Special clamp for carrying pallets

Abstract

The utility model discloses a special clamp for carrying pallets, which comprises a robot quick-change assembly, the robot quick-change assembly comprises a quick-change part and a fixing part connected with the quick-change part, and the quick-change part is connected with a robot male head; the buffer frame body assembly comprises a profile frame and a guide shaft, the profile frame is provided with the guide shaft through a flange plate, the two ends of the guide shaft are connected with a spacer bush and a first guide shaft fixing sleeve respectively, and the end, extending out of the spacer bush, of the guide shaft is connected with the fixing part; a spring arranged on the guide shaft in a sleeving mode is arranged between the spacer bush and the first guide shaft fixing sleeve, and a sensor used for detecting the compression amount of the spring is arranged on the flange plate. The structure design is reasonable, manual frequent carrying is replaced, and manual work is liberated; whether pallets need to be carried or not is detected through a sensor, meanwhile, the time node for placing the pallets is detected, the current state is fed back in real time, effective buffering and positioning are conducted in the carrying process, the pallets are automatically grabbed and stacked, manual intervention is reduced, and working safety is improved.

Description

Technical Field

[0001] The present application relates to the technical field of transporting materials, and in particular to a special clamp for transporting pallets. Background Art

[0002] At present, after robots have finished unpacking cartons and turnover boxes, they need to sort the pallets. Traditional pallet handling relies on manual operation, which is not only time-consuming and labor-intensive, but also easy to cause injuries to workers, and cannot meet the needs of large-scale handling.

[0003] With the development of industrial automation technology, robots are used to automatically stack pallets instead of manual labor. However, existing handling fixtures mostly rely on fixed structures, have limited flexibility and adaptability, and lack effective buffering and positioning mechanisms during the handling process. Therefore, a special fixture for handling pallets is needed to solve this problem. Utility Model Content

[0004] In view of the above problems, the purpose of the embodiments of the present application is to provide a special clamp for transporting pallets, so as to solve the problem of inflexible pallet transportation.

[0005] The purpose of the embodiment of the present application is to provide a special clamp for transporting pallets, comprising:

[0006] A robot quick-change assembly, comprising a quick-change portion and a fixing portion connected to the quick-change portion, wherein the quick-change portion is connected to a male head of the robot;

[0007] A buffer frame assembly, comprising a profile frame and a guide shaft, wherein the profile frame is provided with a guide shaft through a flange plate, the two ends of the guide shaft are respectively connected to a spacer sleeve and a first guide shaft fixing sleeve, one end of the guide shaft extending out of the spacer sleeve is connected to the fixing portion, a spring sleeved on the guide shaft is provided between the spacer sleeve and the first guide shaft fixing sleeve, and a sensor for detecting the compression amount of the spring is provided on the flange plate;

[0008] A hook assembly, which is respectively arranged at both ends of the profile frame, the hook assembly comprises a profile plate connected to the profile frame and a hook capable of horizontally moving along the profile plate, the hook being used to hook the pallet;

[0009] The pressing assembly comprises a fixing plate connected to the profile frame and a pressing plate capable of vertically moving along the fixing plate, wherein the pressing plate is used to press the pallet when the hook hooks the pallet.

[0010] As an optional embodiment, the quick-change unit includes:

[0011] Quick-change female connector, used to connect with the robot male connector;

[0012] A pneumatic component connected to the quick-change female head and used to drive the quick-change female head to move;

[0013] The air distribution joint is connected to the pneumatic element and the air source respectively, and is used to drive the pneumatic element to move.

[0014] As an optional embodiment, the fixing portion includes:

[0015] A quick-change fixing plate connected to the quick-change female connector and the gas distribution connector;

[0016] A second guide shaft fixing sleeve, which is arranged on a side of the quick-change fixing plate away from the quick-change female head and is used to connect with the guide shaft;

[0017] A positioning column is arranged on a side of the quick-change fixing plate away from the quick-change female head, and is used to determine the assembly position of the fixing part and the robot.

[0018] As an optional embodiment, the buffer frame assembly further includes:

[0019] A gas collecting joint, which is arranged between the gas distributing joint and the gas source;

[0020] The solenoid valve group is arranged on the flange plate and connected to the gas collecting joint, and is used for opening and closing the connection between the gas collecting joint and the gas source.

[0021] As an optional embodiment, the buffer frame assembly further includes:

[0022] The cable fixing ring is sleeved on the first guide shaft fixing sleeve and is used for fixing the cable.

[0023] As an optional embodiment, the hook assembly further includes:

[0024] A first cylinder, a fixed end of which is connected to the profile plate, and a movable end of which is connected to the hook through a floating joint, for driving the hook to move along the profile plate;

[0025] A linear rail is arranged on the profile plate, and the hook moves along the linear rail when the first cylinder drives the hook.

