CN115893275A - Cargo handling device - Google Patents

Abstract

The invention provides a cargo handling device, which includes a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a telescopic limit mechanism. The frame includes a bottom plate, a support column and a beam. A working area is formed between the two base plates, the support columns are arranged at both ends of the base plates, and a beam is arranged between the support columns of the two base plates; the moving mechanism is arranged at both ends of the base plates; Set on the bottom plate and extend into the working area, a lifting mechanism is provided on the support column at one end of the bottom plate, and the clamping mechanism is arranged on the lifting mechanism; a camera is provided on the crossbeam between the support columns at the other end of the bottom plate; through The conveying device of the present invention can limit the quantity of goods in the working area, so as to perform better rotation and conveyance.

Description

A cargo handling device

technical field

The invention relates to the technical field of handling robots, in particular to a cargo handling device.

Background technique

With the development of Internet of Things technology and the continuous increase of labor costs, lifting and handling are gradually moving closer to automation and intelligence. At the same time, with the continuous development of intelligent technology, it has also brought great changes to logistics enterprises. Intelligent handling robots have the characteristics of heavy load, high transportation efficiency, high degree of automation, and high safety, which can better help enterprises simplify the production and transportation process. At present, the application of intelligent handling robot technology to the field of loading and unloading is one of the most basic functional units in the logistics system. It can not only improve the handling efficiency of warehousing and logistics, reduce human physical labor, but also optimize resources and improve efficiency. Development prospects and good economic benefits.

The Chinese patent application number is 202110960685.4, and the publication date is 2021.12.07, which discloses a handling robot, including a frame, a walking mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism, and a translation mechanism; the rotating mechanism includes a turntable And the rotating drive part, the turntable is installed on the frame, the rotating drive part is connected with the turntable and is used to drive the turntable to rotate; the lifting mechanism is connected with the grabbing mechanism and is used to drive the grabbing mechanism to do lifting movement; the translation mechanism is fixedly installed on the frame Above, the translation mechanism is connected with the hoisting mechanism and is used to drive the hoisting mechanism to translate. The beneficial effect of the invention is: through the cooperation of the grasping mechanism, the lifting mechanism and the translation mechanism, multiple goods are grabbed onto the turntable in turn, and the turntable is driven to rotate by the rotating drive so that the goods stacked on the turntable are placed evenly , the whole device is driven to reciprocate at the cargo stacking place and unloading place through the walking mechanism, and the handling robot provided by the invention can transport multiple goods at one time every time it reciprocates, which greatly improves the loading and unloading efficiency of the goods.

Most of the handling robots in the prior art are the same as the above-mentioned documents, and the way of gripping is just to pick up the goods and place them on the designated position, and cannot adjust the state of the goods. It is upside down and the specified position of handling needs to be unified when the goods are stacked, so that the front or back of the goods can be better unified. Therefore, the handling robot in the prior art needs to use other methods when handling the goods that have not reached the expected state. The device adjusts the goods or requires manual adjustment, which is easy to waste time and increase costs, and affects the efficiency of handling.

Contents of the invention

The purpose of the present invention is to provide a cargo handling device. Through the handling device of the present invention, the quantity of goods in the working area can be limited, so as to better rotate and transport.

In order to achieve the above object, a cargo handling device includes a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a telescopic limit mechanism, the frame includes a bottom plate, a support column and a beam, and the bottom plate is provided with two pieces, A working area is formed between the two base plates, the support columns are arranged at both ends of the base plates, and a beam is arranged between the support columns of the two base plates.

The moving mechanism is arranged at both ends of the bottom plate; the telescopic limit mechanism is set on the bottom plate and extends into the working area, and a lifting mechanism is arranged on the support column at one end of the bottom plate, and the clamping mechanism is set on the lifting mechanism ; A camera is arranged on the beam between the support columns at the other end of the base plate.

The lifting mechanism includes a lifting slider and a lifting drive assembly, the lifting driving assembly is arranged on the support columns on the two base plates, the lifting slider is connected to the lifting driving assembly, and the lifting driving assembly drives the lifting slider along the The support column slides up and down, and a clamping mechanism is arranged on the lifting slider.

The clamping mechanism includes a rotating assembly, a first jaw assembly, a second jaw assembly, a clamping beam and a clamping block, the rotating assembly is arranged on the lifting slider, and the first jaw assembly is arranged on On the rotating assembly on one bottom plate, the second jaw assembly is arranged on the rotating assembly on the other bottom plate, and a clamping crossbeam is arranged between the first jaw assembly and the second jaw assembly, and the first jaw assembly A clamping block is arranged on the clamping beam between the clamping jaw assembly and the second clamping jaw assembly.

