CN115180394A - Clamping device - Google Patents
Clamping device Download PDFInfo
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- CN115180394A CN115180394A CN202210864781.3A CN202210864781A CN115180394A CN 115180394 A CN115180394 A CN 115180394A CN 202210864781 A CN202210864781 A CN 202210864781A CN 115180394 A CN115180394 A CN 115180394A
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- Prior art keywords
- clamping
- clamping jaw
- lifting
- push
- driving
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/22—Devices influencing the relative position or the attitude of articles during transit by conveyors
- B65G47/24—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles
- B65G47/248—Devices influencing the relative position or the attitude of articles during transit by conveyors orientating the articles by turning over or inverting them
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/905—Control arrangements
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/50—Manufacturing or production processes characterised by the final manufactured product
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping device, which comprises a rack, a moving mechanism, a clamping mechanism, a lifting mechanism and a pushing mechanism, wherein the rack comprises two bottom plates, support columns and a cross beam, a working area is formed between the two bottom plates, the support columns are arranged at two ends of the bottom plates, and the cross beam is arranged between the support columns of the two bottom plates; the clamping mechanism comprises a rotating assembly, a first clamping jaw assembly, a second clamping jaw assembly, a clamping cross beam and a clamping stop block, the rotating assembly is arranged on the lifting slide block, the first clamping jaw assembly is arranged on the rotating assembly on one base plate, the second clamping jaw assembly is arranged on the rotating assembly on the other base plate, the clamping cross beam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and the clamping stop block is arranged on the clamping cross beam between the first clamping jaw assembly and the second clamping jaw assembly; above-mentioned structure can avoid still need in addition to adjust the goods and influenced handling efficiency's problem when the unified arrangement of goods.
Description
Technical Field
The invention relates to the technical field of transfer robots, in particular to a clamping device.
Background
Along with the development of the internet of things technology and the continuous improvement of labor cost, the hoisting and carrying are gradually closed to the automatic and intelligent directions. Meanwhile, along with the continuous development of intelligent technology, great transformation is brought to logistics enterprises. The intelligent carrying robot has the characteristics of large bearing, high conveying efficiency, high automation degree, high safety and the like, and can better help enterprises to simplify the production and transportation process. The current intelligent carrying robot technology is applied to the field of loading, unloading and carrying, is one of the most basic functional units in a logistics system, can improve the carrying efficiency of warehouse logistics, lightens the manual labor of people, can optimize resources, improves benefits, and has very wide development prospect and good economic benefits.
In the patent document with the chinese patent application number of 202110960685.4 and the publication number of 2021.12.07, it discloses a transfer robot, which comprises a frame, a traveling mechanism, a rotating mechanism, a grabbing mechanism, a hoisting mechanism and a translation mechanism; the rotating mechanism comprises a rotating disc and a rotating driving piece, the rotating disc is rotatably arranged on the frame, and the rotating driving piece is connected with the rotating disc and is used for driving the rotating disc to rotate; the hoisting mechanism is connected with the grabbing mechanism and is used for driving the grabbing mechanism to do lifting motion; the translation mechanism is fixedly installed on the frame, is connected with the hoisting mechanism and is used for driving the hoisting mechanism to translate. The beneficial effects of the invention are: the carrying robot provided by the invention can convey a plurality of goods at one time when reciprocating each time, and greatly improves the loading and unloading efficiency of the goods.
Most of the transfer robots in the prior art are similar to the above documents, the gripping mode is only to grip the goods and place the goods at a designated position, and the state of the goods cannot be adjusted, and if the goods are raised during the state of the goods during transfer, and the designated position of the transfer requires the goods to be placed transversely, so that the goods can be better unified and arranged.
Disclosure of Invention
The invention aims to provide a clamping device, which can avoid the problem that the transportation efficiency is influenced because the goods need to be additionally adjusted when the final goods are uniformly arranged.
In order to achieve the purpose, the clamping device comprises a rack, a moving mechanism, a clamping mechanism, a lifting mechanism and a pushing mechanism, wherein the rack comprises two bottom plates, two supporting columns and a cross beam, a working space is formed between the two bottom plates, the supporting columns are arranged at two ends of the bottom plates, and the cross beam is arranged between the supporting columns of the two bottom plates.
The moving mechanisms are arranged at two ends of the bottom plate; a pushing mechanism is arranged on the supporting column at one end of the bottom plate, a lifting mechanism is arranged on the supporting column below the pushing mechanism, and the clamping mechanism is arranged on the lifting mechanism; and a camera is arranged on the cross beam between the support columns at the other end of the bottom plate.
The lifting mechanism comprises lifting slide blocks and lifting driving assemblies, the lifting driving assemblies are arranged on supporting columns on the two bottom plates, the lifting slide blocks are connected to the lifting driving assemblies, the lifting driving assemblies drive the lifting slide blocks to slide up and down along the supporting columns, and the lifting slide blocks are provided with clamping mechanisms.
