Automatic grabbing transfer trolley for intelligent factory

Abstract

The invention relates to the technical field of transfer vehicles, in particular to an intelligent factory automatic grabbing transfer vehicle which comprises a transfer vehicle body, a mechanical arm and an electric air pump are arranged on the top face of the transfer vehicle body, a horizontal supporting plate is clamped to the tail end of the mechanical arm, a driving device is arranged on the supporting plate, and vertical clamping plate assemblies are arranged at the two ends of the driving device correspondingly. The air bag layers on the opposite faces of the two clamping plate assemblies abut against the two side walls of the plastic turnover box correspondingly, and the plastic turnover box is clamped and transferred. A square hole is formed in the lower portion of the clamping plate assembly, a rolling mechanism is arranged in the square hole and used for preventing the clamping plate assembly from breaking down, and the plastic turnover box falls down in the plastic turnover box clamping process; according to the grabbing transfer trolley, clamping stress on the plastic turnover box is uniform, deformation generated when the clamping plate assemblies clamp the plastic turnover box is reduced, operation is easy, and stability and safety in the clamping process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of transfer vehicles, and in particular to an automatic grabbing and transferring vehicle for a smart factory. Background Art

[0002] Plastic turnover box is a reusable logistics container made of polypropylene, polyethylene, etc., which is widely used in logistics, manufacturing, warehousing, medical and other fields; it is used to hold food, industrial products, etc., and has the advantages of easy cleaning, convenient parts turnover, neat stacking, and easy management.

[0003] In smart factories, plastic turnover boxes are usually transported by automatic grabbing and transferring vehicles to reduce manual labor intensity and improve handling efficiency. During the transportation process of the automatic grabbing and transferring vehicle, the plywood in the transfer vehicle clamps the outer wall of the plastic turnover box to transfer the plastic turnover box to the destination. However, when the clamping force of the metal plywood is applied, if the force is too large or the clamping method is improper, the plastic turnover box will be squeezed, resulting in damage to the turnover box or damage to the product in the box. In order to solve the damage of the metal plywood to the turnover box, some plywoods are made of flexible rubber. Rubber has high elasticity and applicability, but the fatigue of rubber decreases in long-term use, resulting in weakening of the clamping force and poor clamping stability. The turnover box slides down or sinks during transportation. In severe cases, there is a risk of the turnover box falling. The reduction of rubber fatigue can solve the problem of turnover box sliding and sinking by replacing rubber or increasing clamping force. This replacement and maintenance method increases labor and maintenance costs. The adjustment of the clamping force requires real-time observation and real-time adjustment, which is troublesome and laborious, and the operation is cumbersome.

[0004] Therefore, the present invention provides an automatic grabbing and transferring vehicle for a smart factory to solve the problems raised in the above-mentioned background technology. Summary of the invention

[0005] The purpose of the present invention is to provide an automatic grabbing and transferring vehicle for a smart factory, so as to solve the problem that the metal splints in the existing grabbing and transferring vehicles are easy to cause deformation of plastic turnover boxes and damage the products in the plastic turnover boxes, and the flexible rubber splints have reduced rubber fatigue resistance during long-term use, resulting in weakened clamping force and poor clamping stability, which causes the risk of turnover boxes slipping, sinking and falling. Replacing the rubber splints is time-consuming and laborious for operators, and the operation is cumbersome, which increases labor and maintenance costs.

[0006] In order to solve the above technical problems, the present invention provides an automatic grabbing and transferring vehicle for smart factories, including a transfer vehicle body, a mechanical arm and an electric air pump are arranged on the top surface of the transfer vehicle body, the end of the mechanical arm is clamped with a horizontal support plate, a driving device is arranged on the support plate, and vertical clamping plate assemblies are respectively arranged at both ends of the driving device; the airbag layers on the opposite sides of the two clamping plate assemblies are respectively abutted against the two side walls of the plastic turnover box to clamp and transfer the plastic turnover box; a square hole is arranged at the lower part of the clamping plate assembly, and a rolling mechanism is arranged in the square hole, and the rolling mechanism is used to prevent the clamping plate assembly from malfunctioning and the plastic turnover box from falling downward during the process of clamping the plastic turnover box.

