CN106516726A - Goods storage and taking platform and clamping device thereof - Google Patents
Goods storage and taking platform and clamping device thereof Download PDFInfo
- Publication number
- CN106516726A CN106516726A CN201611160132.6A CN201611160132A CN106516726A CN 106516726 A CN106516726 A CN 106516726A CN 201611160132 A CN201611160132 A CN 201611160132A CN 106516726 A CN106516726 A CN 106516726A
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- China
- Prior art keywords
- goods
- platform
- axis
- gripping
- clamp device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
Abstract
The invention discloses a clamping device. The clamping device comprises a control device, a base platform and an X-axis moving platform which is arranged on the base platform and is capable of moving along the X axis. The X-axis moving platform is provided with a limiting plate used for pushing goods and provided with a vertical X-axis guide rail perpendicular to the X axis. The X-axis guide rail is oppositely provided with two movable clamping hooked hands. The control device controls the two clamping hooked hands to move in the opposite directions so as to clamp or loosen goods. The X-axis moving platform and the clamping hooked hands are connected with the control device used for controlling the X-axis moving platform and the clamping hooked hands to move. The technology can be combined with the development of the unmanned aerial vehicle technology, the development of the unmanned aerial vehicle goods industry has good prospects, a goods storage and taking platform provided with the above clamping device can serve as a middle transportation platform, and a goods unmanned aerial vehicle and an intelligent goods cabinet organically form a goods transportation chain greatly. The invention further discloses the goods storage and taking platform comprising the above clamping device.
Description
Technical field
The present invention relates to logistics transportation technical field, more particularly, it relates to a kind of clamp device.Additionally, the present invention is also
It is related to a kind of goods access platform including above-mentioned clamp device.
Background technology
Express delivery industry is developed rapidly in recent years, but the handling of goods, distribution, scanning, delivery still rely primarily on manpower
Realize.It is particularly with remote area, far away, have inconvenient traffic, also there are many deficiencies in shortage of manpower, the delivery of quick despatch
With inconvenience.
In recent years, field of express delivery begins attempt to transport express delivery using unmanned plane, also obtain technical breakthrough.But,
Handling sorting of express delivery etc. is all by carried out by manpower.In addition, there is similar platform in foreign country, for sorting and placement to medicine
In different locus, the placement to light little medicine kit is realized.But above-mentioned platform can only be utilized in the lighter field of service goods
Institute, such as its goods that can be sorted are mostly case medicine package box, the sorting and carrying of article for convenience, it usually needs design is more
Individual executing agency, its design are relative complex, spend relatively large.
In sum, how a kind of express delivery cabinet clamp device that can realize convenient carrying is provided, is current this area skill
Art personnel's problem demanding prompt solution.
The content of the invention
In view of this, it is an object of the invention to provide a kind of clamp device, the clamp device can be used in based on unmanned plane
Goods cabinet on, facilitate goods cabinet to collect goods.
It is a further object of the present invention to provide a kind of goods access platform including above-mentioned clamp device.
To achieve these goals, the present invention provides following technical scheme：
A kind of clamp device, including control device, base platform and it is arranged on can move along X-axis on the base platform
Dynamic X-axis mobile platform, the X-axis mobile platform are provided with for promoting the limiting plate of goods, are set on the X-axis mobile platform
There is the vertical X axis guide rail vertical with X-axis, it is relative in the X-axis guide rail to be provided with two moveable gripping hooked hands, the control dress
The incorgruous movement of the gripping hooked hand of control two is put to grip or decontrol goods；The X-axis mobile platform and the gripping hooked hand
It is connected with the control device for controlling the two movement.
Preferably, also include：
For obtaining the range sensor of cargo height, the range sensor is arranged on the X-axis by supporting support
On mobile platform, the range sensor is connected with the control device；
For obtaining the information acquisition system of the goods information of the goods, described information acquisition system is arranged on described
On support support, and it is connected with the control device.
