CN113800269A - Stable integrated form hacking machine clamping device of centre gripping - Google Patents
Stable integrated form hacking machine clamping device of centre gripping Download PDFInfo
- Publication number
- CN113800269A CN113800269A CN202111077967.6A CN202111077967A CN113800269A CN 113800269 A CN113800269 A CN 113800269A CN 202111077967 A CN202111077967 A CN 202111077967A CN 113800269 A CN113800269 A CN 113800269A
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- plate
- shaft
- positioning beam
- connecting rod
- baffle
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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
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The invention discloses an integrated stacker crane clamping device with stable clamping, which comprises a bearing shaft, a sliding block, a positioning beam, a return spring, a baffle, a pressing plate and a telescopic driving combination. According to the invention, the bearing shaft is arranged, one end of the bearing shaft is rotatably connected with the sliding block, the positioning beam is arranged, one side of the positioning beam is in elastic sliding fit with the sliding block, the other side of the positioning beam is provided with the baffle and the pressing plate which are in sliding fit with the positioning beam, the pressing plate is in sliding fit with the baffle and used for clamping goods, one end of the sliding block is provided with the connecting shaft, the outer wall of the connecting shaft is provided with the hinged plate, the limiting plate is arranged outside the bearing shaft, one side of the limiting plate is provided with the limiting shaft, the telescopic driving rod is arranged between the limiting shaft and the hinged plate and can indirectly control the inclination angle of the positioning beam, when the positioning beam clamps goods in an inclined state, the clamping force on the goods can be greatly reduced, the friction force between the baffle and the goods is increased, the structures of the pressing plate and the baffle are simplified, and the gap between the goods after stacking is reduced.
Description
Technical Field
The invention relates to the technical field of stacker crane clamping, in particular to an integrated stacker crane clamping device with stable clamping.
Background
The application range of the palletizing robot is wider and wider, the palletizing robot generally comprises a rack and a palletizing manipulator, the traditional splint type manipulator is mostly clamped by adopting a motor to drive a splint, the structure is complex, the clamping action is slow, the stability is poor, the time consumed for completing one-time conveying operation is long, and the requirement of quick conveying cannot be met; .
Therefore, the invention provides the integrated stacker crane clamping device with stable clamping.
Disclosure of Invention
The invention aims to: in order to solve the problems mentioned in the background art, the integrated stacker crane clamping device capable of stably clamping is provided.
In order to achieve the purpose, the invention adopts the following technical scheme:
an integrated stacker clamping device with stable clamping comprises a bearing shaft, a sliding block, a positioning beam, a reset spring, a baffle, a pressing plate and a telescopic driving combination, wherein one side of the sliding block is rotatably connected with one end of the bearing shaft, one side of the positioning beam is provided with a sliding groove matched with the sliding block, the reset spring is arranged in the sliding groove, one end of the reset spring is contacted with one end of the sliding block, the other end of the sliding block is fixedly provided with a connecting shaft, the outer wall of the connecting shaft is fixedly provided with a hinged plate, the outer wall of the bearing shaft is fixedly provided with a limiting plate, one side of the limiting plate is fixedly provided with a limiting shaft at the free end, one end of the limiting shaft is connected with one end of the hinged plate through the telescopic driving combination, the telescopic driving combination is provided with a telescopic driving rod, and when the telescopic driving rod extends or contracts, the distance between the hinged plate and the limiting shaft correspondingly increases or decreases, the other side of the positioning beam is fixedly provided with a guide plate, one end of the baffle is fixedly connected with one end, close to the hinged plate, of the guide plate, and one end of the pressing plate is fixedly provided with a positioning plate in sliding fit with the guide plate.
As a further description of the above technical solution:
the positioning beam is internally provided with a yielding channel with one end communicated with the sliding groove, the yielding channel is matched with the connecting shaft, and one side of the positioning beam is provided with a rectangular yielding hole which is communicated with the yielding channel and is matched with the hinged plate for use.
