Layered shelving and composite robot

Abstract

The application belongs to the technical field of material transfer, and provides a layered rack and a composite robot. The composite robot comprises the layered rack, the layered rack comprises a rack frame, a plurality of sub-racks and a driving module; the plurality of sub-racks are arranged on the rack frame in a spaced manner along a first direction; the sub-rack comprises a tray and a transmission mechanism, and the transmission mechanism is connected with the tray; the driving module comprises a lifting mechanism and a power mechanism, the lifting mechanism is connected with the power mechanism, and is used for driving the power mechanism to move along the first direction, so that the power mechanism is selectively aligned with any sub-rack; the power mechanism can be detachably engaged with the transmission mechanism of the aligned sub-rack, and can transmit power to the transmission mechanism in the engaged state. The layered rack can independently store a plurality of PCBs in layers, avoids damage of the positioning pins on the PCBs caused by extrusion, interference and the like, can be compatible with PCBs of various different sizes, and can also automatically complete the operation of moving the PCBs out of and into the rack frame, and has high automation degree.

Description

Technical Field

[0001] This application belongs to the field of material transfer technology, and more specifically, relates to a layered rack and composite robot. Background Technology

[0002] With the continuous development of intelligent manufacturing technology, the demand for fully automated loading and unloading in the printed circuit board (PCB) processing field is increasing. Taking the PCB drilling process as an example, higher requirements are placed on the handling and transfer capabilities of robots to achieve unmanned operation.

[0003] However, in the actual PCB drilling process, there are several factors that hinder the realization of unmanned loading and unloading, specifically in the following two aspects: First, PCB product models are frequently switched, and the PCBs processed by different drilling machines vary significantly in length, width, and thickness. Second, PCBs typically have two positioning pins on their edges for processing. To prevent these pins from being misaligned during storage, multiple PCBs are usually stored in a crisscross pattern, stacked in opposite directions to stagger the positioning pins. However, this storage method makes automated gripping and placement difficult. Due to these problems, the loading and unloading work in the PCB drilling process still mainly relies on manual operation, resulting in low automation and low production efficiency. Utility Model Content

[0004] In order to overcome the problems existing in the prior art, the main objective of this application is to provide a layered material rack and a composite robot.

[0005] To achieve the above objectives, this application specifically adopts the following technical solution:

[0006] According to a first aspect of the embodiments of this application, a layered material rack is provided, comprising:

[0007] Frame;

[0008] Multiple sub-shelves, spaced apart along a first direction on the frame; each sub-shelf includes a tray and a transmission mechanism, the transmission mechanism being connected to the tray; and

[0009] A drive module includes a lifting mechanism and a power mechanism. The lifting mechanism is connected to the power mechanism and is used to drive the power mechanism to move along a first direction, so that the power mechanism can selectively align with any of the sub-frames. The power mechanism can be detachably engaged with the transmission mechanism of the aligned sub-frame, and in the engaged state, it can transmit power to the transmission mechanism to drive the transmission mechanism to extend or retract the tray along a second direction, which intersects with the first direction.

[0010] Optionally, the tray is provided with positioning holes and positioning grooves, the positioning grooves are elongated, and the length direction of the positioning grooves is consistent with the second direction.

[0011] Optionally, the transmission mechanism is provided with a first engaging member, and the power mechanism is provided with a second engaging member, the second engaging member being detachably engaged with the first engaging member.

[0012] Optionally, both the first and second engaging members are gears, with the second engaging member used to mesh with the first engaging member.

[0013] Optionally, the transmission mechanism includes a belt drive assembly and a rotating shaft. The belt drive assembly includes two drive wheels and a drive belt. The two drive wheels are spaced apart along the second direction and are rotatably mounted on the frame. The drive belt is wound around the two drive wheels. The tray is connected to the drive belt. The rotating shaft is connected to one of the drive wheels. The first coupling member is mounted on the rotating shaft.

[0014] Optionally, there are multiple belt drive assemblies, and the drive belts of the multiple belt drive assemblies are arranged in parallel. The transmission mechanism also includes a drive shaft, which is connected to one of the drive pulleys of each belt drive assembly.

[0015] Optionally, the transmission mechanism further includes a guide rod connected to the frame and located between the two transmission wheels along the second direction, with the transmission belt passing around the guide rod.

