Stable-clamping manipulator for storage goods placement

Abstract

The invention relates to the technical field of mechanical arms, in particular to a stable-clamping mechanical arm for placing stored goods, which comprises a stand column, a movable frame, a tooth track body, a lower seat and a storage seat, and further comprises a first motor bolted to the surface of the movable frame, and rotating columns are rotatably connected to the two sides of the surface of the movable frame; the other end of the rotating column extends to the inner side of the movable frame and is fixedly provided with a walking gear, and the walking gear is meshed with the surface of the tooth track body. Through cooperative use of a sleeve rod, a movable rod, a covering plate, a compression spring and a sliding block, the covering plate covers the surface of the tooth track body, dust and impurities are prevented from entering the tooth track body, meanwhile, when a movable frame approaches, through cooperation of rollers, trapezoidal blocks and the like, the covering plate is temporarily away from the tooth track body, normal walking of a walking gear is guaranteed, and the service life of the walking gear is prolonged. The surface of the tooth track body can be covered and protected, and meanwhile normal lifting of the whole mechanical arm is not affected.

Description

Technical Field

[0001] The present invention relates to the technical field of manipulators, and in particular to a manipulator for stably clamping and placing stored goods. Background Art

[0002] Warehousing logistics, also known as logistics warehousing, is an integral part of modern logistics systems. It involves the use of self-built or leased warehouses and facilities to store, safeguard, load, unload, and distribute goods. Placing goods on three-dimensional racks is a crucial aspect of warehousing logistics. In the past, this was done by human workers, which was inefficient. Currently, shuttle racking robots are used to place goods. These robots move horizontally and vertically, using sensors such as cameras and infrared sensors to locate goods, placing them at designated locations on the shelves or removing them, significantly improving efficiency.

[0003] During use, some shuttle rack manipulators use the combination of toothed tracks and gears as the power for vertical climbing or descending. However, the warehouse traffic volume of warehousing logistics is large, and some dust is often brought into the warehouse. The surface of the toothed track itself is also coated with lubricating oil, and dust and impurities enter the teeth of the track. The toothed track is a precision transmission equipment, and its internal structure and movement mode are carefully designed. The accumulation of dust and impurities will destroy its original lubrication state and increase friction resistance, thereby accelerating the wear of the track and reducing its service life; and the clamping parts of the manipulator are flat surfaces. For round-packaged goods, the clamping effect is not ideal. At the same time, only the friction between the clamping parts and the diameter of the goods is used to clamp, place and pick up. The clamping is not stable enough, and the goods sometimes fall. Summary of the Invention

[0004] The purpose of the present invention is to provide a manipulator for placing stored goods with stable clamping, which can rotate and switch the clamping plate to adapt to square-packaged goods and round-packaged goods. At the same time, it can assist in fixing the goods by adsorption to increase the stability of clamping, and can cover the tooth track itself to prevent a large amount of dust and impurities from entering, without affecting its own lifting.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a manipulator for stably clamping and placing stored goods, comprising a column, a movable frame, a toothed track body, a lower seat and a storage seat, and further comprising: A first motor is bolted to the surface of the movable frame, and rotating columns are rotatably connected to both sides of the movable frame surface. The other end of the rotating column extends to the inner side of the movable frame and is fixed with a travel gear, and the travel gear is meshed with the surface of the toothed track body; A plurality of connecting plates bolted to the surface of the column, a sleeve rod is sleeved on the inner side of the connecting plate, a slider is slidably connected to the inner wall of the sleeve rod, a movable rod is bolted to one side of the slider, the other end of the movable rod extends to the outside of the sleeve rod and is bolted to a covering plate, the surface of the covering plate is provided with teeth that cooperate with the toothed track body, a compression spring is fixed to one side of the inner wall of the sleeve rod, and the other end of the compression spring is fixed to the movable rod; A transverse platform bolted to one side of the movable frame, the top of the transverse platform being rotatably connected to a rotating platform, and the bottom of the transverse platform being bolted to a second motor driving the rotating platform to rotate; A movable rack is provided above the storage seat, the top of the movable rack is bolted to a support frame, the top of the support frame is bolted to an air pump, and clamping plates are provided on both sides above the storage seat; A clamping mechanism for moving the clamping plates on both sides to perform a clamping action; A switching mechanism for switching the two sides of the splint; An adsorption auxiliary mechanism is used in conjunction with the air pump and the clamping plate to perform auxiliary clamping.

