Automatic lifting, clamping and transferring device

Abstract

The utility model discloses an automatic lifting, clamping and transferring device which comprises a support, a lifting mechanism, a clamping mechanism and a turnover mechanism. The support is provided with a horizontal supporting part and a longitudinal supporting part. The driving wheel assemblies are connected to the bottom of the horizontal supporting part and used for driving the support to move in the plane; the lifting mechanism is connected to the longitudinal supporting part; and the clamping mechanism is connected to the moving end of the lifting mechanism. According to the automatic lifting, clamping and transferring device, the automatic taking-out and resetting processes of materials such as test tools are achieved through the control unit and the auxiliary information obtaining unit according to program instructions of the control unit. Compared with the prior art, manpower is saved, the risk of manual operation is reduced, the test tools compatible with different sizes are adopted, information in the carrying process can be recorded, the intelligent degree and the automation degree are high, and the carrying efficiency is obviously improved.

Description

Technical Field

[0001] The utility model relates to the technical field of transfer handling equipment, in particular to an automatic lifting clamping and turnover device. Background Art

[0002] Existing test tooling is generally stored at a designated position on the shelf. When relevant tests need to be carried out, the test tooling is generally manually carried down from the shelf. After the test is completed, the test tooling is manually carried back to the original position. However, the test tooling is heavy, and the space between the shelves is small. The manual handling method is not only laborious but also has potential safety hazards. The narrow shelf space is not convenient for manual handling, and the handling efficiency is also relatively low. Content of the Utility Model

[0003] The purpose of the utility model is to overcome the deficiencies of the prior art and provide an automatic lifting clamping and turnover device to solve the technical problems of laborious and inconvenient manual handling and low efficiency of existing test tooling.

[0004] To achieve the above purpose, the utility model adopts the following technical solutions:

[0005] An embodiment of the utility model provides an automatic lifting clamping and turnover device, which includes:

[0006] A bracket, which has a horizontal support part and a longitudinal support part;

[0007] A plurality of groups of drive wheel assemblies, which are connected to the bottom of the horizontal support part and are used to drive the bracket to move in a plane;

[0008] A lifting mechanism, which is connected to the longitudinal support part;

[0009] A clamping mechanism, which is connected to the moving end of the lifting mechanism, and

[0010] A control unit, which controls the drive wheel assemblies, the lifting mechanism and the clamping mechanism to perform material picking, placing and transferring according to a preset logic;

[0011] Wherein, the clamping mechanism includes: a bearing mold frame, a front clamping component and a rear clamping component connected to the bearing mold frame, and a variable pitch module connected to the bracket. The variable pitch module drives the front clamping component and the rear clamping component to move to realize the change of the distance, and the front clamping component and the rear clamping component synchronously perform the opening and closing actions to pick and place materials.

[0012] Among them, the driving wheel assembly includes: a toothed disc connected to the horizontal support portion, a connecting plate connected to the bottom of the toothed disc, a rotary drive unit and a driving wheel connected to the bottom of the connecting plate, and a moving drive unit connected to the bottom of the connecting plate, and the output end of the moving drive unit is connected to the driving wheel.

[0013] Among them, the lifting mechanism includes: a lead screw module and longitudinal guide rails arranged on both sides of the lead screw module. The lead screw module and the longitudinal guide rails are both connected to the longitudinal support portion, and the longitudinal guide rails are arranged parallel to the lifting direction of the lead screw module. The carrying mold frame is connected to the moving end of the lead screw module and is slidably fitted with the longitudinal guide rails.

[0014] Among them, the pitch-changing module includes: a pitch-changing drive unit, a horizontal guide rail connected to the carrying mold frame, and at least two groups of sliders slidably fitted on the horizontal guide rail. The front clamping assembly and the rear clamping assembly are respectively connected to one group of the sliders, and the front clamping assembly and the rear clamping assembly are also connected to the moving end of the pitch-changing drive unit.

[0015] Among them, the front clamping assembly and the rear clamping assembly have the same structure and are horizontally arranged on the carrying mold frame, and the front clamping assembly and the rear clamping assembly are mirror images of each other.

