Turnover basket taking and placing device

Abstract

The utility model discloses a turnover basket taking and placing device. The device comprises a lifting mechanism, a position judging mechanism and a grabbing mechanism, the lifting mechanism comprises a lifting air cylinder mounting plate used for fixing the device, a lifting air cylinder fixed to the upper portion of the lifting air cylinder mounting plate, and a clamping jaw mounting plate slidably mounted below the lifting air cylinder mounting plate through a guide rod; the tail end of a lifting piston rod of the lifting cylinder is connected with the clamping jaw mounting plate to drive the clamping jaw mounting plate to move up and down; the grabbing mechanism is fixed below the clamping jaw mounting plate, and the grabbing mechanism comprises a pneumatic claw assembly capable of being opened and closed transversely and longitudinally so as to grab a turnover basket; the position judgment mechanism comprises a sensor assembly installed above the clamping jaw installation plate, an anti-rotation telescopic triggering assembly fixed below the clamping jaw installation plate, and a contact block installed at the lower end of a telescopic rod of the anti-rotation telescopic triggering assembly. And automatic position judgment, self-centering and automatic grabbing of the turnover baskets can be achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of handling equipment, in particular to a turnover basket taking and placing device. Background Art

[0002] During the manufacturing process, workpieces must be placed in a single turnover basket. The basket is then placed on a transport vehicle, such as a floor truck. Once the basket reaches a certain height, it is moved to the next process. From there, it is unloaded using a pneumatic balancer or manual transport. In some scenarios, such as cleaning, the baskets must be placed on the loading platform using a pneumatic balancer or manual transport before and after cleaning, and then moved from the unloading platform to the floor truck. Retrieving and placing each basket requires manual operation, such as using a pneumatic balancer or lifting. This is inefficient, labor-intensive, and poses safety risks.

[0003] Based on the above-mentioned shortcomings in the process of picking and placing turnover baskets, equipment for automatically transporting turnover baskets began to be used. For example, the Chinese utility model patent with the announcement number CN 214140532 U discloses an automatic fuel tank transport device, in which a parallel pneumatic gripper cylinder is electrically connected to an external power supply. After the power is turned on, the parallel pneumatic gripper cylinder controls multiple pneumatic telescopic rods to simultaneously retract in a direction of approaching each other, thereby driving four claws to simultaneously move in a direction of approaching each other on the circumferential surface of two fixed rods, and then the two clamps will clamp the fuel tank. When the parallel pneumatic gripper cylinder controls multiple pneumatic telescopic rods to simultaneously extend in a direction of moving away from each other, the two clamps will loosen the fastening of the fuel tank, and then the fuel tank can be placed. Utility Model Content

[0004] The applicant has found that the existing automatic handling device requires manual control to move it to the height position of the object to be grasped, and then control the parallel air gripper cylinder to pick up and place the object to be grasped after the power is turned on. It is unable to automatically determine the height position of the object to be grasped, and therefore, cannot accurately control the air gripper for precise and effective grasping.

[0005] In view of the above problems, the present application is proposed to provide a turnover basket picking and placing device that overcomes the above problems or at least partially solves the above problems.

[0006] The embodiment of the utility model provides a turnover basket picking and placing device, comprising: a lifting mechanism, a position determination mechanism, and a grasping mechanism;

[0007] The lifting mechanism includes a lifting cylinder mounting plate for fixing the device, a lifting cylinder fixed above the lifting cylinder mounting plate, and a clamping claw mounting plate slidably mounted below the lifting cylinder mounting plate through a guide rod. The end of the lifting piston rod of the lifting cylinder is connected to the clamping claw mounting plate to drive it to move up and down.

[0008] The grabbing mechanism is fixed below the clamp mounting plate, and includes an air gripper assembly that can be opened and closed laterally and an air gripper assembly that can be opened and closed longitudinally to grab the turnover basket;

[0009] The position determination mechanism includes a sensor assembly installed above the clamp mounting plate, an anti-rotation telescopic trigger assembly fixed below the clamp mounting plate, and a contact block installed at the lower end of the telescopic rod of the anti-rotation telescopic trigger assembly. After the contact block contacts the turnover basket, the telescopic rod is pushed to move upward. After the sensor assembly detects that the upper end of the telescopic rod has moved upward to a specified position, it sends a positioning signal to the lifting mechanism.