The telescopic limit mechanism includes a telescopic limit drive assembly and a telescopic baffle, the telescopic baffle is arranged on the bottom plate through the telescopic limit drive assembly, and the telescopic limit drive assembly drives the telescopic baffle to slide into the working area.

The handling device with the above structure, through the cooperation of the first jaw assembly and the second jaw assembly, picks up the goods, and then transports the goods to the designated position through the moving mechanism to complete the handling. The process is simple and efficient. When the goods are to be transported , the moving mechanism moves to the position of the goods that need to be transported and makes the goods move to the working area, the lifting drive assembly drives the lifting slider to move up and down, and then drives the clamping mechanism to move to the height corresponding to the cargo, and the clamping mechanism moves in place Finally, the first jaw assembly and the second jaw assembly cooperate to clamp the goods, and the lifting mechanism raises the clamping mechanism so that the goods can be transported off the ground. Before the transport, the state of the goods is observed through the camera. Through the setting of the telescopic limit mechanism, the number of goods in the working area can be limited, so as to better rotate and carry. When the quantity of goods needs to be limited, the telescopic limit drive assembly drives the telescopic baffle to Sliding in the working area can achieve blocking, simple and effective structure If the front and back of the goods are reversed, the first jaw assembly and the second jaw assembly can be turned over by rotating the assembly, so that the front and back of the goods can be turned over , so that the state of the goods can be adjusted before handling, so as to avoid the need to adjust the goods in the final unified arrangement of the goods and affect the handling efficiency, thus making the handling more efficient .

Further, the lift drive assembly includes a lift drive motor, a lift drive driving gear, a lift drive driven gear, a lift drive rod, a lift first driven wheel, a lift second driven wheel, and a lift drive belt. The lift drive motor passes through The lifting motor mounting plate is fixed on one side of the supporting column on a base plate, and a lifting drive rod is arranged on the supporting column, and the lifting driving rod is connected to the supporting columns on the two base plates. The lifting drive driving gear is provided at one end of the lifting driving rod with a lifting driving driven gear meshed with the lifting driving driving gear, and the first lifting driven wheel is fixed at both ends of the lifting driving rod. The end face of the lifting first driven wheel at one end of the lifting drive rod is fixedly connected, and the base plate at the bottom end of the support column is provided with a lifting second driven wheel corresponding to the lifting first driven wheel. A lifting drive belt is arranged between the moving wheels, and the lifting slider is arranged on the lifting drive belt.

With the above settings, when the clamping mechanism needs to be moved up and down, the lifting drive motor drives the lifting drive driving gear to rotate, which in turn drives the lifting drive driven gear to rotate and drives the lifting drive rod to rotate, thereby making the first lifting driven wheel rotate And make the lifting driving belt move, so that the lifting slider arranged on the lifting driving belt moves up and down, and at the same time, the effect of the lifting driving rod makes the lifting driving belt on the two bottom plates move up and down synchronously, thus ensuring the clamping The mechanism can normally go up and down, and the structure is simple and effective.

Further, the first jaw assembly includes a first jaw connecting column, a first jaw base, a first jaw cylinder and a first jaw, and one end of the first jaw connecting column is connected to a bottom plate The rotating assembly is connected, the first jaw base is provided at the other end of the first jaw connecting column, the first jaw cylinder is provided on the first jaw base, and the driving member of the first jaw cylinder A first jaw is provided.

The second jaw assembly includes a second jaw connecting column, a second jaw base, a second jaw cylinder and a second jaw, and one end of the second jaw connecting column is connected to the rotation on the other base plate. The components are connected, and the other end of the second jaw connecting column is provided with a second jaw base, a second jaw cylinder is provided on the second jaw base, and a second jaw cylinder is provided on the driving part of the second jaw cylinder. Second jaw.

The first jaw cylinder drives the first jaw to move toward the second jaw; the second jaw cylinder drives the second jaw to move toward the first jaw.

With the above settings, when the goods need to be clamped, the first jaw cylinder drives the first jaw to move in the direction of the second jaw to stick to the goods, and the second jaw cylinder drives the second jaw to the direction of the first jaw The goods can be moved close to the goods, and the goods can be clamped through the cooperation of the first jaw and the second jaw, and the structure is simple and effective.

Further, the rotating assembly includes a rotating motor, a rotating mounting plate, a rotating coupling and a rotating connecting plate, the rotating mounting plate is fixed on the lifting slider, and a rotating coupling is arranged on the rotating mounting plate. The drive shaft of the rotary motor is fixed on the rotary coupling, and a rotary connection plate is provided on the main body of the rotary motor, and the rotary connection plate on one bottom plate is connected with the first jaw connection column; the rotary connection on the other bottom plate The plate is connected to the second jaw connection post.

