the controller with the built-in SCARA system, the communication connection with the WCS system and the WMS system is achieved through the control unit, instructions from an upper layer system can be received and executed, full-automatic plate taking and placing operation is achieved, and the plate taking and placing efficiency is improved. And carrying and positioning processes of the plates do not need to be manually intervened.

Description

Technical Field

[0001] This utility model relates to the field of sheet material handling equipment, and in particular to an automatic handling device for a smart sheet material warehouse. Background Technology

[0002] In modern manufacturing, the processing and handling of sheet materials is a crucial step, especially in many fields such as furniture manufacturing, building decoration material processing, and electronic device casing production. The efficient and precise handling of sheet materials is essential for improving production efficiency and ensuring product quality. Traditional sheet material handling methods mainly rely on manual operation, which is not only labor-intensive but also inefficient. With the continuous expansion of the manufacturing industry and the increasing demand for automated production, this traditional method is gradually becoming unable to meet production requirements.

[0003] While most sheet metal handling equipment has achieved partial mechanization, its overall automation level is limited. Some simple robotic arms can only perform basic gripping and placement actions under fixed programs, lacking flexibility and intelligence. They cannot autonomously adjust to different production tasks and sheet metal conditions. Manual intervention is often required in sheet metal storage location management and sheet metal selection, hindering efficient integration with production management systems and resulting in inefficient production processes and impacting overall production efficiency. Furthermore, when sheets are stored in the storage location, multiple sheets often stick together or are tightly stacked. Existing partial stripping devices are ineffective in handling this situation, failing to completely separate the sheets, leading to the grabbing of multiple sheets at once, affecting the accuracy and efficiency of subsequent processing, or damaging the sheets during separation, increasing production costs. Inaccurate gripping positions are also common. Due to the varying sizes, materials, and surface conditions of sheets, some equipment struggles to accurately adapt to these differences, potentially resulting in weak gripping or damage during the gripping process. Therefore, an automated pick-and-place device for intelligent sheet metal storage is needed. Utility Model Content

[0004] To address the problems of incomplete separation and low handling efficiency during the handling of sheet materials, this utility model provides an automatic picking and placing device for an intelligent vertical warehouse for sheet materials.

[0005] Firstly, the present invention provides an automatic picking and placing device for a smart vertical warehouse for sheet metal, which adopts the following technical solution:

[0006] An automatic picking and placing device for a smart vertical warehouse for sheet metal includes:

[0007] The system comprises a main frame, a moving unit, a stripping unit, and a control unit. The lower end of the main frame is equipped with a moving guide rail. One end of the moving unit is mounted to the surface of the main frame, and the other end is connected to the stripping unit. The control unit is mounted to one side of the main frame and is connected to both the moving unit and the stripping unit via data cables. The control unit includes a controller with a built-in SCARA system and multiple communication interfaces. The controller with the built-in SCARA system is connected to the WMS system via a WCS system. After receiving instructions from the WMS system, the WCS system communicates with the controller with the built-in SCARA system.

[0008] Furthermore, the moving unit includes a plate rotation shaft, a support rotation shaft, and a support frame. One end of the plate rotation shaft is connected to the support frame, and the other end of the plate rotation shaft is connected to the support rotation shaft via a spherical bearing.

[0009] Furthermore, the peeling unit includes a peeling hook, an adsorption suction cup, a protective hook, and a push shaft. The peeling hook, adsorption suction cup, and protective hook are all installed around the support frame. The push shaft is installed on the side of the main frame via a lifting mechanism and corresponds to the position of the peeling hook.

[0010] Furthermore, the slider at the root of the peeling hook is mounted on a track parallel to the peeling shaft. The slider is connected to a lead screw with a cylinder, and the slider drives the peeling hook to move back and forth along the track via the lead screw.

[0011] Furthermore, the push shaft is made of metal and has a shaft-shaped structure. The top end of the push shaft is provided with a buffer pad, and the bottom end of the push shaft is provided with a push slider. The push slider is installed on a horizontal guide rail parallel to the push shaft and is used to drive the push shaft to move back and forth in the horizontal direction.

