Clamping-position-adjustable primary and secondary tray disassembling and carrying manipulator

Abstract

The utility model discloses a clamping-position-adjustable primary and secondary tray disassembling and carrying manipulator, which relates to the technical field of tray carrying manipulators and comprises a fixed seat, a sliding seat is mounted at the front end of the fixed seat, a sliding block is arranged on the sliding seat, a clamping mechanism is arranged at the front end of the sliding block, and a transmission mechanism for driving the clamping mechanism is arranged in the sliding seat. A flange plate is arranged on the rear end face of the fixing seat, supporting plates with the front ends fixedly connected with the sliding seat are arranged on the two side faces of the fixing seat, a plurality of mounting holes are formed in front end plate bodies of the supporting plates, and limiting grooves are formed in the front end face of the fixing seat. According to the tray clamping device, the device is installed on a mechanical arm through the fixing base, the device is fixed, the tray is clamped and fixed through the clamping mechanism at the front end of the sliding block on the sliding base, the clamping position can be adjusted through the sliding base, and the clamping thickness of the clamping mechanism is controlled through the clamping transmission system; therefore, the tray can be clamped more firmly.

Description

Technical Field

[0001] The utility model relates to the field of pallet handling manipulators, in particular to a mother-and-child pallet disassembling and handling manipulator with adjustable clamping positions. Background Art

[0002] The pallet disassembly and handling robot is a mechanical device used to handle and disassemble the pallet. The pallet disassembly and handling robot is usually used in the warehousing and logistics industry. It can greatly reduce the labor intensity of manual handling, improve work efficiency, and reduce the risk of cargo damage and personal injury. This robot plays an important role in modern logistics systems and is one of the important equipment to improve warehousing and logistics efficiency. Traditional pallet disassembly and handling robots are generally installed on a fixed base and can only clamp and handle the pallet from a fixed position. The clamping position cannot be adjusted, which may easily lead to the uneven placement of the pallet during the placement process. The robot needs to adjust the clamping position of the pallet. Therefore, the above problems need to be improved. Utility Model Content

[0003] The utility model aims to solve the shortcomings in the prior art and proposes a mother-and-child pallet disassembly and transportation robot with adjustable clamping position.

[0004] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a mother-and-child pallet disassembling and handling robot with adjustable clamping position, comprising a fixed seat, a sliding seat is installed at the front end of the fixed seat, a sliding block is provided on the sliding seat, a clamping mechanism is provided at the front end of the sliding block, and a transmission mechanism for driving the clamping mechanism is provided inside the sliding seat; a flange is provided on the rear end face of the fixed seat, support plates are provided on both side faces of the fixed seat, and a plurality of mounting holes are provided on the front end plate body of the support plate, and a limiting groove is provided on the front end face of the fixed seat.

[0005] Preferably, a threaded groove is provided on the back side of the sliding seat, and a rectangular limit block is longitudinally screwed into the inside of the threaded groove, the rear end of the limit block is inserted into the limit groove at the front end of the fixed seat, a screw groove is horizontally provided on the front end surface of the sliding seat, a screw is provided in the screw groove for horizontal rotation, and a first motor for screw drive is installed on the side end of the sliding seat.

[0006] Preferably, the upper and lower end surfaces of the sliding seat are both transversely provided with engaging grooves, and the upper and lower parts of the rear end surface of the sliding seat are both transversely fixed with anti-dropping blocks that are slidably engaged in the engaging grooves.

[0007] Preferably, the clamping mechanism includes a fixed plate longitudinally fixedly provided on both sides of the lower part of the front end surface of the sliding block, an adjusting port vertically opened on both sides of the upper part of the front end surface of the sliding block, a lifting plate longitudinally provided in the adjusting port, a driving cavity opened in the interior of the sliding block and a rotating shaft transversely rotatably provided in the driving cavity, both ends of the rotating shaft are sleeved with gears, a worm gear is fixedly sleeved on the middle part of the shaft body of the rotating shaft, a second motor is longitudinally provided in the upper part of the rear end of the driving cavity, and a worm meshing with the worm gear is longitudinally fixed to the front end of the driving shaft of the second motor; a rack plate is vertically fixedly provided at the rear end of the lifting plate, and the rack plate is located in the driving groove, the gear is meshed with the rack plate at the rear end of the lifting plate, and the front end surface of the rack plate is slidably fitted with the front end inner wall of the driving groove.

