Material carrying device and material transportation system

Abstract

The utility model relates to the technical field of automatic machining, in particular to a material carrying device and a material conveying system. A material carrying device is applied to carrying a material box, the material carrying device comprises a self-moving device, a lifting mechanism, a frame body and a bearing piece, the frame body is installed on the self-moving device, the lifting mechanism is installed on the frame body, and the lifting mechanism is used for driving the bearing piece to ascend and descend up and down; wherein a self-adaptive positioning piece is arranged on the bearing piece, and the self-adaptive positioning piece is used for being matched with a positioning structure of the material box in a self-adaptive mode. The self-adaptive positioning piece can adjust the position in a self-adaptive mode so as to be aligned with the positioning structure on the material box, movement of the self-adaptive positioning piece can compensate the dislocation amount of the material carrying device and the positioning structure caused by the positioning precision error, and precise positioning matching of the self-adaptive positioning piece and the positioning structure is facilitated. The material carrying device can accurately position the position of the material box, and vibration of the material box in the position changing process is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to automatic processing technical field especially, relates to a material handling device and material transportation system. BACKGROUND

[0002] In the field of automatic processing technology, the transportation of materials is usually realized through a material transportation system. The material transportation system comprises a material box and a material handling device. The material box is used for storing materials, and the material handling device is used for carrying the material box on the material stack to a target station to facilitate the next processing of the material to be processed.

[0003] The existing material handling device automatically positions the target position through laser navigation. However, the positioning accuracy of the material handling device has a large error, and there is a large misalignment when the material box is transposed between the target station and the material handling device, which can easily cause the material box to vibrate greatly during transposition, and further easily cause damage to the PCB. SUMMARY

[0004] The technical problem to be solved by the utility model is that, for the existing material handling device, the material box has a large misalignment when transposed between the target station and the material handling device, which can easily cause the material box to vibrate greatly during transposition. A material handling device and a material transportation system are provided.

[0005] To solve the above problems, on the one hand, the utility model embodiment provides a material handling device applied to carrying a material box. The material handling device comprises a self-moving device, a lifting mechanism, a frame body and a supporting piece. The frame body is installed on the self-moving device, the lifting mechanism is installed on the frame body, and the lifting mechanism is used to drive the supporting piece to move up and down. The supporting piece is provided with a self-adaptive positioning piece. The self-adaptive positioning piece is used to adaptively cooperate with the positioning structure of the material box when the supporting piece supports the material box.

[0006] Optionally, the self-adaptive positioning piece comprises a positioning pin or a positioning hole capable of moving in the horizontal direction. The positioning pin or the positioning hole is used to connect with the positioning structure of the material box.

[0007] Optionally, the self-adaptive positioning piece comprises a base, a floating seat and a reset structure. The base is fixed to the top of the supporting piece.

[0008] The floating seat is movably arranged on the base, the positioning pin or the positioning hole is arranged on the floating seat, the reset structure is connected between the floating seat and the base, the floating seat can move in the horizontal direction under the action of an external force, and the reset structure can restore the floating seat to the initial position after the external force acting on the self-adaptive positioning piece disappears.

[0009] Optionally, the floating base comprises a first floating plate and a second floating plate, the first floating plate is located between the second floating plate and the base, the first floating plate is movably mounted on the base along a first direction, the second floating plate is movably mounted on the first floating plate along a second direction; the positioning pin or the positioning hole is formed on a side of the second floating plate facing away from the first floating plate; wherein the first direction intersects with the second direction.

[0010] Optionally, the reset structure comprises a first elastic member and a second elastic member, the first elastic member is connected between the base and the first floating plate; the first elastic member is capable of restoring the first floating plate to the initial position along the first direction after the external force acting on the self-adaptive positioning member disappears;

[0011] the second elastic member is connected between the first floating plate and the second floating plate; the second elastic member is capable of restoring the second floating plate to the initial position along the second direction after the external force acting on the self-adaptive positioning member disappears.

[0012] Optionally, the first elastic member is provided with at least two, in the initial position, the forces of all the first elastic members acting on the first floating plate along the first direction are balanced;

[0013] the second elastic member is provided with at least two, in the initial position, the forces of all the second elastic members acting on the second floating plate along the second direction are balanced.

[0014] Optionally, the first elastic member is provided with two, one end of one of the first elastic members is connected to one side of the base along the first direction, one end of the other first elastic member is connected to the other side of the base along the first direction, and the other ends of the two first elastic members are connected to the first floating plate.

[0015] Optionally, the two first elastic members are located on opposite sides of the base along the second direction.

[0016] Optionally, the second elastic member is provided with two, one end of one of the second elastic members is connected to one side of the first floating plate along the second direction, one end of the other second elastic member is connected to the other side of the first floating plate along the second direction, and the other ends of the two second elastic members are connected to the second floating plate.

[0017] Optionally, the two second elastic members are located on the same side of the first floating plate along the first direction.

[0018] Optionally, the top of the supporting member is fixed with a ball seat, the ball seat is provided with a ball, and the ball is capable of rotating relative to the ball seat.

[0019] Optionally, the lifting mechanism comprises a driving member and a transmission mechanism, the driving member being in transmission connection with the supporting member through the transmission mechanism.

[0020] Optionally, the transmission mechanism comprises a screw rod, a nut and a guide plate, the screw rod extending in the up-down direction, the upper end of the screw rod being rotatably installed on the frame body, the lower end of the screw rod being connected with the output end of the driving member, the nut being sleeved on the screw rod and connected with the guide plate, the guide plate being slidably installed on the frame body in the up-down direction, one end of the supporting member being fixed on the guide plate.

