CN112960324A - Handling equipment with auxiliary clamping function - Google Patents
Handling equipment with auxiliary clamping function Download PDFInfo
- Publication number
- CN112960324A CN112960324A CN202110348280.5A CN202110348280A CN112960324A CN 112960324 A CN112960324 A CN 112960324A CN 202110348280 A CN202110348280 A CN 202110348280A CN 112960324 A CN112960324 A CN 112960324A
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- China
- Prior art keywords
- assembly
- guide
- driving
- sliding
- clamping mechanism
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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
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
- B65G1/0492—Storage devices mechanical with cars adapted to travel in storage aisles
-
- 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
Abstract
The invention provides a carrying device with an auxiliary clamping function, wherein a carrying device body comprises a travelling mechanism, a clamping mechanism and a clamping mechanism; the conveying equipment is characterized in that a clamping mechanism is mounted at the bottom of a base plate, a sliding assembly in the clamping mechanism is fixedly connected with a guide assembly, the sliding assembly enables the guide assembly to move relative to the base plate, and a plurality of guide assemblies simultaneously move towards the center direction of a turnover box so as to enable the guide assembly to clamp the turnover box and assist a clamping mechanism to convey the turnover box; this clamping mechanism has not only reduced the required precision of direction subassembly when being close the turnover case, has improved haulage equipment's handling efficiency, and avoids pressing from both sides to get the mechanism and appear rocking or even the risk that drops when pressing from both sides and get the turnover case.
Description
Technical Field
The invention relates to the field of shuttle vehicles, in particular to carrying equipment with an auxiliary clamping function.
Background
The shuttle car is the conveyor that is indispensable in the automatic stereoscopic warehouse system, and intensive storage needs to use the turnover case stack to place, and the shuttle car needs the centre gripping turnover case to be transported and piles up.
Generally, a guide assembly for matching the appearance of the turnover box extends below the shuttle car, that is, the shuttle car needs to align the clamping mechanism on the shuttle car with a specified position on the turnover box before placing or clamping the turnover box. Before the shuttle car is placed the turnover case or gets the turnover case, the appearance structure that utilizes a plurality of guide assemblies's structure to match the turnover case is in order to fix a position, because the turnover case volume is great, and speed is very slow when a plurality of guide assemblies are close the turnover case, the phenomenon that can't match appears even, has reduced the efficiency of shuttle car transport.
Disclosure of Invention
In view of the above, the present invention provides a conveying apparatus with an auxiliary clamping function, in which a clamping mechanism is mounted on a substrate, and the clamping mechanism is connected to a guide assembly, so that the guide assembly obtains a wider distance when approaching a container, thereby improving the working efficiency of the conveying apparatus.
In order to solve the technical problems, the invention adopts the following technical scheme:
the carrying equipment with the auxiliary clamping function comprises a carrying equipment body, wherein the carrying equipment body comprises:
the travelling mechanism comprises a base platform, a first driving assembly and a plurality of rollers, the first driving assembly is fixedly arranged on the base platform, the rollers are arranged on the side edge of the base platform, and the rollers move along the direction of a first guide rail under the driving force of the first driving assembly;
the clamping mechanism is positioned below the travelling mechanism; the clamping mechanism comprises a substrate, a second driving assembly, a clamping assembly and a guide assembly; wherein the content of the first and second substances,
the second driving assembly, the clamping assembly and the guide assembly are fixedly arranged on the substrate;
the guide assemblies are mounted at the bottom of the base plate, when the clamping mechanism needs to clamp a turnover box, the inner walls of the guide assemblies contact the outer wall of the turnover box, and the clamping assemblies are clamped at preset positions of the turnover box under the driving force of the second driving assembly so as to clamp the turnover box;
the clamping mechanism is installed at the bottom of the base plate and comprises a third driving assembly and a sliding assembly, the sliding assembly is fixedly connected with the guide assembly, the guide assembly is driven by the third driving assembly to follow the sliding assembly to move towards the center of the turnover box, and the guide assembly abuts against the outer wall of the turnover box.
Preferably, the sliding assembly comprises a first sliding block and a first sliding rail, the first sliding rail is fixedly mounted on the substrate, and the first sliding block is connected with the first sliding rail in a sliding manner; the first sliding block moves along the first sliding rail direction under the driving force of the third driving assembly.
