Multi-compatible tray and carrying device thereof

Abstract

The invention provides a multi-compatible tray and a carrying device thereof, and particularly relates to the technical field of carrying trays, the multi-compatible tray comprises a tray body and a mechanical arm arranged on the outer side of the tray body in a surrounding manner; the tray body comprises an upper bottom plate, a lower bottom plate and a plurality of connecting plates, the upper bottom plate and the lower bottom plate are arranged in parallel, the connecting plates are vertically and fixedly arranged between the upper bottom plate and the lower bottom plate, the connecting plates are arranged in parallel, an upper limiting hole is formed in the upper bottom plate, and a lower limiting hole is formed in the lower bottom plate; and the mechanical arm is connected with one of the connecting plates. According to the multi-compatible tray and the carrying device thereof, a plurality of trays and a plurality of mutual inductors can be carried at the same time, and efficient and rapid carrying can be achieved without multiple times of adjustment of the carrying robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of handling pallets, and particularly relates to a multi-compatible pallet and its handling device. Background Art

[0002] The current transformer is a bushing current transformer for a transformer and belongs to a circular ring component. This type of component is a small-batch customized part with non-standard size specifications (different sizes and heights). During the production process, it needs to be transferred between various processes multiple times through a pallet. After the pallet carries 1-2 current transformers, a handling robot places it into a test chamber or a test bench to test the current transformer. During its transportation process, it can be transported not only by the handling robot but also by a conveyor line.

[0003] However, when handling current transformers through a pallet, there are still the following technical problems:

[0004] (1) The current pallet has poor compatibility and cannot be designed with different clamping positions according to different products. For example, in addition to circular current transformers, it cannot carry medium-voltage current transformers.

[0005] (2) There is no grasping position on the pallet, resulting in the need for the current handling robot to be adjusted multiple times to correctly clamp and place. Moreover, due to the lack of precise positioning process holes, the pallet is prone to shaking and slipping, with poor positioning effect and low handling efficiency.

[0006] (3) Currently, when transferring pallets, the number of pallets transferred at a time is limited, and the number of current transformers transferred is also limited, resulting in low handling efficiency.

[0007] Therefore, the present application provides a multi-compatible pallet and its handling device to solve the above technical problems. Summary of the Invention

[0008] The purpose of the present invention is to provide a multi-compatible pallet and its handling device, which solves the technical problem of how to handle multiple pallets and multiple current transformers simultaneously, and the handling robot can achieve efficient and fast handling without multiple adjustments.

[0009] A multi-compatible pallet includes a pallet body and a robotic arm disposed around the outside of the pallet body;

[0010] The pallet body includes an upper bottom plate and a lower bottom plate arranged in parallel with each other, and a plurality of connecting plates vertically and fixedly arranged between the upper bottom plate and the lower bottom plate. The plurality of connecting plates are arranged in parallel with each other. An upper limit hole is provided in the upper bottom plate, and a lower limit hole is provided in the lower bottom plate;

[0011] The robotic arm is connected to one of the connecting plates.

[0012] It should be noted that the robotic arm is connected to the outermost connecting plate on the pallet body.

[0013] The robotic arm includes a positioning seat fixed on the connecting plate, a rotating block 1 rotatably connected to the positioning seat through a rotating cylinder 1, a rotating block 2 connected to the rotating block 1 through a rotating cylinder 2, a rotating rod 1 connected to the rotating block 2 at one end through a rotating cylinder 3, a rotating cylinder fixedly connected to the other end of the rotating rod 1, a telescopic cylinder connected to the rotating cylinder at a base, a movable rod fixedly connected to the free end of the telescopic cylinder, and a rotating rod 2 connected to the other end of the movable rod through a rotating cylinder 4, wherein a clamping mechanism is provided at the other end of the rotating rod 2.

[0014] The clamping mechanism includes gear 1 and gear 2 that are meshed with each other, axle 1 passing through the center of gear 1, axle 2 passing through the center of gear 2, an arc rod 1 with one end fixedly connected to the outer side of axle 1, an arc rod 2 with one end fixedly connected to the outer side of axle 2, and a power motor coaxially connected to axle 1 or axle 2, and the other ends of arc rod 1 and arc rod 2 are in separate contact.