The clamping mechanism comprises a rotating assembly, a first clamping jaw assembly, a second clamping jaw assembly, a clamping beam and a clamping stop block, the rotating assembly is arranged on a lifting slide block, the first clamping jaw assembly is arranged on the rotating assembly on one bottom plate, the second clamping jaw assembly is arranged on the rotating assembly on the other bottom plate, the clamping beam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and the clamping beam between the first clamping jaw assembly and the second clamping jaw assembly is provided with the clamping stop block.
The push-down mechanism comprises a push-down driving assembly and a push-down rod, the push-down driving assembly is connected with the supporting column through a push-down sliding column, and the push-down driving assembly drives the push-down rod to slide up and down along the push-down sliding column.
The device is got to clamp of above-mentioned structure, get the goods through first clamping jaw subassembly and second clamping jaw subassembly cooperation clamp, rethread moving mechanism carries the goods appointed position and can accomplish the transport, the process is simple and efficiency, when will carrying the goods, moving mechanism removes to the goods position that needs the transport and makes the goods remove to the work within a definite time, lift drive assembly drive lifting slide reciprocates, and then drive clamp get the mechanism and remove to the height corresponding with the goods, press from both sides and get the mechanism and remove after targetting to the target, first clamping jaw subassembly and second clamping jaw subassembly cooperation are carried the goods, lifting mechanism will press from both sides and get the mechanism and rise and make the goods leave ground and can begin to carry out the transport, before the transport, observe the state of goods through the camera, if the goods is vertical and the appointed position of transport needs the goods to be placed horizontally, at this moment, push down to the top of goods through pushing down drive assembly drive and push down, moving mechanism removes, it touches the goods and moves to drive the pole that pushes down, thereby fall down, the goods can present horizontal unified state, thus, can get through the front side adjustment clamp and get the front side of the goods and can carry out the transport efficiency to the second clamping jaw and carry out the transport efficiency to make the transport in addition the transport efficiency to carry out the transport to the goods.
Furthermore, the lifting driving assembly comprises a lifting driving motor, a lifting driving gear, a lifting driving driven gear, a lifting driving rod, a lifting first driven gear, a lifting second driven gear and a lifting driving belt, the lifting driving motor is fixed on one side of a support column on a bottom plate through a lifting motor mounting plate, the lifting driving rod is arranged on the support column and is connected with the support columns on the two bottom plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, the lifting driving driven gear meshed with the lifting driving gear is arranged at one end of the lifting driving rod, the lifting first driven gear is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end face of the lifting first driven gear at one end of the lifting driving rod, the lifting second driven gear corresponding to the lifting first driven gear is arranged on the bottom plate at the bottom end of the support column, the lifting driving belt is arranged between the lifting first driven gear and the lifting second driven gear, and the lifting slider is arranged on the lifting driving belt.
More than setting up, when the mechanism reciprocates to the clamp is got to needs, the lift driving motor drive lift drive driving gear rotates, and then drive lift drive driven gear and rotate and drive the lift actuating lever and rotate, from this can make the first follow driving wheel that goes up and down rotate and make the lift driving area remove, thereby make the lift slider who sets up on the lift driving area reciprocate, the effect of lift actuating lever makes the lift driving area on two bottom plates reciprocate in step simultaneously, thereby guaranteed that the clamp is got the mechanism and can normally go up and down, moreover, the steam generator is simple in structure and effective.
The reverse driving assembly comprises a reverse driving motor, a reverse slider, a reverse first driving wheel, a reverse second driving wheel, a reverse driving belt and a reverse driving rod, the reverse first driven wheel, the reverse second driven wheel and the reverse driven belt are arranged, the top end of the reverse sliding column is connected with the top end of a supporting column at one end of the bottom plate, the bottom end of the reverse sliding column is connected to the bottom plate, the reverse driving motor is arranged at the top end of the reverse sliding column, the reverse driving rod is arranged on the reverse sliding column below the reverse driving motor, the reverse driving rod is connected with the reverse sliding columns on the two bottom plates, the reverse first driving wheel is arranged on the driving shaft of the reverse driving motor, the reverse second driving wheel is arranged at one end of the reverse driving rod, the reverse first driving wheel is connected with the reverse second driving wheel through the reverse driving belt, the reverse first driven wheel is arranged at two ends of the reverse driving rod, the reverse second driven wheel corresponding to the reverse first driven wheel is arranged on the bottom plate of the reverse sliding column, the reverse slider is arranged between the reverse first driven wheel and the reverse driving rod, and the reverse driving rod is arranged on the reverse driven belt.
