Carrying manipulator for stereoscopic warehouse

Abstract

The carrying manipulator for the stereoscopic warehouse effectively achieves a better cargo taking effect and comprises a main body plate, a liftable supporting frame is arranged on the lower side of the main body plate, lower side supporting plates are arranged on the front side of the supporting frame, and an angle adjusting plate is arranged on the upper side of each lower side supporting plate; a rotatable rotating frame is arranged on the front side of the main body plate, grabbing mechanisms are arranged on the front side of the rotating frame, inclined contact pads are arranged on the grabbing mechanisms, and a detachable power input plate is arranged on the rear side of the main body plate. The function of clamping goods of different heights is effectively increased, the goods are more stable during transportation, the function of rapidly grabbing the goods is increased, the goods can be clamped in two sections, the effect of clamping the goods not located in the center of the tray is achieved, and a wave rubber pad is convenient to replace.

Description

Technical Field

[0001] The invention belongs to the technical field of handling equipment and relates to a handling manipulator used in a stereoscopic warehouse. Background Art

[0002] As the level of factory automation continues to improve, factory production efficiency is gradually increasing. Large structural parts and production materials in the factory are generally grabbed, transported and placed by handling robots.

[0003] Chinese invention patent CN116873442B discloses a handling manipulator for a stereoscopic warehouse, comprising a bracket, a plurality of groups of splints movably arranged inside the bracket, screw rods are arranged at both ends of the bracket, the screw rods penetrate the splints and are threadedly connected thereto, an end of the splint away from the bracket is elastically connected to an adjusting plate, and a support rod is rotatably arranged on the adjusting plate; through the plurality of groups of splints arranged, a group of splints can be selected correspondingly according to goods of different sizes, when the goods contact the support rod and drive it to deflect, the limit block is matched with the limit groove by a pull rope, and then the splint is limited, at this time, a group of splints closest to the goods is connected to the bracket through the limit block, and subsequently, when the screw rod rotates, a group of splints closest to the goods will move toward the direction of the goods and clamp them, which greatly shortens the distance traveled by the splint on the screw rod, so that the splint can clamp the goods each time it travels a shorter distance, which is conducive to extending the service life of the splint.

[0004] Chinese invention patent CN114559456B discloses a handling manipulator for a stereoscopic warehouse, comprising a connecting seat connected to a mechanical arm, a clamping block being slidably provided on one side of the connecting seat, a rubber belt being provided on the side of the clamping block, the rubber belt being arranged in a wave shape, the lower half of the rubber belt being placed on the outer side of the clamping block, and the upper half of the rubber belt being placed in the inner cavity of the clamping block; a first adjusting component and a second adjusting component being slidably provided on the clamping block, the rubber belt placed on the outer side of the clamping block passing through the bottom end of the first adjusting component to form a trough; the rubber belt placed in the inner cavity of the clamping block is moved to the outer side of the clamping block, thereby completing the replacement of the rubber belt, and in the subsequent use process, the goods will contact with the unused rubber belt placed on the outer side of the clamping block, thereby facilitating the stable contact between the clamping block and the goods, and through this structure, when the rubber belt needs to be replaced, it is only necessary to rotate the reel to drive the rubber belt to move, which is convenient to operate and conducive to the rapid replacement of the rubber belt.

[0005] However, in the above two devices, the goods are only clamped and transported by two clamping mechanisms on the side. For goods on pallets, such transportation is not stable. In addition, due to the different types of goods, the clamping position and angle also need to be properly adjusted. Therefore, a handling robot for high-bay warehouses that can increase the stability of goods during transportation is needed to solve the above problems. Summary of the invention

[0006] In view of the above problems, the present invention proposes a handling robot for a stereoscopic warehouse, which well solves the problems in the prior art.

[0007] In order to achieve the above object, the technical solution adopted by the present invention is as follows: A handling robot for a stereoscopic warehouse comprises a main body plate, characterized in that: a liftable support frame is provided on the lower side of the main body plate, two lower support plates are fixedly connected to the front side of the support frame, an angle adjustment plate is provided on the upper side of each lower support plate, and the angle can be adjusted as the support frame is lifted or lowered; a rotatable rotating frame is provided on the front side of the main body plate, two gripping mechanisms that can move left and right are provided on the front side of the rotating frame, each gripping mechanism is provided with a replaceable oblique contact pad, and a detachable power input plate is provided on the rear side of the main body plate.

