CN213536472U

CN213536472U - Tray tongs and tray conveying equipment

Info

Publication number: CN213536472U
Application number: CN202022047244.9U
Authority: CN
Inventors: 田汉溶; 杨毅; 丁笑; 王斌全
Original assignee: Shidai Hi Tech Equipment Ganzhou Co ltd
Current assignee: Shidai Hi Tech Equipment Ganzhou Co ltd
Priority date: 2020-09-17
Filing date: 2020-09-17
Publication date: 2021-06-25
Anticipated expiration: 2030-09-17

Abstract

The utility model discloses a tray tongs and tray conveying equipment, tray tongs include: the tray clamping mechanism comprises a mounting plate, two grippers and a telescopic assembly, wherein the two grippers are oppositely mounted on the mounting plate, a containing space for containing a tray is formed between the two grippers, the telescopic assembly is mounted on the mounting plate and used for driving the two grippers to move in the opposite direction or in the opposite direction so as to clamp or release the tray; and the rotating mechanism comprises a connecting frame and a rotating driving assembly, the connecting frame is connected with the mounting plate, and the rotating driving assembly is used for driving the connecting frame to rotate so as to drive the two grippers to rotate. The utility model discloses a flexible and the rotation of link between two tongs, the full-automatic of tray can be realized snatching and rotating, can carry out the accuracy rotation to the tray through adjustment rotary driving subassembly, and the tray snatch need not artifical manual operation with the transportation in-process, can eliminate because of the tray drops and cause the potential safety hazard of harm to personnel and material when having improved tray transportation efficiency.

Description

Tray tongs and tray conveying equipment

Technical Field

The utility model relates to a battery processing technology field, in particular to tray tongs and tray conveying equipment.

Background

With the development of science and technology, the living standard of people is greatly improved, wherein electronic equipment is more and more widely applied in the life of people, and batteries are required to be adopted in most of the electronic equipment. The traditional battery production process has multiple processes, and the batteries need to be transported, loaded and unloaded between the front and rear processes. Because not only need carry out sharp transportation to the battery among the transportation, still often need rotate certain angle to the battery, usually through loading the battery in the tray, realize the transportation of battery by artifical manual transport tray, nevertheless because the battery weight ratio in tray and the tray is heavier for the transportation efficiency of battery is lower, and easily appears the tray and drop and cause the condition of harm to personnel and material, the potential safety hazard is great, makes the transportation of battery very inconvenient.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a tray tongs and tray conveying equipment aims at solving among the prior art battery transportation inefficiency and the big technical problem of transportation potential safety hazard.

In order to achieve the above object, the utility model provides a tray tongs includes: the tray clamping mechanism comprises a mounting plate, two grippers and a telescopic assembly, wherein the two grippers are oppositely mounted on the mounting plate, a containing space for containing the tray is formed between the two grippers, the telescopic assembly is mounted on the mounting plate and used for driving the two grippers to move in the opposite direction or in the opposite direction so as to clamp or release the tray; and the rotating mechanism comprises a connecting frame and a rotating driving assembly, the connecting frame is connected with the mounting plate, and the rotating driving assembly is used for driving the connecting frame to rotate so as to drive the two grippers to rotate.

Preferably, the rotating mechanism further comprises an endless guide rail, and the connecting frame comprises: the one end of support with the mounting panel is connected, crosses the cab apron, the other end of support passes the ring rail with it is connected to cross the cab apron, be provided with the slider on crossing the cab apron, the slider seted up with ring rail sliding contact complex spout, the rotation driving subassembly is used for driving it is rotatory to cross the cab apron relative ring rail, in order to drive the support is rotatory.

Preferably, the rotary drive assembly comprises: the output end of the speed reducer is connected with the transition plate; the output end of the rotary driving piece is connected with the input end of the speed reducer, and the rotary driving piece is used for driving the transition plate to rotate relative to the annular guide rail through the speed reducer.

