CN106516726B - A kind of cargo access platform and its clamp device - Google Patents
A kind of cargo access platform and its clamp device Download PDFInfo
- Publication number
- CN106516726B CN106516726B CN201611160132.6A CN201611160132A CN106516726B CN 106516726 B CN106516726 B CN 106516726B CN 201611160132 A CN201611160132 A CN 201611160132A CN 106516726 B CN106516726 B CN 106516726B
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- cargo
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- mobile platform
- control device
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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 kind of clamp devices, including control device, base platform and the X-axis mobile platform that can be moved along the x-axis being arranged on base platform, X-axis mobile platform is equipped with the limit plate for pushing cargo, X-axis mobile platform is equipped with the vertical X axis guide rail vertical with X-axis, opposite in X-axis guide rail to set there are two moveable clamping hooked hand, control device controls two clampings and hooks hand incorgruous movement to clamp or decontrol cargo；X-axis mobile platform is connect with for controlling the mobile control device of the two with clamping hooked hand.Technology of the invention can be in conjunction with the development of unmanned air vehicle technique, the development of unmanned plane cargo industry has preferable prospect, the cargo access platform for being provided with above-mentioned clamp device can greatly make cargo unmanned plane, intelligent goods cabinet organically form a cargo transport chain as intermediate transportation platform.The invention also discloses a kind of cargo access platforms including above-mentioned clamp device.
Description
Technical field
The present invention relates to logistics and transportation technical fields, more specifically to a kind of clamp device.In addition, the present invention is also
It is related to a kind of cargo access platform including above-mentioned clamp device.
Background technique
Delivery industry develops rapidly in recent years, but handling, distribution, scanning, the delivery of cargo still rely primarily on manpower
It realizes.It is far away particularly with remote area, it has inconvenient traffic, shortage of manpower, there is also many deficiencies for the delivery of quick despatch
With inconvenience.
In recent years, field of express delivery begins trying to transport express delivery using unmanned plane, also obtains 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 the sorting and placement to drug
In different spatial positions, the placement to light and small medicine kit is realized.But above-mentioned platform can only utilize the field lighter in service cargo
Institute, if its cargo that can be sorted is mostly case medicine package box, in order to facilitate the sorting and carrying of article, it usually needs design is more
A executing agency, design is relative complex, spends relatively large.
It is current this field skill in conclusion how to provide a kind of express delivery cabinet clamp device that can be realized convenient carrying
Art personnel's urgent problem to be solved.
Summary of the invention
In view of this, the clamp device can be used in based on unmanned plane the object of the present invention is to provide a kind of clamp device
Goods cabinet on, facilitate goods cabinet to collect cargo.
It is a further object of the present invention to provide a kind of cargo access platforms including above-mentioned clamp device.
To achieve the goals above, the invention provides the following technical scheme:
Including control device, base platform and can move along X-axis on the base platform is arranged in a kind of clamp device
Dynamic X-axis mobile platform, the X-axis mobile platform are equipped with the limit plate for pushing cargo, set on the X-axis mobile platform
There is the vertical X axis guide rail vertical with X-axis, opposite set clamps hooked hand, the control dress there are two moveable in the X-axis guide rail
It sets the clamping of control two and hooks hand incorgruous movement to clamp or decontrol cargo；The X-axis mobile platform and the clamping are hooked hand
It is connect with for controlling the mobile control device of the two.
Preferably, further includes:
For obtaining the range sensor of cargo height, the range sensor is arranged by supporting support in the X-axis
On mobile platform, the range sensor is connect with the control device；
For obtaining the information acquisition system of the goods information of the cargo, the information acquisition system is mounted on the branch
It supports on bracket, and is connect with the control device.
Preferably, the information acquisition system is the barcode scanning device for scanning bar code on cargo, the information collection system
The power supply interface of system is connect with the control device.
