CN115180394B - Clamping device - Google Patents
Clamping device Download PDFInfo
- Publication number
- CN115180394B CN115180394B CN202210864781.3A CN202210864781A CN115180394B CN 115180394 B CN115180394 B CN 115180394B CN 202210864781 A CN202210864781 A CN 202210864781A CN 115180394 B CN115180394 B CN 115180394B
- Authority
- CN
- China
- Prior art keywords
- driving
- lifting
- clamping
- clamping jaw
- rotating
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Specific Conveyance Elements (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamping device which comprises a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a pushing mechanism, wherein the frame comprises two bottom plates, two support columns and a cross beam, a working interval 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 beam and a clamping stop block, wherein the rotating assembly is arranged on the lifting sliding block; the structure can avoid the problem that the carrying efficiency is affected by additionally adjusting the cargoes when the cargoes are uniformly arranged.
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 technology of the Internet of things and the continuous improvement of labor cost, lifting and carrying gradually approach to automation and intellectualization directions. Meanwhile, with the continuous development of intelligent technology, great transformation is brought to logistics enterprises. The intelligent transfer robot has the characteristics of large bearing, high transportation efficiency, high automation degree, high safety and the like, and can better help enterprises to simplify the production and transportation process. The intelligent transfer robot technology is applied to the field of loading and unloading transfer, is one of the most basic functional units in a logistics system, can not only improve the transfer efficiency of warehouse logistics and lighten the manual labor of people, but also optimize resources and improve benefits, and has very wide development prospect and good economic benefit.
In the patent document of China with the application number of 202110960685.4 and the publication date of 2021.12.07, a carrying robot is disclosed, and comprises a frame, a travelling mechanism, a rotating mechanism, a grabbing mechanism, a lifting 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 lifting mechanism is connected with the grabbing mechanism and used for driving the grabbing mechanism to do lifting motion; the translation mechanism is fixedly arranged on the frame, connected with the lifting mechanism and used for driving the lifting mechanism to translate. The beneficial effects of the invention are as follows: through the cooperation of the grabbing mechanism, the lifting mechanism and the translation mechanism, a plurality of cargoes are grabbed onto the turntable in sequence, the turntable is driven to rotate through the rotation driving piece, so that the cargoes stacked on the turntable are evenly placed, and the whole device is driven to reciprocate at the cargo stacking position and the unloading position through the travelling mechanism.
Most of the transfer robots in the prior art are the same as the above documents, and the clamping mode is just to clamp the goods to place at the designated position, but the state of the goods cannot be adjusted, if the goods are erected in the state of the goods in the transfer process, the goods are required to be placed transversely at the designated position of the transfer process, and then the goods can be better uniformly arranged, so that the transfer robot in the prior art also needs to adjust the goods or needs to be manually adjusted by adopting other devices when the goods which do not reach the expected state are transferred, which is easy to waste time and increase cost, and the transfer efficiency is affected.
Disclosure of Invention
The invention aims to provide a clamping device, which can avoid the problem that the carrying efficiency is affected by additionally adjusting cargoes in the unified arrangement of final cargoes.
In order to achieve the above purpose, the clamping device comprises a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a pushing mechanism, wherein the frame comprises a bottom plate, support columns and a cross beam, two bottom plates are arranged on the bottom plate, a working space is formed between the two bottom plates, the support columns are arranged at two ends of the bottom plate, 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 a support column at one end of the bottom plate, a lifting mechanism is arranged on the support 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 a lifting sliding block and a lifting driving assembly, wherein the lifting driving assembly is arranged on supporting columns on the two bottom plates, the lifting sliding block is connected to the lifting driving assembly, the lifting driving assembly drives the lifting sliding block to slide up and down along the supporting columns, and the lifting sliding block is provided with a clamping mechanism.
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, wherein the rotating assembly is arranged on a lifting sliding block, the first clamping jaw assembly is arranged on the rotating assembly on a bottom plate, the second clamping jaw assembly is arranged on the rotating assembly on another bottom plate, the clamping 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 beam between the first clamping jaw assembly and the second clamping jaw assembly.
The pushing mechanism comprises a pushing driving assembly and a pushing rod, wherein the pushing driving assembly is connected with the supporting column through a pushing sliding column, and the pushing driving assembly drives the pushing rod to vertically slide along the pushing sliding column.
