A method of facilitating the handling of goods

Abstract

The application provides a method for conveniently carrying goods, and the specific steps include: (1) starting a moving mechanism, moving a pushing-down conveying robot to the position of the goods, and making the goods located in a working interval; when the number of the goods in the working interval needs to be limited, step (1.1) is entered, otherwise step (2) is entered; (1.1) blocking the goods outside the working interval through the telescopic baffle of a telescopic limiting mechanism; (2) lowering a clamping mechanism to a position corresponding to the goods; (2.1) clamping the goods by a first clamping jaw assembly and a second clamping jaw assembly; (3) when the goods need to be turned over, step (3.1) is entered, and if the goods do not need to be turned over, step (4) is entered; (3.1) rotating the first clamping jaw assembly and the second clamping jaw assembly to turn over the goods by a rotating assembly; when the goods to be turned over are small: (3.11) rotating the clamping hand to turn over the goods by a clamping rotating motor; (4) moving the goods to a designated position by the moving mechanism.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, and more specifically to a method for facilitating the handling of goods. Background Technology

[0002] With the development of IoT technology and the continuous increase in labor costs, lifting and handling are gradually moving towards automation and intelligence. Simultaneously, the continuous development of intelligent technology has brought significant changes to logistics companies. Intelligent handling robots, characterized by high load-bearing capacity, high transportation efficiency, high automation, and high safety, can better help companies simplify production and transportation processes. Currently, intelligent handling robot technology is applied to loading and unloading, and is one of the most basic functional units in logistics systems. It not only improves the handling efficiency of warehousing and logistics and reduces manual labor, but also optimizes resources and increases efficiency, possessing very broad development prospects and good economic benefits.

[0003] Chinese patent application No. 202110960685.4, published on December 7, 2021, discloses a handling robot, including a frame, a walking mechanism, a rotating mechanism, a gripping mechanism, a lifting mechanism, and a translating mechanism. The rotating mechanism includes a turntable and a rotating drive component. The turntable is rotatably mounted on the frame, and the rotating drive component is connected to the turntable and drives its rotation. The lifting mechanism is connected to the gripping mechanism and drives its lifting motion. The translating mechanism is fixedly mounted on the frame and is connected to the lifting mechanism, driving its translation. The beneficial effects of this invention are: through the cooperation of the gripping mechanism, lifting mechanism, and translating mechanism, multiple goods are sequentially gripped onto the turntable; the rotating drive component drives the turntable to rotate, thus evenly distributing the goods on the turntable; and the walking mechanism drives the entire device to move back and forth between the goods stacking area and the unloading area. The handling robot provided by this invention can transport multiple goods at once during each round trip, greatly improving the efficiency of loading and unloading goods.

[0004] Most existing handling robots, like those mentioned in the literature, simply pick up goods and place them in a designated location without adjusting their state. If the goods are reversed during handling, and the designated location requires stacking goods so that they are aligned correctly, then existing handling robots need to use additional devices or manual adjustments when handling goods that are not in the desired state. This wastes time, increases costs, and affects handling efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a convenient method for handling goods. This method can limit the quantity of goods, thereby enabling better one-to-one handling of goods.

[0006] To achieve the above objectives, a method for facilitating cargo handling is provided. The handling method is implemented through a handling device, which includes a frame, a moving mechanism, a clamping mechanism, a lifting mechanism, and a telescopic limiting mechanism. The frame includes a base plate, support columns, and a crossbeam. The base plate consists of two pieces, forming a working area between the two base plates. The support columns are located at both ends of the base plate, and a crossbeam is provided between the support columns of the two base plates.

[0007] The moving mechanism is located at both ends of the base plate; the telescopic limiting mechanism is located on the base plate and extends into the working area; a lifting mechanism is provided on the support column at one end of the base plate; the clamping mechanism is located on the lifting mechanism; and a camera is provided on the crossbeam between the support columns at the other end of the base plate.

[0008] The lifting mechanism includes a lifting slider and a lifting drive assembly. The lifting drive assembly is mounted on a support column on two base plates. The lifting slider is connected to the lifting drive assembly. The lifting drive assembly drives the lifting slider to slide up and down along the support column. A clamping mechanism is provided on the lifting slider.

[0009] The clamping mechanism includes a rotating assembly, a first gripper assembly, a second gripper assembly, a clamping beam, and a clamping stop. The rotating assembly is mounted on the lifting slider. The first gripper assembly is mounted on a rotating assembly on a base plate. The second gripper assembly is mounted on a rotating assembly on another base plate. A clamping beam is provided between the first gripper assembly and the second gripper assembly. A clamping stop is provided on the clamping beam between the first gripper assembly and the second gripper assembly.

[0010] The telescopic limiting mechanism includes a telescopic limiting drive assembly and a telescopic baffle. The telescopic baffle is mounted on the base plate via the telescopic limiting drive assembly, which drives the telescopic baffle to slide into the working area.