[0008] Preferably, a lifting power plate is symmetrically fixedly connected to the upper side of the support frame, a first power shaft is provided inside the main body plate, a first bevel gear is fixedly connected to the left and right sides of the first power shaft, a second bevel gear is meshed on the lower side of each first bevel gear, a second power shaft is fixedly connected to the lower side of each second bevel gear, each second power shaft is threadedly connected to the corresponding lifting power plate, and the second power shaft and the lifting power plate cooperate with each other to form a structure for lifting the support frame.

[0009] Preferably, the front side of each of the angle adjustment plates is rotatably connected to the lower support plate via a hinge, a liftable support block is provided inside the support frame corresponding to the position of each angle adjustment plate, a support bar is fixedly connected to the front side of each support block, and each support bar is located on the lower side of the rear of the corresponding angle adjustment plate.

[0010] Preferably, two racks are fixedly connected inside the main body plate, and a pinion is rotatably connected inside each of the lifting power plates. A through groove is provided at the position of each lifting power plate corresponding to the rack, and each pinion is meshed with the corresponding rack through the corresponding through groove. A third bevel gear is fixedly connected to the side of each pinion close to the corresponding second power shaft, and a fourth bevel gear is meshed on the lower side of each third bevel gear, and a driven threaded rod is fixedly connected to the lower side of each fourth bevel gear, and each driven threaded rod is threadedly connected to the corresponding support block.

[0011] Preferably, a moving groove is opened on the front side of the rotating frame, and a rotatable two-way threaded rod is provided inside the moving groove, and the left and right sides of the two-way threaded rod are respectively threadedly connected to a left power plate and a right power plate, the right side of the left power plate is rotatably connected to a left connecting sleeve, the outer side of the left connecting sleeve is threadedly connected to a left grabbing plate, the left side of the right power plate is rotatably connected to a right connecting rod, the outer diameter of the right connecting rod is smaller than the inner diameter of the left connecting sleeve, and the outer side of the right connecting rod is threadedly connected to a right grabbing plate, the two grabbing mechanisms are respectively fixedly connected to the left grabbing plate and the right grabbing plate, and a double-headed motor is fixedly connected to the inside of the rotating frame, and the output end of the double-headed motor is fixedly connected to the two-way threaded rod.

[0012] Preferably, a first connecting gear is fixedly connected to the left side of the bidirectional threaded rod, a second connecting gear is meshed on the front side of the first connecting gear, an acceleration rod rotatably connected to the rotating frame is provided on the right side of the second connecting gear, the second connecting gear and the acceleration rod are connected through a safety coupling, and the acceleration rod is connected to the left connecting sleeve and the right connecting rod through a sliding key.

[0013] Preferably, each of the grabbing mechanisms includes a grabbing frame slidably connected to the rotating frame, a sliding frame is fixedly connected to the upper and lower sides of the rear portion of each grabbing frame, a sliding groove is provided on the upper and lower sides of the rotating frame, each sliding frame can slide left and right along the corresponding sliding groove, a floating block that can move left and right is provided on one side of each grabbing frame, a balancing bag is provided between each grabbing frame and the corresponding floating block, a connecting pipe is provided on the front side of the main plate, and the left and right ends of the connecting pipe are respectively connected to the corresponding balancing bag.

[0014] Preferably, the oblique contact pad is fixedly connected to a plurality of inclined limit strips on one side close to the floating block, a limit groove is provided on the floating block corresponding to the position of each limit block, and a corrugated rubber pad is fixedly connected to the side of the oblique contact pad away from the floating block.

[0015] Preferably, a first connecting block is rotatably connected to the middle part of the power input plate, and a second connecting block rotatably connected to the main plate is provided on the front side of the first power connecting block. The first connecting block and the second connecting block are detachably connected via a spline, and a worm is fixedly connected to the front side of the second connecting block. A worm wheel is meshed with the lower side of the worm, and the worm wheel is fixedly mounted on the outer side of the first power shaft.