[0007] A further improvement of the technical solution of the present invention is that the support plate body comprises a horizontal special-shaped plate clamped to the end of the mechanical arm, and a vertical limiting plate is arranged at the outer end of the special-shaped plate.

[0008] A further improvement of the technical solution of the present invention is that the driving device includes a first rotating motor arranged on the bottom surface of the middle part of the special-shaped plate, the output shaft of the first rotating motor is connected to the reducer, the reducer passes through the special-shaped plate, the output shaft of the reducer is fixedly connected to the middle part of the rotating block, the two ends of the rotating block are respectively fixedly connected to the first connecting shaft, the first connecting shaft is rotatably connected to the arc-shaped pushing block, the end of the pushing block is rotatably connected to the second connecting shaft, and the second connecting shaft is fixedly connected to the vertical clamping plate assembly.

[0009] A further improvement of the technical solution of the present invention is that a limit piece is arranged in the middle of the side end surface of the clamping plate assembly close to the supporting plate, the horizontal rod portion in the limit piece is fixedly connected to the second connecting shaft, a limit groove is arranged on the rod portion at the lower part of the limit piece body, and a limit plate is fitted in the limit groove.

[0010] A further improvement of the technical solution of the present invention is that the splint assembly also includes a splint layer fixedly connected to the limiter, the inner side wall of the splint layer is abutted against the airbag layer, and a plurality of protrusions are evenly arranged on the side wall of the airbag layer body, and the protrusions abut against the side wall of the plastic turnover box.

[0011] A further improvement of the technical solution of the present invention is that an air intake pipe is arranged on the outer wall of the plywood layer, the air intake pipe is in a trumpet shape, the large opening of the air intake pipe passes through the plywood layer and is connected to the airbag layer, and the small opening of the air intake pipe is connected to the electric air pump through a hose.

[0012] A further improvement of the technical solution of the present invention is that displacement sensors are provided on the upper edges of the opposite inner walls of the two clamping plate assemblies, and the signal transmitting positions of the two displacement sensors are at least 1 mm lower than the top surface of the plastic turnover box.

[0013] A further improvement of the technical solution of the present invention is that the rolling mechanism includes a top plate fixed to the top surface of the square hole, vertical vertical plates are respectively arranged at both ends of the top plate, the bottom surface of the vertical plate is fixed to the bottom surface of the square hole, the second rotating motor is fixed on the inner side surface of the vertical plate, the output shaft of the second rotating motor passes through the vertical plate, and a driving wheel is mounted on the end.

[0014] A further improvement of the technical solution of the present invention is that the rolling mechanism also includes a rotating shaft arranged between the two vertical plates and located obliquely below the second rotating motor, a plurality of rotating wheels are evenly mounted on the rotating shaft, and a plurality of anti-slip strips are evenly arranged on the outer ring surface of the rotating wheel; the anti-slip strips are in contact with the plastic turnover box.

[0015] A further improvement of the technical solution of the present invention is that bearings are arranged at the lower part of the two vertical plates, the bearings are mounted on both ends of the rotating shaft, the bearings extend from both ends of the rotating shaft, and driven wheels are mounted on the ends, and belt transmission is mounted on the outer periphery of the driven wheel and the driving wheel; the diameter of the driven wheel is larger than the diameter of the driving wheel.

