CN116002575A - Self-adaptive intelligent box body clamping device and application method thereof - Google Patents
Self-adaptive intelligent box body clamping device and application method thereof Download PDFInfo
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- CN116002575A CN116002575A CN202211671518.9A CN202211671518A CN116002575A CN 116002575 A CN116002575 A CN 116002575A CN 202211671518 A CN202211671518 A CN 202211671518A CN 116002575 A CN116002575 A CN 116002575A
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Abstract
The invention relates to a self-adaptive intelligent box body clamping device and a use method thereof, wherein the self-adaptive intelligent box body clamping device comprises a mounting seat, and corresponding left clamping arms and right clamping arms can be respectively and transversely arranged on the left side and the right side of the mounting seat; the driving oil cylinders are respectively used for driving the left clamping arm and the right clamping arm to transversely move along the mounting seat; the anti-skid rubber plates are respectively fixed on the inner sides of the left clamping arm and the right clamping arm, and the lower part of the inner side of at least one anti-skid rubber plate is internally fixed with a corresponding pressure sensor; the laser ranging sensor is fixedly arranged on the upper side of the top of the mounting seat; and the pressure sensor and the laser ranging sensor are respectively connected to the control system, and the working process of the driving oil cylinder is controlled by the control system. The clamping device can effectively form a stable clamping for the paper box with the goods, and can control the clamping force within a smaller reasonable range.
Description
Technical Field
The invention relates to the technical field of clamping and transporting of a box body, in particular to a self-adaptive intelligent box body clamping device and a using method thereof.
Background
The existing carton clamping device generally comprises a mounting seat of a fixing device on a lifting frame of a carrying forklift, and a left clamping arm and a right clamping arm which can be transversely mounted on the mounting seat in a moving mode, and the left clamping arm and the right clamping arm are driven in a moving mode through corresponding driving oil cylinders. The left clamping arm and the right clamping arm of the carton holding and clamping device are moved to two sides of the carton provided with goods through the carrying forklift, the left clamping arm and the right clamping arm respectively clamp the two sides of the carton provided with the goods under the driving of the driving oil cylinder, and then the lifting, transferring and carrying of the carton provided with the goods can be realized under the driving of the lifting frame of the carrying forklift.
Because the weight of the carton packages, namely the cargoes in the cartons, is different, the driving force of the driving oil cylinder on the left clamping arm and the right clamping arm is difficult to control. When the driving force of the driving oil cylinder to the left clamping arm and the right clamping arm is smaller, the problem that clamping is not in place exists, so that the problem that the paper box with goods possibly slides, breaks and the like in the lifting, transferring and carrying processes exists; when the driving force of the driving oil cylinder to the left clamping arm and the right clamping arm is large, large clamping force is often caused to two sides of the paper box, and when the large clamping force is transmitted to goods in the paper box, mechanical damage can be caused to the goods in the paper box, so that the goods in the paper box, such as a refrigerator, a washing machine, an air conditioner and the like, are damaged, and the operation is troublesome.
Therefore, the self-adaptive intelligent box body clamping device capable of effectively forming stable clamping for the paper box with the goods and controlling the clamping force within a smaller reasonable range is designed, so that stable lifting and carrying operation can be effectively formed for the paper box with the goods, and damage to the goods in the paper box in the clamping and carrying process can be effectively reduced to the maximum extent.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides the self-adaptive intelligent box body clamping device and the application method thereof, which can effectively solve the problems in the prior art.
The technical scheme of the invention is as follows:
a self-adaptive intelligent box body holding device comprises
The mounting seat is fixedly arranged on a lifting frame of a corresponding carrying forklift, and the left side and the right side of the mounting seat can be respectively and transversely provided with a corresponding left clamping arm and a corresponding right clamping arm;
the driving oil cylinders are fixedly connected to the mounting seat and are respectively used for driving the left clamping arm and the right clamping arm to transversely move along the mounting seat;
the anti-skid rubber plates are respectively fixed on the inner sides of the left clamping arm and the right clamping arm, and the lower part of the inner side of at least one anti-skid rubber plate is internally fixed with a corresponding pressure sensor;
the laser ranging sensor is fixedly arranged on the upper side of the top of the mounting seat, and the sensing end of the laser ranging sensor is arranged downwards;
and the pressure sensor and the laser ranging sensor are respectively connected to the control system, and the working process of the driving oil cylinder is controlled by the control system.