Preferably, the guide assembly comprises a second slide rail, a second slide block and a guide plate; wherein the content of the first and second substances,
the second sliding block is fixedly connected with the first sliding block, the second sliding rail is fixedly connected with the guide plate, and the second sliding block is connected with the second sliding rail in a sliding manner; the inner side shape of the guide plate is matched with the shape of the outer wall of the turnover box.
Preferably, the clamping mechanism further comprises:
a rotating disc connected with the third drive assembly;
one end of the driving rod is fixedly arranged on the rotating disc, and the other end of the driving rod is fixedly arranged on the sliding assembly; the driving rod drives the sliding assembly to move towards the center direction of the turnover box under the driving force of the third driving assembly.
Preferably, the third driving assembly is fixedly arranged between the two sliding assemblies; the clamping mechanism comprises two driving rods, one ends of the two driving rods are respectively installed at two ends of the rotating disc, and the other ends of the two driving rods are respectively connected with the two sliding assemblies.
Preferably, the clamping mechanism comprises four guide assemblies, and the four guide assemblies are uniformly arranged at the end part of the base plate; the four guide assemblies respectively move towards the center direction of the turnover box along with the sliding assemblies under the driving force of the third driving assembly so as to clamp the turnover box.
Preferably, extension lines of the plurality of first sliding rails pass through the center of the base plate.
Preferably, the handling apparatus body further includes a connection mechanism; the two ends of the connecting mechanism are respectively connected with the travelling mechanism and the clamping mechanism, and the clamping mechanism follows the roller to move along the direction of the first guide rail under the driving force of the first driving assembly.
Preferably, the connecting mechanism comprises a fourth driving assembly, a winding flat belt and a winding assembly; wherein the content of the first and second substances,
the fourth driving component is fixedly arranged on the base platform;
one end of the winding flat belt is fixedly connected to the substrate, and the other end of the winding flat belt is fixedly connected with the winding assembly;
the winding assembly winds or unwinds the winding flat belt under the driving force of the fourth driving assembly, so that the clamping mechanism approaches or departs from the walking mechanism.
Preferably, the clamping mechanism further comprises a state detection assembly, the state detection assembly comprises a detection sensor and a detection plate, the detection plate is fixedly connected with the rotating disc, and the detection sensor is arranged adjacent to the rotating disc; when the rotating disc rotates to drive the detection plate to rotate, the detection sensor detects the current state of the clamping mechanism.
The technical scheme of the invention at least has one of the following beneficial effects:
the invention discloses a carrying device with an auxiliary clamping function, wherein a clamping mechanism is arranged at the bottom of a base plate, a sliding assembly in the clamping mechanism is fixedly connected with a guide assembly, the sliding assembly enables the guide assembly to move relative to the base plate, and a plurality of guide assemblies simultaneously move towards the center direction of a turnover box so as to enable the guide assembly to clamp the turnover box and carry the turnover box through an auxiliary clamping mechanism; this clamping mechanism has not only reduced the required precision of direction subassembly when being close the turnover case, has improved haulage equipment's handling efficiency, and avoids pressing from both sides to get the mechanism and appear rocking or even the risk that drops when pressing from both sides and get the turnover case.
Drawings
Fig. 1 is a schematic diagram of a positional relationship between two guide plates and a turnover box according to an embodiment of the present invention;
FIG. 2 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 3 is a schematic diagram of a portion of an embodiment of the present invention;
FIG. 4 is a partial schematic view of another embodiment of the present invention;
FIG. 5 is an enlarged view taken at A in FIG. 4;
fig. 6 is an enlarged view at B in fig. 4.
Reference numerals:
1. a first guide rail; 100. a handling apparatus body; 10. a traveling mechanism; 120. a base station; 20. a gripping mechanism; 210. a substrate; 220. a guide assembly; 221. a second slider; 222. a second slide rail; 223. a guide plate; 2231. a first guide plate; 2232. a second guide plate; 224. a guide-in plate; 230. a clamping assembly; 240. a second drive assembly; 30. a clamping mechanism; 310. a third drive assembly; 320. rotating the disc; 330. a drive rod; 341. a detection sensor; 342. detecting a plate; 350. a sliding assembly; 351. a first slide rail; 352. a first slider; 353. a connecting plate; 40. a turnover box; 510. the flat tape is wound.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention, are within the scope of the invention.