[0015] A first pressure rod is fixedly arranged on the first rotating rod, and a second pressure rod is fixedly arranged on the movable rod. Both the first pressure rod and the second pressure rod extend into the interior of the tray body.

[0016] There are two mechanical arms, and the two mechanical arms are symmetrical around the center of the tray body.

[0017] A supporting plate is arranged in the lower limit hole.

[0018] A handling device comprises a supporting frame, a universal wheel arranged at the bottom end of the supporting frame, and a lifting cylinder whose bottom end is vertically fixed to the supporting frame, characterized in that the free end of the lifting cylinder is fixedly connected to the lifting block, a driving shaft is rotatably connected between the two lifting blocks, a rotating column is coaxially sleeved on the outer side of the driving shaft, one end of the driving shaft is connected to a motor, and a plurality of clamping positioning structures are arranged in a ring array on the outer side of the rotating column, and the clamping positioning structure is detachably connected to the pallet body.

[0019] The clamping positioning structure includes a U-shaped rod and a push-limiting structure respectively fixed at two free ends of the U-shaped rod, and the two push-limiting structures are respectively movably connected to two ends of the tray body;

[0020] The push-limiting structure comprises an electric push rod passing through the U-shaped rod, an embedded plate fixedly connected to the free end of the electric push rod, and blocking bars respectively arranged on both sides of the outer end of the embedded plate.

[0021] A fixing column is vertically and fixedly arranged inside the U-shaped rod, a spring sleeved outside the fixing column, and a pressing plate vertically and fixedly connected to the outer end of the spring.

[0022] The positive effects of the present invention are as follows:

[0023] (1) The designed tray in this solution, including a tray body and a robotic arm, the tray body has the following technical effects:

[0024] First, an upper limit hole and a lower limit hole are provided, which can carry a variety of current transformers, improving compatibility. Through the structural limit on the tray and the transfer device, six-point positioning can be achieved for different current transformers, and there is no need to design different card positions;

[0025] Second, positioning process holes are respectively arranged at both ends of the tray body. There is no need for the handling robot to deliberately adjust. As long as it is at a specific angle, it can be docked with the clamping and positioning structure, which is convenient and fast;

[0026] (2) A robotic arm is provided, which has the following technical effects:

[0027] First, the clamping mechanism on the robotic arm is used to clamp the current transformer and place it in the upper limit hole, which is convenient and fast and saves manpower;

[0028] When the robotic arm surrounds the tray body, the clamping mechanism can also be clamped and connected to the embedded plate to assist the above-mentioned positioning process hole work and realize further fastening connection with the clamping and positioning structure;

[0029] Second, the robotic arm can surround the outside of the tray body, saving space and being convenient to operate;

[0030] Third, a first pressing rod and a second pressing rod are arranged on the robotic arm. When the robotic arm surrounds the tray body, the first pressing rod and the second pressing rod can extend into the tray, and the first pressing rod and the second pressing rod abut against the current transformer, which helps to realize the positioning of the current transformer;

[0031] (3) A clamping and positioning structure is provided, achieving the following technical effects:

[0032] First, through the embedded plate, it is connected to both ends of the tray body to realize the positioning connection of the positioning process hole;

[0033] Second, a pressing plate is provided, and the pressing plate can press on the top of the current transformer to realize the positioning connection of the current transformer;

[0034] Third, the clamping and positioning structure is arranged in a circular array outside the rotating column, and multiple trays and multiple current transformers can be carried at the same time, which helps to improve the handling efficiency.

[0035] (4) A clever design in this solution is to dock the tray with the handling device, enabling the tray to work independently or be integrally connected to the handling device, thereby facilitating the convenient transfer of both the tray and the current transformer on the tray. The tray is both a containing structure for the current transformer and an auxiliary handling structure for it. Description of the Drawings

[0036] Figure 1 It is a schematic structural diagram of the tray in Embodiment 1 of the present invention.

[0037] Figure 2 It is a top view of the tray in Embodiment 1 of the present invention.

[0038] Figure 3 It is a schematic structural diagram of the tray body in Embodiment 1 of the present invention.

[0039] Figure 4 It is a schematic structural diagram of the robotic arm in Embodiment 1 of the present invention.

[0040] Figure 5 It is a front view of the handling device in Embodiment 2 of the present invention.

[0041] Figure 6 It is a perspective view of the handling device in Embodiment 2 of the present invention.