[0016] By adopting the above technical solution, the present invention has the following beneficial effects: 1. An automatic grabbing and transferring vehicle for smart factories provided by the present invention forms flexible contact with the side wall of the plastic turnover box through a splint assembly, thereby reducing deformation of the plastic turnover box during clamping and transferring and damage to the products in the plastic turnover box, thereby improving the quality of clamping and transferring. Specifically, the splint layer in the splint assembly provides a rigid clamping force, and the airbag layer arranged against the splint layer expands to produce a uniform flexible clamping force, forming a flexible contact with the side of the plastic turnover box, thereby reducing deformation of the splint assembly when clamping the plastic turnover box, achieving traceless and lossless clamping or transportation, and reducing the risk of damage to the plastic turnover box. In addition, the expansion of the airbag layer produces a uniform clamping force, thereby improving the stability of clamping.

[0017] 2. An automatic grabbing and transferring vehicle for smart factories provided by the present invention can effectively prevent the plastic turnover boxes from sliding downward or sinking, or even the risk of the turnover boxes falling, during the clamping and transportation process, through a rolling device, thereby improving the safety of the transfer vehicle during the clamping and transportation process and the stability of the clamping and transportation. Specifically, the second rotating motor in the rolling mechanism drives the driving wheel to rotate, the driving wheel drives the driven wheel to rotate through a belt transmission, the driven wheel drives the rotating shaft to rotate, and the rotating shaft drives the rotating wheel to move in the direction of the plastic turnover box moving upward, so that the turnover box moves upward and no longer falls downward; the plastic turnover box clamped by the clamping plate assembly in the transfer vehicle is transferred to the destination, preventing the plastic turnover box from falling downward during the clamping process, causing damage to the plastic turnover box and the objects in the turnover box, thereby improving the safety during the clamping process.

[0018] 3. The present invention provides an automatic grabbing and transferring vehicle for use in smart factories, in which the first rotating motor in the driving device is connected to a reducer, and the high speed of the first rotating motor is converted into a low speed, so as to prevent the clamping plate from moving too fast during clamping and causing position rebound, resulting in inaccurate positioning of the clamping plate and poor firmness of the clamping plate on the plastic turnover box. By arranging the first rotating motor to be connected to the reducer, the rebound caused by excessive movement during clamping is reduced and the clamping accuracy is improved. In addition, the reducer can amplify the torque of the motor, thereby increasing the clamping force of the clamping plate and thereby improving the clamping effect.

[0019] 4. The automatic grabbing and transferring vehicle for smart factories provided by the present invention drives the limiter to move through the arc-shaped pushing block in the driving device. Compared with the horizontal straight-stroke clamping mechanism, the clamping distance between the clamping plate assemblies is increased to adapt to plastic turnover boxes of different sizes.

[0020] 5. The present invention provides an automatic grabbing and transferring vehicle for use in smart factories, in which a limit piece is arranged at the middle of the side end surface of the splint assembly close to the supporting plate, and the limit groove in the limit piece is adapted to the matching limit plate, so that the splint assembly can slide horizontally along the limit plate when opening and clamping and can support the splint assembly, thereby improving the accuracy of the horizontal opening and clamping movement of the splint assembly.

[0021] 6. The present invention provides an automatic grabbing and transferring vehicle for use in smart factories. The transfer vehicle can detect the falling of plastic turnover boxes through the displacement sensor, so that the transfer vehicle can start the rolling device to move the plastic turnover box upward without falling, thereby preventing the plastic turnover box from falling downward during the clamping process, causing damage to the plastic turnover box and objects in the turnover box, thereby improving the safety during the clamping process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0023] Figure 1 This is an overall schematic diagram of an automatic grabbing and transferring vehicle for a smart factory; Figure 2 This is a top view of a plastic turnover box; Figure 3 It is a schematic diagram of the structure of the support plate, the rolling mechanism and the clamping plate; Figure 4 It is a side view of the support plate, rolling mechanism and clamping plate; Figure 5 It is a structural schematic diagram of a limiting member; Figure 6 is a structural diagram of a support plate and a rolling mechanism; Figure 7 It is a schematic diagram of the mechanism of the splint, the limiter and the push block; Figure 8 It is a three-dimensional structural schematic diagram of the splint and the rolling mechanism; Fig. 9 is a schematic diagram of the structure of the splint; Fig.10 It is a schematic diagram of the overall structure of the splint; Fig.11 It is a structural schematic diagram of the rolling mechanism; Fig.12 It is a schematic diagram of the three-dimensional structure of the rolling mechanism.