[0016] Among them, the front clamping assembly and the rear clamping assembly have the same structure and both include: a support clamping plate, a horizontal drive unit arranged at the bottom of the support clamping plate, and at least two groups of opening and closing jaw units arranged at the top of the support clamping plate. The horizontal drive unit drives the support clamping plate to move in a first direction, and the jaws of the opening and closing jaw units can open and close in a second direction, and the first direction and the second direction are perpendicular to each other.

[0017] Among them, the horizontal drive unit includes: a rodless cylinder and guide modules arranged on both sides of the rodless cylinder. The guide modules include fixed guide rails and movable guide rails slidably fitted with the fixed guide rails. The fixed guide rails are connected to the sliders, and the movable guide rails are connected to the support clamping plate.

[0018] Among them, a clamping plate portion is provided at the front end of the support clamping plate, and the jaws of the opening and closing jaw units and the clamping plate portion form a clamping opening.

[0019] Among them, an anti-tipping assembly is further provided at the bottom of the horizontal support portion. The anti-tipping assembly includes a telescopic drive unit, guide units arranged on both sides of the telescopic drive unit, and a universal wheel connected to the moving end of the telescopic drive unit; the telescopic drive unit and the guide units are both connected to the bottom of the horizontal support portion.

[0020] Among them, a visual infrared thermal imaging module is further provided on the bracket, and the visual infrared thermal imaging module is used to obtain an image model of the activity space.

[0021] Among them, a radar obstacle avoidance module is further provided on the bracket.

[0022] Among them, a visual code scanning module connected to the control unit is further provided on the bracket.

[0023] Among them, a power supply module is further provided on the bracket.

[0024] Among them, an air compressor is further provided on the bracket.

[0025] The automatic lifting and clamping turnover device of the present utility model realizes the processes of taking out and resetting materials such as an automated test tooling through a control unit and its auxiliary information acquisition unit according to the program instructions of the control unit. It not only saves manpower and reduces the risk of manual operation, but also adopts a test tooling that can be compatible with different sizes, can record the information during the handling process, has a high degree of intelligence and automation, and significantly improves the handling efficiency.

[0026] The above description is only an overview of the technical solution of the present utility model. In order to be able to understand the technical means of the present utility model more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present utility model more obvious and understandable, the following preferred embodiments are specifically described in detail as follows. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figures 1 to 4 It is a schematic diagram of the overall structure of the automatic lifting and clamping turnover device of the embodiment of the present utility model from different perspectives.

[0028] Figure 5 It is a side view of the automatic lifting and clamping turnover device of the embodiment of the present utility model.

[0029] Figure 6 It is a schematic diagram of the partial structure of the control unit of the automatic lifting and clamping turnover device of the embodiment of the present utility model.

[0030] Figure 7 It is a schematic diagram of the partial structure of the clamping mechanism of the automatic lifting and clamping turnover device of the embodiment of the present utility model.

[0031] Figure 8 It is an exploded view of the clamping mechanism of the automatic lifting and clamping turnover device of the embodiment of the present utility model.

[0032] Figure 9 It is a schematic diagram of the partial structure of the horizontal support part of the bracket of the automatic lifting and clamping turnover device of the embodiment of the present utility model and the components assembled thereto.

[0033] Figure 10 Schematic diagram of the state during the material picking and placing process of the bracket of the automatic lifting clamping and turnover device according to the embodiment of the present utility model.