[0012] Furthermore, the bottom of the suction cup is provided with a groove, the top of the suction cup is provided with a vacuum pump, and the suction cup is fixed to the support frame by a mounting bracket.

[0013] Furthermore, the main frame has a Z-axis inside, and linear guides are provided on both sides of the Z-axis. The surface of the linear guides is provided with vertical sliders, and the Z-axis has a connecting bracket at the vertical slider.

[0014] Furthermore, one end of the connecting bracket is mounted on the linear guide rail via a vertical slider, and the other end of the connecting bracket is connected to the supporting rotation shaft via a spherical bearing.

[0015] Furthermore, a safety differential is provided at the upper end of the main frame, and the internal gear of the safety differential meshes with the transmission gear of the Z-axis.

[0016] Furthermore, both the surface of the plate rotation shaft and the surface of the supporting rotation shaft are equipped with angle sensors, and the signal output terminal of the angle sensor is connected to the controller of the built-in SCARA system via a data cable.

[0017] In summary, this utility model has the following beneficial technical effects:

[0018] 1. This utility model achieves communication connection with the WCS and WMS systems through the control unit, and can receive and execute instructions from the upper system to realize fully automated board picking and placing operations. There is no need for manual intervention in the board handling and positioning process, which greatly reduces the time and labor intensity of manual operation, significantly improves the turnover speed of boards in the intelligent vertical warehouse, and thus improves the efficiency of the entire production process.

[0019] 2. This utility model, through the plate rotation axis and support rotation axis in the moving unit, and the connection method through the joint bearing, enables the suction cup to move flexibly and adjust its posture within a horizontal and certain angular range. This allows the device to adapt to plate storage locations with different layouts and positions, eliminating the need for complex manual adjustments when picking up and putting down plates, and further improving operational efficiency.

[0020] 3. The safety differential set at the upper end of the main frame of this utility model has an internal gear that meshes with the transmission gear of the Z-axis. By monitoring the operating status of the Z-axis, when an abnormal falling speed is detected, it can lock or adjust the transmission in time using internal clutches and other mechanisms, effectively preventing the Z-axis from falling as a whole and providing reliable safety for the device.

[0021] 4. In this utility model, the protective hooks are installed around the support frame. During the process of the suction cup grabbing the board and moving it, the protective hooks are in the open state and do not affect normal operation. When the board is moved above the temporary placement area for the discharge board and is ready to be placed, the protective hooks can be closed under the control of the control unit to prevent the board from falling accidentally during the placement process, thereby reducing the loss and safety hazards caused by the board falling. Attached Figure Description

[0022] Figure 1 This is a schematic diagram of the overall structure of an automatic picking and placing device for a smart vertical warehouse for sheet metal, according to an embodiment of this utility model.

[0023] Figure 2 This is a schematic diagram of another working state of an automatic picking and placing device for a smart vertical warehouse for sheet metal, according to an embodiment of this utility model.

[0024] Figure 3 This is a schematic diagram of the peeling unit structure of an automatic picking and placing device for a smart vertical warehouse for sheet metal, according to an embodiment of this utility model.

[0025] Figure 4This is a front view of an automatic picking and placing device for a smart vertical warehouse for sheet metal, according to an embodiment of this utility model.

[0026] Figure 5 This is a schematic diagram of the control system connection of an automatic picking and placing device for an intelligent vertical warehouse for sheet metal, according to an embodiment of this utility model.

[0027] The components include: 1. Sheet rotation shaft; 2. Peeling hook; 3. Protective hook; 4. Support rotation shaft; 5. Adsorption suction cup; 6. Safety differential; 7. Moving guide rail; 8. Sheet material; 9. Push shaft; 10. Guide rail; 11. Mounting bracket; 12. Support frame; 13. Main frame; and 14. Connecting bracket. Detailed Implementation

[0028] The present invention will be further described in detail below with reference to the accompanying drawings.

[0029] Example 1

[0030] Reference Figure 1 An automatic picking and placing device for a smart vertical warehouse for sheet metal in this embodiment includes:

[0031] The system comprises a main frame, a moving unit, a stripping unit, and a control unit. The lower end of the main frame is equipped with a moving guide rail. One end of the moving unit is mounted to the surface of the main frame, and the other end is connected to the stripping unit. The control unit is mounted to one side of the main frame and is connected to both the moving unit and the stripping unit via data cables. The control unit includes a controller with a built-in SCARA system and multiple communication interfaces. The controller with the built-in SCARA system is connected to the WMS system via a WCS system. After receiving instructions from the WMS system, the WCS system communicates with the controller with the built-in SCARA system.

