Tray carrying manipulator

Abstract

The utility model relates to the technical field of carrying equipment, in particular to a tray carrying manipulator which comprises a mounting plate, symmetrical first electric telescopic columns are fixedly mounted on the bottom face of the mounting plate, second electric telescopic columns are fixedly mounted at the ends of output shafts of the two first electric telescopic columns, the first electric telescopic columns are perpendicular to the mounting plate, and the second electric telescopic columns are perpendicular to the mounting plate. The second electric telescopic columns are parallel to the mounting plate, transverse plates are arranged at the ends of the two second electric telescopic columns correspondingly, side extending plates are slidably arranged at the two ends of the transverse plates correspondingly, upper extending plates are arranged on the upper sides and the lower sides of the transverse plates correspondingly, and connecting plates are slidably arranged on the two sides of the upper extending plates correspondingly. The bottoms of the two sets of connecting plates are slidably arranged on the top faces of the side extending plates correspondingly, first driving pieces used for driving the side extending plates and the connecting plates to get close to each other or get away from each other are arranged in the transverse plate, the tray carrying manipulator can adjust the size of the supporting plates according to the distance between trays, the applicability is high, and the practicability is high. And the carrying efficiency and the operation continuity are effectively improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of handling equipment, and in particular relates to a pallet handling manipulator. Background Art

[0002] Pallet handling robots use advanced mechanical structures, sensor technology and control systems to accurately identify, grab and move pallets. In industrial production, logistics warehousing and other scenarios, pallet handling robots can quickly and efficiently complete tasks such as transferring and stacking goods, improving work efficiency and operational accuracy, and reducing labor costs and labor intensity.

[0003] The existing pallet handling robot fixes and transports the pallet by inserting the pallet within the pallet spacing. This method makes the applicability of the robot extremely limited. It can only adapt to pallets with specific spacing. It is powerless when faced with large changes in the pallet spacing. During the handling process, the pallet may not fit tightly, affecting the handling efficiency and may even cause the handling to be interrupted. The continuity of the operation cannot be guaranteed, which reduces the overall work efficiency. Improvements are needed. To this end, a pallet handling robot is proposed. Utility Model Content

[0004] The purpose of the present invention is to provide a pallet handling robot to solve the problems raised in the above background technology.

[0005] In order to achieve the above-mentioned purpose, the utility model adopts the following technical scheme: a pallet handling robot, including a mounting plate, wherein a symmetrical electric telescopic column 1 is fixedly installed on the bottom surface of the mounting plate, and an electric telescopic column 2 is fixedly installed on the output shaft end of two groups of the electric telescopic column 1, the electric telescopic column 1 is perpendicular to the mounting plate, and the electric telescopic column 2 is parallel to the mounting plate, and a cross plate is provided at both ends of the two groups of the electric telescopic columns, and side extension plates are slidably provided at both ends of the cross plate, and upper extension plates are provided on the upper and lower sides of the cross plate, and connecting plates are slidably provided on both sides of the upper extension plate, and the bottoms of the two groups of connecting plates are respectively slidably provided on the top surfaces of the side extension plates, and a driving member 1 for driving the side extension plates and the connecting plates to approach or move away from each other is provided in the cross plate, and a driving member 2 for driving the upper extension plates and the connecting plates to approach or move away from each other is provided in the side extension plate, and a visual sensor is provided on the side of the cross plate away from the electric telescopic column.

[0006] Preferably, the driving member includes a double-headed motor fixedly installed in the horizontal plate, and a screw rod fixedly installed at both ends of the output shaft of the double-headed motor. The thread directions of the two groups of the screw rods are opposite, and the two groups of the screw rods are respectively threadedly connected to the side extension plates.

[0007] Preferably, the second driving member includes a double-headed motor 2 fixedly mounted in the side extension plate, and a screw rod 2 fixedly mounted at both ends of the output shaft of the double-headed motor 2. The thread directions of the two groups of the screw rods 2 are opposite, and the two groups of the screw rods 2 are respectively threadedly connected to the connecting plate.

[0008] Preferably, pads are laid on the sides of the upper extension plate and the connection plate away from the transverse plate, and the pads are made of rubber material.