Above setting, when needs were knocked down the goods, the drive motor drive of falling down drive motor drive fall down the first drive wheel drive through fall down driving band with fall down the second drive wheel that falls down that the first drive wheel is connected, fall down the second drive wheel and drive the drive pole that falls down and rotate, and then drive and fall down first driven round of rotation, make from this to fall down driven band removal and drive and fall down the slider and reciprocate, make the ejector pad pole can remove to the position corresponding with the goods from this.
Furthermore, first clamping jaw subassembly includes first clamping jaw spliced pole, first clamping jaw base, first clamping jaw cylinder and first clamping jaw, the one end of first clamping jaw spliced pole is connected with the rotating assembly on the bottom plate, is equipped with first clamping jaw base at the other end of first clamping jaw spliced pole, is equipped with first clamping jaw cylinder on first clamping jaw base, is equipped with first clamping jaw on the driving piece of first clamping jaw cylinder.
The second clamping jaw assembly comprises a second clamping jaw connecting column, a second clamping jaw base, a second clamping jaw air cylinder and a second clamping jaw, one end of the second clamping jaw connecting column is connected with the rotating assembly on the other bottom plate, the second clamping jaw base is arranged at the other end of the second clamping jaw connecting column, the second clamping jaw air cylinder is arranged on the second clamping jaw base, and a second clamping jaw is arranged on a driving piece of the second clamping jaw air cylinder.
The first clamping jaw air cylinder drives the first clamping jaw to move towards the direction of the second clamping jaw; the second clamping jaw air cylinder drives the second clamping jaw to move towards the direction of the first clamping jaw.
Above setting, when needs press from both sides the goods tightly, the direction removal of first clamping jaw cylinder drive first clamping jaw to the second clamping jaw pastes tight goods, and the direction removal of second clamping jaw cylinder drive second clamping jaw to first clamping jaw pastes tight goods, can press from both sides the goods tightly through the cooperation of first clamping jaw and second clamping jaw, simple structure and effective.
Furthermore, the rotating assembly comprises a rotating motor, a rotating mounting plate, a rotating coupling and a rotating connecting plate, the rotating mounting plate is fixed on the lifting slide block, the rotating mounting plate is provided with the rotating coupling, a driving shaft of the rotating motor is fixed on the rotating coupling, the main body of the rotating motor is provided with the rotating connecting plate, and the rotating connecting plate on a bottom plate is connected with the first clamping jaw connecting column; the rotary connecting plate on the other bottom plate is connected with the second clamping jaw connecting column.
Above setting, when needs overturn the goods, the rotating electrical machines starts, because the drive shaft of rotating electrical machines is fixed on rotary shaft coupling, therefore, when the rotating electrical machines starts, the drive shaft of rotating electrical machines can't rotate, and make the main part of rotating electrical machines take place to rotate, thereby also make first clamping jaw spliced pole and the second clamping jaw spliced pole of being connected through swivelling joint board and rotating electrical machines's main part follow the rotating electrical machines and rotate, make first clamping jaw subassembly and second clamping jaw subassembly rotate from this and can overturn the goods.
Furthermore, the moving mechanism comprises a moving motor, a moving motor mounting seat and moving universal wheels, wherein the moving motor is arranged at two ends of the bottom plate through the moving motor mounting seat, and the moving universal wheels are arranged on a driving shaft of the moving motor. Therefore, the moving universal wheels are driven to move by the moving motor, so that the push-down conveying robot can reach a specified position.
Further, a first clamping rotating assembly is further arranged on the first clamping hand, and comprises a clamping rotating motor, a clamping rotating driving wheel, a clamping rotating driven wheel, a clamping rotating driving belt, a clamping rotating driving shaft, a clamping rotating mounting plate and a rotating clamping hand, wherein the clamping rotating motor is arranged at the front end of the first clamping hand;
the second clamping rotating assembly which has the same structure as the first clamping rotating assembly is arranged on the second clamping hand.
More than setting up, also can make the goods overturn through the setting of pressing from both sides the rotating assembly, when the transport, the volume of goods is great, press from both sides and get the unable convenient upset with the goods of rotating assembly, then can overturn through rotating assembly, when the volume of goods is less, can also can realize the upset through rotating assembly through pressing from both sides the rotating assembly of getting, through setting up two different turning device, the goods of having guaranteed different sizes all can realize the upset, when needs overturn less goods, press from both sides and get the rotating electrical machines drive clamp and get the rotation action wheel and rotate, and then it gets the rotation from the driving wheel rotation to drive to press from both sides the clamp of getting the rotation driving band and pressing from both sides the clamp of getting the rotation action wheel connection, thereby can drive to press from both sides and get the rotation driving shaft and rotate and make the rotation of rotation tong, realize the upset of goods from this, moreover, the steam generator is simple in structure and useful.
Drawings
Fig. 1 is a schematic structural view of the gripping device of the present invention.
Fig. 2 is an enlarged view of a point a in fig. 1.
Fig. 3 is an exploded view of the lift drive assembly of the present invention.