With the above settings, when the goods need to be turned over, the rotating motor starts. Since the driving shaft of the rotating motor is fixed on the rotating coupling, when the rotating motor starts, the driving shaft of the rotating motor cannot rotate, which makes the rotating motor The main body of the rotating motor rotates, so that the first jaw connecting column and the second jaw connecting column connected to the main body of the rotating motor through the rotating connecting plate follow the rotation of the main body of the rotating motor, thereby making the first jaw assembly The goods can be turned over by rotating with the second jaw assembly.

Further, the moving mechanism includes a moving motor, a moving motor mount and a moving universal wheel, the moving motor is arranged on both ends of the base plate through the moving motor mounting seat, and a moving universal wheel is arranged on the driving shaft of the moving motor . Thus, the moving universal wheel is driven by the moving motor to move so that the overturning and transporting robot can reach the designated position.

Further, the retractable limit mechanism includes a telescopic motor, a telescopic drive gear, a telescopic drive rack, a telescopic connecting rod, a telescopic drive rod, a telescopic baffle, a telescopic base and a telescopic guide rail, and the telescopic motor passes through the telescopic motor mounting plate Fixed on the bottom plate, a telescopic drive gear is provided on the drive shaft of the telescopic motor, and a telescopic rack sliding part is provided on the telescopic motor mounting plate above the telescopic motor. On the components, the telescopic drive rack is meshed with the telescopic drive gear, the telescopic drive rack is provided with a telescopic connecting rod, the bottom plate is provided with a telescopic base, and a telescopic guide rail is provided on the telescopic base, and the telescopic baffle It is set on the telescopic guide rail through the sliding of the telescopic slider, one end of the telescopic drive rod is hinged on the telescopic baffle, and the other end of the telescopic drive rod is hinged to the telescopic connecting rod; the telescopic baffle works along the telescopic guide rail Swipe within the range.

With the above settings, the number of goods entering the working area can be limited through the telescopic limit mechanism, so as to facilitate the realization of one-to-one handling; when it is necessary to restrict the goods from continuing to enter the working area, the telescopic motor drives the telescopic drive gear to rotate and then drives the telescopic drive rack. To move, the telescopic drive rack pushes the telescopic drive rod to move when it moves, and the telescopic drive rod can push the telescopic baffle to slide along the telescopic guide rail to the working area, and the telescopic baffle on the two bottom plates can control the working area. Blocking, so that the goods can be restricted so that the goods cannot continue to move into the working area.

Further, the first clamping hand is also provided with a first clamping rotation assembly, the first clamping rotation assembly includes a clamping rotation motor, a clamping rotation driving wheel, a clamping rotation driven wheel, and a clamping rotation drive belt , clamping the rotating drive shaft, clamping the rotating mounting plate and rotating the clamping hand, the clamping rotating motor is arranged on the front end of the first clamping hand, and the clamping rotating driving wheel is arranged on the drive shaft of the clamping rotating motor, The end of the first clamping hand is provided with a clamping and rotating mounting plate, and one end of the clamping and rotating drive shaft is arranged on the clamping and rotating mounting plate through the clamping and rotating bearing, and on the other end of the clamping and rotating drive shaft A rotating gripper is provided, and the rotating gripper is located on the side of the first gripping hand close to the clamping block, and a driven wheel for the gripping rotation is provided on the gripping rotation drive shaft, and the gripping rotation driving wheel and the gripping rotation There is a clamping and rotating driving belt between the driven wheels;

A second clamping rotary assembly with the same structure as the first clamping rotary assembly is provided on the second clamping hand.

With the above settings, the cargo can also be turned over by the setting of the clamping and rotating components. When the cargo is large in size during transportation, the cargo cannot be easily flipped by the clamping and rotating components. When the volume is small, it can be flipped by clamping the rotating assembly or by rotating the assembly. By setting two different flipping devices, it is ensured that the goods of different sizes can be turned over. When it is necessary to turn over the smaller goods At this time, the clamping and rotating motor drives the clamping and rotating driving wheel to rotate, and then drives the clamping and rotating driven wheel connected to the clamping and rotating driving wheel through the clamping and rotating drive belt to rotate, thereby driving the clamping and rotating drive shaft to rotate to make the rotation The gripper rotates, thereby realizing the turning over of the goods, and the structure is simple and useful.

Description of drawings

Fig. 1 is a structural schematic diagram of the conveying device of the present invention.

Fig. 2 is an enlarged view of point A in Fig. 1 .