Preferably, described information acquisition system is the barcode scanning device for scanning bar code on goods, described information collection system
The power supply interface of system is connected with the control device.
Preferably, the base platform is provided with two parallel optical axis, and the parallel optical axis are provided with linear slider, described
X-axis mobile platform is arranged in the linear slider；
The X-axis mobile platform is provided with first reducing motors, the output end connection gear of the first reducing motors, institute
The tooth bar stated gear and be located on the base platform) engaged transmission, the tooth bar along X-direction be extended.
Preferably, also include the pressure sensor for the gripping hooked hand being sensed to the gripping pressure of goods, the pressure
Force snesor is connected with the control device.
Preferably, two gripping hooked hands are located on the vertical X axis guide rail by steering wheel respectively, the rudder of the steering wheel
Machine fixed mount is connected with positive and negative tooth screw drive by screw rod flange, and the positive and negative tooth screw rod is provided with symmetrical thread；
The X-axis mobile platform is provided with second reducing motors, and the second reducing motors are connected with synchronizing wheel, described same
Step wheel is connected with positive and negative tooth screw drive.
Preferably, the gripping hooked hand is arranged on the steering wheel by steering wheel, and the steering wheel has hooks the gripping
Hand is rotated with the rotating part perpendicular to the X-axis mobile platform.
Preferably, the gripping hooked hand hooks hand for L-shaped, and the gripping portion of two gripping hooked hands is parallel to each other, two institutes
The push-and-pull portion for stating gripping hooked hand is conllinear.
A kind of goods access platform, including platform and clamp device on the platform is set, the clamp device is
Clamp device described in above-mentioned any one.
Preferably, Y-axis moving guide rail and the Z axis moving guide rail being connected, the gripping dress are provided with the platform
Put and be arranged on the Y-axis moving guide rail or Z axis moving guide rail.
The clamp device that the present invention is provided can pass through the control realization X-axis mobile platform of control device on base platform
Movement, the limiting plate being arranged on X-axis mobile platform can follow promotion of the mobile realization of X-axis mobile platform to goods,
And the gripping to goods is realized by the gripping hooked hand of the incorgruous movement that is arranged on X-axis mobile platform, said process can be with
Realization is controlled by control device, so as to assist UAV Intelligent goods cabinet complete automatic cargo handling, sorting, vanning and
The work such as get.
The technology of the present invention can be with reference to the development of unmanned air vehicle technique, before the development of unmanned plane goods industry has preferably
Scape, the goods access platform for being provided with above-mentioned clamp device can greatly make goods unmanned plane, intelligence as intermediate transportation platform
Goods cabinet organically forms a cargo transport chain.
Present invention also offers a kind of goods access platform including above-mentioned clamp device.
Description of the drawings
In order to be illustrated more clearly that the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
Accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can be with basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of structural representation of clamp device provided by the present invention；
Fig. 2 is a kind of top view of clamp device provided by the present invention.
In Fig. 1-2：
Base platform 1, light bracing strut 2, parallel optical axis 3, linear slider 4, X-axis mobile platform 5, support member 6, positive and negative tooth spiral shell
Bar 7, motor supporting base 8, second reducing motors 9, synchronizing wheel 10；
Screw rod flange 11, belt 12, steering wheel 13, pressure sensor 14, steering wheel fixed mount 15, vertical X axis guide rail 16, connection
Guide pillar 17, limiting plate 18, L-type hooked hand 19, adpting flange 20；
Information acquisition system 21, screw rod 22, tooth bar 23, gear 24, range sensor 25, supporting support 26, first are slowed down
Motor 27.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than the embodiment of whole.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The core of the present invention is to provide a kind of clamp device, and the clamp device can be used in the goods cabinet based on unmanned plane
On, facilitate goods cabinet to collect goods.
Another core of the present invention is to provide a kind of goods access platform including above-mentioned clamp device.
Refer to Fig. 1 and the structural representation that Fig. 2, Fig. 1 are a kind of clamp device provided by the present invention；Fig. 2 is this
A kind of top view of bright provided clamp device.