[0024] 1. The transfer vehicle body; 2. The electric air pump; 3. The mechanical arm; 4. The support plate; 5. The driving device; 6. The splint assembly; 7. The square hole; 8. The rolling mechanism; 41. The special-shaped plate; 42. The limit plate; 51. The first rotating motor; 52. The pushing block; 53. The limit piece; 54. The limit groove; 55. The rotating block; 56. The reducer; 511. The first connecting shaft; 512. The second connecting shaft; 61. The splint layer; 62. The airbag layer; 63. The bump; 64. The air intake pipe; 65. The displacement sensor; 81. The top plate; 82. The vertical plate; 83. The second rotating motor; 84. The rotating shaft; 85. The rotating wheel; 851. The anti-slip strip; 86. The driven wheel; 87. The bearing; 88. The driving wheel; 89. The belt. DETAILED DESCRIPTION

[0025] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. 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.

[0026] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0027] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0028] The present invention is further explained below in conjunction with specific implementation modes.

[0029] like Figure 1-12 As shown, an automatic grabbing transfer vehicle for a smart factory provided in this embodiment includes a transfer vehicle body 1. The transfer vehicle body 1 described in the embodiment of the present application, the transfer vehicle body 1 is not limited to a power supply module, a single-chip control module, a drive module, an ultrasonic, infrared or laser radar and a positioning sensor, a communication module and other modules, which are used to drive and control the transportation and clamping of the transfer vehicle, which will not be repeated here; an electric air pump 2 and a mechanical arm 3 are arranged on the top surface of the transfer vehicle body 1, and each module of the transfer vehicle body area 1 is electrically connected to the electric air pump 2, the mechanical arm 3, the drive device 5, the rolling mechanism 8, and the displacement sensor 65 to provide power and perform Drive control; the robot arm 3 described in the embodiment of the present application is an existing device, which can realize three-dimensional translation and rotation, and will not be described in detail here; the end of the robot arm 3 is clamped in the horizontal support plate 4, and a driving device 5 is arranged on the support plate 4, and vertical clamping plate assemblies 6 are respectively arranged at both ends of the driving device 5; the airbag layers 62 on the opposite surfaces of the two clamping plate assemblies 6 are respectively abutted against the two side walls of the plastic turnover box to clamp and transport the plastic turnover box; a square hole 7 is arranged at the lower part of the clamping plate assembly 6, and a rolling mechanism 8 is arranged in the square hole 7, and the rolling mechanism 8 is used to prevent the clamping plate assembly 6 from malfunctioning and the plastic turnover box from falling downward during the clamping process.

[0030] like Figure 2 , Figure 3 , Figure 6 As shown, in this embodiment, the support plate 4 body includes a special-shaped plate 41 that is clamped to the horizontal end of the robot arm 3, and a vertical limit plate 42 is set at the outer end of the special-shaped plate 41. The special-shaped plate 41 is used to connect with the robot arm 3 and support the driving device 5. The limit plate 42 enables the clamping plate assembly 6 to slide horizontally along the limit plate 42 when opening and clamping, and can support the clamping plate assembly, thereby improving the accuracy of the horizontal opening and clamping movement of the clamping plate assembly.