Fig. 3 is an exploded schematic view of the lifting drive assembly of the present invention.

Fig. 4 is a structural schematic diagram of the clamping mechanism of the present invention.

Fig. 5 is an exploded schematic view of the rotating assembly of the present invention.

Fig. 6 is an exploded schematic diagram of the first gripper of the present invention.

FIG. 7 is an enlarged view of B in FIG. 1 .

Fig. 8 is a schematic structural diagram of the moving mechanism of the present invention.

Fig. 9 is a structural schematic diagram of another viewing angle of the conveying device of the present invention.

FIG. 10 is an enlarged view at point E in FIG. 9 .

Fig. 11 is a structural schematic diagram of the telescopic baffle and the telescopic base of the present invention.

Fig. 12 is an exploded schematic diagram of the telescoping limiting mechanism of the present invention.

Fig. 13 is a schematic diagram of the clamping mechanism of the present invention clamping and turning over the goods.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1 to 13, a handling device includes a frame 1, a moving mechanism 2, a clamping mechanism 3, a lifting mechanism 4 and a telescopic limit mechanism 5, and the frame 1 includes a bottom plate 11 , support column 12 and crossbeam 13, described base plate 11 is provided with two pieces, forms working space 10 between two base plates 11, and described support column 12 is arranged on the two ends of base plate 11, and the support column of two base plates 11 12 is provided with beam 13 between.

The moving mechanism 2 is arranged at both ends of the base plate 11; the telescopic limit mechanism 5 is arranged on the base plate 11 and extends into the working area 10, and a lifting mechanism 4 is arranged on the support column 12 at one end of the base plate 11. The clamping mechanism 3 is arranged on the lifting mechanism 4; a camera 100 is arranged on the beam 13 between the support columns 12 at the other end of the bottom plate 11. By setting the camera to observe and detect the state of the goods, if the state of the goods needs to be adjusted, it can be knocked down or turned over according to the current state of the goods.

As shown in Figures 1 to 3, the lifting mechanism 4 includes a lifting slider 40 and a lifting drive assembly 41, the lifting driving assembly 41 is arranged on the support columns 12 on the two base plates 11, and the lifting slider 40 is connected to On the lifting drive assembly 41 , the lifting drive assembly 41 drives the lifting slider 40 to slide up and down along the support column 12 , and the lifting slider 40 is provided with a clamping mechanism 3 .

The lifting drive assembly 41 includes a lifting drive motor 411, a lifting driving driving gear 412, a lifting driving driven gear 413, a lifting driving rod 414, a lifting first driven wheel 415, a lifting second driven wheel 416 and a lifting drive belt (in the figure not shown), in this embodiment, the lifting driving belt is a synchronous belt, and the lifting driving belt is sleeved on the second lifting driven wheel 416. The specific synchronous belt transmission method is the prior art, and will not be repeated here. As described above, the lift drive motor 411 is fixed on one side of the support column 12 on a base plate 11 through the lift motor mounting plate 417, and the support column 12 is provided with a lift drive rod 414, and the lift drive rod 414 is connected to two base plates The supporting column 12 on the 11 is provided with a lifting driving driving gear 412 on the drive shaft of the lifting driving motor 411, and one end of the lifting driving rod 414 is provided with a lifting driving driven gear 413 meshed with the lifting driving driving gear 412, The lifting first driven wheel 415 is fixed on the two ends of the lifting drive rod. The lifting drive driven gear is fixedly connected with the end face of the lifting first driven wheel at one end of the lifting drive rod. The lifting second driven wheel 416 corresponding to the lifting first driven wheel 415 is provided with a lifting driving belt between the lifting first driven wheel 415 and the lifting second driven wheel 416, and the lifting slider 40 is arranged on the lifting driving belt .

With the above settings, when the clamping mechanism 3 needs to be moved up and down, the lifting drive motor 411 drives the lifting drive driving gear 412 to rotate, and when the lifting driving driven gear 413 is driven by the lifting driving driving gear 412 to rotate, the lifting drive rod 414 It can also rotate synchronously, so that the lifting first driven wheel 415 at both ends of the lifting drive rod rotates and the lifting drive belt moves, so that the lifting slide block 40 arranged on the lifting driving belt moves up and down, and the lifting drive rod 414 simultaneously moves up and down. The effect of the lifting drive belt on the two base plates 11 can move up and down synchronously, thereby ensuring that the clamping mechanism 3 can be lifted normally, and the structure is simple and effective.

