Tray clamping manipulator with non-slip mat mounting function

Abstract

The utility model relates to the technical field of tray production, in particular to a tray clamping manipulator with a non-slip mat installation function, which comprises a rotating seat and a rotating arm, a grabbing clamp is arranged on the rotating arm, and the grabbing clamp comprises a fixed frame, an installation mechanism and a grabbing mechanism. The fixing frame comprises a first fixing plate fixedly arranged on the rotating seat, a second fixing plate arranged at the bottom end of the first fixing plate and a third fixing plate fixedly arranged with the second fixing plate, and the mounting mechanism comprises a rotating assembly and a mounting assembly which are rotationally arranged on the second fixing plate. The grabbing mechanism comprises a clamping jaw arranged on the third fixing plate and a grabbing air cylinder driving the clamping jaw to be opened and closed. According to the device, the functions of tray carrying and non-slip mat mounting can be achieved at the same time, the production cost can be reduced, and meanwhile the production efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of pallet production, and relates to a pallet clamping manipulator with an anti-slip pad installation function. Background Art

[0002] Pallets are often used in the process of loading logistics goods. The pallet mainly plays a role in supporting goods and facilitating the loading and unloading of goods by trailers or forklifts. The function of the pallet is relatively single, and the structure of the pallet is also relatively simple. Generally, it is a support plate with slots, and most of them are integrated structures, mainly injection molded parts. The manufacturing process is simple and the manufacturing cost is low.

[0003] In the actual use process of the pallet, in order to prevent the goods from sliding on the pallet, an anti-slip pad is often added to the pallet to increase the friction between the pallet and the goods. The existing method of adding the anti-slip pad mainly embeds the anti-slip pad into the pallet manually, which is time-consuming and laborious and greatly affects the production efficiency. Summary of the Utility Model

[0004] The utility model provides a pallet clamping manipulator with an anti-slip pad installation function to solve the problems of the prior art.

[0005] The purpose of the utility model can be achieved by the following technical solutions: A pallet clamping manipulator with an anti-slip pad installation function includes a rotating seat and a rotating arm arranged above the rotating seat. The rotating arm includes a first rotating arm, a second rotating arm and a third rotating arm. The first rotating arm is fixedly arranged on the rotating seat. The second rotating arm is rotationally connected to the first rotating arm through a rotating motor. One end of the second rotating arm far away from the first rotating arm is rotatably provided with a third rotating arm. One end of the third rotating arm far away from the second rotating arm is provided with a rotating seat. One side of the rotating seat far away from the third rotating arm is provided with a grasping fixture. The grasping fixture includes a fixed frame, an installation mechanism and a grasping mechanism. The fixed frame includes a first fixing plate fixedly arranged on the rotating seat, a second fixing plate arranged at the bottom end of the first fixing plate and a third fixing plate fixedly arranged with the second fixing plate. The installation mechanism includes a rotating component and an installation component rotationally arranged on the second fixing plate. The grasping mechanism includes a clamping jaw arranged on the third fixing plate and a grasping cylinder for driving the clamping jaw to open and close.

[0006] Further improvement, the rotating component includes an installation disk rotationally arranged at the lower end of the second fixing plate and an installation motor arranged at the upper end of the second fixing plate. The output end of the installation motor penetrates through the second fixing plate and is in transmission connection with the installation disk. A plurality of installation slots are arranged through the installation disk.

[0007] Further improvement: The installation component includes a sliding column, on which a pneumatic slider is slidably arranged. A push rod is arranged at the lower end of the pneumatic slider. An installation hole is penetrated through the upper end of the second fixing plate, and the installation hole and the push rod are correspondingly arranged.

[0008] Further improvement: The clamping jaw includes a fixed clamping jaw and a movable clamping jaw. The fixed clamping jaw is fixedly arranged at the lower end of the third fixing plate. A connecting rod is arranged at the end of the movable clamping jaw, and the connecting rod and the piston rod of the gripping cylinder are fixedly arranged.

[0009] Further improvement: A slide rail is arranged on the third fixing plate, and a linear bearing is arranged on the slide rail. The movable clamping jaw is arranged at the upper end of the linear bearing.

[0010] Further improvement: An anti-slip rubber pad is arranged on the clamping jaw.

[0011] Further improvement: A guiding component is arranged on the second fixing plate. The guiding component includes a mounting rod fixedly arranged on the second fixing plate. A guiding sleeve is arranged at the lower end of the mounting rod, and the guiding sleeve is arranged at the lower end of the mounting groove hole.