[0011] The specific steps include:

[0012] (1) The moving mechanism is activated, which will move the push-down transport robot to the location of the goods and make the goods located in the work area; when it is necessary to limit the number of goods in the work area, proceed to step (1.1), otherwise proceed to step (2).

[0013] (1.1) The telescopic baffle of the telescopic limit mechanism blocks goods outside the working area.

[0014] (2) The gripping mechanism descends to the position corresponding to the goods.

[0015] (2.1) The first gripper assembly and the second gripper assembly clamp the goods.

[0016] (3) When the goods need to be flipped, proceed to step (3.1); if they do not need to be flipped, proceed to step (4).

[0017] (3.1) The rotation of the rotating component drives the first gripper assembly and the second gripper assembly to rotate, thus flipping the goods.

[0018] When flipping smaller goods.

[0019] (3.11) The gripping rotary motor drives the rotary gripper to rotate and flip the goods.

[0020] (4) The moving mechanism transports the goods to the designated location.

[0021] The aforementioned handling device uses a first and second gripper assembly to grip the goods, and then a moving mechanism to transport the goods to a designated location to complete the handling process. The process is simple and efficient. When goods need to be handled, the moving mechanism moves to the desired location, moving the goods into the working area. The lifting drive assembly drives the lifting slider to move up and down, thereby moving the gripping mechanism to the corresponding height of the goods. After the gripping mechanism is in position, the first and second gripper assemblies work together to clamp the goods. The lifting mechanism then raises the gripping mechanism, lifting the goods off the ground, and handling can begin. Before handling, a camera monitors the status of the goods. The telescopic limiting mechanism can limit the quantity of goods within the working area, thus facilitating better rotation and handling. When the quantity of goods needs to be limited, the telescopic limiting drive assembly drives the telescopic baffle to slide into the working area to achieve blocking. The structure is simple and effective. If the front and back of the goods are reversed, the rotation assembly can flip the first and second gripper assemblies, thereby flipping the front and back of the goods. This allows the state of the goods to be adjusted before handling, avoiding the need for additional adjustments during final sorting and thus improving handling efficiency.

[0022] Furthermore, the lifting drive assembly includes a lifting drive motor, a lifting drive active gear, a lifting drive driven gear, a lifting drive rod, a first lifting driven wheel, a second lifting driven wheel, and a lifting drive belt. The lifting drive motor is fixed to one side of a support column on a base plate via a lifting motor mounting plate. A lifting drive rod is mounted on the support column, connecting the support columns on two base plates. A lifting drive active gear is mounted on the drive shaft of the lifting drive motor. A lifting drive driven gear meshing with the lifting drive active gear is mounted at one end of the lifting drive rod. The first lifting driven wheel is fixed to both ends of the lifting drive rod. The lifting drive driven gear is fixedly connected to the end face of the first lifting driven wheel at one end of the lifting drive rod. A second lifting driven wheel corresponding to the first lifting driven wheel is mounted on the base plate at the bottom of the support column. A lifting drive belt is positioned between the first and second lifting driven wheels, and the lifting slider is mounted on the lifting drive belt.

[0023] With the above configuration, when the clamping mechanism needs to move up and down, the lifting drive motor drives the lifting drive active gear to rotate, which in turn drives the lifting drive driven gear to rotate and drives the lifting drive rod to rotate. This causes the first driven wheel of the lifting mechanism to rotate and the lifting drive belt to move, thereby causing the lifting slider set on the lifting drive belt to move up and down. At the same time, the function of the lifting drive rod allows the lifting drive belt on the two base plates to move up and down synchronously, thus ensuring that the clamping mechanism can lift and lower normally. The structure is simple and effective.

[0024] Furthermore, the first gripper assembly includes a first gripper connecting post, a first gripper base, a first gripper cylinder, and a first gripper. One end of the first gripper connecting post is connected to a rotating assembly on a base plate, and the other end of the first gripper connecting post is provided with a first gripper base. The first gripper cylinder is provided on the first gripper base, and the first gripper is provided on the drive component of the first gripper cylinder.

[0025] The second gripper assembly includes a second gripper connecting post, a second gripper base, a second gripper cylinder, and a second gripper. One end of the second gripper connecting post is connected to a rotating assembly on another base plate. The other end of the second gripper connecting post is provided with a second gripper base. A second gripper cylinder is provided on the second gripper base. A second gripper is provided on the drive component of the second gripper cylinder.

[0026] Step (2.1) specifically includes:

[0027] (2.11) The first gripper cylinder drives the first gripper to move toward the second gripper;

[0028] (2.12) The second gripper cylinder drives the second gripper to move in the direction of the first gripper;

[0029] (2.13) The first and second grippers clamp the goods.

[0030] With the above setup, when it is necessary to clamp the goods, the first gripper cylinder drives the first gripper to move towards the second gripper to press against the goods, and the second gripper cylinder drives the second gripper to move towards the first gripper to press against the goods. The goods can be clamped by the cooperation of the first and second grippers. The structure is simple and effective.