The clamp of above-mentioned structure gets the device, get the goods through first clamping jaw subassembly and second clamping jaw subassembly cooperation clamp, the transport can be accomplished to the assigned position with the goods through moving mechanism, the process is simple and efficiency, when carrying the goods, moving mechanism moves to the goods position that needs to carry and makes the goods remove to the working interval in, lift drive assembly drive lift slider reciprocates, and then drive clamp and get the mechanism and remove to the height that corresponds with the goods, after clamp and get the mechanism and remove the position, first clamping jaw subassembly and second clamping jaw subassembly cooperation clamp the goods, elevating system will clamp and get the mechanism and rise and make the goods leave the ground and can begin to carry, before the transport, if the assigned position that the goods was placed vertically needs the goods to transversely place, at this moment, through pushing away the driving assembly drive and falling to the top of goods, moving mechanism moves, drive the falling down the goods and continue to remove, thereby, the goods can present horizontal state, can get the goods clamp through clamp and get the mechanism and carry again, and simultaneously, if the back can also be had been adjusted the front with the back through rotating the clamping jaw subassembly and can be made the back can be carried with the adjustment efficiency when the back has been adjusted in order and can be had enough to avoid the problem when the back has been carried through the back has been carried with the back has been rotated, can be adjusted the back has had the problem can be adjusted and can be carried out with the back has had good effect can has adjusted the handling can be carried front can and can has adjusted.
Further, 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 wheel, a lifting second driven wheel and a lifting driving belt, wherein the lifting driving motor is fixed on one side of a supporting column on a bottom 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 columns on the two bottom plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, one end of the lifting driving rod is provided with the lifting driving driven gear meshed with the lifting driving gear, the lifting first driven wheel 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 wheel at one end of the lifting driving rod, the lifting second driven wheel corresponding to the lifting first driven wheel is arranged on the bottom plate at the bottom end of the supporting column, the lifting driving belt is arranged between the lifting first driven wheel and the lifting second driven wheel, and the lifting sliding block is arranged on the lifting driving belt.
Above setting, when the mechanism is got to the clamp and is got to the needs and reciprocate, lift driving motor drive lift drive driving gear rotates, and then drive lift drive driven gear rotates and drive lift actuating lever and rotate, can make lift first follow driving wheel rotate and make the lift drive area remove from this, thereby make the lift slider that sets up on the lift drive area reciprocate, the effect of lift actuating lever makes the lift drive area on two bottom plates reciprocate in step simultaneously, thereby guaranteed to press from both sides and got the mechanism and can normally go up and down, simple structure and effective.
Further, the turnover driving assembly comprises a turnover driving motor, a turnover sliding block, turnover first driving wheels, turnover second driving wheels, turnover driving belts and turnover driving rods, the turnover first driven wheels, turnover second driven wheels and turnover driven belts are connected with the top ends of support columns at one end of a bottom plate, the bottom ends of the turnover sliding columns are connected to the bottom plate, the turnover driving motor is arranged at the top ends of the turnover sliding columns, the turnover driving rods are arranged on the turnover sliding columns below the turnover driving motor, the turnover driving rods are connected with the turnover sliding columns on the two bottom plates, the turnover first driving wheels are arranged on driving shafts of the turnover driving motor, the turnover second driving wheels are arranged at one ends of the turnover driving rods, the turnover first driving wheels are connected with the turnover second driving wheels through the turnover driving belts, the turnover first driven wheels are arranged at two ends of the turnover driving rods, the bottom plate at the bottom ends of the turnover sliding columns is provided with turnover second driven wheels corresponding to the turnover first driven wheels, the turnover driving wheels are arranged between the turnover first driven wheels and the turnover sliding blocks, and the turnover sliding blocks are arranged on the turnover driving belts.
Above setting, when needs are knocked down the goods, the first drive wheel of the promotion of promotion drive motor drive promotion through the driving band of promotion and the second drive wheel of promotion of promoting down that the first drive wheel is connected, the second drive wheel of promotion drives the promotion pole of promoting down and rotates, and then drives the first driven wheel of promotion of promoting down and rotate, from this makes the driven band of promotion remove and drives the slider of promoting down, from this makes the ejector pad pole can remove to the position corresponding with the goods.
