Carrying table mechanism capable of achieving self-unlocking and grabbing

Abstract

The invention discloses a carrying table mechanism capable of achieving self-unlocking and grabbing. The carrying table mechanism comprises a product carrying table, a fixed base, a movable clamping and fixing piece and a material taking and placing mechanical arm. The product carrying table is placed on the upper end face of the fixed base. The movable clamping and fixing piece is arranged on the fixed base and used for clamping and fixing the product carrying table; when the material taking and placing mechanical arm moves downwards by a preset stroke to push and extrude the movable clamping and fixing piece, the movable clamping and fixing piece moves in the direction away from the product carrying table so as to unlock the product carrying table. And when the material taking and placing mechanical arm grabs the product carrying table and moves upwards by a preset stroke, the material taking and placing mechanical arm does not push the movable clamping and fixing piece, and the movable clamping and fixing piece is reset. The material taking and placing mechanical arm has the advantages that the material taking and placing mechanical arm is dual-purpose, is used for grabbing the product carrying table to take and place the product carrying table and is also used for pushing the movable clamping and fixing piece so as to assist in grabbing or placing the product carrying table, a driving component for driving the product carrying table to move automatically can be omitted, the overall size of the material taking and placing mechanical arm can be greatly reduced, and the material taking and placing mechanical arm is particularly suitable for narrow space; the use adaptability is high.

Description

Technical Field

[0001] This invention relates to the field of jig technology, and in particular to a platform mechanism that can achieve self-unlocking and gripping. Background Technology

[0002] A jig table, also known as a product platform, is a device used in industrial production to fix, support, and position products or workpieces to facilitate operations such as processing, inspection, assembly, and transportation. The following is some information about it: Its main functional features include: Precise positioning: It can ensure that the product is always in the correct position during processing, testing or transportation, thereby ensuring the accuracy of product processing, testing results and transportation.

[0003] Fixing the product: The product is firmly fixed on the fixture table by various clamping methods, such as mechanical clamping, pneumatic clamping, and vacuum adsorption, to prevent the product from moving or shaking during operation.

[0004] Improving production efficiency: Fixture tables enable rapid clamping and unclamping of products, significantly reducing clamping time and increasing production efficiency. Some fixture tables also feature multi-station designs, allowing them to process multiple products simultaneously, further enhancing production efficiency.

[0005] For product carriers commonly used in existing technologies, the products to be fixed need to be gripped and placed using a pick-and-place robot. During this process, it is also necessary to set up a matching drive component to control the opening and closing of the product fixing gripper, so as to cooperate with the pick-and-place robot to complete the product picking, placing and clamping. As a result, the entire device includes many structural components such as product carrier, pick-and-place robot, drive component and product fixing gripper, which makes its various costs very high and its overall size very large. Therefore, it is not suitable for installation in confined spaces, which inevitably leads to poor adaptability. At the same time, the product fixing gripper rigidly clamps the product when closed, which can easily damage the product, resulting in poor reliability.

[0006] In response, the inventor of this patent, drawing on experience and through in-depth reflection on the problems encountered in his work, reviewed a large amount of scientific research data and literature, and conducted a novelty search, gradually conceived and designed this application to solve the relevant technical problems. Summary of the Invention

[0007] This invention aims to at least partially solve one of the technical problems in related technologies. Therefore, the object of this invention is to provide a platform mechanism capable of self-unlocking and gripping.

[0008] To achieve one of the above objectives, a self-unlocking and gripping platform mechanism according to an embodiment of the present invention includes a product platform, a fixed base, a movable clamping device, and a material handling robot. The product platform is detachably placed on the upper surface of the fixed base; the movable clamping device is located around the fixed base to clamp and fix the product platform; the material handling robot is located directly above the product platform. When the material handling robot moves downwards by a preset stroke to push the movable clamping fastener, the movable clamping fastener moves away from the product platform to unlock the product platform. When the picking and placing robot grabs the product platform and moves upward by a preset stroke, the picking and placing robot moves away from the movable clamping device to avoid pushing the movable clamping device, and the movable clamping device resets.

[0009] In addition, the platform mechanism capable of self-unlocking and grasping according to the above embodiments of the present invention may also have the following additional technical features: According to one embodiment of the present invention, the fixed base is provided with a positioning structure for placing and positioning the product platform.

[0010] According to one embodiment of the present invention, the positioning structure consists of multiple positioning pins protruding upward from the upper end face of the fixed base; The product platform has multiple positioning holes that penetrate its upper and lower end faces, and the multiple positioning holes correspond to the multiple positioning pins that are vertically opposite each other. When the material handling robot grabs the product platform and places it on the upper surface of the fixed base, multiple positioning pins are inserted into multiple positioning holes with corresponding clearance fit.

[0011] According to one embodiment of the present invention, the fixed base has a through-hole in the middle that extends through its upper and lower end faces, and the multiple positioning pins are arranged around the through-hole.