[0031] Furthermore, the rotating assembly includes a rotary motor, a rotary mounting plate, a rotary coupling, and a rotary connecting plate. The rotary mounting plate is fixed on the lifting slider, and a rotary coupling is provided on the rotary mounting plate. The drive shaft of the rotary motor is fixed on the rotary coupling, and a rotary connecting plate is provided on the main body of the rotary motor. The rotary connecting plate on one base plate is connected to the first gripper connecting post; the rotary connecting plate on the other base plate is connected to the second gripper connecting post.

[0032] With the above setup, when the goods need to be flipped, the rotary motor starts. Since the drive shaft of the rotary motor is fixed on the rotary coupling, the drive shaft cannot rotate when the rotary motor starts, causing the main body of the rotary motor to rotate. This causes the first and second gripper connecting posts, which are connected to the main body of the rotary motor via the rotary connecting plate, to rotate along with the main body of the rotary motor. Thus, the rotation of the first and second gripper assemblies flips the goods.

[0033] Furthermore, the moving mechanism includes a moving motor, a moving motor mounting base, and omnidirectional wheels. The moving motor is mounted on both ends of the base plate via the moving motor mounting base, and the omnidirectional wheels are mounted on the drive shaft of the moving motor. Thus, the moving motor drives the omnidirectional wheels to move, allowing the push-over and transport robot to reach the designated location.

[0034] Furthermore, the telescopic limiting mechanism includes a telescopic motor, a telescopic drive gear, a telescopic drive rack, a telescopic connecting rod, a telescopic drive rod, a telescopic baffle, a telescopic base, and a telescopic guide rail. The telescopic motor is fixed to the base plate via a telescopic motor mounting plate. A telescopic drive gear is mounted on the drive shaft of the telescopic motor. A telescopic rack sliding component is mounted on the telescopic motor mounting plate above the telescopic motor. The telescopic drive rack is slidably mounted on the telescopic rack sliding component and meshes with the telescopic drive gear. A telescopic connecting rod is mounted on the telescopic drive rack. A telescopic base is mounted on the base plate, and a telescopic guide rail is mounted on the telescopic base. The telescopic baffle is slidably mounted on the telescopic guide rail via a telescopic slider. One end of the telescopic drive rod is hinged to the telescopic baffle, and the other end of the telescopic drive rod is hinged to the telescopic connecting rod. The telescopic baffle slides along the telescopic guide rail into the working area.

[0035] Step (1.1) specifically includes:

[0036] (1.11) The telescopic motor drives the telescopic baffle to slide into the working area.

[0037] (1.12) Telescopic baffles prevent goods outside the working area from entering the working area.

[0038] The above settings, through the telescopic limit mechanism, can limit the number of goods entering the working area, thus facilitating one-to-one handling. When it is necessary to restrict goods from continuing to enter the working area, the telescopic motor drives the telescopic drive gear to rotate, which in turn drives the telescopic drive rack to move. When the telescopic drive rack moves, it pushes the telescopic drive rod to move. When the telescopic drive rod moves, it pushes the telescopic baffle to slide along the telescopic guide rail into the working area. The telescopic baffles on the two base plates block the working area, thus restricting the goods and preventing them from moving into the working area.

[0039] Furthermore, a first gripping rotation assembly is also provided on the first gripper. The first gripping rotation assembly includes a gripping rotation motor, a gripping rotation drive wheel, a gripping rotation driven wheel, a gripping rotation drive belt, a gripping rotation drive shaft, a gripping rotation mounting plate, and a rotating gripper. The gripping rotation motor is located at the front end of the first gripper, the gripping rotation drive wheel is located on the drive shaft of the gripping rotation motor, and a gripping rotation mounting plate is located at the end of the first gripper. One end of the gripping rotation drive shaft is rotatably mounted on the gripping rotation mounting plate through a gripping rotation bearing, and a rotating gripper is located at the other end of the gripping rotation drive shaft. The rotating gripper is located on the side of the first gripper closer to the gripping stop. A gripping rotation driven wheel is located on the gripping rotation drive shaft, and a gripping rotation drive belt is located between the gripping rotation drive wheel and the gripping rotation driven wheel.

[0040] The second gripper is provided with a second gripping rotating assembly with the same structure as the first gripping rotating assembly.

[0041] Step (3) specifically includes when flipping smaller goods:

[0042] (3.11) The gripping rotary motor drives the rotary gripper to rotate and flip the goods.

[0043] The above setup, through the clamping and rotating component, also allows for the flipping of goods. When handling goods that are large in size, where the clamping and rotating component cannot easily flip them, the rotating component can be used for flipping. When goods are small in size, both the clamping and rotating components can be used for flipping. By setting two different flipping devices, it is ensured that goods of different sizes can be flipped. When it is necessary to flip smaller goods, the clamping and rotating motor drives the clamping and rotating drive wheel to rotate, which in turn drives the clamping and rotating driven wheel connected to the clamping and rotating drive wheel to rotate. This, in turn, drives the clamping and rotating drive shaft to rotate, causing the rotating gripper to rotate, thereby achieving the flipping of the goods. The structure is simple and useful. Attached Figure Description

[0044] Figure 1 This is a schematic diagram of the transport device of the present invention.