Preferably, the rotating mechanism further comprises a first support plate and a second support plate, and the second support plate is arranged between the first support plate and the mounting plate; the speed reducer is arranged on one side, away from the second supporting plate, of the first supporting plate, the first supporting plate and the transition plate are arranged at intervals, and the output end of the speed reducer penetrates through the first supporting plate and is connected with the transition plate; the second backup pad with the mounting panel interval sets up, ring rail install in the second backup pad orientation one side of first backup pad, the second backup pad has been seted up and has been dodged the groove, the support passes dodge the groove with the mounting panel is connected, the second backup pad is provided with the support column of first backup pad.

Preferably, the number of the sliding blocks is multiple, and the multiple sliding blocks are arranged on the transition plate at intervals.

Preferably, the telescopic assembly comprises two telescopic driving pieces, the two telescopic driving pieces are installed on one side, deviating from the hand grips, of the mounting plate, the two telescopic driving pieces and the two hand grips are respectively and correspondingly connected, and the two telescopic driving pieces are used for correspondingly driving the two hand grips to move in the opposite directions or in the opposite directions.

Preferably, a linear guide rail is arranged on one side, away from the hand grip, of the mounting plate, and the linear guide rail is consistent with the mounting plate in length direction; the telescopic assembly further comprises two guide plates, the two guide plates correspond to the two grippers respectively, the output end of the telescopic driving piece is connected with the grippers through the guide plates, one side of each guide plate is provided with a guide block, and the guide blocks are provided with guide grooves matched with the linear guide rails in a sliding contact mode.

Preferably, the number of the linear guide rails is two, the two linear guide rails are arranged along the width direction of the mounting plate at intervals, and the two ends of the linear guide rails are provided with limiting blocks used for abutting against the guide plates.

Preferably, the tongs include main part board and hook block, the one end of main part board install in the mounting panel, the other end of main part board is to keeping away from the direction of mounting panel extends, hook block set up in on the main part board towards one side of accommodation space and be used for with the hole for hoist on the tray cooperation.

The utility model also provides a tray conveying equipment, tray conveying equipment includes that X is to module, Y to module, Z to module, installation frame and as above tray tongs, the link passes through the installation frame with X to the module Y to the module and Z is to the module connection.

The technical scheme of the utility model, the tray tongs during operation, can be earlier through two tongs back of the body motions of flexible subassembly drive, in order to enlarge the accommodation space between two tongs, but make the tray holding in the accommodation space, after that through two tongs opposite directions of flexible subassembly drive, make two tongs cooperations press from both sides the tray tightly, accomplish the snatching of tongs mechanism to the tray, the rotation driving subassembly can drive the link rotatory after that, it is rotatory to drive the tongs through the mounting panel among the rotatory process of link, thereby it is rotatory to appointed angle to rotate the tray between two tongs, just can accomplish snatching and transporting of tray. The utility model discloses a tray tongs passes through the rotation of the flexible and rotary mechanism in link between two tongs in the tongs mechanism, can realize that the full-automatic of tray snatchs and rotates, can carry out the accurate rotation to the tray through adjustment rotation driving subassembly, the transportation precision of tray has been improved greatly, and the snatching of tray need not artifical manual operation with the transportation in-process, can eliminate when having improved tray transportation efficiency and cause the potential safety hazard of harm to personnel and material because of the tray drops.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.

Fig. 1 is a schematic view of an assembly of a pallet gripper and a mounting frame according to an embodiment of the present invention;

fig. 2 is an assembly view of a rotating mechanism of the pallet gripper according to an embodiment of the present invention;

fig. 3 is an assembly view of the connecting frame, the annular guide rail and the second support plate of the pallet gripper according to an embodiment of the present invention;

fig. 4 is an assembly view of the slider, the ring-shaped guide rail and the second support plate of the pallet gripper according to an embodiment of the present invention;

fig. 5 is an assembly diagram of a mounting plate and a telescoping assembly of a pallet gripper according to an embodiment of the present invention.