Fig. 4 is a schematic structural view of the gripping mechanism of the present invention.
Fig. 5 is an exploded view of the rotating assembly of the present invention.
Fig. 6 is an exploded view of the first gripper of the present invention.
Fig. 7 is an enlarged view at B in fig. 1.
Fig. 8 is an exploded view of the kickdown mechanism of the present invention on a stand.
Fig. 9 is an enlarged view at C in fig. 8.
Fig. 10 is a schematic structural diagram of the moving mechanism of the present invention.
Fig. 11 is a schematic view of the gripping mechanism of the present invention gripping and turning over the goods.
Fig. 12 is a schematic view of the dumping mechanism of the present invention for dumping goods.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
As shown in fig. 1 to 12, the clamping device comprises a frame 1, a moving mechanism 2, a clamping mechanism 3, a lifting mechanism 4 and a pushing mechanism 6, wherein the frame 1 comprises a bottom plate 11, two supporting columns 12 and a cross beam 13, a working space 10 is formed between the two bottom plates 11, the supporting columns 12 are arranged at two ends of the bottom plates 11, and the cross beam 13 is arranged between the supporting columns 12 of the two bottom plates 11.
The moving mechanisms 2 are arranged at two ends of the bottom plate 11; a pushing mechanism 6 is arranged on a supporting column 12 at one end of the bottom plate 11, a lifting mechanism 4 is arranged on the supporting column 12 below the pushing mechanism 6, and the clamping mechanism 3 is arranged on the lifting mechanism 4; a camera 100 is provided on the beam 13 between the support columns 12 at the other end of the base plate 11. Observe the detection through setting up the camera to the state of goods, if the state of goods needs the adjustment, then can topple over or overturn according to the current state of goods.
As shown in fig. 1 to 3, the lifting mechanism 4 includes a lifting slider 40 and a lifting driving assembly 41, the lifting driving assembly 41 is disposed on the supporting columns 12 on the two bottom plates 11, the lifting slider 40 is connected to the lifting driving assembly 41, the lifting driving assembly 41 drives the lifting slider 40 to slide up and down along the supporting columns 12, and the lifting slider 40 is provided with the gripping mechanism 3.
The lifting driving assembly 41 includes a lifting driving motor 411, a lifting driving gear 412, a lifting driving driven gear 413, a lifting driving rod 414, a lifting first driven wheel 415, a lifting second driven wheel 416, and a lifting driving belt (not shown in the drawings), in this embodiment, the lifting driving belt is a synchronous belt, the lifting driving belt is sleeved on the lifting second driven wheel 416, a specific synchronous belt transmission manner is the prior art, and not described herein again, the lifting driving motor 411 is fixed on one side of a supporting column 12 on a base plate 11 through a lifting motor mounting plate 417, the lifting driving rod 414 is arranged on the supporting column 12, the lifting driving rod 414 is connected to the supporting column 12 on the two base plates 11, the lifting driving gear 412 is arranged on a driving shaft of the lifting driving motor 411, the lifting driving driven gear 413 engaged with the lifting driving gear 412 is arranged at one end of the lifting driving rod 414, the lifting first driven wheel 415 is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected to an end face of the lifting first driven wheel at one end of the lifting driving rod, the lifting driving gear is arranged on the base plate 11 at a bottom end of the supporting column 12, the lifting second driven wheel 416 corresponding to the lifting first driven wheel 415, the lifting driving belt is arranged between the lifting driving pulley 415, and the lifting driving pulley 416, and the lifting driving belt 40 is arranged on the lifting driving belt.
Above setting, when needing to press from both sides and getting mechanism 3 and reciprocate, lift driving motor 411 drive lift drive driving gear 412 rotates, when lift drive driven gear 413 is driven by lift drive driving gear 412 and rotates, make lift actuating lever 414 also can rotate in step, thereby make the first follow driving wheel 415 of lift at lift actuating lever both ends rotate and make the lift driving band move, thereby make the lifting slide block 40 that sets up on the lift driving band reciprocate, the effect of lift actuating lever 414 makes the lift driving band on two bottom plates 11 reciprocate in step simultaneously, thereby guaranteed to press from both sides and get mechanism 3 and can normally go up and down, moreover, the steam generator is simple in structure and effective.
As shown in fig. 4 to 6, the gripping mechanism 3 includes a rotating assembly 30, a first jaw assembly 32, a second jaw assembly 33, a gripping beam 34, and a gripping stopper 35, the rotating assembly 30 is disposed on the lifting slider 40, the first jaw assembly 32 is disposed on the rotating assembly 30 on one base plate 11, the second jaw assembly 33 is disposed on the rotating assembly 30 on the other base plate 11, the gripping beam 34 is disposed between the first jaw assembly 32 and the second jaw assembly 33, and the gripping stopper 35 is disposed on the gripping beam 34 between the first jaw assembly 32 and the second jaw assembly 33.