[0021] Optionally, the frame body comprises a horizontal plate and two spaced apart vertical plates, the bottom of each of the two vertical plates being connected with the box body of the self-moving device, the horizontal plate connecting the top of each of the two vertical plates, each of the two vertical plates being fixed with a guide rail on the adjacent side, the guide rail extending in the up-down direction, the opposite sides of the guide plate being slidably installed on the two guide rails respectively.

[0022] Optionally, the driving member comprises a motor and a speed reducer, the output shaft of the motor extending in the horizontal direction, the output shaft of the speed reducer being perpendicular to the input shaft of the speed reducer, the input shaft of the speed reducer being coaxially connected with the output shaft of the motor, the output shaft of the speed reducer being connected with the transmission mechanism.

[0023] In another aspect, the utility model provides a kind of material transport system, including material box and above-mentioned material handling device, the material box includes box body, the box body has storage space for storing material in it, the storage space has inlet and outlet, and the inlet and outlet are used to enter and exit material.

[0024] Optionally, the box body has a top plate, a bottom plate, and a side plate connecting the top plate and the bottom plate, the bottom of the top plate is provided with a positioning structure; and / or, the bottom of the bottom plate is provided with the positioning structure, and the positioning structure is used to cooperate and connect with the self-adaptive positioning member on the supporting member.

[0025] Optionally, the top of the top plate is provided with a first stacking positioning structure, and the bottom of the bottom plate is provided with a second stacking positioning structure, among two material boxes stacked in the up-down direction, the first stacking positioning structure on the lower material box cooperates and positions with the second stacking positioning structure on the upper material box to lock the two material boxes.

[0026] Optionally, the first stacking positioning structure is a stacking protrusion protruding away from the bottom plate, and the second stacking positioning structure is a stacking hole inserted and cooperated with the stacking protrusion, and the stacking hole has a downward opening; or,

[0027] The second stacking positioning structure is a stacking protrusion protruding to a side away from the top plate, the first stacking positioning structure is a stacking hole in plug-in cooperation with the stacking protrusion, and the stacking hole has an upward opening.

[0028] The material conveying system of the utility model, the lifting mechanism of the material handling device drives the supporting piece to go up and down, and approaches the target bin under the movement of the self-moving device, so that the supporting piece supports the bin. When the supporting piece supports the bin, the self-adaptive positioning piece on the supporting piece can adjust the position to align with the positioning structure on the bin, so as to be positioned and cooperated with the positioning structure. The movement of the self-adaptive positioning piece can compensate the misalignment of the material handling device with the positioning structure caused by the positioning accuracy error, which is beneficial to the accurate positioning cooperation of the self-adaptive positioning piece and the positioning structure, so that the material handling device accurately positions the position of the bin, accurately repositions the bin, and reduces the vibration of the bin in the repositioning process. BRIEF DESCRIPTION OF DRAWINGS

[0029] In order to more clearly illustrate the technical scheme of the embodiments of the utility model, the following will briefly introduce the drawings needed to be used in the description of the embodiments of the utility model. Obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to these drawings without creative labor for those skilled in the art.

[0030] Figure 1 It is a schematic view of the material conveying system provided in an embodiment of the utility model when the bin is configured.

[0031] Figure 2 It is a schematic view of the material conveying system in the Figure 1 when the bin is buffered.

[0032] Figure 3 It is a schematic view of the supporting piece of the material handling device in the Figure 1 when the supporting piece is inserted into the bin.

[0033] Figure 4 It is a structural schematic view of the material handling device in the Figure 3 .

[0034] Figure 5 It is a structural schematic view of the self-adaptive positioning piece in the Figure 4 .

[0035] Figure 6 It is an exploded view of the Figure 5 .

[0036] Figure 7 It is a structural schematic view of the lifting mechanism in the Figure 4 .

[0037] Figure 8 It is a structural schematic view of theFigure 3 Structure diagram of the material box in the embodiment of the present application is shown in Fig. 1;

[0038] Figure 9 For Figure 8 Another perspective of the material box.

[0039] The reference signs in the description are as follows:

[0040] 100, material box; 10, box body; 11, top plate; 12, bottom plate; 13, positioning structure; 14, support; 15, first stacking positioning structure; 16, second stacking positioning structure; 17, connecting piece; 200, material handling device; 20, supporting piece; 201, self-adaptive positioning piece; 21, self-moving device; 22, frame body; 23, lifting mechanism; 231, motor; 232, speed reducer; 233, screw rod; 234, nut; 235, guide plate; 236, sliding block; 24, guide rail; 25, movable end seat of screw rod; 26, ball seat; 300, material stack; 30, buffer positioning structure; 31, support frame; 32, support arm;

[0041] 1, positioning pin; 2, base; 3, first floating plate; 4, second floating plate; 5, reset structure; 51, first elastic piece; 52, second elastic piece; 6, first sub-guide rail; 7, second sub-guide rail; 8, third sub-guide rail; 9, fourth sub-guide rail. DETAILED DESCRIPTION

[0042] In order to make the technical problems, technical solutions and beneficial effects solved by the present application more clear, the present application will be further described in detail below in combination with the drawings and examples. It should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0043] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "longitudinal", "radial", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation on the present application. In the description of the present application, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0044] In the description of the utility model, it is necessary to explain that, unless there is definite stipulation and limitation, the term "installation", "connection" should be broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connected;Can be mechanical connection, also can be electrical connection;Can be directly connected, also can be indirectly connected through the intermediate medium, can be the communication inside two elements.For the ordinary skilled in the art, the specific meaning of the above-mentioned terms in the utility model can be understood according to the specific circumstances.