[0012] According to one embodiment of the present invention, the movable clamping device includes a fixing buckle, a linkage block disposed vertically beside the fixing buckle, a counter-rotating spring, and a fixing block for fixing the counter-rotating spring; The lower end of the fixing buckle is rotatably connected to the fixing base, and the upper end is provided with a hook facing the product platform; the anti-top spring is connected between the side of the fixing buckle facing away from the product platform and the fixing block; the side of the fixing buckle facing the product platform is in contact with the side wall of the product platform, and the lower bottom surface of the hook is in contact with the upper top surface of the product platform; the fixing block is located at the periphery of the fixing base; When the material handling robot moves downwards by a preset stroke to push the linkage block, the anti-top spring is compressed, and the hook moves away from the product platform to unlock the product platform. When the picking and placing robot grabs the product platform and moves upwards by a preset stroke, the picking and placing robot moves away from the linkage block to avoid pushing the linkage block. The anti-top spring resets and pushes the fixing buckle to drive the hook to move to the initial position.

[0013] According to one embodiment of the present invention, the material handling robot includes an openable gripper component, a lifting component for controlling the up and down movement of the openable gripper component, and a pushing block for pushing the linkage block downward. The openable gripper component is located at the bottom of the lifting component; the pushing block is located at the bottom of the openable gripper component and directly above the linkage block.

[0014] According to one embodiment of the present invention, the bottom of the push block is cut to form a push surface that is inclined toward the upper surface of the product platform; The upper part of the side of the linkage block facing the product platform is formed as a guide surface for the pushing surface to push.

[0015] According to one embodiment of the present invention, the middle part of the side of the linkage block facing the product platform is cut to form a relief slope that is inclined towards the top of the picking and placing robot, and the upper end of the relief slope is connected to the lower end of the guide surface and smoothly transitions. When the pushing block is driven to move downward and the pushing surface slides over the guide surface, the avoidance slope is in contact with the side of the pushing block that is away from the product platform.

[0016] According to one embodiment of the present invention, the lower part of the side of the linkage block facing the product platform is cut to form a stop surface that forms an obtuse angle with the avoidance slope, and the upper end of the stop surface is connected to the lower end of the avoidance slope and smoothly transitions. When the pushing block is driven to move downward and the upper end of the pushing surface slides to contact the upper end of the stop surface, the openable gripper component is driven to move downward for the preset stroke.

[0017] According to one embodiment of the present invention, the openable gripper member has a gripper for gripping the product platform, and the side wall of the product platform has a gripping hole adapted to allow the gripper to extend in for gripping. When the openable gripper component is driven to move downwards for the preset stroke, the gripper and the gripping hole are directly opposite each other in the horizontal direction.

[0018] Firstly, the platform mechanism that enables self-unlocking and gripping provided in this application, in specific implementation, is provided with movable clamping fasteners for clamping and fixing the product platform. When clamping and fixing the product platform, the movable clamping fasteners are equivalent to placing and positioning the product platform, making the placement position of the product platform very accurate and reliable, and making it stable and reliable when it is placed and fixed.

[0019] Secondly, the material handling robot described in this application is a dual-purpose unit. It is not only used to grab and transfer the product platform from the upper surface of the fixed base, or to grab and place the product platform on the upper surface of the fixed base, but also to push the movable clamping member during the grabbing process, so that the movable clamping member moves away from the product platform. This facilitates the grabbing of the product platform from the upper surface of the fixed base and the grabbing and placing of the product platform on the upper surface of the fixed base. In this way, in practical applications, the use of a drive component to drive the movable clamping member to move is eliminated, which greatly reduces the number of parts used in this application, resulting in low design cost, low operating cost, low maintenance cost, and a significantly smaller overall size. It is especially suitable for installation in confined spaces, making it highly adaptable to use.

[0020] Thirdly, by setting the corresponding positioning holes and positioning pins, the material handling robot can grab the product platform and place it on the upper surface of the fixed base, so that the multiple positioning pins are inserted into the multiple positioning holes with corresponding gaps. This achieves a good placement and positioning of the product platform, making its placement position very accurate and not easy to shift circumferentially.

[0021] Fourthly, the movable clamping component includes the fixing buckle, a linkage block vertically disposed beside the fixing buckle, a counter-pressure spring, and the fixing block for fixing the counter-pressure spring. When assembled according to the structure described above, the fixing buckle will not scratch the product platform during movement, especially when the hook moves away from the product platform. Conversely, when the counter-pressure spring returns to its original position and counter-pressures the fixing buckle to drive the hook to its initial position, it will also not scratch the product platform, thus extending the service life of the product platform.

