CN117023406A - Pallet fork handling equipment - Google Patents

Abstract

The invention relates to the technical field of fork carrying and particularly discloses a fork carrying device which comprises a hanging bracket mechanism, a driving mechanism, a clamping mechanism, a locking mechanism and a distance measuring mechanism, wherein the clamping mechanism can realize three-way movement in a first direction, a second direction and a vertical direction within a certain range through the driving mechanism, so that a fork can be conveniently clamped in different areas and placed on a conveying frame outside a sand blasting machine, clamping and transportation of the fork in multiple areas can be realized, the clamping range is wider, automatic transportation of a stacking fork can be realized, the clamping mechanism comprises a positioning assembly and two clamping assemblies arranged at the front end and the rear end of the positioning assembly, the two clamping assemblies can be driven to rotate simultaneously through the positioning assembly, after the fork is clamped, the angle of the fork can be adjusted to meet the requirements of a sand blasting machine on the placing angle of the fork, and meanwhile, the clamping assemblies comprise two clamping pieces with adjustable distances and can be suitable for forks of different types.

Description

Pallet fork handling equipment

Technical Field

The invention relates to the technical field of fork carrying, in particular to fork carrying equipment.

Background

The fork is an important component part of a fork truck, is mainly used for forking goods, and is also increasingly required by the fork truck due to the high-speed development of freight transportation and processing and manufacturing industries, in the prior art, in order to improve the yield of the fork truck, the fork truck is molded in batches by adopting a die casting die, and the fork truck is piled together after molding, but the fork truck is required to be subjected to sand blasting treatment after molding, namely the fork truck piled together is required to be carried into a sand blaster for surface treatment, and due to certain requirements on the placing angle of the fork truck by sand blasting, a common crane and a mechanical arm cannot clamp the fork truck well, so the fork truck is carried manually, the fork truck is carried to a conveying rack outside the sand blaster, and the conveying rack is carried into the sand blaster, but because the fork truck is made of metal materials, the weight is large, the labor intensity of manual transportation is too high, and dangerous accidents are easy to happen.

Disclosure of Invention

The invention is made in consideration of the problems, and the object of the invention is to provide a pallet fork carrying device which can realize automatic carrying of pallet forks, has high degree of automation, reduces labor intensity and reduces potential safety hazards.

In order to achieve the above object, the present invention provides a pallet fork handling apparatus for handling a pallet fork from a placement station onto a blasting machine, comprising:

the hanging bracket mechanism comprises a supporting component and a top frame component positioned at the top of the supporting component, and the placing station is positioned right below the top frame component;

the driving mechanism comprises a first translation assembly, a second translation assembly and a lifting assembly, wherein the first translation assembly comprises a supporting beam which can be arranged on the top frame assembly in a sliding manner along a first direction, the second translation assembly comprises a sliding frame which can be arranged on the supporting beam in a sliding manner along a second direction, and the lifting assembly comprises a lifting beam which can be lifted and is connected with the sliding frame;

the clamping mechanism comprises a positioning assembly and at least two clamping assemblies, wherein the positioning assembly comprises a positioning plate fixed at the bottom of the lifting beam and a positioning frame rotatably arranged below the positioning plate, the positioning frame is provided with a first end and a second end, the two clamping assemblies are respectively positioned at the first end and the second end, each clamping assembly comprises at least two clamping pieces positioned at two sides of the first end or two sides of the second end, the two clamping pieces are used for clamping two fork arms of the fork, and the distance between the two clamping pieces is adjustable;

the clamping piece comprises a clamping column which is arranged at the bottom of the positioning frame in a floatable mode, an electromagnet which is arranged at the bottom end of the clamping column and a clamping jaw which is connected with the bottom end of the lower portion of the clamping column, when the electromagnet is electrified, the bottom of the electromagnet can be connected with the top surface of the fork so as to attract the fork, and the clamping jaw can be abutted with the bottom of the fork so as to clamp the fork.

According to the fork carrying device, the positioning assembly further comprises a steering motor, the positioning frame is rotatably connected with the positioning plate through the first rotating shaft, and the steering motor is fixed on the positioning plate and connected with the first rotating shaft.

According to the fork carrying device, the positioning frame comprises two brackets, the two clamping assemblies are respectively connected with the two brackets, the brackets are provided with first guide rails arranged along the arrangement direction of the two clamping pieces, and the upper ends of the clamping columns are slidably connected with the first guide rails through first sliding blocks;

the clamping assembly further comprises a first driving air cylinder, the first driving air cylinder is fixed on the support, and a piston rod of the first driving air cylinder is connected with the first sliding block.