Preferably, it is set on the base platform there are two parallel optical axis, the parallel optical axis is equipped with linear slider, described
X-axis mobile platform is arranged in the linear slider；
The X-axis mobile platform is equipped with first reducing motors, the output end connection gear of the first reducing motors, institute
The rack gear stating gear and being located on the base platform) engaged transmission, the rack gear is extended along the x axis.
It preferably, further include the pressure sensor to hook hand for incuding the clamping to the clamping pressure of cargo, the pressure
Force snesor is connect with the control device.
Preferably, two clamping hooked hands are set on the vertical X axis guide rail by steering engine respectively, the rudder of the steering engine
Machine fixed frame is connect by screw rod flange with positive and negative tooth screw drive, and the positive and negative tooth screw rod is equipped with symmetrical thread；
The X-axis mobile platform is equipped with second reducing motors, and the second reducing motors are connect with synchronizing wheel, described same
Step wheel is connect with positive and negative tooth screw drive.
Preferably, the clamping hooked hand is arranged on the steering engine by steering wheel, and the steering engine, which has, hooks the clamping
Hand is rotated with the rotating part perpendicular to the X-axis mobile platform.
Preferably, the clamping hooked hand is that L shape hooks hand, and the clamping portion of two clamping hooked hands is parallel to each other, two institutes
The push-and-pull portion for stating clamping hooked hand is conllinear.
A kind of cargo access platform, the clamp device including platform and setting on the platform, the clamp device are
Clamp device described in above-mentioned any one.
Preferably, the Y-axis moving guide rail and Z axis moving guide rail of mating connection, the clamping dress are provided on the platform
It installs on the Y-axis moving guide rail or Z axis moving guide rail.
Clamp device provided by the invention can realize X-axis mobile platform on base platform by the control of control device
Movement, the limit plate being arranged on X-axis mobile platform can follow promotion of the mobile realization of X-axis mobile platform to cargo,
And the clamping to cargo is realized by the clamping hooked hand of the incorgruous movement that is arranged on X-axis mobile platform, the above process can be with
Control realization is carried out by control device, so as to assist UAV Intelligent goods cabinet complete automatic cargo handling, sorting, vanning and
The work such as get.
Technology of the invention can be in conjunction with the development of unmanned air vehicle technique, before the development of unmanned plane cargo industry has preferably
Scape, the cargo access platform for being provided with above-mentioned clamp device can greatly make cargo unmanned plane, intelligence as intermediate transportation platform
Goods cabinet organically forms a cargo transport chain.
The present invention also provides a kind of cargo access platforms including above-mentioned clamp device.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of structural schematic diagram 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, optical axis bracket 2, parallel optical axis 3, linear slider 4, X-axis mobile platform 5, supporting element 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 engine 13, pressure sensor 14, steering engine fixed frame 15, vertical X axis guide rail 16, connection
Guide post 17, limit plate 18, L-type hooked hand 19, connecting flange 20；
Information acquisition system 21, screw rod 22, rack gear 23, gear 24, range sensor 25, supporting support 26, first are slowed down
Motor 27.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Core of the invention is to provide a kind of clamp device, which can be used in the goods cabinet based on unmanned plane
On, facilitate goods cabinet to collect cargo.
Another core of the invention is to provide a kind of cargo access platform including above-mentioned clamp device.
Fig. 1 and Fig. 2 are please referred to, Fig. 1 is a kind of structural schematic diagram of clamp device provided by the present invention；Fig. 2 is this hair
A kind of top view of clamp device provided by bright.
A kind of clamp device provided by the present invention, is mainly used on cargo access platform, is that the automation of cargo accesses
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 equipped with the limit plate 18 for pushing cargo, and X-axis is mobile
Platform 5 is equipped with the vertical X axis guide rail 16 vertical with X-axis, and opposite set clamps hooked hand there are two moveable in X-axis guide rail 16,
Control device controls two clampings and hooks hand incorgruous movement to clamp or decontrol cargo；X-axis mobile platform 5 and clamping hooked hand with use
In the mobile control device connection of both control.