[0032] Specifically,

[0033] like Figure 5As shown, the controller with the built-in SCARA system interacts with external devices through multiple communication interfaces. One of these interfaces connects via an Industrial Ethernet (WCS) system, which in turn communicates with a WMS system. Data cables connect the controller to the moving unit (including the drive motors for the plate rotation axis 1 and supporting the rotation axis 4), the peeling unit (the cylinder for the peeling hook 2, the drive device for the push axis 9, the vacuum pump for the suction cup 5, the locking device for the protective hook 3, etc.), the drive motor for the Z-axis, and the sensors for the safety differential 6, enabling control and status monitoring of these components. The SCARA system (Selective Compliance Assembly Robot Arm) is a widely used robotic arm structure in industrial automation. It possesses unique kinematic characteristics, enabling flexible and rapid movement in the horizontal direction (X and Y axes) while maintaining high rigidity in the vertical direction (Z-axis). This makes it ideal for planar assembly and handling tasks, such as gripping, placing, and assembling parts in industries like electronics manufacturing and precision machining.

[0034] When the WMS system has a board picking and placing task, it sends the instruction to the WCS system. After receiving the instruction, the WCS system forwards it to the control unit (controller). The processor inside the controller parses the instruction and extracts key information from it, such as the storage location number of the board (corresponding to the horizontal position and rotation angle that the moving unit needs to reach), the target placement position (which determines the final placement action of the moving unit and the Z-axis), and the type of board (used to adjust parameters such as the adsorption force of the suction cup 5). Based on this information, the controller calls the program algorithm pre-stored in its memory to calculate the specific parameters such as the sequence of actions, speed, and displacement required for each component. For example, if the instruction requires retrieving a sheet from storage location A and placing it at a specific position in the discharge area, the controller will calculate the required rotation angles of the support rotation axis 4 and the sheet rotation axis 1 in the moving unit, as well as the distance to be moved on the guide rail 10, based on the coordinate information of storage location A. Simultaneously, a moving guide rail 7 is provided at the lower end of the main frame, and the entire device translates on the moving guide rail 7 to the position where the sheet needs to be moved, determining the required descent height of the Z-axis, etc. One end of the sheet rotation axis 1 is rigidly connected to the support frame 12 to ensure a strong connection and no relative displacement. The other end of the sheet rotation axis 1 is connected to the support rotation axis 4 via a spherical bearing. The inner ring of the spherical bearing is tightly fitted with the sheet rotation axis 1, and the outer ring is also firmly connected to the support rotation axis 4. The support rotation axis 4 is mounted on the main frame 13 via a bearing seat, which is bolted to the main frame 13 to ensure stable rotation of the support rotation axis 4 on the main frame 13. One end of the supporting rotating shaft 4 is connected to the output shaft of the drive motor via a coupling. The drive motor is fixed to the main frame 13 via a motor mounting base. The motor mounting base is welded or bolted to the main frame 13 to ensure the stability of the motor during operation.

[0035] like Figure 1 , Figure 2As shown, according to the parsed instructions, the controller has a Z-axis inside the main frame, with linear guides on both sides of the Z-axis. Vertical sliders are provided on the surfaces of the linear guides. A connecting bracket 14 is provided at the vertical slider of the Z-axis. One end of the connecting bracket 14 is mounted to the linear guide via the vertical slider, and the other end is connected to the support rotation shaft 4 via a spherical bearing. A control signal is sent to the drive motor of the support rotation shaft 4, causing the drive motor to rotate. This rotation drives the support rotation shaft 4 to rotate via a coupling. The rotation of the support rotation shaft 4 is transmitted to the plate rotation shaft 1 via the spherical bearing, causing the plate rotation shaft 1 to rotate around the axis of the support rotation shaft 4. The plate rotating shaft 1 can also rotate at a certain angle within the allowable range of the joint bearing as needed, thereby adjusting the position of the suction cup 5 within a certain horizontal and vertical angle range. During the rotation, the angle sensors on the surfaces of the plate rotating shaft 1 and the supporting rotating shaft 4 monitor the rotation angle of the shaft in real time and transmit the angle signal to the controller through the data line. Based on these feedback signals, the output of the drive motor is continuously adjusted to ensure that the suction cup 5 can accurately align with the target storage location. The bottom of the suction cup is provided with a groove, and the top of the suction cup is provided with a vacuum pump. The suction cup is fixed to the support frame around the perimeter by the mounting bracket 11.

