A material taking device capable of deviation correction and a planar material bin thereof

Abstract

The application relates to the technical field of warehouse logistics, in particular to a material taking device capable of correcting deviation and a plane material warehouse, wherein the material taking device comprises a support and a grabbing mechanism installed through the support; the material taking device further comprises an angle measuring mechanism and a rotating mechanism; the rotating mechanism is connected with the support; the angle measuring mechanism is installed through the support; the angle measuring mechanism is suitable for detecting the angle deviation between the placing posture of a board in a horizontal plane and an expected placing posture; and the rotating mechanism can make the support rotate on the horizontal plane.

Description

Technical Field

[0001] This application relates to the technical field of warehousing and logistics, specifically a material picking device capable of correcting deviation; this application also relates to a planar silo utilizing the material picking device therein. Background Technology

[0002] The sheet metal is known to be stacked into racks and stored in a silo. During stacking, a transfer device is used to pick up, move, and place it in a selected pallet or stacking location.

[0003] For example, a utility model patent with publication number CN212652803U and titled "Artificial Board Cutting Device" describes a transfer frame. The transfer frame is a rectangular frame with multiple rollers at its bottom. The rollers cooperate with a sliding groove and can move left and right within the groove. The top of the transfer frame is equipped with a mounting frame, and the bottom of the mounting frame is equipped with a cylinder. The push rod of the cylinder is connected to a suction cup frame, which is equipped with multiple vacuum suction cups to adsorb large-sized artificial boards and transport them to the stacking area, reducing labor intensity.

[0004] For example, the utility model patent with announcement number CN212312254U and title "A feeding device for a veneer hot press" describes a material picking mechanism. The material picking mechanism includes a transmission component and several material picking components installed on the transmission component. The material picking components are equipped with vacuum suction cups for adsorbing the sheet material.

[0005] In reality, the placement of the engineered wood panels to be transferred or picked up is not regular. Some have their long sides parallel to the long sides of the transfer or picking devices, while others are off-center and not parallel. Therefore, after the aforementioned transfer or picking devices move the engineered wood panels to the next process, the functional components of the next process need to correct the alignment of the engineered wood panels, such as by using movable supports or guide supports, to ensure that the engineered wood panels are placed at the prescribed angle. Utility Model Content

[0006] In practice, it is difficult to install a correction device at every stacking position in the silo, or to equip every pallet with a correction device. Therefore, using existing transfer or picking devices cannot achieve neat stacking, and the stacks are likely to be crooked. This application provides a transfer device capable of correction, which can detect the amount of deviation of the sheet material from a standard position, correct the deviation, and finally place it in the target pallet position or stacking position to achieve neat stacking. This application specifically uses the following technical solution:

[0007] A material handling device capable of correction includes a support and a gripping mechanism mounted on the support; the material handling device further includes an angle measuring mechanism and a rotating mechanism, the rotating mechanism being connected to the support, the angle measuring mechanism being mounted on the support, the angle measuring mechanism being suitable for detecting the angular deviation between the placement posture of the material in a horizontal plane and the expected placement posture, and the rotating mechanism enabling the support to rotate in a horizontal plane.

[0008] With the above structure and the setting of the angle measuring mechanism, after the gripping mechanism grips the board, the angle measuring mechanism first detects and measures the angle deviation between the placement posture of the board in the horizontal plane and the expected placement posture, and then transmits it to the rotating mechanism through the control system. Finally, the rotating mechanism corrects this angle deviation by deflecting by the same angle, so that the posture of the board conforms to the expected placement posture.

[0009] Preferably, the angle measuring mechanism is suitable for detecting the angle deviation between the edge of the plate and the standard rod.

[0010] Preferably, the angle measuring mechanism includes the standard rod, a swing arm that rotates the standard rod around a base point, a rotary drive that drives the swing arm to rotate, several photoelectric sensors spaced apart along the axial direction of the standard rod, and a rotary encoder. The swing arm is hinged to the bracket, and during rotation, the axial direction of the standard rod always coincides with the x-axis direction. The rotary encoder is mounted on the hinge point of the swing arm.

[0011] Preferably, the swing arm includes a first link and a second link, the first link and the second link are of equal length and parallel to each other, and the standard rod, the first link, the second link and the bracket constitute a planar four-bar linkage.

