CN116331828B - A transport clamping jaw device for inclinometry - Google Patents

A transport clamping jaw device for inclinometry Download PDF

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Publication number
CN116331828B
CN116331828B CN202310523645.2A CN202310523645A CN116331828B CN 116331828 B CN116331828 B CN 116331828B CN 202310523645 A CN202310523645 A CN 202310523645A CN 116331828 B CN116331828 B CN 116331828B
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China
Prior art keywords
measuring
clamping
driving
block
connecting plate
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CN202310523645.2A
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Chinese (zh)
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CN116331828A (en
Inventor
许习军
郭学深
惠茂盛
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Taiyuan Fortucky Logistics Equipment Technology Co ltd
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Taiyuan Fortucky Logistics Equipment Technology Co ltd
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Priority to CN202310523645.2A priority Critical patent/CN116331828B/en
Publication of CN116331828A publication Critical patent/CN116331828A/en
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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
    • B65G47/901—Devices for picking-up and depositing articles or materials provided with drive systems with rectilinear movements only
    • 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
    • B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
    • B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
    • 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
    • B65G67/00—Loading or unloading vehicles
    • B65G67/02—Loading or unloading land vehicles
    • B65G67/04—Loading land vehicles
    • 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
    • B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
    • 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
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/02—Articles
    • B65G2201/0235—Containers
    • B65G2201/0241—Barrels, drums
    • 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/04—Detection means
    • B65G2203/042—Sensors
    • 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
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E10/00—Energy generation through renewable energy sources
    • Y02E10/50—Photovoltaic [PV] energy

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Specific Conveyance Elements (AREA)

Abstract

The application relates to a transferring clamping jaw device for inclinometry, which relates to the field of transportation clamps and comprises a clamping jaw assembly, a clamping part and a clamping device, wherein the clamping part comprises a connecting plate and a plurality of clamping rods; the inclinometry component comprises a controller and a plurality of measurement parts, the measurement parts are arranged and correspond to the clamping rods one by one, and each measurement part comprises a measurement block, a measurement spring and a displacement sensor; the clamping rod is fixedly connected with the connecting plate, and a measuring cavity is formed in the clamping rod; the measuring block is arranged on the side wall of the measuring cavity in a sliding penetrating mode, the measuring spring is fixedly connected with the side wall of the measuring cavity and the measuring block, the measuring spring is in a compressed state, the displacement sensor is fixedly arranged on the side wall of the measuring cavity opposite to the measuring block and is electrically connected with the controller, the displacement sensor is used for measuring a displacement signal of the measuring block and outputting the displacement signal to the controller, and the controller is used for recording the displacement signal. The application has the effect that the inclined charging bucket is difficult to influence the placement of charging bucket around itself.

Description

A transport clamping jaw device for inclinometry
Technical Field
The application relates to the field of transportation clamps, in particular to a transportation clamping jaw device for inclinometry.
Background
The material loading is usually to load the material into the material bucket firstly, then transport the material bucket into the carriage of the truck through the mechanical transport device, and transport the material bucket by the truck.
At present, a general mechanical transportation device comprises a moving mechanism and a clamping mechanism, wherein the moving mechanism comprises a transverse moving assembly, a longitudinal moving assembly and a lifting assembly, the longitudinal moving assembly is arranged on the transverse moving assembly, the lifting assembly is arranged on the longitudinal moving assembly, the clamping mechanism is arranged on the lifting assembly and is used for clamping a material taking barrel, and the transverse moving assembly, the longitudinal moving assembly and the lifting assembly are matched to drive the clamping mechanism to move in a three-dimensional space. When the automatic feeding device is used, the lifting assembly drives the clamping mechanism to be close to the charging basket, the clamping mechanism clamps the charging basket, the lifting assembly drives the clamping mechanism to move upwards, the transverse moving assembly and the longitudinal moving assembly cooperate to enable the clamping mechanism to move into a carriage of a truck, the lifting assembly drives the clamping mechanism to be close to the bottom end of the carriage of the truck, the clamping mechanism releases the charging basket, the charging basket is placed on the bottom end of the carriage, and then the charging basket is sequentially moved into the carriage one by one through the processes, so that mechanical conveying and loading of the charging basket are completed.
When the storage bucket is placed in the bottom of boxcar, because the carriage bottom is in the rugged state generally for the storage bucket is liable to be in the inclination in the bottom of carriage, thereby easily causes the influence to the position of placing of next storage bucket in the carriage.
Disclosure of Invention
In order to enable the obliquely placed charging bucket to be difficult to influence the placement of charging bucket around the charging bucket, the application provides a transferring clamping jaw device for inclinometry.