The box body holding and clamping device further comprises a group of corner oil cylinders, the corner oil cylinders are fixedly connected to the bottom sides of the middle parts of the left clamping arm and the right clamping arm respectively, corresponding check blocks are fixedly connected to the output shaft ends of the corner oil cylinders respectively, the check blocks are driven by the corner oil cylinders to extend to the inner sides of the anti-slip rubber plates in an inward rotating mode respectively and are used for supporting the bottoms of the box bodies to be held and clamped, and the working process of the corner oil cylinders is controlled by the control system.
The middle parts of the left clamping arm and the right clamping arm are respectively provided with corresponding embedded grooves, the corner oil cylinders are respectively and fixedly arranged in the embedded grooves of the left clamping arm and the right clamping arm, the anti-skid rubber plate is respectively provided with corresponding openings at positions corresponding to the stop blocks, and the stop blocks are driven by the corner oil cylinders to respectively and inwards rotate and extend to the inner sides of the anti-skid rubber plate along the openings of the anti-skid rubber plate.
The upper surfaces of the stop blocks are respectively arranged in a downward inclined mode.
The mounting seat comprises a left hanging plate and a right hanging plate, the left hanging plate and the right hanging plate are connected into a whole through corresponding connecting plates, corresponding goods blocking racks are fixedly connected upwards through the connecting plates, and the laser ranging sensor is fixedly connected to the tops of the goods blocking racks.
The upper and lower sides of left link plate and right link plate are provided with the hanging hook plate for installation respectively.
One side of the lifting frame, which is not arranged on the carrying forklift, of the mounting seat is transversely fixedly connected with a group of fixing pieces which are arranged at high and low, and a group of corresponding T-shaped guide grooves are respectively transversely arranged on the fixing pieces; the ends of the left clamping arm and the right clamping arm are fixedly connected with a group of corresponding T-shaped beams according to the height respectively, and the left clamping arm and the right clamping arm can be transversely and movably installed on the fixing piece respectively through the cooperation of the T-shaped beams and the T-shaped guide grooves.
The application method of the self-adaptive intelligent box body clamping device comprises the following specific steps:
s1, controlling piston columns of a driving oil cylinder to extend out of place respectively, and driving the left clamping arm and the right clamping arm to move outwards and open along the mounting seat respectively;
s2, under the drive of a carrying forklift, the left clamping arm and the right clamping arm respectively move to the outer sides of two side surfaces of the box body to be clamped;
s3, controlling piston columns of a driving oil cylinder to be respectively retracted, and driving the left clamping arm and the right clamping arm to respectively move inwards along the mounting seat;
s4, after the pressure sensor senses the pressure, a driver controls a lifting frame of the carrying forklift to ascend, and in the ascending process, piston columns of a group of driving oil cylinders continue to retract so as to gradually increase the clamping force of the anti-skid rubber plate on the box body to be clamped;
s5, when the laser ranging sensor senses that the distance between the laser ranging sensor and the top of the box body to be held is not changed, controlling the driving oil cylinder to stop running, and recording the pressure value F1 of the pressure sensor;
s6, a driver controls the lifting frame of the carrying forklift to descend, after the box body to be held is reset, the piston columns of the driving oil cylinders are controlled to extend out of positions respectively, and then the lifting frame of the carrying forklift is controlled to ascend and descend again, so that the bottoms of the anti-skid rubber plates are flush with the bottoms of the box bodies to be held respectively;
s7, controlling piston columns of the driving oil cylinders to retract respectively, driving the left clamping arm and the right clamping arm to move inwards along the mounting seat (1) respectively, controlling the driving oil cylinders to stop operating after the pressure value of the pressure sensor reaches (1-1.1) F1, and then controlling a lifting frame of the carrying forklift to ascend by a driver so as to lift and move the box body to be held.