[0042] Figure 7 It is a schematic connection structure diagram of the drive shaft and the clamping and positioning structure in Embodiment 2 of the present invention.

[0043] Figure 8 It is a schematic connection structure diagram of the tray body and the clamping and positioning structure in Embodiment 2 of the present invention.

[0044] Figure 9 It is a schematic connection structure diagram of the tray and the handling device in Embodiments 1 and 2 of the present invention.

[0045] Among them, the reference numerals are: 1, tray body; 2, upper limit hole; 3, lower limit hole; 4, robotic arm; 401, gear one; 402, arc rod one; 403, gear two; 404, arc rod two; 41, rotary cylinder one; 42, positioning seat; 43, rotating block one; 44, rotary cylinder two; 45, rotating block two; 46, rotary cylinder three; 47, rotating rod one; 471, pressing rod one; 48, telescopic cylinder; 481, rotary cylinder; 49, movable rod; 491, pressing rod two; 492, rotating rod two; 493, rotary cylinder four; 5, universal wheel; 6, support chassis; 7, lifting cylinder; 8, lifting block; 9, drive shaft; 91, motor; 10, U-shaped rod; 11, electric push rod; 12, embedding plate; 13, stop bar; 14, pressing plate; 141, spring; 142, fixed column; 15, rotating column; 16, support plate. Detailed Embodiments

[0046] To more clearly illustrate the technical features of this solution, the following will elaborate on this solution through specific implementation manners.

[0047] Example 1

[0048] See Figures 1 - 4 、 Figure 9 , a multi-compatible tray, including a tray body 1 and a robotic arm 4 disposed around the outside of the tray body 1;

[0049] The tray body 1 includes an upper bottom plate and a lower bottom plate arranged in parallel with each other, and a plurality of connecting plates vertically and fixedly arranged between the upper bottom plate and the lower bottom plate. The plurality of connecting plates are arranged in parallel with each other. An upper limit hole 2 is provided in the upper bottom plate, and a lower limit hole 3 is provided in the lower bottom plate;

[0050] The robotic arm 4 is connected to one of the connecting plates.

[0051] It should be noted that the robotic arm is connected to the outermost connecting plate on the tray body 1.

[0052] The robotic arm 4 includes a positioning seat 42 fixed on the connecting plate, a rotating block one 43 rotatably connected to the positioning seat 42 through a rotating cylinder one 41, a rotating block two 45 connected to the rotating block one 43 through a rotating cylinder two 44, a rotating rod one 47 with one end connected to the rotating block two 45 through a rotating cylinder three 46, a rotating cylinder 481 fixedly connected to the other end of the rotating rod one 47, a telescopic cylinder 48 with a base connected to the rotating cylinder 481, a movable rod 49 with one end fixedly connected to the free end of the telescopic cylinder 48, and a rotating rod two 492 with one end connected to the other end of the movable rod 49 through a rotating cylinder four 493. A clamping mechanism is provided at the other end of the rotating rod two 492.

[0053] The clamping mechanism includes a gear one 401 and a gear two 403 meshed and connected to each other, a wheel shaft one passing through the center of the gear one 401, a wheel shaft two passing through the center of the gear two 403, an arc rod one 402 fixedly connected to the outside of the wheel shaft one at one end, an arc rod two 404 fixedly connected to the outside of the wheel shaft two at one end, and a power motor coaxially connected to the wheel shaft one or the wheel shaft two. The other ends of the arc rod one 402 and the arc rod two 404 are in separated contact.

[0054] A pressure rod one 471 is fixedly arranged on the rotating rod one 47, and a pressure rod two 491 is fixedly arranged on the movable rod 49. Both the pressure rod one 471 and the pressure rod two 491 extend into the interior of the tray body 1.

[0055] There are two robotic arms 4, and the two robotic arms 4 are centrosymmetric around the center of the tray body 1.

[0056] A support plate 16 is provided in the lower limit hole 3.

