CN115947265B

CN115947265B - Method for facilitating cargo handling

Info

Publication number: CN115947265B
Application number: CN202210865669.1A
Authority: CN
Inventors: 邓达强; 陈炽康; 黄键贤; 李肃; 张阳
Original assignee: Guangzhou City University of Technology
Current assignee: Guangzhou City University of Technology
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2026-04-14
Anticipated expiration: 2042-07-22
Also published as: CN115947265A

Abstract

The invention provides a method for carrying goods conveniently, which comprises the specific steps of (1) starting a moving mechanism, moving an overturning conveying robot to the position of the goods and enabling the goods to be located in a working area, (1.1) entering the step when the quantity of the goods in the working area is required to be limited, (2) blocking the goods outside the working area through a telescopic baffle plate of a telescopic limiting mechanism, (2) lowering a clamping mechanism to the position corresponding to the goods, (2.1) clamping the goods by a first clamping jaw assembly and a second clamping jaw assembly, (3) entering the step (3.1) when the goods are required to be overturned, and entering the step (4) when the goods are not required to be overturned, (3.1) rotating the rotating assembly to drive the first clamping jaw assembly and the second clamping jaw assembly to rotate, overturning the goods, and (3.11) clamping a rotating motor to drive a rotating clamping jaw to rotate when the smaller goods to be overturned, (4) moving the goods to the specified position.

Description

Method for facilitating cargo handling

Technical Field

The invention relates to the technical field of transfer robots, in particular to a method for facilitating cargo transfer.

Background

Along with the development of the technology of the Internet of things and the continuous improvement of labor cost, lifting and carrying gradually approach to automation and intellectualization directions. Meanwhile, with the continuous development of intelligent technology, great transformation is brought to logistics enterprises. The intelligent transfer robot has the characteristics of large bearing, high transportation efficiency, high automation degree, high safety and the like, and can better help enterprises to simplify the production and transportation process. The intelligent transfer robot technology is applied to the field of loading and unloading transfer, is one of the most basic functional units in a logistics system, can not only improve the transfer efficiency of warehouse logistics and lighten the manual labor of people, but also optimize resources and improve benefits, and has very wide development prospect and good economic benefit.

The patent document with the publication number 202110960685.4 and the publication date 2021.12.07 discloses a transfer robot, which comprises a frame, a travelling mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism and a translation mechanism, wherein the rotating mechanism comprises a turntable and a rotating driving piece, the turntable is rotatably arranged on the frame, the rotating driving piece is connected with the turntable and used for driving the turntable to rotate, the lifting mechanism is connected with the grabbing mechanism and used for driving the grabbing mechanism to do lifting motion, and the translation mechanism is fixedly arranged on the frame, is connected with the lifting mechanism and is used for driving the lifting mechanism to translate. The invention has the beneficial effects that a plurality of cargoes are sequentially grabbed onto the turntable through the cooperation of the grabbing mechanism, the lifting mechanism and the translation mechanism, the turntable is driven to rotate by the rotation driving piece, so that the cargoes stacked on the turntable are uniformly placed, and the whole device is driven to reciprocate at the cargo stacking position and the unloading position by the travelling mechanism.

Most of the transfer robots in the prior art are the same as the above documents, and the clamping mode is just to clamp the goods to place at the designated position, but the state of the goods cannot be adjusted, if the front and the back of the goods are reversed during the transfer, and the designated position for the transfer needs to be unified with the front or the back of the goods to be stacked, the goods can be better unified and tidied, so that the transfer robot in the prior art needs to adjust the goods or need to be manually adjusted when the goods which do not reach the expected state are transferred, which is easy to waste time and increase cost, and the transfer efficiency is affected.

Disclosure of Invention

The invention aims to provide a method for conveniently carrying cargoes, by which the quantity of cargoes can be limited, so that one-to-one carrying of cargoes can be better carried out.

In order to achieve the above purpose, the method for carrying the goods conveniently is realized by a carrying device, the carrying device comprises a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a telescopic limiting mechanism, the frame comprises two bottom plates, two support columns and a cross beam, two bottom plates form a working space, the support columns are arranged at two ends of the bottom plates, and the cross beam is arranged between the support columns of the two bottom plates.

The moving mechanism is arranged at two ends of the bottom plate, the telescopic limiting mechanism is arranged on the bottom plate and extends into the working space, the lifting mechanism is arranged on a support column at one end of the bottom plate, the clamping mechanism is arranged on the lifting mechanism, and the camera is arranged on a cross beam between the support columns at the other end of the bottom plate.