It should be noted that X-axis mobile platform 5 can be realized the bottom of at by the control of control device in above-mentioned clamp device
Movement on seat platform 1, the limit plate 18 being arranged on X-axis mobile platform 5 can follow the mobile realization of X-axis mobile platform 5
Promotion to cargo, and the clamping hooked hand of the incorgruous movement by being arranged on X-axis mobile platform 5 realizes the clamping to cargo,
The above process can carry out control realization by control device, to assist UAV Intelligent goods cabinet to complete automatic cargo dress
The work such as unload, sort, case and get.
Technology of the invention can be in conjunction with the development of unmanned air vehicle technique, before the development of unmanned plane cargo industry has preferably
Scape, the cargo access platform for being provided with above-mentioned clamp device can greatly make cargo 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 further includes range sensor 25 and information acquisition system
21。
Range sensor 25 is arranged mobile in X-axis for obtaining cargo height, range sensor 25 by supporting support 26
On platform 5, range sensor 25 is connect with control device；The cargo height that range sensor 25 will acquire is sent to control dress
It sets, in order to which control device is that the cargo distributes suitable parking space.Referring to FIG. 1, can use on base platform 1
Supporting support 26 is mounted on the range sensor 25 on entire platform, is recognized by range sensor 25 different apart from cargo
Distance, and then the actual height of each cargo compartment is obtained, then by the way that actual height is sent to control device, phase is arranged to cargo
Matched goods cabinet chest.
Information acquisition system 21 is used to obtain the goods information of cargo, and information acquisition system 21 is mounted on supporting support 26
On, and connect with control device.The goods information that information acquisition system 21 is used to will acquire is sent to control device, is receiving
To after goods information, control device is stored and is used in the extraction and overall work of cargo.
It is realized by using range sensor 25 to the reading of the height of cargo in the present embodiment, utilizes the height value of acquisition
Cargo is carried out to effectively improve the space utilization rate of intelligent goods cabinet by the full-automatic process such as highly sorted and cased.
In addition, being equipped with information acquisition system 21 in the present embodiment, the information of cargo can be read out, be saved, 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 cargo,
The power supply interface of information acquisition system 21 is connect with control device.
Optionally, information acquisition system 21 obtains the relevant information on cargo by other approach in addition to barcode scanning, after being
Basis is done in getting for face cargo.
On the basis of any one above-mentioned embodiment, set on base platform 1 there are two parallel optical axis 3, parallel optical axis 3
It is equipped with linear slider 4, X-axis mobile platform 5 is arranged in linear slider 4；X-axis mobile platform 5 is equipped with first reducing motors
27, the output end connection gear 24 of first reducing motors 27, gear 24 and the engaged transmission of rack gear 23 being located on base platform 1,
Rack gear 23 is extended along the x axis.
Specifically, X-axis mobile platform 5 is set to base platform 1 by two parallel optical axis 3, two parallel optical axis 3 altogether by
Four settings of optical axis bracket 2 are respectively provided with a linear slider 4 on base platform 1, and on parallel optical axis 3, and X-axis is mobile flat
Platform 5 is just arranged in linear slider 4.Using the fixed first reducing motors 27 of motor supporting base 8, first slows down X-axis mobile platform 5
Motor is able to drive the rotation of gear 24 thereon.23 engaged transmission of gear 24 and rack gear, rack gear are fixed on base platform 1, from
And keep X-axis mobile platform 5 mobile；Rack gear 23 is mounted on base platform 1 using screw rod 22, in installation process, by two spiral shells
The installation and adjustment of bar 22 engage rack gear 23 with gear 24, and the mobile of X-axis mobile platform 5 is driven using rack and pinion engagement, the
One decelerating motor 27 is rotated with moving gear 24, to keep X-axis mobile platform 5 mobile relative to base platform 1.
In the course of work, first reducing motors 27 are rotated forward, and platform is displaced outwardly, and are placed on to realize by limit plate 18
The cargo of base platform 1 is pushed ahead.