As shown in FIGS. 4 to 6 , the clamping mechanism 3 includes a rotating assembly 30 , a first jaw assembly 32 , a second jaw assembly 33 , a clamping crossbeam 34 and a clamping block 35 , and the rotating assembly 30 It is arranged on the lifting slider 40, the first jaw assembly 32 is arranged on the rotating assembly 30 on one bottom plate 11, and the second jaw assembly 33 is arranged on the rotating assembly 30 on the other bottom plate 11, on the first A clamping beam 34 is provided between the clamping jaw assembly 32 and the second clamping jaw assembly 33 , and a clamping block 35 is provided on the clamping beam 34 between the first clamping jaw assembly 32 and the second clamping jaw assembly 33 .

The first jaw assembly 32 includes a first jaw connecting column 321, a first jaw base 322, a first jaw cylinder 323 and a first jaw 324, and one end of the first jaw connecting column 321 is connected to The rotating assembly 30 on the bottom plate 11 is connected, and the other end of the first jaw connection column 321 is provided with a first jaw base 322, and a first jaw cylinder 323 is provided on the first jaw base 322, A first jaw 324 is provided on the driving part of the first jaw cylinder 323 .

The second jaw assembly 33 includes a second jaw connecting column 331, a second jaw base 332, a second jaw cylinder 333 and a second jaw 334, and one end of the second jaw connecting column 331 is connected to The rotating assembly 30 on the other bottom plate 11 is connected, and the other end of the second jaw connection column 331 is provided with a second jaw base 332, and a second jaw cylinder 333 is arranged on the second jaw base 332, A second jaw 334 is provided on the driving member of the second jaw cylinder 333 .

The first jaw cylinder 323 drives the first jaw 324 to move toward the second jaw 334 ; the second jaw cylinder 332 drives the second jaw 334 to move toward the first jaw 324 .

In this embodiment, the first jaw cylinder and the second jaw cylinder are rodless cylinders, and their specific working principles are in the prior art, and will not be repeated here.

With the above settings, when the goods need to be clamped, the first jaw cylinder 323 drives the first jaw 324 to move in the direction of the second jaw 334 to be close to the goods, and the second jaw cylinder 333 drives the second jaw 334 to the second jaw. The first clamping jaw 324 moves in a direction to be close to the cargo, and the cargo can be clamped by the cooperation of the first clamping jaw 324 and the second clamping jaw 334, and the structure is simple and effective.

The rotating assembly 30 includes a rotating motor 301, a rotating mounting plate 302, a rotating coupling 303 and a rotating connecting plate 304. Shaft 303, the drive shaft 3011 of the rotating motor 301 is fixed on the rotating coupling 303, the main body 3012 of the rotating motor 301 is provided with a rotating connecting plate 304, and the rotating connecting plate 304 on a base plate 11 is connected to the first The jaw connecting column 321 is connected; the rotating connecting plate 304 on the other bottom plate 11 is connected with the second jaw connecting column 331 .

With the above settings, when the goods need to be overturned, the rotating motor 301 starts, because the drive shaft 3011 of the rotating motor 301 is fixed on the rotating coupling 303, therefore, when the rotating motor 301 starts, the driving shaft 3011 of the rotating motor 301 Unable to rotate, so that the main body 3012 of the rotary motor 301 rotates, so that the first jaw connecting column 321 and the second jaw connecting column 331 connected to the main body 3012 of the rotary motor 301 through the rotating connecting plate 304 follow the rotation The main body 3012 of the motor 301 rotates, so that the first jaw assembly 32 and the second jaw assembly 33 rotate to turn over the goods (as shown in FIG. 13 , 001 in the figure is the goods).

As shown in Figure 6, a first clamping rotation assembly 31 is also provided on the first clamping hand 324, and the first clamping rotation assembly 31 includes a clamping rotation motor 311, a clamping rotation drive wheel 312, a clamping rotation Driven wheel 313, clamping rotation drive belt (not shown in the figure), clamping rotation drive shaft 314, clamping rotation mounting plate 315 and rotation clamping hand 316, described clamping rotation motor 311 is arranged on the first clamping hand 324 The front end of the clamping and rotating drive wheel 312 is arranged on the drive shaft of the clamping and rotating motor 311, and the end of the first clamping hand 324 is provided with a clamping and rotating mounting plate 315, and one end of the clamping and rotating drive shaft 314 It is installed on the clamping rotation mounting plate 315 by clamping the rotation bearing 317, and the other end of the clamping rotation drive shaft 314 is provided with a rotation gripper 316, and the protruding area of the rotation gripper 316 is larger than that of the first gripper 324, so that when the goods are clamped, the contact area between the rotating gripper and the goods is larger, and the goods can be clamped better. The rotating gripper 316 is located near the first gripping hand 324 On one side of the holding block 35, a clamping rotation driven wheel 313 is provided on the clamping rotation drive shaft 314, and a clamping rotation drive belt is provided between the clamping rotation driving wheel 312 and the clamping rotation driven wheel 313. The clamping and rotating drive belt is a synchronous belt, and the specific synchronous belt transmission principle is the prior art, so it will not be repeated here;

A second gripping rotation assembly with the same structure as the first gripping rotation assembly 31 is provided on the second clamping hand 334 .