The step S7 further includes a step S8: and controlling the corner oil cylinder to start so as to drive the stop blocks to respectively and inwards rotate and extend to the inner sides of the anti-skid rubber plates along the openings of the anti-skid rubber plates, and enabling the upper surfaces of the stop blocks to respectively and tightly prop against the bottoms of the two sides of the box body to be held.
The step S8 further includes a step S9: controlling the piston columns of the driving oil cylinders to extend out respectively, and controlling the driving oil cylinders to stop running after the pressure value of the pressure sensor reaches (0.9-1) F1;
after the box body to be clamped is conveyed in place, a driver controls a lifting frame of a carrying forklift to descend, after the box body to be clamped is fixed in place, a piston column of a driving oil cylinder is controlled to extend out of place respectively, and meanwhile, a corner oil cylinder is reset to drive a stop block to reset, so that clamping conveying of the box body to be clamped is completed.
The invention has the advantages that:
1) The invention is characterized in that the inner sides of a left clamping arm and a right clamping arm are respectively provided with an anti-skid rubber plate, and the lower part of the inner side of the anti-skid rubber plate is internally provided with a corresponding pressure sensor; on the basis, the invention further provides a laser ranging sensor fixed on the upper side of the top of the mounting seat.
When carrying out holding and clamping on the paper box with goods, controlling piston columns of a driving oil cylinder to be respectively retracted so as to drive a left clamping arm and a right clamping arm, namely driving an anti-skid rubber plate to effectively move inwards, and after a pressure sensor senses pressure, namely after the anti-skid rubber plate on the left clamping arm or the right clamping arm starts to contact the paper box, controlling a lifting frame of a carrying forklift to ascend by a driver; in the ascending process, the piston column of the driving oil cylinder is continuously retracted to gradually increase the clamping force of the anti-skid rubber plate to the box body to be clamped until the box body with goods is clamped and synchronously lifted along with the box body clamping device, namely, the laser ranging sensor senses that the distance between the laser ranging sensor and the top of the box body to be clamped is not changed, the driving oil cylinder can be controlled to stop running, and the pressure value F1 of the pressure sensor in the period is recorded; then, the driver operates the lifting frame of the carrying forklift to descend to reset the box body to be held, and then the lifting frame of the carrying forklift is controlled to lift in place again, so that the bottoms of the anti-skid rubber plates are respectively flush with the bottoms of the box bodies to be held; finally, the piston columns of the driving oil cylinders are controlled to be respectively retracted so as to drive the left clamping arm and the right clamping arm to respectively move inwards along the mounting seat, and after the pressure value of the pressure sensor reaches (1-1.1) F1, the driving oil cylinders are controlled to stop running, and at the moment, a driver controls the lifting frame of the carrying forklift to lift and move the box body to be held.
The minimum clamping force F1 required by the anti-skid rubber plate when the box body (containing goods) to be clamped is effectively and accurately obtained, and then the box body to be clamped is clamped by the actual clamping force which is more than the minimum clamping force F1 and is within 10%, so that a stable clamping can be effectively formed for the box body with the goods; and the actual clamping force can be controlled within a smaller reasonable range, namely, the actual clamping force which is larger than the minimum clamping force F1 and is within 10% is used for clamping the box body to be clamped. Thereby not only effectively forming stable promotion and carrying operation to the carton that the device has goods, but also can effectively reduce the injury of holding the goods in the carton in the clamp carrying process to the maximum extent.
2) The invention further comprises a group of corner oil cylinders, the output shaft ends of the corner oil cylinders are respectively fixedly connected with corresponding check blocks, and the check blocks respectively extend to the inner sides of the anti-skid rubber plates in an inward rotating mode under the driving of the corner oil cylinders so as to be used for supporting the bottom of the box body to be clamped, and therefore stable clamping can be further effectively formed for the paper box with goods.