[0045] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0046] Figure 3 This is an exploded view of the lifting drive assembly of the present invention.

[0047] Figure 4 This is a schematic diagram of the clamping mechanism of the present invention.

[0048] Figure 5 This is an exploded view of the rotating component of the present invention.

[0049] Figure 6 This is an explosion diagram of the first clamping device of the present invention.

[0050] Figure 7 for Figure 1 Enlarged view of point B in the middle.

[0051] Figure 8 This is a schematic diagram of the moving mechanism of the present invention.

[0052] Figure 9 This is a structural schematic diagram of the conveying device of the present invention from another perspective.

[0053] Figure 10 for Figure 9 Enlarged view of point E in the middle.

[0054] Figure 11 This is a schematic diagram of the telescopic baffle and telescopic base of the present invention.

[0055] Figure 12 This is an exploded view of the telescopic limiting mechanism of the present invention.

[0056] Figure 13This is a schematic diagram of the clamping mechanism of the present invention clamping and flipping the goods. Detailed Implementation

[0057] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0058] like Figures 1 to 13 As shown, a conveying device includes a frame 1, a moving mechanism 2, a clamping mechanism 3, a lifting mechanism 4, and a telescopic limiting mechanism 5. The frame 1 includes a base plate 11, support columns 12, and a crossbeam 13. The base plate 11 is provided in two pieces, forming a working area 10 between the two base plates 11. The support columns 12 are provided at both ends of the base plate 11, and the crossbeam 13 is provided between the support columns 12 of the two base plates 11.

[0059] The moving mechanism 2 is located at both ends of the base plate 11; the telescopic limiting mechanism 5 is located on the base plate 11 and extends into the working area 10; a lifting mechanism 4 is provided on the support column 12 at one end of the base plate 11, and the clamping mechanism 3 is located on the lifting mechanism 4; a camera 100 is provided on the crossbeam 13 between the support columns 12 at the other end of the base plate 11. The camera monitors and detects the state of the goods; if the state of the goods needs adjustment, they can be knocked over or flipped according to their current state.

[0060] like Figures 1 to 3 As shown, the lifting mechanism 4 includes a lifting slider 40 and a lifting drive assembly 41. The lifting drive assembly 41 is mounted on a support column 12 on two base plates 11. The lifting slider 40 is connected to the lifting drive assembly 41. The lifting drive assembly 41 drives the lifting slider 40 to slide up and down along the support column 12. A clamping mechanism 3 is provided on the lifting slider 40.

[0061] The lifting drive assembly 41 includes a lifting drive motor 411, a lifting drive driving gear 412, a lifting drive driven gear 413, a lifting drive rod 414, a first lifting driven pulley 415, a second lifting driven pulley 416, and a lifting drive belt (not shown in the figure). In this embodiment, the lifting drive belt is a synchronous belt, which is sleeved on the second lifting driven pulley 416. The specific synchronous belt transmission method is existing technology and will not be described in detail here. The lifting drive motor 411 is fixed to one side of a support column 12 on a base plate 11 by a lifting motor mounting plate 417. The lifting drive rod 414 is provided on the support column 12, and the lifting drive rod 414 connects the two base plates 11. The support column 12 on the support column 12 has a lifting drive active gear 412 on the drive shaft of the lifting drive motor 411. A lifting drive driven gear 413 that meshes with the lifting drive active gear 412 is provided at one end of the lifting drive rod 414. A first lifting driven wheel 415 is fixed at both ends of the lifting drive rod. The lifting drive driven gear is fixedly connected to the end face of the first lifting driven wheel at one end of the lifting drive rod. A second lifting driven wheel 416 corresponding to the first lifting driven wheel 415 is provided on the bottom plate 11 at the bottom end of the support column 12. A lifting drive belt is provided between the first lifting driven wheel 415 and the second lifting driven wheel 416. The lifting slider 40 is set on the lifting drive belt.

[0062] With the above configuration, when the clamping mechanism 3 needs to move up and down, the lifting drive motor 411 drives the lifting drive active gear 412 to rotate. When the lifting drive driven gear 413 is driven to rotate by the lifting drive active gear 412, the lifting drive rod 414 can also rotate synchronously. This causes the first driven lifting wheel 415 at both ends of the lifting drive rod to rotate and move the lifting drive belt, thereby causing the lifting slider 40 set on the lifting drive belt to move up and down. At the same time, the function of the lifting drive rod 414 enables the lifting drive belt on the two base plates 11 to move up and down synchronously, thus ensuring that the clamping mechanism 3 can lift and lower normally. The structure is simple and effective.