With the above settings, the cargo can also be turned over by the setting of the clamping and rotating components. When the cargo is large in size during transportation, the cargo cannot be easily flipped by the clamping and rotating components. When the volume is small, it can be flipped by clamping the rotating assembly or by rotating the assembly. By setting two different flipping devices, it is ensured that the goods of different sizes can be turned over. When it is necessary to turn over the smaller goods At this time, the clamping and rotating motor drives the clamping and rotating driving wheel to rotate, and then drives the clamping and rotating driven wheel connected to the clamping and rotating driving wheel through the clamping and rotating drive belt to rotate, thereby driving the clamping and rotating drive shaft to rotate to make the rotation The gripper rotates, thereby realizing the turning over of the goods, and the structure is simple and useful.

The handling device with the above structure, through the cooperation of the first jaw assembly and the second jaw assembly, picks up the goods, and then transports the goods to the designated position through the moving mechanism to complete the handling. The process is simple and efficient. When the goods are to be transported , the moving mechanism moves to the position of the goods that need to be transported and makes the goods move to the working area, the lifting drive assembly drives the lifting slider to move up and down, and then drives the clamping mechanism to move to the height corresponding to the cargo, and the clamping mechanism moves in place Finally, the first jaw assembly and the second jaw assembly cooperate to clamp the goods, and the lifting mechanism raises the clamping mechanism so that the goods can be transported off the ground. Before the transport, the state of the goods is observed through the camera. Through the setting of the telescopic limit mechanism, the number of goods in the working area can be limited, so as to better rotate and carry. When the quantity of goods needs to be limited, the telescopic limit drive assembly drives the telescopic baffle to Sliding in the working area can achieve blocking, simple and effective structure If the front and back of the goods are reversed, the first jaw assembly and the second jaw assembly can be turned over by rotating the assembly, so that the front and back of the goods can be turned over , so that the state of the goods can be adjusted before handling, so as to avoid the need to adjust the goods in the final unified arrangement of the goods and affect the handling efficiency, thus making the handling more efficient .

As shown in Figure 8, the moving mechanism 2 includes a moving motor 21, a moving motor mounting seat 22 and a moving universal wheel 23, and the moving motor 21 is arranged on both ends of the base plate 11 through the moving motor mounting seat 22. The driving shaft of 21 is provided with mobile universal wheel 23. Thus, the moving universal wheel 23 is driven by the moving motor 21 to move so that the overturning and transporting robot can reach a designated position.

As shown in Figures 9 to 12, the telescopic limit mechanism 5 includes a telescopic limit drive assembly and a telescopic baffle 56, the telescopic baffle 56 is arranged on the bottom plate 11 through the telescopic limit drive assembly, and the telescopic limit The bit drive assembly includes a telescopic motor (not shown in the figure), a telescopic drive gear 52, a telescopic drive rack 53, a telescopic connecting rod 54, a telescopic drive rod 55, a telescopic base 57 and a telescopic guide rail 58. The motor mounting plate 51 is fixed on the base plate 11, a telescopic drive gear 52 is arranged on the drive shaft of the telescopic motor, and a telescopic rack sliding part 50 is arranged on the telescopic motor mounting plate 51 above the telescopic motor. 53 slides are arranged on the telescopic rack sliding part 50, the telescopic drive rack 53 is engaged with the telescopic drive gear 52, and the telescopic drive rack 53 is provided with a telescopic connecting rod 54, and the bottom plate 11 is provided with a telescopic base 57 , a telescopic guide rail 58 is provided on the telescopic base 57, and the telescopic baffle 56 is slidably arranged on the telescopic guide rail 58 through a telescopic slider 59, and one end of the telescopic drive rod 55 is hinged on the telescopic baffle 56, and the telescopic baffle 56 The other end of the drive rod 55 is hinged to the telescopic connecting rod 54 ; the telescopic baffle 56 slides along the telescopic guide rail 58 into the working area 10 .

The telescopic drive rod extends outward in an arc from one end of the telescopic connecting rod to one end of the telescopic connecting rod. The telescopic driving rod arranged in an arc will not directly push against the telescopic baffle when the telescopic driving rod pushes the telescopic baffle to move. Instead of touching the telescopic baffle, it has a certain buffer arc, so that the connection between the telescopic drive rod and the telescopic baffle is smoother, so that the structure between the telescopic drive rod and the telescopic baffle can be better protected.