The reference numbers illustrate:

reference numerals	Name (R)	Reference numerals	Name (R)
				100	Tray tongs	21	Connecting frame
1	Gripper mechanism	211	Support frame
				11	Mounting plate	212	Transition plate
111	Linear guide rail	213	Sliding block
				112	Limiting block	2131	Sliding chute
12	Gripper	22	Annular guide rail
				121	Main board	23	Rotary drive assembly
122	Hook block	231	Speed reducer
				13	Telescopic assembly	232	Rotary driving member
131	Telescopic driving piece	24	First supporting plate
				132	Guide plate	25	Second support plate
133	Guide block	251	Dodging groove
				1331	Guide groove	252	Support column
14	Containing space	200	Tray conveying equipment
				2	Rotating mechanism	210	Mounting frame

The objects, features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that, if directional indications (such as upper, lower, left, right, front and rear … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative position relationship between the components, the motion situation, etc. in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are changed accordingly.

In addition, if there is a description relating to "first", "second", etc. in the embodiments of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In addition, the technical solutions in the embodiments may be combined with each other, but it must be based on the realization of those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should not be considered to exist, and is not within the protection scope of the present invention.

The present invention is described in the directions "up", "down", "left", "right", "front", "back", and the like, with reference to the directions shown in fig. 1, and is only used to explain the relative positional relationship between the respective components in the posture shown in fig. 1, and if the specific posture is changed, the directional indication is also changed accordingly.

The utility model provides a tray tongs.

As shown in fig. 1 to 5, in an embodiment of the present invention, the pallet gripper 100 includes a gripper mechanism 1 and a rotating mechanism 2; the gripper mechanism 1 comprises a mounting plate 11 and two grippers 12, the two grippers 12 are oppositely mounted at two ends of the inner side of the mounting plate 11 along the left-right direction, a containing space 14 for containing a tray (not shown) is formed between the two grippers 12, the gripper mechanism 1 further comprises a telescopic assembly 13 mounted on the mounting plate 11, and the telescopic assembly 13 is used for driving the two grippers 12 to move in the opposite direction or in the opposite direction so as to clamp or release the tray; the rotating mechanism 2 comprises a connecting frame 21 and a rotating driving assembly 23, the connecting frame 21 is connected with the mounting plate 11, and the rotating driving assembly 23 is used for driving the connecting frame 21 to rotate so as to drive the two grippers 12 to rotate. The tray in this embodiment is used for loading materials, for example, a battery or a display screen, two grippers 12 are installed on the lower side surface of the installation plate 11, and the retractable assembly 13 and the rotating mechanism 2 are both installed on the upper side surface of the installation plate 11, so that the situation that the retractable assembly 13 and the rotating mechanism 2 extend into the accommodating space 14 and collide with the tray in the accommodating space 14 can be prevented.

When the tray gripper 100 in this embodiment works, the two grippers 12 can be driven to move back and forth by the telescopic assembly 13 to enlarge the accommodating space 14 between the two grippers 12, so that the tray can be accommodated in the accommodating space 14 conveniently, then the two grippers 12 are driven to move in opposite directions by the telescopic assembly 13, so that the two grippers 12 are matched to clamp the tray tightly, the gripping of the gripper mechanism 1 on the tray is completed, then the rotary driving assembly 23 can drive the connecting frame 21 to rotate, the connecting frame 21 drives the grippers 12 to rotate through the mounting plate 11 in the rotating process, and the tray between the two grippers 12 is rotated to a specified angle, so that the gripping and the transferring of the tray can be completed. Tray tongs 100 in this embodiment can realize that the full-automatic of tray snatchs and rotate through flexible and rotary mechanism 2 in-connection frame 21's rotation between two tongs 12 in tongs mechanism 1, can carry out the accuracy rotation to the tray through adjustment rotation driving assembly 23, has improved the transportation precision of tray greatly, and the snatching of tray and the transportation in-process need not artifical manual operation, can eliminate because of the tray drops the potential safety hazard that causes the harm to personnel and material when having improved tray transportation efficiency.