Further, 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 a 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 the 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 a rotating assembly on another bottom 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 second clamping jaw is arranged on a driving piece of the second clamping jaw air cylinder.
The first clamping jaw cylinder drives the first clamping jaw to move towards the second clamping jaw; the second clamping jaw cylinder drives the second clamping jaw to move towards the direction of the first clamping jaw.
Above setting, when needs press from both sides tight with the goods, first clamping jaw cylinder drive first clamping jaw moves to the direction of second clamping jaw and pastes tight goods, and second clamping jaw cylinder drive second clamping jaw moves to the direction of first clamping jaw and pastes tight goods, can press from both sides tight with the goods through the cooperation of first clamping jaw and second clamping jaw, simple structure and effective.
Further, the rotating assembly comprises a rotating motor, a rotating mounting plate, a rotating coupler and a rotating connecting plate, wherein the rotating mounting plate is fixed on the lifting sliding block, the rotating coupler is arranged on the rotating mounting plate, a driving shaft of the rotating motor is fixed on the rotating coupler, the rotating connecting plate is arranged on a main body of the rotating motor, 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 the swivel coupling, consequently, 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 just also make the main part of following the rotating electrical machines rotate through the first clamping jaw spliced pole and the second clamping jaw spliced pole that the rotatory connecting plate is connected with the main part of rotating electrical machines, make first clamping jaw subassembly and second clamping jaw subassembly rotate from this can overturn the goods.
Further, 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. The movable universal wheels are driven by the movable motor to move, so that the tipping conveying robot can reach a specified position.
Further, a first clamping rotating assembly is further arranged on the first clamping hand, the first clamping rotating assembly comprises a clamping rotating motor, a clamping rotating driving wheel, a clamping rotating driven wheel, 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 manner through a clamping rotating bearing, a rotating clamping hand is arranged at the other end of the clamping rotating driving shaft, the rotating clamping hand is positioned at one side of the first clamping hand close to the clamping stop block, the clamping rotating driven wheel is arranged on the clamping rotating driving shaft, and the clamping rotating driving wheel are provided with the clamping rotating driving belt;
the second clamping hand is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly.
Above setting, also can make the goods overturn through pressing from both sides the setting that gets rotating assembly, when the transport, the volume of goods is great, press from both sides and get rotating assembly unable convenient with the goods overturn, then overturn through rotating assembly, when the volume of goods is less, can also can realize the upset through pressing from both sides and getting rotating assembly through rotating assembly, through setting up two turning device that differ, 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 driving wheel and rotate, and then drive and get the rotation from both sides the rotation of getting rotatory driving wheel with pressing from both sides the clamp that the rotating driving wheel is connected through pressing from both sides, thereby can drive and press from both sides and get rotatory drive shaft rotation and make rotatory tong rotation, 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 a gripping device according to the present invention.
Fig. 2 is an enlarged view at 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 rotary assembly of the present invention.
Fig. 6 is an exploded view of the first hand grip of the present invention.
Fig. 7 is an enlarged view at B in fig. 1.
Fig. 8 is an exploded view of the tipping mechanism of the invention on a frame.
Fig. 9 is an enlarged view at C in fig. 8.
Fig. 10 is a schematic structural view of the moving mechanism of the present invention.
Fig. 11 is a schematic view of the gripping mechanism of the present invention gripping and inverting a load.
Fig. 12 is a schematic view of the pushing-over mechanism of the present invention pushing over cargo.
Detailed Description
The invention is described in further detail below with reference to the drawings and the detailed description.
As shown in fig. 1 to 12, a 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 two bottom plates 11, support columns 12 and cross beams 13, two bottom plates 11 are provided, a working space 10 is formed between the two bottom plates 11, the support columns 12 are arranged at two ends of the bottom plates 11, and the cross beams 13 are arranged between the support columns 12 of the two bottom plates 11.
