CN115139247A - Walking type mechanical automatic clamping device - Google Patents

Abstract

The invention provides a walking type mechanical automatic clamping device, and belongs to the technical field of mechanical automatic clamping devices. The device comprises a truss component, a transverse walking assembly, a lifting assembly, a clamping assembly, a double-drive assembly and a transverse lock assembly, wherein the truss component is fixed on an operation position; the transverse moving frame is internally and rotatably provided with a transverse moving lead screw, a lead screw sliding block is connected in the transverse moving lead screw in a matched mode, a lead screw gear is fixedly inserted into one end of the transverse moving lead screw, a clamping head is vertically and slidably arranged in a guide rod sliding block, the upper end of the clamping head is connected with a lifting rack, the top end of the transverse moving frame is rotatably provided with a lifting gear, the lifting gear is matched with the lifting rack, the clamping assembly is integrally arranged in the clamping head, a double-drive gear capable of automatically moving and switching is arranged between the lead screw gear and the lifting gear, the clamping assembly can be driven to integrally move transversely and vertically, meanwhile, one side of the lead screw sliding block is further connected with a transverse lock assembly, and elastic locking of the transverse position of the clamping assembly in a free state can be achieved.

Description

Walking type mechanical automatic clamping device

Technical Field

The invention relates to the technical field of mechanical automatic clamping equipment, in particular to a walking type mechanical automatic clamping device.

Background

Mechanical automation refers to a process in which a machine or a device automatically operates or controls according to a predetermined program or instruction without human intervention, and mechanical automation refers to a process in which the machine or the device is automatically controlled in a mechanical manner, and a material needs to be placed on a shelf in a warehouse and a clamping device needs to be used.

A mechanical automatic clamping device as disclosed in the prior art (CN 113843644A), comprising a mounting frame, a clamping component arranged on the mounting frame for clamping an object, and a lifting component connected with the clamping component and adapted to lift the clamping component; the clamping assembly comprises an installation block and a pair of clamping blocks which are arranged on the installation block and used for clamping an object; the lifting assembly comprises a rope connected with the mounting block, a wire collecting roller used for winding the rope, a rotating shaft fixedly connected with the wire collecting roller, and a rotary power structure connected with the rotating shaft and used for driving the rotating shaft to rotate.

However, in the actual transporting process of the warehouse materials, not only vertical lifting and clamping but also horizontal transferring and transporting are needed, so that the aim of automatically conveying the warehouse materials is fulfilled.

Disclosure of Invention

In order to solve the problems in the prior art, the invention provides a walking type mechanical automatic clamping device which comprises a walking frame component, a transverse walking assembly, a lifting assembly, a clamping assembly, a double-drive assembly and a transverse lock assembly, wherein the transverse walking assembly comprises a transverse screw, a screw slider and a screw gear;

the transverse walking assembly is characterized in that the truss component is a structural foundation and integrally has a door-shaped structure, a transverse screw rod in the transverse walking assembly is transversely and rotatably arranged on the inner side of the door-shaped structure of the truss component, a screw rod sliding block is connected in the transverse screw rod in a matching manner, a screw rod gear is fixedly inserted into one end of the transverse screw rod, a lifting rack is fixedly connected above a clamping head after the screw rod sliding block is upwards inserted into the clamping head, an upper elastic pressure spring is connected between the lifting rack and the top surface of the screw rod sliding block, the upper elastic pressure spring provides upward jacking force for the lifting rack, a lifting gear is transversely and rotatably arranged on the inner side of the upper end of the door-shaped structure of the truss component, and the lifting gear is positioned above the screw rod gear;

the rear ends of two groups of rear connecting rods in the clamping assembly are bilaterally symmetrically and rotatably arranged at the upper end of a clamping head, the rear ends of two groups of front connecting rods are bilaterally symmetrically and rotatably arranged at the lower end of the clamping head, clamping main arms are rotatably arranged between the outer ends of the rear connecting rods and the outer end of the front connecting rod which are positioned at the same side, clamping blocks are fixedly connected to the corresponding positions of the inner sides of the lower ends of the two groups of clamping main arms, the two groups of clamping blocks are parallel to each other, clamping gears are coaxially fixed at the rear ends of each group of rear connecting rods, the two groups of clamping gears are meshed with each other, and one group of the clamping gears is connected with a clamping motor;

the double-drive assembly is characterized in that double-drive gears capable of automatically rotating in the double-drive assembly can be meshed and switched between the screw rod gears and the lifting gears, a transverse moving locking plate is transversely connected to the position, corresponding to the screw rod sliding block, of the portal structure of the travelling frame member, a plurality of groups of transverse moving locking holes are transversely formed in the inner side face of the transverse moving locking plate uniformly, a locking elastic column is elastically connected to the position, corresponding to the transverse moving locking hole, of one side of the screw rod sliding block, and the locking elastic column can be elastically clamped in any one group of transverse moving locking holes.