[0006] A pushing mechanism for pushing away the cover plate during the movement of the movable frame; A moving mechanism drives the moving frame to move.

[0007] Preferably, the pushing mechanism includes a trapezoidal block and a short connecting rod, one end of the short connecting rod is welded to the movable rod, and the end of the short connecting rod away from the movable rod is bolted to the trapezoidal block. The pushing mechanism also includes a plurality of cross bars bolted to the surface of the movable frame, and the surface of the cross bar is rotatably connected to a roller.

[0008] Preferably, the clamping mechanism includes an electric hydraulic rod, a movable block and a movable plate. The electric hydraulic rods are in two groups and are bolted to both sides of the movable frame respectively. Both sides of the top of the movable frame are penetrated by transverse grooves. The movable block is slidably connected to the inner wall of the transverse groove. The output shaft of the electric hydraulic rod is bolted to the movable block. The movable plate is bolted to the bottom of the movable block. The surface of the movable plate is rotatably connected to a rotating tube, and the other end of the rotating tube is bolted to the clamping plate.

[0009] Preferably, both sides of the front surface of the movable frame are bolted with sliding rods, and the other side of the top of the movable plate is also bolted with a sliding sleeve, and the sliding sleeve is slidably connected to the surface of the sliding rod.

[0010] Preferably, the switching mechanism includes a third motor, a rotating column and a transmission rod, the third motor is bolted to one side of the surface of the moving frame, the rotating columns are in two groups and are rotatably connected to both sides of the surface of the moving frame, the transmission rod is welded between the rotating columns on both sides, the switching mechanism also includes a fixed plate bolted to the surface of the movable plate, and the surface of the fixed plate is rotatably connected to a transmission sleeve, the transmission sleeve is slidably connected to the surface of the transmission rod, the surface of the movable plate is also rotatably connected to a driving rod, one end of the driving rod is connected to the surface of the transmission sleeve by a bevel gear transmission, the surface of the driving rod is connected to the surface of the rotating tube by a gear transmission, and the output shaft of the third motor is connected to the rotating column by a gear transmission.

[0011] Preferably, the cross section of the transmission rod is triangular in design, and the inner wall of the transmission sleeve is triangular in design.

[0012] Preferably, the moving mechanism includes a fourth motor, a rotating shaft, a first vertical column and a second vertical column, the fourth motor is bolted to the top of the lower seat, the rotating shaft is fixed to the top of the lower seat through a bearing seat, the first vertical column and the second vertical column are rotatably connected to the top of the lower seat, the surfaces of the first vertical column and the second vertical column are bolted to the first pulley and the second pulley respectively, the surfaces of the first pulley and the second pulley are provided with a timing belt, one side of the surface of the timing belt is bolted to a connecting plate, and the other end of the connecting plate is bolted to the moving frame, both sides of the top of the storage seat are bolted to horizontal slide rails, and the bottom of the moving frame is slidably connected to the surface of the horizontal slide rails, and the two ends of the rotating shaft are respectively connected to the first vertical columns on both sides through bevel gear transmission.

[0013] The cam is connected to the second end of the support frame, and the cam is connected with the support frame by the second end of the support frame, and the cam is connected with the support frame by the second end of the support frame.

[0014] Preferably, both sides of the upright column are bolted with vertical slide rails, and both sides of the interior of the movable frame are bolted with sliding seats that are slidably connected to the surfaces of the vertical slide rails.

[0015] Preferably, one side of the splint is designed to be flat, and the other side of the splint is designed to be curved.

[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention uses a sleeve rod, a movable rod, a cover plate, a compression spring and a slider to cover the surface of the tooth track body to prevent dust and impurities from entering. At the same time, when the movable frame approaches, the cover plate can be temporarily moved away from the tooth track body through the cooperation of rollers, trapezoidal blocks, etc. to ensure the normal movement of the running gear. That is, the surface of the tooth track body can be covered and protected without affecting the normal lifting and lowering of the entire manipulator.

[0017] 2. The present invention drives the rotating column and the transmission rod to rotate by turning on the third motor, thereby driving the rotating tube and the splint to rotate, so as to switch the orientation of the curved surface and the flat surface of the splint, adapting to round-packaged goods and square-packaged goods, thereby improving the scope of application of the manipulator.

