Self-grabbing rack of robot

Abstract

The utility model discloses a robot self-grabbing material frame which comprises a frame assembly used for supporting and positioning materials, the frame assembly comprises a frame body, a floor, a stand column, a material frame recognition plate and a signboard, the robot self-grabbing material frame further comprises a gravity overturning mechanism arranged on the floor, and automatic overturning and positioning of the materials are achieved through the gravity effect. Comprising an overturning body, a limiting block, a limiting strip, a balance weight shaft, a supporting block and a flat strip, and further comprises a pressing rod assembly, the pressing rod assembly is used for fixing materials and preventing displacement in the transportation process, and the pressing rod assembly comprises a mounting frame, a pressing rod body, a limiting pin and a pressing rod recognition plate. The utility model belongs to the technical field of industrial logistics automation, and particularly provides a robot self-grabbing material frame which is used for reducing manual intervention, achieving unification of logistics chain material frames and improving automation efficiency and can be simultaneously used for factory area transfer and robot automatic stations.

Description

Technical Field

[0001] This utility model belongs to the field of industrial logistics automation technology, specifically referring to a robot self-grabbing rack. Background Technology

[0002] In existing technologies, material transfer between factory areas typically employs transfer racks and transfer trolleys. Transfer racks, usually manually loaded and used between factory areas, generally consist of a rack and a support shaft. Products are manually placed onto the support shaft, and the rack is then pushed to the desired location. Transfer trolleys are generally used between workstations, are low-cost, and easy to manufacture. They also use manual loading and consist of a rack, support blocks, and pressure bars. Products are manually placed onto the support blocks to prevent movement during pushing. The addition of pressure bars further prevents movement. After the pressure bars are in place, the rack is pushed to the corresponding workstation.

[0003] In summary, material transfer between factory areas typically uses low-precision racks for manual loading, while robotic workstations require dedicated high-precision racks. Traditional racks have the following problems:

[0004] 1. The aforementioned transfer equipment is not compatible with automated robotic grasping and requires manual handling. This wastes a significant amount of manpower and lacks precise positioning capabilities, making automated robotic grasping impossible. It can only be used within factory areas and workstations. Furthermore, some material racks require frequent replacement in the logistics chain, resulting in low efficiency.

[0005] 2. In addition, transfer equipment generally does not include a positioning mechanism. A standalone positioning mechanism cannot withstand bumps and can only be used at robot workstations, not for transfers between factory sections. Between factory sections and workstations, at least two types of racks are required, resulting in ineffective utilization of racks within the logistics chain and limiting application scenarios. Utility Model Content

[0006] The purpose of this invention is to reduce manual intervention, unify material racks in the logistics chain, improve automation efficiency, and provide a robot self-grabbing material rack that can be used for both factory transfer and robot automated workstations.

[0007] To solve the above problems, the technical solution adopted by this utility model is as follows:

[0008] This utility model proposes a robot self-grabbing material rack, including a frame assembly for supporting and positioning materials. The frame assembly includes a frame body and a floor. The frame body is formed by welding multiple square tubes to form a skeleton and forming columns around it. The floor is horizontally welded to the bottom of the frame body and covers the bottom surface. Stacking ankles are welded to the bottom of the columns, and stacking covers are welded to the top of the columns.

[0009] The frame assembly also includes a rack identification plate and an identification plate. The rack identification plate is installed on both sides of the column, and the rack identification plates of adjacent columns are located on the same surface. The rack identification plate forms a 90-degree angle with the plane of the column. The rack identification plate is provided with a QR code for the robot sensor to scan and locate, so that it can be accurately placed in the correct work position. The identification plate is fixed to the rack identification plate and is used for manual viewing of rack information to improve management efficiency.

[0010] It also includes a gravity flipping mechanism installed on the floor, with threaded holes formed on the floor surface for bolts to be screwed in. The gravity flipping mechanism realizes automatic flipping and positioning of materials through gravity.