The lower sides of the left end and the right end of a transverse moving truss in the truss component are fixedly connected with truss bases;

two groups of screw rod seats in the transverse walking assembly are coaxially arranged at two ends of the transverse walking frame door-shaped structure corresponding to the transverse screw rods, and the transverse screw rods are rotatably connected in the two groups of screw rod seats;

a transverse guide rod is further screwed at the lower side of the transverse screw rod, guide rod seats are coaxially arranged at the positions of two inner side surfaces of the transverse truss door-shaped structure corresponding to the transverse guide rod, and the transverse guide rod is rotatably connected in the two groups of guide rod seats;

the lower end of the lead screw sliding block is fixedly connected with a guide rod sliding block which is connected in the transverse moving guide rod in a sliding manner;

two groups of lifting chutes in the lifting assembly are symmetrically arranged at the front and back ends of the screw rod sliding block and the guide rod sliding block together, lifting sliding columns are vertically fixed at the positions, corresponding to the two groups of lifting chutes, of the upper end of the clamping head, and the two groups of lifting sliding columns are connected in the corresponding lifting chutes in a sliding manner;

the two groups of lifting sliding columns are fixedly connected with a sliding column top plate at the common top end after being upwards inserted through the lifting sliding chutes, and the lifting rack is vertically and fixedly connected with the top end of the sliding column top plate;

a clamping groove is formed in the lower end of the main body of the clamping head and penetrates through the clamping assembly in the front-rear direction at a position corresponding to the clamping assembly;

a rack sliding groove is transversely formed in the position, corresponding to the lifting rack, of the top surface of the transverse moving rack, and the lifting rack is connected in the rack sliding groove in a sliding manner;

the lifting gear seats are coaxially arranged at the positions, corresponding to the lifting gears, of the two ends of the inner side of the top end of the transverse moving frame door-shaped structure, the lifting gear shafts are coaxially and rotatably connected in the two groups of lifting gear seats, and the lifting gears are fixedly inserted in the lifting gear shafts;

two groups of rear connecting holes in the clamping assembly are symmetrically arranged at the positions, corresponding to the rear ends of the rear connecting rods, of the upper end of the clamping chuck in a bilateral mode, a rear connecting shaft is rotatably connected in each group of rear connecting holes, the rear ends of the two groups of rear connecting rods are respectively inserted and fixed in the corresponding rear connecting shafts, and the two groups of rear connecting rods are located in the clamping grooves;

front connecting holes are symmetrically formed in the positions, corresponding to the rear ends of the two groups of front connecting rods, of the lower end of the clamping head, front connecting shafts are rotatably connected in each group of front connecting holes, the rear ends of the two groups of front connecting rods are respectively fixed in the corresponding front connecting shafts in an inserting mode, and the two groups of front connecting rods are located in clamping grooves;

the two groups of clamping gears are respectively inserted and fixed in the corresponding rear connecting shafts, and are positioned in the clamping grooves;

the rotary shaft of the clamping motor is fixedly connected with one group of rear connecting shafts, and the main body of the clamping motor is fixedly connected with the outer side surface of the clamping head;

the double-drive assembly further comprises a lifting drive and a switching motor, the lifting drive is fixedly connected to the position, corresponding to the double-drive gear, of the inner side of the upper end of the transverse moving frame, the switching motor is fixedly connected to the top end of the lifting drive, and the double-drive gear is fixedly inserted into a rotary shaft of the switching motor;

a transverse locking plate in the transverse lock assembly is transversely connected and fixed at a position corresponding to the guide rod sliding block at the rear end of the transverse truss door-shaped structure;

a transverse moving lock seat is fixedly connected to the side surface of the guide rod sliding block and the position corresponding to the transverse moving lock plate, a lock cylinder hole is formed in the transverse moving lock seat and the position corresponding to the lock cylinder, an inner spring sliding plate is fixedly sleeved at the front end of the lock cylinder and is connected in the lock cylinder hole in a sliding mode;

the rear end of the lock elastic column is sleeved with an inner spring, the rear end of the inner spring is clamped and fixed at the inner bottom end of the lock elastic hole, and the front end of the inner spring is clamped and fixed at the inner end of the inner spring sliding plate;

the front end opening of the lock spring hole is covered and connected with an outer cover plate, and the front end of the lock spring column is inserted to the outer side of the transverse moving lock seat from the outer cover plate in a sliding mode.