[0016] Preferably, a third connecting block is fixedly connected to the rear side of the rotating frame, and a fourth connecting block is detachably connected to the rear side of the third connecting block via a spline, the fourth connecting block is rotatably connected to the power input plate, a plurality of limiting mechanisms are provided inside the third connecting block, each limiting mechanism includes a lever rotatably connected to the third connecting block, a contact block rotatably connected to the third connecting block is provided on the rear side of the lever, a friction block abutting the lever is provided on the front side of the contact block, a tension spring is provided between the friction block and the lever, and a strong spring is provided on the rear side of the lever away from the contact block.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention has a liftable support frame, through which the relative height of the lower support plate and the main body plate can be adjusted, so that when the overall cargo is higher, a more stable support can be obtained.

[0018] 2. The present invention has an angle adjustment plate, which can support the bottom of the goods through the angle adjustment plate and the lower support plate, so that the goods have a tendency to tip backwards, thereby allowing the goods to be close to the main plate during transportation, thereby increasing the stability of the goods.

[0019] 3. The present invention has a rotatable rotating frame, which enables the grabbing mechanism to clamp the goods at different angles, and thus can be suitable for use with goods of different shapes.

[0020] 4. The present invention has a replaceable oblique contact pad, which can not only increase the friction coefficient of the goods when clamping the goods, but also, through the oblique installation of the oblique contact pad relative to the gripping mechanism, it can make the goods tend to move backward when clamping the goods, thereby making the cargo transportation more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0022] Figure 2 It is a schematic diagram of the explosion structure of the main body plate and the power input plate in the present invention.

[0023] Figure 3 It is a schematic diagram of the matching state of the driven threaded rod and the support block of the present invention.

[0024] Figure 4 It is a structural schematic diagram of the grabbing mechanism in the present invention.

[0025] Figure 5 It is a schematic diagram of the position of the first connecting gear in the present invention.

[0026] Figure 6 It is a schematic diagram of the explosion structure of the acceleration rod and the safety coupling in the present invention.

[0027] Figure 7 For the present invention Figure 2 A partial enlarged schematic diagram of area A in the middle.

[0028] Figure 8 For the present invention Figure 2 A partial enlarged schematic diagram of area B in the middle.

[0029] Fig. 9 For the present invention Figure 3 A partial enlarged schematic diagram of the C area in the middle.

[0030] Fig.10 For the present invention Figure 2 A partial enlarged schematic diagram of the D area in the middle.

[0031] In the figure: 1, main plate; 2, support frame; 3, lower support plate; 4, angle adjustment plate; 5, rotating frame; 6, grabbing mechanism; 7, oblique contact pad; 8, power input plate; 9, lifting power plate; 10, first power shaft; 11, first bevel gear; 12, second bevel gear; 13, second power shaft; 14, support block; 15, support bar; 16, rack; 17, pinion; 18, third bevel gear; 19, fourth bevel gear; 20, driven threaded rod; 21, moving groove; 22, two-way threaded rod; 23, left power plate; 24, right power plate; 25, left connecting sleeve; 26, left grab plate ; 27. Right connecting rod; 28. Right grabbing plate; 29. ​​Double-headed motor; 30. First connecting gear; 31. Second connecting gear; 32. Accelerator rod; 33. Safety coupling; 34. Grabbing frame; 35. Sliding frame; 36. Sliding groove; 37. Floating block; 38. Balance bag; 39. Connecting pipe; 40. Limiting strip; 41. Limiting groove; 42. Wave rubber pad; 43. First connecting block; 44. Second connecting block; 45. Worm; 46. Worm wheel; 47. Third connecting block; 48. Fourth connecting block; 49. Lever; 50. Contact block; 51. Friction block; 52. Tension spring; 53. Power spring. DETAILED DESCRIPTION

[0032] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0033] The following is combined with Figure 1-Figure 10 The specific implementation modes of the present invention are described in further detail.

