CN117429874A - Flexible clamp and loading and unloading vehicle system - Google Patents

Flexible clamp and loading and unloading vehicle system Download PDF

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Publication number
CN117429874A
CN117429874A CN202311677821.4A CN202311677821A CN117429874A CN 117429874 A CN117429874 A CN 117429874A CN 202311677821 A CN202311677821 A CN 202311677821A CN 117429874 A CN117429874 A CN 117429874A
Authority
CN
China
Prior art keywords
platform
along
floating
assembly
driving mechanism
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311677821.4A
Other languages
Chinese (zh)
Inventor
刘宗阳
张宝
古锦伦
樊祥文
胡邢华
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Aokewei Intelligent Equipment Co ltd
SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD
Original Assignee
Shanghai Aokewei Intelligent Equipment Co ltd
SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Aokewei Intelligent Equipment Co ltd, SHANGHAI KELAI ELECTROMECHANICAL AUTOMATION ENGINEERING CO LTD filed Critical Shanghai Aokewei Intelligent Equipment Co ltd
Priority to CN202311677821.4A priority Critical patent/CN117429874A/en
Publication of CN117429874A publication Critical patent/CN117429874A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
    • B65G47/90—Devices for picking-up and depositing articles or materials
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers 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
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/917—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers control arrangements
    • 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
    • B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
    • B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
    • 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
    • B65G67/24—Unloading 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
    • B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
    • B65G2203/02—Control or detection
    • B65G2203/0208—Control or detection relating to the transported articles
    • B65G2203/0233—Position of the article

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)

Abstract

The invention relates to the technical field of clamps and discloses a flexible clamp and a loading and unloading vehicle system, wherein the flexible clamp comprises a Z-direction floating adsorption assembly, an X-direction floating assembly and a Y-direction floating assembly, the Z-direction floating adsorption assembly comprises a sucker assembly and a Z-direction floating platform, and the Z-direction floating platform can elastically deform along the Z direction; the X-direction floating assembly comprises an X-direction platform and a first driving mechanism, the Z-direction floating platform is arranged on the X-direction platform in a sliding manner along the X-direction, the first driving mechanism is used for driving the Z-direction floating platform to move along the X-direction, the first driving mechanism is closed, and the Z-direction floating platform can freely float along the X-direction from a first origin; the Y-direction floating assembly comprises a Y-direction platform and a second driving mechanism, the X-direction platform is arranged on the Y-direction platform in a sliding manner along the Y direction, the second driving mechanism is closed, and the X-direction platform can freely float along the Y direction by a second origin. The flexible clamp can realize free floating of the sucker assembly along the three-dimensional direction, and effectively ensures loading and unloading of cargoes.