Further, the traverse guide rod and the traverse lead screw are arranged in parallel.

Furthermore, a rack limiting plate is fixedly connected to a position, corresponding to the rack sliding groove, on one side of the top end of the transverse moving frame.

Furthermore, the center distance between the rear connecting shaft and the front connecting shaft which are positioned on the same side is equal to the center distance between the centers of rotation of the two ends of the main clamping arm, and the center distance between the centers of rotation of the two ends of the front connecting rod which is positioned on the same side is equal to the center distance between the centers of rotation of the two ends of the rear connecting rod.

Compared with the prior art, the walking type mechanical automatic clamping device provided by the invention has the following advantages:

(1) The clamping assembly is provided with the main clamping action, and the two groups of clamping blocks capable of keeping the parallel state to open and clamp are arranged in the clamping assembly, so that the two groups of clamping blocks can move downwards to synchronously open and move upwards to synchronously clamp, and the material can be clamped more conveniently.

(2) In order to improve the overall motility and the automation degree of the clamping assembly, the invention is also provided with a transverse walking assembly and a lifting assembly, the transverse movement of the clamping assembly can be realized through the matching of a transverse screw rod and a screw rod sliding block, and the vertical movement of the clamping assembly can be realized through the matching of a lifting gear and a lifting rack; meanwhile, in order to ensure that the clamping assembly is in an upward to-be-clamped state in a natural state and cannot collide with materials in the transverse moving process, the upper elastic compression springs are sleeved in the two groups of lifting sliding columns, and the upward jacking force of the sliding column top plate, the lifting rack and the clamping assembly connected to the lower end of the lifting sliding column can be realized through the upward jacking force of the upper elastic compression springs on the sliding column top plate.

(3) Meanwhile, a double-drive assembly is arranged between the screw rod gear and the lifting gear, and the double-drive gear can be meshed and switched between the screw rod gear and the lifting gear through a switching motor capable of automatically moving up and down and a double-drive gear fixedly inserted in a rotary shaft of the switching motor; meanwhile, in order to ensure that the lifting rack is driven by the double-drive gear to move downwards through the lifting gear, and the whole lifting assembly and the clamping assembly are in a stable state of transverse movement when the clamping assembly is driven to move downwards, the transverse locking assembly is further arranged, and the guide rod sliding block, the lead screw sliding block and the lifting assembly can be elastically locked from any transverse position with the clamping assembly through elastic clamping of the lock elastic columns in any group of transverse moving lock holes, so that free transverse movement cannot occur.

Drawings

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

Fig. 1 is a schematic diagram of an overall structure of a walking-type mechanical automated clamping device according to the present invention;

FIG. 2 is a schematic structural view of the truss member of the present invention;

FIG. 3 is a schematic structural view of the lateral walking assembly of the present invention;

FIG. 4 is a schematic view of a lift assembly of the present invention;

FIG. 5 is a schematic view of a first viewing angle mounting structure of the clamping assembly of the present invention;

FIG. 6 is a schematic structural view of a second viewing angle of the clamping assembly of the present invention;

FIG. 7 is a schematic structural view of the dual drive assembly of the present invention;

FIG. 8 is a schematic view of the cross lock assembly of the present invention.

Reference numerals are as follows: 1. a truss member; 2. a transverse walking assembly; 3. a lifting assembly; 4. clamping an assembly; 5. a dual drive assembly; 6. a transverse lock assembly; 101. transversely moving the travelling frame; 102. a truss base; 201. a lead screw seat; 202. transversely moving the lead screw; 203. a lead screw slider; 204. a guide rod seat; 205. transversely moving the guide rod; 206. a guide rod slider; 207. a lead screw gear; 301. a lifting chute; 302. a lifting slide column; 303. a strut top plate; 304. assembling a clamping head; 305. clamping grooves; 306. a lifting rack; 307. a rack chute; 308. a rack limiting plate; 309. a lifting gear seat; 310. a lifting gear shaft; 311. a lifting gear; 312. spring loading and pressing springs; 401. a rear connecting shaft; 402. a rear connecting rod; 403. a front connecting shaft; 404. a front link; 405. clamping a main arm; 406. installing a clamping block; 407. clamping the gear; 408. clamping a motor; 409. a rear connection hole; 410. a front coupling hole; 501. lifting and driving; 502. switching the motors; 503. a dual drive gear; 601. transversely moving the lock plate; 602. transversely moving the lock hole; 603. transversely moving the lock seat; 604. a lock cylinder; 605. a lock spring hole; 606. an innerspring slide; 607. an inner spring; 608. an outer cover plate.