[0045] As Figures 1 to 3 shown, an embodiment of the utility model provides a kind of material transport system, including material box 100 and material handling device 200, material box 100 of last process is transferred to material stack 300 by material handling device 200, alternatively, material box 100 on material stack 300 is transferred to next process by material handling device 200.

[0046] As Figure 3 shown, material handling device 200 includes self-moving device 21, lifting mechanism 23, frame body 22 and support piece 20, self-moving device 21 can walk on ground, frame body 22 is installed on self-moving device 21, lifting mechanism 23 is installed on frame body 22.Lifting mechanism 23 is used to drive support piece 20 to go up and down;Support piece 20 is provided with self-adapting positioning piece 201, and self-adapting positioning piece 201 is used to adaptively cooperate with the positioning structure 13 of material box 100 when supporting material box 100.

[0047] As Figure 8 shown, material box 100 includes box body 10, and the box body 10 has storage space for storing material, and the storage space has inlet and outlet, and the inlet and outlet are used for feeding and discharging material.The "material" includes but is not limited to PCB board, wood board and other parts.

[0048] Specifically, as Figure 3 shown, material handling device 200 can move according to preset trajectory by self-moving device 21 to approach target material box 100, and lifting mechanism 23 can drive support piece 20 to go up and down to make the height of support piece 20 adapt to the height of target material box 100, so that support piece 20 can be inserted from material inlet and outlet under the movement of self-moving device 21, and support piece 20 supports the top of material box 100 to carry material box 100 in the form of upper suspension.

[0049] Compared with the bottom of material box 100 supported by material handling device 200, material box 100 transported in the form of upper suspension can be stacked on other material box 100.Therefore, as Figure 1 and Figure 2As shown, the material handling device 200 can adopt the above-mentioned upper suspension type to stack multiple bins 100 together one by one. It can be understood that as the stacking height increases, the lifting mechanism 23 can lift the support 20 to a height matching the stacking height, so that the target bin 100 is stacked on the top of the corresponding stacked bin. Finally, the support 20 supports the bottommost bin 100 to handle the entire stacked bin, thereby reducing the number of round trips of the material handling device 200 and improving the material conveying efficiency.

[0050] Moreover, as Figure 1 As shown, after the stacked bin is placed on the bin stack 300, the support 20 of the material handling device 200 can also be inserted into the top bin 100 in the stacked bin to transfer the top bin 100 to other storage locations of the bin stack 300 in an upper suspension manner, thereby achieving the arrangement of the bins 100 on the bin stack 300.

[0051] As can be seen from the above, the material handling device 200 of the utility model can not only realize the handling of a single bin 100, but also realize the stacking and handling of multiple bins 100, and can also realize the arrangement of the bins 100 at the bin stack 300 by the material handling device 200. It can be seen that the flexibility of the material handling device 200 in arranging the bins 100 between processes is high.

[0052] Moreover, the bin 100 is provided with a positioning structure 13, and the support 20 is inserted into the positioning structure 13 on the bin 100 under the movement of the self-moving device 21. When the position of the self-adaptive positioning piece 201 contacts but is not aligned with the positioning structure 13, the positioning structure 13 has a force acting on the self-adaptive positioning piece 201 that continues to move, so that the self-adaptive positioning piece 201 moves to adaptively adjust the position, so that the self-adaptive positioning piece 201 is aligned and matched with the positioning structure 13, thereby limiting the movement of the bin 100 on the support 20 and improving the stability during the handling of the bin 100.

[0053] The self-adaptive positioning piece 201 that adaptively adjusts the position can compensate for the misalignment between the self-adaptive positioning piece 201 and the positioning structure 13 caused by the positioning accuracy error of the material handling device 200, which is beneficial to the accurate positioning and matching of the self-adaptive positioning piece 201 and the positioning structure 13, so that the material handling device 200 accurately positions the bin 100 to accurately reposition the bin 100 and reduce the vibration of the bin 100 during the repositioning process. The "repositioning" mentioned above includes the material handling device 200 taking the bin 100 from the previous station and placing the bin 100 on the next station. The "previous station" and "next station" mentioned above include but are not limited to the bin stack 300 or the carrying platform of the processing process.

[0054] The utility model discloses a material conveying system, and the lifting mechanism 23 of material handling device 200 drives the up-and-down lifting of supporting piece 20, and is close to target material box 100 under the movement of self -moving device 21 to make supporting piece 20 support material box 100. When supporting piece 20 supports material box 100, the adaptive positioning piece 201 on supporting piece 20 can adjust the position to align the positioning structure 13 on material box 100 to cooperate with the positioning structure 13. The movement of adaptive positioning piece 201 can compensate the misplacement of positioning structure 13 caused by the positioning accuracy error of material handling device, is favorable to the accurate positioning cooperation of adaptive positioning piece 201 and positioning structure 13, makes the accurate positioning of material handling device material box 100, to accurately change the position of material box 100, reduces the vibration of material box 100 in the process of changing position.

[0055] In an embodiment, as shown in Figure 4 、 Figure 5 and Figure 8 , the box 10 has a top plate 11, a bottom plate 12 and a side plate connecting the top plate 11 and the bottom plate 12, the bottom of the top plate 11 is provided with the positioning structure 13; the bottom of the bottom plate 12 is provided with the positioning structure 13, and the adaptive positioning piece 201 comprises a positioning pin 1 or a positioning hole capable of moving in the horizontal direction, which is used for cooperating with the positioning structure 13 of the material box 100.