[0018] 3. The present invention turns on the air pump to discharge the air in the splint through the first connecting pipe or the second connecting pipe, the connecting sleeve, and the connecting pipe, extracting the air in the splint to generate suction at the third through hole or the fourth through hole. During the clamping process, auxiliary adsorption and fixation are performed, thereby increasing the clamping stability of the manipulator and preventing the goods from falling off. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 Schematic diagram of the three-dimensional structure of the present invention from the front side perspective; Figure 2 This is a schematic diagram of the three-dimensional structure of the hair from a rear perspective; Figure 3 Schematic diagram of the surface structure of the column in the present invention; Figure 4 It is a partial cross-sectional structural diagram of the movable frame in the present invention; Figure 5 For the present invention Figure 4 Schematic diagram of the enlarged structure at A in the middle; Figure 6 A schematic diagram of the movable frame and its internal structure in the present invention; Figure 7 Schematic diagram of the structure of the cover plate and the trapezoidal block in the present invention; Figure 8 is a cross-sectional view of the sleeve rod in the present invention; Figure 9 Schematic diagram of the surface structure of the lower seat and the storage seat in the present invention; Figure 10 Schematic diagram of the structure of the lower seat and the storage seat in the present invention when viewed from above; Figure 11 Schematic diagram of the structure of the mobile mechanism of the present invention; Figure 12 Schematic diagram of the structure of the clamping mechanism and the switching mechanism in the present invention; Figure 13 It is a partial structural diagram of the clamping mechanism and the adsorption auxiliary mechanism in the present invention; Figure 14 Schematic diagram of the structure of the rotating column and the transmission rod in the present invention; Figure 15 This is a schematic diagram of the first rubber pad and the second rubber pad after they leave the clamping plate in the present invention; Figure 16 is a cross-sectional view of the splint, rotating tube and connecting sleeve in the present invention; Figure 17 For the present invention Figure 16 Schematic diagram of the enlarged structure at point B in the middle.

[0020] 1. Horizontal table; 2. Second motor; 3. Rotating table; 4. Lower seat; 5. Storage seat; 6. Moving frame; 7. Gear track body; 8. Vertical slide rail; 9. Sliding seat; 10. First motor; 11. Rotating column; 12. Travel gear; 13. Connecting plate; 14. Sleeve rod; 15. Movable rod; 16. Cover plate; 17. Compression spring; 18. Sliding block; 19. Horizontal table; 20. Second motor; 19. Rotating table; 21. Lower seat; 22. Storage seat; 23. Clamping mechanism; 244. Electric hydraulic rod; 245. Movable block; 246. Movable plate; 247. Rotating tube; 251. Horizontal slot; 252. Sleeve; 253. Transmission rod; 254. Fixed plate; 255. Transmission sleeve; 256. Driving rod ; 26. Adsorption auxiliary mechanism; 261. Connecting sleeve; 262. Fixed sleeve; 263. Bearing ring; 264. Partition; 265. First through hole; 266. Second through hole; 267. First rubber pad; 268. Third through hole; 269. Second rubber pad; 2610. Fourth through hole; 2611. First connecting pipe; 2612. Second connecting pipe; 2613. Sealing plate; 2614. Conveying pipe; 2615. Connecting pipe; 27. Pushing away mechanism; 271. Trapezoidal block; 272. Short connecting rod; 273. Cross bar; 274. Roller; 28. Moving mechanism; 281. Fourth motor; 282. Rotating shaft; 283. First vertical column; 284. First pulley; 285. Second vertical column; 286. Second pulley; 287. Timing belt; 288. Connecting plate; 289. Horizontal slide rail. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention 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 making creative efforts are within the scope of protection of the present invention.