3) Under the cooperation of the corner oil cylinder and the stop block, a bottom support can be effectively formed at the bottom of the box body to be clamped so as to form a supporting force on the box body to be clamped, so that clamping force of the box body to be clamped in the carrying process is reduced, the piston columns of the driving oil cylinder in the clamping and carrying processes can be further controlled to extend out respectively, and after the pressure value of the pressure sensor reaches (0.9-1) F1, the driving oil cylinder is controlled to stop running. The clamping is carried out on the box body to be clamped by the actual clamping force which is smaller than the minimum clamping force F1 and is within 10%, so that the stable clamping can be effectively formed on the paper box with the goods. Therefore, on the premise of keeping the holding stability of the paper box with the goods, the actual holding force when holding the paper box body to be held is further lightened, so that the damage to the goods in the paper box in the holding carrying process is further reduced.
4) The middle parts of the left clamping arm and the right clamping arm are respectively provided with corresponding embedded grooves, the corner oil cylinders are respectively and fixedly arranged in the embedded grooves of the left clamping arm and the right clamping arm, the anti-skid rubber plate is respectively provided with corresponding openings at positions corresponding to the stop blocks, and the stop blocks are driven by the corner oil cylinders to respectively and inwards rotate along the openings of the anti-skid rubber plate to extend to the inner sides of the anti-skid rubber plate. Therefore, on the premise that the width between the left clamping arm, the right clamping arm and the corresponding anti-slip rubber plate is not increased, the corner oil cylinder and the stop block are effectively installed, so that the left clamping arm, the right clamping arm and the corresponding anti-slip rubber can still be effectively and conveniently inserted between stacked cartons.
5) The upper surfaces of the stoppers are respectively arranged in a downward inclined way so as to ensure that the stoppers in the rotating process can be successfully wedged on the two sides of the bottom of the paper box with goods.
Drawings
Fig. 1 is a schematic structural view of the present invention.
Fig. 2 is a rear view of the present invention.
Fig. 3 is a front view of the present invention.
Fig. 4 is a schematic structural view of the stopper extending to the inner side of the anti-slip rubber plate under the driving of the corner cylinder.
Fig. 5 is a partial enlarged view of fig. 1.
Detailed Description
For the convenience of understanding by those skilled in the art, the structure of the present invention will now be described in further detail with reference to the accompanying drawings:
referring to FIGS. 1-5, an adaptive intelligent cabinet clamp device comprises
The mounting seat 1 is fixedly arranged on a lifting frame of a corresponding carrying forklift (the carrying forklift and the lifting frame of the carrying forklift are all existing products, and the structure of the lifting frame is not repeated here), and the left side and the right side of the mounting seat 1 can be respectively and transversely movably provided with a corresponding left clamping arm 2 and a corresponding right clamping arm 3;
the group of driving oil cylinders 4 are fixedly connected to the mounting seat 1, and the group of driving oil cylinders 4 are respectively used for driving the left clamping arm 2 and the right clamping arm 3 to transversely move along the mounting seat 1;
the anti-skid rubber plates 5 are respectively fixed on the inner sides of the left clamping arm 2 and the right clamping arm 3, and the lower parts of the inner sides of the anti-skid rubber plates 5 are respectively internally provided with a corresponding pressure sensor 6;
the laser ranging sensor 7 is fixedly arranged on the upper side of the top of the mounting seat 1, and the sensing end of the laser ranging sensor 7 is arranged downwards;
the control system 8, the pressure sensor 6 and the laser ranging sensor 7 are respectively connected to the control system 8, the working process of the driving oil cylinder 4 is controlled by the control system 8, and the control system 8 in the embodiment is a programmable PLC encoder.