[0063] like Figures 4 to 6 As shown, the clamping mechanism 3 includes a rotating component 30, a first gripper component 32, a second gripper component 33, a clamping beam 34, and a clamping stop 35. The rotating component 30 is mounted on the lifting slider 40. The first gripper component 32 is mounted on the rotating component 30 on one base plate 11, and the second gripper component 33 is mounted on the rotating component 30 on another base plate 11. A clamping beam 34 is provided between the first gripper component 32 and the second gripper component 33, and a clamping stop 35 is provided on the clamping beam 34 between the first gripper component 32 and the second gripper component 33.

[0064] The first gripper assembly 32 includes a first gripper connecting post 321, a first gripper base 322, a first gripper cylinder 323, and a first gripper 324. One end of the first gripper connecting post 321 is connected to a rotating assembly 30 on a base plate 11. The other end of the first gripper connecting post 321 is provided with a first gripper base 322. The first gripper cylinder 323 is provided on the first gripper base 322. The first gripper 324 is provided on the drive component of the first gripper cylinder 323.

[0065] The second gripper assembly 33 includes a second gripper connecting post 331, a second gripper base 332, a second gripper cylinder 333, and a second gripper 334. One end of the second gripper connecting post 331 is connected to a rotating assembly 30 on another base plate 11. The other end of the second gripper connecting post 331 is provided with a second gripper base 332. The second gripper cylinder 333 is provided on the second gripper base 332. The second gripper 334 is provided on the drive component of the second gripper cylinder 333.

[0066] The first gripper cylinder 323 drives the first gripper 324 to move toward the second gripper 334; the second gripper cylinder 332 drives the second gripper 334 to move toward the first gripper 324.

[0067] In this embodiment, the first gripper cylinder and the second gripper cylinder are rodless cylinders, and their specific working principle is existing technology, which will not be described in detail here.

[0068] With the above configuration, when it is necessary to clamp the goods, the first gripper cylinder 323 drives the first gripper 324 to move towards the second gripper 334 to press against the goods, and the second gripper cylinder 333 drives the second gripper 334 to move towards the first gripper 324 to press against the goods. The goods can be clamped by the cooperation of the first gripper 324 and the second gripper 334. The structure is simple and effective.

[0069] The rotating assembly 30 includes a rotary motor 301, a rotary mounting plate 302, a rotary coupling 303, and a rotary connecting plate 304. The rotary mounting plate 302 is fixed on the lifting slider 40. The rotary coupling 303 is provided on the rotary mounting plate 302. The drive shaft 3011 of the rotary motor 301 is fixed on the rotary coupling 303. The rotary connecting plate 304 is provided on the main body 3012 of the rotary motor 301. The rotary connecting plate 304 on one base plate 11 is connected to the first gripper connecting post 321; the rotary connecting plate 304 on another base plate 11 is connected to the second gripper connecting post 331.

[0070] With the above setup, when goods need to be flipped, the rotary motor 301 starts. Since the drive shaft 3011 of the rotary motor 301 is fixed to the rotary coupling 303, the drive shaft 3011 cannot rotate when the rotary motor 301 starts, causing the main body 3012 of the rotary motor 301 to rotate. This causes the first gripper connecting post 321 and the second gripper connecting post 331, which are connected to the main body 3012 of the rotary motor 301 via the rotary connecting plate 304, to rotate along with the main body 3012 of the rotary motor 301. This rotation of the first gripper assembly 32 and the second gripper assembly 33 allows the goods to be flipped (e.g., ...). Figure 13 As shown in the figure, 001 represents the goods.

[0071] like Figure 6 As shown, a first gripping rotation assembly 31 is also provided on the first gripper 324. The first gripping rotation assembly 31 includes a gripping rotation motor 311, a gripping rotation drive wheel 312, a gripping rotation driven wheel 313, a gripping rotation drive belt (not shown in the figure), a gripping rotation drive shaft 314, a gripping rotation mounting plate 315, and a rotating gripper 316. The gripping rotation motor 311 is located at the front end of the first gripper 324, the gripping rotation drive wheel 312 is located on the drive shaft of the gripping rotation motor 311, and a gripping rotation mounting plate 315 is located at the end of the first gripper 324. One end of the gripping rotation drive shaft 314 is rotatably mounted on the gripping rotation bearing 317. On the mounting plate 315, a rotating gripper 316 is provided on the other end of the gripping rotary drive shaft 314. The protruding area of ​​the rotating gripper 316 is larger than that of the first gripper 324. In this way, when clamping goods, the contact area between the rotating gripper and the goods is larger, and the goods can be clamped better. The rotating gripper 316 is located on the side of the first gripper 324 near the gripping stop 35. A gripping rotary driven wheel 313 is provided on the gripping rotary drive shaft 314. A gripping rotary drive belt is provided between the gripping rotary driving wheel 312 and the gripping rotary driven wheel 313. The gripping rotary drive belt is a synchronous belt. The specific synchronous belt transmission principle is existing technology and will not be described in detail here.