According to the fork carrying device, the first sliding block is provided with the shaft sleeve, and the upper end of the clamping column penetrates through the shaft sleeve and is connected with the shaft sleeve through the telescopic spring.

According to the fork carrying device, the clamping assembly further comprises a swinging cylinder, the swinging cylinder is fixed on one side of the lower portion of the clamping column through a connecting plate, and the swinging cylinder is connected with the clamping jaw and can drive the clamping jaw to rotate so as to clamp or release the fork.

According to the fork carrying device, the top frame assembly comprises a top frame, first racks and second guide rails, wherein the first racks and the second guide rails are arranged on the top frame along a first direction, the two first racks are arranged on two symmetrical sides of the top frame, the two second guide rails are respectively positioned on the top frames on the inner sides of the two first racks, and two ends of the supporting cross beam are respectively connected with the two second guide rails in a sliding manner through two second sliding blocks;

the first translation assembly further comprises two first driving motors, the two first driving motors are fixedly connected with the two second sliding blocks, a first gear is arranged on an output shaft of each first driving motor, and the first gears are meshed with the first racks;

the two opposite sides of the second sliding block are provided with a first limit switch and a second limit switch, two ends of the top frame are provided with a first limit rod and a second limit rod, and when the supporting cross beam moves along a first direction, the first limit switch can be abutted with the first limit rod or the second limit switch can be abutted with the second limit rod.

According to the fork carrying device, the second translation assembly further comprises a second driving motor, a third guide rail and a second rack are arranged on the supporting beam along a second direction, the sliding frame is slidably connected with the third guide rail through a third sliding block, the second driving motor is fixed on the third sliding block, and a second gear meshed with the second rack is arranged on an output shaft of the second driving motor;

the lifting assembly further comprises a third driving motor, a sliding groove which is vertically arranged is formed in one side of the sliding frame, the lifting beam movably penetrates through the sliding groove, a third rack which is arranged along the vertical direction is arranged on one side of the lifting beam, the third driving motor is fixed on the sliding frame, and a third gear which is meshed with the third rack is arranged on an output shaft of the third driving motor.

According to the above, the fork handling equipment further comprises a locking mechanism, the locking mechanism comprises a positioning pin assembly, the positioning pin assembly comprises a first positioning hole located on the second sliding block, a second positioning hole located on the top frame and a positioning pin which can be inserted into the communication holes of the first positioning hole and the second positioning hole, and when the positioning pin is inserted into the communication holes of the first positioning hole and the second positioning hole, the driving mechanism and the clamping mechanism stop moving.

According to the fork handling equipment, the sand blasting machine is provided with a feed inlet, the outer side of the feed inlet is provided with a conveying frame, the placing station is positioned on the workbench on one side of the conveying frame, the placing station is provided with a first placing area and a second placing area, and the clamping mechanism can clamp the fork from the first placing area or the second placing area and place the fork on the conveying frame.

According to the above, the fork handling equipment further comprises a ranging mechanism, the ranging mechanism comprises a photographing assembly, the photographing assembly comprises a light source and a ranging camera, the light source and the ranging camera are mounted on one side of the lifting beam through a mounting plate, the ranging camera is used for measuring the distance between the forks, and the light source is used for providing light for the ranging camera.

The invention has the following beneficial effects:

1. the clamping mechanism can realize three-way movement in a first direction, a second direction and a vertical direction within a certain range through the driving mechanism, so that the forks are conveniently clamped in different areas and placed on the conveying frame outside the sand blasting machine, the clamping and the transportation of the multi-area forks can be realized, the clamping range is wider, and the automatic transportation of the stacking forks can be realized;

2. the clamping mechanism comprises two clamping components which are respectively positioned at the first end and the second end of the positioning frame, so that the front part and the rear part of the fork can be clamped at the same time, the clamping is more stable, the clamping components comprise two clamping pieces for clamping two fork arms of the fork, the distance between the two clamping pieces is adjustable, and the clamping mechanism can be used for clamping forks with different fork arm distances, namely, the clamping mechanism can be used for clamping forks with different models, and has good applicability;

3. the positioning assembly can drive the two clamping assemblies to rotate simultaneously, namely, after clamping the fork, the angle of the fork can be adjusted, so that the requirement of the sand blasting machine on the angle of the fork can be met, and the sand blasting machine is more intelligent;