[0034] Depend on Figure 1-Figure 10The present invention includes a main body plate 1. In order to achieve a better cargo picking effect, a liftable support frame 2 is provided on the lower side of the main body plate 1. Two lower support plates 3 are fixedly connected to the front side of the support frame 2. An angle adjustment plate 4 that can be adjusted with the lifting of the support frame 2 is provided on the upper side of each lower support plate 3. A rotatable rotating frame 5 is provided on the front side of the main body plate 1. Two grabbing mechanisms 6 that can move left and right are provided on the front side of the rotating frame 5. A replaceable oblique contact pad 7 is provided on each grabbing mechanism 6. A detachable power input plate 8 is provided on the rear side of the main body plate 1. It should be noted that the relative height between the lower support plate 3 and the main plate 1 can be adjusted through the liftable support frame 2, so that when the goods are higher as a whole, more stable support can be obtained; through the angle adjustment plate 4, when the bottom of the goods is supported by the angle adjustment plate 4 and the lower support plate 3, the goods have a tendency to tip backwards, so that the goods can be close to the main plate 1 during transportation, thereby increasing the stability of the goods; through the rotatable rotating frame 5, the grasping mechanism 6 can clamp the goods at different angles, so that it can be suitable for goods of different shapes; through the replaceable oblique contact pad 7, the friction coefficient of the goods when clamping the goods can be increased, and the oblique installation of the oblique contact pad 7 relative to the grasping mechanism 6 can make the goods have a tendency to move backwards when clamping the goods, thereby making the cargo transportation more stable.

[0035] Further, by Figure 2 and Figure 8-Figure 10 It is given that in order to be able to clamp goods at different heights, a lifting power plate 9 is symmetrically fixedly connected to the upper side of the support frame 2, and a first power shaft 10 is provided inside the main body plate 1, and a first bevel gear 11 is fixedly connected to the left and right sides of the first power shaft 10, and a second bevel gear 12 is meshed on the lower side of each first bevel gear 11, and a second power shaft 13 is fixedly connected to the lower side of each second bevel gear 12, and each second power shaft 13 is threadedly connected to the corresponding lifting power plate 9, and the second power shaft 13 cooperates with the lifting power plate 9 to form a lifting structure of the support frame 2; When in use, when the first power shaft 10 rotates, the two second power shafts 13 are driven to rotate through the first bevel gear 11 and the second bevel gear 12, and then under the action of the threaded connection between the second power shaft 13 and each lifting power plate 9, each lifting power plate 9 drives the support frame 2 to adjust the height relative to the main plate 1, so that the device can adapt to the use of cargo clamping at different heights.

[0036] Further, by Figure 3It is given that, in order to make the cargo transportation more stable, the front side of each of the angle adjustment plates 4 is rotatably connected to the lower support plate 3 through a hinge, and a liftable support block 14 is provided inside the support frame 2 corresponding to the position of each angle adjustment plate 4, and a support bar 15 is fixedly connected to the front side of each support block 14, and each support bar 15 is located at the lower side of the rear of the corresponding angle adjustment plate 4; Further, by Figure 3 and Fig. 9 It is given that two racks 16 are fixedly connected inside the main body plate 1, and a pinion 17 is rotatably connected inside each of the lifting power plates 9. A through groove is provided at the position of each lifting power plate 9 corresponding to the rack 16, and each pinion 17 is meshed with the corresponding rack 16 through the corresponding through groove. A third bevel gear 18 is fixedly connected to the side of each pinion 17 close to the corresponding second power shaft 13, and a fourth bevel gear 19 is meshed on the lower side of each third bevel gear 18. A driven threaded rod 20 is fixedly connected to the lower side of each fourth bevel gear 19, and each driven threaded rod 20 is threadedly connected to the corresponding support block 14; During use, when the lifting power plate 9 moves downward relative to the main plate 1, each pinion 17 rotates under the action of the rack 16, and then drives the fourth bevel gear 19 to rotate through the third bevel gear 18, so that the driven threaded rod 20 rotates, driving the support block 14 to move downward. When the support block 14 moves downward, it will drive the support bar 15 to move downward. At this time, the rear side of the angle adjustment plate 4 moves downward, causing the angle adjustment plate 4 to tilt backward, and then the goods have a tendency to tip backward close to the main plate 1, making the goods transportation more stable.