In the prior art, the guide assembly extending below the shuttle is fixedly mounted, i.e. the guide assembly is stationary relative to the shuttle in the horizontal direction. Therefore, when the guide assembly approaches the turnover box, the distance between the inner side of the guide assembly and the inner side of the turnover box cannot be too large, otherwise, the purpose of guiding cannot be achieved. So, the direction subassembly speed will be very slow when being close the turnover case, has reduced the handling efficiency of shuttle. In addition, in the process that the turnover box is clamped and carried by the clamping mechanism on the shuttle car, only the clamping mechanism exerts external force on the turnover box, and the guide assembly does not exert external force on the turnover box, so that the turnover box is easy to shake due to the fact that the stress point of the turnover box is small and if the moving speed is high.
In view of the above technical problems, an embodiment of the present invention provides a handling apparatus with an auxiliary clamping function, that is, a shuttle vehicle with an auxiliary clamping function. The clamping mechanism 30 is installed at the bottom of the base plate 210 of the carrying equipment, the sliding assembly 350 in the clamping mechanism 30 is fixedly connected with the guide assembly 220, the sliding assembly 350 enables the guide assembly 220 to move relative to the base plate 210, the guide assemblies 220 move towards the center direction of the turnover box 40 at the same time, so that the guide assembly 220 clamps the turnover box 40, the turnover box 40 is carried by the auxiliary clamping mechanism 20, and the risk that the clamping mechanism 20 shakes or even falls off when clamping the turnover box 40 is avoided. As shown in fig. 1, the distance between the first guide plate 2231 of the guide assembly 220 in the prior art and the outer wall of the turnover box 40 is L1, whereas the distance between the second guide plate 2232 of the guide assembly 220 in the embodiment of the present invention and the outer wall of the turnover box 40 is L2 and L2 is greater than L1 when the guide assembly 220 approaches the turnover box 40, that is, the clamping mechanism 30 reduces the required precision of the guide assembly 220 when the guide assembly 220 approaches the turnover box 40, and improves the carrying efficiency of the carrying device.
First, a carrier apparatus having an auxiliary gripping function according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.
Specifically, as shown in fig. 2, fig. 2 includes a conveying apparatus body 100, and the conveying apparatus body 100 includes a traveling mechanism 10, a gripping mechanism 20, and a clamping mechanism 30; wherein the content of the first and second substances,
the traveling mechanism 10 includes a base 120, a first driving assembly (not shown) and a plurality of rollers (not shown), the first driving assembly is fixedly mounted on the base 120, the plurality of rollers are mounted on the side of the base 120, and the base 120 moves along the first guide rail 1 along with the rollers under the driving force of the first driving assembly. The first drive assembly is preferably, but not limited to, an electric motor.
The gripping mechanism 20 is located below the traveling mechanism 10, and the gripping mechanism 20 is used for gripping the turnover box 40. The gripping mechanism 20 includes a base plate 210, a second driving assembly 240, a gripping assembly 230, and a guide assembly 220; wherein the content of the first and second substances,
the second driving assembly 240, the clamping assembly 230 and the guiding assembly 220 are fixedly mounted on the substrate 210; the plurality of guide assemblies 220 are mounted at the bottom of the base plate 210, when the clamping mechanism 20 needs to clamp the circulation box 40, inner walls of the plurality of guide assemblies 220 contact outer walls of the circulation box 40, and the clamping assembly 230 clamps a predetermined position of the circulation box 40 under the driving force of the second driving assembly 240 to clamp the circulation box 40. Preferably, the clamping assemblies 230 include two clamping assemblies 230 symmetrically mounted on the base plate 210, and the two clamping assemblies 230 are clamped at preset positions of the turnover box 40 under the driving force of the same second driving assembly 240, and the preset positions are preferably recesses or protrusions on the turnover box 40, so that the clamping assemblies 230 can better clamp the turnover box 40. The shape of the predetermined position is set according to the clamping jaws of the clamping assembly 230, and the clamping jaws are preferably matched with the predetermined position to achieve the best clamping effect. The second drive assembly 240 is preferably, but not limited to, an electric motor.