[0026] As an optional embodiment, the pressing assembly further includes:

[0027] The second cylinder has a fixed end connected to the fixed plate and a movable end connected to the pressing plate, and is used for driving the pressing plate to move.

[0028] As an optional embodiment, the pressing plate includes:

[0029] A pressure beam is connected to the movable end of the second cylinder. A plurality of probe plates are sequentially arranged along the length direction of the pressure beam on one side of the pressure beam close to the pallet, and the probe plates are used to press the pallet.

[0030] The beneficial effects of the embodiments of the present application are:

[0031] The structure of the present application is reasonably designed, and it can replace frequent manual handling and liberate manpower. It can detect whether there are pallets that need to be handled through sensors, and at the same time detect the time node for placing the pallets, provide real-time feedback on the current status, perform effective buffering and positioning during the handling process, and realize automatic grabbing and stacking of pallets, thereby reducing manual intervention and improving work safety. The present device is compatible with many types of pallets and is suitable for warehousing, logistics, food manufacturing, automotive parts manufacturing and other fields to meet large-scale handling needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 It is a structural schematic diagram (structural explosion diagram) of an embodiment of the present application;

[0033] Figure 2 It is a structural schematic diagram (assembly diagram) of an embodiment of the present application;

[0034] Figure 3 This is a schematic diagram of the structure of a robot quick-change assembly according to an embodiment of the present application;

[0035] Figure 4 This is a schematic structural diagram of a buffer frame assembly according to an embodiment of the present application;

[0036] Figure 5 This is a schematic structural diagram of a hook assembly according to an embodiment of the present application;

[0037] Figure 6 This is a schematic diagram of the structure of the pressing assembly according to an embodiment of the present application.

[0038] Reference numerals:

[0039] 100. Robot quick-change assembly; 11. Quick-change female connector; 12. Air distributor; 13. Quick-change fixing plate; 14. Second guide shaft fixing sleeve; 15. Positioning column; 200. Buffer frame assembly; 20. Profile frame; 21. Guide shaft; 22. Flange plate; 23. Spacer; 24. First guide shaft fixing sleeve; 25. Spring; 26. Sensor; 27. Air collecting connector; 28. Solenoid valve group; 29. ​​Cable fixing ring; 300. Claw assembly; 31. Profile plate; 32. Claw; 33. First cylinder; 34. Linear rail; 400. Pressing assembly; 41. Fixing plate; 42. Pressing plate; 43. Second cylinder; 44. Pressing beam; 45. Probe plate. DETAILED DESCRIPTION

[0040] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0041] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0042] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0043] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0044] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0045] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0046] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0047] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0048] The purpose of the embodiments of the present application is to provide a special clamp for transporting pallets, such as Figure 1-Figure 2 As shown, it includes a robot quick-change assembly 100 , a buffer frame assembly 200 , a hook assembly 300 and a pressing assembly 400 .

[0049] like Figure 3 As shown, the robot quick-change assembly 100 includes a quick-change part and a fixing part connected to the quick-change part, and the quick-change part is connected to the male head of the robot. The quick-change part is designed to be connected to the male head of the robot to ensure that the fixture can be quickly and stably installed on the robot arm. The fixing part is connected to the quick-change part to provide a stable support structure for the fixture.

[0050] The quick-change part includes a quick-change female head 11, a pneumatic component and an air splitter 12. Specifically, the quick-change female head 11 is used to connect with the male head of the robot, and the pneumatic component is connected to the quick-change female head 11 to drive the quick-change female head 11 to move. The air splitter 12 is connected to the pneumatic component and the air source respectively to drive the pneumatic component to move. The air source is the air source system of the robot.

[0051] The fixing part includes a quick-change fixing plate 13, a second guide shaft fixing sleeve 14 and a positioning column 15. Specifically, the quick-change fixing plate 13 is connected to the quick-change female head 11 and the air distribution joint 12, and the second guide shaft fixing sleeve 14 is arranged on the side of the quick-change fixing plate 13 away from the quick-change female head 11, and is used to connect with the guide shaft 21. The positioning column 15 is arranged on the side of the quick-change fixing plate 13 away from the quick-change female head 11, and is used to determine the assembly position of the fixing part and the robot.

[0052] Specifically, the quick-change fixing plate 13 is a connection center, connected to the quick-change female connector 11 and the air distribution connector 12. The positioning column 15 is located outside the bottom surface of the quick-change fixing plate 13 to ensure the correct position of the fixture on the robot.

[0053] like Figure 4 As shown, the buffer frame assembly 200 includes a profile frame 20 and a guide shaft 21, and the profile frame 20 is installed with the guide shaft 21 through a flange plate 22. The profile frame 20 is an H-shaped structure, the flange plate 22 is located at the center of the profile frame 20, and four guide shafts 21 are evenly distributed on the flange plate 22, and the guide shaft 21 can pass through the flange plate 22.