[0056] In an embodiment, as shown in Figure 5 and Figure 6 , the adaptive positioning piece 201 comprises a base 2, a floating seat and a reset structure 5, and the base 2 is fixed to the top of the supporting piece 20.

[0057] The floating seat is movably arranged on the base 2, the positioning pin 1 or the positioning hole is arranged on the floating seat, the reset structure 5 is connected between the floating seat and the base 2, the floating seat can move in the horizontal direction under the action of external force, and the reset structure 5 can restore the floating seat to the initial position after the external force acting on the adaptive positioning piece 201 disappears.

[0058] The positioning structure 13 has a force on the adaptive positioning piece 201 on the continuously moving supporting piece 20, when the force is transmitted to the floating seat, the floating seat moves horizontally to adaptively adjust the position of the adaptive positioning piece 201, so that the positioning hole or the positioning pin 1 of the adaptive positioning piece 201 cooperates with the positioning structure 13, and the positioning locking between the material box 100 and the supporting piece 20 is realized.

[0059] When the material handling device 200 places the material box 100 on the material stack 300 or the carrying platform of the processing process, the self-moving device 21 drives the supporting piece 20 to exit from the material box 100, the external force of the positioning structure 13 on the adaptive positioning piece 201 disappears, and the reset structure 5 restores the floating seat to the initial position.

[0060] In an embodiment, the floating seat comprises a first floating plate 3 and a second floating plate 4, the first floating plate 3 is located between the second floating plate 4 and the base 2, the first floating plate 3 is movably mounted on the base 2 along a first direction, the second floating plate 4 is movably mounted on the first floating plate 3 along a second direction; a positioning hole or a positioning pin 1 is formed on a side of the second floating plate 4 facing away from the first floating plate 3; wherein the first direction intersects the second direction. Figure 5 D1 in the figure represents the first direction, and D2 represents the second direction.

[0061] The positioning structure 13 has an acting force on the adaptive positioning piece 201 on the support piece 20, when the acting force is transmitted to the floating seat, the first floating plate 3 can move along the first direction, and the second floating plate 4 can move along the second direction, so as to adaptively adjust the position of the adaptive positioning piece 201, so that the positioning hole or the positioning pin 1 of the adaptive positioning piece 201 is positioned and matched with the positioning structure 13, and the positioning and locking between the material box 100 and the support piece 20 is realized.

[0062] In an embodiment, as shown in Figure 5 The reset structure 5 comprises a first elastic piece 51 and a second elastic piece 52, the first elastic piece 51 is connected between the base 2 and the first floating plate 3; the first elastic piece 51 can restore the first floating plate 3 to the initial position along the first direction after the external force acting on the adaptive positioning piece 201 disappears.

[0063] The second elastic piece 52 is connected between the first floating plate 3 and the second floating plate 4; the second elastic piece 52 can restore the second floating plate 4 to the initial position along the second direction after the external force acting on the adaptive positioning piece 201 disappears.

[0064] When the adaptive positioning piece 201 is subjected to the acting force of the positioning structure 13, the first floating plate 3 moves along the first direction against the elastic force of the first elastic piece 51, and the second floating plate 4 moves along the second direction against the elastic force of the second elastic piece 52, so as to adaptively adjust the position of the adaptive positioning piece 201. After the external force on the adaptive positioning piece 201 disappears, the first floating plate 3 moves along the first direction under the action of the first elastic piece 51, and the second floating plate 4 moves along the second direction under the action of the second elastic piece 52, so as to restore the adaptive positioning piece 201 to the initial position. The stress of the first floating plate 3 and the second floating plate 4 is simple, which is conducive to realizing the one-way movement of the first floating plate 3 and the one-way movement of the second floating plate 4.

[0065] In an embodiment, the first elastic piece 51 is provided with at least two, and in the initial position, the acting forces of all the first elastic pieces 51 on the first floating plate 3 along the first direction are balanced.

[0066] The second elastic members 52 are provided with at least two, and in the initial position, all the second elastic members 52 balance the force acting on the second floating plate 4 in the second direction.

[0067] In an embodiment, as shown in Figure 5 The first elastic members 51 are provided with two, one end of one of the first elastic members 51 is connected to one side of the base 2 in the first direction, one end of the other first elastic member 51 is connected to the other side of the base 2 in the first direction, and the other ends of the two first elastic members 51 are connected to the first floating plate 3. When the first floating plate 3 returns to the initial position in the first direction, the two first elastic members 51 can play a buffering and damping role on the first floating plate 3 from both sides of the first direction, improving the stability of the first floating plate 3 when returning to the initial position.

[0068] In an embodiment, the two first elastic members 51 are respectively located on opposite sides of the base 2 in the second direction, so that the torques of the two first elastic members 51 on the first floating plate 3 cancel each other out, avoiding the deflection of the first floating plate 3 on the base 2.

[0069] In an embodiment, as shown in Figure 5 The second elastic members 52 are provided with two, one end of one of the second elastic members 52 is connected to one side of the first floating plate 3 in the second direction, one end of the other second elastic member 52 is connected to the other side of the first floating plate 3 in the second direction, and the other ends of the two second elastic members 52 are connected to the second floating plate 4.

[0070] When the second floating plate 4 returns to the initial position in the second direction, the two second elastic members 52 can play a buffering and damping role on the second floating plate 4 from opposite sides of the second direction, ensuring the stability of the second floating plate 4 when returning to the initial position.