[0034] Description of the reference numerals:

[0035] Automatic lifting clamping and turnover device 100, bracket 1, horizontal support part 11, longitudinal support part 12, lifting mechanism 2, lead screw module 21, longitudinal guide rail 22, clamping mechanism 3, bearing mold 31, variable pitch module 32, front clamping assembly 33, rear clamping assembly 34, opening and closing jaw unit 35, opening and closing jaw unit 36, guide groove 311, variable pitch drive unit 321, horizontal guide rail 322, slider 323, support clamping plate 331, mounting plate 332, horizontal drive unit 333, clamping plate part 3311, drive cylinder 351, jaw 352, rodless cylinder 3331, guiding module 3332, anti-tipping assembly 4, telescopic drive unit 41, movable track 42, universal wheel 43, fixed track 44, drive wheel assembly 5, tooth disc 51, rotary drive unit 52, connecting plate 53, moving drive unit 54, drive wheel 55, visual infrared thermal imaging module 6, radar obstacle avoidance module 7, power supply module 8, air compressor 9, push-pull handle 10, adjusting bracket 101, visual code scanning module 102, control unit 103. Detailed implementation manners

[0036] In order to make the purpose, technical solutions and advantages of the present utility model clearer and more understandable, the present utility model will be further described in detail below in conjunction with the drawings and specific implementation manners.

[0037] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0038] In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "resin", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present utility model.

[0039] In addition, the terms "first" and "second" are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present utility model, "a plurality of" means two or more unless otherwise specifically defined.

[0040] In the present utility model, unless otherwise clearly specified and defined, terms such as "mounted", "connected", "coupled", "fixed", etc. shall be construed in a broad sense. For example, it may be a connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0041] In the present utility model, unless otherwise clearly specified and defined, the first feature being "on" or "under" the second feature may include the first and second features being in direct contact, or may include the first and second features not being in direct contact but in contact through additional features therebetween. Moreover, the first feature being "above", "over" and "on top of" the second feature includes the first feature being directly above and obliquely above the second feature, or merely indicating that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature includes the first feature being directly below and obliquely below the second feature, or merely indicating that the first feature has a lower horizontal height than the second feature.

[0042] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present utility model. In this specification, the schematic representations of the above terms should not be understood as necessarily referring to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0043] Existing test tooling is generally stored on a shelf. When it is needed, it is generally manually carried and transferred. Due to the small spacing and high height of the shelves, and the relatively heavy test tooling, manual handling is laborious, inconvenient, and has low efficiency. Therefore, based on the above requirements, this embodiment provides an automatic lifting and clamping turnover device 100.

[0044] Please refer to Figures 1 to 10, this embodiment discloses an automatic lifting and clamping turnover device 100, which includes:

[0045] A bracket 1, the bracket 1 has a horizontal support portion 11 and a longitudinal support portion 12; the longitudinal support portion 12 is substantially perpendicular to the horizontal support portion 11;

[0046] Several groups of driving wheel assemblies 5, the driving wheel assemblies 5 are connected to the bottom of the horizontal support portion 11 and are used to drive the bracket 1 to move in a plane; multiple groups of driving wheel assemblies 5 are arranged at the bottom of the bracket 1 and are used to drive the automatic lifting and clamping turnover device 100 to move to carry materials (in this embodiment, it is a test fixture);

[0047] A lifting mechanism 2, the lifting mechanism 2 is connected to the longitudinal support portion 12;

[0048] A clamping mechanism 3, the clamping mechanism 3 is connected to the moving end of the lifting mechanism 2, and

[0049] A control unit 103, the control unit 103 controls the driving wheel assemblies 5, the lifting mechanism 2 and the clamping mechanism 3 to perform material picking, placing and transferring according to a preset logic; the clamping mechanism 3 is controlled by the lifting mechanism 2 to adjust the height of the clamping mechanism 3 in the vertical direction to match the test fixtures stored on different layers of the shelf.

[0050] Among them, the clamping mechanism 3 includes: a bearing mold frame 31, a front clamping assembly 33 and a rear clamping assembly 34 connected to the bearing mold frame 31, and a variable pitch module 32 connected to the bracket 1. The variable pitch module 32 drives the front clamping assembly 33 and the rear clamping assembly 34 to move to realize the change of the distance, and the front clamping assembly 33 and the rear clamping assembly 34 perform the opening and closing actions synchronously to pick and place materials. The front clamping assembly 33 and the rear clamping assembly 34 are used to clamp and fix the test fixture. When clamping different fixtures, it is necessary to adjust the distance between the front clamping assembly 33 and the rear clamping assembly 34, that is, the width between the two, and the variable pitch module 32 is used to control the width between the front clamping assembly 33 and the rear clamping assembly 34.