A kind of clamp device provided by the present invention, is mainly used on goods access platform, is the automation access of goods
Process provides convenient control.Clamp device includes control device, base platform 1 in structure and is arranged on base platform 1
The X-axis mobile platform 5 that can be moved along the x-axis, X-axis mobile platform 5 are provided with for promoting the limiting plate 18 of goods, X-axis movement
Platform 5 is provided with the vertical X axis guide rail 16 vertical with X-axis, relative in X-axis guide rail 16 to be provided with two moveable gripping hooked hands,
Control device controls two grippings and hooks hand incorgruous movement to grip or decontrol goods；X-axis mobile platform 5 and gripping hooked hand with use
The two mobile control device connection in control.
It should be noted that the control realization X-axis mobile platform 5 of control device can be passed through in above-mentioned clamp device the bottom of at
Movement on seat platform 1, the limiting plate 18 being arranged on X-axis mobile platform 5 can follow the mobile realization of X-axis mobile platform 5
Promotion to goods, and the gripping to goods is realized by the gripping hooked hand of the incorgruous movement being arranged on X-axis mobile platform 5,
Said process can be controlled realization by control device, to assist UAV Intelligent goods cabinet to complete automatic goods dress
The work such as unload, sort, case and get.
The technology of the present invention can be with reference to the development of unmanned air vehicle technique, before the development of unmanned plane goods industry has preferably
Scape, the goods access platform for being provided with above-mentioned clamp device can greatly make goods unmanned plane, intelligence as intermediate transportation platform
Goods cabinet organically forms a cargo transport chain.
On the basis of above-described embodiment, above-mentioned clamp device also includes range sensor 25 and information acquisition system
21。
Range sensor 25 is used to obtain cargo height, and range sensor 25 is arranged on X-axis movement by supporting support 26
On platform 5, range sensor 25 is connected with control device；The cargo height for getting is sent to control dress by range sensor 25
Put, distribute suitable parking space for the goods in order to control device.Fig. 1 is refer to, on base platform 1, it is possible to use
Supporting support 26 is arranged on the range sensor 25 on whole platform, is recognized by range sensor 25 different apart from goods
Distance, and then the actual height of each cargo compartment is obtained, then by actual height is sent to control device, phase is arranged to goods
The goods cabinet chest of matching.
Information acquisition system 21 is used for the goods information for obtaining goods, and information acquisition system 21 is arranged on supporting support 26
On, and be connected with control device.Information acquisition system 21 is being received for the goods information for acquiring is sent to control device
To after goods information, control device is stored and in the extraction and overall work of goods.
The reading of the height to goods is realized in the present embodiment by using range sensor 25, using the height value for obtaining
The full-automatic process that sorted by height and cased etc. is carried out to goods, the space availability ratio of intelligent goods cabinet is effectively improved.
In addition, information acquisition system 21 is provided with the present embodiment, the information of goods can be read out, be preserved, realize association
Intelligent goods cabinet is helped to lead to the self-service function of getting.
On the basis of above-described embodiment, information acquisition system 21 is the barcode scanning device for scanning bar code on goods,
The power supply interface of information acquisition system 21 is connected with control device.
Optionally, information acquisition system 21 obtains the relevant information on goods by other approach in addition to barcode scanning, after being
Basis is done in getting for face goods.
On the basis of above-mentioned any one embodiment, base platform 1 is provided with two parallel optical axis 3, parallel optical axis 3
Linear slider 4 is provided with, X-axis mobile platform 5 is arranged in linear slider 4；X-axis mobile platform 5 is provided with first reducing motors
27, the output end of first reducing motors 27 connects gear 24, gear 24 and 23 engaged transmission of tooth bar being located on base platform 1,
Tooth bar 23 is extended along X-direction.