The clamping mechanism 30 is mounted at the bottom of the substrate 210, the clamping mechanism 30 includes a third driving assembly 310 and a sliding assembly 350, the sliding assembly 350 is fixedly connected with the guiding assemblies 220, and the guiding assemblies 220 move towards the center direction of the turnover box 40 along with the sliding assembly 350 under the driving force of the third driving assembly 310, so that the guiding assemblies 220 abut against the outer wall of the turnover box 40. The third drive assembly 310 is preferably, but not limited to, an electric motor. In an embodiment of the present invention, as shown in fig. 4 and 5, the sliding assembly 350 includes a first slider 352 and a first sliding rail 351, the first sliding rail 351 is fixedly mounted on the substrate 210, the first slider 352 is slidably connected to the first sliding rail 351, and the first slider 352 moves along the first sliding rail 351 under the driving force of the third driving assembly 310. As shown in fig. 6, the guide assembly 220 includes a second slide rail 222, a second slider 221, and a guide plate 223; the second sliding block 221 is fixedly connected with the first sliding block 352, the first sliding block 352 is fixedly connected with the second sliding block 221 through a connecting plate 353, the second sliding rail 222 is fixedly connected with the guide plate 223, and the second sliding block 221 is slidably connected with the second sliding rail 222; the inner shape of the guide plate 223 matches the shape of the outer wall of the partial circulation box 40. When the guide assembly 220 moves away from the turnover box 40, the guide plate 223 moves to the end of the second slide rail 222 under the action of the self gravity. When the guide assembly 220 contacts the turnover box 40, the guide plate 223 moves along the second slide rail 222 under the action of external force, so that the guide plate 223 matches with the turnover box 40. The second slider 221 is fixedly connected to the first slider 352, and the first slider 352 moves along the first sliding rail 351 under the driving force of the third driving assembly 310, so as to realize the movement of the guide plate 223 in the horizontal direction. Preferably, a guide plate 224 extends from the end of the guide plate 223, and the guide plate improves the matching efficiency between the turnover box and the guide plate.
In one embodiment of the present invention, as shown in fig. 3, the clamping mechanism 30 further comprises a rotating disc 320 and a driving rod 330, the rotating disc 320 is connected to the third driving assembly 310; one end of the driving rod 330 is fixedly installed on the rotating disc 320, and the other end is fixedly installed on the sliding assembly 350; the driving rod 330 drives the sliding assembly 350 to move toward the center of the container 40 under the driving force of the third driving assembly 310. Preferably, the third driving assembly 310 is fixedly installed between the two sliding assemblies 350; the clamping mechanism 30 includes two driving rods 330, one end of each driving rod 330 is mounted to the two ends of the rotating disc 320, and the other end of each driving rod 330 is connected to two sliding assemblies 350.
In an embodiment of the present invention, as shown in fig. 3, the clamping mechanism 30 further includes a status detecting component, the status detecting component includes a detecting sensor 341 and a detecting plate 342, the detecting plate 342 is fixedly connected to the rotating disk 320, and the detecting sensor 341 is disposed adjacent to the rotating disk 320; when the rotary disk 320 rotates to rotate the detection plate 342, the detection sensor 341 detects the current state of the clamping mechanism 30.
In a preferred embodiment of the present invention, the gripping mechanism 20 includes four guide assemblies 220, and the four guide assemblies 220 are uniformly mounted on the end of the substrate 210; the four guide assemblies 220 are respectively moved toward the center of the container 40 by the driving force of the third driving assembly 310 following the sliding assemblies 350 to clamp the container 40. In this embodiment, the general circulation box 40 is a square mechanism, the carrying mechanism body is also a square structure, and the four guide assemblies 220 are respectively located at four vertices of the square. When the turnover box 40 is clamped by the clamping mechanism 20, the four guide assemblies 220 move towards the center direction of the turnover box 40 under the driving force of the third driving assembly 310 and abut against the outer walls of the four corners of the turnover box 40, so that the clamping mechanism 20 is assisted to clamp the turnover box 40, the pressure of the clamping mechanism 20 is reduced, and the shaking phenomenon in the conveying process of the turnover box 40 is avoided. It should be noted that: the angle of the position of the first sliding rail 351 mounted on the substrate 210 determines the running direction of the guide assembly 220, and the extension lines of the first sliding rails 351 corresponding to the four guide assemblies 220 all pass through the center of the substrate 210, i.e., the center of the turnover box 40.