[0010] In some optional embodiments, the sensor assembly includes a mounting bracket fixed to the jaw mounting plate, and at least one sensor mounted on the mounting bracket;

[0011] When the sensors are not unique, they are located at different positions of the position determination mechanism.

[0012] In some optional embodiments, the anti-rotation telescopic trigger assembly includes a fixed block, a telescopic rod, a spring, and at least two anti-rotation sleeves;

[0013] The fixing block is fixed below the clamping jaw mounting plate, and the fixing block has a stepped through hole, wherein the stepped through hole includes an upper through hole and a lower through hole, and the diameter of the upper through hole is larger than the diameter of the lower through hole; the second columnar rod includes two parallel vertical sections;

[0014] The telescopic rod is arranged in the stepped through hole of the fixed block. The telescopic rod is a stepped shaft structure, including a first columnar rod and a second columnar rod. The diameter of the first columnar rod is larger than the diameter of the second columnar rod.

[0015] The spring is nested on the telescopic rod, with one end abutting against the contact block and the other end abutting against the fixed block;

[0016] The anti-rotation sleeve is installed in the lower through hole of the fixed block, and the anti-rotation sleeve has a waist slot hole to match with the two parallel vertical sections of the second columnar rod.

[0017] In some optional embodiments, the sensor includes a first sensor and a second sensor, and the first cylindrical rod includes two vertical sections, wherein the first sensor corresponds to the first vertical section of the first cylindrical rod, and the second sensor corresponds to the second vertical section of the first cylindrical rod.

[0018] In some optional embodiments, the lifting mechanism further includes a floating joint, which is fixed to the end of the lifting piston rod of the lifting cylinder and connected to the clamp mounting plate.

[0019] In some optional embodiments, the air gripper assembly includes a gripper cylinder fixed below a gripper mounting plate, a connecting block fixedly connected to the telescopic piston rods on both sides of the gripper cylinder, and a hook mounted on the connecting block.

[0020] In some optional embodiments, the gripping mechanism further includes a gripper control valve connected to an air circuit of the gripper cylinder;

[0021] The gripper control valve is used to control the action of the gripper cylinder based on the gripper control signal.

[0022] In some optional embodiments, the gripping mechanism further includes an electrical proportional valve connected to the air circuit of the gripper cylinder;

[0023] The electric proportional valve is used to realize stepless control of air pressure through electric proportional signals in different actions, thereby providing different pressures for the cylinder.

[0024] In some optional embodiments, the lifting mechanism further includes a lifting control valve connected to the air circuit of the lifting cylinder, wherein the lifting control valve is used to control the movement of the lifting cylinder based on a lifting control signal, wherein the lifting control signal includes at least one of a lifting signal and an in-position signal.

[0025] In some optional embodiments, the air gripper assembly that can be opened and closed laterally and the air gripper assembly that can be opened and closed longitudinally use magnetic switches to determine the operating status of the air gripper assembly and the grasping status of the turnover basket.

[0026] The beneficial effects of the above technical solutions provided by the embodiments of the present application include at least: the turnover basket picking and placing device provided by the present invention includes a lifting mechanism, a position determination mechanism and a grasping mechanism. Under the action of the downward push of the piston rod of the lifting cylinder, the telescopic rod of the position determination mechanism is pushed and moves upward after the contact block contacts the turnover basket. After the sensor component detects that the upper end of the telescopic rod moves upward to the specified position, it sends an in-position signal to the lifting mechanism, and the lifting mechanism controls the piston rod of the lifting cylinder to stop the descending action; after the descending action stops, the sensor component sends an in-position signal to the grasping mechanism to control the air gripper component that can be opened and closed laterally and the air gripper component that can be opened and closed longitudinally to grasp the turnover basket, and the different signal combinations of the magnetic switches of the sensor component and the air gripper component are used to realize the judgment of the grasping state of the turnover basket.

[0027] Under the premise that the turnover baskets have different shapes and different ground vehicle heights, the device can accurately determine the height of the turnover basket being grasped, achieve accurate and effective grasping, and avoid grasping failure caused by inconsistency between the clamp height and the turnover basket height. The device realizes automatic position determination, self-centering, and automatic grasping of the turnover basket, making the entire grasping process more automated; at the same time, the device has a simple structure and strong practicality, reduces the labor intensity of the operator, and avoids possible safety hazards in the previous manual operation links.