First clamping jaw subassembly 32 includes first clamping jaw spliced pole 321, first clamping jaw base 322, first clamping jaw cylinder 323 and first clamping jaw 324, the one end of first clamping jaw spliced pole 321 is connected with rotating assembly 30 on a bottom plate 11, is equipped with first clamping jaw base 322 at the other end of first clamping jaw spliced pole 321, is equipped with first clamping jaw cylinder 323 on first clamping jaw base 322, is equipped with first clamping jaw 324 on the driving piece of first clamping jaw cylinder 323.
The second clamping jaw assembly 33 comprises a second clamping jaw connecting column 331, a second clamping jaw base 332, a second clamping jaw air cylinder 333 and a second clamping jaw 334, one end of the second clamping jaw connecting column 331 is connected with the rotating assembly 30 on another bottom plate 11, the second clamping jaw base 332 is arranged at the other end of the second clamping jaw connecting column 331, the second clamping jaw air cylinder 333 is arranged on the second clamping jaw base 332, and a second clamping jaw 334 is arranged on a driving piece of the second clamping jaw air cylinder 333.
The first clamping jaw air cylinder 323 drives the first clamping jaw 324 to move towards the direction of the second clamping jaw 334; the second jaw cylinder 332 drives the second jaw 334 to move in the direction of the first jaw 324.
In this embodiment, the first clamping jaw cylinder and the second clamping jaw cylinder are rodless cylinders, and the specific working principle thereof is the prior art, which will not be described again here.
Above setting, when needs are tight with goods, first clamping jaw cylinder 323 drive first clamping jaw 324 and remove to the direction of second clamping jaw 334 and paste tight goods, and second clamping jaw cylinder 333 drives second clamping jaw 334 and removes to the direction of first clamping jaw 324 and paste tight goods, can press from both sides tight goods through the cooperation of first clamping jaw 324 and second clamping jaw 334, and simple structure is just effective.
The rotating assembly 30 comprises a rotating motor 301, a rotating mounting plate 302, a rotating coupler 303 and a rotating connecting plate 304, the rotating mounting plate 302 is fixed on the lifting slider 40, the rotating coupler 303 is arranged on the rotating mounting plate 302, a driving shaft 3011 of the rotating motor 301 is fixed on the rotating coupler 303, the rotating connecting plate 304 is arranged on a main body 3012 of the rotating motor 301, and the rotating connecting plate 304 on one bottom plate 11 is connected with the first clamping jaw connecting column 321; the swivel connection plate 304 on the other base plate 11 is connected to a second jaw connection post 331.
With the above arrangement, when the goods are required to be turned over, the rotating motor 301 is started, and the driving shaft 3011 of the rotating motor 301 is fixed to the rotating coupling 303, so that when the rotating motor 301 is started, the driving shaft 3011 of the rotating motor 301 cannot rotate, and the main body 3012 of the rotating motor 301 rotates, so that the first jaw connecting column 321 and the second jaw connecting column 331 connected to the main body 3012 of the rotating motor 301 through the rotating connecting plate 304 rotate along with the main body 3012 of the rotating motor 301, and thus the first jaw assembly 32 and the second jaw assembly 33 rotate to turn over the goods (as shown in fig. 11, the goods are 001 in the figure).
As shown in fig. 6, a first clamping rotating assembly 31 is further provided on the first gripper 324, the first clamping rotating assembly 31 includes a clamping rotating motor 311, a clamping rotating driving wheel 312, a clamping rotating driven wheel 313, a clamping rotating driving belt (not shown), a clamping rotating driving shaft 314, a clamping rotating mounting plate 315, and a rotating gripper 316, the clamping rotating motor 311 is provided at the front end of the first gripper 324, the clamping rotating driving wheel 312 is provided on the driving shaft of the clamping rotating motor 311, the clamping rotating mounting plate 315 is provided at the end of the first gripper 324, one end of the clamping rotating driving shaft 314 is rotatably provided on the clamping rotating mounting plate 315 via a clamping rotating bearing 317, the rotating gripper 316 is provided at the other end of the clamping rotating driving shaft 314, the rotating gripper 316 is provided at a side of the first gripper 324 close to the clamping block 35, the clamping rotating driven wheel 313 is provided on the clamping rotating driving shaft 314, the clamping and rotating driven wheel 313 is provided between the clamping rotating driving wheel 312, the clamping rotating driving belt is a larger protruding area of the rotating gripper 316 than the protruding area of the first gripper 324, and the goods can be better, and the goods can be clamped by the principle of the existing synchronous belt transmission, and the goods can be better;
the second gripper 334 is provided with a second gripping and rotating unit having the same structure as the first gripping and rotating unit 31.