The moving mechanism 2 is arranged at two ends of the bottom plate 11; a pushing mechanism 6 is arranged on a support column 12 at one end of the bottom plate 11, a lifting mechanism 4 is arranged on the support 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 cross beam 13 between the support columns 12 at the other end of the base plate 11. The state of the goods is observed and detected through the camera, and if the state of the goods needs to be adjusted, the goods can be knocked over or overturned according to the current state of the 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 support 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 support columns 12, and the gripping mechanism 3 is disposed on the lifting slider 40.
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 gear 415, a lifting second driven gear 416 and a lifting driving belt (not shown in the figure), in this embodiment, the lifting driving belt is a synchronous belt, the lifting driving belt is sleeved on the lifting second driven gear 416, a specific synchronous belt transmission mode is in the prior art, no more details are needed, the lifting driving motor 411 is fixed on one side of a support column 12 on a bottom plate 11 through a lifting motor mounting plate 417, a lifting driving rod 414 is arranged on the support column 12, the lifting driving rod 414 is connected with the support column 12 on two bottom plates 11, a lifting driving gear 412 is arranged on a driving shaft of the lifting driving motor 411, one end of the lifting driving rod 414 is provided with a lifting driving driven gear 413 meshed with the lifting driving gear 412, the lifting first driven gear 415 is fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end surface of the lifting first driven gear at one end of the lifting driving rod, a bottom plate 11 at the bottom end of the support column 12 is provided with a lifting first driven gear 415 corresponding to the lifting driven gear 415, and a lifting slider is arranged between the lifting driving driven gear 415 and the lifting driving belt 40.
Above setting, when the mechanism 3 is got to the clamp and is got to the needs and reciprocate, lift driving motor 411 drive lift drive pinion 412 rotates, when lift drive driven gear 413 is driven by lift drive pinion 412 and rotates, make lift actuating lever 414 also can rotate in step, thereby make lift first follow driving wheel 415 at lift actuating lever both ends rotate and make the lift actuating belt remove, thereby make the lift slider 40 that sets up on the lift actuating belt reciprocate, the effect of lift actuating lever 414 makes the lift actuating belt on two bottom plates 11 reciprocate simultaneously, thereby guaranteed that the mechanism 3 can normally go up and down to get, and 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 block 35, the rotating assembly 30 is disposed on a 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 block 35 is disposed on the gripping beam 34 between the first jaw assembly 32 and the second jaw assembly 33.
The first clamping jaw assembly 32 comprises a first clamping jaw connecting post 321, a first clamping jaw base 322, a first clamping jaw air cylinder 323 and a first clamping jaw 324, one end of the first clamping jaw connecting post 321 is connected with the rotating assembly 30 on the bottom plate 11, the other end of the first clamping jaw connecting post 321 is provided with the first clamping jaw base 322, the first clamping jaw air cylinder 323 is arranged on the first clamping jaw base 322, and the first clamping jaw 324 is arranged on a driving piece of the first clamping jaw air cylinder 323.
The second jaw assembly 33 includes a second jaw connecting post 331, a second jaw base 332, a second jaw cylinder 333, and a second jaw 334, one end of the second jaw connecting post 331 is connected with the rotating assembly 30 on the other bottom plate 11, the other end of the second jaw connecting post 331 is provided with the second jaw base 332, the second jaw base 332 is provided with the second jaw cylinder 333, and the driving member of the second jaw cylinder 333 is provided with the second jaw 334.
The first clamping jaw cylinder 323 drives the first clamping jaw 324 to move towards the second clamping jaw 334; the second jaw cylinder 332 drives the second jaw 334 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 specific working principles thereof are prior art and are not described herein.
Above setting, when needs press from both sides tight with the goods, first clamping jaw cylinder 323 drive first clamping jaw 324 to the direction removal of second clamping jaw 334 paste tight goods, second clamping jaw cylinder 333 drive second clamping jaw 334 to the direction removal of first clamping jaw 324 paste tight goods, can press from both sides tight with the goods through the cooperation of first clamping jaw 324 and second clamping jaw 334, simple structure and 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, wherein the rotating mounting plate 302 is fixed on the lifting slide block 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 post 321; a swivel connection plate 304 on the other base plate 11 is connected to a second jaw connection post 331.