[0011] The gravity-driven tilting mechanism includes a tilting body, a limiting block, a limiting strip, a counterweight shaft, a support block, and a flat strip. The tilting body is bolted to the floor. The tilting body has a right-angled C-shaped cross-section with open sides. The limiting strips are vertically symmetrically arranged on both outer sides of the tilting body. The support block is connected to the limiting strip by a pin. The center of the support block is rotatably located inside the tilting body. The limiting block is mounted on the support block and has a convex cross-section. Its base plane is flush with the support block. The mounting surface is fixed in place, and the protrusion extends along the rotation direction of the support block around the axis of the rotating main body. The side end of the support block has a through hole, and a counterweight shaft is provided between the through holes. The counterweight shaft is connected to the through hole by a pin. The pin protrudes from the side end of the support block. A flat strip is provided between the upper and lower adjacent pins. A sliding groove is provided on the flat strip. The rotating main body has a limit stop bar horizontally provided on the counterweight shaft. When the protrusion of the limit block rotates and contacts the limit stop bar, it forms a mechanical stop to prevent over-rotation.

[0012] Preferably, the robot self-grabbing rack further includes a pressure bar assembly, which is used to fix the material and prevent displacement during transportation;

[0013] The pressure bar assembly includes a mounting frame, a pressure bar body, a limiting pin, and a pressure bar identification plate. The mounting frame is fixedly disposed on the outside of the flipping body. The pressure bar body is installed between the upper and lower distributed mounting frames and is parallel to the flipping body. The end of the pressure bar body is connected to the mounting frame through the limiting pin to lock the position of the pressure bar body. The pressure bar body is U-shaped and its opening is fixed to the mounting frame. A slot is opened on the outside of the pressure bar body, and a horizontally arranged pressure bar is assembled in the slot. A pressure bar identification plate is provided at the bottom of the pressure bar body to identify whether the pressure bar is pressing on the product. The pressure bar identification plate is scanned by a sensor.

[0014] Preferably, the frame assembly further includes fork-hole flat steel and flat steel bends. The fork-hole flat steel is horizontally welded between the bottom of the columns on both sides. The fork-hole flat steel is set parallel to the bottom surface of the frame body and forms bends near the two sides of the columns. The flat steel bends are horizontally welded between the bottom surface of the frame body and the fork-hole flat steel to form insertion holes, which are used to guide the forklift to insert and fix it, providing a positional restriction for the forklift to insert, ensuring that the frame is stable when the forklift is inserted.

[0015] Preferably, the limiting block is made of polyurethane to prevent the product surface from being scratched or worn when placed inside the limiting block.

[0016] Preferably, the limiting strip is made of polyurethane to protect the product when it is placed in the rack and to prevent the rotating body from colliding with the product and damaging the product surface.

[0017] The beneficial effects of this utility model by adopting the above structure are as follows:

[0018] 1. By setting up a gravity flipping mechanism and pressure bar assembly, the system can combine the transfer racks in the factory area and the transfer carts between workstations with the automatic gripping and precise positioning of the racks by the robot in the workstation. This can simultaneously meet the needs of turnover between factory areas and can also be used for automatic gripping of racks by the robot at the workstation. It effectively saves the types and number of racks in the overall logistics line, has a larger operating space, reduces the difficulty of operation, improves work efficiency, and saves costs.

[0019] 2. The precise positioning of the robot and the efficient management of personnel are achieved through the material rack identification plate and sign on the frame component.

[0020] 3. The gravity flipping mechanism, through its unique structural design and assembly method, can automatically flip and position materials using gravity, thereby improving the efficiency and accuracy of material handling.

[0021] 4. The pressure bar assembly effectively secures the material, preventing displacement during transportation and ensuring the stability of the production process and the safety of the material. Attached Figure Description

[0022] Figure 1 A schematic diagram of the overall structure of a robot self-grabbing material rack provided in this application;

[0023] Figure 2 for Figure 1 Schematic diagram of the structure when there is no material;

[0024] Figure 3 This is a structural diagram of the framework components;

[0025] Figure 4 This is a schematic diagram of the gravity-fed tilting mechanism;

[0026] Figure 5 This is a schematic diagram showing the combined state of the gravity flipping mechanism and the pressure bar assembly.

[0027] Figure 6 This is a schematic diagram of the compression bar assembly in this application;

[0028] Figure 7 This is a schematic diagram of the limit stop bar in this application.