[0022] See also Figure 1-17, a manipulator for clamping stable storage goods, including a column 1, a movable frame 2, a toothed track body 3, a lower seat 18 and a storage seat 19, the storage seat 19 is fixed above the lower seat 18 by a pillar, the movable frame 2 is located on the outside of the column 1, the manipulator also includes a clamping mechanism 24, a switching mechanism 25, an adsorption auxiliary mechanism 26, a pushing mechanism 27 and a moving mechanism 28, one side of the surface of the movable frame 2 is bolted with a first motor 6, both sides of the surface of the movable frame 2 are rotatably connected with a rotating column 7, the other end of the rotating column 7 extends to the inner side of the movable frame 2 and is fixed with a traveling gear 8, and the traveling gear 8 is meshed with the surface of the toothed track body 3, and the output shaft of the first motor 6 is connected to the rotating shaft on one side. The columns 7 are connected by gear transmission, and the rotating columns 7 on both sides are connected by gear transmission. When the first motor 6 is turned on, the rotating column 7 on one side can be driven to rotate through the gear, and then the rotating column 7 on the side drives the rotating column 7 on the other side to rotate through the gear, thereby driving the movable frame 2 to move up and down. The two sides of the column 1 are bolted with vertical slide rails 4, and the two sides inside the movable frame 2 are bolted with sliding seats 5 that are slidably connected to the surface of the vertical slide rails 4. The sliding seats 5 are slidably connected to the surface of the vertical slide rails 4, so that the movable frame 2 maintains linear motion during the up and down movement, increasing the movement stability of the movable frame 2. Several connecting plates 9 are bolted to the surface of the column 1, and a sleeve rod 10 is provided on the inner side of the connecting plate 9. The inner wall of the sleeve rod 10 is slidably connected with a slider 14, and a movable rod 11 is bolted to one side of the slider 14. The other end of the movable rod 11 extends to the outside of the sleeve rod 10 and is bolted to a covering plate 12. The surface of the covering plate 12 is provided with teeth that cooperate with the toothed track body 3. The teeth on the surface of the covering plate 12 are slightly smaller than the teeth on the surface of the toothed track body 3. In this way, the teeth on the surface of the covering plate 12 can enter the toothed track body 3, but do not contact the teeth on the surface of the toothed track body 3. While forming a cover, it can also avoid wear. A compression spring 13 is fixed on one side of the inner wall of the sleeve rod 10, and the other end of the compression spring 13 is fixed to the movable rod 11. One side of the movable frame 2 is bolted with a horizontal platform 15. The top of the horizontal table 15 is rotatably connected to a rotating table 17. The bottom of the horizontal table 15 is bolted to a second motor 16. The output shaft of the second motor 16 is fixed to the rotating shaft of the rotating table 17. The top of the rotating table 17 is bolted to the bottom surface of the lower seat 18. The output shaft of the second motor 16 rotates, which can drive the rotating table 17 to rotate, thereby driving the upper lower seat 18 and the storage seat 19 to rotate together to change the direction. A movable frame 20 is provided above the storage seat 19. The top of the movable frame 20 is bolted to a support frame 21. The top of the support frame 21 is bolted to an air pump 22. Clamps 23 are also provided on both sides above the storage seat 19. One side of the clamp 23 is flat, and the other side of the clamp 23 is arc-shaped.

[0023] The pushing mechanism 27 includes a trapezoidal block 271 and a short connecting rod 272. One end of the short connecting rod 272 is welded to the movable rod 11, and the end of the short connecting rod 272 away from the movable rod 11 is bolted to the trapezoidal block 271. The pushing mechanism 27 also includes a cross bar 273, and the number of cross bars 273 is several and bolted to the surface of the movable frame 2. The surface of the cross bar 273 is connected to the roller 274 for rotation. The first motor 6 is turned on, and the output shaft of the first motor 6 drives the two sets of rotating columns 7 to rotate. The rotating columns 7 drive the traveling gears 8 on both sides to rotate. At this time, The travel gears 8 on both sides rotate in opposite directions, but the travel gears 8 on both sides mesh with their corresponding toothed track bodies 3 in opposite directions. Therefore, the travel gears 8 on both sides rise and fall synchronously, thereby driving the movable frame 2 to rise and fall. Under the action of the compression spring 13, the slider 14 is forced outward from the sleeve rod 10 and pushes the movable rod 11 to make the covering plate 12 stay on the surface of the toothed track body 3, thereby achieving coverage of the surface of the toothed track body 3 to prevent dust from entering. At the same time, when the movable frame 2 approaches, the roller 274 First, it contacts the trapezoidal block 271. There are several rollers 274. When the rollers 274 contact the inclined surface of the trapezoidal block 271, the rollers 274 push the trapezoidal block 271 to move in the direction away from the tooth track body 3. The trapezoidal block 271 drives the movable rod 11, the cover plate 12 and the slider 14 to move in the direction away from the tooth track body 3 through the short connecting rod 272. As a result, under the action of the rollers 274 squeezing the trapezoidal block 271, the cover plate 12 is temporarily away from the tooth track body 3, so that the subsequent approaching walking gear The wheel 8 can move normally along the surface of the toothed track body 3. After the movable frame 2 moves away, the squeezing of the roller 274 is absent. At this time, the cover plate 12 is reset under the action of the compression spring 13 and the surface of the toothed track body 3 is protected again. Therefore, in the structural coordination of the pushing mechanism 27, when the movable frame 2 approaches, the cover plate 12 near the movable frame 2 is pushed away, allowing the traveling gear 8 to move normally. When the movable frame 2 moves away, the cover plate 12 is reset and protected again to prevent a large amount of dust from entering the toothed track body 3.