[0012] Preferably, the rotary drive is a pneumatic rod, which is pivotally connected to the bracket via a pneumatic rod seat, and its telescopic end is hinged to the first connecting rod.

[0013] Preferably, the angle measuring mechanism includes two photoelectric sensors, which are respectively disposed at both ends of the standard rod.

[0014] Preferably, the material handling device further includes a lifting mechanism that connects the support and the rotating mechanism.

[0015] Preferably, the material handling device further includes a dimension measuring mechanism mounted via the bracket.

[0016] Preferably, the dimensional measuring mechanism includes a cylinder and a pull-cord encoder.

[0017] In this technical solution, the correction function achieved by the angle measuring mechanism and the rotation mechanism enables the dimension measuring mechanism composed of the cylinder and the pull rope encoder to correct the detected dimension data, so as to avoid the influence of the deflection of the plate posture on the detected dimension data and obtain more accurate plate width and / or length.

[0018] The second objective of this application is to provide a planar hopper that utilizes the aforementioned corrective material handling device.

[0019] Preferably, the planar hopper also includes a fence for dividing the storage area of ​​the hopper, a transfer mechanism for moving the gripping device between the loading position and a specific stacking position in the storage area, and a control system.

[0020] Using the material handling device and its planar hopper provided in this application, which is capable of correcting deviations, the deviation between the initial placement posture and the predetermined posture of the sheet metal in the horizontal plane can be corrected, thereby achieving a neat stacking effect. Attached Figure Description

[0021] The accompanying drawings, which form part of this application, are used to provide further explanation of this application. The illustrative embodiments of this application and their descriptions are used to explain this application and do not constitute an undue limitation of this application.

[0022] Figure 1 This is a schematic diagram of a material handling device capable of correction and its planar hopper provided in an embodiment of this application.

[0023] Figure 2 This is a schematic diagram of a material handling device provided in an embodiment of this application.

[0024] Figure 3 This is a schematic diagram of a gripping mechanism provided in an embodiment of this application.

[0025] Figure 4 This is a schematic diagram of an angle measuring mechanism provided in an embodiment of this application.

[0026] In the above figures: 10, material handling device; 110, lifting mechanism; 120, support; 130, gripping mechanism; 140, angle measuring mechanism; 141, standard rod; 142, drive swing arm; 1421, first connecting rod; 1422, second connecting rod; 143, rotary drive; 144, photoelectric sensor; 145, rotary encoder; 150, rotating mechanism; 160, dimension measuring mechanism; 1161, cylinder; 162, pull rope encoder; 20, transfer device; 30, plate; 40, loading position; 50, stacking position; 60, fence. Detailed Implementation

[0027] The technical solutions in this application are described clearly and completely below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit this application or its application or use. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0028] Reference Figure 1 The planar hopper shown includes a fence 60 for dividing the storage area into sections, a picking device 10, a transfer device 20 for transferring the picking device 10 (with or without gripped sheet metal 30) between a loading position 40 and a specific stacking position 50 within the storage area, and a control system. The control system is any of the prior art, such as a PLC control cabinet, and both the picking device 10 and the transfer device 20 are electrically connected to the control system.

[0029] The fence 60 includes at least two opposing fence surfaces, each with a certain height, length, and strength. In this embodiment, the fence 60 includes a frame structure, with a transfer device 20 mounted on its top.

[0030] The transfer device 20 includes any of the existing x-axis and y-axis mechanisms. In this embodiment, both the x-axis and y-axis mechanisms are synchronous belt servo modules. A movable seat for the picking device 10 is screwed onto the y-axis mechanism, thereby enabling the transfer device 20 to drive the picking device 10 to move in both the x-axis and y-axis directions. In other words, the picking device 10 can be transferred between the loading position 40 and a specific stacking position 50 in the storage area.

[0031] The material handling device 10 includes a lifting mechanism 110, a support 120, a gripping mechanism 130, an angle measuring mechanism 140, and a rotating mechanism 150.

[0032] refer to Figure 2 and Figure 3 As shown, the rotating mechanism 150 connects the movable base and the lifting mechanism 110. The rotating mechanism 150 is a prior art gear transmission mechanism, for example, including a motor fixedly mounted on the movable base, an input shaft connected to the output shaft bearing of the motor, a small gear sleeved on the input shaft, a large gear meshing with the small gear, and an output shaft inserted in the large gear. The lifting mechanism 110 is screwed or welded to the output shaft, so that the rotating mechanism 150 can drive the lifting mechanism 110 and the bracket 120, gripping mechanism 130, etc., mounted through the lifting mechanism 110 to rotate in the horizontal plane.