[0071] In an embodiment, the two second elastic members 52 are located on the same side of the first floating plate 3 in the first direction.

[0072] In an embodiment, as shown in Figure 5 The first elastic members 51 are springs, and the second elastic members 52 are springs.

[0073] In other embodiments, the first elastic members 51 can be elastic ropes or elastic rubber members, and the second elastic members 52 can be elastic ropes or elastic rubber members.

[0074] In an embodiment, as shown in Figure 5 The first floating plate 3 is provided with first hooks on both sides in the second direction, the other ends of the two first elastic members 51 are hung on the two first hooks respectively, and the second floating plate 4 is provided with a second hook at the middle position of one side in the first direction, and the other ends of the two second elastic members 52 are hung on the second hook.

[0075] In an embodiment, as shown in Figure 6 The first floating plate 3 is fixed with a first sub-guide rail 6 on one side thereof facing the base 2, and the base 2 is fixed with a second sub-guide rail 7 on one side thereof facing the first floating plate 3. The first sub-guide rail 6 and the second sub-guide rail 7 are both extended along the first direction and arranged side by side. A plurality of first rolling grooves are formed between the adjacent sides of the first sub-guide rail 6 and the second sub-guide rail 7, and each of the first rolling grooves is provided with a first roller.

[0076] When the first floating plate 3 moves relative to the base 2 along the first direction, the first floating plate 3 drives the first sub-guide rail 6 to move relative to the second sub-guide rail 7, and the first roller rolls. The first sub-guide rail 6, the second sub-guide rail 7 and the first roller together form a cross roller guide on the market.

[0077] The first floating plate 3 is fixed with a third sub-guide rail 8 on one side thereof facing the second floating plate 4, and the second floating plate 4 is fixed with a fourth sub-guide rail 9 on one side thereof facing the first floating plate 3. The third sub-guide rail 8 and the fourth sub-guide rail 9 are both extended along the second direction and arranged side by side. A plurality of second rolling grooves are formed between the adjacent sides of the third sub-guide rail 8 and the fourth sub-guide rail 9, and each of the second rolling grooves is provided with a second roller.

[0078] When the second floating plate 4 moves relative to the first floating plate 3 along the second direction, the second floating plate 4 drives the fourth sub-guide rail 9 to move relative to the third sub-guide rail 8, and the second roller rolls. The third sub-guide rail 8, the fourth sub-guide rail 9 and the second roller together form a cross roller guide on the market.

[0079] In an embodiment, the positioning structure 13 is a positioning hole, and the adaptive positioning member 201 includes a positioning pin 1 which is inserted into the positioning hole in a plug-fit manner. When the positioning pin 1 is inserted into the positioning hole, quick locking is achieved. When the positioning pin 1 is separated from the positioning hole, unlocking is achieved. The structure is simple and easy to implement.

[0080] In other embodiments, the positioning structure 13 can be arranged only on the bottom of the top plate 11, or only on the bottom of the bottom plate 12.

[0081] In an embodiment, as shown in Figure 8 A positioning protrusion is arranged on the top plate 11 and protrudes towards one side of the bottom plate 12. The positioning hole is arranged on the positioning protrusion and has an opening facing the bottom plate 12, so as to improve the structural strength of the positioning hole. When the supporting member 20 is inserted into the material box 100 from the material inlet and outlet, the adaptive positioning member 201 on the supporting member 20 abuts against the bottom surface of the top plate 11, and the positioning protrusion abuts against the supporting member 20, until the adaptive positioning member 201 moves to the positioning hole, and the adaptive positioning member 201 is inserted into the positioning hole.

[0082] In other embodiments, the positioning protrusion can be cancelled, and the positioning hole can be directly formed on the top plate 11.

[0083] In other embodiments, the positioning structure 13 can be a positioning member, and the adaptive positioning member 201 is provided with a positioning hole matched with the positioning member. At this time, the positioning member can be a positioning pin or a positioning protrusion.

[0084] In an embodiment, as shown in Figure 4 and Figure 8 , the adaptive positioning member 201 is provided with at least two, all the adaptive positioning members 201 are spaced apart along the first direction, and the positioning structure 13 is provided with at least two, the adaptive positioning member 201 corresponds to the positioning structure 13 one by one. Figure 4 D1 in the first direction.

[0085] When the support member 20 supports the material box 100, the at least two positioning structures 13 are connected with the adaptive positioning member 201 in cooperation, so that the locking position between the material box 100 and the support member 20 has at least two positions, so as to further improve the stability of the material handling device 200 when carrying the material box 100.

[0086] In an embodiment, as shown in Figure 4 , the support member 20 is provided with at least two, all the support members 20 are spaced apart along the first direction, and each support member 20 is provided with an adaptive positioning member 201.

[0087] Specifically, the support member 20 is provided with two, each support member 20 is provided with an adaptive positioning member 201, and correspondingly, the top plate 11 and the bottom plate 12 of the material box 100 are provided with two positioning holes.

[0088] In other embodiments, the support member 20 can be provided with only one, at this time, the width of the support member 20 can be increased, so that a plurality of adaptive positioning members 201 spaced apart along the first direction are arranged on the support member 20.

[0089] In an embodiment, as shown in Figure 4 , the top of the support member 20 is fixed with a ball seat 26, the ball seat 26 is provided with a ball, and the ball can rotate relative to the ball seat 26. When the support member 20 is inserted into the material box 100, the ball supports the material box 100 and rolls in contact with the material box 100, so as to reduce the friction between the support member 20 and the material box 100.