The box body clamping device further comprises a group of corner oil cylinders 9, the corner oil cylinders 9 are fixedly connected to the bottom sides of the middle parts of the left clamping arm 2 and the right clamping arm 3 respectively, corresponding check blocks 10 are fixedly connected to output shaft ends of the corner oil cylinders 9 respectively, the check blocks 10 are driven by the corner oil cylinders 9 to extend to the inner sides of the anti-skid rubber plates 5 in an inward rotating mode respectively and are used for supporting bottoms of the box bodies to be clamped, and the working process of the corner oil cylinders 9 is controlled by the control system 8.
The middle parts of the left clamping arm 2 and the right clamping arm 3 are respectively provided with corresponding embedded grooves, the corner oil cylinders 9 are respectively and fixedly arranged in the embedded grooves of the left clamping arm 2 and the right clamping arm 3, the anti-skid rubber plates 5 are respectively provided with corresponding openings at positions corresponding to the stop blocks 10, and the stop blocks 10 are driven by the corner oil cylinders 9 to respectively and inwards rotate and extend to the inner sides of the anti-skid rubber plates 5 along the openings of the anti-skid rubber plates 5.
The upper surfaces of the stoppers 10 are respectively inclined downward.
The mounting seat 1 comprises a left hanging plate 101 and a right hanging plate 102, the left hanging plate 101 and the right hanging plate 102 are connected into a whole through corresponding connecting plates 103, corresponding goods blocking racks 11 are fixedly connected upwards through the connecting plates 103, and the laser ranging sensor 7 is fixedly connected to the tops of the goods blocking racks 11.
The upper and lower sides of the left hanging plate 101 and the right hanging plate 102 are respectively provided with a hanging hook plate 12 for installation, and the hanging hook plate 12 is matched with the lifting frame of the carrying forklift to fixedly hang the invention on the lifting frame of the carrying forklift.
One side of the lifting frame, which is not arranged on the carrying forklift, of the mounting seat 1 is transversely fixedly connected with a group of fixing pieces 13 which are arranged at high and low, and a group of corresponding T-shaped guide grooves are respectively transversely arranged on the fixing pieces 13; the ends of the left clamping arm 2 and the right clamping arm 3 are fixedly connected with a group of corresponding T-shaped beams 14 according to the height, and the left clamping arm 2 and the right clamping arm 3 can be transversely and movably installed on the fixing piece 13 through the cooperation of the T-shaped beams 14 and the T-shaped guide grooves.
The application method of the self-adaptive intelligent box body clamping device comprises the following specific steps:
s1, controlling piston columns of a driving oil cylinder 4 to extend out of position respectively, and driving the left clamping arm 2 and the right clamping arm 3 to move outwards and open along the mounting seat 1 respectively;
s2, under the drive of a carrying forklift, the left clamping arm 2 and the right clamping arm 3 respectively move to the outer sides of two side surfaces of the box body to be clamped;
s3, controlling piston columns of the driving oil cylinders 4 to be respectively retracted, and driving the left clamping arms 2 and the right clamping arms 3 to respectively move inwards along the mounting seats 1;
s4, after the pressure sensor 6 senses the pressure, a driver controls the lifting frame of the carrying forklift to ascend, and in the ascending process, the piston columns of a group of driving oil cylinders 4 continue to retract so as to gradually increase the clamping force of the anti-skid rubber plate 5 to the box body to be clamped;
s5, when the laser ranging sensor 7 senses that the distance between the laser ranging sensor and the top of the box body to be held is not changed, controlling the driving oil cylinder 4 to stop operating, and recording the pressure value F1 of the pressure sensor 6;
s6, a driver controls the lifting frame of the carrying forklift to descend, after the box body to be held is reset, the piston columns of the driving oil cylinders 4 are controlled to extend out of positions respectively, and then the lifting frame of the carrying forklift is controlled to ascend and descend again, so that the bottoms of the anti-skid rubber plates 5 are level with the bottoms of the box bodies to be held respectively;
s7, controlling piston columns of the driving oil cylinders 4 to retract respectively, driving the left clamping arm 2 and the right clamping arm 3 to move inwards along the mounting seat 1 respectively, controlling the driving oil cylinders 4 to stop operation after the pressure value of the pressure sensor 6 reaches 1.05F1, and then controlling a lifting frame of a carrying forklift to ascend by a driver so as to lift and move the box body to be clamped;
s8, controlling the corner oil cylinders 9 to start so as to drive the stop blocks 10 to respectively and inwards rotate along the openings of the anti-skid rubber plates 5 and extend to the inner sides of the anti-skid rubber plates 5, so that the upper surfaces of the stop blocks 10 respectively and tightly prop against the bottoms of the two sides of the box body to be held;
s9, controlling the piston columns of the driving oil cylinders 4 to extend respectively, and controlling the driving oil cylinders 4 to stop operation after the pressure value of the pressure sensor 6 reaches 0.95F1;
after the box body to be clamped is conveyed in place, a driver controls a lifting frame of a carrying forklift to descend, after the box body to be clamped is fixed in place, a piston column of a driving oil cylinder 4 is controlled to extend out of place respectively, and meanwhile, a corner oil cylinder 9 is reset to drive a stop block 10 to reset, so that clamping conveying of the box body to be clamped is completed.