The application provides a transport clamping jaw device for inclinometry adopts following technical scheme:
a transfer jaw apparatus for inclinometry, comprising:
the clamping jaw assembly comprises a clamping part, wherein the clamping part comprises a connecting plate and a plurality of clamping rods;
the inclinometry component comprises a controller and a plurality of measurement parts, wherein the measurement parts are arranged and correspond to the clamping rods one by one, and each measurement part comprises a measurement block, a measurement spring and a displacement sensor;
wherein,,
the clamping rods are positioned on one side of the connecting plate, one ends of the clamping rods are fixedly connected with the connecting plate, the clamping rods are uniformly distributed around the central axis of the connecting plate, and measuring cavities are formed in the inner parts of the ends, far away from the connecting plate;
the measuring block is arranged on one side, close to the central axis of the connecting plate, of the measuring cavity in a sliding mode, the measuring spring is located in the measuring cavity and is fixedly connected with the side wall of the measuring cavity and the measuring block, the measuring spring is in a compressed state, the displacement sensor is fixedly arranged on the side wall, opposite to the measuring block, of the measuring cavity and is electrically connected with the controller, the displacement sensor is used for measuring a displacement signal of the measuring block and outputting the displacement signal to the controller, when the measuring block slides to the displacement sensor, the controller records that the displacement signal is positive, and when the measuring block slides away from the displacement sensor, the controller records that the displacement signal is negative.
Through adopting above-mentioned technical scheme, after the storage bucket moves to the boxcar under the assistance of clamping jaw subassembly, under the action of gravity, the storage bucket inclines in the carriage bottom of unevenness, the storage bucket promotes the ascending slider of self slant direction to measuring the intracavity, the slider that deviates from storage bucket slant direction slides outside measuring the chamber under the elasticity effect of measuring the spring, displacement sensor measures the sliding displacement of slider, and with displacement signal output to the controller, the controller is the positive value to the displacement signal of slider sliding displacement sensor, and the displacement signal to the slider sliding displacement sensor is the negative value, the biggest displacement signal in the positive value is regarded as the reference value of other storage bucket positions near the storage bucket, record the position that the corresponding clamping lever of biggest displacement signal was relative with the storage bucket in the positive value as the reference position, through the reference value, the reference position makes other storage positions can revise, make other storage buckets be difficult for producing the interference with the storage bucket that has placed when placing, and then make the storage bucket that the slope placed be difficult for causing the influence to the storage bucket around self.
Optionally, a locking cylinder is fixedly arranged in the measurement cavity, a locking block is fixedly connected to the movable end of the locking cylinder, and a locking groove for inserting the locking block is formed in the measurement block.
Through adopting above-mentioned technical scheme, insert the locking inslot through locking hydro-cylinder drive locking piece for measure the piece and be difficult to the slip of clamping lever relatively, and then make the clamping lever measure the piece and can be in fixed state with the clamping lever when the centre gripping storage bucket removes, make the storage bucket be in steady state easily in the transportation process.
Optionally, the clamping rod is kept away from the one end of connecting plate is connected with the gripping head, and the top of storage bucket is set up on the gripping head, and the lateral wall with leave the distance between the gripping head, the top of storage bucket with measure the piece butt.
Through adopting above-mentioned technical scheme, the clamping lever promotes the storage bucket through the gripping head for the gripping mode of gripping lever to the storage bucket is in order to consignment to be the main, makes the storage bucket be difficult for taking place to warp because of the clamping force of gripping lever is too big at the in-process that the centre gripping moved, simultaneously because the top and the measuring block butt of storage bucket, and leave the distance between lateral wall and the gripping head, make the storage bucket be convenient for promote the measuring block when the slope, thereby make the gripping head difficult to cause the influence to the displacement measurement of measuring block to the consignment of storage bucket.
Optionally, the connecting plate is kept away from one side of clamping lever is connected with the telescopic link, the expansion end of telescopic link with connecting plate fixed connection, be provided with reset spring in the telescopic link, reset spring's both ends respectively with the stiff end, the expansion end fixed connection of telescopic link, reset spring is used for driving the expansion end of telescopic link withdraws inside self.
Through adopting above-mentioned technical scheme, the storage bucket stretches out through the expansion end of gravity pulling telescopic link in moving the fortune in-process, and make reset spring accumulate the elasticity, after the telescopic link drives the connecting plate and moves the bottom of fortune storage bucket to the carriage, for removing the holding power of clamping head to the storage bucket, make the relative storage bucket of clamping lever move down, reset spring makes the expansion end of telescopic link withdraw inside self through the elasticity, the expansion end drive connecting plate of telescopic link, the clamping lever moves up, thereby make the clamping head all the time with the top butt of storage bucket under reset spring's elasticity effect, and provide the holding power that does not influence the free slope of storage bucket, make the top of storage bucket easily remain all the time with the measuring block be in the butt state, and then make the measuring block be difficult for receiving the influence that the clamping lever moved down to the measurement of storage bucket.