In an embodiment of the present invention, the gripping mechanism 20 includes two guide assemblies 220, and the two guide assemblies 220 are mounted at opposite ends of the base plate 210; the two guide assemblies 220 are driven by the third driving assembly 310 to respectively follow the slide assembly 350 to move towards the center of the turnover box 40. The principle of this embodiment is the same as that of the previous embodiment, the clamping effect of the two guide assemblies 220 is not as good as that of the four guide assemblies 220, but the cost of the two guide assemblies 220 is lower.
In an embodiment of the present invention, as shown in fig. 2, the handling apparatus body 100 further includes a connecting mechanism; the two ends of the connecting mechanism are respectively connected with the traveling mechanism 10 and the clamping mechanism 20, and the clamping mechanism 20 moves along the direction of the first guide rail 1 along with the roller under the driving force of the first driving component. The coupling mechanism includes a fourth drive assembly (not shown), a wound flat band 510, and a winding assembly (not shown); wherein, the fourth driving component is fixedly mounted on the base 120; one end of the winding flat belt 510 is fixedly connected to the substrate 210, and the other end is fixedly connected to the winding assembly; the winding assembly winds or unwinds the wound flat belt 510 under the driving force of the fourth driving assembly to cause the gripping mechanism 20 to approach or move away from the traveling mechanism 10. The connecting mechanism in this embodiment enables the turnover box 40 to perform lifting movement relative to the first guide rail 1, so as to meet the requirement of clamping the turnover boxes 40 with different stacking heights.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (10)
1. A carrier with auxiliary gripping function, characterized by comprising a carrier body (100), the carrier body (100) comprising:
the walking mechanism (10) comprises a base (120), a first driving assembly and a plurality of rollers, the first driving assembly is fixedly mounted on the base (120), the rollers are mounted on the side edge of the base (120), and the rollers move along the direction of a first guide rail (1) under the driving force of the first driving assembly;
the clamping mechanism (20), the clamping mechanism (20) is positioned below the walking mechanism (10); the clamping mechanism (20) comprises a substrate (210), a second driving assembly (240), a clamping assembly (230) and a guide assembly (220); wherein the content of the first and second substances,
the second driving assembly (240), the clamping assembly (230) and the guide assembly (220) are fixedly arranged on the substrate (210);
the guide assemblies (220) are mounted at the bottom of the base plate (210), when the clamping mechanism (20) needs to clamp a turnover box (40), the inner walls of the guide assemblies (220) contact the outer wall of the turnover box (40), and the clamping assembly (230) is clamped at a preset position of the turnover box (40) under the driving force of the second driving assembly (240) so as to clamp the turnover box (40);
the clamping mechanism (30), the clamping mechanism (30) install in the bottom of base plate (210), clamping mechanism (30) include third drive assembly (310) and slip subassembly (350), slip subassembly (350) fixed connection guide assembly (220), guide assembly (220) are in the drive power of third drive assembly (310) is followed slide assembly (350) is to the central direction motion of turnover case (40), so that a plurality of guide assembly (220) butt on the outer wall of turnover case (40).
2. The handling apparatus with auxiliary clamping function according to claim 1, wherein the sliding assembly (350) comprises a first sliding block (352) and a first sliding rail (351), the first sliding rail (351) is fixedly mounted on the base plate (210), and the first sliding block (352) is slidably connected with the first sliding rail (351); the first slider (352) moves along the first sliding rail (351) under the driving force of the third driving assembly (310).
3. The handling apparatus with auxiliary gripping function according to claim 2, wherein said guide assembly (220) comprises a second slide rail (222), a second slider (221) and a guide plate (223); wherein the content of the first and second substances,
the second sliding block (221) is fixedly connected with the first sliding block (352), the second sliding rail (222) is fixedly connected with the guide plate (223), and the second sliding block (221) is connected with the second sliding rail (222) in a sliding manner; the inner side shape of the guide plate (223) is matched with the shape of the outer wall of a part of the turnover box (40).
4. The handling apparatus with auxiliary gripping function according to claim 1, wherein said gripping mechanism (30) further comprises:
a rotating disk (320), the rotating disk (320) being connected to the third drive assembly (310);
the driving rod (330), one end of the driving rod (330) is fixedly installed on the rotating disk (320), and the other end is fixedly installed on the sliding assembly (350); the driving rod (330) drives the sliding assembly (350) to move towards the center direction of the turnover box (40) under the driving force of the third driving assembly (310).