4. the clamping piece comprises an electromagnet and clamping jaws, the electromagnet can be electrified to attract the fork to drive the fork, meanwhile, the clamping jaws can also rotate to be attached to the bottom of the fork, namely, a layer of safety is added, the fork cannot fall down even if the electromagnet is powered off, and the safety performance is improved;

5. the position of the fork is judged by integrally adopting the distance measuring mechanism, so that the automatic clamping and releasing of the fork can be realized, the automation degree is high, and manual operation is not required;

6. the locking of the supporting cross beam can be realized through the locking mechanism, and after the motor is overloaded, the driving mechanism and the clamping mechanism can be controlled to stop acting, so that personnel can enter the top frame for debugging and manual carrying, and the safety performance is improved;

7. the clamping columns are independent and are arranged in a floating mode, and damage to the fork can be avoided when the fork is clamped or released.

Drawings

FIG. 1 is a schematic diagram of an embodiment of a fork-handling apparatus and carriage assembly;

FIG. 2 is a schematic overall structure of the embodiment;

FIG. 3 is an assembled schematic view of the drive mechanism, clamping mechanism, locking mechanism, and ranging mechanism of an embodiment;

fig. 4 is a schematic view of the structure of the clamping mechanism according to the embodiment.

In the figure:

1. a hanger mechanism; 11. a support assembly; 12. a top frame assembly; 121. a top frame; 121a, a first limiting rod; 121b, a second limiting rod; 122. a first rack; 123. a second guide rail;

2. a driving mechanism; 21. a first translation assembly; 211. a support beam; 211a, a third guide rail; 211b, a second rack; 212. a second slider; 212a, a first limit switch; 212b, a second limit switch; 213. a first driving motor; 213a, a first gear; 22. a second translation assembly; 221. a sliding frame; 222. a second driving motor; 23. a lifting assembly; 231. a lifting beam; 231a, a third rack; 232. a third driving motor;

3. a clamping mechanism; 31. a positioning assembly; 311. a positioning plate; 312. a positioning frame; 312a, a bracket; 312b, a first guide rail; 313. a steering motor; 314. a first rotating shaft; 32. a clamping member; 321. a clamping column; 321a, a first slider; 321b, a shaft sleeve; 322. an electromagnet; 323. a clamping jaw; 324. a first driving cylinder; 325. a swing cylinder;

4. a locking mechanism; 41. a positioning pin;

5. a distance measuring mechanism; 51. a light source; 52. a range finding camera;

6. and a conveying frame.

Detailed Description

The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

As shown in fig. 1-4, a pallet fork carrying device comprises a hanger mechanism 1, a driving mechanism 2, a clamping mechanism 3, a locking mechanism 4 and a distance measuring mechanism 5, wherein the driving mechanism 2 drives the clamping mechanism 3 to move in three directions on the hanger mechanism 1, the clamping mechanism 3 is used for clamping a pallet fork, the pallet fork is carried from a placing station to a sand blasting machine, sand blasting is carried out, the distance measuring mechanism 5 is used for judging the distance between the pallet fork and other components by a control system, and the clamping mechanism 3 is controlled to automatically operate, so that the automatic carrying of the pallet fork is realized.

In this embodiment, be equipped with the feed inlet on the sand blasting machine, the outside of feed inlet is equipped with the carriage, places the workstation and is located the workstation of carriage one side, places to be equipped with first district and the district is placed to the second on the workstation, and fixture 3 can place district centre gripping fork from first district or the district is placed to the second to place the fork on the carriage, the fork is not all piled up together promptly, needs the multidirectional motion of fixture 3 to realize carrying out the centre gripping to the fork in the district is placed to a plurality of, and the centre gripping scope is wider.

Specifically, the hanger mechanism 1 includes a support assembly 11 and a top frame assembly 12 located at the top of the support assembly 11, the placement station is located under the top frame assembly 12, that is, the forks of the multiple groups of stacks are all located under the top frame assembly 12, the support assembly 11 includes four support columns symmetrically distributed in pairs, the top frame assembly 12 includes a top frame 121 disposed at the top of the four support columns, a first rack 122 and a second guide rail 123 disposed on the top frame 121 along a first direction, and the second guide rail 123 is utilized to provide sliding support for the driving mechanism 2, in this embodiment, the first direction refers to the length direction of the top frame 121, and when the driving mechanism 2 drives the clamping mechanism 3 to move along the first direction, the front-back movement of the clamping mechanism 3 is realized.