[0037] Further, by Figure 4-Figure 6In order to quickly grab the goods, a moving groove 21 is provided on the front side of the rotating frame 5, and a rotatable two-way threaded rod 22 is provided inside the moving groove 21. The two-way threaded rod 22 is a rod-shaped structure with threads of opposite rotation directions on both sides. The left and right sides of the two-way threaded rod 22 are respectively threadedly connected with a left power plate 23 and a right power plate 24. The right side of the left power plate 23 is rotatably connected to a left connecting sleeve 25, and the outer side of the left connecting sleeve 25 is threadedly connected to a left grabbing plate 26. The left side of the right power plate 24 is rotatably connected to a right connecting rod 2 7. The outer diameter of the right connecting rod 27 is smaller than the inner diameter of the left connecting sleeve 25. When the left connecting sleeve 25 and the right connecting rod 27 are approaching each other, the right connecting rod 27 will be sleeved inside the left connecting sleeve 25. The outer side of the right connecting rod 27 is threadedly connected to a right grab plate 28. The two grab mechanisms 6 are fixedly connected to the left grab plate 26 and the right grab plate 28 respectively. A double-headed motor 29 is fixedly connected inside the rotating frame 5. The double-headed motor 29 is a prior art and will not be described in detail here. The output end of the double-headed motor 29 is fixedly connected to the bidirectional threaded rod 22. Further, by Figure 4-Figure 6 It is given that, in order to be able to clamp the goods in two sections, a first connecting gear 30 is fixedly connected to the left side of the bidirectional threaded rod 22, a second connecting gear 31 is meshed on the front side of the first connecting gear 30, an acceleration rod 32 rotatably connected to the rotating frame 5 is provided on the right side of the second connecting gear 31, the second connecting gear 31 and the acceleration rod 32 are connected through a safety coupling 33, and the acceleration rod 32 is connected to the left connecting sleeve 25 and the right connecting rod 27 through a sliding key; When clamping the goods, the double-headed motor 29 is started and the bidirectional threaded rod 22 is driven to rotate, thereby driving the left power plate 23 and the right power plate 24 to approach each other, so that the left power plate 23 drives the left grabbing plate 26 to move to the right through the left connecting sleeve 25, and the right power plate 24 drives the right grabbing plate 28 to move to the left through the right connecting fixed connection, so that the left grabbing plate 26 and the right grabbing plate 28 are close to each other. At the same time, the bidirectional threaded rod 22 drives the acceleration rod 32 to rotate through the first connecting gear 30, the second connecting gear 31, and the safety coupling 33. Since the acceleration rod 32 is connected to the left connecting sleeve 25 and the right connecting rod 27 by a sliding key, that is, the left connecting sleeve 25 will rotate under the action of the acceleration rod 32 as the left power plate 23 moves to the right, Under the action of the threaded connection between 25 and the left grab plate 26, the left grab plate 26 can move to the right faster. Similarly, the right grab plate 28 will also move to the left faster, that is, the purpose of quickly grabbing the goods for the first clamping is achieved. When the left grab plate 26 and the right grab plate 28 contact the goods, the resistance torque exerted on the accelerator rod 32 increases, and after exceeding the torque preset by the safety coupling 33, the second connecting gear 31 will not drive the accelerator rod 32 to rotate. At this time, the output power of the double-headed motor 29 can be fully output through the two-way threaded frame, and a larger torque can be used to clamp the left power plate 23 and the right power plate 24, thereby achieving the purpose of using standard torque for secondary clamping of the goods, which not only reduces the time required for clamping the goods, but also ensures the force required for clamping the goods.

[0038] Further, by Figure 1-Figure 4 It is given that, in order to be able to clamp the deflected goods, each of the grabbing mechanisms 6 includes a grabbing frame 34 slidably connected to the rotating frame 5, and a sliding frame 35 is fixedly connected to the upper and lower sides of the rear of each grabbing frame 34. A sliding groove 36 is provided on the upper and lower sides of the rotating frame 5, and each sliding frame 35 can slide left and right along the corresponding sliding groove 36. A floating block 37 that can move left and right is provided on one side of each grabbing frame 34. A balancing bag 38 is provided between each grabbing frame 34 and the corresponding floating block 37. A connecting pipe 39 is provided on the front side of the main body plate 1, and the left and right ends of the connecting pipe 39 are respectively connected to the corresponding balancing bag 38; Further, by Figure 1-Figure 4It is shown that, in order to facilitate the replacement of the wave rubber pad 42, a plurality of inclined limiting strips 40 are fixedly connected to the side of the oblique contact pad 7 close to the floating block 37, a limiting groove 41 is provided on the floating block 37 corresponding to the position of each limiting block, and a wave rubber pad 42 is fixedly connected to the side of the oblique contact pad 7 away from the floating block 37. The wave rubber pad 42 is wavy on one side of the oblique contact pad 7, and each wave is inclined. During use, when the goods are not in the center of the logistics pallet, when the left grab plate 26 and the right grab plate 28 approach each other, the two floating blocks 37 will contact the goods in turn through the corrugated rubber pad 42. Since the two balance bags 38 are connected by a connecting pipe 39, when the goods are clamped, the pressure inside the two balance bags 38 is the same but the sizes are not necessarily the same. Even if the goods are not in the middle of the logistics pallet, the goods can be clamped under the action of pressure and the balance bags 38. When the corrugated rubber pad 42 needs to be replaced, the oblique contact pad 7 can be pulled forward and upward to disengage each limit bar 40 from the limit groove 41 for replacement.