The lifting mechanism comprises a lifting sliding block and a lifting driving assembly, wherein the lifting driving assembly is arranged on supporting columns on the two bottom plates, the lifting sliding block is connected to the lifting driving assembly, the lifting driving assembly drives the lifting sliding block to slide up and down along the supporting columns, and the lifting sliding block is provided with a clamping mechanism.

The clamping mechanism comprises a rotating assembly, a first clamping jaw assembly, a second clamping jaw assembly, a clamping beam and a clamping stop block, wherein the rotating assembly is arranged on a lifting sliding block, the first clamping jaw assembly is arranged on the rotating assembly on a bottom plate, the second clamping jaw assembly is arranged on the rotating assembly on another bottom plate, the clamping beam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and the clamping stop block is arranged on the clamping beam between the first clamping jaw assembly and the second clamping jaw assembly.

The telescopic limiting mechanism comprises a telescopic limiting driving assembly and a telescopic baffle plate, wherein the telescopic baffle plate is arranged on the bottom plate through the telescopic limiting driving assembly, and the telescopic limiting driving assembly drives the telescopic baffle plate to slide in a working range.

The method comprises the following specific steps:

(1) The moving mechanism is started to move the pushing-down conveying robot to the position of the goods and enable the goods to be located in the working area, when the quantity of the goods in the working area is required to be limited, the step (1.1) is carried out, and otherwise, the step (2) is carried out.

(1.1) Blocking goods outside the working area through a telescopic baffle plate of the telescopic limiting mechanism.

(2) The gripping mechanism is lowered to a position corresponding to the cargo.

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

(3) When the goods need to be overturned, the method enters the step (3.1), and if the goods do not need to be overturned, the method enters the step (4).

And (3.1) the rotating assembly rotates to drive the first clamping jaw assembly and the second clamping jaw assembly to rotate, so that the goods are overturned.

When smaller cargo is turned over.

And (3.11) driving the rotary clamping hand to rotate by the clamping rotary motor to turn over the goods.

(4) The movement mechanism carries the cargo to a specified location.

According to the carrying device with the structure, the first clamping jaw assembly and the second clamping jaw assembly cooperate to clamp the goods, the goods can be carried through the moving mechanism to the appointed position, the process is simple and efficient, when the goods are to be carried, the moving mechanism moves to the goods position where the goods are to be carried and enables the goods to move into the working space, the lifting driving assembly drives the lifting sliding block to move up and down, and then the clamping mechanism is driven to move to the height corresponding to the goods, after the clamping mechanism moves in place, the first clamping jaw assembly and the second clamping jaw assembly cooperate to clamp the goods, the lifting mechanism lifts the clamping mechanism to enable the goods to leave the ground to be carried, before the goods are carried, the state of the goods can be observed through the camera, the quantity of the goods in the working space can be limited through the setting of the telescopic limiting mechanism, and accordingly, the goods can be rotated and carried better, when the quantity of the goods is required to be limited, the telescopic limiting driving assembly drives the telescopic baffle to the working space, the front side and the back side of the goods can be blocked, the structure is simple and effective, if the clamping mechanism moves to the first clamping jaw assembly and the second clamping jaw assembly to move in place, the goods can be adjusted to the back side, and the goods can be carried by the back side of the clamping jaw assembly can be adjusted in the front side, and the goods can be adjusted in the back side, and the carrying efficiency can be adjusted in the back side when the goods can be adjusted, and the carrying can be adjusted in the back state, and the situation can be adjusted in the conditions can be adjusted in the front, and the conditions can be well can be carried by well, and the conditions can be carried by well.

Further, the lifting driving assembly comprises a lifting driving motor, a lifting driving gear, a lifting driving driven gear, a lifting driving rod, a lifting first driven wheel, a lifting second driven wheel and a lifting driving belt, wherein the lifting driving motor is fixed on one side of a supporting column on a bottom plate through a lifting motor mounting plate, the lifting driving rod is arranged on the supporting column, the lifting driving rod is connected with the supporting columns on the two bottom plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, one end of the lifting driving rod is provided with the lifting driving driven gear meshed with the lifting driving gear, the lifting first driven wheel is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end face of the lifting first driven wheel at one end of the lifting driving rod, the lifting second driven wheel corresponding to the lifting first driven wheel is arranged on the bottom plate at the bottom end of the supporting column, the lifting driving belt is arranged between the lifting first driven wheel and the lifting second driven wheel, and the lifting sliding block is arranged on the lifting driving belt.