In the above arrangement, when the goods need to be turned over, the rotating electric machine 301 is started, and since the driving shaft 3011 of the rotating electric machine 301 is fixed on the rotating coupling 303, the driving shaft 3011 of the rotating electric machine 301 cannot rotate when the rotating electric machine 301 is started, so that the main body 3012 of the rotating electric machine 301 rotates, and the first jaw connecting post 321 and the second jaw connecting post 331 connected to the main body 3012 of the rotating electric machine 301 through the rotating connecting plate 304 rotate along with the main body 3012 of the rotating electric machine 301, so that the first jaw assembly 32 and the second jaw assembly 33 rotate to turn over the goods (as shown in fig. 11, 001 is the goods).
As shown in fig. 6, a first clamping rotating assembly 31 is further provided on the first clamping hand 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 in the drawing), a clamping rotating driving shaft 314, a clamping rotating mounting plate 315 and a rotating clamping hand 316, the clamping rotating motor 311 is provided at the front end of the first clamping hand 324, the clamping rotating driving wheel 312 is provided on the driving shaft of the clamping rotating motor 311, a clamping rotating mounting plate 315 is provided at the end of the first clamping hand 324, one end of the clamping rotating driving shaft 314 is rotatably provided on the clamping rotating mounting plate 315 through a clamping rotating bearing 317, a rotating clamping hand 316 is provided at the other end of the clamping rotating driving shaft 314, the rotating clamping hand 316 is positioned at one side of the first clamping hand 324 close to the clamping stop 35, the clamping rotating driving wheel 313 is provided with the clamping rotating driving belt between the clamping rotating driving wheel 312 and the clamping rotating driven wheel 313, the rotating driving belt is more than the first clamping driving belt, and the goods can be clamped by the clamping driving belt in a synchronous belt with a larger clamping area when the goods is more than the clamping area of the first clamping driving belt;
the second clamping hand 334 is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly 31.
Above setting, also can make the goods overturn through pressing from both sides the setting that gets rotating assembly, when the transport, the volume of goods is great, press from both sides and get rotating assembly unable convenient with the goods overturn, then overturn through rotating assembly, when the volume of goods is less, can also can realize the upset through pressing from both sides and getting rotating assembly through rotating assembly, through setting up two turning device that differ, 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 driving wheel and rotate, and then drive and get the rotation from both sides the rotation of getting rotatory driving wheel with pressing from both sides the clamp that the rotating driving wheel is connected through pressing from both sides, thereby can drive and press from both sides and get rotatory drive shaft rotation and make rotatory tong rotation, 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 push-down mechanism 6 includes a push-down driving assembly 61 and a push-down lever 62, the push-down driving assembly 61 is connected to the support column 13 through a push-down sliding column 63, and the push-down driving assembly 61 drives the push-down lever 62 to slide up and down along the push-down sliding column 63.
The push-down driving assembly 61 comprises a push-down driving motor 611, a push-down sliding block 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 in the figure) and a push-down driven belt 618, wherein the top end of the push-down sliding block 63 is connected with the top end of a support column 12 at one end of a bottom plate 11, the bottom end of the push-down sliding block 63 is connected with the bottom plate 11, the push-down driving motor 611 is arranged at the top end of the push-down sliding block 63 below the push-down driving motor 611, the push-down driving rod 616 is connected with the push-down sliding blocks 63 on two bottom plates 11, the drive shaft of the push-down driving motor 611 is provided with the push-down first driving wheel 613, the push-down second driving wheel 614 is arranged at one end of the push-down driving rod 616, the top end of the push-down first driven wheel is connected with the top end of a support column 12 at one end of the bottom plate 11, the push-down second driving wheel 614 is connected with the push-down second driven wheel 617, the push-down first driven wheel 617 is arranged at the bottom end of the push-down driving rod 616, the push-down driven wheel is arranged at the two driven wheel 616, the push-down belt is arranged at the opposite ends of the push-down driven wheel, and the push-down plate is provided with the push-down driven wheel 618 is arranged at one end of the push-down plate, and the push-down 1 is fixedly connected with the push-down plate lower than driven wheel, and is arranged at the push-down 1, and is provided with the driven wheel, and is provided with the push-down second driven wheel, and is provided with a push-down drive bar, and with a push-down drive plate, and is.