[0072] The second gripper 334 is provided with a second gripping rotating assembly with the same structure as the first gripping rotating assembly 31.

[0073] The above setup, through the clamping and rotating component, also allows for the flipping of goods. When handling goods that are large in size, where the clamping and rotating component cannot easily flip them, the rotating component can be used for flipping. When goods are small in size, both the clamping and rotating components can be used for flipping. By setting two different flipping devices, it is ensured that goods of different sizes can be flipped. When it is necessary to flip smaller goods, the clamping and rotating motor drives the clamping and rotating drive wheel to rotate, which in turn drives the clamping and rotating driven wheel connected to the clamping and rotating drive wheel to rotate. This, in turn, drives the clamping and rotating drive shaft to rotate, causing the rotating gripper to rotate, thereby achieving the flipping of the goods. The structure is simple and useful.

[0074] The aforementioned handling device uses a first and second gripper assembly to grip the goods, and then a moving mechanism to transport the goods to a designated location to complete the handling process. The process is simple and efficient. When goods need to be handled, the moving mechanism moves to the desired location, moving the goods into the working area. The lifting drive assembly drives the lifting slider to move up and down, thereby moving the gripping mechanism to the corresponding height of the goods. After the gripping mechanism is in position, the first and second gripper assemblies work together to clamp the goods. The lifting mechanism then raises the gripping mechanism, lifting the goods off the ground, and handling can begin. Before handling, a camera monitors the status of the goods. The telescopic limiting mechanism can limit the quantity of goods within the working area, thus facilitating better rotation and handling. When the quantity of goods needs to be limited, the telescopic limiting drive assembly drives the telescopic baffle to slide into the working area to achieve blocking. The structure is simple and effective. If the front and back of the goods are reversed, the rotation assembly can flip the first and second gripper assemblies, thereby flipping the front and back of the goods. This allows the state of the goods to be adjusted before handling, avoiding the need for additional adjustments during final sorting and thus improving handling efficiency.

[0075] like Figure 13 As shown, the moving mechanism 2 includes a moving motor 21, a moving motor mounting base 22, and omnidirectional wheels 23. The moving motor 21 is mounted on both ends of the base plate 11 via the moving motor mounting base 22, and the omnidirectional wheels 23 are mounted on the drive shaft of the moving motor 21. Thus, the moving motor 21 drives the omnidirectional wheels 23 to move, allowing the push-over and transport robot to reach the designated location.

[0076] like Figures 9 to 12As shown, the telescopic limiting mechanism 5 includes a telescopic limiting drive assembly and a telescopic baffle 56. The telescopic baffle 56 is mounted on the base plate 11 via the telescopic limiting drive assembly. The telescopic limiting drive assembly includes a telescopic motor (not shown), a telescopic drive gear 52, a telescopic drive rack 53, a telescopic connecting rod 54, a telescopic drive rod 55, a telescopic base 57, and a telescopic guide rail 58. The telescopic motor is fixed to the base plate 11 via a telescopic motor mounting plate 51. A telescopic drive gear 52 is mounted on the drive shaft of the telescopic motor. A telescopic rack sliding component 50 is mounted on the telescopic motor mounting plate 51 above the telescopic motor. The telescopic drive rack 53 is slidably mounted on the telescopic rack sliding component 50. The telescopic drive rack 53 is meshed with the telescopic drive gear 52. A telescopic connecting rod 54 is provided on the telescopic drive rack 53. A telescopic base 57 is provided on the base plate 11. A telescopic guide rail 58 is provided on the telescopic base 57. The telescopic baffle 56 is slidably mounted on the telescopic guide rail 58 via a telescopic slider 59. One end of the telescopic drive rod 55 is hinged to the telescopic baffle 56, and the other end of the telescopic drive rod 55 is hinged to the telescopic connecting rod 54. The telescopic baffle 56 slides along the telescopic guide rail 58 into the working area 10.

[0077] The telescopic drive rod extends outward and forward in an arc from one end of the telescopic connecting rod to the other end of the telescopic connecting rod. Because of the arc-shaped telescopic drive rod, when the telescopic drive rod pushes the telescopic baffle to move, it will not directly hit the telescopic baffle, but has a certain buffer arc, so that the connection between the telescopic drive rod and the telescopic baffle is smoother, thus better protecting the structure between the telescopic drive rod and the telescopic baffle.

[0078] The telescopic rack sliding component 50 includes a telescopic sliding mounting plate 501 and a telescopic sliding wheel 502. The telescopic sliding wheel 502 is mounted on the telescopic motor mounting plate 51 via the telescopic sliding mounting plate 501. A slot 531 is provided on the telescopic rack 53, and the telescopic sliding wheel 502 is disposed in the slot 531 and slides along the slot 531. Through the arrangement of the slot and the telescopic sliding wheel, the telescopic rack can not only connect with the telescopic gear but also does not affect the movement of the telescopic rack.