[0022] Fifthly, in actual use of this application, in order to use the pushing surface to push the guide surface formed on the upper part of the linkage block, so as to realize the movement of the hook on the fixing buckle away from the product platform by using the linkage block, the pushing surface is set to move up and down, and the guide surface is set to move away from the product platform when being pushed and automatically and slowly return to the initial position when not being pushed. The guide surface can play a good pushing and guiding role, and is preferably an arc surface structure so that the pushing resistance is small and the wear resistance is high when the linkage block is pushed.

[0023] Sixthly, this application optimizes the structural design so that the middle part of the side of the linkage block facing the product platform is cut into a relief slope that is inclined towards the top of the picking and placing robot. The upper end of the relief slope is connected to the lower end of the guide surface and the transition is smooth. Thus, when the pushing block is driven to move downward and its bottom pushing surface just slides over the guide surface on the upper part of the linkage block, the relief slope can be made to fit against the side of the pushing block facing away from the product platform. After that, the lifting component continues to control the opening and closing gripper component to move downward for a certain stroke. During this process, the pushing block continues to be driven to move downward, and the linkage block will not continue to drive the hook on the fixing buckle to move away from the product platform. In this way, in a small space, the relief slope can minimize the range of motion of the hook away from the product platform, so that the overall structure of this application can be more compact and the overall size can be further reduced.

[0024] Seventhly, this application optimizes the structural design so that the lower part of the side of the linkage block facing the product platform is cut into a stop surface that forms an obtuse angle with the avoidance slope, and the upper end of the stop surface is connected to the lower end of the avoidance slope with a smooth transition. Thus, when the pushing block is driven to move downward and the upper end of the pushing surface slides to contact the upper end of the stop surface, the openable gripper component will be driven to move downward for the preset stroke. In other words, by setting the stop surface, this application can stop and limit the downward stroke of the pushing block, so that the lower end of the pushing block is not easily damaged due to excessive downward movement, thus extending the service life of the pushing block and making the downward stroke of the openable gripper component precise and controllable.

[0025] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0026] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0027] Figure 1 This is a schematic diagram of the overall structure of the platform mechanism of the present invention that enables self-unlocking and grasping. Figure 1 ; Figure 2 yes Figure 1 Enlarged view of E in the middle; Figure 3 This invention relates to a disassembly of a platform mechanism capable of self-unlocking and gripping. Figure 1 ; Figure 4 yes Figure 3 Enlarged view of the movable clamping fastener described in the figure; Figure 5 This is a schematic diagram of the overall structure of the platform mechanism of the present invention that enables self-unlocking and grasping. Figure 2 ; Figure 6 This invention relates to a disassembly of a platform mechanism capable of self-unlocking and gripping. Figure 2 ; Figure 7 This is a side view of the platform mechanism of the present invention that enables self-unlocking and gripping; Figure 8 yes Figure 7 Enlarged view of F in the middle; Figure label:

[0028] Product platform 10; Positioning socket 101; 102 punch holes; Fixed base 20; Positioning pin 201; 202 Exit; Active clip firmware 30; 301 fixing buckle; Shaft 3011; 3012 hook; Linkage block 302; Guide surface 3021; Avoid inclined plane 3022; Stop surface 3023; 303 anti-reverse spring; 304 fixing block; 40 material handling robotic arms; Openable gripper component 401; Handle 4011; Lifting component 402; Push block 403; Extrusion surface 4031; Rotating component 404; The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0029] The embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0030] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "circumferential," and "radial," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0031] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0032] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0033] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0034] The following describes in detail, with reference to the accompanying drawings, an embodiment of the present invention, a platform mechanism 1000 capable of self-unlocking and grasping.

[0035] Reference Figures 1 to 8 As shown, the platform mechanism 1000 that can unlock and grasp according to the embodiment of the present invention includes a product platform 10, a fixed base 20, a movable clamping device 30 and a material handling robot 40. The product platform 10 is detachably placed on the upper surface of the fixed base 20; the movable clamping fastener 30 is disposed around the periphery of the fixed base 20 to clamp and fix the product platform 10; and the material handling robot 40 is disposed directly above the product platform 10. When the material handling robot 40 moves downwards by a preset stroke to push the movable clamp 30 away from the product platform 10, the movable clamp 30 moves away from the product platform 10 to unlock the product platform 10. When the picking and placing robot 40 grabs the product platform 10 and moves upward by a preset stroke, the picking and placing robot 40 moves away from the movable clamp 30 so as not to push the movable clamp 30. During this process, the movable clamp 30 will slowly return to its original position without touching the product platform 10.

[0036] Based on the above, it is clear that in specific implementation, this application is mainly used as a platform mechanism 1000 that can achieve self-unlocking and grasping.

[0037] Specifically, when applying this application, for the structure described above, the product platform 10 is placed on the upper surface of the fixed base 20, and the product to be fixed is fixed on the product platform 10 so as to transport the product through this application.