Above setting, when the mechanism is got to the clamp and is got to the needs and reciprocate, lift driving motor drive lift drive driving gear rotates, and then drive lift drive driven gear rotates and drive lift actuating lever and rotate, can make lift first follow driving wheel rotate and make the lift drive area remove from this, thereby make the lift slider that sets up on the lift drive area reciprocate, the effect of lift actuating lever makes the lift drive area on two bottom plates reciprocate in step simultaneously, thereby guaranteed to press from both sides and got the mechanism and can normally go up and down, simple structure and effective.

Further, the first clamping jaw assembly comprises a first clamping jaw connecting column, a first clamping jaw base, a first clamping jaw air cylinder and a first clamping jaw, one end of the first clamping jaw connecting column is connected with a rotating assembly on a bottom plate, the other end of the first clamping jaw connecting column is provided with the first clamping jaw base, the first clamping jaw air cylinder is arranged on the first clamping jaw base, and a driving piece of the first clamping jaw air cylinder is provided with the first clamping jaw.

The second clamping jaw assembly comprises a second clamping jaw connecting column, a second clamping jaw base, a second clamping jaw air cylinder and a second clamping jaw, one end of the second clamping jaw connecting column is connected with a rotating assembly on another bottom plate, the other end of the second clamping jaw connecting column is provided with the second clamping jaw base, the second clamping jaw air cylinder is arranged on the second clamping jaw base, and a second clamping jaw is arranged on a driving piece of the second clamping jaw air cylinder.

The step (2.1) specifically comprises:

(2.11) the first jaw cylinder driving the first jaw to move in the direction of the second jaw;

(2.12) the second jaw cylinder driving the second jaw to move in the direction of the first jaw;

(2.13) the first jaw and the second jaw grip the cargo.

Above setting, when needs press from both sides tight with the goods, first clamping jaw cylinder drive first clamping jaw moves to the direction of second clamping jaw and pastes tight goods, and second clamping jaw cylinder drive second clamping jaw moves to the direction of first clamping jaw and pastes tight goods, can press from both sides tight with the goods through the cooperation of first clamping jaw and second clamping jaw, simple structure and effective.

Further, the rotating assembly comprises a rotating motor, a rotating mounting plate, a rotating coupler and a rotating connecting plate, wherein the rotating mounting plate is fixed on the lifting sliding block, the rotating coupler is arranged on the rotating mounting plate, a driving shaft of the rotating motor is fixed on the rotating coupler, the rotating connecting plate is arranged on a main body of the rotating motor, the rotating connecting plate on one bottom plate is connected with the first clamping jaw connecting column, and the rotating connecting plate on the other bottom plate is connected with the second clamping jaw connecting column.

Above setting, when needs overturn the goods, the rotating electrical machines starts, because the drive shaft of rotating electrical machines is fixed on the swivel coupling, consequently, when the rotating electrical machines starts, the drive shaft of rotating electrical machines can't rotate, and make the main part of rotating electrical machines take place to rotate, thereby just also make the main part of following the rotating electrical machines rotate through the first clamping jaw spliced pole and the second clamping jaw spliced pole that the rotatory connecting plate is connected with the main part of rotating electrical machines, make first clamping jaw subassembly and second clamping jaw subassembly rotate from this can overturn the goods.

Further, the moving mechanism comprises a moving motor, a moving motor mounting seat and moving universal wheels, wherein the moving motor is arranged at two ends of the bottom plate through the moving motor mounting seat, and the moving universal wheels are arranged on a driving shaft of the moving motor. The movable universal wheels are driven by the movable motor to move, so that the tipping conveying robot can reach a specified position.

Further, the telescopic limiting mechanism comprises a telescopic motor, a telescopic driving gear, a telescopic driving rack, a telescopic connecting rod, a telescopic driving rod, a telescopic baffle plate, a telescopic base and a telescopic guide rail, wherein the telescopic motor is fixed on a bottom plate through a telescopic motor mounting plate, the telescopic driving gear is arranged on a driving shaft of the telescopic motor, a telescopic rack sliding part is arranged on the telescopic motor mounting plate above the telescopic motor, the telescopic driving rack is arranged on the telescopic rack sliding part in a sliding manner, the telescopic driving rack is connected with the telescopic driving gear in a meshed manner, the telescopic connecting rod is arranged on the telescopic driving rack, the telescopic base is arranged on the bottom plate, the telescopic guide rail is arranged on the telescopic base, one end of the telescopic driving rod is hinged on the telescopic baffle plate through a telescopic sliding block, the other end of the telescopic driving rod is hinged with the telescopic connecting rod, and the telescopic baffle plate slides along the telescopic guide rail into a working section.