The above arrangement, also can make the goods overturn through the setting of pressing from both sides the rotation assembly, when carrying, the volume of goods is great, press from both sides and get rotation assembly and can't be convenient overturn the goods, then can overturn through rotation assembly, when the volume of goods is less, can also can realize the upset through rotation assembly through pressing from both sides the rotation assembly, through setting up two different turning devices, the goods of having guaranteed different sizes can all realize the upset, when needs overturn less goods, press from both sides the rotation motor drive clamp and get the rotation action wheel and rotate, and then it gets rotation from the driving wheel rotation to drive to press from both sides the clamp of getting the rotation driving band and pressing from both sides the clamp of getting the rotation action wheel and being connected, thereby can drive to press from both sides and get the rotation driving shaft and rotate and make the rotation tong, realize the upset of goods from this, moreover, the steam generator is simple in structure and useful.
As shown in fig. 7 to 9, the reverse mechanism 6 includes a reverse driving assembly 61 and a reverse rod 62, the reverse driving assembly 61 is connected to the support column 13 through a reverse sliding column 63, and the reverse driving assembly 61 drives the reverse rod 62 to slide up and down along the reverse sliding column 63.
The push-down driving assembly 61 includes a push-down driving motor 611, a push-down slider 612, a push-down first driving wheel 613, a push-down second driving wheel 614, a push-down driving belt 615, a push-down driving rod 616, a push-down first driven wheel 617, a push-down second driven wheel (not shown) and a push-down driven belt 618, the top end of the push-down sliding column 63 is connected to the top end of the supporting column 12 at one end of the bottom plate 11, the bottom end of the push-down sliding column 63 is connected to the bottom plate 11, the top end of the push-down sliding column 63 is provided with the push-down driving motor 611, the push-down driving rod 616 is provided on the push-down sliding column 63 below the push-down driving motor 611, the push-down driving rod 616 is connected to the push-down sliding columns 63 on the two bottom plates 11, the push-down first driving wheel 613 is provided on the driving shaft of the push-down driving motor 611, the push-down second driving wheel 614 is provided at one end of the push-down driving rod 616, the push-down first driving wheel 613 is connected to the push-down second driven wheel 614 through the push-down driving belt 615, the push-down driving rod 618 is provided on the second driven wheel 618, the push-down driven wheel 618 is provided on the push-down driven wheel 618, the push-down driven wheel is provided on the push-down driven wheel 618, and the push-down driven wheel 618, the push-down driven wheel 18, the push-down driven wheel is provided on the push-down driven wheel 18, and the push-down driven wheel 18.
With the above arrangement, when the goods need to be knocked down, the pushing down driving motor 611 drives the pushing down first driving wheel 613 to drive the pushing down second driving wheel 614 connected with the pushing down first driving wheel 613 through the pushing down driving belt 615, the pushing down second driving wheel 614 drives the pushing down driving rod 616 to rotate, so as to drive the pushing down first driven wheel 617 to rotate, the first driven wheel 317 rotates to drive the pushing down driven belt 618 arranged between the pushing down first driven wheel 617 and the pushing down second driven wheel to rotate, so as to drive the pushing down slider 612 to move up and down, thereby enabling the pushing block rod 62 to move to a position corresponding to the goods.
The push-down conveying robot with the structure has the advantages that goods are clamped through the matching of the first clamping jaw assembly and the second clamping jaw assembly, and then the goods are conveyed to the designated position through the moving mechanism, so that the conveying can be completed, the process is simple and efficient, when the goods are conveyed, the moving mechanism moves to the position of the goods to be conveyed and enables the goods to move to the working area, the lifting driving assembly drives the lifting sliding block to move up and down, the clamping mechanism is further driven to move to the height corresponding to the goods, after the clamping mechanism moves in place, the first clamping jaw assembly and the second clamping jaw assembly are matched to clamp the goods, the lifting mechanism lifts the clamping mechanism to enable the goods to leave the ground, the conveying can be started, before the conveying, the state of the goods is observed through the camera, if the goods are vertically placed and the designated position of the conveying needs the goods to be placed transversely, the pushing and falling rod is driven to fall to the upper side of the goods by the pushing and falling driving assembly, the moving mechanism moves to drive the pushing and falling rod to touch the goods to move continuously, so that the goods are knocked down, as shown in figure 12 (the goods are 001 in the figure), when the pushing and falling rod touches the goods, the moving mechanism moves in the arrow direction, so that the pushing and falling rod can drive the goods to incline to push the goods down, in this way, the goods can be in a transverse state, so that the goods can be clamped and then carried by the clamping mechanism, and meanwhile, if the front side and the back side of the goods are reversed, the first clamping jaw assembly and the second clamping jaw assembly can be turned over by the rotating assembly, so that the front side and the back side of the goods can be turned over, the state of the goods can be adjusted before carrying, and the problem that the carrying efficiency is influenced by additionally adjusting the goods during the unified arrangement of the final goods can be avoided, thereby making the handling more efficient.