Optionally, the telescopic link is close to the one end fixedly connected with actuating cylinder of connecting plate, actuating cylinder's expansion end slides and wears to establish on the telescopic link, actuating cylinder keep away from the one end of expansion end through oil pipe with locking cylinder keeps away from the one end intercommunication of expansion end, actuating cylinder with locking cylinder has driving medium through oil pipe circulation, locking cylinder is close to the inside of expansion end one end and is provided with unlocking spring, unlocking spring's one end with locking cylinder's stiff end fixed connection, the other end with locking cylinder's expansion end fixed connection, unlocking spring is used for driving locking cylinder's expansion end retract self inside.
By adopting the technical scheme, when the clamping rod moves the charging basket through the clamping head, under the action of gravity of the charging basket, the movable end of the telescopic rod extends to the maximum state, one end of the movable end of the telescopic rod, which is positioned in the telescopic rod, can be extruded onto the movable end of the driving oil cylinder, the movable end of the driving oil cylinder is retracted into the self-body, the retraction of the movable end of the driving oil cylinder enables a driving medium to flow into the locking oil cylinder from the driving oil cylinder, the driving medium drives the movable end of the locking oil cylinder to extend, and the unlocking spring accumulates elasticity, so that the locking block can be inserted into the locking groove in the process of moving the charging basket; when the storage bucket is placed the bottom in carriage, the storage bucket releases the pulling force to the telescopic link, and the telescopic link resets under reset spring's elasticity to the extrusion force of telescopic link to actuating cylinder has been relieved, unlocking spring passes through the inside of the expansion end withdrawal self of elasticity drive locking hydro-cylinder, thereby makes the locking piece deviate from the locking groove, and then makes the locking piece be convenient for insert or deviate from the locking groove according to the state automatic at storage bucket place through actuating cylinder.
Optionally, the clamping head and the clamping rod are in sliding connection, and the sliding direction is along the direction away from or close to the central axis of the connecting plate.
By adopting the technical scheme, when the charging bucket is required to be moved, the clamping head slides towards the direction close to the central axis of the connecting plate, so that the clamping head can provide supporting force for the charging bucket; when the charging basket needs to be placed, the clamping head slides towards the direction far away from the central axis of the connecting plate, the supporting force of the clamping head on the charging basket is relieved, and the clamping rod can be separated from the charging basket, so that the clamping or the placement of the charging basket can be conveniently realized through the sliding of the clamping head.
Optionally, the clamping head is kept away from the one end of connecting plate central axis articulates there is the actuating lever, the actuating lever is kept away from the one end of clamping head articulates there is the drive piece, the drive piece with clamping lever sliding connection, a plurality of the common fixedly connected with connecting rod of drive piece.
Through adopting above-mentioned technical scheme, sliding connection pole can make a plurality of drive blocks synchronous slip, and the drive block can promote the actuating lever swing at the slip in-process, and the actuating lever can promote the gripping head slip at the swing in-process to can synchronous drive a plurality of gripping heads slip through the connecting rod, make the slip of gripping head more convenient.
Optionally, the connecting rod is fixedly connected with a driving plate through a rod piece, a reciprocating screw rod is threaded on the driving plate, the reciprocating screw rod is coaxially connected with a driving motor, the driving motor is fixedly connected with the connecting plate, and an output shaft is fixedly connected with the reciprocating screw rod.
Through adopting above-mentioned technical scheme, through the reciprocating screw of driving motor drive removal, reciprocating screw drive board reciprocating motion, the drive board can drive connecting rod reciprocating motion at reciprocating motion's in-process for the removal of connecting rod easily goes on reciprocally.
Optionally, the telescopic link is close to the inside of expansion end one end and is provided with normally closed switch, normally closed switch with driving motor electricity is connected, when pressing normally closed switch, driving motor is in the state of breaking.
Through adopting above-mentioned technical scheme, when the storage bucket is in the state of moving, the expansion link's expansion end stretches out to maximum state, and the expansion link's expansion end extrudees on normally closed switch, and normally closed switch makes driving motor be in the state of breaking for driving motor is difficult to the circular telegram at the in-process of moving the storage bucket, and then makes the storage bucket be difficult for taking place the condition that falls at the in-process of moving.
Optionally, the expansion end fixedly connected with slider of telescopic link, the slider is located the inside of telescopic link, one side of slider with the inside wall butt of telescopic link, the telescopic link is close to inlay on the inside wall of slider and be equipped with normally open switch, normally open switch with the driving motor electricity is connected, when pressing normally open switch, driving motor is in the switch-on state.