[0024] The clamping mechanism 24 includes an electric hydraulic rod 241, a movable block 242 and a movable plate 243. The electric hydraulic rod 241 is in two groups and is bolted to both sides of the movable frame 20 respectively. Both sides of the top of the movable frame 20 are penetrated by a transverse groove 245. The movable block 242 is slidably connected to the inner wall of the transverse groove 245. The output shaft of the electric hydraulic rod 241 is bolted to the movable block 242, and the movable plate 243 is bolted to the bottom of the movable block 242. The surface of the movable plate 243 is rotatably connected with a rotating tube 244, and the other end of the rotating tube 244 is bolted to the splint 23. Both sides of the front of the movable frame 2 are bolted with sliding rods 247, and the other side of the top of the movable plate 243 is also bolted with a sliding sleeve 246, and the sliding sleeve 246 is slidably connected to the surface of the sliding rod 247. During the horizontal movement, the movable plate 243 can move on the surface of the sliding rod 247 through the sliding sleeve 246, thereby increasing the movement stability of the movable plate 243.

[0025] The switching mechanism 25 includes a third motor 251, a rotating column 252 and a transmission rod 253. The third motor 251 is bolted to one side of the surface of the mobile frame 20. The number of the rotating columns 252 is two groups and they are rotatably connected to the two sides of the surface of the mobile frame 20 respectively. The transmission rod 253 is welded between the rotating columns 252 on both sides. The cross-section of the transmission rod 253 is triangular in design. The switching mechanism 25 also includes a fixed plate 254 bolted to the surface of the movable plate 243, and the surface of the fixed plate 254 is rotatably connected to the transmission sleeve 255. The transmission sleeve 255 is slidably connected to the surface of the transmission rod 253. The inner wall of the transmission sleeve 255 is triangular in design. The surface of the movable plate 243 is also rotatably connected to the drive rod 256. One end of the drive rod 256 is connected to the surface of the transmission sleeve 255 through a bevel gear transmission. The surface of the drive rod 256 is connected to the rotating sleeve 255. The surface of 244 is connected through gear transmission, and the output shaft of the third motor 251 is connected to the rotating column 252 through gear transmission. The third motor 251 is turned on, and the output shaft of the third motor 251 drives the rotating column 252 to rotate through the gear, and the rotating column 252 drives the transmission rod 253 to rotate, and the transmission rod 253 drives the transmission sleeve 255 on the surface to rotate, and the transmission sleeve 255 drives the driving rod 256 to rotate through the bevel gear, and the driving rod 256 drives the rotating tube 244 and the splint 23 to rotate through the gear, thereby synchronously changing the orientation of the splints 23 on both sides. If the goods to be clamped and grasped are packaged in a square shape, then the planes of the splints 23 on both sides are brought close to each other. If the goods to be clamped and grasped are packaged in a round shape, then the curved surfaces of the splints 23 on both sides are brought close to each other, thereby adapting to goods packaged on square surfaces and round surfaces.

[0026] The moving mechanism 28 includes a fourth motor 281, a rotating shaft 282, a first vertical column 283 and a second vertical column 285. The fourth motor 281 is bolted to the top of the lower seat 18, the rotating shaft 282 is fixed to the top of the lower seat 18 through a bearing seat, the first vertical column 283 and the second vertical column 285 are both rotatably connected to the top of the lower seat 18, and the surfaces of the first vertical column 283 and the second vertical column 285 are respectively bolted to the first pulley 284 and the second pulley 286. The surfaces of the first pulley 284 and the second pulley 286 are provided with a timing Belt 287, one side of the surface of the timing belt 287 is bolted with a connecting plate 288, and the other end of the connecting plate 288 is bolted to the mobile frame 20, and both sides of the top of the storage seat 19 are bolted with horizontal slide rails 289, and the bottom of the mobile frame 20 is slidably connected to the surface of the horizontal slide rails 289, and the two ends of the rotating shaft 282 are respectively connected to the first vertical columns 283 on both sides through bevel gear transmission. During the horizontal movement of the mobile frame 20, the mobile frame 20 can slide on the surface of the horizontal slide rails 289, thereby increasing the operating stability of the mobile frame 20.