When the paper box with goods is carried by holding and clamping, the piston columns of the driving oil cylinders 4 are controlled to be respectively retracted to drive the left clamping arms 2 and the right clamping arms 3, namely the anti-slip rubber plates 5 are driven to effectively move inwards, and after the pressure sensors 6 respectively sense the pressure, namely the anti-slip rubber plates 5 on the left clamping arms 2 and the right clamping arms 3 respectively contact the paper box, a driver controls the lifting frame of a carrying forklift to ascend; in the ascending process, the piston column of the driving oil cylinder 4 continues to retract so as to gradually increase the clamping force of the anti-skid rubber plate 5 to the box body to be clamped until the box body with goods is clamped and synchronously lifted along with the box body clamping device, namely, the laser ranging sensor 7 senses that the distance between the box body and the top of the box body to be clamped is not changed, the driving oil cylinder 4 can be controlled to stop running, and the pressure value F1 of the pressure sensor 6 in the period of time is recorded; then, the driver operates the lifting frame of the carrying forklift to descend so as to reset the box body to be held, and then the lifting frame of the carrying forklift is controlled to lift in place again so that the bottoms of the anti-skid rubber plates 5 are respectively flush with the bottoms of the box bodies to be held; finally, the piston columns of the driving oil cylinder 4 are controlled to be respectively retracted so as to drive the left clamping arm 2 and the right clamping arm 3 to respectively move inwards along the mounting seat 1, after the pressure value of the pressure sensor 6 reaches 1.05F1, the driving oil cylinder 4 is controlled to stop, and at the moment, a driver controls the lifting frame of the carrying forklift to ascend, so that the box body to be clamped can be lifted, moved and carried.
The minimum clamping force F1 required by the anti-skid rubber plate 5 when the box body (containing goods) to be clamped is effectively and accurately obtained, and then the box body to be clamped is clamped by the actual clamping force which is 5% greater than the minimum clamping force F1, so that a stable clamping can be effectively formed for the paper box with the goods; and the actual clamping force can be controlled in a smaller reasonable range, namely, the actual clamping force which is larger than 5% of the minimum clamping force F1 is used for clamping the box body to be clamped. Thereby not only effectively forming stable promotion and carrying operation to the carton that the device has goods, but also can effectively reduce the injury of holding the goods in the carton in the clamp carrying process to the maximum extent.