Through adopting above-mentioned technical scheme, after the carriage bottom is placed to the storage bucket, reset spring makes the expansion link's expansion end retract inside self, and the expansion link's expansion end drives the slider at the in-process of withdrawal and slides, and the slider extrudees normally open switch at gliding in-process, and normally open switch makes driving motor circular telegram, and driving motor drive reciprocating screw rotates to can make driving motor automatic start through slider, normally open switch when the storage bucket is placed, and then make the gripping head be convenient for slide with the cooperation automation of placing of storage bucket.
In summary, the present application includes at least one of the following beneficial technical effects:
1. through setting up measuring block, measuring spring and displacement sensor for the storage bucket can carry out the tilting displacement measurement when placing the bottom in carriage, thereby make the storage bucket of tilting placement be difficult for causing the influence to the placement of self surrounding storage bucket through the correction of measured value;
2. the movable end of the telescopic rod is used for extruding the driving oil cylinder, and the driving oil cylinder drives the locking oil cylinder through a driving medium, so that the locking block can automatically limit the position of the measuring block;
3. the protection of the driving motor and the automatic starting of the driving motor are realized through the normally closed switch and the normally open switch.
Drawings
FIG. 1 is a schematic diagram of an embodiment of the present application;
FIG. 2 is a cross-sectional view of an embodiment of the present application;
fig. 3 is an enlarged view at a in fig. 2.
Reference numerals illustrate:
1. a jaw assembly; 11. a clamping part; 111. a connecting plate; 112. a clamping rod; 1121. a measurement cavity; 113. a clamping head; 12. a driving section; 121. a driving rod; 122. a driving block; 123. a connecting rod; 124. a driving plate; 125. a reciprocating screw; 126. a driving motor; 127. a normally closed switch; 128. a normally open switch; 2. an inclinometry component; 21. a controller; 22. a measuring section; 221. a measuring block; 2211. a locking groove; 222. measuring a spring; 223. a displacement sensor; 23. a locking portion; 231. locking the oil cylinder; 232. a locking block; 233. an unlocking spring; 234. a driving oil cylinder; 3. a telescopic rod; 31. a return spring; 32. a sliding block.
Detailed Description
The present application is described in further detail below in conjunction with figures 1-3.
The embodiment of the application discloses a transfer clamping jaw device for inclinometry. Referring to fig. 1, a transferring jaw device for inclinometry comprises a jaw assembly 1 and an inclinometry assembly 2, wherein the inclinometry assembly 2 is arranged on the jaw assembly 1 and used for measuring the inclined displacement of a charging basket, and the jaw assembly 1 is used for clamping the charging basket.
During the use, clamping jaw centre gripping storage bucket moves the bottom of transporting the goods train carriage with the storage bucket, when clamping jaw subassembly 1 placed the storage bucket, survey oblique subassembly 2 measured the inclination displacement that the storage bucket took place because of the unevenness in carriage bottom to correct the position of placing of follow-up storage bucket according to inclination displacement, make the storage bucket of inclination placed be difficult for causing the influence to the placing of storage bucket around self.
Referring to fig. 1, the clamping jaw assembly 1 includes a clamping part 11 and a driving part 12, the clamping part 11 includes a connecting plate 111 which is horizontally arranged and is in a circular plate shape, clamping rods 112 connected with the connecting plate 111, and clamping heads 113 which are slidably connected with the clamping rods 112, wherein the clamping rods 112 are arranged in a plurality of positions below the connecting plate 111, the plurality of clamping rods 112 are uniformly distributed around the axis direction of the connecting plate 111, the clamping rods 112 are in a rectangular rod shape, one end of each clamping rod 112 is fixedly connected with the edge of the bottom surface of the connecting plate 111, and the clamping rods 112 are vertically and downwardly inclined along the direction away from the axis of the connecting plate 111, and the bottom ends of the clamping rods 112 extend downwards along the vertical direction.
The clamping heads 113 are provided with a plurality of clamping rods 112 in one-to-one correspondence, the clamping heads 113 are rectangular blocks and are positioned at the bottom ends of the extending parts of the clamping rods 112, the length directions of the clamping heads 113 are parallel to the diameter direction of the connecting plate 111, and the sliding directions of the clamping heads 113 and the clamping rods 112 are the length directions of the clamping heads. The side wall at the top end of the charging basket is internally provided with a groove, the side wall at the top end of the groove is used for being erected on the clamping head 113, and when the charging basket is erected on the clamping head 113, a distance is reserved between the bottom of the groove and the clamping head 113.