As a further description of the above technical solution:
still be provided with the connecting rod combination on the flexible drive combination, this connecting rod combination cooperatees with articulated slab, spacing axle and locating plate, and when flexible actuating lever extension or shrink, the distance between baffle and the clamp plate is corresponding to be reduced or increase.
As a further description of the above technical solution:
the connecting rod combination comprises a first connecting rod, a second connecting rod, a T-shaped plate and a supporting rod, wherein one end of the first connecting rod is hinged to one end of the second connecting rod, the other ends of the first connecting rod and the second connecting rod are respectively rotatably connected with a limiting shaft and a hinged plate, a vertical rod and a positioning beam are arranged at the middle of the T-shaped plate in a sliding fit mode, one end of the vertical rod is hinged to one side of the supporting rod and one side of the positioning plate, and one end of the second connecting rod and the T-shaped plate are in a sliding fit mode.
As a further description of the above technical solution:
the fixed door type frame that is provided with in one side of deflector, set up on the door type frame with montant sliding fit's guiding hole, length direction and locating beam length direction parallel distribution's guide way is seted up to one side of horizontal pole, the fixed drive shaft that is provided with one end and stretches into in the guide way of one side of connecting rod two.
As a further description of the above technical solution:
and the outer surface wall of the bearing shaft is fixedly provided with a suspension shaft close to the other end, and the suspension shaft and the limiting plate are distributed in parallel and are positioned on the same side of the bearing shaft.
In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:
1. in the invention, a bearing shaft is arranged, one end of the bearing shaft is rotatably connected with a sliding block and is provided with a positioning beam, one side of the positioning beam is in elastic sliding fit with the sliding block, the other side of the positioning beam is provided with a baffle plate and a pressing plate, the pressing plate is in sliding fit with the positioning beam and is used for clamping goods in cooperation with the baffle plate, one end of the sliding block is provided with a connecting shaft, the outer wall of the connecting shaft is provided with a hinged plate, a limiting plate is arranged outside the bearing shaft, one side of the limiting plate is provided with a limiting shaft, a telescopic driving rod is arranged between the limiting shaft and the hinged plate, and the angle of the positioning beam relative to the horizontal plane can be changed by the extension or contraction of the telescopic driving rod, from this after the locating beam with the state centre gripping goods of slope, can greatly reduced to the clamp force of goods, the frictional force between increase baffle and the goods, the centre gripping goods is stable, simplifies the structure of clamp plate and baffle moreover, reduces the clearance between the goods after the pile up neatly.
2. According to the invention, the connecting rod combination is arranged and matched with the telescopic driving rod, the connecting rod combination comprises the first connecting rod, the second connecting rod, the T-shaped plate and the support rod, and when the telescopic driving rod extends or contracts, the distance between the baffle plate and the pressing plate is correspondingly reduced or increased, so that the positioning beam, the pressing plate and the baffle plate can be used for carrying out laid type synchronous clamping on goods by arranging the connecting rod combination, the action stroke is simplified, and the stacking efficiency is improved.
3. According to the invention, the stretching and the shrinking of the telescopic driving rod can simultaneously control the clamping of the positioning plate and the pressing operation of the pressing plate on the goods, so that the cost investment can be greatly reduced, and the stacking structure is simplified.
Drawings
FIG. 1 is a schematic view of a combined structure of a bearing shaft, a sliding block, a positioning beam, a return spring, a baffle, a pressing plate and a telescopic drive of an integrated stacker crane clamping device with stable clamping;
FIG. 2 is a schematic structural view of the front view of FIG. 1 of an integrated stacker clamping device with stable clamping according to the present invention;
FIG. 3 is a schematic structural diagram of the detailed connection and matching in FIG. 1 of the stably clamping integrated stacker clamping device according to the present invention;
FIG. 4 is a schematic structural diagram of the cooperation of a sliding block, a spring and a positioning beam of the integrated stacker crane clamping device with stable clamping;
FIG. 5 is a schematic structural view of the stably-clamped integrated stacker clamping device shown in FIG. 2 with the positioning beam, the slider and the return spring removed;
fig. 6 is a schematic structural diagram of the positioning beam in fig. 3 after the positioning beam is inclined, wherein the integrated stacker crane clamping device is stable in clamping.