[0079] The above settings, through the telescopic limit mechanism, can limit the number of goods entering the working area, thus facilitating one-to-one handling. When it is necessary to restrict goods from continuing to enter the working area, the telescopic motor drives the telescopic drive gear to rotate, which in turn drives the telescopic drive rack to move. When the telescopic drive rack moves, it pushes the telescopic drive rod to move. When the telescopic drive rod moves, it pushes the telescopic baffle to slide along the telescopic guide rail into the working area. The telescopic baffles on the two base plates block the working area, thus restricting the goods and preventing them from moving into the working area.

[0080] The working method of the above-mentioned conveying device includes the following specific steps:

[0081] (1) The moving mechanism is activated, which will move the push-down transport robot to the location of the goods and make the goods located in the work area; when it is necessary to limit the number of goods in the work area, proceed to step (1.1), otherwise proceed to step (2).

[0082] (1.1) Goods outside the working area are blocked by the telescopic baffle of the telescopic limiting mechanism;

[0083] (1.11) The telescopic motor drives the telescopic baffle to slide into the working area.

[0084] (1.12) Telescopic baffles prevent goods outside the working area from entering the working area.

[0085] (2) The gripping mechanism descends to the position corresponding to the goods.

[0086] (2.1) The first gripper assembly and the second gripper assembly clamp the goods.

[0087] (2.11) The first gripper cylinder drives the first gripper to move toward the second gripper.

[0088] (2.12) The second gripper cylinder drives the second gripper to move in the direction of the first gripper.

[0089] (2.13) The first and second grippers clamp the goods.

[0090] (3) When the goods need to be flipped, proceed to step (3.1); if they do not need to be flipped, proceed to step (5).

[0091] (3.1) The rotation of the rotating component drives the first gripper assembly and the second gripper assembly to rotate, thus flipping the goods.

[0092] When flipping smaller goods:

[0093] (3.11) The gripping rotary motor drives the rotary gripper to rotate and flip the goods.

[0094] (4) The moving mechanism transports the goods to the designated location.

Claims

1. A method for facilitating the handling of goods, wherein the handling method is implemented by a handling device, characterized in that: The conveying device includes a frame, a moving mechanism, a clamping mechanism, a lifting mechanism, and a telescopic limiting mechanism. The frame includes a base plate, support columns, and a crossbeam. The base plate consists of two pieces, forming a working area between the two base plates. The support columns are located at both ends of the base plate, and a crossbeam is provided between the support columns of the two base plates. The moving mechanism is set at both ends of the base plate; the telescopic limiting mechanism is set on the base plate and extends into the working area; a lifting mechanism is provided on the support column at one end of the base plate; the clamping mechanism is set on the lifting mechanism; a camera is provided on the crossbeam between the support columns at the other end of the base plate. The lifting mechanism includes a lifting slider and a lifting drive assembly. The lifting drive assembly is mounted on a support column on two base plates. The lifting slider is connected to the lifting drive assembly. The lifting drive assembly drives the lifting slider to slide up and down along the support column. A clamping mechanism is provided on the lifting slider. The clamping mechanism includes a rotating assembly, a first gripper assembly, a second gripper assembly, a clamping crossbeam, and a clamping stop. The rotating assembly is mounted on the lifting slider. The first gripper assembly is mounted on a rotating assembly on a base plate. The second gripper assembly is mounted on a rotating assembly on another base plate. A clamping crossbeam is provided between the first gripper assembly and the second gripper assembly. A clamping stop is provided on the clamping crossbeam between the first gripper assembly and the second gripper assembly. The first gripper assembly includes a first gripper connecting post, a first gripper base, a first gripper cylinder, and a first gripper. One end of the first gripper connecting post is connected to a rotating assembly on a base plate. The other end of the first gripper connecting post is provided with a first gripper base. The first gripper cylinder is provided on the first gripper base. The first gripper is provided on the drive component of the first gripper cylinder. The second gripper assembly includes a second gripper connecting post, a second gripper base, a second gripper cylinder, and a second gripper. One end of the second gripper connecting post is connected to a rotating assembly on another base plate. The other end of the second gripper connecting post is provided with a second gripper base. A second gripper cylinder is provided on the second gripper base. A second gripper is provided on the driving component of the second gripper cylinder. The first gripper is also provided with a first gripping rotation assembly, which includes a gripping rotation motor, a gripping rotation drive wheel, a gripping rotation driven wheel, a gripping rotation drive belt, a gripping rotation drive shaft, a gripping rotation mounting plate, and a rotating gripper. The gripping rotation motor is located at the front end of the first gripper, the gripping rotation drive wheel is located on the drive shaft of the gripping rotation motor, and a gripping rotation mounting plate is located at the end of the first gripper. One end of the gripping rotation drive shaft is rotatably mounted on the gripping rotation mounting plate through a gripping rotation bearing, and a rotating gripper is located at the other end of the gripping rotation drive shaft. The rotating gripper is located on the side of the first gripper closer to the gripping stop. A gripping rotation driven wheel is located on the gripping rotation drive shaft, and a gripping rotation drive belt is located between the gripping rotation drive wheel and the gripping rotation driven wheel. The second gripper is provided with a second gripping rotating assembly having the same structure as the first gripping rotating assembly. The telescopic limiting mechanism includes a telescopic limiting drive assembly and a telescopic baffle. The telescopic baffle is mounted on the base plate via the telescopic limiting drive assembly, and the telescopic limiting drive assembly drives the telescopic baffle to slide into the working area. The specific steps include: (1) The moving mechanism is activated, which moves the push-down transport robot to the location of the goods and places the goods in the work area; when it is necessary to limit the number of goods in the work area, proceed to step (1.1), otherwise proceed to step (2). (1.1) Goods outside the working area are blocked by the telescopic baffle of the telescopic limiting mechanism; (2) The clamping mechanism descends to the position corresponding to the goods; (2.1) The first gripper assembly and the second gripper assembly clamp the goods; (3) When the goods need to be flipped, proceed to step (3.1); if they do not need to be flipped, proceed to step (4). (3.1) The rotation of the rotating assembly drives the first gripper assembly and the second gripper assembly to rotate, thereby flipping the goods; When flipping smaller goods: (3.11) The gripping rotary motor drives the rotary gripper to rotate, flipping the goods over; (4) The moving mechanism transports the goods to the designated location.