As shown in fig. 12, the moving mechanism 2 includes a moving motor 21, a moving motor mounting seat 22, and moving universal wheels 23, the moving motor 21 is disposed at two ends of the bottom plate 11 through the moving motor mounting seat 22, and the moving universal wheels 23 are disposed on a driving shaft of the moving motor 21. Thereby, the moving universal wheels 23 are driven to move by the moving motor 21 so that the knock-down transfer robot can reach a designated position.
The working method of the clamping device comprises the following specific steps:
(1) The moving mechanism is started, the pushing and conveying robot is moved to the position of the goods, and the goods are located in the working area.
(2) When the goods need to be knocked down.
And (2.1) the pushing mechanism descends to a position corresponding to the goods.
And (2.2) moving the moving mechanism to drive the pushing mechanism to knock down the goods.
(3) The gripping mechanism is lowered to a position corresponding to the goods.
And (3.1) clamping the goods by the first clamping jaw assembly and the second clamping jaw assembly.
And (3.11) driving the first clamping jaw to move towards the direction of the second clamping jaw by the first clamping jaw cylinder.
And (3.12) driving the second clamping jaw to move towards the first clamping jaw by the second clamping jaw cylinder.
And (3.13) clamping the goods by the first clamping jaw and the second clamping jaw.
(4) And (5) when the goods need to be turned over, entering the step (4.1), and if the goods do not need to be turned over, entering the step (5).
And (4.1) the rotating assembly rotates to drive the first clamping jaw assembly and the second clamping jaw assembly to rotate, so that the goods are turned over.
When turning over smaller goods.
And (4.11) driving the rotary clamping hand to rotate by the clamping rotary motor to turn the goods.
(5) The moving mechanism carries the goods to a specified position.
Claims (7)
1. The utility model provides a press from both sides and get device which characterized in that: the automatic lifting device comprises a rack, a moving mechanism, a clamping mechanism, a lifting mechanism and a pushing mechanism, wherein the rack comprises two bottom plates, support columns and a cross beam, a working area is formed between the two bottom plates, the support columns are arranged at two ends of the bottom plates, and the cross beam is arranged between the support columns of the two bottom plates;
the moving mechanisms are arranged at two ends of the bottom plate; a pushing mechanism is arranged on the supporting column at one end of the bottom plate, a lifting mechanism is arranged on the supporting column below the pushing mechanism, and the clamping mechanism is arranged on the lifting mechanism; a camera is arranged on the cross beam between the support columns at the other end of the bottom plate;
the lifting mechanism comprises lifting slide blocks and lifting driving components, the lifting driving components are arranged on support columns on the two bottom plates, the lifting slide blocks are connected to the lifting driving components, the lifting driving components drive the lifting slide blocks to slide up and down along the support columns, and the lifting slide blocks are provided with clamping mechanisms;
the clamping mechanism comprises a rotating assembly, a first clamping jaw assembly, a second clamping jaw assembly, a clamping cross beam and a clamping stop block, the rotating assembly is arranged on the lifting slide block, the first clamping jaw assembly is arranged on the rotating assembly on one base plate, the second clamping jaw assembly is arranged on the rotating assembly on the other base plate, the clamping cross beam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and the clamping stop block is arranged on the clamping cross beam between the first clamping jaw assembly and the second clamping jaw assembly;
the mechanism of falling pushes away including pushing away drive assembly and the pole of falling, push away drive assembly and connect the support column through pushing away the slip post, it sets up to slide from top to bottom along pushing away the slip post to push away the drive assembly drive of falling.
2. A gripping apparatus as claimed in claim 1, characterised in that: the lifting driving assembly comprises a lifting driving motor, a lifting driving gear, a lifting driving driven gear, a lifting driving rod, a first lifting driven gear, a second lifting driven gear and a lifting driving belt, wherein the lifting driving motor is fixed on one side of a supporting column on a base plate through a lifting motor mounting plate, the lifting driving rod is arranged on the supporting column, the lifting driving rod is connected with the supporting column on the two base plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, the lifting driving driven gear meshed with the lifting driving gear is arranged at one end of the lifting driving rod, the first lifting driven gear is arranged at two ends of the lifting driving rod, the first lifting driven gear corresponding to the second lifting driven gear is arranged on the base plate at the bottom end of the supporting column, the second lifting driven gear corresponding to the first lifting driven gear is arranged between the first lifting driven gear and the second lifting driven gear, and the lifting slider is arranged on the lifting driving belt.