Illustration of the drawings:
1. a load bearing shaft; 11. a limiting plate; 111. a limiting shaft; 12. a suspension shaft; 2. a slider; 21. a connecting shaft; 211. a hinge plate; 3. positioning the beam; 31. a chute; 32. a guide plate; 321. a gantry frame; 3211. a guide hole; 33. a yielding channel; 34. rectangular abdicating holes; 4. a return spring; 5. a baffle plate; 6. pressing a plate; 61. positioning a plate; 7. a telescopic driving combination; 71. a telescopic driving rod; 72. a connecting rod combination; 721. a first connecting rod; 722. a second connecting rod; 7221. a drive shaft; 723. a T-shaped plate; 7231. a vertical rod; 7232. a cross bar; 72321. a guide groove; 724. a stay bar.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1
Referring to fig. 1-6, an integrated stacker crane clamping device with stable clamping comprises a bearing shaft 1, a sliding block 2, a positioning beam 3, a return spring 4, a baffle 5, a pressing plate 6 and a telescopic driving assembly 7, wherein one side of the sliding block 2 is rotatably connected with one end of the bearing shaft 1, one side of the positioning beam 3 is provided with a sliding groove 31 matched with the sliding block 2, the return spring 4 is arranged in the sliding groove 31, one end of the return spring is contacted with one end of the sliding block 2, in the embodiment, the bearing shaft 1 is horizontally distributed, one end of the sliding groove 31 is arranged at the middle position of the positioning beam 3, under the action of the return spring 4, the positioning beam 3 is in an elastic sliding state relative to the bearing shaft 1, the other end of the sliding block 2 is fixedly provided with a connecting shaft 21, the outer surface wall of the connecting shaft 21 is fixedly provided with a hinged plate 211, preferably, a abdicating channel 33 is arranged in the positioning beam 3, one end of which is communicated with the sliding groove 31, the abdicating channel 33 is matched with the connecting shaft 21, one side of the positioning beam 3 is provided with a rectangular abdicating hole 34 which is communicated with the abdicating channel 33 and is matched with the hinged plate 211 for use, the outer wall of the bearing shaft 1 is fixedly provided with a limit plate 11, preferably, the outer wall of the bearing shaft 1 is fixedly provided with a suspension shaft 12 near the other end, in the embodiment, the suspension shaft 12 is in a vertical state and is connected with the output end of the palletizing mechanical arm, the suspension shaft 12 and the limit plate 11 are distributed in parallel and are positioned at the same side of the bearing shaft 1, namely, the limit plate 11 is positioned above the positioning beam 3, one side of the limit plate 11 is fixedly provided with a limit shaft 111 at the free end, one end of the limit shaft 111 is connected with one end of the hinged plate 211 through a telescopic driving combination 7, a telescopic driving rod 71 is arranged on the telescopic driving combination 7, when the telescopic driving rod 71 is extended or contracted, the distance between the hinged plate 211 and the limit shaft 111 correspondingly increases or decreases, therefore, one end of the telescopic driving rod 71 can be hinged with the hinged plate 211, the other end of the telescopic driving rod 71 is rotatably connected with the limit shaft 111, so as to control the distance between the hinged plate 211 and the limit shaft 111, in the embodiment, when the positioning beam 3 can be set to be in a horizontal state, the telescopic driving rod 71 is in a contraction state, therefore, when the telescopic driving rod 71 extends, the positioning beam 3 can incline, the guide plate 32 is fixedly arranged on the other side of the positioning beam 3, one end of the baffle plate 5 is fixedly connected with one end, close to the hinged plate 211, on the guide plate 32, one end of the pressing plate 6 is fixedly provided with the positioning plate 61 in sliding fit with the guide plate 32, further, when the positioning beam 3 is in a horizontal state, the pressing plate 6 can clamp goods when moving towards the baffle plate 5, when the telescopic driving rod 71 is controlled to extend, the positioning beam 3 carries the goods and inclines, the height of the baffle plate 5 is relatively reduced, at this time, the baffle plate 5 not only plays a role of clamping the goods, still play the effect of lifting the goods, the frictional force between increase and the goods simplifies the structure of baffle 5 and clamp plate 6 for clearance between the goods reduces behind the pile up neatly, and the stability of pile up neatly action has been improved greatly to the rotatory mode that promotes and release of this kind of locating beam 3, and flexible actuating lever 71 can select for use the common electronic extending structure in pile up neatly field or oil cylinder mechanism.