5. The handling apparatus with auxiliary gripping function according to claim 4, wherein said third driving assembly (310) is fixedly mounted between two of said sliding assemblies (350); the clamping mechanism (30) comprises two driving rods (330), one ends of the two driving rods (330) are respectively installed at two ends of the rotating disc (320), and the other ends of the two driving rods (330) are respectively connected with the two sliding assemblies (350).
6. The transfer apparatus with auxiliary gripping function according to claim 2, wherein the gripping mechanism (20) comprises four guide assemblies (220), the four guide assemblies (220) being uniformly mounted on the end of the base plate (210); the four guide assemblies (220) respectively move towards the center direction of the turnover box (40) along with the sliding assemblies (350) under the driving force of the third driving assembly (310) so as to clamp the turnover box (40).
7. The conveying apparatus with auxiliary clamping function according to claim 6, wherein the extension lines of a plurality of said first sliding rails (351) all pass through the center of said base plate (210).
8. The carrier with auxiliary clamping function according to claim 1, wherein said carrier body (100) further comprises a connecting mechanism; the two ends of the connecting mechanism are respectively connected with the travelling mechanism (10) and the clamping mechanism (20), and the clamping mechanism (20) moves along the direction of the first guide rail (1) along with the roller under the driving force of the first driving assembly.
9. The handling apparatus with auxiliary gripping function according to claim 8, wherein said connection mechanism comprises a fourth driving assembly, a winding flat belt (510) and a winding assembly; wherein the content of the first and second substances,
the fourth driving component is fixedly arranged on the base (120);
one end of the winding flat belt (510) is fixedly connected to the substrate (210), and the other end of the winding flat belt is fixedly connected to the winding assembly;
the winding assembly winds or unwinds the winding flat belt (510) under the driving force of the fourth driving assembly, so that the gripping mechanism (20) approaches or departs from the traveling mechanism (10).
10. The carrying apparatus with the auxiliary clamping function according to claim 4, wherein the clamping mechanism (30) further comprises a state detecting member including a detecting sensor (341) and a detecting plate (342), the detecting plate (342) being fixedly connected to the rotating disk (320), the detecting sensor (341) being disposed adjacent to the rotating disk (320); when the rotating disc (320) rotates to drive the detection plate (342) to rotate, the detection sensor (341) detects the current state of the clamping mechanism (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110348280.5A CN112960324A (en) | 2021-03-31 | 2021-03-31 | Handling equipment with auxiliary clamping function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110348280.5A CN112960324A (en) | 2021-03-31 | 2021-03-31 | Handling equipment with auxiliary clamping function |
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| Publication Number | Publication Date |
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| CN112960324A true CN112960324A (en) | 2021-06-15 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110348280.5A Pending CN112960324A (en) | 2021-03-31 | 2021-03-31 | Handling equipment with auxiliary clamping function |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115092708A (en) * | 2022-07-14 | 2022-09-23 | 中国农业大学 | Intelligent loading system and method |
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| CN108584270A (en) * | 2018-07-24 | 2018-09-28 | 深圳市鲸仓科技有限公司 | The track exchanging device of stereo warehouse |
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| CN210884205U (en) * | 2019-10-28 | 2020-06-30 | 苏州天准科技股份有限公司 | Turnover box grabbing and placing device for shuttle |
| CN111891621A (en) * | 2020-09-08 | 2020-11-06 | 深圳市鲸仓科技有限公司 | Transfer robot and warehousing and carrying system |
| CN212314610U (en) * | 2020-07-29 | 2021-01-08 | 杭州慧盈智能科技有限公司 | Storage robot |
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2021
- 2021-03-31 CN CN202110348280.5A patent/CN112960324A/en active Pending
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108584270A (en) * | 2018-07-24 | 2018-09-28 | 深圳市鲸仓科技有限公司 | The track exchanging device of stereo warehouse |
| CN210884205U (en) * | 2019-10-28 | 2020-06-30 | 苏州天准科技股份有限公司 | Turnover box grabbing and placing device for shuttle |
| CN111038897A (en) * | 2019-12-12 | 2020-04-21 | 广东三三智能科技有限公司 | Three-dimensional warehousing system of intelligent trolley |
| CN212314610U (en) * | 2020-07-29 | 2021-01-08 | 杭州慧盈智能科技有限公司 | Storage robot |
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| CN115092708A (en) * | 2022-07-14 | 2022-09-23 | 中国农业大学 | Intelligent loading system and method |
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Application publication date: 20210615 |