[0051] In the automatic lifting and clamping turnover device 100 of this embodiment, the lifting mechanism 2, the clamping mechanism 3 and the driving wheel assemblies 5 are controlled by the control unit 103 to cooperate to complete the material clamping and handling work. Compared with the manual method, it is more efficient, safer and more labor-saving.

[0052] Please refer to again Figure 9, which is a schematic diagram of the partial structure of the horizontal support portion 11 of the bracket 1 and its connecting components. At least four sets of the drive wheel assemblies 5 are provided, and the four sets of the drive wheel assemblies 5 are distributed in a rectangular shape at the bottom of the horizontal support portion 11. The drive wheel assembly 5 includes: a gear disk 51 connected to the horizontal support portion 11, a connecting plate 53 connected to the bottom of the gear disk 51, a rotary drive unit 52 and a drive wheel 55 connected to the bottom of the connecting plate 53, and a moving drive unit 54 connected to the bottom of the connecting plate 53. The output end of the moving drive unit 54 is connected to the drive wheel 55. Among them, the drive wheel 55 is connected to the connecting plate 53 through a roller connecting member. The gear disk 51 is horizontally arranged at the bottom of the horizontal support portion 11. The output shaft of the rotary drive unit 52 meshes with the gear disk 51. When the rotary drive unit 52 rotates, the gear disk 51 is fixedly connected to the bracket 1, so as to synchronously drive the connecting plate 53 to rotate at an axial rotation angle of the gear disk 51, thereby changing the advancing angle of the drive wheel 55 to adjust the moving direction. The moving drive unit 54 is used to drive the drive wheel 55 to rotate, so as to provide a forward driving force when contacting the ground.

[0053] In this embodiment, both the rotary drive unit 52 and the moving drive unit 54 are motors, which is convenient for flexible control. Both the horizontal support portion 11 and the vertical support portion 12 are frame structures formed by connecting profiles.

[0054] Please refer to again Figure 2 , the lifting mechanism 2 includes: a lead screw module 21 and longitudinal guide rails 22 arranged on both sides of the lead screw module 21. The lead screw module 21 and the longitudinal guide rails 22 are both connected to the vertical support portion 12, and the longitudinal guide rails 22 are arranged parallel to the lifting direction of the lead screw module 21. The carrying mold frame 31 is connected to the mobile end of the lead screw module 21 and is slidably fitted with the longitudinal guide rails 22. The lead screw module 21 is a linear drive unit driven by a motor. In order to improve the stability and reliability of the lifting process of the clamping assembly 3, two longitudinal guide rails 22 are arranged in parallel with the lead screw module 21. A guide groove 311 is provided on the carrying mold frame 31, and the guide groove 311 is slidably fitted with the two longitudinal guide rails 22.

[0055] The carrying mold frame 31 is a load-bearing bracket structure, which includes a horizontal support plate and triangular support arms connected to the bottom of the horizontal support plate. This design improves the compressive capacity of the carrying mold frame 31 without excessive weight increase.

[0056] Please refer to again Figure 7, the pitch-changing module 32 includes: a pitch-changing driving unit 321, a horizontal guide rail 322 connected to the carrying mold frame 31, and at least two sets of sliders 323 slidably fitted on the horizontal guide rail 322. The front clamping assembly 33 and the rear clamping assembly 34 are respectively connected to one set of the sliders 323, and the front clamping assembly 33 and the rear clamping assembly 34 are also connected to the moving end of the pitch-changing driving unit 321. In this embodiment, the pitch-changing driving unit 321 is a lead screw driven by a servo motor. There are two horizontal guide rails 322, which are respectively located on both sides of the pitch-changing driving unit 321. Similarly, the design of using the sliders 323 and the horizontal guide rail 322 is to improve the stability and reliability of the pitch-changing process.