Further, in the present embodiment, the two first racks 122 are disposed on two symmetrical sides of the top frame 121, and the two second guide rails 123 are respectively located on the top frame 121 inside the two first racks 122, that is, the two ends of the whole driving mechanism 2 can slide synchronously, so as to ensure the stability of the movement thereof.

Specifically, the driving mechanism 2 includes a first translation component 21, a second translation component 22 and a lifting component 23, where the first translation component 21 includes a supporting beam 211 slidably disposed on the top frame component 12 along a first direction, the second translation component 22 includes a sliding frame 221 slidably disposed on the supporting beam 211 along a second direction, the lifting component 23 includes a lifting beam 231 that is capable of lifting and lowering and is connected to the sliding frame 221, in this embodiment, the second direction refers to a width direction of the top frame 121, when the sliding frame 221 moves along the second direction, the clamping mechanism 3 can be driven to move in a left-right direction, that is, in this embodiment, the movement of the supporting beam 211 along the first direction can drive the sliding frame 221, the lifting beam 231 and the clamping mechanism 3 disposed at the bottom of the lifting beam 231 to move in a front-back direction, the movement of the sliding frame 221 along the second direction can drive the lifting beam 231 and the clamping mechanism 3 to move in a left-right direction, and the lifting and lowering movement of the clamping mechanism 3 can further realize driving the clamping mechanism 3 to move in the front-back-left direction and right direction and the up-down direction.

Further, the first translation assembly 21 further includes two first driving motors 213, two ends of the supporting beam 211 are slidably connected with the two second guide rails 123 through two second sliders 212, the two first driving motors 213 are respectively fixed on the two second sliders 212, a first gear 213a is disposed on an output shaft of the first driving motor 213, the first gear 213a is meshed with the first rack 122, when the first driving motor 213 works, the output shaft of the first driving motor 213 rotates to drive the first gear 213a to rotate, and because the first gear 213a is meshed with the first rack 122, under the condition that the first rack 122 is fixed, the position of the first gear 213a is changed, the second sliders 212 can be driven to slide on the second guide rails 123, and then the supporting beam 211 is driven to slide along the arrangement direction of the second guide rails 123.

Further, a first limit switch 212a and a second limit switch 212b are disposed on two opposite sides of the second slider 212, a first limit lever 121a and a second limit lever 121b are disposed at two ends of the top frame 121, when the support beam 211 moves along the first direction, the first limit switch 212a may abut against the first limit lever 121a or the second limit switch 212b may abut against the second limit lever 121b, when the first limit switch 212a abuts against the first limit lever 121a, the first limit switch 212a controls the first driving motor 213 to stop, i.e. to limit the maximum forward movement position of the support beam 211, and when the second limit switch 212b abuts against the second limit lever 121b, the second limit switch 212b controls the first driving motor 213 to stop, to limit the maximum backward movement position of the support beam 211, i.e. to limit the movement range of the support beam 211 in the first direction through the first limit lever 121a and the second limit lever 121b, so as to prevent the support beam 211 from derailing.

Further, the second translation assembly 22 further includes a second driving motor 222, the supporting beam 211 is provided with a third guide rail 211a and a second rack 211b arranged along the second direction, the sliding frame 221 is slidably connected with the third guide rail 211a through a third sliding block, the second driving motor 222 is fixed on the third sliding block, an output shaft of the second driving motor 222 is provided with a second gear meshed with the second rack 211b, and when the second driving motor 222 works, the output shaft of the second driving motor 222 drives the second gear to rotate, and as the second gear is meshed with the second rack 211b, the third sliding block can be driven to slide along the second direction, and then the sliding frame 221 is driven to slide along the second direction.

Further, the lifting assembly 23 further includes a third driving motor 232, a vertically arranged chute is disposed on one side of the sliding frame 221, the lifting beam 231 movably penetrates through the chute, in this embodiment, the chute is used for guiding the lifting beam 231, a third rack 231a disposed along the vertical direction is disposed on one side of the lifting beam 231, the third driving motor 232 is fixed on the sliding frame 221, a third gear meshed with the third rack 231a is disposed on an output shaft of the third driving motor 232, when the third driving motor 232 works, the third driving motor 232 drives the output shaft to rotate, drives the third gear to rotate, and the third gear drives the third rack 231a to lift up and down, so as to drive the lifting beam 231 to lift.