Specifically, X-axis mobile platform 5 is arranged at base platform 1 by two parallel optical axis 3, two parallel optical axis 3 altogether by
Four light bracing struts 2 are arranged on base platform 1, and a linear slider 4 is respectively provided with parallel optical axis 3, and X-axis movement is flat
Platform 5 is just arranged in linear slider 4.X-axis mobile platform 5 fixes first reducing motors 27 using motor supporting base 8, and first slows down
Motor can drive gear 24 thereon to rotate.Gear 24 and 23 engaged transmission of tooth bar, tooth bar are fixed on base platform 1, from
And move X-axis mobile platform 5；Tooth bar 23 is arranged on base platform 1 using screw rod 22, in installation process, by two spiral shells
The installation of bar 22 is adjusted makes tooth bar 23 engage with gear 24, and the mobile use rack and pinion engagement of X-axis mobile platform 5 is driven, the
One reducing motor 27 is rotated with moving gear 24, so that X-axis mobile platform 5 is moved relative to base platform 1.
In the course of work, first reducing motors 27 are rotated forward, and platform is displaced outwardly, so as to realize that 18 are placed on by limiting plate
The goods of base platform 1 is pushed ahead.
First reducing motors 27 are inverted, and X-axis mobile platform 5 returns to original place inwards, so as to pass through gripping hooked hand goods
Hook from chest or unmanned plane landing platform and return on base platform 1, and then carry out next step operation.
It should be noted that tooth bar 23 and gear 24 be modulus, pressure angle should be equal, or gear 24 is had with tooth bar 23
There is the structural relation of accurate engagement, and the two guarantees that standard is installed.
On the basis of above-mentioned any one embodiment, also include the gripping pressure for gripping hooked hand being sensed to goods
Pressure sensor 14, pressure sensor 14 is connected with control device.It should be noted that by the synchronization of two gripping hooked hands
Motion and the effect of pressure sensor, can make goods align center and will not damage by pressure.
On the basis of above-mentioned any one embodiment, two gripping hooked hands are located at vertical X axis by steering wheel 13 respectively
On guide rail 16, the steering wheel fixed mount 15 of steering wheel 13 is connected with positive and negative tooth screw drive by screw rod flange 11, and positive and negative tooth screw rod 7 sets
There is symmetrical thread.X-axis mobile platform 5 is provided with second reducing motors 9, and second reducing motors 9 are connected with synchronizing wheel 10, synchronizing wheel
10 are connected with positive and negative tooth screw drive.
On the basis of above-mentioned any one embodiment, gripping hooked hand is arranged on steering wheel 13 by steering wheel, steering wheel 13
Rotated with gripping hooked hand is made with the rotating part perpendicular to X-axis mobile platform 5.
Specifically, steering wheel 13 is fixed on steering wheel fixed mount 15,15 one side of steering wheel fixed mount by screw rod flange 11 with
Positive and negative tooth screw rod 7 connects, and on the one hand coordinates with vertical X axis guide rail 16, and vertical X axis guide rail 16 is fixed by screws in base platform
On 1.Second reducing motors 9 are fixed on X-axis mobile platform 5 using motor supporting base 8, and second reducing motors 9 drive synchronizing wheel
10 rotate, and drive the positive and negative tooth screw rod 7 coaxially connected with another synchronizing wheel 10 to relatively rotate so as to make two by belt 12
Steering wheel 13 is opposite or dorsad moves horizontally so that goods can align center, solves the problems, such as that goods placement is not concordant.
When goods is concordant, pressure sensor 14 feeds back to control device, drives second reducing motors 9 reversely to turn
It is dynamic, make two steering wheels, 13 incorgruous mobile phase away from.Two gripping hooked hands are arranged on two steering wheels 13 by steering wheel, two steering wheels
13 work can make gripping hooked hand 19 rotate 90 degree along axle, gripping hooked hand 19 is existed perpendicular to base platform 1 with level in base
1 two states form of platform, when X-axis mobile platform 5 is pushed ahead goods by limiting plate 18, gripping hooked hand erects, and makes
The movement of hooked hand's without prejudice to goods must be gripped, when whole platform pulls goods, gripping hooked hand first vertically erect, as gripping hooked hand
When reaching goods dead astern, then level is put down, and then goods hook is retracted base platform 1.
