A handling manipulator for a stereoscopic warehouse

Abstract

The present invention discloses a handling manipulator for a stereoscopic warehouse, which effectively achieves a better effect of picking up goods. It includes a main body plate, and a liftable support frame is provided on the lower side of the main body plate. There is a lower side support plate on the front side of the support frame, and an angle adjustment plate is provided on the upper side of each lower side support plate. A rotatable rotating frame is provided on the front side of the main body plate, and a grasping mechanism is provided on the front side of the rotating frame. Diagonal contact pads are provided on the grasping mechanisms. A detachable power input plate is provided on the rear side of the main body plate. The structure of the present invention is novel, ingeniously conceived, simple and convenient to operate. It effectively increases the function of being able to clamp goods at different heights, makes the goods more stable during transportation, increases the function of being able to quickly grasp the goods, can clamp the goods in two sections, realizes the effect of being able to clamp goods not at the center of the pallet, and is convenient for replacing the wavy rubber pad.

Description

Technical Field

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

[0002] With the continuous improvement of the factory automation level, the production efficiency of the factory has gradually increased. Large structural parts and production materials in the factory are generally grabbed, transported, and placed by a handling manipulator.

[0003] Chinese invention patent CN116873442B discloses a handling manipulator for a stereoscopic warehouse, including a bracket. A plurality of groups of clamping plates are movably arranged inside the bracket. Lead screws are arranged at both ends of the bracket. The lead screws penetrate through the clamping plates and are threadedly connected thereto. One end of the clamping plate away from the bracket is elastically connected with an adjusting plate, and a support rod is rotatably arranged on the adjusting plate; through the provided multiple groups of clamping plates, a group of clamping plates can be correspondingly selected according to the goods of different sizes. When the goods contact the support rod and drive it to deflect, the limiting block is matched with the limiting groove through a pull rope, thereby limiting the clamping plate. At this time, the group of clamping plates closest to the goods is connected to the bracket through the limiting block. Subsequently, when the lead screw rotates, the group of clamping plates closest to the goods will move towards the goods and clamp it, greatly shortening the traveling distance of the clamping plate on the lead screw, so that the clamping plate can clamp the goods by traveling a short distance each time, which is beneficial to extending the service life of the clamping plate.

[0004] Chinese invention patent CN114559456B discloses a handling manipulator for a stereoscopic warehouse, including a connecting seat connected to a robotic arm. A clamping block is slidably arranged on one side of the connecting seat. A rubber belt is arranged on the side surface of the clamping block. The rubber belt is arranged in a wavy shape. The lower half of the rubber belt is placed outside the clamping block, and the upper half of it is placed inside the cavity of the clamping block; a first adjusting component and a second adjusting component are slidably arranged on the clamping block. The rubber belt placed outside the clamping block passes through the bottom end of the first adjusting component to form a wave trough; by moving the rubber belt placed inside the cavity of the clamping block to the outside of the clamping block, the replacement of the rubber belt is completed. During subsequent use, the goods will contact the unused rubber belt placed outside the clamping block, which is beneficial to the stable contact between the clamping block and the goods. With this structure, when the rubber belt needs to be replaced, only the reel needs to be rotated to drive the rubber belt to move, and the operation is convenient, which is beneficial to quickly replacing 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 with pallets, such transportation is not stable. In addition, due to different types of goods, the clamping position and angle thereof also need to be appropriately adjusted. Therefore, a handling manipulator for a stereoscopic warehouse that can increase the stability of article transportation is needed to solve the above problems. Summary of the Invention

[0006] In view of the above problems, the present invention provides a handling manipulator for a three-dimensional 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:

[0008] A handling manipulator for a three-dimensional warehouse includes a main body plate, and is characterized in that: a liftable support frame is provided on the lower side of the main body plate, two lower side support plates are fixedly connected to the front side of the support frame, and an angle adjustment plate capable of adjusting the angle along with the lifting of the support frame is provided on the upper side of each lower side support plate; a rotatable rotating frame is provided on the front side of the main body plate, two grasping mechanisms capable of moving left and right are provided on the front side of the rotating frame, an interchangeable diagonal contact pad is provided on each grasping mechanism, and a detachable power input plate is provided on the rear side of the main body plate.

[0009] Preferably, a lifting power plate is fixedly connected to the left and right sides of the upper side of the support frame symmetrically. A first power shaft is provided inside the main body plate, a first bevel gear is fixedly connected to each of the left and right sides of the first power shaft, a second bevel gear is engaged with 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 in threaded connection with 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.