Description

Flexible clamp and loading and unloading vehicle system
Technical Field
The invention relates to the technical field of clamps, in particular to a flexible clamp and a loading and unloading vehicle system.
Background
Along with the rapid development of visual detection technology and logistics industry technology, an automatic loading and unloading vehicle system is increasingly put into an actual logistics application scene, but is limited by the development of the visual detection technology, and under the condition of a certain object distance, visual detection equipment has certain detection errors in a space coordinate system, so that a clamp cannot accurately clamp goods, and further automatic loading and unloading of the goods cannot be realized.
Disclosure of Invention
The invention aims to provide a flexible clamp and a loading and unloading vehicle system, which solve the technical problems that in the prior art, the clamp cannot accurately clamp goods due to detection errors of visual detection equipment, and further automatic loading and unloading of the goods cannot be realized.
To achieve the purpose, the invention adopts the following technical scheme:
the present invention provides a flexible clamp comprising:
the Z-direction floating adsorption assembly comprises a sucker assembly and a Z-direction floating platform, wherein the sucker assembly is arranged on the Z-direction floating platform, and the Z-direction floating platform can elastically deform along the Z direction;
the X-direction floating assembly comprises an X-direction platform and a first driving mechanism, the Z-direction floating platform is arranged on the X-direction platform in a sliding manner along the X-direction, the first driving mechanism is opened and used for driving the Z-direction floating platform to move along the X-direction, the first driving mechanism is closed, and the Z-direction floating platform can freely float along the X-direction from a first origin;
the Y-direction floating assembly comprises a Y-direction platform and a second driving mechanism, wherein the X-direction platform is arranged on the Y-direction platform in a sliding manner along the Y direction, the second driving mechanism is opened and used for driving the X-direction platform to move along the Y direction, the second driving mechanism is closed, and the X-direction platform can freely float along the Y direction from a second origin.
The flexible clamp can realize the floating of the sucker assembly along the Z direction through the elastic deformation of the Z-direction floating platform along the Z direction; free floating of the Z-direction floating adsorption component along the X direction can be realized through the X-direction floating component; the flexible clamp can realize free floating of the X-direction floating assembly along the Y direction through the Y-direction floating assembly, and further realize free floating of the sucker assembly along the three-dimensional direction, so that the situation that the flexible clamp cannot accurately reach the position of the goods to accurately adsorb the goods due to detection errors is avoided, and automatic loading and unloading of the goods are effectively guaranteed.
As a preferable aspect of the flexible fixture, the Z-direction floating platform includes:
the device comprises a supporting platform and a moving platform which are arranged at intervals along the Z-direction, wherein an elastic component is arranged between the supporting platform and the moving platform, the supporting platform is arranged on the X-direction platform in a sliding mode along the X-direction, and a sucking disc component is arranged on the moving platform.
The Z-direction floating platform can realize the elastic deformation of the Z-direction floating platform along the Z-direction through the elastic component arranged between the supporting platform and the moving platform, and has simple structure and easy preparation.
As a preferable scheme of the flexible clamp, the support platform is provided with a guide assembly, the guide assembly extends along the Z direction, and the moving platform is slidably arranged on the guide assembly along the Z direction.
The setting of direction subassembly is used for guiding moving platform to follow Z direction and removes, avoids moving platform to take place the skew at the removal in-process, and then leads to sucking disc subassembly's absorption position inaccurate.
As a preferable scheme of the flexible clamp, the guide assembly comprises a plurality of guide posts, one ends of the guide posts are connected with the supporting platform, guide holes are formed in positions of the movable platform corresponding to the guide posts, and the movable platform is sleeved on the guide posts through the guide holes and can move along the guide posts.
The cooperation of many guide posts and the guiding hole on the mobile platform can realize playing the guide effect to the mobile platform along the removal of Z direction, can make the whole steady removal of mobile platform moreover, avoids appearing the condition of slope.
As a preferable scheme of the flexible clamp, a stop part is arranged at one end of the guide post, which is not connected with the supporting platform, and the moving platform is slidably arranged between the stop part and the supporting platform.
The setting of backstop portion makes moving platform remove along the guide post between backstop portion and supporting platform, avoids moving platform to deviate from the guide post.
As a preferable mode of the flexible clamp, an X-direction guide rail structure extending along the X-direction is arranged between the Z-direction floating platform and the X-direction platform.
The arrangement of the X-direction guide rail structure can play a role in guiding the Z-direction floating platform to move along the X direction, so that the Z-direction floating platform is prevented from deflecting in the moving process.
As a preferable mode of the flexible clamp, a Y-track structure extending along the Y direction is arranged between the X-direction platform and the Y-direction platform.
The arrangement of the Y-direction guide rail structure can play a guiding role on the movement of the X-direction platform along the Y direction, so that the deflection of the X-direction platform in the moving process is avoided.
As a preferable mode of the flexible clamp, the flexible clamp further comprises:
the first telescopic supporting component is arranged on one of two sides of the Y-direction platform, which are oppositely arranged along the Y direction, and can be telescopic along the Z direction;