[0038] When the product platform 10 needs to be gripped to transfer the product along with it, the picking and placing robot 40 moves downward by a preset stroke. During this process, it pushes the movable clamp 30 away from the product platform 10, causing the movable clamp 30 to move away from the product platform 10. At this time, the movable clamp 30 unlocks the product platform 10. Then, the picking and placing robot 40 can grip the product platform 10 and move upward by a preset stroke. During this process, the picking and placing robot 40 moves away from the movable clamp 30 so as not to push the movable clamp 30. The movable clamp 30 will then slowly return to its initial position without touching the product platform 10.

[0039] The same operation is performed so that the pick-and-place robot 40 grasps the product platform 10 and moves downwards by a preset stroke. During this process, it can also push the movable clamp 30 away from the product platform 10, so that the movable clamp 30 moves away from the product platform 10. In this way, even when the pick-and-place robot 40 places the grasped product platform 10 on the upper surface of the fixed base 20, the product platform 10 will not be touched by the movable clamp 30. Then, the pick-and-place robot 40 releases the product platform 10 and moves upwards by a preset stroke. During this process, the pick-and-place robot 40 also moves away from the movable clamp 30, so that it does not push the movable clamp 30. The movable clamp 30 will then slowly return to its initial position to clamp and fix the product platform 10 placed on the upper surface of the fixed base 20.

[0040] Clearly, the use of this application as described above will have the following technical effects: On the one hand, this application provides a movable clamping device 30 for clamping and fixing the product platform 10. When clamping and fixing the product platform 10, the movable clamping device 30 can be equivalent to placing and positioning the product platform 10, so that the placement position of the product platform 10 is very accurate and reliable, and that it is fixed and stable when it is placed and fixed.

[0041] On the other hand, the material handling robot 40 provided in this application is dual-purpose. It is not only used to grab and transfer the product platform 10 from the upper surface of the fixed base 20, or to grab and place the product platform 10 on the upper surface of the fixed base 20, but also used to push the movable clamping member 30 during the grabbing process, so as to assist in the grabbing of the product platform 10 from the upper surface of the fixed base 20 and to assist in the grabbing and placing of the product platform 10 on the upper surface of the fixed base 20. In this way, even in the actual application of this application, the driving component that drives the movable clamping member 30 to move on its own can be eliminated, so that the number of parts used in this application can be greatly reduced, resulting in low design cost, low use cost, low maintenance cost, and a large reduction in overall size. It is especially suitable for installation in narrow spaces, so as to make it highly adaptable to use.

[0042] Furthermore, through the above-mentioned optimized design, the whole constituted by this application is highly practical and has a good effect in use.

[0043] Furthermore, in a specific implementation, according to an embodiment of the present invention, the fixed base 20 is provided with a positioning structure for placing and positioning the product platform 10.

[0044] Thus, even when the product platform 10 is picked up and placed on the upper surface of the fixed base 20, the positioning structure is used to position the product platform 10.

[0045] Preferably, in this technical solution, compared with Figure 1 and Figure 3 As shown, according to one embodiment of the present invention, the positioning structure consists of multiple positioning pins 201 protruding upward from the upper end face of the fixed base 20; Based on this, in this application, the product platform 10 has a plurality of positioning holes 101 extending through its upper and lower end faces, and the plurality of positioning holes 101 are vertically opposite to the plurality of positioning pins 201. When the material handling robot 40 grabs the product platform 10 and places it on the upper surface of the fixed base 20, the multiple positioning pins 201 are inserted into the multiple positioning holes 101 with corresponding clearance fit.

[0046] Therefore, by setting the corresponding positioning holes 101 and positioning pins 201, the material handling robot 40 can grab the product platform 10 and place it on the upper surface of the fixed base 20, so that the multiple positioning pins 201 are inserted into the multiple positioning holes 101 with corresponding gaps. This achieves a good placement and positioning of the product platform 10, making its placement position very accurate and not easy to shift circumferentially.

[0047] Furthermore, in specific implementation, in accordance with... Figure 3 , Figure 5 and Figure 6 As shown, according to an embodiment of the present invention, the fixed base 20 has a through-hole 202 in the middle, which extends through its upper and lower end faces, and the multiple positioning pins 201 are arranged around the through-hole 202.

[0048] It should be noted that the product to be fixed can be fixed to the upper surface of the product platform 10 or to the lower surface of the product platform 10. When the product to be fixed is fixed to the lower surface of the product platform 10, it is easy to load or unload the product through the opening 202, which makes the application highly flexible in use.