The step (1.1) specifically comprises:

(1.11) the telescopic baffle is driven by the telescopic motor to slide into the working area.

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

When the goods need to be limited to continue to enter the working space, the telescopic motor drives the telescopic driving gear to rotate so as to drive the telescopic driving rack to move, the telescopic driving rack pushes the telescopic driving rod to move when moving, the telescopic driving rod can push the telescopic baffle to slide along the telescopic guide rail into the working space when moving, the working space is blocked by the telescopic baffle on the two bottom plates, and therefore the goods can be limited to be prevented from continuously moving into the working space.

Further, a first clamping rotating assembly is further arranged on the first clamping hand, the first clamping rotating assembly comprises a clamping rotating motor, a clamping rotating driving wheel, a clamping rotating driven wheel, a clamping rotating driving shaft, a clamping rotating mounting plate and a rotating clamping hand, the clamping rotating motor is arranged at the front end of the first clamping hand, the clamping rotating driving wheel is arranged on the driving shaft of the clamping rotating motor, the clamping rotating mounting plate is arranged at the tail end of the first clamping hand, one end of the clamping rotating driving shaft is arranged on the clamping rotating mounting plate in a rotating manner through a clamping rotating bearing, a rotating clamping hand is arranged at the other end of the clamping rotating driving shaft, the rotating clamping hand is positioned at one side of the first clamping hand close to the clamping stop block, the clamping rotating driven wheel is arranged on the clamping rotating driving shaft, and the clamping rotating driving wheel are provided with the clamping rotating driving belt;

the second clamping hand is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly.

Step (3) specifically includes when turning over smaller cargo:

Above setting, also can make the goods overturn through pressing from both sides the setting that gets rotating assembly, when the transport, the volume of goods is great, press from both sides and get rotating assembly unable convenient with the goods overturn, then overturn through rotating assembly, when the volume of goods is less, can also can realize the upset through pressing from both sides and getting rotating assembly through rotating assembly, through setting up two turning device that differ, the goods of having guaranteed different sizes all can realize the upset, when needs overturn less goods, press from both sides and get the rotating driving wheel and rotate, and then drive and get the rotation from both sides the rotation of getting rotatory driving wheel with pressing from both sides the clamp that the rotating driving wheel is connected through pressing from both sides, thereby can drive and press from both sides and get rotatory drive shaft rotation and make rotatory tong rotation, realize the upset of goods from this, moreover, the steam generator is simple in structure and useful.

Drawings

Fig. 1 is a schematic structural view of a carrying device of the present invention.

Fig. 2 is an enlarged view at a in fig. 1.

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

Fig. 4 is a schematic structural view of the gripping mechanism of the present invention.

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

Fig. 6 is an exploded view of the first hand grip of the present invention.

Fig. 7 is an enlarged view at B in fig. 1.

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

Fig. 9 is a schematic structural view of another view of the handling device of the present invention.

Fig. 10 is an enlarged view at E in fig. 9.

Fig. 11 is a schematic structural view of a telescopic baffle and a telescopic base according to the present invention.

Fig. 12 is an exploded view of the telescopic limit mechanism of the present invention.

Fig. 13 is a schematic view of the gripping mechanism of the present invention gripping and inverting a load.

Detailed Description

The invention is described in further detail below with reference to the drawings and the detailed description.

As shown in fig. 1to 13, a handling device comprises a frame 1, a moving mechanism 2, a gripping mechanism 3, a lifting mechanism 4 and a telescopic limiting mechanism 5, wherein the frame 1 comprises a bottom plate 11, support columns 12 and a cross beam 13, the bottom plate 11 is provided with two pieces, a working space 10 is formed between the two bottom plates 11, the support columns 12 are arranged at two ends of the bottom plate 11, and the cross beam 13 is arranged between the support columns 12 of the two bottom plates 11.

The moving mechanism 2 is arranged at two ends of the bottom plate 11, the telescopic limiting mechanism 5 is arranged on the bottom plate 11 and extends into the working space 10, the lifting mechanism 4 is arranged on the support column 12 at one end of the bottom plate 11, the clamping mechanism 3 is arranged on the lifting mechanism 4, and the camera 100 is arranged on the cross beam 13 between the support columns 12 at the other end of the bottom plate 11. The state of the goods is observed and detected through the camera, and if the state of the goods needs to be adjusted, the goods can be knocked over or overturned according to the current state of the goods.