[0054] When the robot drives the fixture to approach the pallet, the pressing assembly 400 and the buffer frame assembly 200 move in opposite directions under the obstruction of the pallet, so that one end of the guide shaft 21 passes through the flange plate 22, thereby compressing the spring 25. At this time, the second guide shaft fixing sleeve 14 is used to provide guidance for the guide shaft 21 and ensure that the guide shaft 21 will not fall off from the quick-change fixing plate 13 during normal use.

[0055] The two ends of the guide shaft 21 are respectively connected to a spacer sleeve 23 and a first guide shaft fixing sleeve 24, and the spacer sleeve 23 is sleeved on the guide shaft 21. One end of the guide shaft 21 extending out of the spacer sleeve 23 is connected to the fixing portion, and a spring 25 sleeved on the guide shaft 21 is provided between the spacer sleeve 23 and the first guide shaft fixing sleeve 24. A sensor bracket is installed on the flange plate 22, and a sensor 26 for detecting the compression amount of the spring 25 is provided on the sensor bracket. The sensor 26 can be a displacement sensor 26, which detects the displacement amount of the guide shaft 21 extending out of the flange plate 22, that is, the effect of detecting the compression amount of the spring 25 is achieved.

[0056] The buffer frame assembly 200 also includes a gas collecting joint 27, a solenoid valve group 28 and a cable fixing ring 29. Specifically, the gas collecting joint 27 is arranged between the gas distribution joint 12 and the gas source, and the solenoid valve group 28 is arranged on the flange plate 22 and connected to the gas collecting joint 27, and is used to open and close the connection between the gas collecting joint 27 and the gas source. The cable fixing ring 29 is sleeved on the first guide shaft fixing sleeve 24, and is used to fix the cable of the quick-change female connector 11. Among them, the solenoid valve group 28 is also used to provide a gas source to the first cylinder 33 and the second cylinder 43.

[0057] like Figure 5 As shown, the hook claw assembly 300 is provided with four groups, which are respectively arranged at both ends of the profile frame 20. The hook claw assembly 300 includes a profile plate 31 connected to the profile frame 20 and a hook claw 32 that can move horizontally along the profile plate 31. The hook claw 32 is used to hook the pallet.

[0058] The hook assembly 300 further includes a first cylinder 33 and a linear rail 34. Specifically, the fixed end of the first cylinder 33 is connected to the profile plate 31 through a spacer, and the movable end is connected to the hook 32 through a floating joint and a connecting block, so as to drive the hook 32 to move along the profile plate 31. The linear rail 34 is provided on the profile plate 31, and when the first cylinder 33 drives the hook 32, the hook 32 moves along the linear rail 34.

[0059] like Figure 6 As shown, the pressing assembly 400 includes a fixing plate 41 connected to the profile frame 20 and a pressing plate 42 capable of vertically moving along the fixing plate 41, and the pressing plate 42 is used to press the pallet when the hook 32 hooks the pallet. The pressing assembly 400 also includes a second cylinder 43, a pressing beam 44 and a probe plate 45.

[0060] Specifically, the fixed end of the second cylinder 43 is connected to the fixed plate 41, and the movable end thereof is connected to the pressing plate 42, so as to drive the pressing plate 42 to move. The pressing beam 44 is connected to the movable end of the second cylinder 43, and a plurality of probe plates 45 are sequentially arranged along the length direction of the pressing beam 44 on one side close to the pallet, and the probe plates 45 are used to press the pallet.

[0061] Before use, the hook 32 is in an extended state, and the pressing plate 42 is in a retracted state. When in use, the clamp of the present application is connected to the robot male head through the quick-change part, and the pneumatic element is used to drive the quick-change female head 11 to move, so as to achieve fast and automatic connection.

[0062] First, the robot drives the clamp to move downward. When the pressing assembly 400 encounters the pallet, the pallet hinders the movement of the pressing assembly 400, so that the pressing assembly 400 and the buffer frame assembly 200 move in the opposite direction relative to the guide shaft 21, that is, the flange plate 22 moves in the direction of the quick-change fixing plate 13, thereby compressing the spring 25, so that the sensor 26 detects the compression amount of the spring 25, that is, when the sensor 26 detects that one end of the guide shaft 21 extends out of the flange plate 22, the detected signal is sent to the robot, and then it falls to the appropriate position.

[0063] At this time, the movable end of the first cylinder 33 is controlled to contract, driving the hook 32 to retract along the profile plate 31. The hook 32 is guided by the linear rail 34 to hook the pallet.