The drive portion 12 includes actuating lever 121, actuating block 122, connecting rod 123 and drive plate 124, actuating lever 121, actuating block 122 all are provided with a plurality of, and all with clamping lever 112 one-to-one, actuating lever 121 is the rectangle shaft-like, and length direction's one end is articulated with the one end that clamping head 113 kept away from connecting plate 111 axis direction, actuating block 122 slides and sets up on clamping lever 112's extension, and is located clamping lever 112 and keep away from one side of connecting plate 111 axis direction, actuating block 122's slip direction is vertical direction, actuating block 122 is articulated with the one end that clamping head 113 was kept away from to actuating lever 121.
The connecting rod 123 is circular and annular, and is fixedly connected with the driving blocks 122, and the connecting rod 123 is sleeved on the clamping rods 112 and is coaxially arranged with the connecting plate 111. The driving plate 124 is in a circular plate shape and is horizontally arranged, the driving plate 124 is positioned among the clamping rods 112 and is coaxially arranged with the connecting plate 111, and the driving plate 124 is fixedly connected with the connecting rod 123 through a rod piece.
The driving plate 124 is coaxially provided with a reciprocating screw rod 125, and the reciprocating screw rod 125 is in threaded connection with the driving plate 124. The top end of the reciprocating screw 125 is connected with a driving motor 126, the driving motor 126 is fixedly connected to the bottom surface of the connecting plate 111, and the output shaft is coaxially and fixedly connected with the reciprocating screw 125.
When the clamping device is used, the driving motor 126 is started, the driving motor 126 drives the reciprocating screw rod 125 to rotate, the reciprocating screw rod 125 drives the driving plate 124 to reciprocate along the vertical direction, the driving plate 124 drives the connecting rod 123 to reciprocate through the rod piece, the connecting rod 123 drives the driving block 122 to reciprocate, the driving block 122 drives the driving rod 121 to reciprocate, the driving rod 121 drives the clamping head 113 to slide in the reciprocating swinging process, the clamping head 113 can slide to the axis of the connecting plate 111 to support the charging bucket, and also can slide to the axis of the connecting plate 111 to release the support of the charging bucket, so that the clamping rod 112 is convenient for supporting and releasing the charging bucket through the sliding of the clamping head 113.
Referring to fig. 1 and 2, the inclinometer module 2 includes a controller 21, a measuring part 22, and a locking part 23, the controller 21 being fixedly connected to the connection plate 111; the measuring parts 22 and the locking parts 23 are provided in plurality and are in one-to-one correspondence with the clamping rods 112.
Referring to fig. 2 and 3, the measuring part 22 includes a measuring block 221, a measuring spring 222 and a displacement sensor 223, the bottom end of the extending part of the clamping rod 112 is provided with a measuring cavity 1121, the measuring block 221 is rectangular and block-shaped, the measuring block 221 is arranged on the side wall of the measuring cavity 1121, which is close to one side of the axis direction of the connecting plate 111, in a penetrating manner, and is slidably connected with the clamping rod 112, the sliding direction of the measuring block 221 is the same as the sliding direction of the clamping head 113, and the length direction of the measuring block 221 is the same as the sliding direction of the measuring block.
The measuring spring 222 is located in the measuring cavity 1121, one end of the measuring spring 222 is fixedly connected with the measuring block 221, and the other end of the measuring spring 222 is fixedly connected to the side wall of the measuring cavity 1121 opposite to the measuring block 221. When the side wall of the groove of the charging basket is erected on the clamping head 113, one end of the measuring block 221, which is positioned outside the measuring cavity 1121, is abutted with the top end of the charging basket, and the measuring spring 222 is in a compressed state.
Referring to fig. 1 and 3, the displacement sensor 223 is an infrared displacement sensor and is fixedly disposed on a side wall of the measuring cavity 1121 opposite to the measuring block 221, the displacement sensor 223 is located above the measuring spring 222, the measuring head faces the measuring block 221, the displacement sensor 223 is electrically connected with the controller 21, the displacement sensor 223 is used for measuring a displacement signal of the measuring block 221 and outputting the displacement signal to the controller 21, when the measuring block 221 slides close to the displacement sensor 223, the controller 21 records the displacement signal as a positive value, and when the measuring block 221 slides away from the displacement sensor 223, the controller 21 records the displacement signal as a negative value.
When the storage bucket is used, after the storage bucket is placed to the bottom end of a carriage through the clamping head 113 by the clamping rod 112, the storage bucket freely tilts under the action of the uneven bottom end of the carriage, the storage bucket extrudes the measuring block 221 in the tilting direction of the storage bucket, the extruded measuring block 221 slides towards the measuring cavity 1121 and compresses the measuring spring 222, the measuring block 221 deviating from the tilting direction of the storage bucket slides towards the outside of the measuring cavity 1121 under the action of the elastic force of the measuring spring 222, the displacement sensor 223 measures the sliding displacement of the measuring block 221 and outputs a measuring signal to the controller 21, the controller 21 records that the displacement signal of the measuring block 221 slides close to the displacement sensor 223 is a negative value, the controller 21 takes the largest displacement signal in the positive value as a reference value, the corresponding clamping rod 112 of the largest displacement signal in the positive value and the storage bucket are recorded as reference positions, the placing positions of other storage buckets around the storage bucket are corrected through the reference values and the reference positions recorded, and the storage bucket placed obliquely is not easy to influence the placing of the storage bucket.