[0029] The meanings of the symbols are as follows:

[0030] 1. Frame components; 101. Frame body; 102. Floor; 103. Flat steel fork holes; 104. Flat steel bending; 101. Stacking ankles; 106. Stacking cover; 107. Material rack identification plate; 108. Signage.

[0031] 2. Gravity flipping mechanism, 201. Flipping body, 202. Pin, 203. Insert pin, 204. Limiting block, 205. Limiting strip, 202. Counterweight shaft, 207. Support block, 208. Flat strip, 209. Shim;

[0032] 3. Pressure bar assembly, 301. Pressure bar body, 302. Limit pin, 303. Pressure bar identification plate, 304. Mounting frame, 305. Pressure bar;

[0033] 4. Limiting stop bar, 401. Limiting hole, 402. Mounting hole.

[0034] The accompanying drawings are provided to further understand the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention and do not constitute a limitation thereof. Detailed Implementation

[0035] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.

[0036] In this application, unless otherwise expressly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0037] In the description of this utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0038] Example 1

[0039] like Figures 1-3 As shown, this utility model proposes a robot self-grabbing material rack, including a frame assembly 1 for supporting and positioning materials. The frame assembly 1 includes a frame body and a floor 102. The frame body is formed by welding multiple square tubes to form a skeleton and forming columns around it. The floor 102 is horizontally welded to the bottom of the frame body, covering the bottom surface. Stacking ankles 101 are welded to the bottom of the columns, and stacking covers 106 are welded to the top of the columns. The frame assembly 1 also includes a material rack identification plate 107 and an identification plate 108. The material rack identification plate 107 is installed on both sides of the columns, and the material rack identification plates 107 of adjacent columns are located on the same plane. The material rack identification plate 107 forms a 90-degree angle with the plane of the column. The material rack identification plate 107 is provided with a QR code for the robot sensor to scan and achieve positioning, so that it can be accurately placed in the correct work position. The identification plate 108 is fixed on the material rack identification plate 107. The identification plate 108 is used for manual viewing of material rack information to improve management efficiency.

[0040] Square tubes are used because the production process of welded square tubes is relatively simple, allowing for continuous operation and uniform stepless rolling, flexible production, a wide range of unit products, and lower costs. The stacking feet 101 at the bottom of the column and the stacking cover 106 at the top enhance the stacking stability of the material rack. Material rack identification plates 107 are installed on both sides of the column; the QR codes on them can be scanned and located by robot sensors, while the identification plates 108 facilitate manual viewing of material rack information.

[0041] In addition, the frame assembly 1 also includes a fork-hole flat steel 103 and a flat steel bend 104. The fork-hole flat steel 103 is horizontally welded between the bottom of the columns on both sides. The fork-hole flat steel 103 is set parallel to the bottom surface of the frame body and forms a bend corner near the two sides of the columns. The flat steel bend 104 is horizontally welded between the bottom surface of the frame body and the fork-hole flat steel 103 to form two sets of insertion holes for guiding the forklift to insert and fixing it, giving the forklift a position restriction to ensure that the frame is stable when inserted.

[0042] Welding can be used to secure components together, enhancing connection stability. Through heat conduction, metal materials melt and fuse together with other metals. One of the greatest advantages of welding is its ability to improve connection stability. It prevents loosening under heavy loads, vibration, or temperature changes, effectively strengthening the structural strength and stability of the workpiece. Welding not only improves connection stability but also enhances sealing. During welding, molten metal fills gaps and micropores in the connection area, forming a continuous metal connection. This connection prevents the penetration of gases, liquids, and solids, ensuring normal operation of the workpiece. Welded connections offer good sealing, and welding enables efficient electrical and thermal conductivity between metals. This conductor effectively conducts current and heat, improving the electrical and thermal conductivity of the connection area. Welded connections also offer good appearance quality and aesthetic appeal. Welded joints can be flush with the workpiece surface and come in various shapes to meet different structural and dimensional requirements. Welding can also repair and improve the surface of workpieces, enhancing surface quality and smoothness, and improving the overall appearance of the workpiece.