[0036] like Figure 3 As shown, the slider at the base of the peeling hook 2 is mounted on a track parallel to the peeling shaft. The track is fixed to the main frame 13 by bolts. The slider and the lead screw with a cylinder form a lead screw and nut pair structure. The lead screw and the piston rod of the cylinder are connected by a coupling. The cylinder is fixed to the main frame 13 by a cylinder mounting seat. The cylinder mounting seat and the main frame 13 are connected by bolts. When the cylinder extends or retracts, it drives the lead screw to rotate through the coupling. The rotation of the lead screw causes the slider to move back and forth on the track, thereby driving the peeling hook 2 to move back and forth.

[0037] The push shaft 9 is made of metal and has a shaft-like structure. A buffer pad is installed at the top of the push shaft 9. The push slider at the bottom of the push shaft 9 is bolted to the push shaft 9. The push slider is mounted on a horizontal guide rail 10 parallel to the push shaft 9. The horizontal guide rail 10 is bolted to the main frame 13. A rolling bearing or high-precision slider guide is used between the horizontal guide rail 10 and the push slider to reduce frictional resistance and ensure the accuracy and smoothness of the push shaft 9's horizontal forward and backward movement. The lifting mechanism of the push shaft 9, in this embodiment, is cylinder-driven and installed on the side of the main frame 13. The moving end of the lifting mechanism is connected to the push shaft 9 via a connecting rod, and both the connecting rod and the moving end of the lifting mechanism are bolted together.

[0038] like Figure 4As shown, the collaborative working mode of the peeling shaft and peeling hook 2 is as follows: During the peeling operation, the controller of the built-in SCARA system first controls the peeling shaft to move forward under the action of the drive device, pushing the top plate forward through the front buffer pad to create a gap between the plates. At the same time, the peeling hook 2 is controlled to move backward under the action of its drive device to hook the rear end of the top plate. The synergistic effect of the peeling shaft pushing forward and the peeling hook 2 pulling backward increases the friction between the top plate and the bottom plate to achieve separation. After the top plate is separated, the controller of the built-in SCARA system controls the peeling shaft to stop, the suction cup 5 adsorbs the separated plate, and then controls the peeling hook 2 to release and return to its original position. Finally, the peeling shaft is controlled to move backward to its original position to prepare for the next operation. Throughout the process, the actions of the peeling shaft and the peeling hook 2 are precisely coordinated and controlled by the controller of the built-in SCARA system.

[0039] The protective hook 3 is a metal hook-shaped structure. One end of it is connected to the main frame 13 of the device through a rotating shaft, so that the protective hook 3 can rotate up and down around the connection point. A locking device is provided at the movable end of the protective hook 3. In this embodiment, a spring lock is used. The protective hook 3 is connected to the control system through a wire. The control system can send a control signal to the locking device to control its locking and unlocking states. The protective hook 3 cooperates with the plate rotating shaft 1 (forearm) and the suction cup 5 in space. When the suction cup 5 grabs the plate and moves it, the protective hook 3 is in the open state and does not affect the movement of the plate. When the plate moves to the top of the plate placement area and is ready to be placed, the protective hook 3 closes under the control of the control system to prevent the plate from falling.