[0049] Furthermore, in this technical solution, compared with Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, according to an embodiment of the present invention, the movable clamping device 30 includes a fixing buckle 301, a linkage block 302 fixed vertically to the side of the fixing buckle 301, a counter-rotating spring 303, and a fixing block 304 for fixing the counter-rotating spring 303. The fixing buckle 301 has a rotating shaft 3011 at its lower end for rotatable connection with the periphery of the fixing base 20, and a hook 3012 at its upper end facing the product platform 10. The anti-top spring 303 is connected between the side of the fixing buckle 301 facing away from the product platform 10 and the fixing block 304. The side of the fixing buckle 301 facing the product platform 10 is in contact with the side wall of the product platform 10, and the lower bottom surface of the hook 3012 is in contact with the upper surface of the product platform 10. The fixing block 304 is detachably fixed to the periphery of the fixing base 20. When the material handling robot 40 moves downwards by a preset stroke to push the linkage block 302, the anti-top spring 303 is compressed, and the hook 3012 moves away from the product platform 10 to unlock the product platform 10. When the material handling robot 40 grabs the product platform 10 and moves upwards by a preset stroke, the material handling robot 40 moves away from the linkage block 302 to avoid pushing the linkage block 302. The anti-top spring 303 resets and pushes the fixing buckle 301 to drive the hook 3012 to move to the initial position.

[0050] With regard to the use of the present application described above, the movable clamp 30 includes the fixing buckle 301, the linkage block 302 disposed vertically beside the fixing buckle 301, the anti-top spring 303, and the fixing block 304 for fixing the anti-top spring 303. When the clamp is assembled according to the structure described above, the fixing buckle 301 will not scratch the product platform 10 during movement, especially when the hook 3012 moves away from the product platform 10.

[0051] Conversely, when the anti-reverse spring 303 returns to its original position and reverses the fixing buckle 301 to drive the hook 3012 to move to its initial position, it will not scratch the product platform 10. This is because when the hook 3012 moves to its initial position, the side of the fixing buckle 301 facing the product platform 10 is in contact with the side wall of the product platform 10, and the bottom surface of the hook 3012 is in contact with the upper surface of the product platform 10. The fixing buckle 301 and the hook 3012 thereon will never scratch the product platform 10.

[0052] This makes the active clamp 30 described in this application reliable and extends the service life of the product platform 10.

[0053] Furthermore, in specific implementation, it is necessary to refer to... Figure 1 , Figure 3 , Figure 5 , Figure 6 and Figure 7 As shown, according to an embodiment of the present invention, the material handling robot 40 includes an openable gripper 401, a lifting member 402 for controlling the up and down movement of the openable gripper 401, and a pushing block 403 for pushing the linkage block 302 downward. The openable gripper component 401 is disposed at the bottom of the lifting component 402 so that it can move up and down under the control of the lifting component 402; the push block 403 is disposed at the bottom of the openable gripper component 401 and is located directly above the linkage block 302.

[0054] Thus, when the lifting component 402 controls the openable gripper component 401 to move downwards by the preset stroke, the pushing block 403 can be used to push the linkage block 302, so that the anti-top spring 303 is compressed and the hook 3012 moves away from the product platform 10.

[0055] Conversely, when the lifting component 402 controls the openable gripper component 401 to move upward by the preset stroke, the pushing block 403 can be made to move away from the linkage block 302, so that the anti-top spring 303 is reset, and the fixed buckle 301 is pushed back to drive the hook 3012 to move to the initial position.

[0056] Furthermore, in this technical solution, compared with... Figure 1 , Figure 2 and Figure 3 As shown, according to an embodiment of the present invention, the bottom of the push block 403 is cut to form a push surface 4031 that is inclined toward the upper end surface of the product platform 10; Based on this, in this application, the upper part of the side of the linkage block 302 facing the product platform 10 is formed as a guide surface 3021 for the pushing surface 4031 to push.

[0057] Therefore, it is clear that in actual use of this application, the pushing surface 4031 is used to push the guide surface 3021 formed on the upper part of the linkage block 302, so as to realize that the linkage block 302 drives the hook 3012 on the fixing buckle 301 to move away from the product platform 10. The pushing surface 4031 moves up and down, and the guide surface 3021 moves away from the product platform 10 when pushed and automatically and slowly returns to the initial position when not pushed. The guide surface 3021 can play a good pushing and guiding role, so that the pushing resistance of the linkage block 302 is small and the wear resistance is high when pushed. The guide surface 3021 is preferably an arc surface structure.

[0058] Preferably, in specific implementation, refer to Figure 2 , Figure 4 , Figure 7 and Figure 8 As shown, according to an embodiment of the present invention, the middle part of the side of the linkage block 302 facing the product platform 10 is cut to form a relief slope 3022 that is inclined towards the top of the picking and placing robot 40. The upper end of the relief slope 3022 is connected to the lower end of the guide surface 3021 and smoothly transitions. When the pushing block 403 is driven to move downward and the pushing surface 4031 slides over the guide surface 3021, the avoidance slope 3022 is in contact with the side of the pushing block 403 that is away from the product platform 10.

