CN115783743A

CN115783743A - Clamping device capable of adjusting goods placing state

Info

Publication number: CN115783743A
Application number: CN202210870480.1A
Authority: CN
Inventors: 刘颖君; 曾建勋; 张文杰; 李肃; 曾德港
Original assignee: Guangzhou City University of Technology
Current assignee: Guangzhou City University of Technology
Priority date: 2022-07-22
Filing date: 2022-07-22
Publication date: 2023-03-14

Abstract

The invention provides a clamping device capable of adjusting the goods placement state, which comprises a rack, a clamping mechanism, a lifting mechanism and a position adjusting mechanism, wherein the rack comprises two bottom plates, support columns and a cross beam, the two bottom plates form a working area 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; a lifting mechanism is arranged on the supporting column at one end of the bottom plate, and the clamping mechanism is arranged on the lifting mechanism; a position adjusting mechanism is arranged at the bottom end of the bottom plate; a camera is arranged on the cross beam between the support columns at the other end of the bottom plate; by the clamping device, the goods placing state can be adjusted, so that the carrying is more convenient.

Description

Clamping device capable of adjusting goods placing state

Technical Field

The invention relates to the technical field of transfer robots, in particular to a clamping device capable of adjusting the goods placing state.

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 transfer 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 of which the Chinese patent application number is 202110960685.4 and the publication date is 2021.12.07, the Chinese patent application number is 5363 and discloses a transfer robot which 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 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 arranged on the frame, and the translation mechanism 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 as in the above documents, the gripping manner 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 erected in the state of the goods during the transfer, and the designated position of the transfer requires the goods to be placed transversely, so that the goods can be better and uniformly arranged.

Disclosure of Invention

The invention aims to provide a clamping device capable of adjusting the goods placing state.

In order to achieve the purpose, the clamping device capable of adjusting the goods placing state comprises a frame, a clamping mechanism, a lifting mechanism and a position adjusting mechanism, wherein the frame comprises two bottom plates, two supporting columns and two cross beams, a working area is formed between the two bottom plates, the supporting columns are arranged at two ends of the bottom plates, and the cross beams are arranged between the supporting columns of the two bottom plates.

A lifting mechanism is arranged on the supporting column at one end of the bottom plate, and the clamping mechanism is arranged on the lifting mechanism; a position adjusting mechanism is arranged at the bottom end of the bottom plate; 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 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 rotating assembly drives the first jaw assembly and the second jaw assembly to rotate.

The position adjusting mechanism comprises a position adjusting driving assembly and a position adjusting rod, the position adjusting rod is arranged at the bottom end of the bottom plate through the position adjusting driving assembly, and the position adjusting driving assembly drives the position adjusting rod to move along the length direction of the bottom plate.

The clamping device of the structure comprises a clamping device body, a lifting driving assembly, a clamping mechanism and a position adjusting driving assembly, wherein the clamping mechanism body is arranged on the front side of the clamping device body, the clamping driving assembly drives the lifting sliding block to move up and down, the lifting driving assembly drives the clamping mechanism body to move to a height corresponding to a cargo, the clamping mechanism body moves in place, the cargo is clamped by the first clamping jaw assembly and the second clamping jaw assembly in a matched mode, the lifting mechanism body is used for clamping the cargo, the cargo can be clamped by the clamping mechanism body when the lifting mechanism body moves away from the ground, the state of the cargo can be observed by the camera before clamping, the position adjusting driving assembly drives the position adjusting rod to push the cargo, the cargo can move to a position where the clamping mechanism body clamps the cargo, and meanwhile, the front side and the back side of the cargo are reversed, the first clamping jaw assembly and the second clamping jaw assembly can be overturned by the rotating assembly, the front side and the back side of the cargo can be overturned, the state of the cargo can be adjusted, and subsequent transportation is facilitated, and the problem that the efficiency of the transportation of the cargo is influenced when the final cargo is unified is carried is solved.

Further, 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, 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 columns 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 fixed at two ends of the lifting driving rod, the lifting driving driven gear is fixedly connected with the end face of the first lifting driven gear at one end of the lifting driving rod, the second lifting driven gear corresponding to the first lifting driven gear is arranged on the base plate at the bottom end of the supporting column, the lifting driving belt and the second lifting driven gear are arranged between the first lifting driven gear and the second lifting 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.

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 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 position adjusting mechanism comprises a position adjusting motor, a position adjusting driving gear, a position adjusting rack, a position adjusting sliding wheel, a position adjusting guide rail, a position adjusting rod and a position adjusting connecting plate, the position adjusting motor is arranged above the bottom plate, the position adjusting sliding wheel is arranged below the bottom plate through a sliding wheel plate, an installation through groove is formed in the bottom plate, a position adjusting driving gear is arranged on a driving shaft of the adjusting motor, the position adjusting driving gear penetrates through the installation through groove to extend to the lower side of the bottom plate, a position adjusting rack is arranged between the position adjusting sliding wheel and the position adjusting driving gear, and the position adjusting rack is meshed with the position adjusting driving gear; the lower part of the bottom plates is also provided with a position adjusting guide rail corresponding to the position adjusting rack, one end of the position adjusting rack is arranged on the position adjusting guide rail in a sliding way through a position adjusting slider, the position adjusting rod is connected to one end of the position adjusting rack through a position adjusting connecting plate, and the position adjusting rod is connected with the position adjusting racks on the two bottom plates.