Example 2
Referring to fig. 3-6, the difference from embodiment 1 is that a link assembly 72 is further disposed on the telescopic driving assembly 7, the link assembly 72 is engaged with the hinge plate 211, the limit shaft 111 and the positioning plate 61, when the telescopic driving rod 71 extends or contracts, the distance between the baffle 5 and the pressing plate 6 correspondingly decreases or increases, specifically, the link assembly 72 includes a first link 721, a second link 722, a T-shaped plate 723 and a brace 724, one end of the first link 721 is hinged with one end of the second link 722, the other ends of the first link 721 and the second link 722 are respectively rotatably connected with the limit shaft 111 and the hinge plate 211, in this embodiment, two ends of the telescopic driving rod 71 can be respectively hinged with one side of the first link 721 and one side of the second link 722, the telescopic driving rod 71 acts to control the change of the included angle between the first link 721 and the second link 722, the vertical rod 7231 located in the middle of the T-shaped plate 723 is slidably engaged with the positioning beam 3, one end of a vertical rod 7231 is hinged with one side of the positioning plate 61 through a stay 724, one end of a connecting rod two 722 is in sliding fit with an upper cross rod 7232 of a T-shaped plate 723, in particular, a door-shaped frame 321 is fixedly arranged on one side of the guide plate 32, a guide hole 3211 in sliding fit with the vertical rod 7231 is arranged on the door-shaped frame 321, a guide groove 72321 which is distributed in parallel in the length direction and the length direction of the positioning beam 3 is arranged on one side of the cross rod 7232, a driving shaft 7221 with one end extending into the guide groove 72321 is fixedly arranged on one side of the connecting rod two 722, and further, in the process of extending the telescopic driving rod 71, the linear distance between the driving shaft 7221 and the positioning beam 3 is reduced, and then can drive locating plate 61 to the direction slip of baffle 5 through vaulting pole 724, clamp plate 6 and baffle 5 cooperation centre gripping goods, and this embodiment has realized that single flexible actuating lever 71 realizes centre gripping and slope control integration synchro control, greatly reduced cost and volume.