Detailed Description

An example of a walk-behind mechanical automated clamping device according to the present invention will be described with reference to the accompanying drawings.

The first embodiment is as follows:

examples of the invention for realizing the transverse and vertical movement of the clamping assembly 4 are shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 7 and fig. 8, the truss component 1 is a structural foundation, the lower sides of the left and right ends of the transverse truss 101 are fixedly connected with truss bases 102, and the whole device is fixedly connected to an operation position through two sets of truss bases 102;

in the transverse walking assembly 2, a transverse lead screw 202 is transversely and rotatably arranged on the inner side of a portal structure of the transverse walking frame 101, a lead screw slider 203 is connected in the transverse lead screw 202 in a matching way, a lead screw gear 207 is fixedly inserted into one end of the transverse lead screw 202, a clamping head 304 is fixedly connected above the lead screw slider 203 after being slidably inserted upwards, an upper elastic pressure spring 312 is connected between the lifting rack 306 and the top surface of the lead screw slider 203 and between the bottom side and the top surface of the lead screw slider 203, the upper elastic pressure spring 312 provides upward jacking force for the lifting rack 306, a lifting gear 311 is transversely and rotatably arranged on the inner side of the upper end of the portal structure of the transverse walking frame 101, and the lifting gear 311 is positioned above the lead screw gear 207;

the clamping assembly 4 is integrally installed and connected in the clamping head 304;

specifically, two groups of screw rod seats 201 in the transverse walking assembly 2 are coaxially arranged at two ends of the transverse walking frame 101 door-shaped structure corresponding to the transverse screw rods 202, the transverse screw rods 202 are rotatably connected in the two groups of screw rod seats 201, transverse guide rods 205 are further rotatably arranged at the lower sides of the transverse screw rods 202, guide rod seats 204 are coaxially arranged at positions of two inner side surfaces of the transverse walking frame 101 door-shaped structure corresponding to the transverse guide rods 205, the transverse guide rods 205 are rotatably connected in the two groups of guide rod seats 204, a guide rod slider 206 is fixedly connected to the lower ends of the screw rod sliders 203, and the guide rod sliders 206 are slidably connected in the transverse guide rods 205;

specifically, two sets of lifting chutes 301 in the lifting assembly 3 are symmetrically arranged at the front and rear ends of the lead screw slider 203 and the guide bar slider 206, lifting slide posts 302 are vertically fixed at positions corresponding to the two sets of lifting chutes 301 at the upper end of the clamping head 304, the two sets of lifting slide posts 302 are slidably connected in the corresponding lifting chutes 301, two sets of lifting slide posts 302 are fixedly connected to a slide post top plate 303 at the common top end after being upwardly inserted through the lifting chutes 301, a lifting rack 306 is vertically fixedly connected to the top end of the slide post top plate 303, a clamping groove 305 is formed in the lower end of the main body of the clamping head 304 in a front-rear direction through manner at a position corresponding to the clamping assembly 4, a transverse moving rack chute 307 is transversely formed at a position corresponding to the lifting rack 306 at the top surface of the transverse moving rack 101, the lifting rack 306 is slidably connected in the rack chute 307, lifting gear seats 309 are coaxially formed at two ends of the inner side of the top end of the door-shaped structure of the clamping head 101 and at a position corresponding to the lifting gear 311, two sets of the lifting gear seats 309 are rotatably connected to a lifting gear shaft 310, and the lifting gear shaft gear 311 is fixedly inserted in the lifting gear shaft 310;

specifically, a rack limiting plate 308 is fixedly connected to a position on one side of the top end of the traverse traveling frame 101, which corresponds to the rack sliding groove 307, and is used for limiting the sliding position of the lifting rack 306 and preventing overtravel movement;