As shown in fig. 1 to 3, the lifting mechanism 4 includes a lifting slider 40 and a lifting driving assembly 41, the lifting driving assembly 41 is disposed on the support columns 12 on the two bottom plates 11, the lifting slider 40 is connected to the lifting driving assembly 41, the lifting driving assembly 41 drives the lifting slider 40 to slide up and down along the support columns 12, and the gripping mechanism 3 is disposed on the lifting slider 40.

The lifting driving assembly 41 includes a lifting driving motor 411, a lifting driving gear 412, a lifting driving driven gear 413, a lifting driving rod 414, a lifting first driven gear 415, a lifting second driven gear 416 and a lifting driving belt (not shown in the figure), in this embodiment, the lifting driving belt is a synchronous belt, the lifting driving belt is sleeved on the lifting second driven gear 416, a specific synchronous belt transmission mode is in the prior art, no more details are needed, the lifting driving motor 411 is fixed on one side of a support column 12 on a bottom plate 11 through a lifting motor mounting plate 417, a lifting driving rod 414 is arranged on the support column 12, the lifting driving rod 414 is connected with the support column 12 on two bottom plates 11, a lifting driving gear 412 is arranged on a driving shaft of the lifting driving motor 411, one end of the lifting driving rod 414 is provided with a lifting driving driven gear 413 meshed with the lifting driving gear 412, the lifting first driven gear 415 is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end surface of the lifting first driven gear at one end of the lifting driving rod, a bottom plate 11 at the bottom end of the support column 12 is provided with a lifting first driven gear 415 corresponding to the lifting driven gear 415, and a lifting slider is arranged between the lifting driving driven gear 415 and the lifting driving belt 40.

Above setting, when the mechanism 3 is got to the clamp and is got to the needs and reciprocate, lift driving motor 411 drive lift drive pinion 412 rotates, when lift drive driven gear 413 is driven by lift drive pinion 412 and rotates, make lift actuating lever 414 also can rotate in step, thereby make lift first follow driving wheel 415 at lift actuating lever both ends rotate and make the lift actuating belt remove, thereby make the lift slider 40 that sets up on the lift actuating belt reciprocate, the effect of lift actuating lever 414 makes the lift actuating belt on two bottom plates 11 reciprocate simultaneously, thereby guaranteed that the mechanism 3 can normally go up and down to get, and is simple in structure and effective.

As shown in fig. 4 to 6, the gripping mechanism 3 includes a rotating assembly 30, a first jaw assembly 32, a second jaw assembly 33, a gripping beam 34 and a gripping block 35, the rotating assembly 30 is disposed on a lifting slider 40, the first jaw assembly 32 is disposed on the rotating assembly 30 on one base plate 11, the second jaw assembly 33 is disposed on the rotating assembly 30 on the other base plate 11, the gripping beam 34 is disposed between the first jaw assembly 32 and the second jaw assembly 33, and the gripping block 35 is disposed on the gripping beam 34 between the first jaw assembly 32 and the second jaw assembly 33.

The first clamping jaw assembly 32 comprises a first clamping jaw connecting post 321, a first clamping jaw base 322, a first clamping jaw air cylinder 323 and a first clamping jaw 324, one end of the first clamping jaw connecting post 321 is connected with the rotating assembly 30 on the bottom plate 11, the other end of the first clamping jaw connecting post 321 is provided with the first clamping jaw base 322, the first clamping jaw air cylinder 323 is arranged on the first clamping jaw base 322, and the first clamping jaw 324 is arranged on a driving piece of the first clamping jaw air cylinder 323.

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

The first clamping jaw cylinder 323 drives the first clamping jaw 324 to move towards the second clamping jaw 334, and the second clamping jaw cylinder 332 drives the second clamping jaw 334 to move towards the first clamping jaw 324.

In this embodiment, the first clamping jaw cylinder and the second clamping jaw cylinder are rodless cylinders, and specific working principles thereof are prior art and are not described herein.

Above setting, when needs press from both sides tight with the goods, first clamping jaw cylinder 323 drive first clamping jaw 324 to the direction removal of second clamping jaw 334 paste tight goods, second clamping jaw cylinder 333 drive second clamping jaw 334 to the direction removal of first clamping jaw 324 paste tight goods, can press from both sides tight with the goods through the cooperation of first clamping jaw 324 and second clamping jaw 334, simple structure and effective.