[0064] Secondly, the second cylinder 43 is started, and the movable end of the second cylinder 43 moves downward to drive the pressing plate 42 to move downward along the fixed plate 41. When the pressing plate 42 moves, it drives the pressing beam 44 and the probe plate 45 to move to press the pallet to ensure stability during the handling process. Through the limit stroke of the first cylinder and the second cylinder, it is ensured that the pallet will not be damaged when the claw hooks the pallet and the pressing plate presses the pallet.

[0065] Next, the robot drives the fixture and the pallet to carry out the transport operation. After reaching the destination, the robot moves downward and places the pallet in the material discharge area. It is blocked by the material discharge area, forcing the pressing assembly 400 to move the buffer frame assembly 200 upward, that is, the spring 25 is compressed again, triggering the sensor 26. After receiving the signal from the sensor 26, the robot starts the first cylinder 33 to move the hook 32 to release the pallet, and then retracts the pressing plate 42 through the second cylinder 43. Finally, the robot returns with the fixture to grab the pallet again and place it, and the cycle continues.

[0066] In combination with the above, the clamp of the present application can grab at least the following types of pallets:

[0067] 1. Compatible with wooden pallets and plastic pallets of 12000mm*800mm and 1200mm*1000mm sizes.

[0068] 2. Compatible with pallets with a height greater than 110mm.

[0069] 3. Compatible with nine-grid, river-shaped, embedded and stoppered pallets.

[0070] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A special fixture for handling pallets, It is characterized in that include: A robot quick-change assembly, comprising a quick-change portion and a fixing portion connected to the quick-change portion, wherein the quick-change portion is connected to a male head of the robot; A buffer frame assembly, comprising a profile frame and a guide shaft, wherein the profile frame is provided with a guide shaft through a flange plate, the two ends of the guide shaft are respectively connected to a spacer sleeve and a first guide shaft fixing sleeve, one end of the guide shaft extending out of the spacer sleeve is connected to the fixing portion, a spring sleeved on the guide shaft is provided between the spacer sleeve and the first guide shaft fixing sleeve, and a sensor for detecting the compression amount of the spring is provided on the flange plate; A hook assembly, which is respectively arranged at both ends of the profile frame, the hook assembly comprises a profile plate connected to the profile frame and a hook capable of horizontally moving along the profile plate, the hook being used to hook the pallet; The pressing assembly comprises a fixing plate connected to the profile frame and a pressing plate capable of vertically moving along the fixing plate, wherein the pressing plate is used to press the pallet when the hook hooks the pallet.

2. A special clamp for carrying pallets as claimed in claim 1, It is characterized in that The quick-change unit comprises: Quick-change female connector, used to connect with the robot male connector; A pneumatic component connected to the quick-change female head and used to drive the quick-change female head to move; The air distribution joint is connected to the pneumatic element and the air source respectively, and is used to drive the pneumatic element to move.

3. A special clamp for carrying pallets as claimed in claim 2, It is characterized in that The fixing portion comprises: A quick-change fixing plate connected to the quick-change female connector and the gas distribution connector; A second guide shaft fixing sleeve, which is arranged on a side of the quick-change fixing plate away from the quick-change female head and is used to connect with the guide shaft; A positioning column is arranged on a side of the quick-change fixing plate away from the quick-change female head, and is used to determine the assembly position of the fixing part and the robot.

4. A special fixture for handling pallets as claimed in claim 3, It is characterized in that The buffer frame assembly also includes: A gas collecting joint, which is arranged between the gas distributing joint and the gas source; The solenoid valve group is arranged on the flange plate and connected to the gas collecting joint, and is used for opening and closing the connection between the gas collecting joint and the gas source.

5. A special clamp for carrying pallets as claimed in claim 1, It is characterized in that The buffer frame assembly also includes: The cable fixing ring is sleeved on the first guide shaft fixing sleeve and is used for fixing the cable.

6. A special fixture for carrying pallets as claimed in claim 1, It is characterized in that The hook assembly also includes: A first cylinder, a fixed end of which is connected to the profile plate, and a movable end of which is connected to the hook through a floating joint, for driving the hook to move along the profile plate; A linear rail is arranged on the profile plate, and the hook moves along the linear rail when the first cylinder drives the hook.

7. A special fixture for carrying pallets as claimed in claim 1, It is characterized in that The pressing assembly further comprises: The second cylinder has a fixed end connected to the fixed plate and a movable end connected to the pressing plate, and is used for driving the pressing plate to move.

8. A special clamp for carrying pallets as claimed in claim 7, It is characterized in that The pressing plate comprises: A pressure beam is connected to the movable end of the second cylinder. A plurality of probe plates are sequentially arranged along the length direction of the pressure beam on one side of the pressure beam close to the pallet, and the probe plates are used to press the pallet.

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