[0016] Optionally, the power mechanism includes a drive engagement component and a power output component, wherein the drive engagement component is connected to the lifting mechanism, the power output component is connected to the drive engagement component, and the second drive engagement component is connected to the power output component.

[0017] Optionally, the power mechanism further includes a movable seat and a transmission rod. The movable seat is slidably disposed on the lifting mechanism along the second direction. The transmission rod is connected to the engagement drive member and the movable seat. The power output member is disposed on the movable seat.

[0018] According to a second aspect of the embodiments of this application, a composite robot is provided, including a mobile chassis, a work box, a manipulator, and a layered material rack as described in any of the above. The work box is disposed on the mobile chassis and has an inlet and outlet. The manipulator is disposed on the work box, and the layered material rack is disposed inside the work box and is disposed corresponding to the inlet and outlet.

[0019] The beneficial effects of the layered rack and composite robot provided in this application are as follows: Compared with the prior art, the layered rack of this application, by arranging multiple sub-racks at intervals along a first direction on the frame, and using a tray to carry PCBs, enables multiple PCBs to be stored independently and layered along the first direction. This avoids damage to the positioning pins on the PCBs due to squeezing or interference, while increasing the storage capacity of PCBs. Furthermore, the tray can carry PCBs of various sizes, improving the compatibility of the layered rack. A lifting mechanism drives a power mechanism to move up and down along the first direction, allowing the power mechanism to selectively align with any of the sub-racks. After the power mechanism and transmission mechanism are detachably engaged, the power mechanism can drive the transmission mechanism to move, thereby causing the tray to extend or retract along a second direction from the frame. This automatically completes the operation of moving PCBs out of and into the frame without manual intervention, resulting in a high degree of automation and improving PCB production efficiency. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 A three-dimensional structural diagram of a layered material rack provided in one embodiment of this application;

[0022] Figure 2 This is a top view of a layered material rack provided in one embodiment of this application;

[0023] Figure 3 for Figure 2 Enlarged structural diagram at point A in the diagram;

[0024] Figure 4 A schematic diagram of the three-dimensional structure of a subframe provided in one embodiment of this application. Figure 1 ;

[0025] Figure 5 A schematic diagram of the three-dimensional structure of a subframe provided in one embodiment of this application. Figure 2 ;

[0026] Figure 6 This is a three-dimensional structural diagram of a drive module provided in one embodiment of this application;

[0027] Figure 7 A three-dimensional structural schematic diagram of a power mechanism provided in one embodiment of this application;

[0028] Figure 8This is a three-dimensional structural diagram of a composite robot provided in one embodiment of this application.

[0029] Explanation of key figure labels:

[0030] 100. Layered material rack; 200. PCB; 201. Positioning pin; 300. Mobile chassis; 400. Work box; 401. Inlet / outlet; 500. Robotic arm; 501. Robotic arm; 502. Gripper; 70. Frame; 10. Sub-frame; 20. Pallet; 21. Positioning hole; 22. Positioning groove; 30. Transmission mechanism; 31. First connecting part; 32. Belt transmission assembly; 321. Transmission wheel; 322. Transmission belt; 323. Rotating shaft; 324. Transmission shaft; 325. Guide rod; 40. Drive module; 50. Lifting mechanism; 51. Frame; 52. Lifting motor; 53. Sliding seat; 54. Lead screw; 60. Power mechanism; 61. Second connecting part; 62. Connecting drive part; 63. Power output part; 64. Mobile seat; 65. Transmission rod; Z, First direction; X, Second direction; Y, Third direction. Detailed Implementation

[0031] To make the technical problems, technical solutions, and beneficial effects to be solved by this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and are not intended to limit the scope of this application.

[0032] It should be noted that when a component is referred to as being "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as being "connected to" another component, it can be directly connected to or indirectly connected to that other component.

[0033] It should be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0035] Please refer to the following: Figures 1 to 7 The layered shelf 100 provided in the embodiments of this application will now be described. The layered shelf 100 is used to store PCB 200, and of course, it can also be used to store glass plates and other materials.