[0028] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purposes and other advantages of the present application can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings.

[0029] The technical solution of the present application is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The accompanying drawings are used to provide a further understanding of the present application and constitute a part of the specification. Together with the embodiments of the present application, they are used to explain the present application and do not constitute a limitation of the present application. In the accompanying drawings:

[0031] Figure 1 This is a schematic structural diagram of a turnover basket taking and placing device in an embodiment of the present utility model;

[0032] Figure 2 This is a detailed schematic diagram of the turnover basket taking and placing device in an embodiment of the present utility model;

[0033] Figure 3 This is a structural diagram of the lifting mechanism in an embodiment of the present utility model;

[0034] Figure 4 This is a three-dimensional diagram of the lifting mechanism in the embodiment of the utility model;

[0035] Figure 5 This is a structural diagram of a position determination mechanism in an embodiment of the present utility model;

[0036] Figure 6 This is a schematic structural diagram of the anti-rotation telescopic trigger assembly in an embodiment of the present utility model;

[0037] Figure 7 This is a structural diagram of the grabbing mechanism in an embodiment of the present utility model;

[0038] Figure 8 Schematic diagram of the detailed structure of the grabbing mechanism in the embodiment of the present utility model.

[0039] Description of reference numerals:

[0040] 10. Lifting mechanism; 20. Position determination mechanism; 30. Grasping mechanism;

[0041] 11. Lifting cylinder mounting plate; 12. Lifting cylinder; 13. Guide rod; 14. Gripper mounting plate; 15. Floating joint;

[0042] 21. Sensor assembly; 22. Anti-rotation telescopic trigger assembly; 23. Contact block;

[0043] 2101, mounting frame; 2102, first sensor; 2103, second sensor;

[0044] 2201, fixed block; 2202, telescopic rod; 2203, spring; 2204, anti-rotation sleeve;

[0045] 31. Air gripper assembly that can be opened and closed horizontally; 32. Air gripper assembly that can be opened and closed vertically;

[0046] 3101, horizontal clamping jaw cylinder; 3102, first connecting block; 3103, first hook;

[0047] 3201, longitudinal clamping claw cylinder; 3202, second connecting block; 3203, second hook claw. DETAILED DESCRIPTION

[0048] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the present disclosure to those skilled in the art.

[0049] In the description of this application, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate the description of this application and simplify the description. They do not indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0050] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal connections between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on the specific circumstances.

[0051] In order to solve the problem in the prior art that the existing handling device cannot automatically identify the position of the turnover basket to be grabbed, the embodiment of the present application provides a turnover basket picking and placing device that can automatically achieve precise positioning of the turnover basket, has a simple structure and strong versatility.

[0052] The present invention provides a turnover basket taking and placing device, the structural diagram of which is shown in FIG. Figure 1 、 Figure 2 As shown, Figure 1 The overall structural diagram of the device is shown in FIG. Figure 2 Detailed structural diagram of the device; The turnover basket pick-and-place device includes: a lifting mechanism 10, a position determination mechanism 20, and a gripping mechanism 30;

[0053] The lifting mechanism 10 includes a lifting cylinder mounting plate 11 for fixing the device, a lifting cylinder 12 fixed above the lifting cylinder mounting plate 11, and a clamping claw mounting plate 14 slidably mounted below the lifting cylinder mounting plate 11 via a guide rod 13. The end of the lifting piston rod of the lifting cylinder 12 is connected to the clamping claw mounting plate 14 to drive it to move up and down.

[0054] The position determination mechanism 20 includes a sensor assembly 21 mounted above the clamping jaw mounting plate 14, an anti-rotation telescopic trigger assembly 22 fixed below the clamping jaw mounting plate 14, and a contact block 23 mounted at the lower end of the telescopic rod of the anti-rotation telescopic trigger assembly 22. The telescopic rod is pushed upward when the contact block 23 contacts the turnover basket and resets when it no longer contacts the turnover basket. When the sensor assembly 21 detects that the upper end of the telescopic rod has moved upward to a specified position, it sends a position signal to the lifting mechanism 10.

[0055] The grabbing mechanism 30 is fixed below the clamp mounting plate 14 . The grabbing mechanism 30 includes an air gripper assembly 31 that can be opened and closed laterally and an air gripper assembly 32 that can be opened and closed longitudinally to grab the turnover basket.