[0027] During the use of the manipulator, the bottom of the column 1 is connected to the horizontal track, and the horizontal track is used to make the entire manipulator move horizontally, and the first motor 6 is turned on to drive the travel gear 8 to rotate, so that the movable frame 2 and the storage seat 19 move in the vertical direction, and the second motor 16 is turned on to drive the storage seat 19 to rotate, so that the storage seat 19 is aligned with the goods to be taken, and the two sides of the splint 23 are switched according to the packaging of the goods, and then the fourth motor 281 is turned on, and the output shaft of the fourth motor 281 drives the rotating shaft 282 to rotate, and the rotating shaft 282 drives the first vertical column 283 to rotate through the bevel gear, and the first vertical column 283 drives the first pulley 284 on the surface to rotate, and the first pulley 284 drives the second vertical column 285 and the second pulley 286 on the other side to rotate through the timing belt 287. Then the timing belt 287 drives the mobile frame 20 to move through the connecting plate 288. The mobile frame 20 slides along the surface of the horizontal slide rail 289 to drive the splints 23 on both sides to move forward and make the splints 23 on both sides close to the two sides of the cargo. Then the electric hydraulic rods 241 on both sides are opened, and their output shafts are extended to drive the movable blocks 242 and movable plates 243 on both sides to approach each other, which makes the splints 23 on both sides approach each other.

[0028] The adsorption auxiliary mechanism 26 includes a connecting sleeve 261, a fixing sleeve 262, a bearing ring 263 and a partition 264. The interior of the splint 23 is hollow in design. A first through hole 265 and a second through hole 266 are respectively provided on both sides of the splint 23. The first through hole 265 is located on the flat surface of the splint 23, and the second through hole 266 is located on the arc-shaped surface of the splint 23. The interior of the splint 23 is bolted with a partition 264. The two sides of the surface of the partition 264 are respectively penetrated with a first connecting pipe 2611 and a second connecting pipe 2612. The connecting sleeve 261 is arranged on the side of the movable plate 243 away from the fixed plate 254. The surface of the connecting sleeve 261 is sleeved with a fixing sleeve 262, and the fixing sleeve 262 and the movable plate 243 are bolted to each other to fix the connecting sleeve 261 and the movable plate 243 together. The first connecting pipe 2611 and the second connecting pipe 2612 are away from the splint 2 3 extends to the interior of the connecting sleeve 261, the inner wall of the connecting sleeve 261 is bolted with a bearing ring 263, and the rotating tube 244 and the inner wall of the bearing ring 263 are fixed to each other, so that the rotation of the rotating tube 244 will not be hindered by the connecting sleeve 261, and the adsorption auxiliary mechanism 26 also includes a first rubber pad 267 and a second rubber pad 269 bonded and fixed to both sides of the surface of the splint 23, the first rubber pad 267 is located on the flat surface of the splint 23, and the second rubber pad 269 is located on the curved surface of the splint 23, and a sealing plate 2613 is also bolted to the interior of the connecting sleeve 261, and the other side of the surface of the connecting sleeve 261 is connected to a delivery pipe 2614, and the other end of the delivery pipe 2614 is connected to a connecting pipe 2615, and the other end of the connecting pipe 2615 is connected to the interface of the air pump 22, and the air pump 22 adopts an air pump with local inflation and deflation functions;When the electric hydraulic rods 241 on both sides are opened to make the splints 23 on both sides approach the cargo, if the cargo is square packaged, the first rubber pad 267 faces the cargo, and the first connecting pipe 2611 does not contact the blocking plate 2613, while the second connecting pipe 2612 contacts the blocking plate 2613. Then the first rubber pad 267 contacts the cargo, and the surface of the first rubber pad 267 is provided with a third through hole 268. At this time, the air pump 22 is briefly opened, which allows the air on the side of the splint 23 near the first through hole 265 to enter the air pump 22 through the first connecting pipe 2611, the connecting sleeve 261, and the connecting pipe 2615 and then be discharged. This makes the space formed by the partition 264 in the splint 23 near the first through hole 265 in a low pressure state, and generates suction at the first through hole 265 and the third through hole 268 to assist in the adsorption and fixation of the cargo. If the cargo is round packaged, the second rubber pad 269 faces the cargo, and the surface of the second rubber pad 269 is penetrated A second through hole 266 is opened. At this time, the positions of the first connecting pipe 2611 and the second connecting pipe 2612 are swapped. The first connecting pipe 2611 contacts the blocking plate 2613, while the second connecting pipe 2612 does not contact the blocking plate 2613. Turning on the air pump 22 generates negative pressure on the side of the splint 23 close to the curved surface to assist in adsorbing the goods and increase the stability of the clamping. After the clamping is completed, the fourth motor 281 is turned on to drive the mobile frame 20 to move, and drive the splint 23 and the goods to be clamped. The gripped goods are moved to the surface of the storage seat 19. The manipulator then moves vertically and horizontally to align the storage seat 19 with the storage shelf where the goods are to be placed. The mobile frame 20 then drives the clamping plates 23 to move the goods from the storage seat 19 to the shelf. The air pump 22 is then activated to inflate the clamping plates 23. The electric hydraulic rods 241 on both sides are activated to move the clamping plates 23 away from each other. The clamping plates 23 then return to the storage seat 19, completing the placement of the goods.