[0036] Please refer to the following: Figures 1 to 3 The layered rack 100 includes a frame 70, multiple sub-racks 10, and a drive module 40. The multiple sub-racks 10 are spaced apart on the frame 70 along a first direction Z. Each sub-rack 10 includes a tray 20 and a transmission mechanism 30. The transmission mechanism 30 is connected to the tray 20. The tray 20 is used to carry PCBs 200. The transmission mechanism 30 is used to drive the tray 20 to move along a second direction X, so that the tray 20 extends or retracts from the frame 70 along the second direction X, thereby moving the PCBs 200 on the tray 20 out or into the frame 70. The drive module 40 includes a lifting mechanism 50 and a power mechanism 60. The lifting mechanism 50 is connected to the power mechanism 60 and is used to drive the power mechanism 60 to move along the first direction Z, so that the power mechanism 60 can selectively align with any sub-frame 10. The power mechanism 60 can be detachably engaged with the transmission mechanism 30 of the aligned sub-frame 10, and can transmit power to the transmission mechanism 30 in the engaged state to drive the transmission mechanism 30 to drive the tray 20 to extend or retract the frame 70 along the second direction X, where the second direction X intersects with the first direction Z.

[0037] It should be noted that the first direction Z can refer to the direction indicated by the arrow pointing to the first direction Z, or it can refer to the direction opposite to the direction indicated by the arrow pointing to the first direction Z. Similarly, the second direction X can refer to the direction indicated by the arrow pointing to the second direction X, or it can refer to the direction opposite to the direction indicated by the arrow pointing to the second direction X.

[0038] Optionally, the first direction Z is the vertical direction and the second direction X is the horizontal direction, so that multiple sub-frames 10 are arranged at intervals along the vertical direction, and the power mechanism 60, under the control of the lifting mechanism 50, can be aligned with the sub-frames 10 of different heights.

[0039] For example, when it is necessary to remove the PCB200 on one of the trays 20 from the frame 70, the lifting mechanism 50 drives the power mechanism 60 to move up and down along the first direction Z, so as to align the height position of the power mechanism 60 in the first direction Z with the height position of the target sub-frame 10. The power mechanism 60 and the transmission mechanism 30 of the target sub-frame 10 are detachably engaged. Then, the power output by the power mechanism 60 is transmitted to the transmission mechanism 30, which drives the transmission mechanism 30 to move the tray 20 out of the frame 70 in the horizontal direction. The tray 20 moves the PCB200 it carries out of the frame 70. After the PCB200 is moved out of the frame 70, the robot arm 500 can grab and transfer the PCB200.

[0040] The tiered material rack 100 provided in this application has at least the following advantages compared with the prior art:

[0041] 1. By arranging multiple sub-racks 10 at intervals along the first direction Z on the frame 70, and using the tray 20 to support the PCB 200, multiple PCBs 200 can be stored independently in layers along the first direction Z. This avoids damage to the positioning pins 201 on the PCBs 200 due to squeezing or interference, while increasing the storage capacity of the PCBs 200. Furthermore, the tray 20 can support PCBs 200 of various sizes, thus improving the compatibility of the layered rack 100.

[0042] 2. The lifting mechanism 50 drives the power mechanism 60 to move up and down along the first direction Z, so that the power mechanism 60 can selectively align with any sub-frame 10. After the power mechanism 60 and the transmission mechanism 30 are detachably engaged, the power mechanism 60 can drive the transmission mechanism 30 to move, thereby causing the tray 20 to extend or retract from the frame 70 along the second direction X. This automatically completes the operation of moving the PCB200 out of and into the frame 70 without manual intervention, resulting in a high degree of automation and improving the production efficiency of the PCB200.

[0043] 3. The movement of the pallets 20 of multiple sub-frames 10 in the second direction X is controlled by the same power transmission, which helps to simplify the structure and save costs.

[0044] 4. Each sub-rack 10 is set up independently and does not affect each other in terms of structure, ensuring that each sub-rack 10 can independently move the PCB200 into or out of the frame 70. Understandably, when loading and unloading the PCB200, only one tray 20 on the sub-rack 10 extends out of the frame 70 at a time, which makes it easy for the robot arm 500 to grab the PCB200 on the tray 20 or place the PCB200 on the tray 20, which is conducive to realizing automatic loading and unloading operations.

[0045] The number of sub-racks 10 is set according to actual needs. For example, the PCB drilling machine has 6 drilling spindles, so the number of sub-racks 10 is set to 12 to meet the needs of simultaneous loading and unloading of PCB drilling machines.