[0031] like Figure 3 , Figure 4 , Figure 6 , Figure 7As shown, in this embodiment, the driving device 5 includes a first rotating motor 51 arranged on the bottom surface of the middle part of the special-shaped plate 41, and the output shaft of the first rotating motor 51 is connected to the reducer 56, the reducer 56 passes through the special-shaped plate 41, and the output shaft of the reducer 56 is fixedly connected to the middle part of the rotating block 55, and the two ends of the rotating block 55 are respectively fixedly connected to the first connecting shaft 511, the first connecting shaft 511 is rotatably connected to the arc-shaped pushing block 52, and the end of the pushing block 52 is rotatably connected to the second connecting shaft 512, and the second connecting shaft 512 is fixedly connected to the vertical clamping plate assembly 6. The driving device 5 drives the clamping plate assembly 6 to slide on the supporting plate 4, so that the two clamping plate assemblies 6 are close to each other to clamp the plastic turnover box, and the two clamping plate assemblies 6 are away from each other to loosen the plastic turnover box; specifically, the driving device 5 is connected to the reducer 56 through the first rotating motor 51, and the reducer 56 reduces the high speed of the first rotating motor 51 to the required lower speed to prevent the clamping plate assembly 6 from moving too fast and rebounding during clamping, and the positioning of the clamping plate assembly 6 is not accurate, which reduces the firmness of the clamping plate assembly 6 on the plastic turnover box; the reducer 56 is connected by the first rotating motor 51 to improve the clamping accuracy, reduce labor intensity, and improve the handling efficiency. In addition, the reducer 56 can amplify the torque of the motor, increase the clamping force of the clamp, and thereby improve the clamping effect; the output shaft of the reducer 56 drives the set rotating block 55 to rotate, and the rotating block 55 drives the pushing blocks 52 at both ends to move to both sides respectively, thereby realizing the movement of the clamping plate assembly 6.

[0032] like Figure 8-Figure 10As shown, in this embodiment, a stopper 53 is provided in the middle of the side end surface of the clamping plate assembly 6 close to the support plate 4, the horizontal rod portion of the stopper 53 is fixedly connected to the second connecting shaft 512, and a stopper groove 54 is provided on the rod portion at the lower part of the body of the stopper 53, and the stopper plate 42 is adapted to be mounted in the stopper groove 54. The stopper groove 54 in the stopper 53 is adapted to be mounted in the stopper plate 42, so that the clamping plate assembly 6 can slide horizontally along the stopper plate 42 when opening and clamping, and can support the clamping plate assembly 6, thereby improving the precision of the horizontal opening and clamping movement of the clamping plate assembly 6. The splint assembly 6 also includes a splint layer 61 fixedly connected to the limiter 53, the inner side wall of the splint layer 61 is against the airbag layer 62, and a plurality of protrusions 63 are evenly arranged on the surface of the airbag layer 62 body, the protrusions 63 are against the side wall of the plastic turnover box, and the protrusions 63 are connected to the airbag layer 62 to increase the friction of the airbag layer 62 and improve the clamping effect of the airbag layer 62. An air inlet pipe 64 is arranged on the outer side wall of the splint layer 61, and the air inlet pipe 64 is in a trumpet shape. The design of the trumpet-shaped air inlet pipe 64 can reduce the airflow resistance, make the inflation of the airbag layer 62 smoother, improve the inflation efficiency, and improve the clamping efficiency; the large opening of the air inlet pipe 64 passes through the splint layer 61 and is connected to the airbag layer 62 Then, the small opening of the air inlet pipe 64 is connected to the electric air pump 2 through a hose. The electric air pump 2 is an existing product with inflation and deflation functions, equipped with a pressure detector and a regulator, which can control the inflation pressure to ensure that the inflatable product is inflated to a suitable pressure value. The electric air pump 2 inflates the airbag layer 62 to a suitable pressure through the air inlet pipe 64. The airbag layer 62 clamps the plastic turnover box against the side wall. After pressurization, the airbag layer 62 forms a layer of "air cushion" between the workpiece, realizing non-marking and non-destructive clamping or transportation, and is not easy to damage the workpiece; compared with traditional rigid clamps, the airbag layer 62 uses pneumatic control, which can more accurately control the clamping force and reduce the deformation of the workpiece caused by excessive clamping force. The clamping plate assembly forms a flexible contact with the side wall of the plastic turnover box, reducing the deformation of the plastic turnover box during clamping and transportation and damaging the products in the plastic turnover box, improving the quality of clamping and transportation, and the expansion of the airbag layer produces a uniform clamping force, which improves the stability of the clamping.