[0057] The specific working process in Example 1 of the present invention is as follows:

[0058] The tray designed in this solution includes a tray body 1 and a mechanical arm 4. The tray body 1 is provided with an upper limit hole 2 and a lower limit hole 3, which can carry a variety of transformers and improve compatibility. That is, the transformer is placed in the upper limit hole 2, and a support plate 16 is provided on the lower limit hole 3 to support the transformer;

[0059] Positioning process holes are respectively provided at both ends of the tray body 1, so as to facilitate docking with the clamping positioning structure, that is, the embedded plate 12 is embedded in the positioning process hole, and the embedded plate 12 is in contact with the mutual inductor, so that the mutual inductor can be limited;

[0060] A mechanical arm 4 is provided, and a clamping mechanism on the mechanical arm 4 is used to automatically clamp the mutual inductor and place it in the upper limit hole 2, which is convenient and fast and saves manpower;

[0061] When the mechanical arm 4 embraces the pallet body 1, the clamping mechanism can also be clamped and connected to the embedded plate 12 to achieve a fastened connection with the clamping positioning structure;

[0062] The mechanical arm 4 embraces the outside of the pallet body 1, which saves space, is easy to operate, and does not affect the transportation process of the pallet;

[0063] A pressure rod 1 471 and a pressure rod 2 491 are provided on the robot arm 4. When the robot arm 4 embraces the pallet body 1, the pressure rod 1 471 and the pressure rod 2 491 can extend into the interior of the pallet. The pressure rod 1 471 and the pressure rod 2 491 rest against the mutual inductor, which helps to further realize the positioning of the mutual inductor.

[0064] It should be noted that the power components on the robot arm 4 are all connected to the controller for unified regulation.

[0065] Example 2

[0066] See also Figures 5 - 9 A handling device includes a supporting frame 6, a universal wheel 5 arranged at the bottom end of the supporting frame 6, and a lifting cylinder 7 whose bottom end is vertically fixed to the supporting frame 6, characterized in that the free end of the lifting cylinder 7 is fixedly connected to the lifting block 8, and a driving shaft 9 is rotatably connected between the two lifting blocks 8. A rotating column 15 is coaxially sleeved on the outer side of the driving shaft 9, one end of the driving shaft 9 is connected to the motor 91, and a plurality of clamping positioning structures are arranged in a ring array on the outer side of the rotating column 15, and the clamping positioning structure is separately connected to the pallet body 1.

[0067] The clamping positioning structure includes a U-shaped rod 10 and a push-limiting structure respectively fixed to two free ends of the U-shaped rod 10, and the two push-limiting structures are respectively movably connected to two ends of the tray body 1;

[0068] The pushing and limiting structure includes an electric push rod 11 sleeved on the U-shaped rod 10, an embedding plate 12 fixedly connected to the free end of the electric push rod 11, and retaining bars 13 respectively arranged on both sides of the outer end of the embedding plate 12.

[0069] A fixing column 142 is vertically and fixedly arranged on the inner side of the U-shaped rod 10, a spring 141 sleeved on the outside of the fixing column 142, and a pressing plate 14 vertically and fixedly connected to the outer end of the spring 141.

[0070] The specific working process of this Embodiment 2:

[0071] A clamping and positioning structure is provided. Through the embedding plate 12, it is connected to both ends of the tray body 1 to achieve the positioning connection of the positioning process holes. Specifically, the position of the embedding plate 12 is adjusted by the electric push rod 11. The retaining bars 13 are located outside the positioning process holes. The outer end of the embedding plate 12 enters the inner side of the tray body 1 and abuts against the mutual inductor.

[0072] The pressing plate 14 is provided. The pressing plate 14 can press on the top of the mutual inductor to achieve the positioning connection of the mutual inductor. The spring 141 has a buffering effect.

[0073] The clamping and positioning structure is arranged in a circular array on the outside of the rotating column 15, which can carry multiple trays and multiple mutual inductors at the same time, helping to improve the handling efficiency. The motor 91 works to drive the driving shaft 9 and the rotating column 15 to rotate and adjust, and then lift the tray on the ground. Among them, the lifting cylinder 7 can adjust the ground clearance of the driving shaft 9 and the rotating column 15.

[0074] In this solution, the upper limit hole 2, the lower limit hole 3, the embedding plate 12, the pressing plate 14, the first pressing rod 471 and the second pressing rod 491 are designed to jointly achieve the six-point positioning of the mutual inductor on the tray body 1, making the transfer process of the mutual inductor more stable.

[0075] The technical features not described in the present invention can be realized by or adopted the prior art, which will not be elaborated here. Of course, the above description is not a limitation to the present invention, and the present invention is not limited to the above examples. The changes, modifications, additions or substitutions made by those of ordinary skill in the art within the essence scope of the present invention should also fall within the protection scope of the present invention.