[0056] In some optional embodiments, the structure of the lifting mechanism is as follows Figure 3 、 Figure 4 As shown, Figure 3 It is the structural diagram of the lifting mechanism. Figure 4It is a three-dimensional diagram of the lifting mechanism. When the turnover basket is being picked up and placed, the lifting cylinder mounting plate 11 is fixed on the material cart so that the turnover basket picking and placing device is placed above the turnover basket to be picked up and placed. Under the action of the lifting cylinder 12, the guide rod 13 and the clamping claw mounting plate 14 are driven to move up and down along with the piston rod of the lifting cylinder 12; the guide rod 13 passes through the lifting cylinder mounting plate 11 and is connected to the clamping claw mounting plate 14. Through the guiding action of the guide rod, the clamping claw mounting plate remains horizontal during the up and down movement without tilting. Two guide rods 13 can be set, and optionally 3, 4 or more can also be set. When 2 are set, they can be set symmetrically relative to the cylinder. When multiple are set, they can be set in a circle with the axis of the cylinder as the center; of course, they can also be set in other ways, as long as the guide rods can slide smoothly in the mounting holes of the lifting cylinder mounting plate 11.

[0057] The lifting mechanism also includes a floating joint 15, which is fixed to the end of the lifting cylinder piston rod of the lifting cylinder 12 and connected to the clamp mounting plate 14. Because the turnover basket pick-up and placement device is heavy after gripping the turnover basket, it will shake during up and down movement. The floating joint 15 is used to absorb the eccentricity and deflection between the lifting cylinder 12 and the clamp mounting plate 14, ensuring a stable connection between the two and reducing the mechanical stress caused by eccentricity or deflection. This makes the lifting cylinder 12 move more smoothly during the up and down process, reduces the mechanical stress caused by insufficient coaxiality or parallelism, and extends the service life of the lifting cylinder 12.

[0058] The lifting mechanism 10 also includes a lifting control valve connected to the air circuit of the lifting cylinder 12, and the lifting control valve is used to control the movement of the lifting cylinder based on the lifting control signal, and the lifting control signal includes at least one of a lifting signal and an in-position signal. The lifting and lowering movement of the lifting cylinder is controlled based on the lifting signal, and the lifting and lowering movement of the lifting cylinder is controlled to be temporarily stopped based on the in-position signal. Optionally, the lifting control valve adopts a three-position two-way center-sealed valve, which is used when the signal is interrupted and the valve core is in the middle position, so that the lifting and lowering movement of the lifting cylinder 12 can be temporarily stopped instead of depressurizing and descending. At the same time, due to the large weight of the device, the ability of the lifting control valve to stop the lifting cylinder 12 from rising and falling is limited. The lifting cylinder 12 selects a lifting cylinder with a locking function to ensure that the lifting cylinder 12 is mechanically locked and protected under abnormal conditions to prevent it from falling.

[0059] In some optional embodiments, the structural diagram of the position determination mechanism 20 is as follows: Figure 5As shown. The sensor assembly 21 includes a mounting frame 2101 fixed to the clamp mounting plate 14 and at least one sensor mounted on the mounting frame 2101. When there is more than one sensor, they are located at different positions of the position determination mechanism 20. In order to prevent the situation where there is only one sensor in the sensor assembly 21 and the sensor is damaged, the anti-rotation telescopic trigger assembly 22 cannot detect the position signal sent to the lifting mechanism 10 after the telescopic rod is extended to the specified position, sensors are installed at different positions of the position determination mechanism 20. Optionally, if two sensors are installed, the first sensor 2102 and the second sensor 2103 are in a vertical direction. One mounting frame 2101 can be provided to install two sensors, or two mounting frames 2101 can be provided to install one sensor each.

[0060] The structural diagram of the anti-rotation telescopic trigger component 22 is as follows Figure 6 As shown, it includes a fixed block 2201, a telescopic rod 2202 and a spring 2203; the fixed block 2201 is fixed below the clamp mounting plate 14, and the fixed block 2201 has a stepped through hole, which includes an upper through hole and a lower through hole, and the diameter of the upper through hole is larger than the diameter of the lower through hole; the telescopic rod 2202 is arranged in the stepped through hole of the fixed block 2201, and the telescopic rod 2202 is a stepped shaft structure, including a first columnar rod and a second columnar rod, and the diameter of the first columnar rod is larger than the diameter of the second columnar rod; the spring 2203 is nested on the telescopic rod, one end of which abuts against the contact block 23, and the other end abuts against the fixed block 2201.