The rotating assembly 30 comprises a rotating motor 301, a rotating mounting plate 302, a rotating coupler 303 and a rotating connecting plate 304, wherein the rotating mounting plate 302 is fixed on the lifting sliding block 40, the rotating coupler 303 is arranged on the rotating mounting plate 302, a driving shaft 3011 of the rotating motor 301 is fixed on the rotating coupler 303, the rotating connecting plate 304 is arranged on a main body 3012 of the rotating motor 301, the rotating connecting plate 304 on one base plate 11 is connected with the first clamping jaw connecting post 321, and the rotating connecting plate 304 on the other base plate 11 is connected with the second clamping jaw connecting post 331.

In the above arrangement, when the goods need to be turned over, the rotating electric machine 301 is started, and since the driving shaft 3011 of the rotating electric machine 301 is fixed on the rotating coupling 303, the driving shaft 3011 of the rotating electric machine 301 cannot rotate when the rotating electric machine 301 is started, so that the main body 3012 of the rotating electric machine 301 rotates, and the first jaw connecting post 321 and the second jaw connecting post 331 connected to the main body 3012 of the rotating electric machine 301 through the rotating connecting plate 304 rotate along with the main body 3012 of the rotating electric machine 301, 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 is the goods).

As shown in fig. 6, a first clamping rotating assembly 31 is further provided on the first clamping hand 324, the first clamping rotating assembly 31 includes a clamping rotating motor 311, a clamping rotating driving wheel 312, a clamping rotating driven wheel 313, a clamping rotating driving belt (not shown in the drawing), a clamping rotating driving shaft 314, a clamping rotating mounting plate 315 and a rotating clamping hand 316, the clamping rotating motor 311 is provided at the front end of the first clamping hand 324, the clamping rotating driving wheel 312 is provided on the driving shaft of the clamping rotating motor 311, a clamping rotating mounting plate 315 is provided at the end of the first clamping hand 324, one end of the clamping rotating driving shaft 314 is rotatably provided on the clamping rotating mounting plate 315 through a clamping rotating bearing 317, and a rotating clamping hand 316 is provided at the other end of the clamping rotating driving shaft 314, the protruding area of the rotating clamping hand 316 is larger than that of the first clamping hand 324, thus, when the goods are clamped, the contact area between the rotating clamping hand and the goods is larger, the rotating clamping hand 316 is positioned on the side of the first clamping driving shaft 35, which is not provided with the rotating driving belt, and the clamping driving belt is provided with a synchronous rotating driving belt, which is provided between the clamping driving wheel and the clamping rotating driving belt 313;

The second clamping hand 334 is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly 31.

As shown in fig. 13, the moving mechanism 2 includes a moving motor 21, a moving motor mount 22, and moving universal wheels 23, the moving motor 21 is disposed at both ends of the base plate 11 through the moving motor mount 22, and the moving universal wheels 23 are disposed on a driving shaft of the moving motor 21. Thereby driving the moving universal wheel 23 to move by the moving motor 21 so that the push-down conveyance robot can reach the designated position.

As shown in fig. 9 to 12, the telescopic limiting mechanism 5 comprises a telescopic limiting driving assembly and a telescopic baffle 56, the telescopic baffle 56 is arranged on the bottom plate 11 through the telescopic limiting driving assembly, the telescopic limiting driving assembly comprises a telescopic motor (not shown in the drawings), a telescopic driving gear 52, a telescopic driving rack 53, a telescopic connecting rod 54, a telescopic driving rod 55, a telescopic base 57 and a telescopic guide rail 58, the telescopic motor is fixed on the bottom plate 11 through a telescopic motor mounting plate 51, a telescopic driving gear 52 is arranged on a driving shaft of the telescopic motor, a telescopic rack sliding part 50 is arranged on the telescopic motor mounting plate 51 above the telescopic motor, the telescopic driving rack 53 is arranged on the telescopic rack sliding part 50 in a sliding manner, the telescopic driving rack 53 is in meshed connection with the telescopic driving gear 52, a telescopic connecting rod 54 is arranged on the telescopic driving rack 53, a telescopic base 57 is arranged on the bottom plate 11, one end of the telescopic driving rod 55 is hinged on the telescopic baffle 56 through a telescopic sliding block 59, the other end of the telescopic driving rod 55 is hinged with the telescopic guide rail 54, and the telescopic connecting rod 54 is arranged in a sliding manner along the telescopic guide rail 58, and the telescopic guide rail 58 is arranged in a telescopic working section 10.