As shown in fig. 2 to 4, the rotating mechanism 2 further includes a ring rail 22, and the connecting frame 21 includes a bracket 211 and a transition plate 212; one end (lower end) of the bracket 211 is connected with the mounting plate 11; the other end (upper end) of the bracket 211 penetrates through the annular guide rail 22 to be connected with the transition plate 212, the transition plate 212 is provided with a sliding block 213, the sliding block 213 is provided with a sliding groove 2131 which is in sliding contact and matching with the annular guide rail 22, and the rotation driving assembly 23 is used for driving the transition plate 212 to rotate relative to the annular guide rail 22 so as to drive the bracket 211 to rotate. When the tray needs to rotate for a certain angle, the rotation driving assembly 23 drives the transition plate 212 to rotate, and the sliding block 213 connected with the transition plate 212 is matched with the annular guide rail 22 to accurately limit the rotation track of the transition plate 212, so that the mounting plate 11 and the hand grip 12 can be rotated to a designated position through the bracket 211 connected with the transition plate 212. In the embodiment, the annular guide rail 22 and the sliding blocks 213 on the transition plate 212 are in sliding contact fit, so that the hand grip 12 rotates more accurately, the situation that the battery cannot be transported due to wrong rotation angle is prevented, and the transportation efficiency of the battery is further improved.

In this embodiment, the rotary driving assembly 23 includes a speed reducer 231 and a rotary driving member 232; the output end of the speed reducer 231 is connected with the transition plate 212; the output end of the rotary driving member 232 is connected to the input end of the speed reducer 231, and the rotary driving member 232 is used for driving the transition plate 212 to rotate relative to the annular guide rail 22 through the speed reducer 231. The rotary driving member 232 in this embodiment may adopt a motor in the prior art, and when the tray needs to rotate, the rotary driving member 232 starts to work, and drives the transition plate 212 through the transmission of the speed reducer 231, so that the transition plate 212 drives the tray on the gripper 12 to rotate. The present embodiment improves the accuracy of the rotational driving of the transition plate 212 by the cooperation between the speed reducer 231 and the rotational driving member 232.

Specifically, as shown in fig. 2 to 4, the rotating mechanism 2 further includes a first support plate 24 and a second support plate 25, the second support plate 25 being disposed between the first support plate 24 and the mounting plate 11; the speed reducer 231 is mounted on one side of the first support plate 24, which is far away from the second support plate 25, the first support plate 24 and the transition plate 212 are arranged at intervals, and the output end of the speed reducer 231 penetrates through the first support plate 24 and is connected with the transition plate 212; second backup pad 25 and mounting panel 11 interval set up, and ring rail 22 is installed in one side of second backup pad 25 towards first backup pad 24, and second backup pad 25 has seted up and has dodged groove 251, and support 211 passes and dodges groove 251 and is connected with mounting panel 11, and second backup pad 25 is provided with support column 252 that supports first backup pad 24. The first support plate 24, the second support plate 25 and the mounting plate 11 of the present embodiment are sequentially arranged in the up-down direction, the speed reducer 231 is mounted on the upper side surface of the first support plate 24, and the output end of the speed reducer 231 penetrates through the first support plate 24 and is connected with the transition plate 212; in addition, the avoiding groove 251 in this embodiment is circular, the plurality of supporting pillars 252 surround the edge of the avoiding groove 251 at intervals, and the avoiding groove 251 and the annular guide rail 22 are coaxially arranged. The first support plate 24 and the second support plate 25 are engaged with each other, so that the pallet gripper 100 is compact and prevents interference of other components with the rotation of the pallet.

In the tray hand 100 of this embodiment, the number of the sliders 213 is plural, and the plurality of sliders 213 are disposed at the transition plate 212 at intervals. When the transition plate 212 is driven by the rotary driving piece 232 to rotate relative to the annular guide rail 22, the plurality of sliding blocks 213 are matched with the annular guide rail 22 in a sliding contact mode, the contact area between the plurality of sliding blocks 213 and the annular guide rail 22 is increased in a matched mode, the situation that the transition plate 212 shakes relative to the annular guide rail 22 in the rotating process can be avoided, and the stability of tray rotation is greatly improved.

In this embodiment, the telescopic assembly 13 includes two telescopic driving members 131, the two telescopic driving members 131 are installed on the mounting plate 11 on one side away from the hand grips 12, the two telescopic driving members 131 and the two hand grips 12 are respectively and correspondingly connected, and the two telescopic driving members 131 are used for correspondingly driving the two hand grips 12 to move in the opposite direction or in the opposite direction. The telescopic driving member 131 in the embodiment can adopt the air cylinder in the prior art, the two telescopic driving members 131 are respectively installed at the left end and the right end of the installation plate 11, when the tray needs to be grabbed, the two telescopic driving members 131 can simultaneously drive the two grippers 12 to move in opposite directions, the two grippers 12 are matched to clamp the tray, and after the tray is transported and completed, the two telescopic driving members 131 can simultaneously drive the two grippers 12 to move in opposite directions, so that the grippers 12 loosen the tray.