[0046] Combined with appendix Figure 4 and Figure 5 It is understood that the tray 20 is provided with a positioning hole 21 and a positioning groove 22. The positioning groove 22 is elongated, and its length direction is consistent with the second direction X. When the PCB 200 is placed on the tray 20, one of the positioning pins 201 on the PCB 200 passes through the positioning hole 21, and the other positioning pin 201 on the PCB 200 passes through the positioning groove 22.

[0047] The above technical solution, by opening positioning holes 21 and positioning grooves 22 on the tray 20, allows two positioning pins 201 on the PCB 200 to be respectively inserted into the positioning holes 21 and positioning grooves 22 when the tray 20 carries the PCB 200, thereby positioning the PCB 200 and effectively preventing displacement of the PCB 200 relative to the tray 20. Furthermore, by designing the positioning groove 22 as an elongated strip with its length direction aligned with the second direction X, the positioning pins 201 of different sizes are positioned differently within the positioning groove 22. This ensures that the two positioning pins 201 on multiple PCBs 200 of different sizes can be respectively inserted into the positioning holes 21 and positioning grooves 22, thus achieving precise positioning of PCBs 200 of different sizes.

[0048] Combined with appendix Figure 2 and Figure 3 It is understood that the transmission mechanism 30 is provided with a first engaging member 31, and the power mechanism 60 is provided with a second engaging member 61, which is used to detachably engage with the first engaging member 31.

[0049] Specifically, when the second coupling member 61 is detachably engaged with the first coupling member 31 of one of the transmission mechanisms 30, the power mechanism 60 and the transmission mechanism 30 are engaged. The power mechanism 60 transmits power to the transmission mechanism 30 through the second coupling member 61 and the first coupling member 31, driving the transmission mechanism 30 to transport the pallet 20 along the second direction X, so that the pallet 20 extends or retracts from the frame 70 along the second direction X.

[0050] The above technical solution allows the power mechanism 60 to be detachably connected to the first connecting member 31, enabling the power mechanism 60 to flexibly connect and disconnect from the transmission mechanism 30 of different sub-frames 10. The power of the power mechanism 60 is stably and effectively transmitted to the transmission mechanism 30 through the second connecting member 61 and the first connecting member 31, thereby driving the tray 20 to accurately extend or retract from the frame 70 along the second direction X, ensuring the reliability and accuracy of power transmission.

[0051] Combined with appendix Figure 2 and Figure 3 It is understood that both the first engaging member 31 and the second engaging member 61 are gears, with the second engaging member 61 meshing with the first engaging member 31. When the second engaging member 61 is meshed with the first engaging member 31, and the power mechanism 60 drives the second engaging member 61 to rotate, the second engaging member 61 drives the first engaging member 31 to rotate, and the first engaging member 31 drives the power mechanism 60 to move.

[0052] The above technical solution, by using gears for the first coupling member 31 and the second coupling member 61, and achieving separable engagement through gear meshing, can ensure that the power output of the power mechanism 60 is stably and accurately transmitted to the transmission mechanism 30, thereby making the extension or retraction of the tray 20 along the second direction X more smooth and reliable, effectively ensuring the positional accuracy of the PCB200 during the transfer process, and reducing the risk of PCB200 shifting or being damaged due to unstable power transmission.

[0053] Alternatively, the first connecting member 31 can be a lever, and the second connecting member 61 can be a lever. When the lever is located on the rotation path of the lever, the transmission mechanism 30 drives the lever to rotate, which in turn moves the lever, causing the lever to move the transmission mechanism 30. Alternatively, the first connecting member 31 can have a groove, and the second connecting member 61 can be a protrusion. The protrusion and groove engage to allow the second connecting member 61 to be separably connected to the first connecting member 31. Alternatively, both the first connecting member 31 and the second connecting member 61 can be magnets. The first connecting member 31 attracts the second connecting member 61 to allow the second connecting member 61 to be separably connected to the first connecting member 31. Or, the first connecting member 31 can have a hole, and the second connecting member 61 can be a pin. The pin is inserted into the hole to allow the second connecting member 61 to be separably connected to the first connecting member 31.