[0033] The lifting mechanism 110 can be any of the prior art. In this embodiment, the lifting mechanism 110 includes a mounting base connected to the rotating mechanism, a robotic arm mounted on the mounting base, and an assembly base. The bracket 120 is screwed onto the assembly base located at the end of the robotic arm, so that the lifting mechanism 110 can drive the bracket 120 and the gripping mechanism 130 mounted on the bracket 120 to move up and down in the z-axis direction.

[0034] In some other embodiments, the lifting mechanism can be connected to the z-axis mechanism rotating mechanism 150 of the transfer mechanism 20, and the bracket 120 is mounted on the rotating mechanism 150.

[0035] The bracket 120 is a metal frame used to provide space and support for the installation of the gripping mechanism 130 and the angle measuring mechanism 140. In this embodiment, the bracket 120 includes a support plate screwed onto the mounting base, and a frame with a certain width that is screwed or welded to the support plate.

[0036] The gripping mechanism 130 is a prior art device, such as a clamping arm mechanism or a vacuum adsorption mechanism. In this embodiment, the gripping mechanism 130 is a vacuum adsorption mechanism, and for the purpose of stably adsorbing the large-format sheet 30, it includes multiple vacuum suction cups, which are mounted by a frame and connected to an external vacuum source.

[0037] Angle measuring unit 140 is mounted via bracket 120. Angle measuring unit 140 includes a standard rod 141, a swing arm 142 that rotates the standard rod 141 around a base point, a rotary drive 143 that drives the swing arm 142 to rotate, several photoelectric sensors 144 spaced apart along the axial direction of the standard rod 141, and a rotary encoder 145. The swing arm 142 is hinged to the bracket 120, and during rotation, the axial direction of the standard rod 141 always coincides with the x-axis direction. The rotary encoder 145 is mounted on the hinge point of the swing arm 142.

[0038] In this embodiment, the swing arm 142 includes a first link 1421 and a second link 1422. The first link 1421 and the second link 1422 are of equal length and parallel to each other. The standard rod 141, the first link 1421, the second link 1422, and the bracket 120 form a parallelogram-shaped planar four-bar linkage, so that when the standard rod 141 rotates with the swing arm 142, its axial direction always coincides with the x-axis direction. Here, the x-axis direction is taken as the axial direction of the length direction of the preset placement posture of the plate 30.

[0039] In addition, the rotary drive 143 is a pneumatic rod, which is pivotally connected to the bracket 120 via a pneumatic rod seat, and its telescopic end is hinged to the first connecting rod 1421.

[0040] In addition, the angle measuring mechanism 140 includes two photoelectric sensors 144, which are respectively disposed at both ends of the standard rod 141. The two photoelectric sensors 144 are electrically connected to the rotary encoder 145. Thus, the angle measuring mechanism 140 can detect the angular deviation between the placement posture of the plate 30 in the horizontal plane and the expected placement posture, specifically detecting the angular deviation between the edge of the plate 30 and the standard rod 141.

[0041] The material handling mechanism 10 also includes a dimension measuring mechanism 160 mounted via a bracket 120. The dimension measuring mechanism 160 includes a combination of a cylinder 161 and a drawstring encoder 162, which are respectively positioned in the width direction and the length direction to measure the length and width.

[0042] In this embodiment, the planar hopper operates as follows: the transfer device 20 moves the picking device 10 above the loading position 40, and the lifting mechanism 110 descends so that the gripping mechanism 130 can adsorb the plate 30. At this time, the rotating mechanism 150 is in its initial position, that is, the axial direction of the standard rod 141 is aligned with the x-axis and close to the support 120. Subsequently, the rotation drive 143 retracts to drive the standard rod 141 to swing away from the support 120. If the two photoelectric sensors 144 mounted on the standard rod 141 simultaneously sense the edge of the plate 30, it indicates that the posture of the plate 30 is correct, and the axis of the length direction of the plate 30 is aligned with the x-axis. The rotary encoder 145 acquires the angle data 0, converts it into an electrical signal, and controls the rotating mechanism 150 to remain stationary. If the two photoelectric sensors 144 installed on the standard rod 141 sense the edge of the plate 30 one after another, it indicates that the posture of the plate 30 has deflected. The rotary encoder 145 obtains the angle of rotation of the standard rod 141 between the edges of the plate 30 sensed by the two photoelectric sensors 144 one after the other, converts the angle data into an electrical signal, and controls the rotating mechanism 150 to rotate at the same angle to correct the angle of deflection.