[0059] It should be noted that this application optimizes the structural design so that the middle part of the side of the linkage block 302 facing the product platform 10 is cut into a relief slope 3022 that is inclined towards the top of the loading / unloading robot 40. The upper end of the relief slope 3022 is connected to the lower end of the guide surface 3021 with a smooth transition. Therefore, when the pushing block 403 is driven downwards and its bottom pushing surface 4031 just slides over the guide surface 3021 on the upper part of the linkage block 302, the relief slope 3022 can fit against the side of the pushing block 403 facing away from the product platform 10. Specifically, refer to... Figure 8 As shown, thereafter, the lifting component 402 continues to control the opening and closing gripper component 401 to move downwards by a certain stroke. During this process, the pushing block 403 continues to be driven downwards, and the linkage block 302 will not continue to drive the hook 3012 on the fixing buckle 301 to move away from the product platform 10. In this way, in a narrow space, the avoidance slope 3022 can minimize the range of movement of the hook 3012 away from the product platform 10, so that the overall structure of this application can be more compact and the overall size can be further reduced.

[0060] Furthermore, through the above-mentioned optimized design, the overall performance of this application can be effectively improved.

[0061] Furthermore, preferably, in this technical solution, the comparison continues. Figure 2 , Figure 4 , Figure 7 and Figure 8 As shown, according to an embodiment of the present invention, the lower part of the side of the linkage block 302 facing the product platform 10 is cut to form a stop surface 3023 that forms an obtuse angle with the avoidance slope 3022. The upper end of the stop surface 3023 is connected to the lower end of the avoidance slope 3022 and transitions smoothly. When the pushing block 403 is driven to move downward and the upper end of the pushing surface 4031 slides to contact the upper end of the stop surface 3023, the openable gripper member 401 is driven to move downward for the preset stroke.

[0062] In this regard, it is clear that this application optimizes the structural design so that the lower part of the side of the linkage block 302 facing the product platform 10 is cut into a stop surface 3023 that forms an obtuse angle with the avoidance slope 3022, and the upper end of the stop surface 3023 is connected to the lower end of the avoidance slope 3022 and smoothly transitions. Thus, when the pushing block 403 is driven to move downward and the upper end of the pushing surface 4031 slides to contact the upper end of the stop surface 3023, the openable gripper member 401 will be driven to move downward for the preset stroke.

[0063] In other words, by setting the stop surface 3023, this application can limit the downward movement of the push block 403, so that the lower end of the push block 403 is not easily damaged due to excessive downward movement, thus extending the service life of the push block 403 and making the downward movement of the openable gripper component 401 precise and controllable.

[0064] Furthermore, through the above-mentioned optimized design, the overall performance of this application can be further improved.

[0065] It should be added that, in specific implementation, comparison should be made with... Figure 1 , Figure 3 , Figure 5 and Figure 6 As shown, according to an embodiment of the present invention, the openable gripper member 401 has a gripper 4011 for gripping the product platform 10, and the side wall of the product platform 10 has a gripping hole 102 adapted to allow the gripper 4011 to extend into for gripping. When the openable gripper component 401 is driven to move downwards for the preset stroke, the gripper 4011 and the gripping hole 102 are directly opposite each other in the horizontal direction.

[0066] Thus, even when the openable gripper 401 is used to control the gripper 4011 to extend into the gripping hole 102 to grip the product platform 10, during the process of the gripper 4011 extending into the gripping hole 102 and gripping the product platform 10 upward, the pushing block 403 remains in a state between the product platform 10 and the linkage block 302 to isolate the hook 3012 from the product platform 10, so that the hook 3012 does not hook the product platform 10 to facilitate the gripping of the product platform 10.

[0067] It is further necessary to add that, in specific implementation, we should continue to refer to... Figure 1 , Figure 3 , Figure 5 and Figure 6As shown, according to an embodiment of the present invention, a platform mechanism 1000 capable of self-unlocking and gripping is provided. One set of opposite sidewalls of the product platform 10 are respectively provided with gripping holes 102. Two sets of grippers 4011 are arranged opposite to each other on the openable gripper member 401, so that under the control of the openable gripper member 401, the two grippers 4011 can move towards each other to extend into the two sets of gripping holes 102 to grip the product platform 10.

[0068] Accordingly, in this technical solution, there are two pushing blocks 403, which are fixedly disposed at the bottom of the openable gripper 401, so that they are located on the sides of the two grippers 4011. There are two movable clamping parts 30, which are located directly below the two pushing blocks 403, so as to clamp and fix the product platform 10.

[0069] Furthermore, in specific implementation, according to the embodiment of the present invention, the platform mechanism 1000 that can realize self-unlocking and gripping, wherein the openable gripper component 401 is preferably a gripper cylinder, and the lifting component 402 is preferably a linear module with screw drive, belt drive, or gear and rack drive arranged vertically, etc., which are all common in the prior art, so their detailed structures will not be described in detail here.