Above setting, when the goods need to be knocked down, the knock-down driving motor 611 drives the knock-down first driving wheel 613 to drive the knock-down second driving wheel 614 connected with the knock-down first driving wheel 613 through the knock-down driving belt 615, the knock-down second driving wheel 614 drives the knock-down driving rod 616 to rotate, and then drives the knock-down first driven wheel 617 to rotate, and the first driven wheel 317 rotates and then drives the knock-down driven belt 618 arranged between the knock-down first driven wheel 617 and the knock-down second driven wheel to rotate, thereby driving the knock-down slide 612 to move up and down, and enabling the push block rod 62 to move to a position corresponding to the goods.
The pushing and transporting robot with the structure can clamp the goods through the matching of the first clamping jaw component and the second clamping jaw component, then the goods can be transported to the appointed position through the moving mechanism, the process is simple and efficient, when the goods are to be transported, the moving mechanism moves to the goods position to be transported and enables the goods to move to the working space, the lifting driving component drives the lifting sliding block to move up and down, further drives the clamping mechanism to move to the height corresponding to the goods, after the clamping mechanism moves in place, the first clamping jaw component and the second clamping jaw component are matched to clamp the goods, the lifting mechanism lifts the clamping mechanism to enable the goods to leave the ground, the state of the goods is observed through the camera before the transportation, if the goods are vertically placed and the goods are required to be horizontally placed at the appointed position of the transportation, at this time, the pushing down rod is driven by the pushing down driving component to descend to the upper side of the goods, the moving mechanism moves to drive the pushing down rod to touch the goods to move continuously, so that the goods are knocked down, as shown in fig. 12 (001 is the goods in the drawing), when the pushing down rod touches the goods, the moving mechanism moves in the arrow direction, so that the pushing down rod can drive the goods to incline and then push down the goods, in this way, the goods can be in a transverse state, so that the goods can be clamped by the clamping mechanism and then carried out, and at the same time, if the front side and the back side of the goods are opposite, the first clamping jaw component and the second clamping jaw component can be overturned by the rotating component, so that the front side and the back side of the goods can be overturned, and the state of the goods can be adjusted before carrying, therefore, the problem that the carrying efficiency is affected by additionally adjusting the cargoes in the unified arrangement of the final cargoes can be avoided, and the carrying efficiency is higher.
As shown in fig. 12, the moving mechanism 2 includes a moving motor 21, a moving motor mount 22, and moving universal wheels 23, the moving motor 21 is disposed at both ends of the base plate 11 through the moving motor mount 22, and the moving universal wheels 23 are disposed on a driving shaft of the moving motor 21. Thereby driving the moving universal wheel 23 to move by the moving motor 21 so that the push-down conveyance robot can reach the designated position.
The working method of the clamping device comprises the following specific steps:
(1) The moving mechanism is started to move the pushing-down conveying robot to the position of the goods, and the goods are located in the working area.
(2) When the cargo needs to be knocked down.
(2.1) the knock-down mechanism is lowered to a position corresponding to the cargo.
And (2.2) the moving mechanism moves to drive the dumping mechanism to dump the goods.
(3) The gripping mechanism is lowered to a position corresponding to the cargo.
(3.1) the first jaw assembly and the second jaw assembly clamp the cargo.
(3.11) the first jaw cylinder drives the first jaw to move in the direction of the second jaw.
(3.12) the second jaw cylinder drives the second jaw to move in the direction of the first jaw.
(3.13) the first jaw and the second jaw grip the cargo.
(4) When the goods need to be overturned, the method enters the step (4.1), and if the goods do not need to be overturned, the method enters the step (5).
(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 overturned.
When smaller cargo is turned over.
And (4.11) driving the rotary clamping hand to rotate by the clamping rotary motor to turn over the goods.
(5) The movement mechanism carries the cargo to a specified location.