[0012] Further improvement: The push rod, the installation hole and the guiding sleeve are concentrically arranged on the projection plane.

[0013] Compared with the prior art, the utility model has the following beneficial effects:

[0014] 1. During the actual use of the utility model, first, the rotating arm drives the gripping fixture to the external feeding mechanism, and the feeding mechanism squeezes the anti-slip pad into the rotating component of the gripping fixture. Secondly, the rotating arm moves the gripping fixture above the tray. According to the established program, the anti-slip pad is sequentially installed in the anti-slip grooves arranged on the surface of the tray through the installation mechanism. After the installation is completed, the tray is transported to the stacking point by the clamping jaw, and the automatic installation of the anti-slip pad is realized through the gripping fixture, replacing the traditional manual installation, improving the automation degree of the equipment. At the same time, the installation mechanism is integrated on the robot arm, enabling one device to simultaneously meet the functions of tray handling and anti-slip pad installation, reducing production costs and improving production efficiency.

[0015] 2. Through the cooperative setting of the slide rail and the linear bearing, the movable clamping jaw is more stable during the moving process in the utility model.

[0016] 3. The anti-slip rubber pad is arranged on the clamping jaw in the utility model, and the friction between the clamping jaw and the tray is increased through the anti-slip rubber pad to prevent the tray from moving during the transportation process.

[0017] 4. During the installation process of the anti-slip pad in the utility model, the guiding is realized through the guiding sleeve, improving the installation accuracy of the anti-slip pad. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural view of the present utility model;

[0019] Figure 2 is a top view of the present utility model;

[0020] Figure 3 is a schematic structural view of the grasping fixture of the present utility model;

[0021] Figure 4 is a schematic structural view of the grasping fixture of the present utility model from another perspective;

[0022] Figure 5 for the present utility model Figure 4 is an enlarged view of the partial area A;

[0023] Figure 6 is a schematic partial structure view of the grasping fixture of the present utility model.

[0024] In the figure, 1, rotating seat; 2, rotating arm; 21, first rotating arm; 22, second rotating arm; 23, third rotating arm; 231, rotating base; 3, grasping fixture; 31, fixed frame; 311, first fixing plate; 312, second fixing plate; 3121, mounting hole; 313, third fixing plate; 3131, slide rail; 3132, linear bearing; 32, mounting mechanism; 321, rotating component; 3211, mounting disc; 32111, mounting slot hole; 3212, mounting motor; 232, mounting component; 3221, sliding column; 3222, pneumatic slider; 32221, push rod; 33, grasping mechanism; 331, clamping jaw; 3311, fixed clamping jaw; 3312, movable clamping jaw; 33121, connecting rod; 332, grasping cylinder; 41, anti-slip rubber pad; 5, guiding component; 51, mounting rod; 52, guiding sleeve. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is 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 to the present utility model.

[0026] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", and "coupling" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0027] The following combines the embodiments and the attached Figures 1 to 6 , to further elaborate on the technical solution of the present utility model.

[0028] Embodiment 1

[0029] A pallet gripping manipulator with an anti-slip mat installation function includes a rotating base 1 and a rotating arm 2 disposed above the rotating base 1. The rotating arm 2 includes a first rotating arm 21, a second rotating arm 22, and a third rotating arm 23. The first rotating arm 21 is fixedly disposed on the rotating base 1. The second rotating arm 22 is rotatably connected to the first rotating arm 21 through a rotating motor. A third rotating arm 23 is rotatably disposed at one end of the second rotating arm 22 away from the first rotating arm 21. A rotating seat 231 is disposed at one end of the third rotating arm 23 away from the second rotating arm 22. A gripping fixture 3 is disposed on one side of the rotating seat 231 away from the third rotating arm 23. The gripping fixture 3 includes a fixed frame 31, an installation mechanism 32, and a gripping mechanism 33. The fixed frame 31 includes a first fixing plate 311 fixedly disposed on the rotating seat 231, a second fixing plate 312 disposed at the bottom end of the first fixing plate 311, and a third fixing plate 313 fixedly disposed with the second fixing plate 312. The installation mechanism 32 includes a rotating component 321 rotatably disposed on the second fixing plate 312 and an installation component 322. The gripping mechanism 33 includes a jaw 331 disposed on the third fixing plate 313 and a gripping cylinder 332 for driving the jaw 331 to open and close.