The telescopic driving rod outwards extends to one end of the telescopic connecting rod forwards in an arc mode from one end of the telescopic connecting rod to be arranged with one end of the telescopic connecting rod, the telescopic driving rod is arranged through the arc, the telescopic baffle is not directly propped against when the telescopic driving rod pushes the telescopic baffle to move, a certain buffering radian is achieved, and accordingly connection between the telescopic driving rod and the telescopic baffle is smooth, and accordingly the structure between the telescopic driving rod and the telescopic baffle can be protected better.

The telescopic rack sliding component 50 comprises 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, a clamping groove 531 is formed in the telescopic rack 53, the telescopic sliding wheel 502 is arranged in the clamping groove 531 and slides along the clamping groove 531, and through the arrangement of the clamping groove and the telescopic sliding wheel, the telescopic rack can be connected with the telescopic gear and movement of the telescopic rack cannot be affected

The working method of the carrying device comprises the following specific steps:

(1.1) Blocking cargoes outside the working area through a telescopic baffle plate of a telescopic limiting mechanism;

(1.11) the telescopic baffle is driven by the telescopic motor to slide in the working area.

(2) The gripping mechanism is lowered to a position corresponding to the cargo.

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

(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 driving the second jaw to move in the direction of the first jaw.

(2.13) The first jaw and the second jaw grip the cargo.

(3) When the goods need to be overturned, the method enters the step (3.1), and if the goods do not need to be overturned, the method enters the step (5).

When smaller cargo is turned over:

(4) The movement mechanism carries the cargo to a specified location.

Claims

1. A method for facilitating the handling of goods, wherein the handling method is implemented by a handling device, characterized in that: the handling device includes a frame, a moving mechanism, a clamping mechanism, a lifting mechanism, and a telescopic limiting mechanism; the frame includes a base plate, support columns, and a crossbeam; the base plate is provided in two pieces, forming a working area between the two base plates; the support columns are provided at both ends of the base plate; and a crossbeam is provided between the support columns of the two base plates.

The moving mechanism is located at both ends of the base plate; the telescopic limiting mechanism is located on the base plate and extends into the working area; a lifting mechanism is provided on the support column at one end of the base plate; the clamping mechanism is located on the lifting mechanism; a camera is provided on the crossbeam 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 drive assembly is mounted on a support column on two base plates. The lifting slider is connected to the lifting drive assembly. The lifting drive assembly drives the lifting slider to slide up and down along the support column. A clamping mechanism is provided on the lifting slider.

The clamping mechanism includes a rotating assembly, a first gripper assembly, a second gripper assembly, a clamping crossbeam, and a clamping stop. The rotating assembly is mounted on the lifting slider. The first gripper assembly is mounted on a rotating assembly on a base plate. The second gripper assembly is mounted on a rotating assembly on another base plate. A clamping crossbeam is provided between the first gripper assembly and the second gripper assembly. A clamping stop is provided on the clamping crossbeam between the first gripper assembly and the second gripper assembly.

The first gripper assembly includes a first gripper connecting post, a first gripper base, a first gripper cylinder, and a first gripper. One end of the first gripper connecting post is connected to a rotating assembly on a base plate. The other end of the first gripper connecting post is provided with a first gripper base. The first gripper cylinder is provided on the first gripper base. The first gripper is provided on the drive component of the first gripper cylinder.

The second gripper assembly includes a second gripper connecting post, a second gripper base, a second gripper cylinder, and a second gripper. One end of the second gripper connecting post is connected to a rotating assembly on another base plate. The other end of the second gripper connecting post is provided with a second gripper base. A second gripper cylinder is provided on the second gripper base. A second gripper is provided on the driving component of the second gripper cylinder.

The first gripper is also provided with a first gripping rotation assembly, which includes a gripping rotation motor, a gripping rotation drive wheel, a gripping rotation driven wheel, a gripping rotation drive belt, a gripping rotation drive shaft, a gripping rotation mounting plate, and a rotating gripper. The gripping rotation motor is located at the front end of the first gripper, the gripping rotation drive wheel is located on the drive shaft of the gripping rotation motor, and a gripping rotation mounting plate is located at the end of the first gripper. One end of the gripping rotation drive shaft is rotatably mounted on the gripping rotation mounting plate through a gripping rotation bearing, and a rotating gripper is located at the other end of the gripping rotation drive shaft. The rotating gripper is located on the side of the first gripper closer to the gripping stop. A gripping rotation driven wheel is located on the gripping rotation drive shaft, and a gripping rotation drive belt is located between the gripping rotation drive wheel and the gripping rotation driven wheel.