Referring to fig. 3, the locking part 23 includes a locking cylinder 231 and a locking block 232, the locking cylinder 231 is located in the measuring cavity 1121 and above the measuring block 221, the locking cylinder 231 is vertically arranged with a movable end facing the measuring block 221, and the locking cylinder 231 is fixedly connected with a side wall of the measuring cavity 1121; the locking block 232 is rectangular and is fixedly connected to the movable end of the locking cylinder 231, the length direction of the locking block 232 is the same as the telescopic direction of the locking cylinder 231, a locking groove 2211 for inserting the locking block 232 is formed in one side, close to the locking block 232, of the measuring block 221, and the locking groove 2211 is rectangular and is matched with the locking block 232.
An unlocking spring 233 is arranged in the locking cylinder 231 close to one end of the locking block 232, one end of the unlocking spring 233 is fixedly connected with the fixed end of the locking cylinder 231, the other end of the unlocking spring 233 is fixedly connected with the movable end of the locking cylinder 231, and the unlocking spring 233 is used for driving the movable end of the locking cylinder 231 to retract into the locking cylinder.
Referring to fig. 2, a telescopic rod 3 is disposed above the connection plate 111, the telescopic rod 3 is disposed vertically, a movable end faces the connection plate 111, and the movable end of the telescopic rod 3 is fixedly connected with the connection plate 111. The inside that connecting plate 111 one end was kept away from to telescopic link 3 is provided with reset spring 31, and reset spring 31's one end and telescopic link 3's stiff end fixed connection, the other end and telescopic link 3's active end fixed connection, reset spring 31 are used for driving telescopic link 3's active end to retract self inside.
Referring to fig. 2 and 3, one end of the locking cylinder 231 far away from the movable end of the locking cylinder is communicated with a driving cylinder 234 through an oil pipe, the driving cylinder 234 is fixedly connected to one end of the telescopic rod 3 close to the movable end of the locking cylinder, the movable end of the driving cylinder 234 is slidably arranged on the telescopic rod 3 in a penetrating manner, and the driving cylinder 234 is vertically arranged in the telescopic rod 3. The driving oil cylinder 234 is in communication with the locking oil cylinder 231 through an oil pipe, and the driving medium is hydraulic oil in this application.
When the clamping head 113 is used for carrying the charging basket, the charging basket enables the movable end of the telescopic rod 3 to extend to the maximum state through the gravity of the charging basket, the movable end of the telescopic rod 3 is extruded on the movable end of the driving oil cylinder 234, the movable end of the driving oil cylinder 234 is retracted into the inside of the charging basket, the movable end of the driving oil cylinder 234 pushes driving medium to flow into the locking oil cylinder 231 through the oil pipe, the driving medium pushes the movable end of the locking oil cylinder 231 to extend, the unlocking spring 233 is enabled to store elastic force, the movable end of the locking oil cylinder 231 pushes the locking block 232 to be inserted into the locking groove 2211 of the measuring block 221, the measuring block 221 is enabled to be in a fixed state relative to the clamping rod 112, and the abutting of the charging basket and the measuring block 221 is enabled to be in a stable state in the moving process; when the clamping head 113 places the storage bucket to the carriage bottom, the storage bucket releases the pulling force to telescopic link 3, reset spring 31 makes the expansion end of telescopic link 3 retract to inside of oneself through the elasticity, and release the extrusion force to the drive cylinder 234 expansion end, unlocking spring 233 retracts to inside of oneself through the expansion end of elasticity drive locking hydro-cylinder 231, the expansion end pulling locking piece 232 of drive hydro-cylinder 234 slides out locking groove 2211 for measuring piece 221 can slide relative clamping bar 112, thereby make the sliding relation of measuring piece 221 and clamping bar 112 be convenient for carry out the automatic switch according to the state that the storage bucket is located.
Referring to fig. 2, the inside of the telescopic rod 3 near one end of its movable end is fixedly provided with a normally closed switch 127, the normally closed switch 127 is electrically connected with a driving motor 126, and when the normally closed switch 127 is pressed, the driving motor 126 is in an off state. The expansion end fixedly connected with slider 32 of telescopic link 3, slider 32 is located the inside of telescopic link 3, slider 32 is annular cubic, and the lateral wall is circular with the cross-section looks adaptation of telescopic link 3 flexible direction, the inside wall of slider 32, the one end that reset spring 31 and telescopic link 3 expansion end are connected is located the inside of slider 32, inlay on the inside wall of telescopic link 3 and be equipped with normally open switch 128, normally open switch 128 is outstanding the inside wall of telescopic link 3 outward, and the part of outstanding telescopic link 3 inside wall is hemispherical, normally open switch 128 is connected with driving motor 126 electricity, when pressing normally open switch 128, driving motor 126 is in the energized state.