the double-drive gear 503 capable of automatically rotating in the double-drive assembly 5 can be meshed and switched between the lead screw gear 207 and the lifting gear 311, a transverse moving locking plate 601 is transversely connected to the position, corresponding to the lead screw slider 203, of the portal structure of the truss member 1, a plurality of groups of transverse moving locking holes 602 are uniformly and transversely formed in the inner side surface of the transverse moving locking plate 601, a locking elastic column 604 is elastically connected to the position, corresponding to the transverse moving locking hole 602, of one side of the lead screw slider 203, and the locking elastic column 604 can be elastically clamped in any one group of transverse moving locking holes 602;

specifically, a lifting drive 501 in the double-drive assembly 5 is fixedly installed on the inner side of the upper end of the traverse traveling frame 101 at a position corresponding to a double-drive gear 503, a switching motor 502 is fixedly connected to the top end of the lifting drive 501, and the double-drive gear 503 is fixedly inserted into a rotating shaft of the switching motor 502;

specifically, a transverse lock plate 601 in the transverse lock assembly 6 is transversely connected and fixed at a position corresponding to a guide rod slider 206 at the rear end of a door-shaped structure of the transverse movable frame 101, a transverse lock seat 603 is fixedly connected at a position corresponding to the transverse lock plate 601 at the side surface of the guide rod slider 206, a lock cylinder hole 605 is formed in the transverse lock seat 603 at a position corresponding to the lock cylinder 604, an inner spring sliding plate 606 is sleeved and fixed at the front end of the lock cylinder 604, the inner spring sliding plate 606 is slidably connected in the lock cylinder hole 605, an inner spring 607 is sleeved and installed at the rear end of the lock cylinder 604, the rear end of the inner spring 607 is clamped and fixed at the inner bottom end of the lock cylinder hole 605, the front end is clamped and fixed at the inner end of the inner spring sliding plate 606, an outer cover plate 608 is connected at the opening at the front end of the lock cylinder hole 605 in a covering manner, and the front end of the lock cylinder 604 is slidably inserted to the outer side of the transverse lock seat 603 from the outer cover plate 608;

the invention is fixedly connected to an operation position through two groups of truss bases 102;

the whole clamping assembly 4 moves transversely and vertically;

by starting the lifting drive 501 in the dual-drive assembly 5, the switching motor 502 and the dual-drive gear 503 are driven to move downwards, so that the dual-drive gear 503 and the lead screw gear 207 form matched transmission, the lead screw gear 207 drives the traversing lead screw 202 to rotate coaxially, and the traversing lead screw 202 and the lead screw slider 203 form matched transmission;

the screw rod slider 203 can realize the transverse movement of the whole screw rod slider 203 and the guide rod slider 206 along the transverse moving guide rod 205 through the sliding limitation of the guide rod slider 206 along the transverse moving guide rod 205;

because the upper spring pressing spring 312 is sleeved and installed in the lifting sliding column 302 in the lifting assembly 3, and the upper spring pressing spring 312 is clamped between the top surface of the screw rod sliding block 203 and the bottom surface of the sliding column top plate 303, the clamping heads 304 connected to the lower ends of the two groups of lifting sliding columns 302 and the clamping assemblies 4 connected in the clamping heads 304 can be in an upward recovery state in a free state, so that the clamping assemblies 4 are ensured not to generate interference collision with materials in the transverse moving process;

the switching motor 502 and the double-drive gear 503 are driven to move upwards by starting the lifting drive 501 in the double-drive assembly 5, so that the double-drive gear 503 and the lifting gear 311 form matched transmission, the lifting gear 311 and the lifting rack 306 form matched transmission to drive the lifting rack 306 to move upwards, the lifting rack 306 drives the clamping head 304 to move upwards through the sliding column top plate 303 and the lifting sliding column 302, and the whole clamping assembly 4 connected in the clamping head 304 can be driven to move vertically;

specifically, the inner end of the guide rod sliding block 206 is connected with a transverse lock assembly 6, and the lock cylinder 604 can be elastically clamped in any one group of transverse lock holes 602, so that the stability of the transverse position in the vertical moving process of the clamping assembly 4 can be realized.