[0057] Among them, there are the following two pitch-changing methods in which the front clamping assembly 33 and the rear clamping assembly 34 are controlled by the pitch-changing driving unit 321: One is that the front clamping assembly 33 always remains stationary, and the pitch-changing driving unit 321 only drives the rear clamping assembly 34 to move relative to the front clamping assembly 33, so as to change the distance between the two; The other is that two screw rod parts with connected ends and reverse thread settings are adopted for the lead screw. The front clamping assembly 33 and the rear clamping assembly 34 are respectively screwed to different positions of the screw rod parts. When the motor drives the lead screw to rotate, the front clamping assembly 33 and the rear clamping assembly 34 are synchronously driven to move closer to each other or away from each other. In this embodiment, the distance between the front clamping assembly 33 and the rear clamping assembly 34 is adjusted by the pitch-changing driving unit 321, so as to change the width of the clamping tooling, so as to be compatible with the picking and placing of different test toolings, and its application range is wider, enhancing the versatility of the equipment.

[0058] Among them, the front clamping assembly 33 and the rear clamping assembly 34 have the same structure and are horizontally arranged on the horizontal support plate of the carrying mold frame 31. The front clamping assembly 33 and the rear clamping assembly 34 are arranged as mirror images of each other. When picking and placing the test tooling, the front clamping assembly 33 and the rear clamping assembly 34 act synchronously to cooperate to complete the material picking and placing.

[0059] The front clamping assembly 33 and the rear clamping assembly 34 have the same structure. Taking the front clamping assembly 33 as an example, it includes: a support clamping plate 331, a horizontal driving unit 333 disposed at the bottom of the support clamping plate 331, and at least two sets of opening and closing jaw units 35 disposed at the top of the support clamping plate 331. The horizontal driving unit 333 drives the support clamping plate 331 to move in a first direction, and the jaws 352 of the opening and closing jaw unit 35 can open and close in a second direction. The first direction is perpendicular to the second direction. In this embodiment, there are two sets of horizontal guide rails 322, so the same set of sliders 323 is also connected to the same mounting plate 332, and the horizontal driving unit 333 is disposed on this mounting plate 332. The horizontal driving unit 333 can drive the support clamping plate 331 and the opening and closing jaw unit 35 connected to the top of the support clamping plate 331 to extend or retract to one side, so that the support clamping plate 331 part and the opening and closing jaw unit 35 extend into the bottom of the test fixture to clamp it.

[0060] Please refer to again Figure 8 , the horizontal driving unit 333 includes: a rodless cylinder 3331 and guide modules 3332 disposed on both sides of the rodless cylinder 3331. The guide module 3332 includes a fixed guide rail and a movable guide rail slidably fitted with the fixed guide rail. The fixed guide rail is connected to the slider 323, and the movable guide rail is connected to the support clamping plate 331. In this embodiment, a rodless cylinder 3331 is used as the power unit, which can save space and make the longitudinal thickness of the clamping mechanism 3 smaller.

[0061] Wherein, a clamping plate portion 3311 is provided at the front end of the support clamping plate 331, and the jaws 352 of the opening and closing jaw unit 35 and the clamping plate portion 3311 form a clamping opening. In this embodiment, the above clamping plate portion 3311 and the jaws 352 are both L-shaped bent plates. When clamping the test fixture, the front clamping assembly 33 and the rear clamping assembly 34 first extend and move to the bottom of the test fixture, and then the opening and closing jaw units 35 disposed at the top of the front clamping assembly 33 and the opening and closing jaw units 36 disposed at the top of the rear clamping assembly 34 move towards each other and approach, so as to clamp and fix the test fixture to prevent it from shaking or falling during the handling process.

[0062] The opening and closing jaw unit 35 further includes a driving cylinder 351, and the jaws 352 are connected to the movable end of the driving cylinder 351.