[0054] Combined with appendix Figure 4 and Figure 5 It is understood that the transmission mechanism 30 includes a belt drive assembly 32 and a rotating shaft 323. The belt drive assembly 32 includes two drive wheels 321 and a drive belt 322. The two drive wheels 321 are spaced apart along the second direction X and are rotatably mounted on the frame 70. The drive belt 322 is wound around the two drive wheels 321. The tray 20 is connected to the drive belt 322. The rotating shaft 323 is connected to one of the drive wheels 321. The first coupling member 31 is mounted on the rotating shaft 323.

[0055] For example, when the transmission mechanism 30 drives the rotating shaft 323 to rotate through the second coupling member 61 and the first coupling member 31, the rotating shaft 323 drives the transmission wheel 321 connected to the rotating shaft 323 to rotate, and the transmission belt 322 starts to move under the drive of the transmission wheel 321, and drives the tray 20 to move along the second direction X. Another transmission wheel 321 rotates under the drive of the transmission belt 322.

[0056] The above technical solution uses two transmission wheels 321 that are spaced apart and rotatably mounted on the frame 70 along the second direction X. Together with the transmission belt 322, they form a stable transmission path. When the power of the transmission mechanism 30 is transmitted to the transmission wheels 321 in sequence through the first coupling 31 and the rotating shaft 323, the transmission belt 322 can drive the tray 20 to move along the second direction X in a uniform and smooth manner. This ensures that the process of the tray 20 extending or retracting from the frame 70 is smoother and reduces the shaking or offset of the PCB 200 during movement.

[0057] Optionally, the transmission wheel 321 can be a gear, and the transmission belt 322 can be a toothed belt, with the transmission belt 322 meshing with the two transmission wheels 321. Alternatively, the transmission belt 322 can make frictional contact with the two transmission wheels 321. Or, the transmission wheel 321 can be a sprocket, and the transmission belt 322 can be replaced by a chain, with the chain meshing with the sprocket. Alternatively, the transmission mechanism 30 can be a lead screw and slide rail mechanism.

[0058] Combined with appendix Figure 4 It is understood that the transmission mechanism 30 also includes a transmission shaft 324, and multiple belt drive assemblies 32. The transmission belts 322 of the multiple belt drive assemblies 32 are arranged parallel to each other along a third direction Y. The transmission shaft 324 is connected to a transmission wheel 321 of each belt drive assembly 32. The first direction Z, the second direction X, and the third direction Y are perpendicular to each other. For example, the first direction Z is vertical, the second direction X is horizontal, and the third direction Y is vertical. When the transmission mechanism 30 drives one of the belt drive assemblies 32 to operate via the first coupling member 31 and the rotating shaft 323, that belt drive assembly 32 drives the remaining belt drive assemblies 32 to operate synchronously via the transmission shaft 324.

[0059] The above technical solution, by arranging the drive belts 322 of multiple belt drive assemblies 32 in parallel, enables multiple drive belts 322 to jointly support the pallet 20, ensuring the stability of the pallet 20 during movement and effectively avoiding shaking or displacement caused by uneven force, thereby ensuring the accurate positioning of the PCB 200 carried on the pallet 20 when moving into or out of the frame 70; by connecting the drive shaft 324 to a drive wheel 321 of each belt drive assembly 32, multiple belt drive assemblies 32 can operate synchronously, and only one transmission mechanism 30 is needed to drive multiple belt drive assemblies 32 to work together, simplifying the power transmission structure and reducing the manufacturing cost of the rack.

[0060] Optionally, there are two belt drive assemblies 32, which are arranged on opposite sides of the frame 70 along the third direction Y.

[0061] Combined with appendix Figure 4It is understood that the transmission mechanism 30 also includes a guide rod 325. The length direction of the guide rod 325 is consistent with the second direction X. The guide rod 325 is connected to the frame 70 and is located between the two transmission wheels 321 along the second direction X. The transmission belt 322 passes around the guide rod 325.

[0062] By setting a guide rod 325 connected to the frame 70 and located between the two drive wheels 321 along the second direction X, the drive belt 322 is routed around the guide rod 325. The guide rod 325 guides the drive belt 322, ensuring the stability of the pallet 20 when it extends or retracts from the frame 70 along the second direction X, preventing the PCB 200 on the pallet 20 from shifting or being damaged due to shaking, thereby improving the reliability of the tiered rack 100 in the PCB 200 transfer process. It also provides effective support to the middle area of ​​the drive belt 322, preventing excessive sagging or deformation of the drive belt 322 under the weight of the pallet 20 and PCB 200, ensuring the tension and stability of the drive belt 322 during operation. Furthermore, the guide rod 325 can distribute the pressure on the drive belt 322, reducing wear caused by long-term load-bearing and extending the service life of the drive belt 322.