3. A gripping apparatus as claimed in claim 1, characterised in that: the push-down driving assembly comprises a push-down driving motor, a push-down sliding block, a push-down first driving wheel, a push-down second driving wheel, a push-down driving belt and a push-down driving rod, the push-down first driven wheel, the push-down second driven wheel and the push-down driven belt are arranged, the top end of the push-down sliding column is connected with the top end of a supporting column at one end of a bottom plate, the bottom end of the push-down sliding column is connected onto the bottom plate, the push-down driving motor is arranged at the top end of the push-down sliding column, the push-down driving rod is arranged on the push-down sliding column below the push-down driving motor, the push-down driving rod is connected with the push-down sliding columns on the two bottom plates, the push-down first driving wheel is arranged on one end of the push-down driving rod, the push-down second driving wheel is connected with the push-down second driving wheel through the push-down driving belt, the push-down first driven wheel is arranged at two ends of the push-down driving rod, the push-down second driven wheel corresponding to the push-down first driven wheel is arranged on the bottom plate of the push-down sliding column, and the push-down driving rod is connected with the push-down driven wheel through the push-down driving rod, and the push-down driven wheel, and the push-down driving rod is connected with the push-down driven wheel.
4. A gripping apparatus as claimed in claim 1, characterised in that: the first clamping jaw assembly comprises a first clamping jaw connecting column, a first clamping jaw base, a first clamping jaw air cylinder and a first clamping jaw, one end of the first clamping jaw connecting column is connected with the rotating assembly on a bottom plate, the other end of the first clamping jaw connecting column is provided with the first clamping jaw base, the first clamping jaw air cylinder is arranged on the first clamping jaw base, and a driving piece of the first clamping jaw air cylinder is provided with a first clamping jaw;
the second clamping jaw assembly comprises a second clamping jaw connecting column, a second clamping jaw base, a second clamping jaw air cylinder and a second clamping jaw, one end of the second clamping jaw connecting column is connected with the rotating assembly on the other base plate, the other end of the second clamping jaw connecting column is provided with the second clamping jaw base, the second clamping jaw air cylinder is arranged on the second clamping jaw base, and a driving piece of the second clamping jaw air cylinder is provided with a second clamping jaw;
the first clamping jaw air cylinder drives the first clamping jaw to move towards the direction of the second clamping jaw; the second clamping jaw air cylinder drives the second clamping jaw to move towards the first clamping jaw.
5. A gripping apparatus as claimed in claim 4, characterised in that: the rotary assembly comprises a rotary motor, a rotary mounting plate, a rotary coupling and a rotary connecting plate, the rotary mounting plate is fixed on the lifting slide block, the rotary mounting plate is provided with the rotary coupling, a driving shaft of the rotary motor is fixed on the rotary coupling, the main body of the rotary motor is provided with the rotary connecting plate, and the rotary connecting plate on a bottom plate is connected with the first clamping jaw connecting column; the rotary connecting plate on the other bottom plate is connected with the second clamping jaw connecting column.
6. A gripping apparatus as claimed in claim 1, characterised in that: the moving mechanism comprises a moving motor, a moving motor mounting seat and moving universal wheels, the moving motor is arranged at two ends of the bottom plate through the moving motor mounting seat, and the moving universal wheels are arranged on a driving shaft of the moving motor.
7. A gripping apparatus as claimed in claim 4, characterised in that: the clamping device comprises a first clamping rotating assembly and a second clamping rotating assembly, wherein the first clamping rotating assembly comprises a clamping rotating motor, a clamping rotating driving wheel, a clamping rotating driven wheel, a clamping rotating driving belt, a clamping rotating driving shaft, a clamping rotating mounting plate and a rotating clamping hand, the clamping rotating motor is arranged at the front end of the first clamping hand, the clamping rotating driving wheel is arranged on the driving shaft of the clamping rotating motor, the clamping rotating mounting plate is arranged at the tail end of the first clamping hand, one end of the clamping rotating driving shaft is arranged on the clamping rotating mounting plate in a rotating mode through a clamping rotating bearing, the rotating clamping hand is arranged at the other end of the clamping rotating driving shaft, the rotating clamping hand is located on one side, close to a clamping stop block, of the first clamping rotating driving wheel, the clamping rotating driven wheel is arranged on the clamping rotating driving shaft, and the clamping rotating driving belt is arranged between the clamping rotating driving wheel and the clamping rotating driven wheel;
the second clamping rotating assembly which has the same structure as the first clamping rotating assembly is arranged on the second clamping hand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210864781.3A CN115180394B (en) | 2022-07-22 | 2022-07-22 | Clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210864781.3A CN115180394B (en) | 2022-07-22 | 2022-07-22 | Clamping device |
Publications (2)
| Publication Number | Publication Date |
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| CN115180394A true CN115180394A (en) | 2022-10-14 |
| CN115180394B CN115180394B (en) | 2024-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210864781.3A Active CN115180394B (en) | 2022-07-22 | 2022-07-22 | Clamping device |
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| CN116495468A (en) * | 2023-05-23 | 2023-07-28 | 深蓝汽车科技有限公司 | A kind of multifunctional tooling for automobile production and using method thereof |
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|---|---|
| CN115180394B (en) | 2024-04-09 |
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