Example two:

with reference to the first embodiment, an example of the specific clamping action of the clamping assembly 4 according to the present invention is shown in fig. 1, fig. 2, fig. 3, fig. 4, fig. 5 and fig. 6, in the clamping assembly 4, the rear ends of two sets of rear connecting rods 402 are symmetrically and rotatably disposed at the upper end of the clamping head 304, the rear ends of two sets of front connecting rods 404 are symmetrically and rotatably disposed at the lower end of the clamping head 304, clamping main arms 405 are rotatably disposed between the outer ends of the rear connecting rods 402 and the outer ends of the front connecting rods 404 on the same side, clamping blocks 406 are connected to the corresponding positions inside the lower ends of the two sets of clamping main arms 405, the two sets of clamping blocks 406 are parallel to each other, clamping gears 407 are coaxially fixed to the rear ends of each set of rear connecting rods 402, and the two sets of clamping gears 407 are engaged with each other, wherein a clamping motor 408 is connected to one set of clamping gears 407;

specifically, two sets of rear coupling holes 409 in the clamping assembly 4 are bilaterally symmetrically formed in the upper end of the clamping head 304 and correspond to the rear ends of the rear connecting rods 402, a rear coupling shaft 401 is rotatably connected to each set of rear coupling holes 409, the rear ends of the two sets of rear connecting rods 402 are respectively fixed in the corresponding rear coupling shafts 401 in an inserted manner, the two sets of rear connecting rods 402 are located in the clamping grooves 305, front coupling holes 410 are symmetrically formed in the lower end of the clamping head 304 and correspond to the rear ends of the two sets of front connecting rods 404 in a bilaterally symmetrical manner, a front coupling shaft 403 is rotatably connected to each set of front coupling holes 410, the rear ends of the two sets of front connecting rods 404 are respectively fixed in the corresponding front coupling shafts 403 in an inserted manner, the two sets of front connecting rods 404 are located in the clamping grooves 305, the two sets of clamping gears 407 are respectively fixed in the corresponding rear coupling shafts 401, the two sets of clamping gears 407 are located in the clamping grooves 305, the rotating shafts of the clamping motor 408 are fixedly connected to one set of rear coupling shafts 401, and the main body of the clamping motor 408 is fixedly connected to the outer side surface of the clamping head 304;

because the center distance between the rear connecting shaft 401 and the front connecting shaft 403 which are positioned on the same side is equal to the center distance between the centers of rotation of the two ends of the clamping main arm 405, and the center distance between the centers of rotation of the two ends of the front connecting rod 404 which is positioned on the same side is equal to the center distance between the centers of rotation of the two ends of the rear connecting rod 402, the synchronous and parallel movement of the two assembling clamping blocks 406 can be realized;

the specific clamping action of the clamping assembly 4;

the clamping motor 408 is started to drive a corresponding group of rear connecting shafts 401 to rotate, the rear connecting shafts 401 drive a corresponding group of rear connecting rods 402 to rotate inwards, the inward rotation of the rear connecting rods 402 drives a corresponding group of clamping main arms 405 to move, the clamping main arms 405 drive a corresponding group of front connecting rods 404 to move downwards with the front connecting shafts 403 as the center, and meanwhile, the clamping main arms 405 move downwards, so that a corresponding group of clamping blocks 406 are driven to move downwards and synchronously inwards;

meanwhile, the current group of rear connecting shafts 401 drives the clamping gear 407 to rotate, and the current group of clamping gear 407 is in transmission fit with the other assembling clamping gear 407, so that the other group of rear connecting rods 402, the clamping main arm 405 and the front connecting rod 404 can be driven to move, the corresponding other assembling clamping block 406 is driven to move downwards and synchronously inwards, and the specific clamping work on the material can be realized by utilizing a neutral position between the two assembling clamping blocks 406.

Finally, it should be noted that: the above-mentioned embodiments are only used to illustrate the technical solutions of the automatic clamping and horizontal and vertical moving processes of the walking type mechanical automated clamping device provided by the present invention, and are not limited thereto; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.