[0010] Preferably, the front side of each angle adjustment plate is rotatably connected to the lower side support plate through a hinge, a liftable support block is provided inside the support frame at the position corresponding to 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 part of the corresponding angle adjustment plate.

[0011] Preferably, two racks are fixedly connected inside the main body plate, a small gear is rotatably connected to the inside of each lifting power plate, a through groove is provided at the position corresponding to the rack on each lifting power plate, each small gear is engaged with the corresponding rack through the corresponding through groove, a third bevel gear is fixedly connected to the side of each small gear close to the corresponding second power shaft, a fourth bevel gear is engaged with the lower side of each third bevel gear, a driven threaded rod is fixedly connected to the lower side of each fourth bevel gear, and each driven threaded rod is in threaded connection with the corresponding support block.

[0012] Preferably, a moving groove is formed in the front side of the rotating frame. A rotatable bidirectional threaded rod is arranged inside the moving groove. The left and right sides of the bidirectional threaded rod are respectively threadedly connected with a left power plate and a right power plate. A left connecting sleeve is rotatably connected to the right side of the left power plate. A left grabbing plate is threadedly connected to the outer side of the left connecting sleeve. A right connecting rod is rotatably connected to the left side of the right power plate. The outer diameter of the right connecting rod is smaller than the inner diameter of the left connecting sleeve. A right grabbing plate is threadedly connected to the outer side of the right connecting rod. The two grabbing mechanisms are respectively fixedly connected to the left grabbing plate and the right grabbing plate. A double-headed motor is fixedly connected to the inside of the rotating frame. The output end of the double-headed motor is fixedly connected to the bidirectional threaded rod.

[0013] Preferably, a first connecting gear is fixedly connected to the left side of the bidirectional threaded rod. A second connecting gear is meshed with the front side of the first connecting gear. An accelerating rod rotatably connected to the rotating frame is arranged on the right side of the second connecting gear. The second connecting gear and the accelerating rod are connected through a safety coupling. The accelerating rod is connected to the left connecting sleeve and the right connecting rod through sliding keys.

[0014] Preferably, each grabbing mechanism includes a grabbing frame slidably connected to the rotating frame. A sliding frame is fixedly connected to each of the upper and lower sides of the rear part of each grabbing frame. A sliding groove is formed in each of 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 capable of moving left and right is arranged on one side of each grabbing frame. A balance capsule is arranged between each grabbing frame and the corresponding floating block. A communicating pipe is arranged on the front side of the main body plate. The left and right ends of the communicating pipe are respectively communicated with the corresponding balance capsules.

[0015] Preferably, a plurality of obliquely arranged limiting strips are fixedly connected to the side of the oblique contact pad close to the floating block. A limiting groove is formed at the position corresponding to each limiting block on the floating block. A wavy rubber pad is fixedly connected to the side of the oblique contact pad away from the floating block.

[0016] Preferably, a first connecting block is rotatably connected to the middle of the power input plate. A second connecting block rotatably connected to the main body plate is arranged on the front side of the first power connecting block. The first connecting block and the second connecting block are detachably connected through splines. A worm is fixedly connected to the front side of the second connecting block. A worm gear is meshed with the lower side of the worm. The worm gear is fixedly sleeved on the outer side of the first power shaft.

[0017] Preferably, a third connecting block is fixedly connected to the rear side of the rotating frame. A fourth connecting block is detachably connected to the rear side of the third connecting block through a spline. The fourth connecting block is rotationally 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 at the rear side of the lever. A friction block abutting against the lever is provided at the front side of the contact block. A tension spring is provided between the friction block and the lever. A strong spring is provided at the side of the rear part of the lever away from the contact block.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention has a liftable support frame. The relative height between the lower support plate and the main body plate can be adjusted through the liftable support frame. Furthermore, when the overall height of the goods is relatively high, more stable support can be obtained.

[0020] 2. The present invention has an angle adjustment plate. When the bottom of the goods is supported by the angle adjustment plate and the lower support plate, the goods tend to fall backward. Furthermore, the goods can be closely attached to the main body plate during transportation, increasing the stability of the goods.

[0021] 3. The present invention has a rotatable rotating frame, which enables the grasping mechanism to clamp the goods at different angles. Furthermore, it can be applied to goods of different shapes.

[0022] 4. The present invention has replaceable oblique contact pads, which can not only increase the friction coefficient with the goods when clamping the goods, but also make the goods tend to move backward when clamping the goods through the oblique installation of the oblique contact pads relative to the grasping mechanism. Furthermore, the transportation of the goods is more stable. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 is a schematic diagram of the overall structure of the present invention.

[0024] Figure 2 is an exploded structure diagram of the main body plate and the power input plate in the present invention.