When the charging basket is in a transportation state, the movable end of the telescopic rod 3 is extruded on the normally closed switch 127 by the charging basket through gravity, and the normally closed switch 127 enables the driving motor 126 to be in an open circuit state, so that the driving motor 126 is not easy to drive the reciprocating screw 125 to rotate in the process of transporting the charging basket; when the charging basket is placed at the bottom end of a carriage, the charging basket releases the pulling force on the movable end of the telescopic rod 3, the movable end of the telescopic rod 3 retracts into the charging basket under the action of the elastic force of the reset spring 31, the movable end of the telescopic rod 3 releases the extrusion of the normally closed switch 127, and the normally closed switch 127 releases the disconnection state of the driving motor 126; the movable end of the telescopic rod 3 drives the sliding block 32 to slide under the elastic force of the reset spring 31, the sliding block 32 extrudes the normally open switch 128 in the sliding process, the normally open switch 128 enables the driving motor 126 to be electrified, the sliding block 32 can enable the driving motor 126 to start in the process of sliding across the normally open switch 128, the movable end of the telescopic rod 3 can drive the clamping head 113 to automatically slide in the retracting process, and then the normally closed switch 127 and the normally open switch 128 are used for controlling the driving motor 126, so that the start-stop state of the driving motor 126 is convenient to automatically match with the moving state of the charging basket.
The implementation principle of the transferring clamping jaw device for inclinometry is as follows: when the automatic feeding device is used, the side walls of the top ends of the grooves of the charging basket are erected on the clamping heads 113, the telescopic rods 3 move the charging basket to the bottom end of a carriage through the clamping rods 112, in the moving process of the charging basket, the movable ends of the telescopic rods 3 extend out to the maximum state through gravity, the movable ends of the telescopic rods 3 are extruded on the movable ends of the driving oil cylinders 234 and the normally closed switches 127, the movable ends of the driving oil cylinders 234 extend out through driving media, the movable ends of the locking oil cylinders 231 enable the locking blocks 232 to be inserted into the locking grooves 2211, the measuring blocks 221 are relatively fixed with the clamping rods 112, the normally closed switches 127 are pressed, the driving motor 126 is in an open circuit state, and then the charging basket, the measuring blocks 221 and the clamping heads 113 are in stable abutting states easily in the moving process, and the charging basket is not easy to shake in the moving process.
After the charging basket is placed to the bottom end of the carriage, the movable end of the telescopic rod 3 is retracted into the charging basket under the action of the reset spring 31, the extrusion of the movable end of the locking oil cylinder 231 and the normally closed switch 127 is relieved, the movable end of the locking oil cylinder 231 drives the locking block 232 to slide out of the locking groove 2211 under the action of the elastic force of the unlocking spring 233, the measuring block 221 and the clamping rod 112 are in a relative sliding state, the normally closed switch 127 releases the open circuit state of the driving motor 126, the charging basket freely tilts under the action of the uneven bottom end of the carriage, the charging basket extrudes the measuring block 221 in the tilting direction of the charging basket, the measuring block 221 in the tilting direction of the charging basket slides to the displacement sensor 223, the measuring block 221 deviating from the tilting direction of the charging basket slides away from the displacement sensor 223, the displacement sensor 223 measures the sliding displacement of the measuring block 221, the controller 21 records a displacement signal, and the placing position of other charging baskets around the charging basket is corrected through the displacement signal, so that the charging basket placed in a tilting manner is not easy to influence the placement of the charging basket around the charging basket.