There is in the embodiment that the present invention is provided the function of making that goods ajusted automatically, by using by motor rotation just
Anti- tooth screw rod, the steering wheel synchronous forward being mounted on positive and negative tooth screw rod or counter motion, and then make to be mounted in steering wheel and work as to obtain two X
Type hooked hand near or away from.By the work of steering wheel 13, vertically erecting and level for the hook that two grippings are hooked hand can be realized
Place two states.
On the basis of above-mentioned any one embodiment, gripping hooked hand is L-shaped pickup folder, and two grip the grippings hooked hand
Portion is parallel to each other, and the push-and-pull portion of two gripping hooked hands is conllinear.
Using rack geared, move X-axis mobile platform 5, and then carry out the push-and-pull to goods.Rely on when moving back
Limiting plate, when drawing by two horizontal positioneds L-type hooked hand 19.
The control device provided by above-mentioned any one embodiment is can be installed within base platform or ground, and whole
The motor of individual platform, sensor, steering wheel and information acquisition system are coupled together, all operations of control platform, reach goods from
It is dynamic the working effect such as to load and unload, sort, case and get.
The use process of above-mentioned any one embodiment includes following several operating process.
When goods access platform control unmanned plane is dropped on a certain platform, unmanned plane lands goods, now platform
Goods is shifted onto in a specified location.Unmanned plane goods access platform on Y/Z moving guide rails to heart polarization adjust
Both arms clamp device reaches the front of specified location by System Control Center in the movement of Y and Z axis.Now goods and bottom
Seat platform 1 is horizontal, while the limiting plate and specified location of platform are shown in a tight, it is ensured that goods can be hooked and move base to
Platform.
After the location confirmation of platform is errorless, second reducing motors 9 start to rotate, and drive positive and negative tooth screw rod 7 to rotate, and then
Superincumbent two steering wheels 13 of the company of making go in the same direction and reach the limit of position.
After reducing motor stops, steering wheel 13 is started working, and makes to be arranged on the L-type gripping hooked hand of steering wheel 13 from water by steering wheel
Prosposition puts 90 degree of arrival plumbness of rotation, and is always maintained at the state.It is mounted in the first reducing motors of X-axis mobile platform 5
27 start to rotate, and band moving gear 24 is rotated, the gear 24 and then tooth bar 23 being relatively fixed in base platform 1 is moved.And then reach X
Axle mobile platform 5 is moved, and now X-axis mobile platform 5 is slowly close to goods, and moves to limiting value.When to limiting value, the
One reducing motor 27 stops operating, and X-axis mobile platform 5 also stops movement then, and now, L-type hooked hand 19 has arrived at cargo compartment
Dead astern, two steering wheels 13 start working, and connected L-type hooked hand 19 is returned to origin-location and (is horizontally parallel to base to put down
The position of platform 1).Second reducing motors 9 are started working, and now second reducing motors 9 are inverted, and make two steering wheels 13 close, even if
Near so as to Level Promoting goods, hooked hand is pressed onto goods to two L-types hooked hand 19, and after goods is alignd, pressure sensor 14 is received
To the extruding of power, second reducing motors 9 are disconnected immediately, is made hooked hand stop to centre drawing close, is prevented damage product.Simultaneously control the
One reducing motor 27 is rotated backward, and returns X-axis mobile platform 5, and goods hook is retracted base platform, so as to realize goods
Automatic loading and unloading process.
Further, goods is pulled on base platform, and information acquisition system 21 collects the information of goods, is stored in control
Device, while range sensor 25 measures the height of the goods, the corresponding goods cabinet chest of system Auto-matching one, platform are moved
Move corresponding goods cabinet chest just before, now, control second reducing motors 9 and steering wheel 13 zoom out L-type hooked hand 19 and vertically
Erect, first reducing motors 27 are rotated, be displaced outwardly X-axis mobile platform 5, goods is slowly advanced goods using limiting plate 18
In cabinet chest, goods is kept, wait buyer to get.