[0039] Further, by Figure 2 and Figure 8 It is given that, in order to facilitate the power connection of the device, a first connection block 43 is rotatably connected to the middle of the power input plate 8, and a second connection block 44 rotatably connected to the main body plate 1 is provided on the front side of the first power connection block. The first connection block 43 and the second connection block 44 are detachably connected via a spline, and a worm 45 is fixedly connected to the front side of the second connection block 44, and a worm wheel 46 is meshed with the lower side of the worm 45, and the worm wheel 46 is fixedly sleeved on the outer side of the first power shaft 10; When the first connecting block 43 rotates, the worm 45 is driven to rotate through the second connecting block 44, so that the worm 45 drives the first power shaft 10 to rotate through the worm wheel 46; Further, by Figure 1-Figure 10It is given that a third connecting block 47 is fixedly connected to the rear side of the rotating frame 5, and a fourth connecting block 48 is detachably connected to the rear side of the third connecting block 47 through a spline, and the fourth connecting block 48 is rotatably connected to the power input plate 8. A plurality of limiting mechanisms are arranged inside the third connecting block 47, and each limiting mechanism includes a lever 49 rotatably connected to the third connecting block 47, and a contact block 50 rotatably connected to the third connecting block 47 is arranged on the rear side of the lever 49. A placement groove is provided at the position of each contact block 50 of the third connecting block 47, and the front side of each lever 49 is rotatably connected to the placement groove. A friction block 51 abutting against the lever 49 is arranged on the front side of the contact block 50, and a tension spring 52 is arranged between the friction block 51 and the lever 49, and a strong spring 53 is arranged on the side of the rear part of the lever 49 away from the contact block 50, and the power input plate 8 is detachably connected to the main plate 1 by bolts; When in use, the first connecting block 43 and the fourth connecting block 48 can be connected to the output end of the servo motor respectively, and the housing of each servo motor is fixedly connected to the power input plate 8, so that power can be input to the first connecting block 43 and the fourth connecting block 48 through the servo motor. When the fourth connecting block 48 rotates, the rotating frame 5 is driven to rotate through the third connecting block 47. It should be noted that due to the self-locking nature of the servo motor, the rotating frame 5 can be limited in rotation. When the power input plate 8 is removed from the main plate 1, at this time, under the action of the strong spring 53, the rear part of the lever 49 pushes the contact block 50 out of the placement groove, and at the same time, the friction block 51 is pushed out from the inside of the third connecting block 47 in the middle part of the lever 49, and contacts with the inside of the main plate 1, and the rotation of the rotating frame 5 is limited by friction, thereby increasing the stability of the rotating frame 5 during device maintenance and improving the safety performance of the device.