[0009] Preferably, a mounting block is fixedly mounted on the end of the second output shaft of the electric telescopic column, a socket is formed on a side of the horizontal plate close to the mounting block, and the mounting block is snap-fitted into the socket.

[0010] Preferably, a controller is provided on the mounting plate, and the controller is electrically connected to the visual sensor, the double-headed motor 1, and the double-headed motor 2 respectively.

[0011] To sum up, compared with the existing technology, the beneficial effects of the present invention are: by setting the mounting plate, electric telescopic column 1, electric telescopic column 2, horizontal plate, side extension plate, upper extension plate, connecting plate, drive member 1, drive member 2, and the coordination between the visual sensor, the size of the pallet can be adjusted according to the pallet spacing, the applicability is strong, and the handling efficiency and operation continuity are effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional structural diagram of the utility model;

[0013] Figure 2 This is a structural diagram of the horizontal plate of the present utility model;

[0014] Figure 3 This is a side structural diagram of the horizontal plate of the present utility model;

[0015] Figure 4 This is a side sectional structural diagram of the horizontal plate of the present invention.

[0016] Legend:

[0017] 1. Mounting plate; 2. Electric telescopic column 1; 3. Electric telescopic column 2; 4. Horizontal plate; 5. Side extension plate; 6. Upper extension plate; 7. Connecting plate; 8. Driver 1; 81. Double-headed motor 1; 82. Screw 1; 9. Driver 2; 91. Double-headed motor 2; 92. Screw 2; 10. Vision sensor; 11. Mounting block; 12. Socket. DETAILED DESCRIPTION

[0018] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0019] See also Figure 1-4 , the utility model provides a technical solution:

[0020] A pallet handling manipulator comprises a mounting plate 1, a symmetrical electric telescopic column 2 is fixedly mounted on the bottom surface of the mounting plate 1, an electric telescopic column 2 3 is fixedly mounted on the end of the output shaft of two groups of the electric telescopic column 1, the electric telescopic column 2 is perpendicular to the mounting plate 1, the electric telescopic column 2 3 is parallel to the mounting plate 1, a transverse plate 4 is provided at the end of the two groups of the electric telescopic column 2 3, side extension plates 5 are slidably provided at both ends of the transverse plate 4, upper extension plates 6 are provided on the upper and lower sides of the transverse plate 4, connecting plates 7 are slidably provided on both sides of the upper extension plate 6, the bottoms of the two groups of connecting plates 7 are respectively slidably arranged on the top surfaces of the side extension plates 5, a driving member 8 for driving the side extension plates 5 and the connecting plates 7 to move closer to or away from each other is provided in the transverse plate 4, The side extension plate 5 is provided with a driving member 9 for driving the upper extension plate 6 and the connecting plate 7 to move closer to or away from each other. The horizontal plate 4 is provided with a visual sensor 10 on the side away from the electric telescopic column 2. The driving member 8 includes a double-headed motor 81 fixedly installed in the horizontal plate 4, and a screw rod 82 fixedly installed at both ends of the output shaft of the double-headed motor 81. The two groups of the screw rods 82 have opposite thread directions, and the two groups of the screw rods 82 are respectively threadedly connected to the side extension plate 5. The driving member 9 includes a double-headed motor 91 fixedly installed in the side extension plate 5, and a screw rod 92 fixedly installed at both ends of the output shaft of the double-headed motor 91. The two groups of the screw rods 92 have opposite thread directions, and the two groups of the screw rods 92 are respectively threadedly connected to the connecting plate 7.

[0021] When in use, the horizontal plate 4, the side extension plate 5, the upper extension plate 6 and the connecting plate 7 form a pallet as a whole. The mounting plate 1 serves as the fixed foundation of the entire manipulator. The electric telescopic column 1 2 installed thereon is perpendicular to the mounting plate 1. When the height of the pallet needs to be adjusted, the electric telescopic column 1 2 works, and its output shaft is extended and retracted to drive the electric telescopic column 2 3 connected thereto and the horizontal plate 4 below and other structures to move up and down. The electric telescopic column 2 3 is parallel to the mounting plate 1 and is used to adjust the position of the pallet in the horizontal direction. The electric telescopic column 1 2 is used in combination with the electric telescopic column 2 3 to drive the pallet to be inserted into the gap of the pallet to fix the pallet and then carry it.

