A pallet handling robot and a pallet

Abstract

This invention discloses a pallet handling robot and a pallet, comprising two parallel tracks and a square frame mounted on the tracks. The bottom of the square frame is mounted on the tracks via drive wheels. The square frame is equipped with two wedge-shaped motion mechanisms, one for simultaneously positioning multiple pallet components. Two wedge-shaped motion mechanisms are each present. Two wedge-shaped motion mechanisms are connected by a limiting structure, and two wedge-shaped motion mechanisms are connected by a limiting structure. Each wedge-shaped motion mechanism is linked to its adjacent wedge-shaped motion mechanism via a linkage rod. The invention also includes a lifting support structure positioned between the two tracks, on which multiple pallet components are mounted. The pallet handling robot and pallet provided by this invention can simultaneously handle multiple pallets and multiple current sensors. The robot can achieve efficient and rapid handling without requiring multiple adjustments.

Description

Technical Field

[0001] This invention belongs to the field of pallet handling technology, specifically relating to a pallet handling robot and a pallet. Background Technology

[0002] The instrument transformer is a bushing current transformer for transformers, which is a ring-shaped component. These components are made in small batches and are not standardized in size (varies in size and height). During the production process, they need to be transferred multiple times between different processes using pallets. After the pallet carries 1-2 instrument transformers, a handling robot places them into the test chamber or test bench for testing. In addition to being transported by handling robots, they can also be transported by conveyor lines.

[0003] However, there are still several technical problems when using pallets to transport current transformers: First, the current pallets have poor compatibility and cannot support medium-voltage current transformers, except for ring-shaped current transformers; second, the current handling robots need to be adjusted multiple times to correctly clamp and place the transformers, resulting in poor positioning and low handling efficiency.

[0004] Therefore, this application provides a pallet handling robot and a pallet to solve the above-mentioned technical problems. Summary of the Invention

[0005] The purpose of this invention is to provide a pallet handling robot and a pallet, which solves the technical problem of how to simultaneously handle multiple pallets and multiple current sensors. The handling robot can achieve efficient and fast handling without multiple adjustments.

[0006] A pallet handling robot includes two parallel tracks and a square frame mounted on the two tracks. The bottom end of the square frame is mounted on the two tracks via drive wheels. The square frame is provided with a wedge motion mechanism 1 and a wedge motion mechanism 2 for simultaneously positioning multiple pallet components. There are two wedge motion mechanisms 1 and two wedge motion mechanisms 2. Two wedge motion mechanisms 1 are connected by a limiting structure 1, and two wedge motion mechanisms 2 are connected by a limiting structure 2. Each of the two wedge motion mechanisms 1 is linked to its adjacent wedge motion mechanism 2 via a linkage rod.

[0007] It also includes a lifting support structure disposed between the two said tracks, wherein a plurality of said tray assemblies are disposed on the lifting support structure.

[0008] The wedge-shaped motion mechanism includes a guide rod 1 and a guide rod 2 arranged parallel to each other, a movable frame slidably arranged on the guide rod 1 and the guide rod 2, and a movable rod slidably passing through the movable frame. A gap is provided between the guide rod 1 and the guide rod 2, and the movable rod passes through the gap. The movable rod is arranged perpendicular to the guide rod 1 and the guide rod 2.

[0009] The movable rod includes a movable part one, a parallelogram part, and a movable part two connected in sequence. The movable part one and the movable part two are slidably disposed on both sides of the movable frame, and the parallelogram part is in active contact with the spacing.

[0010] The second wedge-shaped motion mechanism includes a support rod with one end horizontally fixed to the inner side of the square frame, a support seat disposed on the support rod, an inclined plate connected to the upper end face of the support seat, and a guide rod three with one end slidably connected to the upper end face of the inclined plate. The guide rod three passes through a guide sleeve, and the guide sleeve is fixedly connected to the top end of the guide rod four. The guide rod three and the guide rod four are arranged perpendicular to each other, and the guide rod four passes perpendicularly through the support rod.

[0011] The limiting structure includes a connecting rod whose two ends are respectively connected to the two movable frames, and an embedded block fixedly disposed inside the connecting rod. The embedded block has a plurality of components.

[0012] The connecting rod is U-shaped, with its opening facing the tray assembly.

[0013] The second limiting structure includes a docking rod whose two ends are respectively connected to the bottom end of the guide rod four, and an embedded block two is fixed on the outside of the docking rod.