[0033] Furthermore, displacement sensors 65 are provided on the upper edges of the opposite inner walls of the two clamping plate assemblies 6. The signal transmission positions of the two displacement sensors 65 are at least 1 mm lower than the top surface of the plastic turnover box. The displacement sensors 65 are opposite-beam photoelectric sensors, in which one clamping plate assembly 6 is provided with a transmitter in the displacement sensor 65, and the other clamping plate assembly 6 is provided with a receiver in the displacement sensor 65. Under normal circumstances, the signal transmission position of the displacement sensor 65 is at least 1 mm lower than the top surface of the plastic turnover box, and the plastic turnover box blocks the transmission and reception of the displacement sensor 65 signal. When the plastic turnover box no longer hinders the reception of the displacement sensor 65 signal, the plastic turnover box slides downward due to problems such as leakage of the airbag layer 62 or failure of the electric air pump 2. The control module, drive module and other control rolling mechanism 8 in the transfer vehicle are started to move the plastic turnover box upward without sliding, and safely transfer it to the destination, thereby preventing the plastic turnover box from falling downward during the clamping process, causing damage to the plastic turnover box and the objects in the turnover box, thereby improving the safety during the clamping process.

[0034] like Figure 4 , Figure 8 , Fig.11 , Fig.12As shown, in this embodiment, the rolling mechanism 8 includes a top plate 81 fixed to the top surface of the square hole 7, and vertical plates 82 are respectively arranged at both ends of the top plate 81. The bottom surface of the vertical plate 82 is fixed to the bottom surface of the square hole 7. The top plate 81 and the vertical plate 82 are respectively fixed to the top surface and the bottom surface of the square hole 7, thereby improving the stability of the connection between the rolling mechanism 8 and the square hole 7. A second rotating motor 83 is arranged on the inner side surface of the vertical plate 82, and the output shaft of the second rotating motor 83 passes through the vertical plate 82, and a driving wheel 88 is mounted on the end. The rolling mechanism 8 also includes a rotating shaft 84 disposed between two vertical plates 82 and located obliquely below the second rotating motor 83. A plurality of rotating wheels 85 are evenly mounted on the rotating shaft 84, and a plurality of anti-skid strips 851 are evenly mounted on the outer surface of the rotating wheel 85. The anti-skid strips 851 are in contact with the plastic turnover box. The anti-skid strips 851 increase the friction between the rotating wheel 85 and the plastic turnover box, thereby increasing the lifting force of the rolling mechanism 8 on the plastic turnover box, so that the plastic turnover box does not fall. A bearing 87 is disposed at the lower part of the two vertical plates 82. The bearing 87 is mounted on both ends of the rotating shaft 84. The bearing 87 extends from both ends of the rotating shaft 84, and a driven wheel 86 is mounted on the end. The driven wheel 86 and the outer periphery of the driving wheel 88 are mounted with a belt 89 for transmission. The diameter of the driven wheel 86 is larger than the diameter of the driving wheel 88, which can increase the output torque and improve the torque of the driven wheel 86, thereby increasing the lifting force of the rolling mechanism 8 on the plastic turnover box, so that the plastic turnover box does not fall. Specifically, the second rotating motor 83 is started, and the driving wheel 88 mounted on the end of the output shaft of the second rotating motor 83 rotates. The driving wheel 88 drives the driven wheel 86 to rotate through the belt 89. The driven wheel 86 drives the rotating shaft 84 to rotate. The rotating shaft 84 drives the rotating wheel 85 to move in the direction of the plastic turnover box moving upward. The displacement sensor 65 detects that the plastic turnover box moves upward, and the displacement sensor 65 signal is blocked, that is, the plastic turnover box no longer falls downward. The rotation speed of the second rotating motor 83 is maintained, so that the robot arm 3 can drive the clamping plate assembly 6 to place the plastic turnover box clamped between the clamping plate assemblies 6 at the destination, thereby preventing the plastic turnover box from falling downward during the clamping process, causing damage to the plastic turnover box and the objects in the plastic turnover box, thereby improving the safety of the clamping process.