[0070] Furthermore, in a preferred embodiment, a rotating member 404 is fixedly provided on the top of the openable gripper member 401, so that the circumferential rotation of the openable gripper member 401 can be controlled by the rotating member 404 to facilitate the picking and placing of the product platform 10 at different angles. Based on this, the rotating member 404 in this application is fixedly provided at the bottom of the lifting member 402, so that the openable gripper member 401 and the pushing block 403 can be lifted and lowered together under the control of the lifting member 402. The rotating member 404 is preferably a rotary cylinder.

[0071] Other embodiments, etc., will not be described here.

[0072] In summary, the self-unlocking and gripping platform mechanism 1000 provided in this application, in specific implementation, is provided with a movable clamping fastener 30 for clamping and fixing the product platform 10. When clamping and fixing the product platform 10, the movable clamping fastener 30 can be equivalent to placing and positioning the product platform 10, so that the placement position of the product platform 10 is very accurate and reliable, and that it is fixed and stable when placed and fixed.

[0073] Furthermore, the material handling robot 40 provided in this application is dual-purpose. It is not only used to grab and transfer the product platform 10 from the upper surface of the fixed base 20, or to grab and place the product platform 10 on the upper surface of the fixed base 20, but also to push the movable clamping member 30 during the grabbing process, so as to assist in the grabbing of the product platform 10 from the upper surface of the fixed base 20 and to assist in the grabbing and placing of the product platform 10 on the upper surface of the fixed base 20. In this way, even in practical applications, the use of a drive component to drive the movable clamping member 30 to move on its own can be eliminated, which greatly reduces the number of parts used in this application, resulting in low design cost, low use cost, low maintenance cost, and a greatly reduced overall size. It is especially suitable for installation in narrow spaces, making it highly adaptable to use.

[0074] Furthermore, by setting the corresponding positioning holes 101 and positioning pins 201, the material handling robot 40 can grasp the product platform 10 and place it on the upper surface of the fixed base 20, so that the multiple positioning pins 201 are inserted into the multiple positioning holes 101 with corresponding gaps. This ensures that the product platform 10 can be placed and positioned well, making its placement position very accurate and not easily shifted circumferentially.

[0075] Furthermore, since the movable clamping component 30 includes the fixing buckle 301, the linkage block 302 vertically disposed beside the fixing buckle 301, the anti-top spring 303, and the fixing block 304 for fixing the anti-top spring 303, and is assembled according to the structure described above, the fixing buckle 301 will not scratch the product platform 10 during movement, especially when the hook 3012 moves away from the product platform 10. Conversely, when the anti-top spring 303 resets and pushes the fixing buckle 301 to drive the hook 3012 to move to the initial position, it will also not scratch the product platform 10, thus extending the service life of the product platform 10.

[0076] Furthermore, in actual use of this application, the pushing surface 4031 is used to push the guide surface 3021 formed on the upper part of the linkage block 302, so as to realize that the linkage block 302 drives the hook 3012 on the fixing buckle 301 to move away from the product platform 10. The pushing surface 4031 is configured to move up and down, and the guide surface 3021 is configured to move away from the product platform 10 when being pushed and automatically and slowly return to the initial position when not being pushed. The guide surface 3021 is preferably an arc surface structure, which can play a good pushing and guiding role, so that the pushing resistance of the linkage block 302 is small and the wear resistance is high when it is pushed.

[0077] Furthermore, this application optimizes the structural design so that the middle part of the side of the linkage block 302 facing the product platform 10 is cut into a relief slope 3022 that is inclined towards the top of the picking and placing robot 40. The upper end of the relief slope 3022 is connected to the lower end of the guide surface 3021 with a smooth transition. Therefore, when the pushing block 403 is driven downwards and its bottom pushing surface 4031 just slides past the guide surface 3021 on the upper part of the linkage block 302, the relief slope 3022 can be made to contact the side of the pushing block 403 facing away from the product platform 10. Afterwards, the lifting component 402 continues to control the opening and closing gripper component 401 to move downwards by a certain stroke. During this process, the pushing block 403 continues to be driven to move downwards, and the linkage block 302 will not continue to drive the hook 3012 on the fixing buckle 301 to move away from the product platform 10. In this way, in a narrow space, the avoidance slope 3022 can minimize the range of motion of the hook 3012 away from the product platform 10, so that the overall structure of this application can be more compact and the overall size can be further reduced.

[0078] Meanwhile, through structural optimization design, this application forms a stop surface 3023 with an obtuse angle between the lower part of the side of the linkage block 302 facing the product platform 10 and the avoidance slope 3022. The upper end of the stop surface 3023 is connected to the lower end of the avoidance slope 3022 and the transition is smooth. Thus, when the pushing block 403 is driven to move downward and the upper end of the pushing surface 4031 slides to contact the upper end of the stop surface 3023, the openable gripper member 401 will be driven to move downward for the preset stroke. In other words, by setting the stop surface 3023, this application can stop and limit the downward stroke of the pushing block 403, so that the lower end of the pushing block 403 is not easily damaged due to excessive downward movement, thus extending the service life of the pushing block 403 and making the downward stroke of the openable gripper member 401 precise and controllable.