[0061] The anti-rotation telescopic trigger assembly 22 is used to prevent the telescopic rod 2202 from rotating when it moves upward under external force, so that the sensor assembly 21 can accurately detect the position of the telescopic rod. Figure 6 As shown, the telescopic rod 2202 includes a first upper cylindrical rod and a second lower cylindrical rod, wherein the second cylindrical rod includes two parallel vertical sections. The first cylindrical rod includes a first vertical section and a second vertical section. Accordingly, the first sensor 2102 corresponds to the first vertical section of the first cylindrical rod, and the second sensor 2103 corresponds to the second vertical section of the first cylindrical rod. The vertical sections can make the sensor trigger point more stable, and the position and height of the cylindrical rod can be detected more accurately. The position and height of the cylindrical rod can be used to determine the position and height of the turnover basket.

[0062] The anti-rotation telescopic trigger assembly 22 also includes at least two anti-rotation sleeves 2204, which are installed in the lower through hole of the fixed block 2201, and the anti-rotation sleeves 2204 have waist groove holes; the waist groove holes match the two parallel vertical sections of the second columnar rod to prevent the telescopic rod from rotating during the upward movement.

[0063] When the turnover basket is grabbed, the telescopic rod 2202 moves downward under the action of gravity to reset, preparing for the next descent to position the turnover basket. In order to avoid the possible jamming caused by relying solely on the weight of the telescopic rod 2202 to descend, a spring is provided. Under the action of spring 2203, the telescopic rod 2202 can reset more smoothly.

[0064] The structural diagram of the grabbing mechanism is as follows: Figure 7 As shown, the detailed structural diagram of the gripping mechanism is as follows Figure 8 As shown, it includes an air gripper assembly 31 that can be opened and closed laterally and an air gripper assembly 32 that can be opened and closed longitudinally, wherein the air gripper assembly includes a gripper cylinder fixed under a gripper mounting plate, a connecting block fixedly connected to the telescopic piston rods on both sides of the gripper cylinder, and a hook mounted on the connecting block.

[0065] In this embodiment, Figure 7 、 Figure 8 As shown, the horizontally openable and closable air gripper assembly 31 includes a horizontal gripper cylinder 3101 fixed below the gripper mounting plate 14, a first connecting block 3102 fixedly connected to the telescopic piston rods on either side of the horizontal gripper cylinder, and a first hook 3103 mounted on the connecting block. The vertically openable and closable air gripper assembly 32 includes a vertical gripper cylinder 3201 fixed below the gripper mounting plate 14, a second connecting block 3202 fixedly connected to the telescopic piston rods on either side of the longitudinal gripper cylinder, and a second hook 3203 mounted on the connecting block. Optionally, the length of the first hook 3103 is greater than that of the second hook 3203. In actual application, the horizontal gripper cylinder 3101 is the main clamping cylinder, used to clamp the turnover basket; the vertical gripper cylinder 3201 is a positioning cylinder, used to assist in positioning the turnover basket and does not participate in the actual lifting. The functions of the horizontal gripper cylinder 3101 and the vertical gripper cylinder 3201 can be adjusted according to the actual application.

[0066] The air gripper assembly 31 that can be opened and closed laterally and the air gripper assembly 32 that can be opened and closed longitudinally are both controlled based on magnetic switches. Optionally, the magnetic switch is a three-magnetic switch, which are an open end magnetic switch, a turnover basket clamping judgment magnetic switch and an air gripper closing end abnormality judgment magnetic switch. They are used to realize the judgment of the action status of the air gripper assembly and the grasping status of the turnover basket. The signal combination of the magnetic switches automatically judges whether the basket clamping action is normal, to prevent the air gripper assembly from closing directly due to failure to clamp the turnover basket and affecting subsequent actions.

[0067] Optionally, the gripping mechanism 30 also includes an electrical proportional valve and a gripper control valve connected to the air circuit of the gripper cylinder; the gripper control valve is used to control the gripper cylinder's motion based on the gripper control signal; the electrical proportional valve is used to achieve stepless control of the air pressure through the electrical proportional signal for different actions, thereby providing different pressures to the cylinder. Specifically, when unloading requires high positioning accuracy for the turnover basket layer, the electrical proportional valve is first used to provide a higher air pressure to grasp the turnover basket, allowing the horizontally openable and closable gripper assembly 31 and the vertically openable and closable gripper assembly 32 to correct the turnover basket and then open it. The air pressure is then switched to a lower level, and the turnover basket is grasped under the action of the gripper cylinder.