[0014] The linkage rod has an irregular shape, and its two ends are fixedly connected to the guide rod and the moving rod, respectively.

[0015] The lifting support structure includes a horizontally arranged lifting plate, a lifting cylinder at the bottom of the lifting plate, and a baffle fixed at one end of the lifting plate. The upper surface of the lifting plate is provided with several limiting grooves, which are connected to the tray assembly. The baffle is U-shaped with its opening facing upward.

[0016] The outer side of the connecting rod is in contact with the free end of the pushing cylinder, and the pushing cylinder is fixed on the square frame.

[0017] A tray includes a tray body, a plurality of current transformers fixed on the upper end face of the tray body, insulating components respectively disposed on the two side edges of the tray body, and a high current docking block fixed on the insulating components. The upper end face of the tray body is provided with a compatible slot, the plurality of current transformers are disposed in the compatible slot, and the insulating components are provided with positioning holes.

[0018] The upper part of the tray body is also provided with visual identification features, wiring sockets and reserved holes.

[0019] The positive effects of this invention are as follows:

[0020] (1) The simultaneous provision of wedge motion mechanism one and wedge motion mechanism two has the following technical advantages:

[0021] First, it can carry multiple pallets at the same time, with several different current transformers installed on the pallets, thus greatly improving the efficiency of pallet and current transformer handling.

[0022] The two wedge motion mechanisms are linked together, which can clamp and fix multiple pallets at the same time, avoiding the drawbacks of previous handling robots that required multiple adjustments, and improving the clamping, placement and positioning effects.

[0023] (2) It is equipped with a lifting support structure, which has the following technical effects:

[0024] First, multiple pallets are supported and lifted, enabling the pallets to quickly dock with wedge motion mechanism one and wedge motion mechanism two;

[0025] Secondly, it is equipped with baffles. When the outer side of the square frame abuts against the baffles, the drive wheels stop, which helps to achieve precise docking and saves the handling robot from frequent adjustment.

[0026] (3) The tray assembly set in this scheme is compatible with 12 types of voltage transformers and 7 types of current transformers. Not many are marked in this application, only for illustration. It has a positioning hole, which can be accurately positioned with wedge motion mechanism one and wedge motion mechanism two. It contains a high current guide block and an insulating block to meet the automatic docking and testing of the test equipment. It sets a reserved hole as the basis for module expansion. The expandable modules include: precise positioning of the transformer in the vertical direction, precise connection to other tooling, etc., realizing the technical effect of multiple functions. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the pallet handling robot and the pallet in this invention.

[0028] Figure 2 This is a top view of the pallet handling robot and the pallet in this invention.

[0029] Figure 3 This is a schematic diagram of the tray assembly in this invention.

[0030] Figure 4 This is a schematic diagram of the pallet handling robot in this invention.

[0031] Figure 5This is a schematic diagram of the connection structure between wedge motion mechanism one and wedge motion mechanism two in this invention.

[0032] Figure 6 This is a schematic diagram of the lifting support structure in this invention.

[0033] Figure 7 This is a schematic diagram of the arrangement of multiple pallet components during handling in this invention.

[0034] Figure 8 This is a schematic diagram of the structure of the wedge motion mechanism one in this invention.

[0035] The reference numerals in the attached drawings are as follows: 1. Track; 2. Drive wheel; 3. Wedge-shaped motion mechanism one; 31. Guide rod one; 32. Moving frame; 321. Connecting rod; 322. Embedded block one; 33. Moving rod; 331. Moving part one; 332. Parallelogram part; 333. Moving part two; 34. Guide rod two; 35. Linkage rod; 4. Square frame; 5. Wedge-shaped motion mechanism two; 51. Guide rod three; 52. Guide sleeve; 53. Inclined plate; 54. 55. Support base; 56. Support rod; 57. Guide rod four; 58. Connecting rod; 59. Embedded block two; 6. Baffle; 70. Lifting support structure; 71. Lifting plate; 72. Limiting groove; 73. Lifting cylinder; 84. Pallet assembly; 85. Pallet body; 86. Reserved hole; 87. High current connecting block; 88. Insulation assembly; 89. Positioning hole; 80. Current transformer; 81. Visual recognition feature; 82. Wiring socket; 9. Push cylinder. Detailed Implementation

[0036] To more clearly illustrate the technical features of this solution, the following detailed implementation method will be used to explain the solution.