[0063] Combined with appendix Figure 6 It is understood that the lifting mechanism 50 includes a frame 51, a lifting motor 52, a sliding seat 53 and a lead screw 54. The lifting motor 52 is mounted on the frame 51, the sliding seat 53 is slidably mounted on the frame 51 along the first direction Z, the lead screw 54 is connected to the lifting motor 52 and is threadedly connected to the sliding seat 53, and the transmission mechanism 30 is mounted on the sliding seat 53.

[0064] When the lifting mechanism 50 is working, the lifting motor 52 starts and drives the lead screw 54 to rotate. The rotational motion of the lead screw 54 is converted into the linear motion of the sliding seat 53 along the first direction Z, which in turn drives the power mechanism 60 set on the sliding seat 53 to move synchronously along the first direction Z, so as to realize the position adjustment of the power mechanism 60 in the first direction Z, so as to accurately align with the target subframe 10.

[0065] In the above technical solution, the lifting mechanism 50, through the cooperation of the lifting motor 52, the lead screw 54 and the sliding seat 53, can accurately and stably drive the transmission mechanism 30 to move along the first direction Z, ensuring that the power mechanism 60 can be accurately aligned with the sub-frames 10 at different heights.

[0066] Combined with appendix Figure 3 , Figure 6 and Figure 7It is understood that the power mechanism 60 includes a drive member 62 and a power output member 63. The drive member 62 is connected to the lifting mechanism 50, the power output member 63 is connected to the drive member 62, and the second drive member 61 is connected to the power output member 63. The drive member 62 is used to drive the second drive member 61 to engage or disengage from the first drive member 31.

[0067] For example, when it is necessary to extend the pallet 20 of the target sub-shelf 10 out of the frame 70, the lifting mechanism 50 drives the power mechanism 60 to move along the first direction Z until the height position of the power mechanism 60 is aligned with the height position of the target sub-shelf 10. Then, the engagement drive member 62 drives the power output member 63 and the second engagement member 61 to approach the first engagement member 31 of the target sub-shelf 10 until the second engagement member 61 engages with the first engagement member 31. The power mechanism 60 transmits power to the transmission mechanism 30 through the second engagement member 61 and the first engagement member 31, driving the transmission mechanism 30 to extend the pallet 20 out of the frame 70.

[0068] The above technical solution, by driving the second engaging member 61 to engage or disengage with the first engaging member 31 of the transmission mechanism 30 through the engaging drive member 62, can precisely control the engagement position of the second engaging member 61 and the first engaging member 31, avoiding power transmission interruption or failure due to poor engagement, and ensuring the reliability and stability of the power output member 63 transmitting power to the transmission mechanism 30. Simultaneously, before the lifting mechanism 50 drives the power mechanism 60 to move along the first direction Z, the engaging drive member 62 drives the second engaging member 61 to separate from the first engaging member 31 in advance, effectively preventing collisions or interference between the second engaging member 61 and the transmission mechanisms 30 of each sub-rack 10 when the power mechanism 60 moves along the first direction Z. Furthermore, under the drive of the engaging drive member 62, the second engaging member 61 automatically engages or disengages with the first engaging member 31 of the transmission mechanism 30 without manual operation, improving the automation level of the layered material rack 100, ensuring smoother connections between various links during PCB 200 storage and retrieval, and contributing to improved overall operational efficiency.

[0069] Optionally, the engagement drive 62 is used to drive the power output member 63 and the second engagement member 61 to move along the second direction X, so that the second engagement member 61 engages or disengages from the first engagement member 31.

[0070] Combined with appendix Figure 3 and Figure 7 It is understood that the power mechanism 60 also includes a movable seat 64 and a transmission rod 65. The movable seat 64 is slidably mounted on the lifting mechanism 50 along the second direction X. The transmission rod 65 is connected to the engagement drive member 62 and the movable seat 64. The power output member 63 is mounted on the movable seat 64. Specifically, the engagement drive member 62 is mounted on the sliding seat 53, and the movable seat 64 is slidably mounted on the sliding seat 53.

[0071] When the engagement drive member 62 drives the moving seat 64 to move along the second direction X via the transmission rod 65, the moving seat 64 drives the power output member 63 to move closer to or away from the first engagement member 31 along the second direction X, so that the second engagement member 61 engages or separates from the first engagement member 31. Specifically, when the lifting mechanism 50 drives the power mechanism 60 to move along the first direction Z to align with the target sub-frame 10, the engagement drive member 62 actuates and drives the movable seat 64 to slide along the second direction X via the transmission rod 65, causing the power output member 63 mounted on the movable seat 64 to approach the first engagement member 31 along the second direction X until the second engagement member 61 and the first engagement member 31 are engaged; then the power output member 63 outputs power, which is transmitted to the transmission mechanism 30 through the second engagement member 61 and the first engagement member 31, so that the transmission mechanism 30 drives the tray 20 to move; when the operation is completed, the engagement drive member 62 drives the movable seat 64 to slide in the opposite direction via the transmission rod 65, so that the second engagement member 61 and the first engagement member 31 are separated, so that the power mechanism 60 can be aligned with other sub-frames 10 under the drive of the lifting mechanism 50.

[0072] The above technical solution, by setting a movable seat 64 that slides along the second direction X and a transmission rod 65 that connects the engagement drive component 62 and the movable seat 64, can achieve precise docking and separation of the power output component 63 and the transmission mechanism 30 of the sub-frame 10, thereby improving the controllability and reliability of the engagement action; the design of the movable seat 64 sliding along the second direction X is consistent with the movement direction of the tray 20, and the structural design is reasonable, which can make the power transmission path more reasonable and reduce power loss.

[0073] Optionally, the engagement drive 62 is a motor, and the transmission rod 65 is a threaded rod, which is threadedly connected to the movable seat 64. Alternatively, the engagement drive 62 is a cylinder, and the transmission rod 65 is a push rod, with the end of the push rod away from the engagement drive 62 fixedly connected to the movable seat 64.

[0074] Optionally, the power output component 63 is a motor, and the output shaft of the power output component 63 is connected to the second coupling component 61. Alternatively, the output shaft of the power output component 63 is connected to the second coupling component 61 via a flexible coupling.

[0075] Alternatively, while the lifting mechanism 50 drives the power mechanism 60 to align with the target sub-frame 10, the second engaging member 61 and the first engaging member 31 can be detachably engaged. For example, the first engaging member 31 has a slot that extends along the first direction Z, and the second engaging member 61 is a locking block. When the lifting mechanism 50 drives the power mechanism 60 to move along the first direction Z, the second engaging member 61 moves synchronously with the power mechanism 60. When the power mechanism 60 aligns with the target sub-frame 10, the locking block slides into the slot. Thus, when the transmission mechanism 30 drives the second engaging member 61 to move, the second engaging member 61 drives the first engaging member 31 to move, and the first engaging member 31 drives the transmission mechanism 30 to move.

[0076] Combined with appendix Figure 8 It is understood that this application also provides a composite robot, which includes a mobile chassis 300, a work box 400, a robotic arm 500, and a layered material rack 100 of any of the above embodiments. The work box 400 is disposed on the mobile chassis 300 and has an inlet / outlet 401. The robotic arm 500 is disposed on the work box 400, and the layered material rack 100 is disposed inside the work box 400 and is correspondingly disposed to the inlet / outlet 401.

[0077] For example, the working process of a composite robot includes the following steps:

[0078] S10: The mobile chassis 300 moves the work box 400, the robotic arm 500 and the layered material rack 100 to the target position of the PCB200 drilling machine.

[0079] S20: The lifting mechanism 50 drives the power mechanism 60 to move along the first direction Z, so that the power mechanism 60 is aligned with the subframe 10 at the target height.

[0080] S30: Engagement drive 62 drives second engagement member 61 to approach first engagement member 31 of subframe 10 until second engagement member 61 engages with first engagement member 31.

[0081] S40: The power output component 63 transmits power to the transmission mechanism 30 through the second coupling component 61 and the first coupling component 31.

[0082] S50: The transmission mechanism 30 drives the pallet 20 to extend out of the working box 400 along the second direction X through the inlet / outlet 401 under the action of power.

[0083] S60: The robotic arm 500 picks up the PCB200 on the tray 20 and transfers it to the station of the PCB200 drilling machine; or picks up the PCB200 from the station of the PCB200 drilling machine and places it on the tray 20.

[0084] S70: The power mechanism 60 reverses the drive transmission mechanism 30, causing the tray 20 to retract into the work box 400.

[0085] S80: Engagement drive 62 drives second engagement member 61 away from first engagement member 31 of subframe 10 until second engagement member 61 separates from first engagement member 31.

[0086] S90: The lifting mechanism 50 drives the power mechanism 60 to align with other sub-frames 10 to repeatedly perform material picking or storage actions.

[0087] Compared with the prior art, the composite robot provided in this application integrates a mobile chassis 300, a work box 400, a robotic arm 500, and a layered material rack 100, realizing automated operation of the PCB200 loading and unloading process, reducing manual intervention, and improving production efficiency.

[0088] Optionally, the robotic arm 500 includes a robotic arm 501 and a gripper 502. One end of the robotic arm 501 is fixedly connected to the work box 400, and the gripper 502 is connected to the other end of the robotic arm 501. The gripper 502 is used to grasp the PCB 200.

[0089] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A tiered material rack, characterized in that, include: Frame; Multiple sub-shelves are spaced apart on the frame along a first direction; each sub-shelf includes a tray and a transmission mechanism, the transmission mechanism being connected to the tray. as well as A drive module includes a lifting mechanism and a power mechanism. The lifting mechanism is connected to the power mechanism and is used to drive the power mechanism to move along a first direction, so that the power mechanism can selectively align with any of the sub-frames. The power mechanism can be detachably engaged with the transmission mechanism of the aligned sub-frame, and in the engaged state, it can transmit power to the transmission mechanism to drive the transmission mechanism to extend or retract the tray along a second direction, which intersects with the first direction.

2. The tiered material rack as described in claim 1, characterized in that: The tray is provided with positioning holes and positioning grooves. The positioning grooves are elongated and their length direction is consistent with the second direction.

3. The tiered material rack as described in claim 1, characterized in that: The transmission mechanism is provided with a first engaging member, and the power mechanism is provided with a second engaging member, the second engaging member being detachably engaged with the first engaging member.

4. The tiered material rack as described in claim 3, characterized in that: Both the first and second engaging members are gears, and the second engaging member is used to mesh with the first engaging member.

5. The tiered material rack as described in claim 3, characterized in that: The transmission mechanism includes a belt drive assembly and a rotating shaft. The belt drive assembly includes two drive wheels and a drive belt. The two drive wheels are spaced apart along the second direction and are rotatably mounted on the frame. The drive belt is wound around the two drive wheels. The tray is connected to the drive belt. The rotating shaft is connected to one of the drive wheels. The first coupling member is mounted on the rotating shaft.

6. The tiered material rack as described in claim 5, characterized in that: The belt drive assembly is a plurality of such assemblies, and the drive belts of the plurality of belt drive assemblies are arranged in parallel. The transmission mechanism also includes a drive shaft, which is connected to one of the drive pulleys of each of the belt drive assemblies.

7. The tiered material rack as described in claim 5, characterized in that: The transmission mechanism further includes a guide rod, which is connected to the frame and located between the two transmission wheels along the second direction, and the transmission belt passes around the guide rod.

8. The tiered material rack as described in claim 3, characterized in that: The power mechanism includes a drive engagement component and a power output component. The drive engagement component is connected to the lifting mechanism, the power output component is connected to the drive engagement component, and the second drive engagement component is connected to the power output component.

9. The tiered material rack as described in claim 8, characterized in that: The power mechanism further includes a movable seat and a transmission rod. The movable seat is slidably disposed on the lifting mechanism along the second direction. The transmission rod is connected to the engagement drive member and the movable seat. The power output member is disposed on the movable seat.

10. A composite robot, characterized in that, The device includes a mobile chassis, a work box, a robotic arm, and a tiered material rack as described in any one of claims 1-9. The work box is mounted on the mobile chassis and has inlet and outlet ports. The robotic arm is mounted on the work box, and the tiered material rack is mounted inside the work box and is correspondingly arranged with the inlet and outlet ports.

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