[0068] The principle of realizing the grabbing and placing of turnover baskets based on the above turnover basket picking and placing device is as follows:

[0069] 1) The lifting cylinder mounting plate 11 is placed on the material cart. Under the action of the lifting cylinder 12, the end of the piston rod moves downward, and at the same time drives the clamping claw mounting plate 14 to move downward;

[0070] 2) As the gripper mounting plate 14 moves downward, the contact block 23 moves downward and contacts the turnover basket, and the telescopic rod 2202 moves upward and contacts the sensor 2102 or sensor 2103. The sensor transmits a position signal to the lift control valve to stop the downward movement of the end of the lift cylinder piston rod;

[0071] 3) To grasp the turnover basket, the sensor transmits an in-position signal to the gripper control valve, which controls the horizontal gripper cylinder 3101 and the longitudinal gripper cylinder 3201 to grasp the turnover basket. After grasping is completed, the lifting cylinder rises, and the turnover basket contacts the first hook 3103 and the first hook 3203 due to its own gravity, thereby lifting the turnover basket. The upper end of the telescopic rod 2202 is disengaged from the sensor assembly 21, and the combined signal of the magnetic switch of the air gripper assembly is used to determine whether the turnover basket is grasped normally: if the upper end of the telescopic rod 2202 is not disengaged from the sensor assembly 21 or is disengaged at the same time as the closed signal in the magnetic switch is emitted, a warning is issued, indicating that the turnover basket is grasped abnormally.

[0072] To place the turnover basket, the sensor transmits the in-position signal to the gripper control valve, which controls the horizontal gripper cylinder 3101 and the longitudinal gripper cylinder 3201 to place the turnover basket. After placement, the lifting cylinder rises. To achieve stacking of turnover baskets with high positioning accuracy during placement, an electric proportional valve is used to provide a higher air pressure to the gripper cylinder, controlling the hook to correct the position of the turnover basket before grabbing.

[0073] The functions of the horizontal clamping cylinder 3101 and the longitudinal clamping cylinder 3201 can be adjusted according to actual applications.

[0074] After the grabbing or placing is completed, the lifting cylinder rises, and the telescopic rod descends under the action of its own weight and the spring, driving the contact block 23 to reset, preparing for the next descending positioning trigger.

[0075] The above-mentioned device of the embodiment of the utility model automatically determines the position of the turnover basket based on the position determination mechanism, and automatically switches between high and low air pressure through the air gripper assembly that can be opened and closed horizontally and vertically, and when necessary, cooperates with the electric proportional valve to achieve the precise positioning of the turnover basket and the different air pressure requirements for basket grasping, thereby achieving accurate stacking of the turnover basket; under the premise of different turnover basket shapes and different ground vehicle heights, the device realizes automatic position determination, self-centering, automatic grasping, and automatic stacking of the turnover basket, with a simple structure and strong versatility, while reducing the labor intensity of the operator and avoiding possible safety hazards in manual operation.

[0076] It should be understood that the specific order or hierarchy of steps in the disclosed processes is an example of an exemplary method. Based on design preferences, it should be understood that the specific order or hierarchy of steps in the process can be rearranged without departing from the scope of the present disclosure. The accompanying method claims present elements of the various steps in an exemplary order and are not intended to be limited to the specific order or hierarchy described.

[0077] In the foregoing detailed description, various features are grouped together in a single embodiment to simplify the disclosure. This method of disclosure should not be interpreted as reflecting an intention that embodiments of the claimed subject matter require more features than are clearly recited in each claim. On the contrary, as reflected in the appended claims, the present application is limited to less than all the features of each disclosed embodiment. Therefore, the appended claims are hereby expressly incorporated into the detailed description, with each claim standing on its own as a separate preferred embodiment of the present application.

[0078] The foregoing description includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purposes of describing the above embodiments, but one of ordinary skill in the art will recognize that the various embodiments may be further combined and arranged. Therefore, the embodiments described herein are intended to encompass all such changes, modifications and variations that fall within the scope of the appended claims. Furthermore, to the extent the term "comprising" is used in the specification or claims, the term is intended to be encompassed in a manner similar to the term "including," as explained in terms of "including," used as a transitional word in the claims. Furthermore, any use of the term "or" in the specification of the claims is intended to mean a "non-exclusive or."