In this embodiment, the three driving members in the driving mechanism 2 all select driving motors, so that the control precision of the motors is higher, and the position of the clamping mechanism 3 is convenient to precisely control.

Specifically, fixture 3 includes locating component 31 and two at least clamping components, locating component 31 is including fixing locating plate 311 and rotatable setting in locating plate 311 below locating component 312, clamping component sets up the below of locating frame 312, require the forward requirement of fork head when carrying out the sand blasting to the fork to the sand blasting machine promptly, can realize the angle modulation of fork, with the requirement that is applicable to the sand blasting machine, degree of automation is high, need not the manual work and go to adjust fork angle of putting, simultaneously locating frame 312 has first end and second end, two clamping components are located first end and second end respectively, every clamping component all includes two at least clamping pieces 32 that are located first end both sides or second end both sides, two clamping pieces 32 are used for clamping two fork arms of fork, and the distance between two clamping pieces 32 is adjustable, wherein, first end refers to the front end of locating frame 312, the second end refers to the rear end of locating frame 312, two clamping components set up respectively at the front end of locating frame 312 and rear end and can be at two fork parts and two clamping pieces 32 are guaranteed to two fork parts, two clamping components have two clamping pieces 32 to two left and right sides respectively, therefore, two clamping components are arranged in two clamping pieces 32 simultaneously, two clamping pieces are located two and two clamping pieces 32 are located two and two clamping pieces are simultaneously, two clamping pieces are arranged along two clamping pieces 32.

Further, the positioning assembly 31 further includes a steering motor 313, the positioning frame 312 is rotatably connected with the positioning plate 311 through a first rotating shaft 314, the steering motor 313 is fixed on the positioning plate 311 and is connected with the first rotating shaft 314, the steering motor 313 drives the first rotating shaft 314 to rotate, and the positioning frame 312 is driven to rotate through the first rotating shaft 314, so that the adjustment of the fork placement angle is realized.

Similarly, in order to realize the adjustment of the distance between the two clamping members 32, the positioning frame 312 includes two brackets 312a, two clamping assemblies are respectively connected with the two brackets 312a, a first guide rail 312b arranged along the arrangement direction of the two clamping members 32 is arranged on the brackets 312a, the upper end of the clamping post 321 is slidably connected with the first guide rail 312b through a first sliding block 321a, the clamping assemblies further include a first driving air cylinder 324, the first driving air cylinder 324 is fixed on the brackets 312a, the piston rod of the first driving air cylinder 324 is connected with the first sliding block 321a, namely, the first driving air cylinder 324 drives the first sliding block 321a to slide on the first guide rail 312b, the first sliding block 321a drives the clamping post 321 to move, and further, the distance adjustment between the two clamping members 32 is realized, so that the clamping post is applicable to different types of forks, namely, the distances between the two fork arms of different types are different.

Further, the clamping piece 32 includes floatable setting up the clamp post 321 in the locating rack 312 bottom, be located the electro-magnet 322 of clamp post 321 bottom and with the clamping jaw 323 that meets of clamp post 321 lower part bottom, when electro-magnet 322 circular telegram, the bottom of electro-magnet 322 can meet with the top surface of fork, with this fork of actuation, simultaneously, clamping jaw 323 rotatable to the bottom butt with the fork, with the centre gripping fork, both utilize electro-magnet 322 to adsorb the fork promptly, and then the centre gripping fork, also utilize the centre gripping to carry out auxiliary gripping, once electro-magnet 322 loses the electricity, clamping jaw 323 also can grasp the fork, can carry out the transport of fork equally, and avoid the fork to drop simultaneously and take place dangerous accident, and the floating of clamp post 321 can avoid the damage to the fork, play the guard action to the fork.

Further, the first slider 321a is provided with a shaft sleeve 321b, the upper end of the clamping post 321 is arranged on the shaft sleeve 321b in a penetrating manner, and is connected with the shaft sleeve 321b through a telescopic spring, namely, when the lower end of the clamping post 321 is abutted to a fork, the fork can drive the clamping post 321 to move upwards, the compression spring can be extruded in the ascending process of the clamping post 321, and further, the lower end of the clamping post 321 or an electromagnet 322 or a clamping jaw 323 positioned at the lower end of the clamping post 321 can not be abutted to the fork rigidly, so that the fork is prevented from being damaged.