[0040] During the process of the suction cup 5 gripping and moving the board, the protective hook 3 is in the open state under the action of the auxiliary spring. At this time, the locking device is in the unlocked state and does not affect the normal movement of the board. When the suction cup 5 moves the board above the discharge board temporary placement area, according to the preset program and the information fed back by the sensor, a control signal is sent to the locking spring of the protective hook 3 to lock the protective hook 3. Under the action of the locking device, the protective hook 3 rotates downward (downward) to form a barrier to prevent the board 8 from falling accidentally during placement. When the overall up-and-down moving shaft places the board 8 at the discharge board temporary placement area and completes the relevant operations, the control system sends a signal to the locking device again to unlock the protective hook 3. The protective hook 3 opens under the action of the spring and returns to the initial state, ready for the next board 8 handling operation.

[0041] The above are all preferred embodiments of this utility model, and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape and principle of this utility model should be covered within the scope of protection of this utility model.

Claims

1. An automatic taking and placing device for a plate intelligent vertical warehouse, characterized in that, The utility model relates to a kind of plate stripping machine, including: Main body frame, mobile unit, stripping unit and control unit, the lower end of the main body frame is equipped with moving guide rail, one end of the mobile unit is installed to the surface of main body frame, the other end of the mobile unit is connected stripping unit, the control unit is installed to the side of main body frame, the control unit is connected to mobile unit and stripping unit respectively by data line;The control unit includes the controller of built-in SCARA system and multiple communication interfaces, the controller of built-in SCARA system is connected to WMS system by WCS system, after the instruction of WMS system, the communication of built-in SCARA system controller is carried out with WCS system.

2. The automatic taking and placing device for the intelligent vertical warehouse of sheet materials according to claim 1, characterized in that, The mobile unit includes plate rotating shaft, support rotating shaft and support frame, one end of the plate rotating shaft is connected with the support frame, and the other end of the plate rotating shaft is connected with the support rotating shaft through the joint bearing. 3.The automatic taking and placing device for the intelligent vertical warehouse of plates according to claim 1, characterized in that, The stripping unit includes stripping hook, adsorption suction cup, protective hook and pushing shaft, the stripping hook, adsorption suction cup and protective hook are all installed around the support frame, and the pushing shaft is installed on the side of the main body frame through the lifting mechanism and corresponds to the position of the stripping hook.

4. The automatic taking and placing device for the intelligent vertical warehouse of sheet materials according to claim 3, characterized in that, The sliding block at the root of the stripping hook is installed on the track parallel to the stripping shaft, the sliding block is connected with the lead screw with air cylinder, and the sliding block drives the stripping hook to move back and forth along the track through the lead screw.

5. The automatic taking and placing device for the intelligent vertical warehouse of sheet materials according to claim 3, characterized in that, The pushing shaft is made of metal material in the form of a shaft, the top end of the pushing shaft is provided with a buffer pad, the bottom end of the pushing shaft is provided with a pushing sliding block, the pushing sliding block is installed on the horizontal guide rail parallel to the pushing shaft, and the pushing sliding block is used to drive the pushing shaft to move back and forth in the horizontal direction.

6. The automatic taking and placing device for the intelligent vertical warehouse of sheet materials according to claim 3, characterized in that, The bottom of the adsorption suction cup is provided with a groove, the top end of the adsorption suction cup is provided with a vacuum pump, and the adsorption suction cup is fixed around the support frame through the mounting bracket. 7.The automatic taking and placing device for the intelligent vertical warehouse of plates according to claim 1, characterized in that, The inside of the main body frame is provided with a Z-axis, the two sides of the Z-axis are provided with linear guides, the surface of the linear guide is provided with a vertical sliding block, and the Z-axis is provided with a connecting bracket at the vertical sliding block. 8.The automatic taking and placing device for the intelligent vertical warehouse of plates according to claim 7, characterized in that, One end of the connecting bracket is installed on the linear guide through the vertical sliding block, and the other end of the connecting bracket is connected with the support rotating shaft through the joint bearing. 9.The automatic taking and placing device for the intelligent vertical warehouse of plates according to claim 8, characterized in that, The upper end of the main body frame is provided with a safety differential, and the internal gear of the safety differential is engaged with the transmission gear of the Z-axis. 10.The automatic taking and placing device for the intelligent vertical warehouse of plates according to claim 2, characterized in that, The surfaces of the plate rotating shaft and the support rotating shaft are both provided with an angle sensor, and the signal output end of the angle sensor is connected to the controller of built-in SCARA system through a data line.

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