The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (9)

1. A transfer jaw apparatus for inclinometry, comprising:
a jaw assembly (1) comprising a clamping portion (11), the clamping portion (11) comprising a connecting plate (111) and a plurality of clamping bars (112);
the inclinometry component (2) comprises a controller (21) and a measuring part (22), wherein the measuring part (22) is provided with a plurality of clamping rods (112) in one-to-one correspondence, and the measuring part (22) comprises a measuring block (221), a measuring spring (222) and a displacement sensor (223);
wherein,,
the clamping rods (112) are positioned on one side of the connecting plate (111), one ends of the clamping rods are fixedly connected with the connecting plate (111), the clamping rods (112) are uniformly distributed around the central axis of the connecting plate (111), and measuring cavities (1121) are formed in the inner parts of one ends far away from the connecting plate (111);
the measuring block (221) is slidably arranged on one side, close to the central axis of the connecting plate (111), of the measuring cavity (1121), the measuring spring (222) is located in the measuring cavity (1121) and fixedly connected with the side wall of the measuring cavity (1121) and the measuring block (221), the measuring spring (222) is in a compressed state, the displacement sensor (223) is fixedly arranged on the side wall, opposite to the measuring block (221), of the measuring cavity (1121) and is electrically connected with the controller (21), the displacement sensor (223) is used for measuring a displacement signal of the measuring block (221), and outputting the displacement signal to the controller (21), when the measuring block (221) slides close to the displacement sensor (223), the controller (21) records that the displacement signal is negative, and when the measuring block (221) slides away from the displacement sensor (223), the controller (21) records that the displacement signal is negative;
the measuring cavity (1121) is internally fixedly provided with a locking oil cylinder (231), the movable end of the locking oil cylinder (231) is fixedly connected with a locking block (232), and the measuring block (221) is provided with a locking groove (2211) for inserting the locking block (232).
2. The transferring clamping jaw device for inclinometry according to claim 1, wherein one end of the clamping rod (112) far away from the connecting plate (111) is connected with a clamping head (113), the top end of the charging basket is erected on the clamping head (113), a distance is reserved between the side wall and the clamping head (113), and the top end of the charging basket is abutted against the measuring block (221).
3. The transferring clamping jaw device for inclinometry according to claim 2, wherein one side, far away from the clamping rod (112), of the connecting plate (111) is connected with a telescopic rod (3), the movable end of the telescopic rod (3) is fixedly connected with the connecting plate (111), a reset spring (31) is arranged in the telescopic rod (3), two ends of the reset spring (31) are respectively fixedly connected with the fixed end and the movable end of the telescopic rod (3), and the reset spring (31) is used for driving the movable end of the telescopic rod (3) to retract into the self.
4. A transfer jaw device for inclinometry according to claim 3, characterized in that, one end of the telescopic rod (3) close to the connecting plate (111) is fixedly connected with a driving oil cylinder (234), the movable end of the driving oil cylinder (234) is slidably arranged on the telescopic rod (3), one end of the driving oil cylinder (234) far away from the movable end is communicated with one end of the locking oil cylinder (231) far away from the movable end through an oil pipe, the driving oil cylinder (234) and the locking oil cylinder (231) are communicated with a driving medium through an oil pipe, an unlocking spring (233) is arranged in the part of the locking oil cylinder (231) close to one end of the movable end, one end of the unlocking spring (233) is fixedly connected with the fixed end of the locking oil cylinder (231), the other end of the unlocking spring (233) is fixedly connected with the movable end of the locking oil cylinder (231), and the unlocking spring (233) is used for driving the movable end of the locking oil cylinder (231) to retract into the self.
5. A transfer jaw apparatus for inclinometry according to claim 3, characterized in that the gripping head (113) is slidingly connected to the gripping bar (112) with a sliding direction in a direction away from or towards the central axis of the connecting plate (111).
6. The transferring clamping jaw device for inclinometry according to claim 5, wherein one end of the clamping head (113) far away from the central axis of the connecting plate (111) is hinged with a driving rod (121), one end of the driving rod (121) far away from the clamping head (113) is hinged with a driving block (122), the driving block (122) is slidably connected with the clamping rod (112), and a plurality of driving blocks (122) are fixedly connected with a connecting rod (123) together.
7. The transferring clamping jaw device for inclinometry according to claim 6, wherein the connecting rod (123) is fixedly connected with a driving plate (124) through a rod piece, a reciprocating screw (125) is threaded on the driving plate (124), the reciprocating screw (125) is coaxially connected with a driving motor (126), the driving motor (126) is fixedly connected with the connecting plate (111), and an output shaft is fixedly connected with the reciprocating screw (125).
8. The transfer clamping jaw device for inclinometry according to claim 7, wherein a normally closed switch (127) is arranged inside one end of the telescopic rod (3) close to the movable end, the normally closed switch (127) is electrically connected with the driving motor (126), and when the normally closed switch (127) is pressed down, the driving motor (126) is in an open circuit state.
9. The transferring clamping jaw device for inclinometry according to claim 7, wherein a sliding block (32) is fixedly connected to a movable end of the telescopic rod (3), the sliding block (32) is located inside the telescopic rod (3), one side of the sliding block (32) is abutted to the inner side wall of the telescopic rod (3), a normally open switch (128) is embedded on the inner side wall of the telescopic rod (3) close to the sliding block (32), the normally open switch (128) is electrically connected with the driving motor (126), and when the normally open switch (128) is pressed down, the driving motor (126) is in an electrified state.
CN202310523645.2A 2023-05-11 2023-05-11 A transport clamping jaw device for inclinometry Active CN116331828B (en)

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