2. The method for facilitating cargo handling according to claim 1, characterized in that: The lifting drive assembly includes a lifting drive motor, a lifting drive active gear, a lifting drive driven gear, a lifting drive rod, a first lifting driven wheel, a second lifting driven wheel, and a lifting drive belt. The lifting drive motor is fixed to one side of a support column on a base plate via a lifting motor mounting plate. A lifting drive rod is mounted on the support column, connecting the support columns on two base plates. A lifting drive active gear is mounted on the drive shaft of the lifting drive motor. A lifting drive driven gear meshing with the lifting drive active gear is mounted at one end of the lifting drive rod. The first lifting driven wheel is fixed to both ends of the lifting drive rod. The lifting drive driven gear is fixedly connected to the end face of the first lifting driven wheel at one end of the lifting drive rod. A second lifting driven wheel corresponding to the first lifting driven wheel is mounted on the base plate at the bottom of the support column. A lifting drive belt is positioned between the first and second lifting driven wheels, and the lifting slider is mounted on the lifting drive belt.

3. The method for facilitating cargo handling according to claim 1, characterized in that: Step (2.1) specifically includes: (2.11) The first gripper cylinder drives the first gripper to move toward the second gripper; (2.12) The second gripper cylinder drives the second gripper to move in the direction of the first gripper; (2.13) The first and second grippers clamp the goods.

4. The method for facilitating cargo handling according to claim 3, characterized in that: The rotating assembly includes a rotary motor, a rotary mounting plate, a rotary coupling, and a rotary connecting plate. The rotary mounting plate is fixed on the lifting slider, and a rotary coupling is provided on the rotary mounting plate. The drive shaft of the rotary motor is fixed on the rotary coupling, and a rotary connecting plate is provided on the main body of the rotary motor. The rotary connecting plate on one base plate is connected to the first gripper connecting column; the rotary connecting plate on the other base plate is connected to the second gripper connecting column.

5. The method for facilitating cargo handling according to claim 1, characterized in that: The moving mechanism includes a moving motor, a moving motor mounting base, and moving casters. The moving motor is mounted on both ends of the base plate via the moving motor mounting base, and moving casters are provided on the drive shaft of the moving motor.

6. The method for facilitating cargo handling according to claim 1, characterized in that: The telescopic limit drive assembly includes a telescopic motor, a telescopic drive gear, a telescopic drive rack, a telescopic connecting rod, a telescopic drive rod, a telescopic base, and a telescopic guide rail. The telescopic motor is fixed to the base plate via a telescopic motor mounting plate. A telescopic drive gear is mounted on the drive shaft of the telescopic motor. A telescopic rack sliding component is mounted on the telescopic motor mounting plate above the telescopic motor. The telescopic drive rack is slidably mounted on the telescopic rack sliding component and meshes with the telescopic drive gear. A telescopic connecting rod is mounted on the telescopic drive rack. A telescopic base is mounted on the base plate, and a telescopic guide rail is mounted on the telescopic base. A telescopic baffle is slidably mounted on the telescopic guide rail via a telescopic slider. One end of the telescopic drive rod is hinged to the telescopic baffle, and the other end of the telescopic drive rod is hinged to the telescopic connecting rod. The telescopic baffle slides along the telescopic guide rail into the working area. Step (1.1) specifically includes: (1.11) The telescopic motor drives the telescopic baffle to slide into the working area; (1.12) Telescopic baffles prevent goods outside the working area from entering the working area.

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