[0025] Figure 3 is a schematic diagram of the cooperation state of the driven threaded rod and the support block in the present invention.

[0026] Figure 4 is a schematic diagram of the structure of the grasping mechanism in the present invention.

[0027] Figure 5 is a schematic diagram of the position of the first connecting gear in the present invention.

[0028] Figure 6This is a schematic explosion structure diagram of the acceleration rod and the safety coupling in the present invention.

[0029] Figure 7 For the present invention Figure 2 A partial enlarged schematic diagram of area A in it.

[0030] Figure 8 For the present invention Figure 2 A partial enlarged schematic diagram of area B in it.

[0031] Figure 9 For the present invention Figure 3 A partial enlarged schematic diagram of area C in it.

[0032] Figure 10 For the present invention Figure 2 A partial enlarged schematic diagram of area D in it.

[0033] In the figure: 1, main body plate; 2, support frame; 3, lower side support plate; 4, angle adjustment plate; 5, rotating frame; 6, grasping 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, bidirectional threaded rod; 23, left side power plate; 24, right side power plate; 25, left side connecting sleeve; 26, left side grasping plate; 27, right side connecting rod; 28, right side grasping plate; 29, double-headed motor; 30, first connecting gear; 31, second connecting gear; 32, acceleration rod; 33, safety coupling; 34, grasping frame; 35, sliding frame; 36, sliding groove; 37, floating block; 38, balance bladder; 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 gear; 47, third connecting block; 48, fourth connecting block; 49, lever; 50, contact block; 51, friction block; 52, tension spring; 53, strong spring. Detailed implementation manners

[0034] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0035] Next, in combination with the attached Figures 1-10 The specific implementation manners of the present invention will be further described in detail.

[0036] is given by Figures 1-10 The present invention includes a main body plate 1. In order to achieve a better effect of taking goods, a liftable support frame 2 is provided on the lower side of the main body plate 1. Two lower side support plates 3 are fixedly connected to the front side of the support frame 2. An angle adjustment plate 4 that can be adjusted in angle as the support frame 2 lifts is provided on the upper side of each lower side support plate 3. A rotatable rotating frame 5 is provided on the front side of the main body plate 1. Two grasping 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 grasping mechanism 6. A detachable power input plate 8 is provided on the rear side of the main body plate 1;

[0037] It should be noted that through the liftable support frame 2, the relative height between the lower side support plate 3 and the main body plate 1 can be adjusted. Thus, when the goods are relatively high as a whole, more stable support can be obtained. Through the angle adjustment plate 4, when the angle adjustment plate 4 and the lower side support plate 3 support the bottom of the goods, the goods tend to fall backward. As a result, the goods can be closely attached to the main body plate 1 during transportation, 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 applied to goods of different shapes. Through the replaceable oblique contact pad 7, not only can the friction coefficient between the goods during clamping be increased, but also due to the oblique installation of the oblique contact pad 7 relative to the grasping mechanism 6, the goods tend to move backward when the goods are clamped, making the transportation of the goods more stable.

[0038] Furthermore, is given by Figure 2 and Figures 8-10 In order to be able to clamp goods of different heights, a lifting power plate 9 is fixedly connected symmetrically left and right on the upper side of the support frame 2. A first power shaft 10 is provided inside the main body plate 1. A first bevel gear 11 is fixedly connected to each of the left and right sides of the first power shaft 10. A second bevel gear 12 is meshed with the lower side of each first bevel gear 11. 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 structure for the support frame 2 to lift;

[0039] During 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. 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 body plate 1, so that the device can be adapted to clamp goods of different heights.

[0040] Furthermore, is given by Figure 3Given that, in order to make the transportation of goods 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. Inside the support frame 2, a liftable support block 14 is provided at the position corresponding to each angle adjustment plate 4. A support bar 15 is fixedly connected to the front side of each support block 14, and each support bar 15 is located on the lower side of the rear part of the corresponding angle adjustment plate 4;

[0041] Furthermore, as shown by Figure 3 and Figure 9 shown, two racks 16 are fixedly connected inside the main body plate 1. A small gear 17 is rotatably connected inside each of the lift power plates 9. A through slot is provided at the position of each lift power plate 9 corresponding to the rack 16. Each small gear 17 meshes with the corresponding rack 16 through the corresponding through slot. A third bevel gear 18 is fixedly connected to one side of each small gear 17 close to the corresponding second power shaft 13. A fourth bevel gear 19 is meshed with 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. Each driven threaded rod 20 is threadedly connected to the corresponding support block 14;

[0042] During use, when the lift power plate 9 moves downward relative to the main body plate 1, each small gear 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, causing the driven threaded rod 20 to rotate and drive the support block 14 to move downward. When the support block 14 moves downward, it drives 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 thus making the goods tend to fall backward and approach the main body plate 1, making the goods transportation more stable.