First reducing motors 27 invert, and X-axis mobile platform 5 returns to original place inwards, thus by clamping hooked hand cargo
It is returned on base platform 1 from chest or unmanned plane landing platform hook, and then carries out and operate in next step.
It should be noted that rack gear 23 and gear 24 be modulus, pressure angle should equal or gear 24 and rack gear 23 have
There is the structural relation accurately engaged, and the two ensures that standard is installed.
It further include for incuding clamping hooked hand to the clamping pressure of cargo on the basis of any one above-mentioned embodiment
Pressure sensor 14, pressure sensor 14 connect with control device.It should be noted that passing through the synchronization of two clamping hooked hands
Movement and the effect of pressure sensor, can make cargo align center and will not damage by pressure.
On the basis of any one above-mentioned embodiment, two clamping hooked hands are set to vertical X axis by steering engine 13 respectively
On guide rail 16, the steering engine fixed frame 15 of steering engine 13 is connect by screw rod flange 11 with positive and negative tooth screw drive, and positive and negative tooth screw rod 7 is set
There is symmetrical thread.X-axis mobile platform 5 is equipped with second reducing motors 9, and second reducing motors 9 are connect with synchronizing wheel 10, synchronizing wheel
10 connect with positive and negative tooth screw drive.
On the basis of any one above-mentioned embodiment, clamping hooked hand is arranged on steering engine 13 by steering wheel, steering engine 13
It rotates with making clamping hook hand with the rotating part perpendicular to X-axis mobile platform 5.
Specifically, steering engine 13 is fixed on steering engine fixed frame 15,15 one side of steering engine fixed frame by screw rod flange 11 with
Positive and negative tooth screw rod 7 connects, and on the one hand cooperates 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 rotations are driven by belt 12 and are relatively rotated with the coaxially connected positive and negative tooth screw rod 7 of another synchronizing wheel 10 so as to make two
Steering engine 13 is opposite or moves horizontally backwards, enables cargo align center, solves the problems, such as that cargo placement is not concordant.
When cargo is concordant, 14 feedback information of pressure sensor drives second reducing motors 9 reversely to turn to control device
It is dynamic, keep the incorgruous movement of two steering engines 13 mutually separate.Two clamping hooked hands are mounted on two steering engines 13 by steering wheel, two steering engines
13 work can make clamping hooked hand 19 rotate 90 degree along axis, there is clamping hooked hand 19 perpendicular to base platform 1 and level in pedestal
1 two states form of platform, when X-axis mobile platform 5 pushes ahead cargo by limit plate 18, clamping hooked hand is erected, and is made
The movement that hooked hand does not interfere cargo must be clamped, when entire platform pulls cargo, clamping hooked hand is first vertically raised, when clamping is hooked hand
When reaching cargo dead astern, then level is put down, and then cargo hook is retracted base platform 1.
Have the function of ajusting cargo automatically in embodiment provided by the invention, be rotated just by using by motor
Anti- tooth screw rod, the steering engine synchronous forward or counter motion being mounted on positive and negative tooth screw rod, and then make to work as to obtain two X mounted in steering engine
Type hooked hand is close or separate.By the work of steering engine 13, it is able to achieve being vertically raised and level for the hook of two clamping hooked hands
Place two states.
On the basis of any one above-mentioned embodiment, clamping hooked hand is the pickup of L clevis, the clamping of two clamping hooked hands
Portion is parallel to each other, and the push-and-pull portion of two clamping hooked hands is conllinear.
Using rack geared, it is mobile to make X-axis mobile platform 5, and then carries out the push-and-pull to cargo.It is relied on when moving back
Limit plate, by two horizontal positioned L-types hooked hands 19 when drawing.
Control device provided by any one above-mentioned embodiment can be installed on base platform or ground, and whole
Motor, sensor, steering engine and the information acquisition system of a platform connect, all operations of control platform, reach cargo certainly
It moves and the working effects such as loads and unloads, sorts, cases and get.