[0043] For example, with Figure 3 For example, the swing of the standard rod 141 is counterclockwise. If the first photoelectric sensor 144 senses the edge of the plate 30 first, the rotating mechanism 150 drives the plate 30 to rotate clockwise by the same angle to correct the angle deflection. If the second photoelectric sensor 144 senses the edge of the plate 30 first, the rotating unit 150 drives the plate 30 to rotate counterclockwise by the same angle to correct the angle deflection.

[0044] While the angle measuring mechanism 140 and the rotation mechanism 150 are correcting the deviation, the dimension measuring mechanism 160 detects the width and length of the plate 30 to determine the designated stacking position 50 of the plate 30.

[0045] Finally, the control system causes the transfer device 20 to carry the board 30 to the designated stacking position 50 above it, the lifting mechanism 110 descends, and the gripping mechanism 130 cuts off the air supply to place the board 30.

[0046] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A material handling device capable of correction of deviation, the material handling device (10) comprising a support (120) and a gripping mechanism (130) mounted via the support (120); characterized in that, The material handling device (10) further includes an angle measuring mechanism (140) and a rotating mechanism (150). The rotating mechanism (150) is connected to the bracket (120). The angle measuring mechanism (140) is installed through the bracket (120). The angle measuring mechanism (140) is suitable for detecting the angle deviation between the placement posture of the plate (30) in the horizontal plane and the expected placement posture. The rotating mechanism (150) enables the bracket (120) to rotate in the horizontal plane.

2. The material handling device capable of correction according to claim 1, characterized in that, The angle measuring mechanism (140) is suitable for detecting the angle deviation between the edge of the plate (30) and the standard rod (141).

3. The material handling device capable of correction according to claim 2, characterized in that, The angle measuring mechanism (140) includes the standard rod (141), a swing arm (142) that rotates the standard rod (141) around a base point, a rotary drive (143) that drives the swing arm (142) to rotate, a number of photoelectric sensors (144) spaced apart along the axial direction of the standard rod (141), and a rotary encoder (145). The swing arm (142) is hinged to the bracket (120), and during rotation, the axial direction of the standard rod (141) always coincides with the x-axis direction. The rotary encoder (145) is mounted on the hinge point of the swing arm (142).

4. The material handling device capable of correction according to claim 3, characterized in that, The swing arm (142) includes a first link (1421) and a second link (1422). The first link (1421) and the second link (1422) are of equal length and parallel to each other. The standard rod (141), the first link (1421), the second link (1422) and the bracket (120) constitute a planar four-bar linkage.

5. The material handling device capable of correction according to claim 3 or 4, characterized in that, The rotary drive (143) is a pneumatic rod, which is pivotally connected to the bracket (120) via a pneumatic rod seat, and its telescopic end is hinged to the first connecting rod (1421).

6. The material handling device capable of correction according to claim 3, characterized in that, The angle measuring mechanism (140) includes two photoelectric sensors (144), which are respectively disposed at both ends of the standard rod (141).

7. The material handling device capable of correction according to claim 1, characterized in that, The material handling device (10) also includes a lifting mechanism (110) that connects the support (120) and the rotating mechanism (150).

8. The material handling device capable of correcting deviation according to claim 1, characterized in that, The material handling device (10) also includes a size measuring mechanism (160) mounted on the bracket (120), the size measuring mechanism (160) including a cylinder (161) and a rope encoder (162).

9. A planar silo, characterized in that, The material handling device (10) as described in any one of claims 1 to 8 is utilized.

10. The planar silo according to claim 9, characterized in that, The planar silo also includes a fence (60) for dividing the storage area of ​​the silo, a transfer device (20) for transferring the picking device (10) between the loading position (40) and a specific stacking position (50) in the storage area, and a control system.

Images