Further, in order to realize the rotation of the clamping jaw 323, the clamping assembly further comprises a swinging air cylinder 325, wherein the swinging air cylinder 325 is fixed on one side of the lower portion of the clamping post 321 through a connecting plate, the swinging air cylinder 325 is connected with the clamping jaw 323 and can drive the clamping jaw 323 to rotate, the swinging air cylinder 325 can rotate with the driving clamping jaw 323 to be attached to the bottom of the fork so as to clamp the fork, and can also drive the clamping jaw 323 to rotate to be out of contact with the fork so as to release the fork to the conveying frame.

Specifically, the locking mechanism 4 includes a positioning pin 41 assembly, the positioning pin 41 assembly includes a first positioning hole located on the second slider 212, a second positioning hole located on the top frame 121, and a positioning pin 41 capable of being inserted into the communication holes of the first positioning hole and the second positioning hole, when the positioning pin 41 is inserted into the communication holes of the first positioning hole and the second positioning hole, the driving mechanism 2 and the clamping mechanism 3 stop moving, after the positioning pin 41 is inserted into the communication holes of the first positioning hole and the second positioning hole, the second slider 212 is locked on the top frame 121, at this time, if the first driving motor 213 continues to work, the overload phenomenon occurs to the first driving motor 213, and then the overload phenomenon is fed back to the control system, and the control system controls all motors in the driving mechanism 2 to stop working, and at this time, the clamping mechanism 3 is controlled to stop moving, so that an operator can enter under the top frame 121 to perform debugging.

Specifically, range finding mechanism 5 includes photographic subassembly, photographic subassembly includes light source 51 and range finding camera 52, light source 51 meets through the mounting panel and installs to one side of lift beam 231, photographic subassembly is fixed on lift beam 231 all the time promptly, can carry out the three-way motion along with lift beam 231, and then guarantee that the relative height between photographic subassembly and fixture 3 can not change, light source 51 provides light for range finding camera 52, range finding camera 52 is used for measuring the distance of fork, be convenient for control fixture 3 around, control and decline distance, realize real unmanned.

Of course, in this embodiment, a distribution box and a control cabinet are provided on one side of the handling device, for supplying power to and controlling the handling device.

The technical scheme of the invention is explained in detail above with reference to the accompanying drawings, and the described embodiments are used for helping to understand the idea of the invention. The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions in a similar manner without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.

It should be noted that all directional indicators (such as up, down, left, right, front, and rear … …) in the embodiments of the present invention are merely used to explain the relative positional relationship, movement, etc. between the components in a particular posture (as shown in the drawings), and if the particular posture is changed, the directional indicator is changed accordingly.

Furthermore, descriptions such as those referred to herein as "first," "second," "a," and the like are provided for descriptive purposes only and are not to be construed as indicating or implying a relative importance or an implicit indication of the number of features being indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present invention, unless specifically stated and limited otherwise, the terms "connected," "affixed," and the like are to be construed broadly, and for example, "affixed" may be a fixed connection, a removable connection, or an integral body; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In addition, the technical solutions of the embodiments of the present invention may be combined with each other, but it is necessary to be based on the fact that those skilled in the art can implement the technical solutions, and when the technical solutions are contradictory or cannot be implemented, the combination of the technical solutions should be considered as not existing, and not falling within the scope of protection claimed by the present invention.

Claims (10)

1. A pallet fork handling apparatus for handling pallet forks from a placement station to a blasting machine, comprising:

the hanging bracket mechanism comprises a supporting component and a top frame component positioned at the top of the supporting component, and the placing station is positioned right below the top frame component;

the driving mechanism comprises a first translation assembly, a second translation assembly and a lifting assembly, wherein the first translation assembly comprises a supporting beam which can be arranged on the top frame assembly in a sliding manner along a first direction, the second translation assembly comprises a sliding frame which can be arranged on the supporting beam in a sliding manner along a second direction, and the lifting assembly comprises a lifting beam which can be lifted and is connected with the sliding frame;

the clamping mechanism comprises a positioning assembly and at least two clamping assemblies, wherein the positioning assembly comprises a positioning plate fixed at the bottom of the lifting beam and a positioning frame rotatably arranged below the positioning plate, the positioning frame is provided with a first end and a second end, the two clamping assemblies are respectively positioned at the first end and the second end, each clamping assembly comprises at least two clamping pieces positioned at two sides of the first end or two sides of the second end, the two clamping pieces are used for clamping two fork arms of the fork, and the distance between the two clamping pieces is adjustable;

the clamping piece comprises a clamping column which is arranged at the bottom of the positioning frame in a floatable mode, an electromagnet which is arranged at the bottom end of the clamping column and a clamping jaw which is connected with the bottom end of the lower portion of the clamping column, when the electromagnet is electrified, the bottom of the electromagnet can be connected with the top surface of the fork so as to attract the fork, and the clamping jaw can be abutted with the bottom of the fork so as to clamp the fork.