In this embodiment, a linear guide rail 111 is disposed on one side of the mounting plate 11 away from the handle 12, the linear guide rail 111 extends in the left-right direction, and the linear guide rail 111 is identical to the mounting plate 11 in the length direction; the telescopic assembly 13 further includes two guide plates 132, the two guide plates 132 are respectively disposed corresponding to the two grippers 12, the output end of the telescopic driving member 131 is connected to the grippers 12 through the guide plates 132, one side of the guide plates 132 is provided with a guide block 133, and the guide block 133 is provided with a guide groove 1331 slidably contacting and matching with the linear guide rail 111. When the telescopic driving element 131 drives the hand grippers 12 to move towards or away from each other, the guide blocks 133 on the guide plates 132 are in sliding contact with and matched with the linear guide rails 111, so that the moving direction of the hand grippers 12 is accurately limited, the situation that the hand grippers 12 are separated from the moving track is avoided, and meanwhile, the accuracy of the hand grippers 12 for grabbing the tray is improved.

As shown in fig. 5, the number of the linear guide rails 111 is two, the two linear guide rails 111 are arranged at intervals along the width direction of the mounting plate 11, the two linear guide rails 111 are respectively located at the front side and the rear side of the mounting plate 11, and the left end and the right end of the linear guide rail 111 are provided with a limiting block 112 for abutting against the guide plate 132. When the telescopic driving member 131 drives the gripper 12 to move back to back through the guide plate 132, the limiting block 112 at the end of the linear guide rail 111 can abut against the guide plate 132, so that the guide plate 132 cannot move outwards, the guide plate 132 is prevented from falling off from the mounting plate 11, the sliding block 213 on the guide plate 132 can be always in sliding contact with the linear guide rail 111, and the structural stability of the tray gripper 100 is improved.

In this embodiment, the handle 12 includes a main body plate 121 and a hook block 122, one end of the main body plate 121 is mounted on the mounting plate 11, the other end of the main body plate 121 extends in a direction away from the mounting plate 11, and the hook block 122 is disposed on one side of the main body plate 121 facing the accommodating space 14 and is used for cooperating with a lifting hole on the tray. All be provided with a plurality of hook blocks 122 on the main part board 121, a plurality of hook blocks 122 set up along the width direction interval of main part board 121, and when flexible driving piece 131 drive tongs 12 moved in opposite directions, hook block 122 protractile hoist and mount downthehole to the condition that the tray breaks away from with tongs 12 at rotatory in-process prevents to appear, thereby avoids the tray to drop and produces the condition of material damage.

The utility model discloses still provide a tray conveying equipment 200, tray conveying equipment 200 include X to module (not shown), Y to module (not shown), Z to module (not shown), installation frame 210 and as above tray tongs 100, link 21 is connected to module, Y to module and Z to the module through installation frame 210 and X, and this tray tongs 100's concrete structure refers to above-mentioned embodiment. In one embodiment, the mounting frame 210 is mounted on the upper side surface of the first supporting plate 24, and the X-direction module, the Y-direction module, the Z-direction module and the mounting frame 210 are connected in sequence, so that the Y-direction module can be driven by the X-direction module to move along the X-direction, thereby driving the tray gripper 100 to move along the X-direction; the Y-direction module can drive the Z-direction module to move along the Y direction, so that the tray gripper 100 is driven to move along the Y direction; the Z-direction module can move along the Z-direction by driving the mounting frame 210, thereby driving the pallet gripper 100 to move along the Z-direction; so that the pallet gripped by the pallet gripper 100 can be transferred in any direction in a three-dimensional space. The X-direction module, the Y-direction module, and the Z-direction module in this embodiment can all adopt the linear module in the prior art. Since the tray conveying apparatus 200 adopts all technical solutions of all the above embodiments, at least all the beneficial effects brought by the technical solutions of the above embodiments are achieved, and no further description is given here.