According to the arrangement, by arranging the position adjusting mechanism, when the goods are clamped by the clamping mechanism at the position which is inconvenient to clamp in the working interval, the goods can be pushed by the position adjusting mechanism, so that the goods can be moved to the position which is convenient to clamp by the clamping mechanism, the goods are convenient to carry, and the efficiency is improved; when the position of the goods needs to be adjusted, the position adjusting motor drives the position adjusting driving gear and drives the position adjusting rack to move along the position adjusting guide rail, so that the position adjusting rod connected to the position adjusting rack can be driven to move, and the goods can be driven to move through the position adjusting rod.

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 hand is provided with a second clamping rotating component which has the same structure as the first clamping rotating component.

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.

Drawings

Fig. 1 is a schematic structural diagram of a clamping 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 a bottom view of the housing of the present invention.

Fig. 9 is an enlarged view of fig. 8 at D.

Fig. 10 is an exploded schematic view of the position adjustment 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.

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 11, the clamping device capable of adjusting the goods placing state comprises a frame 1, a clamping mechanism 3, a lifting mechanism 4 and a position adjusting mechanism 7, wherein the frame 1 comprises a bottom plate 11, support columns 12 and a cross beam 13, the two bottom plates 11 are arranged, a working area 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 beam 13 is arranged between the support columns 12 of the two bottom plates 11.

A lifting mechanism 4 is arranged on a supporting column 12 at one end of the bottom plate 11, and the clamping mechanism 3 is arranged on the lifting mechanism 4; a position adjusting mechanism 7 is arranged at the bottom end of the bottom plate 11; 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 fig. 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 clamping 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.

The above arrangement, when needing to move mechanism 3 up and down, lift driving motor 411 drives lift driving gear 412 to rotate, and then drive lift driving driven gear 413 to rotate and drive lift actuating lever 414 to rotate, when lift driving driven gear 413 is driven by lift driving gear 412 to rotate, make lift actuating lever 414 also rotate in step, thereby make the first driven wheel 415 of lift at lift actuating lever both ends rotate and make the lift driving band move, thereby make the lift slider 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 that the mechanism 3 can normally go up and down by the clamp, 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, and will not be described herein again.

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; a rotating web 304 on the other base plate 11 is connected to the 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 gripping rotating assembly 31 is further provided on the first gripper 324, the first gripping rotating assembly 31 includes a gripping rotating motor 311, a gripping rotating driving wheel 312, a gripping rotating driven wheel 313, a gripping rotating driving belt (not shown), a gripping rotating driving shaft 314, a gripping rotating mounting plate 315, and a rotating gripper 316, the gripping rotating motor 311 is provided at the front end of the first gripper 324, the gripping rotating driving wheel 312 is provided at the driving shaft of the gripping rotating motor 311, the gripping rotating mounting plate 315 is provided at the end of the first gripper 324, one end of the gripping rotating driving shaft 314 is rotatably provided at the gripping rotating mounting plate 315 via a gripping rotating bearing 317, the rotating gripper 316 is provided at the other end of the gripping rotating driving shaft 314, the protruding area of the rotating gripper 316 is larger than that of the first gripper 324, so that when the goods are gripped, the contact area of the rotating gripper with the goods is larger, the goods can be better gripped, the rotating gripper 316 is provided at the side of the first gripper 324 close to the gripping rotating driving wheel 35, the rotating driven wheel 313 is provided between the gripping rotating driving wheel and the gripping rotating driving belt, and the gripping rotating belt is not particularly, and the gripping rotating belt is a belt of a belt transmission mechanism, and the gripping rotating gripper rotating belt is a conventional timing belt, and the gripping rotating belt is not limited by the gripping rotating belt;

the second gripper 334 is provided with a second gripping rotation unit having the same structure as the first gripping rotation unit 31.

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.

As shown in fig. 10 to 11, the position adjustment mechanism 7 includes a position adjustment driving assembly and a position adjustment rod 76, the position adjustment rod 76 is disposed at the bottom end of the bottom plate 11 through the position adjustment driving assembly, and the position adjustment driving assembly drives the position adjustment rod 76 to move along the length direction of the bottom plate 11; the position adjusting driving assembly comprises a position adjusting motor (not shown in the figure), a position adjusting driving gear 72, a position adjusting rack 73, a position adjusting sliding wheel 74, a position adjusting guide rail 75 and a position adjusting connecting plate 77, wherein the position adjusting motor is arranged above the bottom plate 11, the position adjusting sliding wheel 74 is arranged below the bottom plate 11 through a sliding wheel plate 741, an installation through groove 111 is formed in the bottom plate 11, the position adjusting driving gear 72 is arranged on a driving shaft of the adjusting motor, the position adjusting driving gear 72 penetrates through the installation through groove 111 and extends to the lower part of the bottom plate 11, the position adjusting rack 73 is arranged between the position adjusting sliding wheel 74 and the position adjusting driving gear 72, and the position adjusting rack 73 is meshed with the position adjusting driving gear 72; a position adjusting guide rail 75 corresponding to the position adjusting rack 73 is further arranged below the bottom plates 11, one end of the position adjusting rack 73 is slidably arranged on the position adjusting guide rail 75 through a position adjusting slider 78, the position adjusting rod 76 is connected to one end of the position adjusting rack 73 through a position adjusting connecting plate 77, and the position adjusting rod 76 is connected with the position adjusting racks 73 on the two bottom plates 11.

