A multi-tray based continuous transfer gripping system

Abstract

A kind of continuous transfer gripping system based on multi-tray, including gripping part and several groups of sequentially arranged fixed seat for placing transfer trolley, the fixed seat is half-enclosed structure, and the opening of half-enclosed has the extension plate that expands to both sides, one L-shaped plate is arranged on the two side edges of the fixed seat, the horizontal edge of the L-shaped plate has a strip-shaped mounting hole, and is bolted on the fixed seat, the upper part and the outer side of the vertical edge of L-shaped plate are provided with two groups of guide wheels with perpendicular included angle by bearing, and the other side of fixed seat is provided with a limit plate;System sets two blank tray transfer trolleys and two empty tray transfer trolleys, cooperates corresponding ground fixed seat, can simultaneously carry multiple material trays, compared with traditional single-tray transfer equipment, significantly improves the material transfer amount.The design of multi-tray alternate supply avoids the problem of single machine downtime waiting, and adapts to the continuous feeding demand of large-scale production.

Description

Technical Field

[0001] This utility model relates to the field of industrial robot loading, and in particular to a continuous transfer and gripping system based on multiple pallets. Background Technology

[0002] In industrial production, the operation of industrial robots grasping materials is very common. Among the existing equipment for industrial robots to grasp materials, pallet transfer equipment can usually only transfer a small number of material pallets at a time, resulting in low transfer efficiency and difficulty in meeting the needs of large-scale production. Moreover, most transfer vehicles and their supporting fixed bases have simple structural designs and do not fully consider the impact of wear on positioning accuracy. This leads to a decrease in the repeatability of the equipment during long-term use, making it easy for industrial robots to deviate when grasping materials, thus affecting production quality. In addition, during operation, traditional systems lack an effective material circulation mechanism. They often only have a single blank pallet positioning table and a finished pallet positioning table. When the material on a positioning table is taken out or filled, the handling system may stop and wait, which seriously affects the continuity of production, reduces overall production efficiency, and increases production costs. To solve the above problems, a multi-pallet continuous transfer and grasping system is proposed. Utility Model Content

[0003] The purpose of this invention is to solve the problem of poor production efficiency in existing traditional industrial robot systems.

[0004] The present invention adopts the following technical solution: A multi-pallet continuous transfer gripping system includes a gripping unit and several sets of fixed seats arranged in sequence for placing transfer carts. The gripping unit is located directly above the fixed seats and is used to grip workpiece pallets inside the transfer carts. The fixed seats have a semi-enclosed structure, with extension plates extending outward to both sides at the opening of the semi-enclosed structure. An L-shaped plate is provided on each side of the fixed seat. The horizontal edge of the L-shaped plate has strip-shaped mounting holes and is mounted on the fixed seat by bolts. The upper and outer parts of the vertical edge of the L-shaped plate are provided with two sets of guide wheels with perpendicular included angles through bearings. A limit plate is provided on the other side of the fixed seat. Furthermore, the transfer vehicle includes a base plate, with a contact plate bolted to each side of the base plate. The contact plate contacts two sets of guide wheels at a perpendicular angle. Limiting blocks that contact limiting plates are provided at both ends of the rear side of the base plate. The bottom of the base plate has moving wheels with locking structures. The upper surface of the base plate has four columns, located at the four top corners of the base plate. One of the two rear columns has a hinge with an opening and closing door, which is locked to the other column by a pin. The front end of the base plate has a handle, and two limiting columns are provided between the handle and the two front columns, which are connected to the two front columns by connectors. Furthermore, screw top plate mechanisms are also fixed on the outer edges of both sides of the fixing base, which are used to abut against the L-shaped plate after the gap is adjusted; Furthermore, the transfer vehicle has two types: empty pallet transfer vehicle and blank pallet transfer vehicle. The blank pallet transfer vehicle has eight sets of pallets loaded with blank workpieces. Furthermore, there are two types of fixed seats: empty car ground fixed seats for empty pallet transfer cars and blank car ground fixed seats for blank pallet transfer cars. A finished workpiece pallet positioning platform is provided between the empty car ground fixed seat and the blank car ground fixed seat. Furthermore, a blank pallet positioning platform for placing blank workpiece pallets is provided next to the ground fixing seat of the blank car. Furthermore, the gripping unit is a truss installed above the empty car ground fixing seat and the blank car ground fixing seat, and a robot gripper installed on the truss; Furthermore, the edges and contact plates of the guide wheel are made of wear-resistant materials.