[0090] In an embodiment, as shown in Figure 4 , each support member 20 is fixed with two ball seats 26, and the two ball seats 26 are located on the opposite sides of the adaptive positioning member 201 along the second direction.

[0091] In an embodiment, as shown in Figure 4As shown, the rack body 22 is located on one side of the self-moving device 21 in the first direction, and the supporting member 20 is located directly above the self-moving device 21. Compared with the supporting member 20 being arranged on the side of the rack body 22 away from the self-moving device 21, this design can reduce the space occupied by the material handling device 200. Moreover, when the supporting member 20 supports the material, the material box 100 and the self-moving device 21 are located on the same side of the rack body 22, so that the self-moving device 21 can walk more stably, and there is no need to additionally arrange a counterweight.

[0092] In an embodiment, as shown in Figure 4 The self-moving device 21 is an automatic guided vehicle (AGV). The motion control system of the AGV can control the driving system and the steering mechanism according to the results of navigation and path planning, so as to realize the forward movement, backward movement, turning and other actions of the AGV, so that the AGV can accurately travel according to the preset trajectory. At the same time, the motion control system also adjusts the speed and acceleration of the AGV, so as to ensure the stability and safety of the travel.

[0093] In an embodiment, the top end of the rack body 22 is provided with a navigation laser instrument. The self-moving device 21 scans the surrounding environment according to the navigation laser instrument, determines the position and direction of itself in space, and then walks according to the preset trajectory.

[0094] In an embodiment, the lifting mechanism 23 comprises a driving member and a transmission mechanism. The driving member is in transmission connection with the supporting member 20 through the transmission mechanism.

[0095] In an embodiment, as shown in Figure 7 The transmission mechanism comprises a lead screw 233, a nut 234 and a guide plate 235. The lead screw 233 extends in the up-down direction. The upper end of the lead screw 233 is rotatably installed on the rack body 22. The lower end of the lead screw 233 is connected with the output end of the driving member. The nut 234 is sleeved on the lead screw 233 and connected with the guide plate 235. The guide plate 235 is slidably installed on the rack body 22 in the up-down direction. One end of the supporting member 20 is fixed on the guide plate 235.

[0096] The driving member drives the lead screw 233 to rotate. The nut 234 moves along the lead screw 233. The guide plate 235 moves linearly along the up-down direction with the nut 234, so as to drive the supporting member 20 to lift.

[0097] In an embodiment, as shown in Figure 5 The driving member comprises a motor 231 and a speed reducer 232. The output shaft of the motor 231 extends in the horizontal direction. The output shaft of the speed reducer 232 is perpendicular to the input shaft of the speed reducer 232. The input shaft of the speed reducer 232 is coaxially connected with the output shaft of the motor 231. The output shaft of the speed reducer 232 is connected with the transmission mechanism.

[0098] In an embodiment, as shown in Figure 4As shown, the frame body 22 comprises a horizontal plate and two spaced apart vertical plates, the bottom of the two vertical plates is connected with the box body 10 of the self-moving device 21, the horizontal plate connects the top of the two vertical plates, the adjacent sides of the two vertical plates are both fixed with guide rails 24, the guide rails 24 extend along the up-down direction, and the opposite sides of the guide plate 235 are respectively slidably installed on the two guide rails 24.

[0099] The opposite sides of the guide plate 235 are respectively guided and matched with the two guide rails 24, so that the opposite sides of the guide plate 235 are both subjected to guiding forces, so as to improve the stability of the guide plate 235 during the guiding movement. Moreover, the guide plate 235, the lead screw 233 and the nut 234 are all located on the two vertical plates, so that the transmission mechanism does not need to occupy extra space, thereby reducing the volume of the material self-moving device 21.

[0100] In an embodiment, as shown in Figure 4 and Figure 7 the opposite sides of the guide plate 235 along the second direction are both fixed with sliding blocks 236, and the sliding blocks 236 are slidably installed on the corresponding guide rails 24.

[0101] In an embodiment, as shown in Figure 7 the side of the horizontal plate facing the self-moving device 21 is provided with a movable end seat 25 of the lead screw, the box body 10 of the self-moving device 21 is provided with a fixed end seat of the lead screw, the upper end of the lead screw 233 is rotatably installed on the movable end seat 25 of the lead screw, and the lower end of the lead screw 233 is rotatably installed on the fixed end seat of the lead screw. The upper ends of the two guide rails 24 are respectively connected with the opposite ends of the movable end seat 25 of the lead screw.

[0102] In an embodiment, as shown in Figure 8 and Figure 9 the top of the top plate 11 is provided with a first stacking positioning structure 15, the bottom of the bottom plate 12 is provided with a second stacking positioning structure 16, among the two material boxes 100 stacked along the up-down direction, the first stacking positioning structure 15 on the lower material box 100 is positioned and matched with the second stacking positioning structure 16 on the upper material box 100, so as to lock the two material boxes 100 and improve the stability during the carrying and stacking of the material boxes.

[0103] In an embodiment, the first stacking positioning structure 15 is a stacking protrusion protruding away from the bottom plate 12, and the second stacking positioning structure 16 is a stacking hole matched with the stacking protrusion in a plug-in manner, and the stacking hole has an opening facing away from the top plate 11.

[0104] In other embodiments, the second stacking positioning structure 16 can be a stacking protrusion protruding away from the top plate 11, and the first stacking positioning structure 15 is a stacking hole matched with the stacking protrusion in a plug-in manner, and the stacking hole has an opening facing away from the bottom plate 12.