According to the arrangement, by arranging the position adjusting mechanism, when the goods are clamped by the clamping mechanism at the position which is inconvenient to clamp in the working interval, the goods can be pushed by the position adjusting mechanism, so that the goods can be moved to the position which is convenient to clamp by the clamping mechanism, the goods are convenient to carry, and the efficiency is improved; when the position of the goods needs to be adjusted, the position adjusting motor drives the position adjusting driving gear 72 and drives the position adjusting rack 73 to move along the position adjusting guide rail 75, because the position adjusting rack 73 is positioned between the position adjusting sliding wheel 74 and the position adjusting driving gear 72, the position adjusting sliding wheel 74 is driven to rotate when the position adjusting rack 73 moves, the position adjusting rack can be provided with supporting force through the position adjusting sliding wheel, the movement of the position adjusting rack cannot be influenced, the position adjusting rod 76 connected to the position adjusting rack 73 can be driven to move, and therefore the goods can be driven to move through the position adjusting rod.

The working method of the clamping device comprises the following specific steps:

(1) The goods are moved into the working space.

When the goods are not convenient to be clamped by the clamping mechanism; entering the step (1.1); and (3) if the position of the goods which is not needed to be adjusted is not needed, entering the step (2).

And (1.1) driving the position adjusting driving assembly to drive the position adjusting rod to push the goods to move to a position where the clamping mechanism can conveniently clamp the goods.

(1.11) driving the position adjusting rod to move by the position adjusting motor;

(1.12) the position adjusting rod drives the goods to move to a position where the goods are convenient to be clamped by the clamping mechanism

(2) The gripping mechanism is lowered to a position corresponding to the goods.

And (2.1) clamping the goods by the first clamping jaw assembly and the second clamping jaw assembly.

And (2.11) driving the first clamping jaw to move towards the direction of the second clamping jaw by the first clamping jaw cylinder.

And (2.12) driving the second clamping jaw to move towards the direction of the first clamping jaw by the second clamping jaw cylinder.

And (2.13) clamping the goods by the first clamping jaw and the second clamping jaw.

(3) When the cargo needs to be turned over.

And (3.1) 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 (3.11) the clamping rotating motor drives the rotating clamping hand to rotate, so that the goods are turned over.

Claims

1. The utility model provides a clamping device of adjustable goods state of putting which characterized in that: the clamping device comprises a rack, a clamping mechanism, a lifting mechanism and a position adjusting 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;

a lifting mechanism is arranged on the supporting column at one end of the bottom plate, and the clamping mechanism is arranged on the lifting mechanism; a position adjusting mechanism is arranged at the bottom end of the bottom plate; 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 rotating assembly drives the first clamping jaw assembly and the second clamping jaw assembly to rotate;

2. The clamping device of claim 1, wherein the clamping device is capable of adjusting the position of a cargo: 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 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 a lifting first driven gear at one end of the lifting driving rod, a 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.

3. The clamping device of claim 1, wherein the clamping device is capable of adjusting the position of a cargo: 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 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 driving piece of the second clamping jaw air cylinder is provided with the second clamping jaw;

4. The clamping device of claim 3, wherein the clamping device comprises: 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.

5. The clamping device of claim 1, wherein the clamping device is capable of adjusting the position of a cargo: the position adjusting driving assembly comprises a position adjusting motor, a position adjusting driving gear, a position adjusting rack, a position adjusting sliding wheel, a position adjusting guide rail and a position adjusting connecting plate, the position adjusting motor is arranged above the bottom plate, the position adjusting sliding wheel is arranged below the bottom plate through a sliding wheel plate, an installation through groove is formed in the bottom plate, the position adjusting driving gear is arranged on a driving shaft of the adjusting motor, the position adjusting driving gear penetrates through the installation through groove and extends to the lower portion of the bottom plate, the position adjusting rack is arranged between the position adjusting sliding wheel and the position adjusting driving gear, and the position adjusting rack is meshed with the position adjusting driving gear; the lower part of the bottom plates is also provided with position adjusting guide rails corresponding to the position adjusting racks, one ends of the position adjusting racks are arranged on the position adjusting guide rails in a sliding mode through position adjusting sliders, the position adjusting rods are connected to one ends of the position adjusting racks through position adjusting connecting rod plates, and the position adjusting rods are connected with the position adjusting racks on the two bottom plates.

6. The clamping device of claim 3, wherein the clamping device comprises: 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 rotatably arranged on the clamping rotating mounting plate 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 positioned on one side, close to the 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.