Claims (5)
1. A clamping device, characterized in that: the lifting mechanism comprises a frame, a moving mechanism, a clamping mechanism, a lifting mechanism and a pushing mechanism, wherein the frame comprises two bottom plates, two support columns and a cross beam, a working interval 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 a support column at one end of the bottom plate, a lifting mechanism is arranged on the support 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 a lifting sliding block and a lifting driving assembly, the lifting driving assembly is arranged on support columns on the two bottom plates, the lifting sliding block is connected to the lifting driving assembly, the lifting driving assembly drives the lifting sliding block to slide up and down along the support columns, and the lifting sliding block is provided with a clamping mechanism;
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, wherein the rotating assembly is arranged on the lifting sliding block;
the pushing mechanism comprises a pushing driving assembly and a pushing rod, the pushing driving assembly is connected with the supporting column through a pushing sliding column, and the pushing driving assembly drives the pushing rod to slide up and down along the pushing sliding column;
the driving assembly comprises a driving motor, a driving slide block, a first driving wheel, a second driving wheel, a driving belt and a driving rod, a first driven wheel, a second driven wheel and a driven belt are arranged on the driving shaft of the driving motor, the top end of the driving slide column is connected with the top end of a support column at one end of a bottom plate, the bottom end of the driving slide column is connected to the bottom plate, the driving motor is arranged at the top end of the driving slide column, the driving rod is arranged on the driving slide column below the driving motor and is connected with the driving slide columns on the two bottom plates, the driving shaft of the driving motor is provided with the first driving wheel, the second driving wheel is arranged at one end of the driving rod, the first driven wheel is connected with the second driving wheel through the driving belt, the second driven wheel is arranged at two ends of the driving rod, a bottom plate at the bottom end of the driving slide column and is provided with a second driven wheel corresponding to the first driven wheel, a driven plate is arranged between the first driven wheel and the driven belt, and the driven slide rod is connected with the driven belt;
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, wherein one end of the first clamping jaw connecting column is connected with a 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 the 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 bottom 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 second clamping jaw is arranged on a driving piece of the second clamping jaw air cylinder;
the first clamping jaw cylinder drives the first clamping jaw to move towards the second clamping jaw; the second clamping jaw cylinder drives the second clamping jaw to move towards the direction of the first clamping jaw.
2. A gripping apparatus according to claim 1, wherein: 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 wheel, a lifting second driven wheel and a lifting driving belt, wherein the lifting driving motor is fixed on one side of a supporting column on a bottom 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 columns on two bottom plates, the lifting driving gear is arranged on a driving shaft of the lifting driving motor, one end of the lifting driving rod is provided with the lifting driving driven gear meshed with the lifting driving gear, lifting first driven wheels are arranged at two ends of the lifting driving rod, lifting second driven wheels corresponding to the lifting first driven wheels are arranged on the bottom plate at the bottom end of the supporting column, a lifting driving belt is arranged between the lifting first driven wheels and the lifting second driven wheels, and the lifting sliding block is arranged on the lifting driving belt.
3. A gripping apparatus according to claim 1, wherein: the rotary assembly comprises a rotary motor, a rotary mounting plate, a rotary coupler and a rotary connecting plate, wherein the rotary mounting plate is fixed on the lifting sliding block, the rotary coupler is arranged on the rotary mounting plate, a driving shaft of the rotary motor is fixed on the rotary coupler, the rotary connecting plate is arranged on a main body of the rotary motor, 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.
4. A gripping apparatus according to claim 1, wherein: 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.
5. A gripping apparatus according to claim 1, 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, wherein the clamping rotating motor is arranged at the front end of the first clamping hand;
the second clamping hand is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly.