[0022] The visual sensor 10 can detect the spacing between the pallets. After the detection is completed, the double-headed motor 81 in the horizontal plate 4 is started to work, and the screw rods 82 at both ends of its output shaft rotate. Since the two sets of screw rods 82 have opposite thread directions and are respectively threadedly connected to the side extension plates 5, they can drive the side extension plates 5 and the connecting plates 7 on both sides to move closer to or away from each other, thereby adjusting the horizontal length of the pallet. At the same time, when the double-headed motor 91 in the side extension plate 5 is working, the screw rods 92 at both ends of its output shaft rotate. Since the two sets of screw rods 92 have opposite thread directions and are respectively threadedly connected to the connecting plates 7, they can drive the upper extension plate 6 and the connecting plate 7 to move closer to or away from each other, thereby adjusting the longitudinal length of the pallet. In this way, the size of the pallet can be adjusted according to the pallet spacing, which has strong applicability and effectively improves the handling efficiency and operation continuity.

[0023] The upper extension plate 6 and the connecting plate 7 are both provided with pads on the side away from the horizontal plate 4, and the pads are made of rubber;

[0024] The rubber pads laid on the side of the upper extension plate 6 and the connecting plate 7 away from the horizontal plate 4 play a buffering and protective role during transportation. When the support plate contacts the pallet, the rubber pads can reduce collision and wear, protect the pallet and goods from damage, and at the same time increase friction and improve transportation stability.

[0025] The end of the output shaft of the electric telescopic column 2 3 is fixedly mounted with a mounting block 11, and the side of the horizontal plate 4 close to the mounting block 11 is provided with a socket 12, and the mounting block 11 is snap-fitted into the socket 12;

[0026] The entire tray can be easily disassembled and assembled for easy maintenance or replacement.

[0027] A controller is provided on the mounting plate 1, and the controller is electrically connected to the visual sensor 10, the double-headed motor 1 81, and the double-headed motor 2 91 respectively;

[0028] The controller provided on the mounting plate 1 is electrically connected to the visual sensor 10, the double-headed motor 1 81 and the double-headed motor 2 91 respectively. It is responsible for receiving the pallet spacing data transmitted by the visual sensor 10, then calculating the pallet size that needs to be adjusted, and controlling the operation of the double-headed motor 1 81 and the double-headed motor 2 91. This not only improves the intelligence level of the pallet handling robot, but also realizes the precise adjustment of the pallet size, effectively improving the handling efficiency and operation continuity.

[0029] Working principle:

[0030] When in use, the horizontal plate 4, the side extension plate 5, the upper extension plate 6 and the connecting plate 7 form a pallet as a whole. The mounting plate 1 serves as the fixed foundation of the entire manipulator. The electric telescopic column 1 2 installed thereon is perpendicular to the mounting plate 1. When the height of the pallet needs to be adjusted, the electric telescopic column 1 2 works, and its output shaft is extended and retracted to drive the electric telescopic column 2 3 connected thereto and the horizontal plate 4 below and other structures to move up and down. The electric telescopic column 2 3 is parallel to the mounting plate 1 and is used to adjust the position of the pallet in the horizontal direction. The electric telescopic column 1 2 is used in combination with the electric telescopic column 2 3 to drive the pallet to be inserted into the gap of the pallet to fix the pallet and then carry it.

[0031] The visual sensor 10 can detect the spacing between the pallets. After the detection is completed, the double-headed motor 81 in the horizontal plate 4 is started to work, and the screw rods 82 at both ends of its output shaft rotate. Since the two sets of screw rods 82 have opposite thread directions and are respectively threadedly connected to the side extension plates 5, they can drive the side extension plates 5 and the connecting plates 7 on both sides to move closer to or away from each other, thereby adjusting the horizontal length of the pallet. At the same time, when the double-headed motor 91 in the side extension plate 5 is working, the screw rods 92 at both ends of its output shaft rotate. Since the two sets of screw rods 92 have opposite thread directions and are respectively threadedly connected to the connecting plates 7, they can drive the upper extension plate 6 and the connecting plate 7 to move closer to or away from each other, thereby adjusting the longitudinal length of the pallet. In this way, the size of the pallet can be adjusted according to the pallet spacing, which has strong applicability and effectively improves the handling efficiency and operation continuity.