[0005] The beneficial effects of this utility model are: The system is equipped with two blank pallet transfer carts and two empty pallet transfer carts, along with corresponding ground mounting bases, enabling it to simultaneously carry multiple material pallets. Compared to traditional single-pallet transfer equipment, this significantly increases material transfer capacity. The multi-pallet exchange design avoids the problem of single-machine downtime and waiting, adapting to the continuous material supply needs of large-scale production. The ground-mounted base uses two sets of vertical guide wheels mounted on an L-shaped plate to limit the height and lateral displacement of the transfer vehicle. Combined with a screw-top plate mechanism to fix the clearance, this effectively reduces the impact of wear on positioning accuracy over long-term use. Stable repeatability ensures minimal deviation when the robot gripper grasps materials, improving the stability of production quality. The system establishes a complete material circulation mechanism through the collaboration of multiple sets of blank pallet positioning tables, finished workpiece pallet positioning tables, and transfer vehicles. When the material on one positioning table is exhausted or full, the robot can immediately switch to another positioning table, and the transfer vehicle simultaneously replenishes or removes the material, avoiding production interruptions. Continuous production reduces equipment downtime and lowers the production cost per unit. Attached Figure Description

[0006] Figure 1 This is a schematic diagram of the overall structure of a multi-pallet continuous transfer and gripping system according to a utility model. Figure 2 This is a partial structural diagram of a multi-pallet continuous transfer and gripping system according to a utility model. Figure 3 This is a partial structural diagram of a multi-pallet continuous transfer and gripping system according to a utility model. Figure 4This is a schematic diagram of a fixed base structure for a multi-pallet continuous transfer and gripping system according to a utility model. Figure 5 This is a schematic diagram of a transfer vehicle structure for a multi-pallet continuous transfer and gripping system, which is a utility model. In the diagram: 1. Truss; 2. Robot gripper; 3. Empty pallet ground mounting base; 4. Blank pallet ground mounting base; 5. Empty pallet transfer vehicle; 6. Blank pallet transfer vehicle; 7. Blank pallet positioning platform; 8. Finished workpiece pallet positioning platform; 9. Opening door; 10. Pin; 11. Extension plate; 12. L-shaped plate; 13. Guide wheel; 14. Column; 15. Limiting column; 16. Limiting plate; 17. Contact plate. Detailed Implementation

[0007] The technical solution of this utility model will now be clearly and completely described with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this utility model. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0008] In the description of this utility model, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model 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, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0009] In the description of this utility model, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model based on the specific circumstances. Furthermore, the technical features involved in the different embodiments of this utility model described below can be combined with each other as long as they do not conflict with each other.

[0010] Example 1 This utility model provides a continuous transfer and gripping system based on multiple pallets, including a truss 1 and an industrial robot gripper 2 installed on the truss 1. The truss 1 is made of Q345B steel, with a wall thickness of 12mm in key parts to meet the strength requirement of 35KG load. Two empty car ground fixing seats 3 and two blank car ground fixing seats 4 are arranged in a straight line along the production line below the truss 1. An empty pallet transfer car 5 is placed in each empty car ground fixing seat 3, and a blank pallet transfer car 6 is placed in each blank car ground fixing seat 4. The empty car ground fixing seat 3 and the blank car ground fixing seat 4 have the same structure. Both adopt a semi-enclosed structure and have an outward extension plate 11 at the opening to facilitate the transfer car to be pushed in. L-shaped plates 12 are installed on both sides of the fixed base. The horizontal edges of the L-shaped plates 12 are fixed to the fixed base through strip-shaped mounting holes and bolts. The L-shaped plates 12 are adjusted in position on the fixed base through the strip-shaped mounting holes, thereby adjusting the position of the guide wheels 13. The vertical edges are equipped with two sets of mutually perpendicular guide wheels 13 through bearings. Each set of guide wheels 13 has multiple guide wheels. One set of guide wheels 13 contacts the bottom plate of the transfer vehicle to maintain the same height of the transfer vehicle. The other set of guide wheels 13 contacts the side wall of the transfer vehicle and controls the specific position through the strip-shaped mounting holes. The two sets of horizontal guide wheels 13 on the two L-shaped plates 12 cooperate with the contact plate of the transfer vehicle to limit the position of the transfer vehicle. The outer side of the L-shaped plates 12 is also equipped with a screw top plate mechanism to lock the position of the L-shaped plates 12 after adjustment, keep the gap of the guide wheels 13 stable, and avoid the decrease in accuracy due to vibration or wear. There is a limit plate 16 on the other side of the fixed base. When the limit block on the rear side of the transfer vehicle abuts the limit plate 16, the transfer vehicle enters the fixed base and is in place. The empty pallet transfer vehicle 5 and the blank pallet transfer vehicle 6 have the same structure, including a base plate. A contact plate 17 is bolted to each side of the base plate. The contact plate 17 contacts two sets of guide wheels 13 with perpendicular included angles. Limiting blocks that contact limiting plates 16 are provided at both ends of the rear side of the base plate. The bottom of the base plate has moving wheels with locking structure. There are four columns 14 on the upper surface of the base plate, located at the four top corners of the base plate. One of the two rear columns 14 has a hinge with an opening and closing door 9, which is locked to the other column 14 by a pin 10. A handle is provided at the front end of the base plate. Two limiting posts 15 are provided between the handle and the two front columns 14, and are connected to the two front columns 14 by connectors. On the outside of the two blank car ground fixing seats 4, blank pallet positioning platforms 7 are respectively set. Their height is the same as that of the blank pallet transfer car 6. The platform is equipped with positioning blocks for precise positioning of the pallet. Between the adjacent empty car ground fixing seats 3 and blank car ground fixing seats 4, there is a finished workpiece pallet positioning platform 8. Its structure is the same as that of the blank pallet positioning platform 7. Both are located directly below the truss 1, which is convenient for the robot gripper 2 to grasp. In use, the empty pallet transfer cart 5 and the blank pallet transfer cart 6 are pushed into the corresponding empty cart ground fixing seat 3 and blank cart ground fixing seat 4 respectively. During the pushing process, the trolley is guided by the extension plate 11 to reduce the impact between the trolley and the guide wheel 13 and extend the service life of the equipment. The bottom guide wheel 13 ensures that the height of the transfer cart is consistent. The side guide wheel 13 limits the lateral displacement of the transfer cart through the preset gap. The screw top plate mechanism abuts against the L-shaped plate 12 to maintain the gap stability and ensure the repeatability of the transfer cart. Each blank pallet transfer cart 6 contains eight sets of pallets loaded with workpiece blanks. The robotic gripper 2 places a pallet to be processed from one of the blank pallet transfer carts 6 onto the outer blank pallet positioning table 7, and the entire equipment starts to operate. The robotic gripper 2 picks up the pallet from the blank pallet positioning table 7 and sends it to the external processing area. Then, it takes the pallet out of the blank pallet transfer cart 6 and places it back onto the blank pallet positioning table 7. At the same time, the pallets of the processed workpieces from the external area are placed on the finished workpiece pallet positioning table 8. The robotic gripper 2 puts the pallet into the empty pallet transfer cart 5. The above process is repeated until all the pallets in the blank pallet transfer cart 6 are taken out. At this time, the robotic gripper 2 automatically picks up a pallet from another blank pallet transfer cart 6 and places it onto the outer blank pallet positioning table 7. The empty blank pallet transfer cart 6 and the full empty pallet transfer cart 5 are replaced manually to avoid downtime due to a single positioning table being overloaded. The robotic gripper 2 flexibly switches between the positioning tables under the truss 1 to cooperate with the handover of the transfer carts to achieve continuous production.