The working principle is as follows: when the stacking device is used, the suspension shaft 12 is fixedly connected with the output end of the stacking mechanical arm, before the stacking device clamps the packaged box-shaped goods on the conveying belt, the telescopic driving rod 71 is controlled to be in a contraction state, the positioning beam 3 is in a horizontal state, the pressure plate 6 is in a state far away from the baffle 5 at the moment, the external stacking mechanical arm is controlled to convey the stacking clamping device to the upper side of the goods, the telescopic driving rod 71 is controlled to descend to extend, the positioning beam 3 is inclined, the included angle between the first connecting rod 721 and the second connecting rod 722 is increased, the linear distance of the driving shaft 7221 relative to the positioning beam 3 is reduced, the vertical rod 7231 moves towards the positioning beam 3, the positioning plate 61 is pushed by the supporting rod 724 to move towards the baffle 5, the pressure plate 6 and the baffle 5 start to press the goods, the whole process has the effect of 'clamping and backing', and the inclined positioning beam 3 and the goods can descend relative to the bearing shaft 1, the return spring 4 is compressed, and has the effects of shock absorption and buffering.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (6)
1. The integrated stacker crane clamping device with stable clamping is characterized by comprising a bearing shaft (1), a sliding block (2), a positioning beam (3), a reset spring (4), a baffle (5), a pressing plate (6) and a telescopic driving combination (7), wherein one side of the sliding block (2) is rotatably connected with one end of the bearing shaft (1), one side of the positioning beam (3) is provided with a sliding groove (31) matched with the sliding block (2), the reset spring (4) is arranged in the sliding groove (31), one end of the reset spring is contacted with one end of the sliding block (2), the other end of the sliding block (2) is fixedly provided with a connecting shaft (21), a hinged plate (211) is fixedly arranged on the outer wall of the connecting shaft (21), a limiting plate (11) is fixedly arranged on the outer wall of the bearing shaft (1), and a limiting shaft (111) is fixedly arranged on one side of the limiting plate (11) and is positioned at the free end, the one end of spacing axle (111) is connected through the one end of flexible drive combination (7) and articulated slab (211), be provided with flexible actuating lever (71) on flexible drive combination (7), when this flexible actuating lever (71) extension or shrink, the distance between articulated slab (211) and spacing axle (111) corresponds the increase or reduces, the fixed deflector (32) that is provided with of opposite side of locating beam (3), the one end of baffle (5) and the one end fixed connection who is close to articulated slab (211) on deflector (32), the fixed locating plate (61) with deflector (32) sliding fit that is provided with of one end of clamp plate (6).
2. The integrated stacker crane clamping device with stable clamping function according to claim 1, wherein a yielding channel (33) with one end communicated with the sliding groove (31) is formed in the positioning beam (3), the yielding channel (33) is matched with the connecting shaft (21), and a rectangular yielding hole (34) which is communicated with the yielding channel (33) and is matched with the hinged plate (211) for use is formed in one side of the positioning beam (3).
3. An integrated stacker clamping device with stable clamping as claimed in claim 1, wherein a connecting rod combination (72) is further arranged on the telescopic driving combination (7), the connecting rod combination (72) is matched with the hinged plate (211), the limiting shaft (111) and the positioning plate (61), and when the telescopic driving rod (71) extends or contracts, the distance between the baffle (5) and the pressing plate (6) correspondingly decreases or increases.
4. The integrated stacker crane clamping device with stable clamping function as claimed in claim 3, wherein the connecting rod combination (72) comprises a first connecting rod (721), a second connecting rod (722), a T-shaped plate (723) and a supporting rod (724), one end of the first connecting rod (721) is hinged to one end of the second connecting rod (722), the other ends of the first connecting rod (721) and the second connecting rod (722) are respectively rotatably connected with the limiting shaft (111) and the hinge plate (211), a vertical rod (7231) and a positioning beam (3) which are located in the middle of the T-shaped plate (723) are in sliding fit, one end of the vertical rod (7231) is hinged to one side of the positioning plate (61) through the supporting rod (724), and one end of the second connecting rod (722) is in sliding fit with a cross rod (7232) on the T-shaped plate (723).
5. The integrated stacker crane clamping device with stable clamping as claimed in claim 4, wherein a door-shaped frame (321) is fixedly arranged on one side of the guide plate (32), a guide hole (3211) in sliding fit with the vertical rod (7231) is formed in the door-shaped frame (321), guide grooves (72321) distributed in the length direction and the length direction of the positioning beam (3) in parallel are formed in one side of the cross rod (7232), and a driving shaft (7221) with one end extending into the guide groove (72321) is fixedly arranged on one side of the second connecting rod (722).