2. The pallet fork handling apparatus of claim 1 wherein the positioning assembly further comprises a steering motor, the positioning frame rotatably coupled to the positioning plate by a first shaft, the steering motor being secured to the positioning plate and coupled to the first shaft.

3. The pallet fork carrying device according to claim 1 or 2, wherein the positioning frame comprises two brackets, the two clamping assemblies are respectively connected with the two brackets, a first guide rail arranged along the arrangement direction of the two clamping pieces is arranged on the brackets, and the upper end of the clamping column is slidably connected with the first guide rail through a first sliding block;

the clamping assembly further comprises a first driving air cylinder, the first driving air cylinder is fixed on the support, and a piston rod of the first driving air cylinder is connected with the first sliding block.

4. A pallet fork handling apparatus according to claim 3, wherein the first slider is provided with a sleeve, and the upper end of the clip is threaded onto the sleeve and connected to the sleeve by a telescopic spring.

5. The pallet fork handling apparatus of claim 2, wherein the clamping assembly further comprises a swing cylinder secured to one side of the lower portion of the clamping post by a connecting plate, and wherein the swing cylinder is coupled to the clamping jaw and is operable to rotate the clamping jaw to clamp or release the pallet fork.

6. The pallet fork handling apparatus of claim 1 wherein said top frame assembly includes a top frame, first racks and second rails arranged on said top frame in a first direction, two of said first racks being arranged on symmetrical sides of said top frame, two of said second rails being respectively located on the top frame inside of two of said first racks, two ends of said support beam being respectively slidably engaged with two of said second rails by two second sliders;

the first translation assembly further comprises two first driving motors, the two first driving motors are fixedly connected with the two second sliding blocks, a first gear is arranged on an output shaft of each first driving motor, and the first gears are meshed with the first racks;

the two opposite sides of the second sliding block are provided with a first limit switch and a second limit switch, two ends of the top frame are provided with a first limit rod and a second limit rod, and when the supporting cross beam moves along a first direction, the first limit switch can be abutted with the first limit rod or the second limit switch can be abutted with the second limit rod.

7. The pallet fork handling apparatus of claim 6, wherein the second translation assembly further comprises a second drive motor, a third rail and a second rack are arranged on the support beam along a second direction, the sliding frame is slidably connected with the third rail through a third sliding block, the second drive motor is fixed on the third sliding block, and a second gear meshed with the second rack is arranged on an output shaft of the second drive motor;

the lifting assembly further comprises a third driving motor, a sliding groove which is vertically arranged is formed in one side of the sliding frame, the lifting beam movably penetrates through the sliding groove, a third rack which is arranged along the vertical direction is arranged on one side of the lifting beam, the third driving motor is fixed on the sliding frame, and a third gear which is meshed with the third rack is arranged on an output shaft of the third driving motor.

8. The pallet fork handling apparatus of claim 6, further comprising a locking mechanism, wherein the locking mechanism comprises a dowel assembly comprising a first dowel hole on the second slider, a second dowel hole on the top frame, and a dowel pin insertable into the communication holes of the first dowel hole and the second dowel hole, wherein the driving mechanism and the clamping mechanism stop moving when the dowel pin is inserted into the communication holes of the first dowel hole and the second dowel hole.

9. The pallet fork handling apparatus according to claim 1, wherein the sand blasting machine is provided with a feed port, a carriage is arranged on the outer side of the feed port, the placement station is located on a workbench on one side of the carriage, a first placement area and a second placement area are arranged on the placement station, and the clamping mechanism can clamp the pallet fork from the first placement area or the second placement area and place the pallet fork on the carriage.

10. The pallet fork handling apparatus of claim 1, further comprising a ranging mechanism including a camera assembly including a light source and a ranging camera mounted to one side of the lifting beam by a mounting plate, the ranging camera for measuring the distance of the pallet fork, the light source for providing light to the ranging camera.