The telescopic rack sliding part 50 includes a telescopic sliding mounting plate 501 and a telescopic sliding wheel 502. The telescopic sliding wheel 502 is arranged on the telescopic motor mounting plate 51 through the telescopic sliding mounting plate 501, and a card is provided on the telescopic rack 53. Slot 531, the telescopic sliding wheel 502 is arranged in the slot 531 and slides along the slot 531; through the setting of the slot and the telescopic sliding wheel, the telescopic rack can not only realize the connection with the telescopic gear without affecting the telescopic rack movement

With the above settings, the number of goods entering the working area can be limited through the telescopic limit mechanism, so as to facilitate the realization of one-to-one handling; when it is necessary to restrict the goods from continuing to enter the working area, the telescopic motor drives the telescopic drive gear to rotate and then drives the telescopic drive rack. To move, the telescopic drive rack pushes the telescopic drive rod to move when it moves, and the telescopic drive rod can push the telescopic baffle to slide along the telescopic guide rail to the working area, and the telescopic baffle on the two bottom plates can control the working area. Blocking, so that the goods can be restricted so that the goods cannot continue to move into the working area.

The working method of above-mentioned a kind of handling device, concrete steps comprise:

(1) The moving mechanism is started, and the push-down transport robot will move to the position of the goods, and the goods will be located in the working area; when it is necessary to limit the number of goods in the working area, go to step (1.1), otherwise go to step (2 ).

(1.1) Block the goods outside the working area through the telescopic baffle of the telescopic limit mechanism;

(1.11) The telescopic motor drives the telescopic baffle to slide in the working area.

(1.12) The telescopic baffle prevents goods outside the working area from entering the working area.

(2) The clamping mechanism descends to the position corresponding to the goods.

(2.1) The first jaw assembly and the second jaw assembly clamp the goods.

(2.11) The first jaw cylinder drives the first jaw to move in the direction of the second jaw.

(2.12) The second jaw cylinder drives the second jaw to move in the direction of the first jaw.

(2.13) The first jaw and the second jaw clamp the goods.

(3) When the goods need to be turned over, go to step (3.1), and go to step (5) if there is no need to turn over.

(3.1) The rotation of the rotating assembly drives the rotation of the first jaw assembly and the second jaw assembly to turn the goods over.

When flipping smaller loads:

(3.11) The gripping rotary motor drives the rotary gripper to rotate to turn the goods over.

(4) The mobile mechanism moves the goods to the designated location.

Claims (7)