The use process of any one above-mentioned embodiment includes several following operating process.
When cargo access platform control unmanned plane drops on a certain platform, unmanned plane lands cargo, at this time platform
Cargo is shifted on a designated position.It is mounted on adjusting to heart polarization for the unmanned plane cargo access platform on Y/Z moving guide rail
Both arms clamp device, in the movement of Y and Z axis, reaches the front of designated position by System Control Center.Cargo and bottom at this time
Seat platform 1 is in a horizontal position, while a tight is seen in the limit plate of platform and designated position, guarantees that cargo can hook drawing to pedestal
Platform.
After the location confirmation of platform is errorless, second reducing motors 9 are started turning, and drive positive and negative tooth screw rod 7 to rotate, in turn
Two steering engines 13 for making to be connected in above, which go in the same direction, reaches the limit of position.
After decelerating motor stops, steering engine 13 is started to work, and the L-type clamping for being mounted on steering engine 13 by steering wheel is made to hook hand from water
Prosposition sets 90 degree of arrival plumbness of rotation, and is always maintained at the state.Mounted in the first reducing motors of X-axis mobile platform 5
27 start turning, and band moving gear 24 rotates, gear 24 and then the relatively fixed movement of rack gear 23 in base platform 1.And then reach X
Axis mobile platform 5 is mobile, and X-axis mobile platform 5 is slowly close to cargo at this time, and is moved to limiting value.When to limiting value, the
One decelerating motor 27 stops operating, and then X-axis mobile platform 5 also stops movement, at this point, L-type hooked hand 19 has arrived at cargo compartment
Dead astern, two steering engines 13 start to work, connected L-type hooked hand 19 are returned to origin-location and (it is flat to be horizontally parallel to pedestal
The position of platform 1).Second reducing motors 9 are started to work, and second reducing motors 9 invert at this time, keep two steering engines 13 close, even if
For two L-types hooked hand 19 close to Level Promoting cargo, hooked hand is pressed onto cargo, and after cargo is aligned, pressure sensor 14 by
To the extruding of power, second reducing motors 9 are disconnected immediately, are made hooked hand stop drawing close to centre, are prevented damage product.Control the simultaneously
One decelerating motor 27 rotates backward, and retracts X-axis mobile platform 5, and cargo hook is retracted base platform, to realize cargo
Automatic loading and unloading process.
Further, cargo is pulled on base platform, and information acquisition system 21 collects the information of cargo, is stored in control
Device, while range sensor 25 measures the height of the cargo, system Auto-matching one corresponding goods cabinet chest, platform moves
The corresponding positive front of goods cabinet chest is moved, at this point, control second reducing motors 9 and steering engine 13 zoom out L-type hooked hand 19 and vertically
It erects, first reducing motors 27 rotate, and are displaced outwardly X-axis mobile platform 5, cargo is slowly advanced cargo using limit plate 18
In cabinet chest, cargo is kept, buyer is waited to get.
Further, when have buyer come cargo compartment get cargo when, system matches information, after confirming some cargo, put down
Platform is come again before the chest of the cargo storage.Operation when with cargo from unmanned plane landing platform is consistent, and cargo drawing is arrived
On base platform.Mobile entire platform, makes platform be moved to cargo security and exports out, cargo is shifted onto out from base platform at this time
At mouthful, the unloading of cargo can be completed, 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 more remote place, make cargo row
Industry is covered in larger area.
It include upper the present invention also provides one kind in addition to the primary structure of clamp device provided in above-mentioned each embodiment
The cargo access platform of clamp device disclosed in embodiment is stated, which includes platform and the folder that is arranged on platform
Device is taken, wherein clamp device is clamp device provided by any one above-mentioned embodiment, or is mentioned by any embodiment
The combination of the clamp device of confession.
Optionally, the Y-axis moving guide rail and Z axis moving guide rail of mating connection are provided on platform, clamp device is arranged in Y
On axis moving guide rail or Z axis moving guide rail.