[0035] The working principle of an automatic grabbing and transferring vehicle for a smart factory provided in this embodiment is as follows: the transfer vehicle body 1 moves to the front of the plastic turnover box, the mechanical arm 3 moves to move the two clamping plate assemblies 6 to the two sides of the plastic turnover box, and the electric air pump 2 inflates the airbag layer 62 to a suitable pressure through the air inlet pipe 64; the first rotating motor 51 and the reducer 56 in the driving device 5 rotate, and the output shaft of the reducer 56 drives the set rotating block 55 to rotate, and the rotating block 55 drives the pushing blocks 52 at both ends to move respectively, and the pushing block 52 pulls the limit member 53, so that the limit groove 54 in the limit member 53 slides on the limit plate 42, and the limit members 53 approach each other, thereby making the two clamping plate assemblies 6 fixedly connected by the limit member 53 approach each other to clamp the plastic turnover box; the mechanical arm 3 moves up, the transfer vehicle body 1 travels to the destination, and the mechanical arm 3 moves down, and the driving device 5 drives the first rotating motor 51 and the reducer 56 to rotate in opposite directions, so that the two clamping plate assemblies 6 move in opposite directions, that is, away from each other, and release the plastic turnover box. During the placement process, if the airbag layer 62 leaks or the electrical air pump fails, the plastic turnover box will fall downward. The displacement sensor 65 detects that the plastic turnover box has a downward displacement, and the second rotary motor 83 starts the compensating force. The driving wheel 88 mounted on the end of the output shaft of the second rotary motor 83 rotates, and the driving wheel 88 drives the driven wheel 86 to rotate through the belt 89. The driven wheel 86 drives the rotating shaft 84 to rotate, and the rotating shaft 84 drives the rotating wheel 85 to move in the direction of the plastic turnover box moving upward. The displacement sensor 65 detects that the plastic turnover box moves upward and no longer falls downward. The speed of the second rotary motor 83 is maintained, and it rotates indirectly or stops, so that the transfer vehicle body 1 drives the mechanical arm 3 to carry and the splint assembly 6, and places the plastic turnover box clamped between the splint assemblies 6 to the destination, so as to prevent the plastic turnover box from falling downward during the clamping process, causing damage to the plastic turnover box and the objects in the plastic turnover box, thereby improving the safety during the clamping process.

[0036] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. An automatic grabbing and transferring vehicle for a smart factory, characterized in that: The transfer vehicle comprises a body (1), a mechanical arm (3) and an electric air pump (2) are arranged on the top surface of the body (1), the end of the mechanical arm (3) is clamped to a horizontal support plate (4), a driving device (5) is arranged on the support plate (4), and vertical clamping plate assemblies (6) are respectively arranged at both ends of the driving device (5); air bag layers (62) on opposite sides of the two clamping plate assemblies (6) are respectively abutted against two side walls of a plastic turnover box to clamp and transfer the plastic turnover box; a square hole (7) is arranged at the bottom of the clamping plate assembly (6), and a rolling mechanism (8) is arranged in the square hole (7), and the rolling mechanism (8) is used to prevent the clamping plate assembly (6) from malfunctioning and causing the plastic turnover box to fall downward during the process of clamping the plastic turnover box.

2. The automatic grabbing and transferring vehicle for a smart factory according to claim 1 is characterized in that: The support plate (4) body comprises a horizontal special-shaped plate (41) which is clamped to the end of the mechanical arm (3), and a vertical limiting plate (42) is arranged at the outer end of the special-shaped plate (41).