[0043] Furthermore, as shown by Figures 4-6Given that in order to quickly grab the goods, a moving groove 21 is provided on the front side of the rotating frame 5. Inside the moving groove 21, a rotatable bidirectional threaded rod 22 is provided. The bidirectional threaded rod 22 is a rod-shaped structure with threads of opposite helix directions on both the left and right sides. The left and right sides of the bidirectional threaded rod 22 are respectively threadedly connected to 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. The outside 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 27. The outer diameter of the right connecting rod 27 is smaller than the inner diameter of the left connecting sleeve 25. During the process of the left connecting sleeve 25 and the right connecting rod 27 approaching each other, the right connecting rod 27 will be sleeved inside the left connecting sleeve 25. The outside of the right connecting rod 27 is threadedly connected to a right grabbing plate 28. The two grabbing mechanisms 6 are respectively fixedly connected to the left grabbing plate 26 and the right grabbing plate 28. Inside the rotating frame 5, a double-headed motor 29 is fixedly connected. 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;

[0044] Furthermore, as Figures 4-6 Given that in order 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 with the front side of the first connecting gear 30. A speed-up 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 speed-up rod 32 are connected through a safety coupling 33. The speed-up rod 32 is connected to the left connecting sleeve 25 and the right connecting rod 27 through sliding keys;

[0045] When picking up goods, 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. Then, the left power plate 23 drives the left gripping plate 26 to move to the right through the left connecting sleeve 25, and the right power plate 24 drives the right gripping plate 28 to move to the left through the right connecting and fixing connection, causing the left gripping plate 26 and the right gripping plate 28 to approach each other. At the same time, the bidirectional threaded rod 22 drives the accelerating rod 32 to rotate through the first connecting gear 30, the second connecting gear 31, and the safety coupling 33. Since the accelerating rod 32 is connected to the left connecting sleeve 25 and the right connecting rod 27 through sliding keys, that is, during the process of the left connecting sleeve 25 moving to the right with the left power plate 23, it will rotate under the action of the accelerating rod 32. Under the action of the threaded connection between the left connecting sleeve 25 and the left gripping plate 26, the left gripping plate 26 can move to the right faster. Similarly, the right gripping plate 28 will also move to the left faster, achieving the purpose of the first clamping for quickly picking up goods. When the left gripping plate 26 and the right gripping plate 28 contact the goods, since the resistance moment received by the accelerating rod 32 increases and exceeds the preset torque value of the safety coupling 33, the second connecting gear 31 will no longer drive the accelerating rod 32 to rotate. At this time, the output power of the double-headed motor 29 can be fully output through the bidirectional thread 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 being able to use the standard torque for the secondary clamping of goods, reducing the time required for clamping the goods and ensuring the required clamping force for the goods.

[0046] Further, as shown by Figures 1-4 In order to be able to pick up skewed goods, each of the gripping mechanisms 6 includes a gripping frame 34 slidably connected to the rotating frame 5. On the upper and lower sides of the rear part of each gripping frame 34, a sliding frame 35 is fixedly connected respectively. On the upper and lower sides of the rotating frame 5, a sliding groove 36 is opened. Each sliding frame 35 can slide left and right along the corresponding sliding groove 36. On one side of each gripping frame 34, a floating block 37 that can move left and right is provided. A balance bladder 38 is provided between each gripping 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 communicated with the corresponding balance bladders 38;

[0047] Further, as shown by Figures 1-4Given that, for the convenience of replacing the wave rubber pad 42, a plurality of inclined limiting strips 40 are fixedly connected to one side of the inclined contact pad 7 close to the floating block 37. A limiting groove 41 is provided at the position corresponding to each limiting block on the floating block 37. A wave rubber pad 42 is fixedly connected to the side of the inclined contact pad 7 away from the floating block 37. One side of the wave rubber pad 42 away from the inclined contact pad 7 is wavy, and each wave shape is inclined;

[0048] During use, when the goods are not in the exact center of the logistics tray, when the left gripping plate 26 and the right gripping plate 28 approach each other, the two floating blocks 37 will contact the goods in sequence through the wave rubber pad 42. Since the two balance chambers 38 are connected by a connecting pipe 39, when the goods are clamped, the pressures inside the two balance chambers 38 are the same but their sizes may not be the same. Even if the goods are not in the middle of the logistics tray, the goods can be clamped through the action of the pressure and the balance chambers 38. When it is necessary to replace the wave rubber pad 42, the inclined contact pad 7 can be pulled forward and upward to disengage each limiting strip 40 from the limiting groove 41, and then the replacement can be carried out.