[0030] As Figures 1 to 6 shown, in the actual use process of the present utility model, first, the rotating arm 2 drives the gripping fixture 3 to an external feeding mechanism, and the anti-slip mat is squeezed into the rotating component 321 of the gripping fixture 3 through the feeding mechanism. Secondly, the rotating arm 2 moves the gripping fixture 3 above the pallet. According to the established program, the anti-slip mat is sequentially installed in the anti-slip groove provided on the surface of the pallet through the installation mechanism 32. After the installation is completed, the pallet is transported to the stacking point through the jaw 331, and the automatic installation of the anti-slip mat is realized through the gripping fixture 3, replacing the traditional manual installation, improving the automation degree of the equipment. At the same time, the installation mechanism is integrated on the manipulator, enabling one device to simultaneously satisfy the functions of pallet handling and anti-slip mat installation, reducing production costs while improving production efficiency.

[0031] As a further preferred embodiment, the rotating assembly 321 includes a mounting disc 3211 rotatably arranged at the lower end of the second fixing plate 312 and a mounting motor 3212 arranged at the upper end of the second fixing plate 312. The output end of the mounting motor 3212 penetrates through the second fixing plate 312 and is drivingly arranged with the mounting disc 3211. A plurality of mounting slots 32111 are formed through the mounting disc 3211. The mounting assembly 322 includes a sliding column 3221. A pneumatic slider 3222 is slidably arranged on the sliding column 3221. A push rod 32221 is arranged at the lower end of the pneumatic slider 3222. A mounting hole 3121 is formed through the upper end of the second fixing plate 312. The mounting hole 3121 and the push rod 32221 are arranged corresponding to each other.

[0032] Specifically, as Figure 3 , 4 and Figure 6 show, during the process of installing the anti-slip mat, first, the rotating arm 2 moves the grasping fixture 3 to above one of the tray anti-slip mat installation slots through a pre-set program. The pneumatic slider 3222 is driven by an external air source to move up and down on the sliding column 3221. During the downward movement of the moving slider 3222, the push rod 32221 is driven to move through the mounting hole 3121 into the mounting slot 32111 of the mounting disc 3211. The anti-slip mat in the mounting slot 32111 is pushed into the anti-slip groove of the tray by the push rod 32221. After the installation of a single anti-slip mat is completed, the pneumatic slider 3222 moves upward to drive the synchronous push rod 32221 to move upward. The mounting motor 3212 drives the mounting disc 3211 to rotate, and the other mounting slot 32111 with the anti-slip mat installed is rotated to the lower end of the mounting hole 3121. At the same time, the rotating arm 2 moves the grasping fixture 3 to above another tray anti-slip mat installation slot through a pre-set program. This process is repeated until all the anti-slip mats are installed.

[0033] As a further preferred embodiment, the clamping jaw 331 includes a fixed clamping jaw 3311 and a movable clamping jaw 3312. The fixed clamping jaw 3311 is fixedly arranged at the lower end of the third fixing plate 313. A connecting rod 33121 is arranged at the end of the movable clamping jaw 3312. The connecting rod 33121 and the piston rod of the grasping cylinder 332 are fixedly arranged.

[0034] Specifically, as Figures 3 to 4 shown in Figure 5, when clamping the tray, the rotating arm 2 moves the clamping jaw 331 to the side of the tray. The piston rod of the grasping cylinder 332 moves downward, synchronously driving the movable clamping jaw 3312 to move downward, so that the fixed clamping jaw 3311 and the movable clamping jaw 3312 fix the upper and lower sides of the tray to complete the clamping. Then, the tray is transported to the stacking point through the rotating arm 2. Through the cooperation of the rotating arm 2 and the grasping mechanism 33, the automatic transportation of the tray is realized, the automation degree of the equipment is improved, and the production efficiency is increased.

[0035] As a further preferred embodiment, a slide rail 3131 is provided on the third fixed plate 313, a linear bearing 3132 is provided on the slide rail 3131, and the moving jaw 3312 is arranged at the upper end of the linear bearing 3132.

[0036] Specifically, as Figure 5 shown, through the cooperative setting of the slide rail 3131 and the linear bearing 3132, the moving jaw 3312 is more stable during the moving process.

[0037] As a further preferred embodiment, an anti-slip rubber pad 41 is provided on the jaw 331. The friction between the jaw 331 and the tray is increased through the anti-slip rubber pad 41 to prevent the tray from moving during the transfer process.