[0043] refer to Figure 1 , Figure 3 and Figure 4 As shown, this application also includes a gravity-fed flipping mechanism 2 mounted on the floor. The surface of the floor 102 is formed with threaded holes for bolts to be screwed in, and the various components are connected together through a unique assembly method. The gravity-fed flipping mechanism 2 achieves automatic flipping and positioning of materials through gravity. When materials are placed on the gravity-fed flipping mechanism, they are automatically flipped and positioned using gravity.

[0044] It should be noted that both pins and latches are common types of pins and latches in the current market.

[0045] The installation steps for the tilting mechanism are as follows:

[0046] First, fix the support block 207 to the limiting block 205. Then, pass a bolt through the through hole of the limiting block 205 and into the threaded hole of the support block 207. Next, the support block 207 engages with the flat bar 208 and the pin 203. The pin 203 is first inserted into the through hole of the flat bar 208, then through the through hole of the support block 207, then through the through hole of the counterweight 206, and finally out of the support block 207. The flat bar 208 is then inserted into the outward-extending support block 207. In the groove on the other side of strip 208, it is finally fixed with a cotter pin. The above operation is repeated. Then the assembled part is placed into the flipping body 201. Through the pin 203, it is first inserted into the flipping body 201, then the support block 207 is inserted and then passed through. Then the bolt is first inserted into the threaded hole of the limit strip 205 and then fixed in the flipping body 201. Finally, the gasket 209 and the bottom of the gravity flipping mechanism 2 are fixed with bolts. The overall structure of the device is simple and easy to assemble.

[0047] The limiting block 205 is made of polyurethane to prevent scratches and wear on the product surface when placed on it. The limiting strip 205, also made of polyurethane, protects the product when placed in the material rack, preventing damage from collisions with the flipping body 201. The counterweight shaft ensures the flipping mechanism can flip over even with low gravity, preventing malfunctions. The flat strip moves up and down within the flat strip groove to facilitate the flipping mechanism. The shim is to prevent errors during processing.

[0048] refer to Figure 5 and Figure 6 As shown, the robot self-grabbing rack also includes a pressure bar 305 assembly 3, which is used to fix the material and prevent displacement during transportation.

[0049] The pressure rod 305 assembly 3 includes a mounting frame 304, a pressure rod 305 body 301, a limiting pin 302, and a pressure rod 305 identification plate 303. The mounting frame 304 is fixedly disposed on the outside of the flipping body 201. The pressure rod 305 body 301 is installed between the vertically distributed mounting frames 304 and is parallel to the flipping body 201. The end of the pressure rod 305 body 301 is connected to the mounting frame 304 through the limiting pin 302 to lock the position of the pressure rod 305 body 301. The pressure rod 305 body 301 is U-shaped and its opening is fixed to the mounting frame 304. A slot is opened on the outside of the pressure rod 305 body 301, and a horizontally arranged pressure rod 305 is assembled in the slot. The bottom of the pressure rod 305 body 301 is provided with a pressure rod 305 identification plate 303 for identifying whether the pressure rod 305 is pressing on the product. The pressure rod 305 identification plate 303 is scanned by a sensor.

[0050] The pressure rod 305 has a through hole formed on its main body 301 to facilitate the welding of the limiting pin 302. The limiting pin 302 is used to prevent the product from shaking up and down during the material rack's movement, thus preventing it from floating. The pressure rod 305 identification plate 303 is used to identify whether the pressure rod 305 is pressing on the product. The sensor scans the information onto the pressure rod 305 identification plate 303, which helps the robot identify the product's position, thereby ensuring that the pressure rod 305 assembly 3 accurately fixes the material.

[0051] As a further example:

[0052] refer to Figure 1 and Figure 7 As shown, the gravity flipping mechanism 2 is provided with a limiting stop bar 4 on the outside, and a limiting hole 401 is provided at its side end for mounting the pressure bar 305. The bottom is provided with a mounting hole 402 for fixing to the floor 102.

[0053] In actual use, the robot accurately places materials into the corresponding positions on the material rack by scanning the QR code on the rack identification plate 107. The gravity flipping mechanism 2 automatically adjusts the position of the materials according to their characteristics, while the pressure rod 305 assembly 3 fixes the materials to prevent displacement. The forklift inserts through the holes formed by the fork holes flat steel 103 and the flat steel bend 104 to smoothly transport the material rack.