[0037] See Figures 1-8 A pallet handling robot includes two parallel tracks 1 and a square frame 4 mounted on the two tracks 1. The bottom end of the square frame 4 is mounted on the two tracks 1 via a power wheel 2. The square frame 4 is provided with a wedge motion mechanism 1 3 and a wedge motion mechanism 2 5 for simultaneously positioning multiple pallet components 8. There are two wedge motion mechanisms 1 3 and two wedge motion mechanisms 2 5. The two wedge motion mechanisms 1 3 are connected by a limiting structure 1, and the two wedge motion mechanisms 2 5 are connected by a limiting structure 2. The two wedge motion mechanisms 1 3 are linked to their adjacent wedge motion mechanisms 2 5 via a linkage rod 35.

[0038] It also includes a lifting support structure 7 set between two tracks 1, and multiple pallet assemblies 8 are set on the lifting support structure 7.

[0039] The wedge motion mechanism 3 includes a guide rod 31 and a guide rod 34 arranged parallel to each other, a movable frame 32 slidably arranged on the guide rod 31 and the guide rod 34, and a movable rod 33 slidably passing through the movable frame 32. A gap is provided between the guide rod 31 and the guide rod 34, and the movable rod 33 passes through the gap. The movable rod 33 is arranged perpendicular to the guide rod 31 and the guide rod 34.

[0040] The movable rod 33 includes a first movable part 331, a parallelogram part 332, and a second movable part 333 connected in sequence. The first movable part 331 and the second movable part 333 are respectively slidably disposed on both sides of the movable frame 32, and the parallelogram part 332 is in active contact with the gap.

[0041] More preferably, guide rod 31 and guide rod 34 are on the same center line, and their ends are fixed to the square frame 4.

[0042] The second wedge motion mechanism 5 includes a support rod 55 with one end horizontally fixed to the inside of the square frame 4, a support seat 54 set on the support rod 55, an inclined plate 53 connected to the upper end face of the support seat 54, and a guide rod 51 with one end slidably connected to the upper end face of the inclined plate 53. The guide rod 51 passes through the guide sleeve 52, and the guide sleeve 52 is fixedly connected to the top end of the fourth guide rod 56. The guide rod 51 and the fourth guide rod 56 are set perpendicular to each other, and the fourth guide rod 56 passes perpendicularly through the support rod 55.

[0043] The limiting structure includes a connecting rod 321 that is connected to two movable frames 32 at both ends, and an embedded block 322 fixedly disposed inside the connecting rod 321. The embedded block 322 has several components.

[0044] The connecting rod 321 is U-shaped, with its opening facing the tray assembly 8.

[0045] The second limiting structure includes a docking rod 57 whose two ends are respectively connected to the bottom end of the guide rod 4 56, and an embedded block 2 571 is fixed on the outside of the docking rod 57.

[0046] The linkage rod 35 has an irregular structure, and its two ends are fixedly connected to the guide rod 351 and the moving rod 33, respectively.

[0047] More preferably, during the reciprocating sliding process of the linkage rod 35, its bottom surface is always placed on the square frame 4 to support the linkage rod 35.

[0048] The lifting support structure 7 includes a horizontally arranged lifting plate 71, a lifting cylinder 73 at the bottom of the lifting plate 71, and a baffle 6 fixed at one end of the lifting plate 71. The upper surface of the lifting plate 71 is provided with several limiting grooves 72, which are connected to the tray assembly 8. The baffle 6 is U-shaped and its opening faces upward.

[0049] The outer side of the connecting rod 321 is in active contact with the free end of the pushing cylinder 9, and the pushing cylinder 9 is fixed on the square frame 4.

[0050] A tray includes a tray body 81, a plurality of current transformers 85 fixed on the upper end face of the tray body 81, an insulating component 84 respectively disposed on the two side edges of the tray body 81, and a high current docking block 83 fixed on the insulating component 84. The upper end face of the tray body 81 is provided with a compatibility slot, the plurality of current transformers 85 are disposed in the compatibility slot, and the insulating component 84 is provided with a positioning hole 841.

[0051] The upper end of the tray body 81 is also provided with visual identification features 86 (such as a camera), wiring socket 87 and reserved hole 82.

[0052] Even better, visual positioning features can be set on the pallet body 81, and the automatic connection and disconnection robot can work with the camera to perform secondary precision positioning of the pallet.