Claims

1. A turnover basket picking and placing device, characterized in that: include: Lifting mechanism, position determination mechanism, grasping mechanism; The lifting mechanism includes a lifting cylinder mounting plate for fixing the device, a lifting cylinder fixed above the lifting cylinder mounting plate, and a clamping claw mounting plate slidably mounted below the lifting cylinder mounting plate through a guide rod. The end of the lifting piston rod of the lifting cylinder is connected to the clamping claw mounting plate to drive it to move up and down. The grabbing mechanism is fixed below the clamp mounting plate, and includes an air gripper assembly that can be opened and closed laterally and an air gripper assembly that can be opened and closed longitudinally to grab the turnover basket; The position determination mechanism includes a sensor assembly installed above the clamping jaw mounting plate, an anti-rotation telescopic trigger assembly fixed below the clamping jaw mounting plate, and a contact block installed at the lower end of the telescopic rod of the anti-rotation telescopic trigger assembly. The telescopic rod is pushed to move upward after the contact block contacts the turnover basket, and resets after it no longer contacts the turnover basket. After the sensor assembly detects that the upper end of the telescopic rod has moved upward to a specified position, it sends a positioning signal to the lifting mechanism.

2. The device according to claim 1, wherein The sensor assembly includes a mounting bracket fixed to the clamp mounting plate, and at least one sensor mounted on the mounting bracket; When the sensors are not unique, they are located at different positions of the position determination mechanism.

3. The device according to claim 2, wherein The anti-rotation telescopic trigger assembly includes a fixed block, a telescopic rod, a spring and at least two anti-rotation sleeves; The fixing block is fixed below the clamping jaw mounting plate, and the fixing block has a stepped through hole, the stepped through hole includes an upper through hole and a lower through hole, and the diameter of the upper through hole is larger than the diameter of the lower through hole; The telescopic rod is arranged in the stepped through hole of the fixed block. The telescopic rod is a stepped shaft structure, including a first columnar rod and a second columnar rod. The diameter of the first columnar rod is larger than the diameter of the second columnar rod. The second cylindrical rod includes two parallel vertical sections; The spring is nested on the telescopic rod, with one end abutting against the contact block and the other end abutting against the fixed block; The anti-rotation sleeve is installed in the lower through hole of the fixed block, and the anti-rotation sleeve has a waist slot hole to match with the two parallel vertical sections of the second columnar rod.

4. The device according to claim 3, characterized in that The sensor includes a first sensor and a second sensor. The first cylindrical rod includes two vertical sections. The first sensor corresponds to the first vertical section of the first cylindrical rod, and the second sensor corresponds to the second vertical section of the first cylindrical rod.

5. The device according to claim 1, wherein The lifting mechanism further comprises a floating joint, which is fixed to the end of the lifting piston rod of the lifting cylinder and connected to the clamp mounting plate.

6. The device according to claim 1, wherein The air gripper assembly comprises a gripper cylinder fixed below a gripper mounting plate, a connecting block fixedly connected to telescopic piston rods on both sides of the gripper cylinder, and a hook mounted on the connecting block.

7. The device according to claim 6, characterized in that The gripping mechanism further includes a gripper control valve connected to the air circuit of the gripper cylinder; The gripper control valve is used to control the action of the gripper cylinder based on the gripper control signal.

8. The device according to claim 6, wherein The gripping mechanism also includes an electrical proportional valve connected to the air circuit of the gripper cylinder; The electric proportional valve is used to realize stepless control of air pressure through electric proportional signals in different actions, thereby providing different pressures for the cylinder.

9. The device according to claim 1, wherein The lifting mechanism further includes a lifting control valve connected to the air path of the lifting cylinder, wherein the lifting control valve is used to control the movement of the lifting cylinder based on a lifting control signal, wherein the lifting control signal includes at least one of a lifting signal and an in-position signal.

10. The device according to claim 1, wherein The air gripper assembly that can be opened and closed laterally and the air gripper assembly that can be opened and closed longitudinally adopt magnetic switches to realize the judgment of the action state of the air gripper assembly and the grasping state of the turnover basket.

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