Further, when have buyer come cargo compartment get goods when, system matches information, after confirming certain goods, put down
Platform is come before the chest of the cargo storage again.With goods from unmanned plane landing platform when operation it is consistent, goods is moved to
On base platform.The whole platform of movement, makes platform move to cargo security and exports out, now goods is shifted onto out from base platform
At mouthful, you can complete the unloading of goods, sort, vanning, the full-automatic function of getting.
The complete intelligent and automation of platform in operation is realized using above-mentioned sensing technology and machine control techniques.Reduce people
Power material resources, improve efficiency.In addition, the invention can be useful in poor transport with and it is more remote where, make goods row
Industry is covered in larger area.
Except the primary structure of the clamp device provided in above-mentioned each embodiment, the present invention also provides a kind of including upper
The goods access platform of clamp device disclosed in embodiment is stated, the goods access platform includes platform and the folder being arranged on platform
Device, the clamp device that wherein clamp device is provided by above-mentioned any one embodiment are taken, or is carried by any embodiment
For clamp device combination.
Optionally, the Y-axis moving guide rail and Z axis moving guide rail being connected is provided with platform, clamp device is arranged on Y
On axle moving guide rail or Z axis moving guide rail.
Base platform 1 is mostly installed on the Y/Z axle moving guide rails matched with it, realizes that three axle of goods space is moved；Bottom
Seat platform 1 is used for the fixation of other mechanisms and lifting for goods.
The structure of other each several parts of the goods access platform refer to prior art, repeat no more herein.
In this specification, each embodiment is described by the way of progressive, and what each embodiment was stressed is and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.
Goods access platform to clamp device provided by the present invention and with the clamp device has been carried out in detail above
Introduce.Specific case used herein is set forth to the principle and embodiment of the present invention, the explanation of above example
It is only intended to help and understands the method for the present invention and its core concept.It should be pointed out that for the ordinary skill people of the art
Member for, under the premise without departing from the principles of the invention, some improvement and modification can also be carried out to the present invention, these improve and
Modification is also fallen in the protection domain of the claims in the present invention.
Claims (10)
1. a kind of clamp device, it is characterised in that including control device, base platform (1) and be arranged on the base platform (1)
On the X-axis mobile platform (5) that can be moved along the x-axis, the X-axis mobile platform (5) is provided with for promoting the spacing of goods
Plate (18), the X-axis mobile platform (5) are provided with the vertical X axis guide rail (16) vertical with X-axis, phase on the X-axis guide rail (16)
To being provided with two moveable gripping hooked hands, the control device control two is described to grip the incorgruous movement of hooked hand to grip or put
Open goods；The X-axis mobile platform (5) is connected with the control device for controlling the two movement with the gripping hooked hand
Connect.
2. clamp device according to claim 1, it is characterised in that also include：
For obtaining the range sensor (25) of cargo height, the range sensor (25) is arranged on by supporting support (26)
On the X-axis mobile platform (5), the range sensor (25) is connected with the control device；
For obtaining the information acquisition system (21) of the goods information of the goods, described information acquisition system is arranged on described
In support support (26), and it is connected with the control device.
3. clamp device according to claim 2, it is characterised in that described information acquisition system is for scanning goods
The barcode scanning device of bar code, the power supply interface of described information acquisition system are connected with the control device.
4. the clamp device according to claims 1 to 3 any one, it is characterised in that the base platform (1) is provided with
Two parallel optical axis (3), the parallel optical axis (3) are provided with linear slider (4), and the X-axis mobile platform (5) is arranged on described
In linear slider (4)；
The X-axis mobile platform (5) is provided with first reducing motors (27), the output end connection of the first reducing motors (27)
Gear (24), the gear (24) and tooth bar (23) engaged transmission being located on the base platform (1), tooth bar (23) edge
X-direction is extended.