Under the cooperation of the corner oil cylinder 9 and the stop block 10, a supporting bottom can be effectively formed at the bottom of the box body to be clamped so as to form supporting force on the box body to be clamped, so that clamping force of the box body to be clamped in the carrying process is reduced, the piston columns of the driving oil cylinder 4 in the clamping and carrying processes can be further controlled to extend out respectively, and after the pressure value of the pressure sensor 6 reaches 0.95F1, the driving oil cylinder 4 is controlled to stop operating. The clamping is carried out on the box body to be clamped with the actual clamping force which is smaller than the minimum clamping force F1 and is 5%, and therefore stable clamping can be effectively formed on the paper box with goods. Therefore, on the premise of keeping the holding stability of the paper box with the goods, the actual holding force when holding the paper box body to be held is further lightened, so that the damage to the goods in the paper box in the holding carrying process is reduced.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (10)
1. Self-adaptation intelligent box embraces and presss from both sides device, its characterized in that: comprising
The mounting seat (1) is fixedly arranged on a lifting frame of a corresponding carrying forklift, and the left side and the right side of the mounting seat (1) can be respectively and transversely provided with a corresponding left clamping arm (2) and a corresponding right clamping arm (3);
the group of driving oil cylinders (4) are fixedly connected to the mounting seat (1), and the group of driving oil cylinders (4) are respectively used for driving the left clamping arm (2) and the right clamping arm (3) to transversely move along the mounting seat (1);
the anti-skid rubber plates (5) are respectively fixed on the inner sides of the left clamping arm (2) and the right clamping arm (3), and a corresponding pressure sensor (6) is arranged on the inner side lower part inward fixing device of at least one anti-skid rubber plate (5);
the laser ranging sensor (7) is fixedly arranged on the upper side of the top of the mounting seat (1), and the sensing end of the laser ranging sensor (7) is arranged downwards;
the control system (8), the pressure sensor (6) and the laser ranging sensor (7) are respectively connected to the control system (8), and the working process of the driving oil cylinder (4) is controlled by the control system (8).
2. The adaptive intelligent cabinet holding clamp device according to claim 1, wherein: the box body holding clamp device further comprises a group of corner oil cylinders (9), the corner oil cylinders (9) are fixedly connected to the bottom sides of the middle parts of the left clamp arm (2) and the right clamp arm (3) respectively, corresponding check blocks (10) are fixedly connected to the output shaft ends of the corner oil cylinders (9) respectively, the check blocks (10) are driven by the corner oil cylinders (9) to rotate inwards and extend to the inner sides of the anti-slip rubber plates (5) respectively and are used for supporting the bottom of the box body to be held, and the working process of the corner oil cylinders (9) is controlled by the control system (8).
3. The adaptive intelligent cabinet holding clamp device according to claim 2, wherein: the anti-skid rubber plate is characterized in that corresponding embedded grooves are respectively formed in the middle parts of the left clamping arm (2) and the right clamping arm (3), the corner oil cylinders (9) are respectively and fixedly arranged in the embedded grooves of the left clamping arm (2) and the right clamping arm (3), corresponding openings are respectively formed in the positions of the anti-skid rubber plate (5) corresponding to the stop blocks (10), and the stop blocks (10) are driven by the corner oil cylinders (9) to respectively and inwards rotate and extend to the inner sides of the anti-skid rubber plate (5) along the opening parts of the anti-skid rubber plate (5).
4. A self-adaptive intelligent cabinet holding clamp device as claimed in claim 3, wherein: the upper surfaces of the stop blocks (10) are respectively arranged in a downward inclined mode.
5. The adaptive intelligent cabinet holding clamp device according to claim 1, wherein: the mounting seat (1) comprises a left hanging plate (101) and a right hanging plate (102), the left hanging plate (101) and the right hanging plate (102) are connected into a whole through corresponding connecting plates (103), corresponding goods blocking racks (11) are upwards fixedly connected with the connecting plates (103), and the laser ranging sensor (7) is fixedly connected to the tops of the goods blocking racks (11).
6. The adaptive intelligent cabinet clamping device according to claim 5, wherein: the upper and lower sides of the left hanging plate (101) and the right hanging plate (102) are respectively provided with a hanging hook plate (12) for installation.
7. The adaptive intelligent cabinet holding clamp device according to claim 1, wherein: one side of the lifting frame, which is not arranged on the carrying forklift, of the mounting seat (1) is transversely fixedly connected with a group of fixing pieces (13) which are arranged at high and low, and a group of corresponding T-shaped guide grooves are respectively and transversely arranged on the fixing pieces (13); the ends of the left clamping arm (2) and the right clamping arm (3) are fixedly connected with a group of corresponding T-shaped beams (14) according to the height respectively, and the left clamping arm (2) and the right clamping arm (3) can be transversely and movably installed on the fixing piece (13) through the cooperation of the T-shaped beams (14) and the T-shaped guide grooves.