[0079] Furthermore, the self-unlocking and gripping platform mechanism 1000 provided in this application is indeed highly practical and has excellent performance, which makes this application inherently valuable for market promotion and will certainly be very popular and effectively popularized.

[0080] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0081] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. A platform mechanism capable of self-unlocking and grasping, characterized in that, Includes product platform, fixed base, movable clamping components and material handling robot; The product platform can be detached and placed on the upper surface of the fixed base; movable clamps are located around the fixed base to hold and fix the product platform; the loading and unloading robot is located directly above the product platform. When the loading and unloading robot moves downwards at a preset stroke to push the movable clamping fastener, the movable clamping fastener moves away from the product platform to unlock the product platform. When the pick-and-place robot grabs the product platform and moves upwards by a preset stroke, the pick-and-place robot moves away from the movable clamping device to avoid pushing the movable clamping device, and the movable clamping device resets.

2. The platform mechanism capable of self-unlocking and grasping according to claim 1, characterized in that, The fixed base is equipped with positioning structures for placing and positioning the product platform.

3. The platform mechanism capable of self-unlocking and grasping according to claim 2, characterized in that, The positioning structure consists of multiple positioning pins that protrude upwards from the upper surface of the fixed base. The product platform has multiple positioning holes that penetrate its upper and lower end faces, and the multiple positioning holes correspond to multiple positioning pins that are vertically aligned. When the robotic arm picks up the product platform and places it on the upper surface of the fixed base, multiple positioning pins are inserted into multiple positioning holes with corresponding gaps.

4. The platform mechanism capable of self-unlocking and grasping according to claim 3, characterized in that, The fixed base has a through-hole in the middle that runs through its upper and lower ends, and multiple positioning pins are arranged around the through-hole.

5. The platform mechanism capable of self-unlocking and grasping according to claim 1, characterized in that, The movable clamping component includes a fixing buckle, a linkage block arranged vertically next to the fixing buckle, a counter-rotating spring, and a fixing block for fixing the counter-rotating spring. The lower end of the fixing buckle is rotatably connected to the fixing base, and the upper end is provided with a hook facing the product platform; the anti-top spring is connected between the side of the fixing buckle facing away from the product platform and the fixing block; the side of the fixing buckle facing the product platform is in contact with the side wall of the product platform, and the bottom surface of the hook is in contact with the upper surface of the product platform. The fixing block is located around the perimeter of the fixing base; When the loading and unloading robot moves downwards along a preset stroke to push the linkage block, the counter spring is compressed, and the hook moves away from the product platform to unlock the product platform. When the picking and unloading robot grabs the product platform and moves upwards by a preset stroke, the picking and unloading robot moves away from the linkage block. It does not push the linkage block, but instead pushes the spring back to reset. It then pushes the locking buckle back to the initial position.

6. The platform mechanism capable of self-unlocking and grasping according to claim 5, characterized in that, The material handling robot includes an openable gripper component, a lifting component for controlling the up and down movement of the openable gripper component, and a pushing block for pushing the linkage block downward. The openable gripper component is located at the bottom of the lifting component; the pushing block is located at the bottom of the openable gripper component and directly above the linkage block.

7. The platform mechanism capable of self-unlocking and grasping according to claim 6, characterized in that, The bottom of the push block is cut to form a push surface that is inclined toward the upper surface of the product platform; The upper part of the side of the linkage block facing the product platform is formed as a guide surface for the pushing surface to push.

8. The platform mechanism capable of self-unlocking and gripping according to claim 7, characterized in that, The middle of the side of the linkage block facing the product platform is cut into a relief slope that is inclined towards the top of the picking and placing robot. The upper end of the relief slope is connected to the lower end of the guide surface and transitions smoothly. When the pushing block is driven to move downwards and the pushing surface slides over the guide surface, the avoidance slope comes into contact with the side of the pushing block that is away from the product platform.

9. The platform mechanism capable of self-unlocking and grasping according to claim 8, characterized in that, The lower part of the side of the linkage block facing the product platform is cut to form a stop surface that forms an obtuse angle with the avoidance slope. The upper end of the stop surface is connected to the lower end of the avoidance slope and transitions smoothly. When the pushing block is driven to move downward and the upper end of the pushing surface slides to contact the upper end of the stop surface, the openable gripper component is driven to move downward for a preset stroke.

10. The platform mechanism capable of self-unlocking and grasping according to claim 9, characterized in that, The openable gripper component has a gripper for gripping the product platform, and the side wall of the product platform has gripping holes adapted for the gripper to extend into for gripping. When the openable gripper component is driven to move downwards for a preset stroke, the gripper and the gripping hole are directly opposite each other in the horizontal direction.

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