[0063] Please refer to again Figure 10, a tipping prevention assembly 4 is further provided at the bottom of the horizontal support portion 11. The tipping prevention assembly 4 includes a telescopic driving unit 41, guiding units disposed on both sides of the telescopic driving unit 41, and universal wheels 43 connected to the moving end of the telescopic driving unit 41; both the telescopic driving unit 41 and the guiding units are connected to the bottom of the horizontal support portion 11. The guiding unit includes: a fixed track 44, and a movable track 42 slidably connected to the fixed track 44. The fixed track 44 is connected to the horizontal support portion 11, and the universal wheels 43 are connected to the end of the movable track 42. The telescopic driving unit 41 drives the movable track 42 to extend out to one side along the fixed track 44, and the extending direction of the universal wheels 43 is the same as the extending direction of the opening and closing jaw unit 35(36), so as to prevent the materials being carried from tipping over laterally during the transfer process due to excessive weight.

[0064] In this embodiment, the telescopic driving unit 41 also adopts a rodless cylinder to save space.

[0065] Please refer to again Figure 1 , a visual infrared thermal imaging module 6 is further provided on the bracket 1. The visual infrared thermal imaging module 6 is used to acquire the image model of the activity space and the outer shape of the test tooling to be carried, and send the acquired model information to the control unit 103. Specifically, the visual infrared thermal imaging module 6 is disposed on the top of the longitudinal support portion 12.

[0066] Among them, a radar obstacle avoidance module 7 is further provided on the bracket 1. Specifically, the radar obstacle avoidance module 7 is disposed at the bottom of the horizontal support portion 11, near the edge position. There are multiple groups of the radar obstacle avoidance module 7, and the multiple groups of the radar obstacle avoidance module 7 are respectively disposed at the four peripheral edge positions of the horizontal support portion 11, and are used to assist in providing obstacle information on the moving route.

[0067] Please refer to again Figure 6 , an adjusting bracket 101 is further connected to the bracket 1, and a visual code scanning module 102 connected to the control unit 103 is further provided on the adjusting bracket 101. The visual code scanning module 102 is used to scan the bar code information on the test tooling to be carried and the bar code information of the corresponding storage location on the shelf.

[0068] Please refer to again Figure 3 , a power supply module 8 is further provided on the bracket 1. An independent energy storage power supply is provided on the automatic lifting and clamping turnover device 100, and the energy storage power supply provides electric energy for the control unit 103, the visual code scanning module 102, the visual infrared thermal imaging module 6, the rotation driving unit 52, the moving driving unit 54, the lead screw module 21, the variable pitch driving unit 321, etc. By adopting the power supply module 8 with independent power supply, the automatic lifting and clamping turnover device 100 can operate independently, avoiding the limitation of its movement by external connection cables.

[0069] Further, an air compressor 9 is also provided on the bracket 1. This air compressor 9, namely an air compressor, is used to provide air pressure for the pneumatic unit, such as the above-mentioned cylinders, etc. This air compressor 9 is also powered by the above-mentioned power supply module 8. Similarly, setting up an independent air compressor 9 is also to improve the convenience of moving the device.

[0070] A push-pull handle 10 is also provided at the rear of the bottom of the bracket 1, so that in case of equipment failure, the test fixture can be carried by manual pushing.

[0071] The embodiment of the present utility model also provides a handling method for an automatic lifting and clamping turnover device. This handling method is executed by the above-mentioned automatic lifting and clamping turnover device 100, and it includes the following steps:

[0072] Start the visual infrared thermal imaging module 6 to obtain a model of the activity space of the automatic lifting and clamping turnover device; the space model obtained by the visual infrared thermal imaging module 6 also includes the corresponding position model of the shelf. After obtaining this model, the data is transmitted to the control unit 103, and the control unit 103 processes the model and matches it with the respective storage positions of the test fixtures, so as to correspond the position information of each test fixture with the space shelf model information. Of course, for a specific working space, preprocessing of the space model and shelf storage information can be realized to improve the handling accuracy and efficiency.