[0008] Preferably, a row of strip-shaped anti-slip rubber blocks are provided on the clamping surfaces of the fixed plate and the lifting plate.

[0009] Preferably, a plurality of stabilizing balls are rollingly clamped on the abutting surfaces of the anti-slip blocks at the upper and lower ends of the sliding seat, and the exposed balls of the stabilizing balls are in rolling abutment with the outer wall of the sliding block.

[0010] Compared with the prior art, the beneficial effects of the utility model are as follows: in the utility model, the clamping position is adjustable through the sliding seat, and the clamping thickness of the clamping mechanism is controlled by the clamping transmission system so that the pallet can be clamped more firmly, and the two ends of the sliding seat are supported by the limit block and the support plate to improve the stability of the sliding seat, and the stabilizing balls on the fitting surface between the clamping grooves at the upper and lower ends of the sliding seat and the clamping strips on the back of the sliding block are used to reduce the friction between the sliding block and the sliding seat, which is convenient for the movement and adjustment of the sliding block, and the arc grooves at the corresponding positions on the clamping strips limit the stabilizing balls, which improves the stability of the sliding block when moving, and the strip-shaped anti-slip rubber blocks on the clamping surfaces of the lifting plate and the fixed plate can play an anti-slip role when the device clamps the pallet, and the height of the lifting plate is indirectly adjusted by the worm gear and the worm, thereby controlling the clamping state of the lifting plate on the pallet to achieve automation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0012] Figure 1 It is a schematic diagram of the three-dimensional structure proposed by the utility model;

[0013] Figure 2 This is a schematic diagram of the fixing seat proposed by the utility model;

[0014] Figure 3 This is a schematic diagram of the sliding seat structure proposed by the utility model;

[0015] Figure 4 This is a schematic diagram of the sliding block structure proposed by the utility model;

[0016] Figure 5 This is a schematic diagram of the lifting plate structure proposed by the utility model;

[0017] Figure 6 This is a schematic diagram of the transmission mechanism structure proposed by the utility model.

[0018] Serial numbers in the figure: 1. fixed seat; 2. support plate; 3. sliding seat; 4. first motor; 5. lead screw; 6. sliding block; 7. fixed plate; 8. lifting plate; 9. stabilizing ball; 10. limit block; 11. rotating shaft; 12. gear; 13. worm gear; 14. second motor; 15. worm. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

[0020] Example: See Figure 1-6 The utility model discloses a pallet disassembling and handling robot with adjustable clamping position, comprising a fixed seat 1, a sliding seat 3 is installed at the front end of the fixed seat 1, a sliding block 6 is arranged on the sliding seat 3, a clamping mechanism is arranged at the front end of the sliding block 6, and a transmission mechanism for driving the clamping mechanism is arranged inside the sliding seat 3; a flange is arranged on the rear end surface of the fixed seat 1, and a supporting plate 2 fixedly connected to the sliding seat 3 at the front end is arranged on both side surfaces of the fixed seat 1, a plurality of mounting holes are arranged on the front end plate body of the supporting plate 2, and a limiting groove is arranged on the front end surface of the fixed seat 1; the device is installed on the robot arm through the fixed seat 1 to realize the fixation of the device, and the pallet is clamped and fixed by the clamping mechanism at the front end of the sliding block 6 on the sliding seat 3, the clamping position is adjustable through the sliding seat 3, and the clamping thickness of the clamping mechanism is controlled by the transmission mechanism so that the pallet can be clamped more firmly.

[0021] In the utility model, a threaded groove is provided on the back of the sliding seat 3, and a rectangular limit block 10 is longitudinally screwed inside the threaded groove. The rear end of the limit block 10 is inserted into the limit groove at the front end of the fixed seat 1, and a screw groove is horizontally provided on the front end surface of the sliding seat 3. A screw 5 is provided in the screw groove for horizontal rotation, and a first motor 4 for driving the screw 5 is installed on the side end of the sliding seat 3; the limit block 10 is used to enhance the stability of the fixation between the sliding seat 3 and the robot arm, and the first motor 4 drives the screw 5 to drive the sliding block 6 to move to realize the adjustable function of the clamping position.