[0054] The present invention and its embodiments have been described above. This description is not restrictive, and the accompanying drawings are only one embodiment of the present invention; the actual structure is not limited thereto. In conclusion, if those skilled in the art are inspired by this description and design similar structures and embodiments without departing from the inventive spirit of the present invention, such designs should fall within the protection scope of the present invention.

Claims

1. A robot self-grabbing material rack, comprising a frame assembly for supporting and positioning materials, the frame assembly comprising a frame body and a floor, the frame body being a skeleton formed by welding multiple square tubes and forming columns around it, the floor being horizontally welded to the bottom of the frame body, stacking ankles being welded to the bottom of the columns, and stacking covers being welded to the top of the columns, characterized in that: The frame assembly also includes a rack identification plate and an identification plate. The rack identification plate is installed on both sides of the column, and the rack identification plates of adjacent columns are located on the same surface. The rack identification plate forms a 90-degree angle with the plane of the column. The rack identification plate is provided with a QR code for the robot sensor to scan and locate. The identification plate is fixed to the rack identification plate and is used for manual viewing of rack information. It also includes a gravity-flipping mechanism installed on the floor, which uses gravity to automatically flip and position materials.

2. The robotic self-grasping pallet of claim 1, wherein: The gravity-driven tilting mechanism includes a tilting body, a limiting block, a limiting strip, a counterweight shaft, a support block, and a flat strip. The floor surface is formed with threaded holes for bolts. The tilting body is bolted to the floor. The tilting body has a right-angled C-shaped cross-section with open sides. The limiting strips are vertically symmetrically arranged on both outer sides of the tilting body. The support block is connected to the limiting strip by a pin. The center of the support block is rotatably located within the tilting body. The limiting block is mounted on the support block and has a convex cross-section. The base plane is fixed to the mounting surface of the support block. The protrusion extends along the rotation direction of the support block around the axis of the rotating main body. The side end of the support block has a through hole, and a counterweight shaft is provided between the through holes. The counterweight shaft is connected to the through hole by a pin. The pin protrudes from the side end of the support block. A flat strip is provided between the upper and lower adjacent pins. The rotating main body has a limit stop bar horizontally provided on the counterweight shaft. When the protrusion of the limit block rotates and contacts the limit stop bar, it forms a mechanical stop to prevent over-rotation.

3. The robotic self-grasping pallet of claim 2, wherein: The robot's self-grabbing rack also includes a pressure bar assembly located on one side of the flipping body. The pressure bar assembly is used to fix the material and prevent displacement during transportation.

4. The robotic self-grasping pallet of claim 3, wherein: The pressure bar assembly includes a mounting frame, a pressure bar body, a limiting pin, and a pressure bar identification plate. The mounting frame is fixedly disposed on the outside of the flipping body. The pressure bar body is installed between the upper and lower distributed mounting frames and is parallel to the flipping body. The end of the pressure bar body is connected to the mounting frame through the limiting pin to lock the position of the pressure bar body. The pressure bar body is U-shaped and its opening is fixed to the mounting frame. A slot is opened on the outside of the pressure bar body, and a horizontally arranged pressure bar is assembled in the slot. A pressure bar identification plate is provided at the bottom of the pressure bar body to identify whether the pressure bar is pressing on the product. The pressure bar identification plate is scanned by a sensor.

5. The robotic self-grasping pallet of claim 1, wherein: The frame assembly also includes fork-hole flat steel and flat steel bending. The fork-hole flat steel is horizontally welded between the bottom of the columns on both sides. The fork-hole flat steel is set parallel to the bottom surface of the frame body and forms a bending corner near the two sides of the columns. The flat steel bending is horizontally welded between the bottom surface of the frame body and the fork-hole flat steel to form an insertion hole.

6. The robotic self-grasping pallet of claim 2, wherein: The limiting block is made of polyurethane.

7. The robotic self-grasping pallet of claim 2, wherein: The limiting strip is made of polyurethane.

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