6. An integrated stacker clamping device with stable clamping as claimed in claim 1, wherein a suspension shaft (12) is fixedly arranged on the outer wall of the bearing shaft (1) near the other end, and the suspension shaft (12) and the limiting plate (11) are distributed in parallel and located on the same side of the bearing shaft (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077967.6A CN113800269A (en) | 2021-09-15 | 2021-09-15 | Stable integrated form hacking machine clamping device of centre gripping |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111077967.6A CN113800269A (en) | 2021-09-15 | 2021-09-15 | Stable integrated form hacking machine clamping device of centre gripping |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113800269A true CN113800269A (en) | 2021-12-17 |
Family
ID=78940913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111077967.6A Withdrawn CN113800269A (en) | 2021-09-15 | 2021-09-15 | Stable integrated form hacking machine clamping device of centre gripping |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113800269A (en) |
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|---|---|---|---|---|
| CN107265111A (en) * | 2017-07-31 | 2017-10-20 | 广州市康超信息科技有限公司 | A kind of device that can be overturn and carry workpiece |
| CN109516167A (en) * | 2018-10-26 | 2019-03-26 | 毛建国 | A kind of transmission device |
| KR101974160B1 (en) * | 2018-01-26 | 2019-04-30 | 심상돈 | Gripper device for loading goods |
| CN209291489U (en) * | 2018-12-17 | 2019-08-23 | 美尚生态景观股份有限公司 | A kind of flowers and trees transplanting backing clamping jaw |
| CN209551703U (en) * | 2019-03-06 | 2019-10-29 | 海南环宇中盟物流有限公司 | A kind of novel logistics automatic carrying machine working |
| CN210763051U (en) * | 2019-08-23 | 2020-06-16 | 安徽江南化工股份有限公司宁国分公司 | Anti-slip device for powdery explosive stacking manipulator clamp |
| CN111482982A (en) * | 2020-05-07 | 2020-08-04 | 宁波奥克斯电气股份有限公司 | Clamping mechanism and control method thereof |
| CN113305819A (en) * | 2021-06-01 | 2021-08-27 | 滁州哈工库讯智能科技有限公司 | Mechanical arm for carrying logistics |
| CN113371452A (en) * | 2021-07-22 | 2021-09-10 | 浙江百世技术有限公司 | Automatic tray stacking equipment and using method |
-
2021
- 2021-09-15 CN CN202111077967.6A patent/CN113800269A/en not_active Withdrawn
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107265111A (en) * | 2017-07-31 | 2017-10-20 | 广州市康超信息科技有限公司 | A kind of device that can be overturn and carry workpiece |
| KR101974160B1 (en) * | 2018-01-26 | 2019-04-30 | 심상돈 | Gripper device for loading goods |
| CN109516167A (en) * | 2018-10-26 | 2019-03-26 | 毛建国 | A kind of transmission device |
| CN209291489U (en) * | 2018-12-17 | 2019-08-23 | 美尚生态景观股份有限公司 | A kind of flowers and trees transplanting backing clamping jaw |
| CN209551703U (en) * | 2019-03-06 | 2019-10-29 | 海南环宇中盟物流有限公司 | A kind of novel logistics automatic carrying machine working |
| CN210763051U (en) * | 2019-08-23 | 2020-06-16 | 安徽江南化工股份有限公司宁国分公司 | Anti-slip device for powdery explosive stacking manipulator clamp |
| CN111482982A (en) * | 2020-05-07 | 2020-08-04 | 宁波奥克斯电气股份有限公司 | Clamping mechanism and control method thereof |
| CN113305819A (en) * | 2021-06-01 | 2021-08-27 | 滁州哈工库讯智能科技有限公司 | Mechanical arm for carrying logistics |
| CN113371452A (en) * | 2021-07-22 | 2021-09-10 | 浙江百世技术有限公司 | Automatic tray stacking equipment and using method |
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Application publication date: 20211217 |
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| WW01 | Invention patent application withdrawn after publication |