[0022] In the utility model, the upper and lower end surfaces of the sliding seat 3 are both transversely provided with snap-in grooves, and the upper and lower parts of the rear end surface of the sliding seat 3 are both transversely fixed with anti-slip blocks that are slidably snap-into the inside of the snap-in grooves; through the snap-in grooves, the sliding block 6 can be horizontally moved on the sliding seat 3 to adjust the clamping position.

[0023] In the utility model, the clamping mechanism includes a fixed plate 7 longitudinally fixedly arranged on both sides of the lower part of the front end surface of the sliding block 6, an adjusting port vertically opened on both sides of the upper part of the front end surface of the sliding block 6, a lifting plate 8 longitudinally arranged in the adjusting port, a driving cavity opened inside the sliding block 6 and a rotating shaft 11 transversely rotating inside the driving cavity, both ends of the rotating shaft 11 are sleeved with gears 12, a worm gear 13 is fixedly sleeved in the middle of the shaft body of the rotating shaft 11, a second motor 14 is longitudinally arranged in the upper part of the rear end of the driving cavity, and a worm 15 meshing with the worm gear 13 is longitudinally fixed to the front end of the driving shaft of the second motor 14; a rack plate is vertically fixed to the rear end of the lifting plate 8, and the rack plate is located inside the driving groove, and the gear 12 and the rack plate at the rear end of the lifting plate 8 The front end surface of the rack plate is meshed, and the front end surface of the rack plate is slidably fitted with the front end inner wall of the driving groove. A row of strip-shaped anti-skid rubber blocks are provided on the clamping surfaces of the fixed plate 7 and the lifting plate 8; the gear 12 on the rotating shaft 11 is driven to rotate by the second motor 14, so as to realize the transmission of the rack on the back side of the vertical plate of the lifting plate 8 meshed with the gear 12, thereby controlling the lifting and lowering of the lifting plate 8 in the lifting chamber, and realizing the picking and placing clamping operation of the pallet by the clamping mechanism, and the pallet is clamped by the inverted L-shaped lifting plate 8 in the lifting chamber and the fixed plate 7 on the front end surface of the sliding block 6. The strip-shaped anti-skid strips on the clamping surfaces of the lifting plate 8 and the fixed plate 7 can play an anti-skid role during clamping, and the rack plate fixedly connected to the back side of the vertical plate of the L-shaped lifting plate 8 facilitates the transmission mechanism to realize the lifting function of the lifting plate 8.

[0024] In the present invention, a plurality of stabilizing balls 9 are rollingly clamped on the abutting surfaces of the anti-slip blocks at the upper and lower ends of the sliding seat 3, and the exposed balls of the stabilizing balls 9 are rollingly abutted against the outer wall of the sliding block 6; the stabilizing balls 9 on the fitting surfaces between the clamping grooves at the upper and lower ends of the sliding seat 3 and the clamping strips on the back of the sliding block 6 reduce the friction between the sliding block 6 and the sliding seat 3, which facilitates the movement and adjustment of the sliding block 6, and the arc grooves at the corresponding positions on the clamping strips limit the stabilizing balls 9, thereby improving the stability of the sliding block 6 during movement.

[0025] Working principle: When the utility model is used, the device is first installed on the mechanical arm through the flange on the rear end face of the fixing seat 1, and then the electrical equipment of the device is powered on. After the mechanical arm controls the device to the predetermined position, the first motor 4 drives the lead screw 5 to rotate under the control of the controller, and the rotation of the lead screw 5 drives the movement of the sliding block 6 to adjust the clamping position. After the sliding block 6 moves to the predetermined position, the first motor 4 stops rotating, the mechanical arm controls the device to move forward, the fixing plate 7 of the sliding block 6 is inserted into the bottom of the tray, and the lifting plate 8 is at the upper end of the tray. At this time, the second motor 14 is started, and the forward direction The rotation drives the worm 15 connected to it to rotate, and the rotation of the worm 15 drives the worm wheel 13 meshing with it to rotate. The rotation of the worm wheel 13 drives the gears 12 at both ends of the fixed rotating shaft 11 to rotate. The rotation of the gear 12 drives the rack on the back side of the vertical plate at the rear end of the lifting plate 8 meshing with it to move vertically downward, completing the clamping of the upper end of the pallet, and then the robot arm transports the clamped pallet to the specified position. After the pallet is placed, the controller controls the second motor 14 to flip and make the lifting plate 8 rise, thereby releasing the pallet to complete the pallet transportation operation, and then the power of the device can be turned off.