[0053] Even better, the positioning hole 841 is a wedge-shaped positioning hole.

[0054] The working principles of the various components in the tray, such as current transformers, visual recognition features 86 (e.g., cameras), and wiring ports, are existing operations well known to those skilled in the art and will not be described in detail here.

[0055] The specific working process of this invention:

[0056] In use, multiple pallet assemblies 8 are placed in the limiting grooves 72 on the lifting plate 71, and the power wheel 2 is started, so that the square frame 4 moves along the track 1 to the position of the baffle 6 and stops. For example, a pressure sensor or a distance sensor can be installed on the baffle 6, and the power device connected to the power wheel 2 is controlled by the PLC controller.

[0057] The bottom end of the pallet body 81 matches the shape of the limiting groove 72, so that the pallet body 81 can be properly inserted into the limiting groove 72. Therefore, the specific shape of the pallet body 81 is not limited. In this application, the pallet body 81 is designed as a U-shape with the opening facing downward.

[0058] Under the action of the lifting cylinder 73, the lifting plate 71 is raised to a certain height. At this time, the wedge motion mechanism 1 3 and the wedge motion mechanism 2 5 work. Specifically, in the wedge motion mechanism 2 5, the guide rod 3 51 slides obliquely along the inclined plate 53. One end of the guide rod 3 51 extends into the positioning hole 841 of the adjacent tray on one side. At the same time, the guide rod 4 56 slides through the support rod 55 under the push of the guide sleeve 52. The bottom end of the guide rod 4 56 extends into the positioning hole 841 of the adjacent tray below it.

[0059] At the same time, the docking rod 57 connected to the guide rod 4 56 also moves toward its adjacent tray. The embedding block 2 571 on the docking rod 57 is embedded in the positioning hole 841 on the tray. The two wedge motion mechanisms 2 5 move in the same way, which will not be described in detail here.

[0060] When the guide rod 351 slides, it will inevitably drive one end of the linkage rod 35 to move. The other end of the linkage rod 35 will drive the moving rod 33 to slide through the moving frame 32. Due to the parallelogram part 332, the moving frame 32 moves upward, which in turn drives the connecting rod 321 and the first embedded block 322 to move upward. That is, the connecting rod 321 and the first embedded block 322 move towards the tray, and the first embedded block 322 enters the positioning hole 841 of its adjacent tray.

[0061] Therefore, wedge motion mechanism 1 3 and wedge motion mechanism 2 5 are ultimately linked, which can simultaneously achieve the function of supporting and limiting the four trays.

[0062] When it is necessary to unload several current transformers at the same time, wedge motion mechanism 3 and wedge motion mechanism 5 can be operated in reverse.

[0063] The tray assembly 8 in this solution is compatible with 12 types of voltage transformers 85 and 7 types of current transformers 85. These are not detailed in this application and are for illustrative purposes only. It features a built-in positioning hole 841 for precise positioning with wedge-shaped motion mechanisms 3 and 5. It includes a high-current guide block and an insulating block to facilitate automatic docking and testing of the experimental equipment. A reserved hole 82 serves as the basis for module expansion, allowing for modules such as precise vertical positioning of the transformer 85 and accurate connection to other tooling fixtures, achieving a multi-functional technical effect.

[0064] Note: The tray has slots designed according to the product shape. Manual or automatic equipment is used to place the current transformer 85 into the corresponding slots on the tray to complete the combination of the tray and the product.

[0065] The terminals of the current transformer 85 are manually connected to the inside of the tray according to the specific process flow. The inside of the tray and the corresponding outer terminal are connected. After the handling robot puts the tray into the test chamber, the positioning mechanism in the test chamber performs primary positioning through the positioning holes on the tray. Then, the automatic connection and disconnection robot (with camera) performs secondary position detection and confirmation through visual recognition features. After confirmation, the automatic connection and disconnection robot inserts the plug of the testing equipment into the terminal on the outside of the tray, thereby completing the connection between the testing equipment and the current transformer 85. This mainly designs the primary side wiring method for the secondary side and voltage test items.

[0066] If the testing project involves high current testing, the wiring terminal on one side of the current transformer 85 is manually connected to the high current docking block 83 on the tray via a dedicated guide wire. After completion, the handling robot moves it to the test chamber. One end of the dedicated docking device in the test chamber is connected to the testing equipment and can automatically extend and dock to the high current docking block 83. This is how the connection between the current transformer 85 and the testing equipment is completed.