[0040] It should be noted that, in order to meet the remote operation requirements of the stereoscopic warehouse, the double-headed motor 29 and the servo motors connected to the first connection block 43 and the fourth connection block 48 can be controlled by a remote control module, and the conveying mechanism is used to move the position of the manipulator as a whole; When the present invention is used, after starting the double-headed motor 29, it drives the bidirectional threaded rod 22 to rotate, thereby driving the left power plate 23 and the right power plate 24 to approach each other, so that the left power plate 23 drives the left grab plate 26 to move rightward through the left connecting sleeve 25, and the right power plate 24 drives the right grab plate 28 to move leftward through the right connecting fixed connection, so that the left grab plate 26 and the right grab plate 28 are close to each other. At the same time, the bidirectional threaded rod 22 drives the acceleration rod 32 to rotate through the first connecting gear 30, the second connecting gear 31, and the safety coupling 33. Since the acceleration rod 32 is connected to the left connecting sleeve 25 and the right connecting rod 27 by a sliding key, that is, the left connecting sleeve 25 will rotate under the action of the acceleration rod 32 in the process of moving the left power plate 23 to the right, and the left connecting sleeve Under the action of the threaded connection between 25 and the left grab plate 26, the left grab plate 26 can move to the right faster. Similarly, the right grab plate 28 will also move to the left faster, that is, the purpose of quickly grabbing the goods for the first clamping is achieved. When the left grab plate 26 and the right grab plate 28 contact the goods, the resistance torque exerted on the accelerator rod 32 increases, and after exceeding the torque preset by the safety coupling 33, the second connecting gear 31 will not drive the accelerator rod 32 to rotate. At this time, the output power of the double-headed motor 29 can be fully output through the two-way threaded frame, and a larger torque can be used to clamp the left power plate 23 and the right power plate 24, thereby achieving the purpose of using standard torque for secondary clamping of the goods, which not only reduces the time required for clamping the goods, but also ensures the force required for clamping the goods.

[0041] The present invention has a novel structure, ingenious conception, and simple and convenient operation. Through this design, a better cargo picking effect is effectively achieved, and the function of clamping cargo at different heights is added, making cargo transportation more stable. The function of quickly grabbing cargo is added, and the cargo can be clamped in two sections, achieving the effect of clamping cargo that is not in the center of the pallet, and facilitating the replacement of the corrugated rubber pad 42.

[0042] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A handling robot for a three-dimensional warehouse, comprising a main body plate (1), characterized in that: A liftable support frame (2) is provided on the lower side of the main body plate (1); two lower support plates (3) are fixedly connected to the front side of the support frame (2); an angle adjustment plate (4) is provided on the upper side of each lower support plate (3) and can be adjusted in angle as the support frame (2) is lifted or lowered; a rotatable rotating frame (5) is provided on the front side of the main body plate (1); two gripping mechanisms (6) that can move left and right are provided on the front side of the rotating frame (5); each gripping mechanism (6) is provided with a replaceable oblique contact pad (7); and a detachable power input plate (8) is provided on the rear side of the main body plate (1).

2. A handling robot for a stereoscopic warehouse according to claim 1, characterized in that: A lifting power plate (9) is symmetrically fixedly connected to the upper side of the support frame (2), and a first power shaft (10) is provided inside the main body plate (1). A first bevel gear (11) is fixedly connected to the left and right sides of the first power shaft (10). A second bevel gear (12) is meshed on the lower side of each first bevel gear (11), and a second power shaft (13) is fixedly connected to the lower side of each second bevel gear (12). Each second power shaft (13) is threadedly connected to the corresponding lifting power plate (9). The second power shaft (13) and the lifting power plate (9) cooperate with each other to form a lifting structure of the support frame (2).

3. A handling robot for a stereoscopic warehouse according to claim 2, characterized in that: The front side of each of the angle adjustment plates (4) is rotatably connected to the lower support plate (3) via a hinge; a liftable support block (14) is provided inside the support frame (2) at a position corresponding to each of the angle adjustment plates (4); the front side of each of the support blocks (14) is fixedly connected to a support bar (15); and each of the support bars (15) is located at the lower side of the rear portion of the corresponding angle adjustment plate (4).

4. A handling robot for a stereoscopic warehouse according to claim 3, characterized in that: Two racks (16) are fixedly connected inside the main body plate (1), and each lifting power plate (9) is rotatably connected inside with a pinion (17). A through slot is provided at a position corresponding to the rack (16) of each lifting power plate (9), and each pinion (17) meshes with the corresponding rack (16) through the corresponding through slot. A third bevel gear (18) is fixedly connected to a side of each pinion (17) close to the corresponding second power shaft (13), and a fourth bevel gear (19) is meshed on the lower side of each third bevel gear (18), and a driven threaded rod (20) is fixedly connected to the lower side of each fourth bevel gear (19), and each driven threaded rod (20) is threadedly connected to the corresponding support block (14).