[0105] In an embodiment, the first stacking positioning structure 15 is provided with at least two, and all the first stacking positioning structures 15 are distributed along the first direction. The second stacking positioning structure 16 is arranged directly below each first stacking positioning structure 15.

[0106] Between two bins 100 stacked along the up-down direction, at least two first stacking positioning structures 15 and corresponding second stacking positioning structures 16 are positioned and matched, so that the two bins 100 have at least two locking positions, to improve the locking force between the bins 100 and further improve the stability when the bins are carried.

[0107] In an embodiment, as shown in Figure 1 and Figure 8 , the buffer positioning structure 30 is arranged on the stack 300, and the buffer positioning structure 30 is positioned and matched with the second stacking structure when the bin 100 is placed on the stack 300, to lock the bin 100 on the stack 300 and prevent the bin 100 from floating on the stack 300, eliminate positioning errors, and avoid the situation that the bin 100 cannot be automatically fed and discharged after the material handling device 200 takes the bin 100 from the stack 300 due to errors.

[0108] In an embodiment, the second stacking positioning structure 16 is a stacking hole with an opening facing away from the top plate 11, and the buffer positioning structure 30 is a positioning plug-in piece matched with the stacking hole.

[0109] In other embodiments, the second stacking positioning structure 16 is a stacking protrusion protruding away from one side of the top plate 11, and the buffer positioning structure 30 is a positioning plug-in hole matched with the stacking protrusion, and the positioning plug-in hole has an upward opening.

[0110] In an embodiment, as shown in Figure 1 , the stack 300 includes a support frame 31 and a plurality of support arm groups distributed along a direction, each support arm group includes two support arms 32 arranged in parallel and spaced apart, one end of the two support arms 32 is fixed on the support frame 31 to form a buffer position for placing the bin 100. The positioning plug-in piece is arranged on each support arm 32, and the second stacking positioning structure 16 corresponding to the positioning plug-in piece of the support arm group is arranged on the bottom plate 12 of the bin 100.

[0111] In an embodiment, as shown in Figure 1 , the bin 100 further includes a plurality of support assemblies, the plurality of support assemblies are arranged in the storage space along the height direction of the bin 100 and connected with the box body 10, and each support assembly is used for supporting the material.

[0112] In an embodiment, the support assembly comprises a plurality of connecting members 17 and a plurality of support members 14, the extending direction of the connecting members 17 intersects with the extending direction of the support members 14, the plurality of connecting members 17 are arranged in parallel and at intervals, the plurality of support members 14 are arranged in parallel and at intervals, the connecting members 17 connect the opposite side plates of the box body 10 along the second direction, each support member 14 is connected to the upper side of each connecting member 17, and the support member 14 is used for supporting the material.

[0113] The structure of the box body 10 is not limited, and in the embodiment, the box body 10 is a member in a substantially cuboid structure, wherein the box body 10 can adopt a complete flat plate structure form on other surfaces except the feeding and discharging port, or can adopt a hollow structure form. The side plate can also adopt a frame structure form, which not only facilitates observation of the specific conditions of the material in the material box 100, but also is beneficial to reducing the weight of the entire material box 100, and further beneficial to reducing the load and load of the material handling device 200 during transfer.

[0114] The front side of the box body 10 is completely open to form the feeding and discharging port, and the rear surface of the box body 10 is provided with an opening, which is smaller than the feeding and discharging port, so that the rear side has a partial side wall for resisting the material placed on the support assembly, preventing the material from falling from the opening of the rear side when the material is placed on the support assembly from the feeding and discharging port and pushed to the rear side.

[0115] In addition, the embodiment of the utility model provides a material handling device 200, which has the same structure as the material handling device 200 in any of the above embodiments, and will not be repeated here.

[0116] The above-described embodiments are only used to illustrate the technical solutions of the utility model, rather than limit them; although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that the technical solutions recorded in the foregoing embodiments can still be modified, or some technical features can be replaced equivalently; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the utility model, and should be included in the protection scope of the utility model.

Claims

1. A material handling device, applied to a material handling bin (100), characterized in that, The material handling device (200) includes a self-moving device (21), a lifting mechanism (23), a frame (22), and a support member (20). The frame (22) is installed on the self-moving device (21), and the lifting mechanism (23) is installed on the frame (22). The lifting mechanism (23) is used to drive the support member (20) to move up and down. The support member (20) is provided with an adaptive positioning member (201). The adaptive positioning member (201) is used to adaptively cooperate with the positioning structure (13) of the material box (100) when the support member (20) supports the material box (100).

2. The material handling device according to claim 1, characterized in that, The adaptive positioning element (201) includes a positioning pin (1) or a positioning hole that can move in the horizontal direction, the positioning pin (1) or positioning hole being used to cooperate with the positioning structure (13) of the hopper (100).

3. The material handling device according to claim 2, characterized in that, The adaptive positioning component (201) includes a base (2), a floating seat, and a reset structure (5), wherein the base (2) is fixed to the top of the support component (20); The floating seat is movably mounted on the base (2), the positioning pin (1) or positioning hole is provided on the floating seat, the reset structure (5) is connected between the floating seat and the base (2), the floating seat can move horizontally under the action of external force, and the reset structure (5) can restore the floating seat to the initial position after the external force acting on the adaptive positioning member (201) disappears.