[0029] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0030] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator for stably holding and placing stored goods, comprising a column (1), a movable frame (2), a toothed track body (3), a lower seat (18) and a storage seat (19), characterized in that: Also includes: A first motor (6) is bolted to the surface of the movable frame (2), and rotating columns (7) are rotatably connected on both sides of the surface of the movable frame (2). The other end of the rotating column (7) extends to the inner side of the movable frame (2) and is fixed with a travel gear (8), and the travel gear (8) is meshed with the surface of the toothed track body (3); A plurality of connecting plates (9) are bolted to the surface of the column (1), a sleeve rod (10) is sleeved on the inner side of the connecting plate (9), a slider (14) is slidably connected to the inner wall of the sleeve rod (10), a movable rod (11) is bolted to one side of the slider (14), the other end of the movable rod (11) extends to the outside of the sleeve rod (10) and is bolted to a covering plate (12), the surface of the covering plate (12) is provided with teeth for use with the toothed track body (3), a compression spring (13) is fixed to one side of the inner wall of the sleeve rod (10), and the other end of the compression spring (13) is fixed to the movable rod (11); A transverse platform (15) is bolted to one side of the movable frame (2), the top of the transverse platform (15) is rotatably connected to a rotating platform (17), and the bottom of the transverse platform (15) is bolted to a second motor (16) for driving the rotating platform (17) to rotate; A movable frame (20) is provided above the storage seat (19), the top of the movable frame (20) is bolted to a support frame (21), the top of the support frame (21) is bolted to an air pump (22), and clamping plates (23) are provided on both sides above the storage seat (19); A clamping mechanism (24) for moving the clamping plates (23) on both sides to perform a clamping action; A switching mechanism (25) for switching the two sides of the clamping plate (23); An adsorption auxiliary mechanism (26) used in conjunction with the air pump (22) and the clamping plate (23) to assist in clamping; A pushing mechanism (27) for pushing away the cover plate (12) during the movement of the movable frame (2); A moving mechanism (28) drives the moving frame (20) to move.

2. A manipulator for stably clamping and placing stored goods according to claim 1, characterized in that: The pushing mechanism (27) includes a trapezoidal block (271) and a short connecting rod (272), one end of the short connecting rod (272) is welded to the movable rod (11), and the end of the short connecting rod (272) away from the movable rod (11) is bolted to the trapezoidal block (271). The pushing mechanism (27) also includes a plurality of cross bars (273) bolted to the surface of the movable frame (2), and the surface of the cross bar (273) is rotatably connected to a roller (274).

3. The manipulator for stably clamping and placing stored goods according to claim 1, characterized in that: The clamping mechanism (24) includes an electric hydraulic rod (241), a movable block (242) and a movable plate (243). The electric hydraulic rod (241) is provided in two groups and is bolted to both sides of the movable frame (20). Both sides of the top of the movable frame (20) are provided with transverse grooves (245). The movable block (242) is slidably connected to the inner wall of the transverse groove (245). The output shaft of the electric hydraulic rod (241) is bolted to the movable block (242). The movable plate (243) is bolted to the bottom of the movable block (242). The surface of the movable plate (243) is rotatably connected to a rotating tube (244). The other end of the rotating tube (244) is bolted to the clamping plate (23).

4. The manipulator for stably clamping and placing stored goods according to claim 3, characterized in that: Both sides of the front of the movable frame (2) are bolted with slide bars (247), and the other side of the top of the movable plate (243) is also bolted with a slide sleeve (246), and the slide sleeve (246) is slidably connected to the surface of the slide bar (247).