The second gripper is provided with a second gripping rotating assembly having the same structure as the first gripping rotating assembly.

The telescopic limiting mechanism includes a telescopic limiting drive assembly and a telescopic baffle. The telescopic baffle is mounted on the base plate via the telescopic limiting drive assembly, and the telescopic limiting drive assembly drives the telescopic baffle to slide into the working area.

The specific steps include:

(1) The moving mechanism is activated, which moves the push-down transport robot to the location of the goods and places the goods in the work area; when it is necessary to limit the number of goods in the work area, proceed to step (1.1), otherwise proceed to step (2).

(1.1) Goods outside the working area are blocked by the telescopic baffle of the telescopic limiting mechanism;

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

(2.1) The first gripper assembly and the second gripper assembly clamp the goods;

(3) When the goods need to be flipped, proceed to step (3.1); if they do not need to be flipped, proceed to step (4).

(3.1) The rotation of the rotating assembly drives the first gripper assembly and the second gripper assembly to rotate, thereby flipping the goods;

When flipping smaller goods:

(3.11) The gripping rotary motor drives the rotary gripper to rotate, flipping the goods over;

(4) The moving mechanism transports the goods to the designated location.

2. A method for facilitating cargo handling according to claim 1, characterized in that: the lifting drive assembly includes a lifting drive motor, a lifting drive active gear, a lifting drive driven gear, a lifting drive rod, a first lifting driven wheel, a second lifting driven wheel, and a lifting drive belt; the lifting drive motor is fixed to one side of a support column on a base plate via a lifting motor mounting plate; a lifting drive rod is provided on the support column; the lifting drive rod connects the support columns on two base plates; a lifting drive active gear is provided on the drive shaft of the lifting drive motor; a lifting drive driven gear meshing with the lifting drive active gear is provided at one end of the lifting drive rod; the first lifting driven wheel is fixed to both ends of the lifting drive rod; the lifting drive driven gear is fixedly connected to the end face of the first lifting driven wheel at one end of the lifting drive rod; a second lifting driven wheel corresponding to the first lifting driven wheel is provided on the base plate at the bottom end of the support column; a lifting drive belt is provided between the first lifting driven wheel and the second lifting driven wheel; and the lifting slider is disposed on the lifting drive belt.

3. The method for facilitating cargo handling according to claim 1, characterized in that:

Step (2.1) specifically includes:

(2.11) The first gripper cylinder drives the first gripper to move toward the second gripper;

(2.12) The second gripper cylinder drives the second gripper to move in the direction of the first gripper;

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

4. A method for facilitating cargo handling according to claim 3, characterized in that: 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; a rotating coupling is provided on the rotating mounting plate; the drive shaft of the rotating motor is fixed on the rotating coupling; a rotating connecting plate is provided on the main body of the rotating motor; the rotating connecting plate on one base plate is connected to a first gripper connecting post; and the rotating connecting plate on another base plate is connected to a second gripper connecting post.

5. A method for facilitating cargo handling according to claim 1, characterized in that: the moving mechanism includes a moving motor, a moving motor mounting base, and moving casters, wherein the moving motor is mounted at both ends of the base plate via the moving motor mounting base, and moving casters are provided on the drive shaft of the moving motor.

6. A method for facilitating cargo handling according to claim 1, characterized in that: the telescopic limiting drive assembly includes a telescopic motor, a telescopic drive gear, a telescopic drive rack, a telescopic connecting rod, a telescopic drive rod, a telescopic base, and a telescopic guide rail; the telescopic motor is fixed to the base plate via a telescopic motor mounting plate; a telescopic drive gear is provided on the drive shaft of the telescopic motor; a telescopic rack sliding component is provided on the telescopic motor mounting plate above the telescopic motor; the telescopic drive rack is slidably disposed on the telescopic rack sliding component; the telescopic drive rack is meshed with the telescopic drive gear; a telescopic connecting rod is provided on the telescopic drive rack; a telescopic base is provided on the base plate; a telescopic guide rail is provided on the telescopic base; a telescopic baffle is slidably disposed on the telescopic guide rail via a telescopic slider; one end of the telescopic drive rod is hinged to the telescopic baffle; the other end of the telescopic drive rod is hinged to the telescopic connecting rod; the telescopic baffle slides along the telescopic guide rail into the working area;

Step (1.1) specifically includes:

(1.11) The telescopic motor drives the telescopic baffle to slide into the working area;

(1.12) Telescopic baffles prevent goods outside the working area from entering the working area.