4. The material handling device according to claim 3, characterized in that, The floating seat includes a first floating plate (3) and a second floating plate (4). The first floating plate (3) is located between the second floating plate (4) and the base (2). The first floating plate (3) is movably mounted on the base (2) along a first direction, and the second floating plate (4) is movably mounted on the first floating plate (3) along a second direction. The positioning pin (1) or positioning hole is formed on the side of the second floating plate (4) facing away from the first floating plate (3). The first direction intersects with the second direction.

5. The material handling device according to claim 4, characterized in that, The reset structure (5) includes a first elastic element (51) and a second elastic element (52). The first elastic element (51) is connected between the base (2) and the first floating plate (3). The first elastic element (51) can restore the first floating plate (3) to the initial position along the first direction after the external force acting on the adaptive positioning element (201) disappears. The second elastic element (52) is connected between the first floating plate (3) and the second floating plate (4); the second elastic element (52) is able to restore the second floating plate (4) to the initial position along the second direction after the external force acting on the adaptive positioning element (201) disappears.

6. The material handling device according to claim 5, characterized in that, At least two first elastic elements (51) are provided, and in the initial position, the forces exerted by all the first elastic elements (51) on the first floating plate (3) along the first direction are balanced; At least two second elastic elements (52) are provided, and in the initial position, all the second elastic elements (52) exert balanced forces on the second floating plate (4) in the second direction.

7. The material handling device according to claim 6, characterized in that, Two first elastic elements (51) are provided. One end of the first elastic element (51) is connected to one side of the base (2) along the first direction, and one end of the other first elastic element (51) is connected to the other side of the base (2) along the first direction. The other ends of the two first elastic elements (51) are connected to the first floating plate (3).

8. The material handling device according to claim 7, characterized in that, The two first elastic elements (51) are located on opposite sides of the base (2) along the second direction.

9. The material handling device according to claim 6, characterized in that, Two second elastic members (52) are provided. One end of the second elastic member (52) is connected to one side of the first floating plate (3) along the second direction, and one end of the other second elastic member (52) is connected to the other side of the first floating plate (3) along the second direction. The other ends of both second elastic members (52) are connected to the second floating plate (4).

10. The material handling device according to claim 9, characterized in that, The two second elastic elements (52) are located on the same side of the first floating plate (3) along the first direction.

11. The material handling device according to any one of claims 1 to 10, characterized in that, The top of the support (20) is fixed with a ball seat (26), and a ball is provided in the ball seat (26), which can rotate relative to the ball seat (26).

12. The material handling device according to any one of claims 1 to 10, characterized in that, The lifting mechanism (23) includes a driving component and a transmission mechanism, wherein the driving component is connected to the support component (20) via the transmission mechanism.

13. The material handling device according to claim 12, characterized in that, The transmission mechanism includes a lead screw (233), a nut (234), and a guide plate (235). The lead screw (233) extends in the vertical direction. The upper end of the lead screw (233) is rotatably mounted on the frame (22). The lower end of the lead screw (233) is connected to the output end of the drive component. The nut (234) is sleeved on the lead screw (233) and connected to the guide plate (235). The guide plate (235) is slidably mounted on the frame (22) in the vertical direction. One end of the support member (20) is fixed on the guide plate (235).

14. The material handling device according to claim 13, characterized in that, The frame (22) includes a horizontal plate and two vertical plates spaced apart. The bottom of the two vertical plates is connected to the housing (10) of the self-moving device (21). The horizontal plate connects to the top of the two vertical plates. Guide rails (24) are fixed on the adjacent sides of the two vertical plates. The guide rails (24) extend in the vertical direction. The opposite sides of the guide plate (235) are slidably installed on the two guide rails (24).

15. The material handling device according to claim 13, characterized in that, The drive unit includes a motor (231) and a gearbox (232). The output shaft of the motor (231) extends horizontally, and the output shaft of the gearbox (232) is perpendicular to the input shaft of the gearbox (232). The input shaft of the gearbox (232) is coaxially connected to the output shaft of the motor (231), and the output shaft of the gearbox (232) is connected to the transmission mechanism.

16. A material transport system, characterized in that, The device includes a hopper (100) and a material handling device (200) according to any one of claims 1 to 15. The hopper (100) includes a housing (10) with a storage space for storing materials. The storage space has an inlet and outlet for feeding and discharging materials.

17. The material transport system according to claim 16, characterized in that, The housing (10) has a top plate (11), a bottom plate (12) and a side plate connecting the top plate (11) and the bottom plate (12). The bottom of the top plate (11) is provided with the positioning structure (13); and / or, the bottom of the bottom plate (12) is provided with the positioning structure (13), which is used to cooperate with the adaptive positioning element (201) on the support (20).

18. The material transport system according to claim 17, characterized in that, The top plate (11) is provided with a first stacking positioning structure (15), and the bottom plate (12) is provided with a second stacking positioning structure (16). In the two material boxes (100) stacked in the vertical direction, the first stacking positioning structure (15) on the lower material box (100) and the second stacking positioning structure (16) on the upper material box (100) are positioned and cooperated to lock the two material boxes (100).

19. The material transport system according to claim 18, characterized in that, The first stacking positioning structure (15) is a stacking protrusion protruding away from the base plate (12), and the second stacking positioning structure (16) is a stacking hole that inserts into the stacking protrusion, the stacking hole having a downward opening; or, The second stacking positioning structure (16) is a stacking protrusion that protrudes to the side away from the top plate (11), and the first stacking positioning structure (15) is a stacking hole that is inserted and engaged with the stacking protrusion, and the stacking hole has an upward opening.

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