8. The method of using the self-adaptive intelligent box body clamping device as claimed in claim 4, comprising the following specific steps:
s1, controlling piston columns of a driving oil cylinder (4) to extend out of positions respectively, and driving the left clamping arm (2) and the right clamping arm (3) to move outwards and open along the mounting seat (1) respectively;
s2, under the drive of a carrying forklift, the left clamping arm (2) and the right clamping arm (3) respectively move to the outer sides of two side surfaces of the box body to be clamped;
s3, controlling piston columns of a driving oil cylinder (4) to be respectively retracted, and driving the left clamping arm (2) and the right clamping arm (3) to respectively move inwards along the mounting seat (1);
s4, after the pressure sensor (6) senses the pressure, a driver controls the lifting frame of the carrying forklift to ascend, and in the ascending process, the piston columns of a group of driving oil cylinders (4) continue to retract so as to gradually increase the clamping force of the anti-skid rubber plate (5) to the box body to be clamped;
s5, when the laser ranging sensor (7) senses that the distance between the laser ranging sensor and the top of the box body to be clamped is not changed, controlling the driving oil cylinder (4) to stop running, and recording the pressure value F1 of the pressure sensor (6);
s6, a driver controls the lifting frame of the carrying forklift to descend, after the box body to be held is reset, the piston columns of the driving oil cylinders (4) are controlled to extend out of positions respectively, and then the lifting frame of the carrying forklift is controlled to ascend and descend again, so that the bottoms of the anti-skid rubber plates (5) are flush with the bottoms of the box bodies to be held respectively;
s7, controlling piston columns of the driving oil cylinders (4) to retract respectively, driving the left clamping arms (2) and the right clamping arms (3) to move inwards respectively along the mounting seats (1), controlling the driving oil cylinders (4) to stop running after the pressure value of the pressure sensor (6) reaches (1-1.1) F1, and then controlling a lifting frame of the carrying forklift to ascend by a driver so as to lift and move the box body to be clamped.
9. The method of claim 8, wherein the step S7 further comprises the step S8 of:
the corner oil cylinder (9) is controlled to start so as to drive the stop blocks (10) to respectively and inwards rotate along the opening of the anti-skid rubber plate (5) to extend to the inner sides of the anti-skid rubber plate (5), and the upper surfaces of the stop blocks (10) respectively and tightly prop against the bottoms of the two sides of the box body to be held.
10. The method of claim 9, wherein the step S8 further comprises the step S9 of:
controlling the piston columns of the driving oil cylinders (4) to extend out respectively, and controlling the driving oil cylinders (4) to stop running after the pressure value of the pressure sensor (6) reaches (0.9-1) F1;
after the box body to be clamped is conveyed in place, a driver controls a lifting frame of a carrying forklift to descend, after the box body to be clamped is fixed in place, a piston column of a driving oil cylinder (4) is controlled to extend out of place respectively, and a corner oil cylinder (9) is reset to drive a stop block (10) to reset, so that clamping conveying of the box body to be clamped is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211671518.9A CN116002575A (en) | 2022-12-26 | 2022-12-26 | Self-adaptive intelligent box body clamping device and application method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211671518.9A CN116002575A (en) | 2022-12-26 | 2022-12-26 | Self-adaptive intelligent box body clamping device and application method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116002575A true CN116002575A (en) | 2023-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211671518.9A Pending CN116002575A (en) | 2022-12-26 | 2022-12-26 | Self-adaptive intelligent box body clamping device and application method thereof |
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| Country | Link |
|---|---|
| CN (1) | CN116002575A (en) |
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2022
- 2022-12-26 CN CN202211671518.9A patent/CN116002575A/en active Pending
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