5. The handling robot for a stereoscopic warehouse according to claim 1, characterized in that: A moving groove (21) is provided at the front side of the rotating frame (5), a rotatable bidirectional threaded rod (22) is provided inside the moving groove (21), a left power plate (23) and a right power plate (24) are respectively threadedly connected to the left and right sides of the bidirectional threaded rod (22), a left connecting sleeve (25) is rotatably connected to the right side of the left power plate (23), a left grab plate (26) is threadedly connected to the outer side of the left connecting sleeve (25), a right connecting rod (27) is rotatably connected to the left side of the right power plate (24), an outer diameter of the right connecting rod (27) is smaller than an inner diameter of the left connecting sleeve (25), a right grab plate (28) is threadedly connected to the outer side of the right connecting rod (27), the two grabbing mechanisms (6) are respectively fixedly connected to the left grab plate (26) and the right grab plate (28), a double-headed motor (29) is fixedly connected to the inside of the rotating frame (5), and an output end of the double-headed motor (29) is fixedly connected to the bidirectional threaded rod (22).

6. A handling robot for a stereoscopic warehouse according to claim 5, characterized in that: A first connecting gear (30) is fixedly connected to the left side of the bidirectional threaded rod (22); a second connecting gear (31) is meshed with the front side of the first connecting gear (30); an accelerator rod (32) rotatably connected to the rotating frame (5) is provided on the right side of the second connecting gear (31); the second connecting gear (31) and the accelerator rod (32) are connected via a safety coupling (33); and the accelerator rod (32) and the left connecting sleeve (25) and the right connecting rod (27) are all connected via sliding keys.

7. A handling robot for a stereoscopic warehouse according to claim 6, characterized in that: Each of the grabbing mechanisms (6) comprises a grabbing frame (34) slidably connected to the rotating frame (5); a sliding frame (35) is fixedly connected to the upper and lower sides of the rear of each grabbing frame (34); a sliding groove (36) is provided on the upper and lower sides of the rotating frame (5); each sliding frame (35) can slide left and right along the corresponding sliding groove (36); a floating block (37) movable left and right is provided on one side of each grabbing frame (34); a balancing bag (38) is provided between each grabbing frame (34) and the corresponding floating block (37); a connecting pipe (39) is provided on the front side of the main body plate (1); the left and right ends of the connecting pipe (39) are respectively connected to the corresponding balancing bag (38).

8. A handling robot for a stereoscopic warehouse according to claim 7, characterized in that: A plurality of inclined limiting strips (40) are fixedly connected to the side of the oblique contact pad (7) close to the floating block (37), a limiting groove (41) is provided on the floating block (37) at a position corresponding to each limiting block, and a corrugated rubber pad (42) is fixedly connected to the side of the oblique contact pad (7) away from the floating block (37).

9. The handling robot for a stereoscopic warehouse according to claim 2, characterized in that: A first connecting block (43) is rotatably connected to the middle of the power input plate (8), a second connecting block (44) rotatably connected to the main plate (1) is provided on the front side of the first power connecting block, the first connecting block (43) and the second connecting block (44) are detachably connected via a spline, a worm (45) is fixedly connected to the front side of the second connecting block (44), a worm wheel (46) is meshed with the lower side of the worm wheel (45), and the worm wheel (46) is fixedly sleeved on the outer side of the first power shaft (10).

10. The handling robot for a stereoscopic warehouse according to claim 1, characterized in that: A third connecting block (47) is fixedly connected to the rear side of the rotating frame (5), and a fourth connecting block (48) is detachably connected to the rear side of the third connecting block (47) via a spline. The fourth connecting block (48) is rotatably connected to the power input plate (8). A plurality of limiting mechanisms are provided inside the third connecting block (47), and each limiting mechanism includes a lever (49) rotatably connected to the third connecting block (47). A contact block (50) rotatably connected to the third connecting block (47) is provided on the rear side of the lever (49), and a friction block (51) abutting against the lever (49) is provided on the front side of the contact block (50). A tension spring (52) is provided between the friction block (51) and the lever (49), and a strong spring (53) is provided on the rear side of the lever (49) away from the contact block (50).

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