[0038] As a further preferred embodiment, a guiding assembly 5 is provided on the second fixed plate 312. The guiding assembly 5 includes a mounting rod 51 fixedly arranged on the second fixed plate 312. A guiding sleeve 52 is arranged at the lower end of the mounting rod 51, and the guiding sleeve 52 is arranged at the lower end of the mounting groove hole 32111.

[0039] Specifically, as Figure 3 shown, during the process of installing the anti-slip pad, guiding is achieved through the guiding sleeve 52 to improve the installation accuracy of the anti-slip pad.

[0040] As a further preferred embodiment, the push rod 32221, the mounting hole 3121, and the guiding sleeve 52 are concentrically arranged on the projection plane.

[0041] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative work. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention based on the concept of the present invention through logical analysis, reasoning, or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A pallet gripping manipulator with an anti-slip mat installation function, comprising a rotating base (1) and a rotating arm (2) arranged above the rotating base (1). The rotating arm (2) includes a first rotating arm (21), a second rotating arm (22), and a third rotating arm (23). The first rotating arm (21) is fixedly arranged on the rotating base (1). The second rotating arm (22) is rotationally connected to the first rotating arm (21) through a rotating motor. One end of the second rotating arm (22) away from the first rotating arm (21) is rotatably provided with a third rotating arm (23). One end of the third rotating arm (23) away from the second rotating arm (22) is provided with a rotating seat (231), characterized in that, On one side of the rotating base (231) away from the third rotating arm (23), a grasping fixture (3) is provided. The grasping fixture (3) includes a fixed frame (31), an installation mechanism (32), and a grasping mechanism (33). The fixed frame (31) includes a first fixed plate (311) fixedly arranged on the rotating base (231), a second fixed plate (312) arranged at the bottom end of the first fixed plate (311), and a third fixed plate (313) fixedly arranged with the second fixed plate (312). The installation mechanism (32) includes a rotating component (321) rotatably arranged on the second fixed plate (312) and an installation component (322). The grasping mechanism (33) includes a clamping jaw (331) arranged on the third fixed plate (313) and a grasping cylinder (332) for driving the clamping jaw (331) to open and close.

2. The tray gripping manipulator with an anti-slip pad mounting function according to claim 1, characterized in that, The rotating component (321) includes an installation disk (3211) rotatably arranged at the lower end of the second fixed plate (312) and an installation motor (3212) arranged at the upper end of the second fixed plate (312). The output end of the installation motor (3212) penetrates through the second fixed plate (312) and is in transmission connection with the installation disk (3211). A plurality of installation slot holes (32111) are arranged through the installation disk (3211).

3. The tray gripping manipulator with an anti-slip pad mounting function according to claim 2, characterized in that, The installation component (322) includes a sliding column (3221). A pneumatic slider (3222) is slidably arranged on the sliding column (3221). A push rod (32221) is arranged at the lower end of the pneumatic slider (3222). An installation hole (3121) is arranged through the upper end of the second fixed plate (312). The installation hole (3121) and the push rod (32221) are arranged correspondingly.

4. A pallet gripping manipulator with an anti-slip pad installation function according to claim 1, characterized in that, The clamping jaw (331) includes a fixed clamping jaw (3311) and a movable clamping jaw (33×12). The fixed clamping jaw (3311) is fixedly arranged at the lower end of the third fixed plate (313). A connecting rod (33121) is arranged at the end of the movable clamping jaw (3312). The connecting rod (33121) is fixedly arranged with the piston rod of the grasping cylinder (332).

5. A pallet gripping manipulator with an anti-slip pad mounting function according to claim 4, characterized in that, A slide rail (3131) is arranged on the third fixed plate (313). A linear bearing (3132) is arranged on the slide rail (3131). The movable clamping jaw (3312) is arranged at the upper end of the linear bearing (3132).

6. The pallet gripping manipulator with an anti-slip pad mounting function according to claim 1, characterized in that, An anti-slip rubber pad (41) is arranged on the clamping jaw (331).

7. A pallet gripping manipulator with an anti-slip pad mounting function according to claim 3, characterized in that, A guiding component (5) is arranged on the second fixed plate (312). The guiding component (5) includes an installation rod (51) fixedly arranged on the second fixed plate (312). A guiding sleeve (52) is arranged at the lower end of the installation rod (51). The guiding sleeve (52) is arranged at the lower end of the installation slot hole (32111).

8. A pallet gripping manipulator with an anti-slip pad mounting function according to claim 7, characterized in that, The push rod (32221), the installation hole (3121), and the guiding sleeve (52) are concentrically arranged on the projection plane.

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