3. The automatic grabbing and transferring vehicle for smart factory according to claim 2 is characterized in that: The driving device (5) comprises a first rotating motor (51) arranged on the bottom surface of the middle part of the special-shaped plate (41); the output shaft of the first rotating motor (51) is connected to a reducer (56); the reducer (56) passes through the special-shaped plate (41); the output shaft of the reducer (56) is fixedly connected to the middle part of a rotating block (55); both ends of the rotating block (55) are respectively fixedly connected to a first connecting shaft (511); the first connecting shaft (511) is rotatably connected to an arc-shaped pushing block (52); the end of the pushing block (52) is rotatably connected to a second connecting shaft (512); and the second connecting shaft (512) is fixedly connected to a vertical clamping plate assembly (6).

4. The automatic grabbing and transferring vehicle for smart factory according to claim 3 is characterized in that: A limiting member (53) is provided in the middle of the side end surface of the clamping plate assembly (6) close to the support plate (4); a horizontal rod portion in the limiting member (53) is fixedly connected to the second connecting shaft (512); a limiting groove (54) is provided on the rod portion at the lower part of the limiting member (53) body; and a limiting plate (42) is adapted to be mounted in the limiting groove (54).

5. The automatic grabbing and transferring vehicle for smart factory according to claim 4 is characterized in that: The splint assembly (6) further comprises a splint layer (61) integrally formed and connected to the stopper (53); the inner side wall of the splint layer (61) is arranged against the airbag layer (62); a plurality of protrusions (63) are evenly arranged on the surface of the body of the airbag layer (62); the protrusions (63) are arranged against the side wall of the plastic turnover box.

6. The automatic grabbing and transferring vehicle for smart factory according to claim 5, characterized in that: An air intake pipe (64) is arranged on the outer wall of the plywood layer (61). The air intake pipe (64) is in a trumpet shape. The large opening of the air intake pipe (64) penetrates the plywood layer (61) and is in communication with the airbag layer (62). The small opening of the air intake pipe (64) is connected to the electric air pump (2) via a hose.

7. The automatic grabbing and transferring vehicle for smart factory according to claim 6, characterized in that: Displacement sensors (65) are provided on the upper edges of the opposite inner side walls of the two clamping plate assemblies (6), and the signal transmission positions of the two displacement sensors (65) are at least 1 millimeter lower than the top surface of the plastic turnover box.

8. The automatic grabbing and transferring vehicle for smart factory according to claim 1, characterized in that: The rolling mechanism (8) comprises a top plate (81) fixed to the top surface of the square hole (7), vertical vertical plates (82) are respectively arranged at both ends of the top plate (81), the bottom surface of the vertical plate (82) is fixed to the bottom surface of the square hole (7), a second rotating motor (83) is fixed to the inner side surface of the vertical plate (82), an output shaft of the second rotating motor (83) passes through the vertical plate (82), and a driving wheel (88) is mounted on the end.

9. The automatic grabbing and transferring vehicle for smart factory according to claim 8, characterized in that: The rolling mechanism (8) further comprises a rotating shaft (84) disposed between the two vertical plates (82) and obliquely below the second rotating motor (83); a plurality of rotating wheels (85) are evenly mounted on the rotating shaft (84); and a plurality of anti-slip strips (851) are evenly disposed on the outer ring surfaces of the rotating wheels (85); the anti-slip strips (851) are in contact with the plastic turnover box.

10. The automatic grabbing and transferring vehicle for smart factory according to claim 9, characterized in that: Bearings (87) are arranged at the lower part of the two vertical plates (82), and the bearings (87) are mounted on both ends of the rotating shaft (84). The bearings (87) extend from both ends of the rotating shaft (84), and driven wheels (86) are mounted on the ends. The driven wheel (86) and the driving wheel (88) are mounted on the outer periphery of the driven wheel (86) and the driving wheel (88) for transmission. The diameter of the driven wheel (86) is larger than the diameter of the driving wheel (88).

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