Claims

1. A multi-compatible tray, characterized in that: It comprises a pallet body (1) and a mechanical arm (4) arranged around the outside of the pallet body (1); The tray body (1) comprises an upper bottom plate and a lower bottom plate which are arranged parallel to each other, and a plurality of connecting plates which are vertically fixedly arranged between the upper bottom plate and the lower bottom plate, wherein the plurality of connecting plates are arranged parallel to each other, an upper limit hole (2) is arranged in the upper bottom plate, and a lower limit hole (3) is arranged in the lower bottom plate; The mechanical arm (4) is connected to one of the connecting plates.

2. A multi-compatible tray according to claim 1, characterized in that: The mechanical arm (4) comprises a positioning seat (42) fixed on the connecting plate, a rotating block (43) rotatably connected to the positioning seat (42) via a rotating cylinder (41), a rotating block (45) connected to the rotating block (43) via a rotating cylinder (44), a rotating rod (47) having one end connected to the rotating block (45) via a rotating cylinder (46), a rotating cylinder (481) fixedly connected to the other end of the rotating rod (47), a telescopic cylinder (48) having a base connected to the rotating cylinder (481), a movable rod (49) having one end fixedly connected to the free end of the telescopic cylinder (48), and a rotating rod (492) having one end connected to the other end of the movable rod (49) via a rotating cylinder (493), wherein a clamping mechanism is provided at the other end of the rotating rod (492).

3. A multi-compatible tray according to claim 2, characterized in that: The clamping mechanism includes a gear 1 (401) and a gear 2 (403) meshingly connected to each other, an axle 1 passing through the center of the gear 1 (401), an axle 2 passing through the center of the gear 2 (403), an arc rod 1 (402) having one end fixedly connected to the outer side of the axle 1, an arc rod 2 (404) having one end fixedly connected to the outer side of the axle 2, and a power motor coaxially connected to the axle 1 or the axle 2, and the other ends of the arc rod 1 (402) and the arc rod 2 (404) are in separate contact.

4. The multi-compatible tray according to claim 2, characterized in that: A pressure rod 1 (471) is fixedly provided on the rotating rod 1 (47), and a pressure rod 2 (491) is fixedly provided on the movable rod (49). Both the pressure rod 1 (471) and the pressure rod 2 (491) extend into the interior of the tray body (1).

5. The multi-compatible tray according to claim 2, characterized in that: There are two mechanical arms (4), and the two mechanical arms (4) are centrally symmetrical around the center of the tray body (1).

6. The multi-compatible tray according to claim 1, characterized in that: A support plate (16) is arranged in the lower limit hole (3).

7. A transport device for transporting a multi-compatible pallet according to any one of claims 1 to 6, comprising a supporting frame (6), a universal wheel (5) arranged at the bottom end of the supporting frame (6), and a lifting cylinder (7) with a bottom end vertically fixed to the supporting frame (6), characterized in that: The free end of the lifting cylinder (7) is fixedly connected to the lifting block (8), and a driving shaft (9) is rotatably connected between the two lifting blocks (8). A rotating column (15) is coaxially sleeved on the outer side of the driving shaft (9), and one end of the driving shaft (9) is connected to the motor (91). A plurality of snap-fit ​​positioning structures are arranged in a circular array on the outer side of the rotating column (15), and the snap-fit ​​positioning structures are detachably connected to the tray body (1).

8. A transport device according to claim 7, characterized in that: The clamping positioning structure comprises a U-shaped rod (10), and a push-limiting structure respectively fixed to two free ends of the U-shaped rod (10), and the two push-limiting structures are respectively movably connected to two ends of the tray body (1); The push-limiting structure comprises an electric push rod (11) inserted through the U-shaped rod (10), an embedded plate (12) fixedly connected to the free end of the electric push rod (11), and blocking bars (13) respectively arranged on both sides of the outer end of the embedded plate (12).

9. A transport device according to claim 8, characterized in that: A fixing column (142), a spring (141) sleeved on the outside of the fixing column (142), and a pressure plate (14) vertically fixedly connected to the outer end of the spring (141) are vertically fixedly arranged on the inner side of the U-shaped rod (10).

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