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 |
|---|---|
| CN115180394A CN115180394A (en) | 2022-10-14 |
| CN115180394B true CN115180394B (en) | 2024-04-09 |
Family
ID=83522016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210864781.3A Active CN115180394B (en) | 2022-07-22 | 2022-07-22 | Clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115180394B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115783743B (en) * | 2022-07-22 | 2026-03-24 | 广州城市理工学院 | A clamping device that can adjust the placement of goods |
| 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 |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101042994A (en) * | 2006-03-20 | 2007-09-26 | 东京毅力科创株式会社 | Vertical heat treating apparatus and control method for transfer mechanism of vertical heat treating apparatus |
| CN101513962A (en) * | 2008-02-21 | 2009-08-26 | 株式会社东京自动机械制作所 | Supply device for rod shaped article having box disintegration apparatus |
| CN103057944A (en) * | 2013-01-25 | 2013-04-24 | 广西力源宝农林科技发展有限责任公司 | Automatic double-line palletizer |
| CN209614724U (en) * | 2019-03-06 | 2019-11-12 | 江苏广新重工有限公司 | A kind of vertical machine tipping arrangement of H profile steel group |
| CN110436206A (en) * | 2019-08-08 | 2019-11-12 | 江西吉安国泰特种化工有限责任公司 | A kind of emulsifying ammonium nitrate fuel explosive automatic stacking system |
| CN211661535U (en) * | 2019-11-05 | 2020-10-13 | 大族激光科技产业集团股份有限公司 | Reversible gripping device |
| CN113602823A (en) * | 2021-08-27 | 2021-11-05 | 徐州莫大新材料科技有限公司 | Automatic pile up neatly device of polymer water absorption solid water that keeps water |
| CN216659983U (en) * | 2021-12-29 | 2022-06-03 | 苏州禾中炬智能装备有限公司 | Turnover type automatic clamping cart |
-
2022
- 2022-07-22 CN CN202210864781.3A patent/CN115180394B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101042994A (en) * | 2006-03-20 | 2007-09-26 | 东京毅力科创株式会社 | Vertical heat treating apparatus and control method for transfer mechanism of vertical heat treating apparatus |
| CN101513962A (en) * | 2008-02-21 | 2009-08-26 | 株式会社东京自动机械制作所 | Supply device for rod shaped article having box disintegration apparatus |
| JP2009196757A (en) * | 2008-02-21 | 2009-09-03 | Japan Tobacco Inc | Bar-shaped article feeder with box demolition device |
| CN103057944A (en) * | 2013-01-25 | 2013-04-24 | 广西力源宝农林科技发展有限责任公司 | Automatic double-line palletizer |
| CN209614724U (en) * | 2019-03-06 | 2019-11-12 | 江苏广新重工有限公司 | A kind of vertical machine tipping arrangement of H profile steel group |
| CN110436206A (en) * | 2019-08-08 | 2019-11-12 | 江西吉安国泰特种化工有限责任公司 | A kind of emulsifying ammonium nitrate fuel explosive automatic stacking system |
| CN211661535U (en) * | 2019-11-05 | 2020-10-13 | 大族激光科技产业集团股份有限公司 | Reversible gripping device |
| CN113602823A (en) * | 2021-08-27 | 2021-11-05 | 徐州莫大新材料科技有限公司 | Automatic pile up neatly device of polymer water absorption solid water that keeps water |
| CN216659983U (en) * | 2021-12-29 | 2022-06-03 | 苏州禾中炬智能装备有限公司 | Turnover type automatic clamping cart |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115180394A (en) | 2022-10-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN115043193B (en) | A push-down transport robot | |
| CN115180394B (en) | Clamping device | |
| CN212355728U (en) | Automatic palletizing device in UV floor production | |
| CN115893275A (en) | Cargo handling device | |
| CN217102934U (en) | Intelligent transportation robot for loading | |
| CN114313788B (en) | Nondestructive transfer system | |
| CN115092678B (en) | Push-down pinching method | |
| CN115123975B (en) | A method of transport | |
| CN112093494B (en) | Automatic loading and unloading machine for container | |
| CN115432427B (en) | Goods placement adjustment method | |
| CN115947265B (en) | Method for facilitating cargo handling | |
| CN213801971U (en) | Automatic loading and unloading machine for packing box | |
| CN216188622U (en) | Goods upset handling device | |
| CN116198995B (en) | A palletizing device | |
| CN115783743B (en) | A clamping device that can adjust the placement of goods | |
| CN110733857A (en) | Rectangular frame reinforcing bar centre gripping conveyer | |
| CN216661545U (en) | Embrace case upset and carry machine of carrying | |
| CN223162670U (en) | Big board feed mechanism | |
| JP2531977B2 (en) | Loading device for press-formed parts | |
| CN213706995U (en) | Composite board overturning device | |
| CN216372220U (en) | Robot device for loading articles | |
| CN220200768U (en) | Side-loading suspension arm type intelligent box body loading and stacking equipment | |
| JPH0133246Y2 (en) | ||
| CN223254099U (en) | A conveying device for producing and processing wooden pallets | |
| CN223879015U (en) | Automatic feeding and discharging equipment |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |