[0023] figure 1 Is a schematic diagram of the structure of the present invention, figure 2 for figure 1 Side view, image 3 Is a schematic diagram of the clamping assembly of the present invention, Figure 4 Is a schematic diagram of the car body of the present invention, Figure 5 It is a schematic diagram of the combination of the anti-return block of the present invention, Image 6 It is a schematic diagram of the separation of the stop block of the present invention. As shown in the figure, the robot arm for loading and unloading of the manual trolley in this embodiment includes a trolley body 1, a robot arm assembly mounted on the trolley body 1, and a robot arm assembly The clamping assembly at the end and the auxiliary clamping assembly maintain a stable clamping safety assembly; the mechanical arm assembly includes an arm base 2 arranged on the trolley body 1 for mounting a mechanical arm, and the mechanical arm can be relative to the arm base 2 It is arranged on the arm base 2 in a horizontal plane rotating manner. The mechanical arm includes a telescopic lower arm 21 connected to the arm base 2 at the head end, a telescopic beam 22 connected to the end of the head end and the lower arm 21, and a head end and The crossbeam 23 connected to the end of the crossbeam 22; the clamping assembly is arranged at the end of the crossbeam 23, and the clamping assembly includes a holder 3, a pair of clamping clamps 36 hinged under the holder 3 and can be controlled and clamped, and The hydraulic control assembly between the cage 3 and the clamping clamp 36, the hydraulic control assembly includes a control hydraulic cylinder 32 installed on the cage 3, a gear rod 33 fixedly connected to the output end of the control hydraulic cylinder 32, and a connecting rod 35 One end of the connecting rod 35 is hinged to the inside of the clamping clamp 36, and the other end is hinged to the connecting plate 34 fixedly connected to the end of the gear rod 33; the safety assembly includes a controllable locking and The released stop block 43, the push rod 41 provided on the cage 3, the spring 42 connected between the stop block 43 and the push rod 41, and the sliding plane 4 fixedly connected with the cage 3, the sliding plane 4 is used for the stop block 43 and the push rod 41 to provide sliding support.
[0024] In this embodiment, the trolley body 1 includes a set of rollers 12 for walking. The rollers 12 are used to drive the trolley body 1 to travel. Compared with the wheels, it can bear a larger load and is more stable when transporting heavy objects. Due to the damage of a certain roller, the whole body 1 of the trolley is unbalanced, and the reliability is higher.
[0025] In this embodiment, the trolley body 1 is provided with side panels 11 around it, and at least one side panel 11 is reversible. When the reversible side panels 11 are turned to the ground, they can form a slope with the ground and the bottom of the trolley body 1. It is not necessary to completely lift the heavy objects when clamping heavier goods. The heavy objects can be moved into the trolley by clamping and dragging, which improves safety and reduces the risk of heavy objects falling, even if the clamping clamp 36 fails Damage will not cause personal injury.
[0026] In this embodiment, the control hydraulic cylinder 32 is fixedly installed in the holder 3 through a bracket 31, and its output end is fixedly connected to a rack 33 located vertically below the control hydraulic cylinder 32. The control hydraulic cylinder 32 is mainly used for control The clamping clamp 36 works. When the pressure of the control hydraulic cylinder 32 is released, the rack 33 moves upward to drive the connecting plate 34 upward, and the connecting rod 35 hinged on the connecting plate 34 also moves upward, forcing the two clamping clamps 36 to clamp relative to each other. In this way, the clamping clamp 36 is used to clamp the goods, and then the goods are lifted by controlling the lifting of the mechanical arm, and finally the loading and unloading of the goods is completed.
[0027] In this embodiment, the toothed rod 33 has continuous annular inverted teeth 331, the stop block 43 and the annular inverted tooth 331 are conformally arranged, and the annular inverted tooth 331 on the toothed rod 33 is between the stop block 43 A one-way passage similar to a ratchet and ratchet pair is formed. When the clamping clamp 36 clamps the goods, the two stop blocks 43 are combined under the action of the push rod 41 and the spring 42 to keep the rack 33 from moving upward in only one direction, preventing The rack 33 slides down to reliably clamp the goods.
[0028] In this embodiment, the stop block 43 is in the shape of a semicircular ring platform that can be spliced into a complete ring platform. The outer side of the stop block 43 is connected with a spring 42. The spring 42 drives the relative movement between the stop blocks 43. 43 combined and spliced into a complete toroidal shape can provide more uniform locking to the rack 33, and prevent the unbalanced setting of the stop block 43 from generating an unbalanced force on the rack 33.
[0029] In this embodiment, the push rod 41 is connected to the spring 42 through the holder 3, and the working state of the spring 42 is driven by adjusting the push rod 41 to realize the opening and closing of the stop block 43.
[0030] In this embodiment, the end of the clamping clip 36 is hinged with an adapting block 37 for adapting to the working surface of the clamping operation. Since the clamping clip 36 and the holder 3 are in a hinged state, when clamping When the size of the goods is inconsistent, there will be an angle between the clamping points of the two clamping clamps 36, and the clamping force on the clamping clamp 36 cannot be transmitted to the surface of the goods well, resulting in a waste of clamping force. After the adapting block 37 hinged at the end of the holding clip 36, the adapting block 37 can adapt and adjust its clamping surface to fit the action surface of the cargo in real time, ensuring that the clamping force of the holding clip 36 is better transmitted to the surface of the cargo.
[0031] In this embodiment, the trolley body 1 is provided with a handle 13 to facilitate manual transport of the trolley.
[0032] In this embodiment, the lower arm 21, the cross beam 22, and the cross beam 23 are all controllably driven by hydraulic cylinders to expand and contract. The hydraulic cylinder has a simple structure and reliable operation. When it is used to achieve reciprocating motion, the deceleration device can be eliminated, and There is no transmission gap, the movement is stable, and the hydraulic cylinder is a very mature existing technology, so I will not repeat it here.
[0033] 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 preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be implemented Modifications or equivalent replacements without departing from the purpose and scope of the technical solution of the present invention should be covered by the scope of the claims of the present invention.