[0032] The rubber pads on the side of the upper extension plate 6 and the connecting plate 7 away from the horizontal plate 4 play a buffering and protective role during transportation. When the support plate contacts the pallet, the rubber pads can reduce collision and wear, protect the pallet and goods from damage, and increase friction to improve the stability of transportation.

[0033] The controller provided on the mounting plate 1 is electrically connected to the visual sensor 10, the double-headed motor 1 81 and the double-headed motor 2 91 respectively. It is responsible for receiving the pallet spacing data transmitted by the visual sensor 10, then calculating the pallet size that needs to be adjusted, and controlling the operation of the double-headed motor 1 81 and the double-headed motor 2 91. This not only improves the intelligence level of the pallet handling robot, but also realizes the precise adjustment of the pallet size, effectively improving the handling efficiency and operation continuity.

[0034] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the present invention can make equivalent replacements or changes based on the technical solution and utility model concept of the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A pallet handling robot, comprising a mounting plate (1), characterized in that: The bottom surface of the mounting plate (1) is fixedly mounted with symmetrical electric telescopic columns (2), and the ends of the output shafts of the two groups of electric telescopic columns (2) are fixedly mounted with electric telescopic columns (3). The electric telescopic columns (2) are perpendicular to the mounting plate (1), and the electric telescopic columns (3) are parallel to the mounting plate (1). The ends of the two groups of electric telescopic columns (3) are both provided with horizontal plates (4), and both ends of the horizontal plates (4) are slidably provided with side extension plates (5). Upper extension plates (6) are provided on the upper and lower sides of the horizontal plates (4). Connecting plates (7) are slidably provided on both sides of the upper extension plate (6), and the bottoms of the two groups of connecting plates (7) are slidably provided on the top surfaces of the side extension plates (5) respectively. A driving member (8) for driving the side extension plates (5) and the connecting plates (7) to move closer to or away from each other is provided in the transverse plate (4), and a driving member (9) for driving the upper extension plate (6) and the connecting plates (7) to move closer to or away from each other is provided in the side extension plate (5). A visual sensor (10) is provided on the side of the transverse plate (4) away from the electric telescopic column (2).

2. A pallet handling robot according to claim 1, characterized in that: The driving member (8) comprises a double-headed motor (81) fixedly mounted in the transverse plate (4), and a screw rod (82) fixedly mounted at both ends of the output shaft of the double-headed motor (81), the two groups of screw rods (82) having opposite thread directions, and the two groups of screw rods (82) are respectively threadedly connected to the side extension plate (5).

3. A pallet handling robot according to claim 1, characterized in that: The second driving member (9) comprises a second double-headed motor (91) fixedly mounted in the side extension plate (5), and a second screw rod (92) fixedly mounted at both ends of the output shaft of the second double-headed motor (91), the two groups of the second screw rod (92) having opposite thread directions, and the two groups of the second screw rod (92) are respectively threadedly connected to the connecting plate (7).

4. A pallet handling robot according to claim 1, characterized in that: The upper extension plate (6) and the connecting plate (7) are both provided with pads on the side away from the transverse plate (4), and the pads are made of rubber material.

5. The pallet handling robot according to claim 1, characterized in that: A mounting block (11) is fixedly mounted on the end of the output shaft of the second electric telescopic column (3); a socket (12) is provided on a side of the transverse plate (4) close to the mounting block (11); and the mounting block (11) is snap-fitted into the socket (12).

6. The pallet handling robot according to claim 1, characterized in that: A controller is provided on the mounting plate (1), and the controller is electrically connected to the visual sensor (10), the double-headed motor 1 (81), and the double-headed motor 2 (91) respectively.

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