[0073] Control the visual infrared thermal imaging module 6 to obtain the outer shape of the material to be handled, and send the obtained outer shape data to the control unit 103; the test fixtures that need to be handled by this automatic lifting and clamping turnover device 100 also need to be scanned for their outer shapes. For test fixtures of different sizes, the grasping positions and the width and extension length of the grasping mechanism 3 need to correspond. Therefore, by obtaining the outer shape data of the currently handled test fixture through the visual infrared thermal imaging module 6 and matching it with the data pre-stored in the control unit 103, the execution parameters of the grasping mechanism can be retrieved subsequently.

[0074] Control the visual code scanning module 102 to scan the label pre-pasted on the material to be handled; this label contains the information of the storage position of this test fixture.

[0075] According to the label information and the material placement position information pre-stored in the control unit, move the material to the preset material placement position; during the handling process, the control unit 103 automatically plans the movement path according to the space model and the information of the target position.

[0076] Control the visual code scanning module 102 to scan and verify the material placement position information, and upload the handling data to the control unit 103. When the test fixture is moved to the target position, it is also necessary to confirm again whether the test fixture matches the storage position to prevent the test fixture from being placed in the wrong position.

[0077] Specifically, the step of transporting the material to a preset material placement position according to the label information and the material placement position information pre-stored in the control unit includes the following steps:

[0078] The lifting mechanism 2 drives the clamping mechanism 3 to move up and down, so that the clamping mechanism 3 moves to the material taking height of the material to be transported; since the handling position heights of different test fixtures are different, the height of the grasping mechanism 3 needs to be adjusted.

[0079] The variable pitch module 32 drives the front clamping assembly 33 and the rear clamping assembly 34 to move relative to each other, so that the front clamping assembly 33 and the rear clamping assembly 34 move to the material taking and placing width spacing state; according to the outer shape of the test fixture obtained by the visual infrared thermal imaging module 6, the control unit 103 can obtain information such as the handling position width of the currently transported test fixture. According to the handling position information, the variable pitch module 32 controls the front clamping assembly 33 and the rear clamping assembly 34 to adjust their widths.

[0080] The horizontal driving unit 333 drives the front clamping assembly 33 and the rear clamping assembly 34 to extend along the second direction, so that they are located at the bottom of the supporting material; that is, the front clamping assembly 33 and the rear clamping assembly 34 are controlled to extend horizontally, so as to support the bottom handling position of the test fixture.

[0081] The telescopic driving unit 41 of the anti-tipping assembly 4 drives the universal wheels 43 to extend in the extending direction of the front clamping assembly 33; that is, the universal wheels 43 of the anti-tipping assembly 4 are in the same extending direction as the front clamping assembly 33, thereby preventing the clamping mechanism 3 from tipping over the entire device due to weighing.

[0082] The opening and closing jaw units 35(36) provided on the front clamping assembly 33 and the rear clamping assembly 34 perform opening and closing actions to clamp and fix the material; the opening and closing jaw unit 35 and the opening and closing jaw unit 36 move closer to each other, so as to clamp and fix the test fixture relatively from both sides, preventing displacement or shaking during the handling process and improving the handling safety.

[0083] The driving wheel assembly 5 drives the bracket 1 to move to the material placement position to transport the material to the placement position. The feeding process of the transported test fixture is opposite to the above-mentioned material taking process steps and will not be elaborated here.

[0084] The automatic lifting and clamping turnover device of this embodiment realizes the automatic process of taking out and resetting materials such as test fixtures through the control unit and its auxiliary information acquisition unit according to the program instructions of the control unit. It not only saves manpower and reduces the risk of manual operation, but also adopts a test fixture that can be compatible with different sizes, can record the handling process information, has a high degree of intelligence and automation, and significantly improves the handling efficiency.

[0085] The above only further illustrates the technical content of the present utility model with examples for the convenience of readers to understand more easily, but it does not mean that the implementation manners of the present utility model are limited thereto. Any technical extension or re-creation made according to the present utility model is protected by the present utility model. The protection scope of the present utility model shall be subject to the claims.