[0026] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes within the technical scope disclosed by the present invention according to the technical scheme and the utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A pallet disassembly and handling robot with adjustable clamping position, comprising a fixed seat (1), characterized in that: A sliding seat (3) is installed at the front end of the fixed seat (1), a sliding block (6) is provided on the sliding seat (3), a clamping mechanism is provided at the front end of the sliding block (6), and a transmission mechanism for driving the clamping mechanism is provided inside the sliding seat (3); a flange is provided on the rear end surface of the fixed seat (1), and support plates (2) are provided on both side surfaces of the fixed seat (1) and are fixedly connected to the sliding seat (3) at the front end, a plurality of mounting holes are provided on the front end plate body of the support plate (2), and a limiting groove is provided on the front end surface of the fixed seat (1).

2. According to the invention, the manipulator for disassembling and transporting a mother-and-child pallet with adjustable clamping position is characterized in that: A thread groove is formed on the back of the sliding seat (3), and a rectangular limit block (10) is longitudinally screwed into the interior of the thread groove. The rear end of the limit block (10) is inserted into the limit groove at the front end of the fixed seat (1). A lead screw groove is formed transversely on the front end surface of the sliding seat (3), and a lead screw (5) is provided in the lead screw groove for transverse rotation. A first motor (4) for driving the lead screw (5) is installed at the side end of the sliding seat (3).

3. The pallet disassembly and handling robot with adjustable clamping position according to claim 1 is characterized by: The upper and lower end surfaces of the sliding seat (3) are both transversely provided with clamping grooves, and the upper and lower parts of the rear end surface of the sliding seat (3) are both transversely fixed with anti-slip blocks that are slidably clamped in the clamping grooves.

4. The pallet disassembly and handling robot with adjustable clamping position according to claim 1 is characterized by: The clamping mechanism comprises a fixing plate (7) longitudinally fixedly arranged on both sides of the lower part of the front end surface of the sliding block (6), an adjusting opening vertically opened on both sides of the upper part of the front end surface of the sliding block (6), a lifting plate (8) longitudinally arranged in the adjusting opening, a driving cavity opened in the interior of the sliding block (6), and a rotating shaft (11) transversely rotatably arranged in the interior of the driving cavity, gears (12) being sleeved at both ends of the rotating shaft (11), a worm gear (13) being fixedly sleeved at the middle part of the shaft body of the rotating shaft (11), a second motor (14) being longitudinally arranged in the upper part of the rear end of the driving cavity, and a worm (15) meshing with the worm gear (13) being longitudinally fixedly arranged at the front end of the driving shaft of the second motor (14); a rack plate being vertically fixedly arranged at the rear end of the lifting plate (8), and the rack plate being located in the driving groove, the gear (12) being meshed with the rack plate at the rear end of the lifting plate (8), and the front end surface of the rack plate being slidably fitted with the front end inner wall of the driving groove.

5. The pallet disassembly and handling robot with adjustable clamping position according to claim 4 is characterized in that: A row of strip-shaped anti-slip rubber blocks are provided on the clamping surfaces of the fixed plate (7) and the lifting plate (8).

6. The pallet disassembly and handling robot with adjustable clamping position according to claim 1 is characterized by: A plurality of stabilizing balls (9) are rollingly clamped on the anti-slip block abutment surfaces at the upper and lower ends of the sliding seat (3), and the exposed balls of the stabilizing balls (9) are rollingly abutted against the outer wall of the sliding block (6).

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