5. The manipulator for stably clamping and placing stored goods according to claim 3, characterized in that: The switching mechanism (25) includes a third motor (251), a rotating column (252) and a transmission rod (253). The third motor (251) is bolted to one side of the surface of the mobile frame (20). The rotating columns (252) are in two groups and are respectively rotatably connected to both sides of the surface of the mobile frame (20). The transmission rod (253) is welded to the rotating columns (252) on both sides. The switching mechanism (25) also includes a fixed plate (254) bolted to the surface of the movable plate (243), and the fixed plate ( The surface of the movable plate (243) is rotatably connected to a transmission sleeve (255), and the transmission sleeve (255) is slidably connected to the surface of the transmission rod (253). The surface of the movable plate (243) is also rotatably connected to a drive rod (256), and one end of the drive rod (256) is connected to the surface of the transmission sleeve (255) through a bevel gear transmission. The surface of the drive rod (256) is connected to the surface of the rotating tube (244) through a gear transmission. The output shaft of the third motor (251) is connected to the rotating column (252) through a gear transmission.

6. The manipulator for stably clamping and placing stored goods according to claim 5, characterized in that: The cross section of the transmission rod (253) is designed to be triangular, and the inner wall of the transmission sleeve (255) is designed to be triangular.

7. The manipulator for stably clamping and placing stored goods according to claim 1, characterized in that: The moving mechanism (28) includes a fourth motor (281), a rotating shaft (282), a first vertical column (283) and a second vertical column (285), wherein the fourth motor (281) is bolted to the top of the lower seat (18), the rotating shaft (282) is fixed to the top of the lower seat (18) through a bearing seat, the first vertical column (283) and the second vertical column (285) are both rotatably connected to the top of the lower seat (18), and the surfaces of the first vertical column (283) and the second vertical column (285) are respectively bolted to a first pulley (284) and a second pulley (286), the surfaces of the first pulley (284) and the second pulley (286) are provided with a timing belt (287), one side of the surface of the timing belt (287) is bolted with a connecting plate (288), and the other end of the connecting plate (288) is bolted to the movable frame (20), both sides of the top of the storage seat (19) are bolted with a transverse slide rail (289), and the bottom of the movable frame (20) is slidably connected to the surface of the transverse slide rail (289), and the two ends of the rotating shaft (282) are respectively connected to the first vertical column (283) on both sides through a bevel gear transmission.

8. The manipulator for stably clamping and placing stored goods according to claim 5, characterized in that: The adsorption auxiliary mechanism (26) includes a connecting sleeve (261), a fixed sleeve (262), a bearing ring (263) and a partition (264). The interior of the splint (23) is hollow, and a first through hole (265) and a second through hole (266) are respectively provided on both sides of the splint (23). The interior of the splint (23) is bolted with a partition (264), and a first connecting pipe (2611) and a second connecting pipe (2612) are respectively provided on both sides of the surface of the partition (264). The connecting sleeve (261) is provided on a side of the movable plate (243) away from the fixed plate (254), and a fixed sleeve (262) is provided on the surface of the connecting sleeve (261), and the fixed sleeve (262) and the movable plate (243) are bolted to each other. The other ends of the first connecting pipe (2611) and the second connecting pipe (2612) away from the splint (23) are extended. To the inside of the connecting sleeve (261), the inner wall of the connecting sleeve (261) is bolted with a bearing ring (263), and the rotating tube (244) and the inner wall of the bearing ring (263) are fixed to each other, the adsorption auxiliary mechanism (26) also includes a first rubber pad (267) and a second rubber pad (269) bonded and fixed to both sides of the surface of the clamping plate (23), the inside of the connecting sleeve (261) is also bolted with a blocking plate (2613), the other side of the surface of the connecting sleeve (261) is connected to a delivery pipe (2614), the other end of the delivery pipe (2614) is connected to a connecting pipe (2615), and the other end of the connecting pipe (2615) is connected to the interface of the air pump (22), the surface of the first rubber pad (267) is provided with a third through hole (268), and the surface of the second rubber pad (269) is provided with a second through hole (266).

9. The manipulator for stably clamping and placing stored goods according to claim 1, characterized in that: Both sides of the upright column (1) are bolted with vertical slide rails (4), and both sides of the interior of the movable frame (2) are bolted with sliding seats (5) that are slidably connected to the surface of the vertical slide rails (4).

10. The manipulator for stably clamping and placing stored goods according to claim 1, characterized in that: One side of the splint (23) is designed to be flat, and the other side of the splint (23) is designed to be curved.

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