[0049] Furthermore, provided by Figure 2 and Figure 8 Given that, for the convenience of power connection of the device, a first connection block 43 is rotatably connected to the middle of the power input plate 8. 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 by a spline. A worm 45 is fixedly connected to the front side of the second connection block 44. A worm gear 46 is meshed with the lower side of the worm 45. The worm gear 46 is fixedly sleeved on the outer side of the first power shaft 10;

[0050] When the first connection block 43 rotates, the worm 45 is driven to rotate through the second connection block 44, so that the worm 45 drives the first power shaft 10 to rotate through the worm gear 46;

[0051] Furthermore, provided by Figures 1-10Given that a third connection block 47 is fixedly connected to the rear side of the rotating frame 5. The rear side of the third connection block 47 is detachably connected with a fourth connection block 48 through a spline. The fourth connection block 48 is rotatably connected to the power input plate 8. A plurality of limiting mechanisms are provided inside the third connection block 47. Each limiting mechanism includes a lever 49 rotatably connected to the third connection block 47. A contact block 50 rotatably connected to the third connection block 47 is provided at the rear side of the lever 49. A placement groove is formed at the position of the third connection block 47 corresponding to each contact block 50. The front side of each lever 49 is rotatably connected to the placement groove. A friction block 51 abutting against the lever 49 is provided at the front side of the contact block 50. A tension spring 52 is provided between the friction block 51 and the lever 49. A strong spring 53 is provided at the side of the rear part of the lever 49 away from the contact block 50. The power input plate 8 and the main body plate 1 are detachably connected by bolts;

[0052] During use, the first connection block 43 and the fourth connection block 48 can be respectively connected to the output ends of the servo motors, 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 connection block 43 and the fourth connection block 48 through the servo motors. When the fourth connection block 48 rotates, the rotating frame 5 is driven to rotate through the third connection block 47. It should be noted that since the servo motor has self-locking, the rotation of the rotating frame 5 can be limited. When the power input plate 8 is removed from the main body 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 of the inside of the third connection block 47 at the middle part of the lever 49 and contacts the inside of the main body plate 1. The rotation of the rotating frame 5 is limited through the friction effect, thereby increasing the stability of the rotating frame 5 during the maintenance of the device and improving the safety performance of the device.

[0053] 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 connecting the first connection block 43 and the fourth connection block 48 can both be controlled through a remote control module, and a conveying mechanism is used to move the overall position of the manipulator;

[0054] When the present invention is in use, 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. Then, the left power plate 23 drives the left gripping plate 26 to move to the right through the left connecting sleeve 25, and the right power plate 24 drives the right gripping plate 28 to move to the left through the right connecting and fixing connection, so that the left gripping plate 26 and the right gripping plate 28 approach 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 through sliding keys, that is, during the process of the left connecting sleeve 25 moving to the right along with the left power plate 23, it will rotate under the action of the acceleration rod 32. Under the action of the threaded connection between the left connecting sleeve 25 and the left gripping plate 26, the left gripping plate 26 can move to the right faster. Similarly, the right gripping plate 28 will also move to the left faster, that is, the purpose of the first clamping for quickly grasping the goods is achieved. When the left gripping plate 26 and the right gripping plate 28 contact the goods, since the resistance moment received by the acceleration rod 32 increases and exceeds the preset torque value of the safety coupling 33, the second connecting gear 31 will no longer drive the acceleration rod 32 to rotate. At this time, the output power of the double-headed motor 29 can be fully output through the bidirectional 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 being able to use the standard torque for the secondary clamping of the goods, which not only reduces the time required for clamping the goods but also ensures the force requirement for clamping the goods.

[0055] The structure of the present invention is novel, ingeniously conceived, and simple and convenient to operate. Through this design, a better effect of taking goods is effectively achieved, the function of clamping goods at different heights is increased, the goods are more stable during transportation, the function of quickly grasping the goods is increased, the goods can be clamped in two stages, the effect of clamping goods not at the center of the tray can be achieved, and it is convenient to replace the corrugated rubber pad 42.

[0056] Although the present invention has been described in detail with reference to the foregoing embodiments, for those skilled in the art, they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall 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); 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 on 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 grabbing 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 grabbing 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 grabbing plate (26) and the right grabbing 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); 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 connected via sliding keys; 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).

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 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).

6. A 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).

7. A 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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