[0011] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. The various components mentioned in this utility model are common technologies in the existing field. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claims. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A continuous transfer and gripping system based on multiple pallets, characterized in that, It includes a gripping part and several sets of fixed seats arranged in sequence for placing the transfer car. The gripping part is located directly above the fixed seat and is used to grip the workpiece pallet in the transfer car. The fixed seat has a semi-enclosed structure. The semi-enclosed opening has an extension plate (11) that expands outward to both sides. An L-shaped plate (12) is provided on each side of the fixed seat. The horizontal side of the L-shaped plate (12) has a strip-shaped mounting hole and is installed on the fixed seat by bolts. The upper part and the outer part of the vertical side of the L-shaped plate (12) are provided with two sets of guide wheels (13) with perpendicular included angles through bearings. There is a limit plate (16) on the other side of the fixed seat.

2. A multi-pallet based continuous transfer gripping system according to claim 1, wherein, The transfer vehicle includes a base plate, and a contact plate (17) is bolted to each side of the base plate. The contact plate (17) contacts two sets of guide wheels (13) with perpendicular angles. Limiting blocks that contact limiting plates (16) are provided at both ends of the rear side of the base plate. The bottom of the base plate has moving wheels with locking structures. The upper surface of the base plate has four columns (14) located at the four top corners of the base plate. One of the two columns (14) at the rear end has a hinge with an opening and closing door (9) installed, which is locked to the other column (14) by a pin (10). The front end of the base plate has a handle. Two limiting posts (15) are provided between the handle and the two columns (14) at the front end, and are connected to the two columns (14) at the front end by connectors.

3. A multi-pallet based continuous transfer gripping system according to claim 2, wherein, The outer edges of both sides of the fixed base are also fixed with screw top plate mechanisms, which are used to abut against the L-shaped plate (12) after the gap is adjusted.

4. The multi-pallet continuous transfer and gripping system according to claim 3, characterized in that, The transfer vehicle has two types: empty pallet transfer vehicle (5) and blank pallet transfer vehicle (6). The blank pallet transfer vehicle (6) has eight sets of pallets loaded with blank workpieces.

5. A continuous transfer and gripping system based on multiple pallets according to claim 4, characterized in that, There are two types of fixed seats: empty car ground fixed seat (3) for empty pallet transfer car (5) and blank car ground fixed seat (4) for blank pallet transfer car (6). A finished workpiece pallet positioning table (8) is provided between the empty car ground fixed seat (3) and the blank car ground fixed seat (4).

6. A continuous transfer and gripping system based on multiple pallets according to claim 5, characterized in that, A blank pallet positioning platform (7) for placing blank workpiece pallets is provided next to the ground fixing seat (4) of the blank car.

7. A continuous transfer and gripping system based on multiple pallets according to claim 6, characterized in that, The gripping unit consists of a truss (1) mounted above the empty car ground fixing seat (3) and the blank car ground fixing seat (4) and a robot gripper (2) mounted on the truss (1).

8. A continuous transfer and gripping system based on multiple pallets according to claim 7, characterized in that, The edge of the guide wheel (13) and the contact plate (17) are made of wear-resistant material.

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