[0067] The technical features of this invention not described can be implemented by or using existing technology, and will not be repeated here. Of course, the above description is not a limitation of this invention, and this invention is not limited to the examples above. Any changes, modifications, additions or substitutions made by those skilled in the art within the scope of this invention should also be within the protection scope of this invention.

Claims

1. A pallet handling robot comprising two rails (1) parallel to each other, a square frame (4) arranged on the two rails (1), characterized in that, The bottom end of the square frame (4) is set on the two tracks (1) by a power wheel (2). The square frame (4) is provided with a wedge motion mechanism one (3) and a wedge motion mechanism two (5) for simultaneously positioning multiple pallet assemblies (8). There are two wedge motion mechanisms one (3) and two wedge motion mechanisms two (5). The two wedge motion mechanisms one (3) are connected by a limiting structure one, and the two wedge motion mechanisms two (5) are connected by a limiting structure two. The two wedge motion mechanisms one (3) are linked to their adjacent wedge motion mechanisms two (5) by a linkage rod (35). It also includes a lifting support structure (7) disposed between the two said tracks (1), and a plurality of said pallet assemblies (8) are disposed on the lifting support structure (7); The wedge motion mechanism 1 (3) includes a guide rod 1 (31) and a guide rod 2 (34) arranged parallel to each other, a movable frame (32) slidably arranged on the guide rod 1 (31) and the guide rod 2 (34), and a movable rod (33) slidably passing through the movable frame (32). A gap is provided between the guide rod 1 (31) and the guide rod 2 (34), and the movable rod (33) passes through the gap. The movable rod (33) is arranged perpendicular to the guide rod 1 (31) and the guide rod 2 (34). The movable rod (33) includes a movable part one (331), a parallelogram part (332), and a movable part two (333) connected in sequence. The movable part one (331) and the movable part two (333) are respectively slidably disposed on both sides of the movable frame (32), and the parallelogram part (332) is in active contact with the spacing. The second wedge motion mechanism (5) includes a support rod (55) with one end horizontally fixed to the inside of the square frame (4), a support seat (54) set on the support rod (55), an inclined plate (53) connected to the upper end face of the support seat (54), and a guide rod three (51) with one end slidably connected to the upper end face of the inclined plate (53). The guide rod three (51) passes through the guide sleeve (52), and the guide sleeve (52) is fixedly connected to the top end of the guide rod four (56). The guide rod three (51) and the guide rod four (56) are set perpendicular to each other, and the guide rod four (56) passes perpendicularly through the support rod (55). The limiting structure includes a connecting rod (321) that is connected to the two movable frames (32) at both ends respectively, and an embedding block (322) fixedly disposed inside the connecting rod (321). The embedding block (322) has a plurality of components. The connecting rod (321) is U-shaped, with its opening facing the tray assembly (8); The second limiting structure includes a docking rod (57) with both ends connected to the bottom end of the guide rod (56), and an embedded block (571) is fixed on the outside of the docking rod (57).

2. The pallet handling robot according to claim 1, characterized in that, The linkage rod (35) has an irregular structure, and its two ends are fixedly connected to the guide rod (51) and the moving rod (33) respectively.

3. The pallet handling robot according to claim 1, characterized in that, The lifting support structure (7) includes a horizontally arranged lifting plate (71), a lifting cylinder (73) at the bottom of the lifting plate (71), and a baffle (6) fixed at one end of the lifting plate (71). The upper surface of the lifting plate (71) is provided with several limiting grooves (72), which are connected to the tray assembly (8). The baffle (6) is U-shaped and has its opening facing upward.

4. The pallet handling robot according to claim 1, characterized in that, The outer side of the connecting rod (321) is in active contact with the free end of the push cylinder (9), which is fixed on the square frame (4).

5. A pallet to be handled by a pallet handling robot according to any one of claims 1-4, characterized in that The device includes a tray body (81), several current transformers (85) fixed on the upper surface of the tray body (81), insulating components (84) respectively disposed on the two sides of the tray body (81), and high current docking blocks (83) fixed on the insulating components (84). The upper surface of the tray body (81) is provided with a compatible slot, and the several current transformers (85) are disposed in the compatible slot. The insulating components (84) are provided with positioning holes (841). The upper end of the tray body (81) is also provided with a wiring socket (87) and a reserved hole (82).

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