Claims

1. An automatic lifting and clamping turnover device, characterized in that: include: A support having a horizontal support portion and a longitudinal support portion; A plurality of drive wheel assemblies, wherein the drive wheel assemblies are connected to the bottom of the horizontal support portion and are used to drive the bracket to move in a plane; A lifting mechanism connected to the longitudinal support portion; a clamping mechanism connected to the moving end of the lifting mechanism, and A control unit, wherein the control unit controls the driving wheel assembly, the lifting mechanism, and the clamping mechanism to perform material placement and handling according to a preset logic; Among them, the clamping mechanism includes: a supporting mold frame, a front clamping assembly and a rear clamping assembly connected to the supporting mold frame, and a variable distance module connected to the bracket, the variable distance module drives the front clamping assembly and the rear clamping assembly to move to achieve a change in spacing, and the front clamping assembly and the rear clamping assembly synchronously perform opening and closing actions to take and place materials.

2. The automatic lifting and clamping turnover device according to claim 1 is characterized in that: The driving wheel assembly includes: a gear plate connected to the horizontal support portion, a connecting plate connected to the bottom of the gear plate, a rotating driving unit and a driving wheel connected to the bottom of the connecting plate, and a moving driving unit connected to the bottom of the connecting plate, wherein the output end of the moving driving unit is connected to the driving wheel.

3. The automatic lifting and clamping turnover device according to claim 1 is characterized in that: The lifting mechanism includes: a screw module and longitudinal guide rails arranged on both sides of the screw module, the screw module and the longitudinal guide rails are both connected to the longitudinal support part, and the longitudinal guide rails are arranged parallel to the lifting direction of the screw module, the supporting mold frame is connected to the moving end of the screw module, and is slidably assembled with the longitudinal guide rails.

4. The automatic lifting and clamping turnover device according to claim 1 is characterized in that: The variable pitch module includes: a variable pitch drive unit, a horizontal guide rail connected to the supporting mold frame, and at least two groups of sliders slidably mounted on the horizontal guide rail, the front clamping assembly and the rear clamping assembly are respectively connected to one group of the sliders, and the front clamping assembly and the rear clamping assembly are also connected to the moving end of the variable pitch drive unit.

5. The automatic lifting and clamping turnover device according to claim 4 is characterized in that: The front clamping assembly and the rear clamping assembly have the same structure and both include: a supporting clamping plate, a horizontal driving unit arranged at the bottom of the supporting clamping plate, and at least two groups of opening and closing jaw units arranged at the top of the supporting clamping plate, the horizontal driving unit drives the supporting clamping plate to move along a first direction, and the jaws of the opening and closing jaw units can open and close and move along a second direction, and the first direction is perpendicular to the second direction.

6. The automatic lifting and clamping turnover device according to claim 5 is characterized in that: The horizontal driving unit includes: a rodless cylinder and a guide module arranged on both sides of the rodless cylinder, the guide module includes a fixed guide rail and a movable guide rail slidably equipped with the fixed guide rail, the fixed guide rail is connected to the slider, and the movable guide rail is connected to the supporting clamp.

7. The automatic lifting and clamping turnover device according to claim 6 is characterized in that: A clamping plate portion is provided at the front end of the supporting clamping plate, and the clamping jaws of the opening and closing clamping jaw unit and the clamping plate portion form a fixed clamping opening.

8. The automatic lifting and clamping turnover device according to any one of claims 1 to 7, characterized in that: An anti-dumping assembly is also provided at the bottom of the horizontal support portion, and the anti-dumping assembly includes a telescopic drive unit, guide units arranged on both sides of the telescopic drive unit, and a universal wheel connected to the moving end of the telescopic drive unit; the telescopic drive unit and the guide unit are both connected to the bottom of the horizontal support portion.

9. The automatic lifting and clamping turnover device according to claim 8 is characterized in that: The bracket is also provided with a visual infrared thermal imaging module, a radar obstacle avoidance module and a visual code scanning module which are electrically connected to the control unit. The visual infrared thermal imaging module is used to obtain an image model of the activity space and the shape data of the material to be transported.

10. The automatic lifting and clamping turnover device according to claim 9 is characterized in that: The bracket is also provided with a power module and an air compressor.

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