Claims (9)

1. A walking type mechanical automatic clamping device comprises a walking frame component (1), and is characterized in that: the device also comprises a transverse walking assembly (2), a lifting assembly (3), a clamping assembly (4), a double-drive assembly (5) and a transverse lock assembly (6);

the transverse walking assembly (2) comprises a transverse moving lead screw (202), a lead screw sliding block (203) and a lead screw gear (207), the lifting assembly (3) comprises a clamping head (304), a lifting rack (306), a lifting gear (311) and an upper spring pressing spring (312), the clamping assembly (4) comprises a rear connecting rod (402), a front connecting rod (404), a clamping main arm (405), a clamping block (406), a clamping gear (407) and a clamping motor (408), the double-drive assembly (5) comprises a double-drive gear (503), and the transverse lock assembly (6) comprises a transverse moving lock plate (601), a transverse moving lock hole (602) and a lock spring column (604);

the truss component (1) is a structural foundation and is integrally in a door-shaped structure, a traverse lead screw (202) in the transverse walking assembly (2) is transversely and rotatably arranged on the inner side of the door-shaped structure of the truss component (1), a lead screw slider (203) is connected in the traverse lead screw (202) in a matching manner, a lead screw gear (207) is fixedly inserted into one end of the traverse lead screw (202), a lifting rack (306) is fixedly connected to the upper part of the clamping head (304) after the lead screw slider (203) is upwardly and slidably inserted into the clamping head, an upper spring (312) is connected between the lifting rack (306) and the bottom side and the top surface of the lead screw slider (203), the upper spring (312) provides upward jacking force for the lifting rack (306), a lifting gear (311) is transversely and rotatably arranged on the inner side of the upper end of the door-shaped structure of the truss component (1), and the lifting gear (311) is positioned above the lead screw gear (207);

the rear ends of two groups of rear connecting rods (402) in the clamping assembly (4) are bilaterally symmetrically and rotatably arranged at the upper end of a clamping head (304), the rear ends of two groups of front connecting rods (404) are bilaterally symmetrically and rotatably arranged at the lower end of the clamping head (304), clamping main arms (405) are rotatably arranged between the outer ends of the rear connecting rods (402) and the outer ends of the front connecting rods (404) which are positioned on the same side, clamping blocks (406) are fixedly connected to the inner sides of the lower ends of the two groups of clamping main arms (405), the two groups of clamping blocks (406) are parallel to each other, clamping gears (407) are coaxially fixed at the rear end of each group of rear connecting rods (402), the two groups of clamping gears (407) are meshed with each other, and one group of the clamping gears (407) is connected with a clamping motor (408);

the double-drive assembly is characterized in that a double-drive gear (503) capable of automatically rotating in the double-drive assembly (5) can be meshed and switched between a lead screw gear (207) and a lifting gear (311), a transverse moving locking plate (601) is transversely connected to the position, corresponding to a lead screw sliding block (203), of a portal structure of the truss component (1), a plurality of groups of transverse moving locking holes (602) are uniformly and transversely formed in the inner side surface of the transverse moving locking plate (601), a locking elastic column (604) is elastically connected to the position, corresponding to the transverse moving locking hole (602), of one side of the lead screw sliding block (203), and the locking elastic column (604) can be elastically clamped in any one group of the transverse moving locking holes (602).

2. The walking mechanical automated clamping device of claim 1, wherein: the lower sides of the left end and the right end of a transverse moving frame (101) in the frame component (1) are fixedly connected with frame bases (102), two groups of lead screw seats (201) in the transverse moving assembly (2) are coaxially arranged at two ends of a transverse moving frame (101) door-shaped structure corresponding to transverse moving lead screws (202), the transverse moving lead screws (202) are rotatably connected in the two groups of lead screw seats (201), transverse moving guide rods (205) are further rotatably arranged at the lower sides of the transverse moving lead screws (202), guide rod seats (204) are coaxially arranged at positions of two inner side surfaces of the transverse moving frame (101) door-shaped structure corresponding to the transverse moving guide rods (205), the transverse moving guide rods (205) are rotatably connected in the two groups of guide rod seats (204), a guide rod slider (206) is fixedly connected at the lower end of the lead screw slider (203), and the guide rod slider (206) is slidably connected in the transverse moving guide rods (205).

3. The walking mechanical automated clamping device of claim 2, wherein: the transverse guide rod (205) and the transverse lead screw (202) are arranged in parallel.