1. A cargo handling device, characterized in that: it comprises a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a telescopic limit mechanism, the frame includes a base plate, a support column and a beam, and the base plate is provided with two , a working area is formed between the two base plates, the support columns are arranged at both ends of the base plates, and a beam is arranged between the support columns of the two base plates; The moving mechanism is arranged at both ends of the bottom plate; the telescopic limit mechanism is arranged on the bottom plate and extends into the working area, and a lifting mechanism is provided on the support column at one end of the bottom plate, and the clamping mechanism is arranged on the lifting mechanism on; a camera is installed on the crossbeam between the support columns at the other end of the floor; The lifting mechanism includes a lifting slider and a lifting drive assembly, the lifting driving assembly is arranged on the support columns on the two base plates, the lifting slider is connected to the lifting driving assembly, and the lifting driving assembly drives the lifting slider along the The support column slides up and down, and a clamping mechanism is provided on the lifting slider; The clamping mechanism includes a rotating assembly, a first jaw assembly, a second jaw assembly, a clamping beam and a clamping block, the rotating assembly is arranged on the lifting slider, and the first jaw assembly is arranged on On the rotating assembly on one bottom plate, the second jaw assembly is arranged on the rotating assembly on the other bottom plate, and a clamping crossbeam is arranged between the first jaw assembly and the second jaw assembly, and the first jaw assembly A clamping block is provided on the clamping crossbeam between the clamping jaw assembly and the second clamping jaw assembly; The telescopic limit mechanism includes a telescopic limit drive assembly and a telescopic baffle, the telescopic baffle is arranged on the bottom plate through the telescopic limit drive assembly, and the telescopic limit drive assembly drives the telescopic baffle to slide into the working area. 2. A cargo handling device according to claim 1, wherein the lift drive assembly includes a lift drive motor, a lift drive driving gear, a lift drive driven gear, a lift drive rod, a lift first driven wheel, Lifting the second driven wheel and the lifting drive belt, the lifting drive motor is fixed on one side of the supporting column on a base plate through the lifting motor mounting plate, and the supporting column is provided with a lifting driving rod, and the lifting driving rod is connected to two pieces The support column on the base plate is provided with a lifting drive driving gear on the drive shaft of the lifting drive motor, and a lifting driving driven gear that is meshed with the lifting driving driving gear is provided at one end of the lifting driving rod, and the first driven wheel of the lifting is fixed. At both ends of the lift drive rod, the lift drive driven gear is fixedly connected to the end face of the lift first driven wheel at one end of the lift drive rod, and the bottom plate at the bottom of the support column is provided with a lift gear corresponding to the lift first driven wheel. The second driven wheel is provided with a lifting driving belt between the lifting first driven wheel and the lifting second driven wheel, and the lifting slider is arranged on the lifting driving belt. 3. A cargo handling device according to claim 1, wherein the first jaw assembly comprises a first jaw connecting column, a first jaw base, a first jaw cylinder and a first clamp claw, one end of the first jaw connecting column is connected to a rotating assembly on a bottom plate, a first jaw base is provided at the other end of the first jaw connecting column, and a first jaw base is provided on the first jaw base. The first jaw cylinder is provided with a first jaw on the driving part of the first jaw cylinder; The second jaw assembly includes a second jaw connecting column, a second jaw base, a second jaw cylinder and a second jaw, and one end of the second jaw connecting column is connected to the rotation on the other base plate. The components are connected, and the other end of the second jaw connecting column is provided with a second jaw base, a second jaw cylinder is provided on the second jaw base, and a second jaw cylinder is provided on the driving part of the second jaw cylinder. second jaw; The first jaw cylinder drives the first jaw to move toward the second jaw; the second jaw cylinder drives the second jaw to move toward the first jaw. 4. A cargo handling device according to claim 3, wherein the rotating assembly includes a rotating motor, a rotating mounting plate, a rotating coupling and a rotating connecting plate, and the rotating mounting plate is fixed on the lifting slider On the rotating mounting plate, there is a rotating coupling, the drive shaft of the rotating motor is fixed on the rotating coupling, the rotating connecting plate is arranged on the main body of the rotating motor, and the rotating connecting plate on a bottom plate is connected with the rotating connecting plate. The connecting column of the first clamping jaw is connected; the rotating connecting plate on the other bottom plate is connected with the connecting column of the second clamping jaw. 5. A kind of cargo handling device according to claim 1, characterized in that: the moving mechanism includes a moving motor, a moving motor mounting base and a moving universal wheel, and the moving motor is arranged on the base plate through the moving motor mounting base. Both ends are provided with mobile universal wheels on the drive shaft of the mobile motor. 6. A cargo handling device according to claim 1, wherein the telescopic limit drive assembly includes a telescopic motor, a telescopic drive gear, a telescopic drive rack, a telescopic connecting rod, a telescopic driving rod, and a telescopic base and a telescopic guide rail, the telescopic motor is fixed on the bottom plate through the telescopic motor mounting plate, a telescopic drive gear is provided on the drive shaft of the telescopic motor, and a telescopic rack sliding part is provided on the telescopic motor mounting plate above the telescopic motor, so The telescopic driving rack is slidingly arranged on the sliding part of the telescopic driving rack, and the telescopic driving rack is meshed with the telescopic driving gear. A telescopic connecting rod is arranged on the telescopic driving rack, and a telescopic base is provided on the bottom plate. There is a telescopic guide rail on the base, and the telescopic baffle is slidably set on the telescopic guide rail through the telescopic slider. One end of the telescopic driving rod is hinged on the telescopic baffle, and the other end of the telescopic driving rod is hinged to the telescopic connecting rod. Setting; the telescopic baffle slides into the working area along the telescopic guide rail. 7. A cargo handling device according to claim 3, characterized in that: a first clamping rotating assembly is also provided on the first clamping hand, and the first clamping rotating assembly includes a clamping rotating motor, a clamping Take the rotating driving wheel, clamp the rotating driven wheel, clamp the rotating drive belt, clamp the rotating drive shaft, clamp the rotating mounting plate and rotate the clamping hand, the clamping rotating motor is arranged at the front end of the first clamping hand, and the The clamping rotation drive wheel is set on the drive shaft of the clamping rotation motor, and the clamping rotation mounting plate is provided at the end of the first clamping hand. On the rotating mounting plate, a rotating gripper is provided on the other end of the clamping rotating drive shaft. The clamping rotation driven wheel is provided with a clamping rotation driving belt between the clamping rotation driving wheel and the clamping rotation driven wheel; A second clamping rotary assembly with the same structure as the first clamping rotary assembly is provided on the second clamping hand.

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