5. clamp device according to claim 4, it is characterised in that also include for sensing the gripping hooked hand to goods
Gripping pressure pressure sensor (14), the pressure sensor (14) is connected with the control device.
6. clamp device according to claim 5, it is characterised in that two gripping hooked hands pass through steering wheel (13) respectively
On the vertical X axis guide rail (16), the steering wheel fixed mount (15) of the steering wheel (13) by screw rod flange (11) with it is positive and negative
Tooth screw drive connects, and the positive and negative tooth screw rod (7) is provided with symmetrical thread；
The X-axis mobile platform (5) is provided with second reducing motors (9), and the second reducing motors (9) are with synchronizing wheel (10) even
Connect, the synchronizing wheel (10) is connected with positive and negative tooth screw drive.
7. clamp device according to claim 6, it is characterised in that the gripping hooked hand is arranged on institute by steering wheel (27)
State on steering wheel (13), the steering wheel (13) with make it is described gripping hooked hand rotation with the rotation perpendicular to the X-axis mobile platform (5)
Transfer part.
8. clamp device according to claim 7, it is characterised in that the gripping hooked hand hooks hand (19) for L-shaped, two institutes
The gripping portion for stating gripping hooked hand is parallel to each other, and the push-and-pull portion of two gripping hooked hands is conllinear.
9. a kind of goods access platform, including platform and setting clamp device on the platform, it is characterised in that the folder
Device is taken for the clamp device described in claim 1-8 any one.
10. goods access platform according to claim 9, it is characterised in that the Y being connected is provided with the platform
Axle moving guide rail and Z axis moving guide rail, the clamp device are arranged on the Y-axis moving guide rail or Z axis moving guide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611160132.6A CN106516726B (en) | 2016-12-15 | 2016-12-15 | A kind of cargo access platform and its clamp device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611160132.6A CN106516726B (en) | 2016-12-15 | 2016-12-15 | A kind of cargo access platform and its clamp device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106516726A true CN106516726A (en) | 2017-03-22 |
| CN106516726B CN106516726B (en) | 2019-09-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201611160132.6A Active CN106516726B (en) | 2016-12-15 | 2016-12-15 | A kind of cargo access platform and its clamp device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108520376A (en) * | 2018-04-08 | 2018-09-11 | 中博宇图信息科技有限公司 | A kind of Intelligent logistics delivery system and delivering method based on unmanned plane |
| CN108961554A (en) * | 2018-08-31 | 2018-12-07 | 刘媛媛 | It is a kind of for the supermarket unmanned self-service kinds of goods frame checked |
| CN112978348A (en) * | 2021-01-29 | 2021-06-18 | 斯坦德机器人（深圳）有限公司 | Get blowing structure and be equipped with its get and put material equipment |
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| CN108520376A (en) * | 2018-04-08 | 2018-09-11 | 中博宇图信息科技有限公司 | A kind of Intelligent logistics delivery system and delivering method based on unmanned plane |
| CN108520376B (en) * | 2018-04-08 | 2022-12-23 | 广东诚进科技股份有限公司 | Intelligent logistics delivery system and delivery method based on unmanned aerial vehicle |
| CN108961554A (en) * | 2018-08-31 | 2018-12-07 | 刘媛媛 | It is a kind of for the supermarket unmanned self-service kinds of goods frame checked |
| CN108961554B (en) * | 2018-08-31 | 2020-09-01 | 南京溧水高新创业投资管理有限公司 | A goods frame that is used for unmanned self-service purchase order in supermarket |
| CN112978348A (en) * | 2021-01-29 | 2021-06-18 | 斯坦德机器人（深圳）有限公司 | Get blowing structure and be equipped with its get and put material equipment |
| CN112978348B (en) * | 2021-01-29 | 2022-10-28 | 斯坦德机器人（深圳）有限公司 | Get blowing structure and be equipped with its get and put material equipment |
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