4. An walk-behind mechanical automated clamping device according to claim 1 or 2, wherein: two groups of lifting chutes (301) in the lifting assembly (3) are symmetrically arranged at the front and the rear ends of the screw rod sliding block (203) and the guide rod sliding block (206) together, the upper end of the clamping head (304) is vertically fixed with lifting sliding columns (302) at the positions corresponding to the two groups of lifting sliding chutes (301), the two groups of lifting sliding columns (302) are connected in the corresponding lifting sliding chutes (301) in a sliding way, the top ends of the two groups of lifting sliding columns (302) after upwards sliding and inserting through the lifting sliding chutes (301) are fixedly connected with a sliding column top plate (303) together, the lifting rack (306) is vertically and fixedly connected to the top end of the sliding column top plate (303), a clamping groove (305) is formed in the lower end of the main body of the clamping head (304) and penetrates through the clamping assembly (4) in the front-rear direction, a rack sliding groove (307) is transversely arranged on the position of the top surface of the transverse moving rack (101) corresponding to the lifting rack (306), the lifting rack (306) is connected in a rack sliding groove (307) in a sliding way, the two ends of the inner side of the top end of the door-shaped structure of the transverse moving frame (101) are coaxially provided with lifting gear seats (309) at positions corresponding to the lifting gears (311), the two groups of lifting gear seats (309) are jointly and rotatably connected with lifting gear shafts (310), the lifting gear (311) is fixedly inserted in the lifting gear shaft (310).

5. The walking mechanical automated clamping device of claim 4, wherein: a rack limiting plate (308) is fixedly connected to the position, corresponding to the rack sliding groove (307), of one side of the top end of the transverse moving frame (101).

6. An ambulatory mechanical automated clamping device according to claim 1 or claim 4, wherein: two sets of rear connecting holes (409) in the clamping assembly (4) are symmetrically arranged on the position, corresponding to the rear end of the rear connecting rod (402), of the upper end of the clamping head (304) in a bilateral mode, each set of rear connecting holes (409) is rotatably connected with the rear connecting shaft (401), the rear ends of the rear connecting rods (402) are respectively fixed in the corresponding rear connecting shaft (401) in an inserted mode, the rear connecting rods (402) are located in the clamping grooves (305), the lower ends of the clamping head (304) and the rear ends of the two sets of front connecting rods (404) are symmetrically arranged on the position, corresponding to the rear ends of the front connecting rods (404), of the front connecting holes (410) in a bilateral mode, each set of front connecting shafts (403) are rotatably connected in the front connecting holes (410), the rear ends of the two sets of front connecting rods (404) are respectively fixed in the corresponding front connecting shafts (403), the two sets of front connecting rods (404) are located in the clamping grooves (305), the two sets of gears (407) are respectively fixed in the rear connecting shafts (401), the clamping head (407) is fixed in the clamping grooves (408), and the outer side face of the clamping head (408) is connected with the clamping motor (408).

7. The walking mechanical automated clamping device of claim 6, wherein: the center distance between the rear connecting shaft (401) and the front connecting shaft (403) on the same side is equal to the center distance between the centers of rotation of the two ends of the main clamping arm (405), and the center distance between the centers of rotation of the two ends of the front connecting rod (404) on the same side is equal to the center distance between the centers of rotation of the two ends of the rear connecting rod (402).

8. An walk-behind mechanical automated clamping device according to claim 1 or 2, wherein: the lifting drive (501) in the double-drive assembly (5) is fixedly connected to the inner side of the upper end of the transverse traveling frame (101) and corresponds to the double-drive gear (503), the top end of the lifting drive (501) is fixedly connected with a switching motor (502), and the double-drive gear (503) is fixedly inserted into a rotary shaft of the switching motor (502).

9. An walk-behind mechanical automated clamping device according to claim 1 or 2, wherein: the transverse moving lock plate (601) in the transverse lock assembly (6) is transversely connected and fixed at a position, corresponding to the guide rod sliding block (206), of the rear end of the door-shaped structure of the transverse moving frame (101), the side face of the guide rod sliding block (206) is fixedly connected with a transverse moving lock seat (603) at a position, corresponding to the transverse moving lock plate (601), of the transverse moving lock seat (603), a lock cylinder hole (605) is formed in the position, corresponding to the lock cylinder (604), of the transverse moving lock seat, the front end of the lock cylinder (604) is fixedly connected with an inner spring sliding plate (606) in a sleeved mode, the inner spring sliding plate (606) is slidably connected into the lock cylinder hole (605), the rear end of the lock cylinder (604) is sleeved with an inner spring (607), the rear end of the inner spring (607) is fixedly clamped at the inner bottom end of the lock cylinder hole (605), the front end of the lock cylinder hole (605) is fixedly clamped at the inner end of the inner spring sliding plate (606), an outer cover plate (608) is arranged at the front end of the lock cylinder hole (605) in a manner, and the transverse moving lock cylinder (604) is inserted into an opening of the outer sliding lock seat (603).

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