Base platform 1 is mostly installed at on its matched Y/Z axis moving guide rail, and realization three axis of goods space is mobile；Bottom
Seat platform 1 is used for the fixation of other mechanisms and lifting for cargo.
Refer to the prior art for the structure of other each sections of the cargo access platform, and repeats no more herein.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
The cargo access platform to clamp device provided by the present invention and with the clamp device has carried out in detail above
It introduces.Used herein a specific example illustrates the principle and implementation of the invention, the explanation of above embodiments
It is merely used to help understand method and its core concept of the invention.It should be pointed out that for the ordinary skill people of the art
Member for, without departing from the principle of the present invention, can with several improvements and modifications are made to the present invention, these improve and
Modification is also fallen within the protection scope of the claims of the present invention.
Claims (7)
1. a kind of clamp device, which is characterized in that including control device, base platform (1) and be arranged in 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 equipped with limit for pushing cargo
Plate (18), the X-axis mobile platform (5) are equipped with the vertical X axis guide rail (16) vertical with X-axis, the vertical X axis guide rail (16)
Upper opposite set clamps hooked hand there are two moveable, and the control device controls two clampings and hooks hand incorgruous movement to clamp
Or decontrol cargo；The X-axis mobile platform (5) and the clamping hooked hand are and for controlling the mobile control device of the two
Connection；
Two clamping hooked hands are set on the vertical X axis guide rail (16) by steering engine (13) respectively, the steering engine (13)
Steering engine fixed frame (15) is connect by screw rod flange (11) with positive and negative tooth screw drive, and the positive and negative tooth screw rod (7) is equipped with symmetrical
Thread；
The X-axis mobile platform (5) is equipped with second reducing motors (9), and the second reducing motors (9) and synchronizing wheel (10) are even
It connects, the synchronizing wheel (10) connect with positive and negative tooth screw drive；
The clamping hooked hand is arranged on the steering engine (13) by steering wheel (27), and the steering engine (13), which has, hooks the clamping
Hand is rotated with the rotating part perpendicular to the X-axis mobile platform (5)；
The clamping hooked hand is that L shape hooks hand (19), and the clamping portion of two clamping hooked hands is parallel to each other, and two clampings hook
The push-and-pull portion of hand is conllinear.
2. clamp device according to claim 1, which is characterized in that further include:
For obtaining the range sensor (25) of cargo height, the range sensor (25) is arranged by supporting support (26)
On the X-axis mobile platform (5), the range sensor (25) connect with the control device；
For obtaining the information acquisition system (21) of the goods information of the cargo, the information acquisition system is mounted on the branch
It supports on bracket (26), and is connect with the control device.
3. clamp device according to claim 2, which is characterized in that the information acquisition system is for scanning cargo
The barcode scanning device of bar code, the power supply interface of the information acquisition system are connect with the control device.
4. according to claim 1 to clamp device described in 3 any one, which is characterized in that the base platform (1) is equipped with
Two parallel optical axis (3), the parallel optical axis (3) are equipped with linear slider (4), and the X-axis mobile platform (5) is arranged described
In linear slider (4)；
The X-axis mobile platform (5) is equipped with first reducing motors (27), and the output end of the first reducing motors (27) connects
Gear (24), the gear (24) and rack gear (23) engaged transmission being located on the base platform (1), rack gear (23) edge
X-direction is extended.
5. clamp device according to claim 4, which is characterized in that further include for incuding the clamping hooked hand to cargo
Clamping pressure pressure sensor (14), the pressure sensor (14) connect with the control device.
6. a kind of cargo access platform, the clamp device including platform and setting on the platform, which is characterized in that the folder
Taking device is clamp device described in claim 1-5 any one.
7. cargo access platform according to claim 6, which is characterized in that be provided with the Y of mating connection on the platform
Axis 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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN106516726A CN106516726A (en) | 2017-03-22 |
| CN106516726B true CN106516726B (en) | 2019-09-27 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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 |
| 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 |
| 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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