The above is only the preferred embodiment of the present invention, not so limiting the patent scope of the present invention, all of which are in the utility model discloses a conceive, utilize the equivalent structure transform that the content of the specification and the attached drawings did, or directly/indirectly use all to include in other relevant technical fields the patent protection scope of the present invention.

Claims

1. A pallet grip, characterized in that said pallet grip comprises:

the tray clamping mechanism comprises a mounting plate, two grippers and a telescopic assembly, wherein the two grippers are oppositely mounted on the mounting plate, a containing space for containing the tray is formed between the two grippers, the telescopic assembly is mounted on the mounting plate and used for driving the two grippers to move in the opposite direction or in the opposite direction so as to clamp or release the tray;

and the rotating mechanism comprises a connecting frame and a rotating driving assembly, the connecting frame is connected with the mounting plate, and the rotating driving assembly is used for driving the connecting frame to rotate so as to drive the two grippers to rotate.

2. The pallet hand grip of claim 1 wherein the rotating mechanism further comprises an endless track, the link frame comprising:

one end of the bracket is connected with the mounting plate;

the other end of the support penetrates through the annular guide rail to be connected with the transition plate, a sliding block is arranged on the transition plate, a sliding groove matched with the annular guide rail in a sliding contact mode is formed in the sliding block, and the rotary driving assembly is used for driving the transition plate to rotate relative to the annular guide rail so as to drive the support to rotate.

3. The pallet hand grip of claim 2 wherein the rotary drive assembly comprises:

the output end of the speed reducer is connected with the transition plate;

the output end of the rotary driving piece is connected with the input end of the speed reducer, and the rotary driving piece is used for driving the transition plate to rotate relative to the annular guide rail through the speed reducer.

4. The pallet hand grip of claim 3 wherein the rotation mechanism further comprises a first support plate and a second support plate, the second support plate being disposed between the first support plate and the mounting plate;

the speed reducer is arranged on one side, away from the second supporting plate, of the first supporting plate, the first supporting plate and the transition plate are arranged at intervals, and the output end of the speed reducer penetrates through the first supporting plate and is connected with the transition plate;

the second backup pad with the mounting panel interval sets up, ring rail install in the second backup pad orientation one side of first backup pad, the second backup pad has been seted up and has been dodged the groove, the support passes dodge the groove with the mounting panel is connected, the second backup pad is provided with the support column of first backup pad.

5. The pallet hand grip of claim 2 wherein the number of said slides is plural, and a plurality of said slides are spaced apart from said transition plate.

6. The pallet hand grip of any one of claims 1 to 5, wherein the telescoping assembly includes two telescoping actuating members, the two telescoping actuating members are mounted on the mounting plate on a side thereof facing away from the hand grip, and the two telescoping actuating members and the two hand grip are respectively connected to each other, and the two telescoping actuating members are used for correspondingly driving the two hand grip to move toward or away from each other.

7. The pallet hand grip of claim 6 wherein a side of said mounting plate remote from said hand grip is provided with a linear guide that is aligned with the length of said mounting plate;

the telescopic assembly further comprises two guide plates, the two guide plates correspond to the two grippers respectively, the output end of the telescopic driving piece is connected with the grippers through the guide plates, one side of each guide plate is provided with a guide block, and the guide block is provided with a guide groove matched with the linear guide rail in a sliding contact mode.

8. The pallet hand grip of claim 7 wherein the number of the linear guide rails is two, the two linear guide rails are spaced apart in the width direction of the mounting plate, and the two ends of the linear guide rails are provided with stoppers for abutting against the guide plates.

9. The pallet hand grip of any one of claims 1 to 5 wherein the hand grip includes a body plate having one end mounted to the mounting plate and the other end extending away from the mounting plate, and a hook block disposed on the body plate on a side thereof facing the receiving space and adapted to engage with a lifting hole in the pallet.

10. A pallet transport apparatus comprising an X-direction module, a Y-direction module, a Z-direction module, a mounting frame and a pallet grip according to any one of claims 1 to 9, said connection frame being connected to said X-direction module, said Y-direction module and said Z-direction module by said mounting frame.