the second flexible supporting component is arranged on one side of the Y-direction platform, which is adjacent to the first flexible supporting component, and the second flexible supporting component can stretch along the Z direction.
The setting of first flexible supporting component can play the effect to the goods support when sucking disc subassembly side direction adsorbs the goods, avoids because the goods self weight is heavier, can't effectively suck the condition of goods when leading to the side to adsorb the goods. The setting of second flexible supporting component can play the effect to the goods support when sucking disc subassembly side direction adsorbs the goods, avoids because the goods self weight is heavier, can't effectively suck the condition of goods when leading to the side to adsorb the goods.
As a preferable aspect of the flexible fixture, the first telescopic support assembly and the second telescopic support assembly each include:
the fixing frame is connected with the Y-direction platform;
the sliding frame is arranged on the fixing frame in a sliding manner along the Z direction;
the telescopic driving mechanism is arranged on the fixing frame and is used for driving the sliding frame to move along the Z direction relative to the fixing frame.
The first telescopic supporting component and the second telescopic supporting component drive the sliding frame to move along the Z direction relative to the fixed frame through the telescopic driving mechanism, so that the change of the length of the whole structure is realized, the bottom of the goods can be stretched into or retracted from the bottom of the goods, and the telescopic supporting component is simple in structure and easy to prepare.
As a preferable mode of the flexible clamp, the flexible clamp further comprises:
and the visual detection equipment is arranged on the Y-direction platform.
The setting of vision detection equipment is used for detecting the position of goods to the sucking disc subassembly removes goods position and adsorbs the goods.
The invention provides a loading and unloading vehicle system which comprises an actuating mechanism and the flexible clamp arranged at the output end of the actuating mechanism.
The loading and unloading vehicle system can accurately adsorb cargoes through the flexible clamp, so that the cargoes can be automatically loaded and unloaded.
The invention has the beneficial effects that:
according to the flexible clamp provided by the invention, the floating of the sucker assembly along the Z direction can be realized through the elastic deformation of the Z-direction floating platform along the Z direction; free floating of the Z-direction floating adsorption component along the X direction can be realized through the X-direction floating component; the flexible clamp can realize free floating of the X-direction floating assembly along the Y direction through the Y-direction floating assembly, and further realize free floating of the sucker assembly along the three-dimensional direction, so that the situation that the flexible clamp cannot accurately reach the position of the goods to accurately adsorb the goods due to detection errors is avoided, and automatic loading and unloading of the goods are effectively guaranteed.
The loading and unloading vehicle system provided by the invention can accurately adsorb cargoes, thereby realizing automatic loading and unloading of cargoes.
Drawings
FIG. 1 is a schematic view of a flexible clip provided by the present invention;
FIG. 2 is a front view of a flexible clip provided by the present invention;
FIG. 3 is a side view I of a flexible clip provided by the present invention;
FIG. 4 is a top view of a flexible clip provided by the present invention;
FIG. 5 is a second side view of the flexible clip provided by the present invention;
fig. 6 is a side view III of the flexible clip provided by the present invention.
In the figure:
1. a Z-direction floating adsorption assembly; 11. a suction cup assembly; 12. a Z-direction floating platform; 121. a support platform; 122. a mobile platform; 1221. a guide hole; 123. an elastic component; 124. a guide assembly; 1241. a guide post; 1242. a stop portion;
21. an X-direction platform; 31. a Y-direction platform;
4. an X-ray guide rail structure; 41. a first guide rail; 42. a first slider;
5. a Y-guide rail structure; 51. a second guide rail; 52. a second slider;
6. a first telescoping support assembly; 61. a first fixing frame; 62. a first carriage; 63. a first telescopic drive mechanism;
7. a second telescoping support assembly; 71. the second fixing frame; 72. a second carriage; 73. a second telescopic driving mechanism;
8. visual inspection equipment.
Detailed Description
The invention is described in further detail below with reference to the drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the structures related to the present invention are shown in the drawings.
In the description of the present invention, unless explicitly stated and limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communicated with the inside of two elements or the interaction relationship of the two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
In the description of the present embodiment, the terms "upper", "lower", "right", etc. orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are merely for convenience of description and simplicity of operation, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used merely for distinguishing between descriptions and not for distinguishing between them.
Under the condition of a certain object distance, the visual detection equipment has a certain detection error in a space coordinate system, so that the clamp cannot accurately clamp the goods, and further automatic loading and unloading of the goods cannot be realized.
In order to solve the above-mentioned problems, as shown in fig. 1-6, the present embodiment provides a flexible fixture, which includes a Z-direction floating adsorption assembly 1, an X-direction floating assembly and a Y-direction floating assembly, wherein the Z-direction floating adsorption assembly 1 includes a suction cup assembly 11 and a Z-direction floating platform 12, the suction cup assembly 11 is disposed on the Z-direction floating platform 12, and the Z-direction floating platform 12 can be elastically deformed along the Z-direction; the X-direction floating assembly comprises an X-direction platform 21 and a first driving mechanism, the Z-direction floating platform 12 is arranged on the X-direction platform 21 in a sliding manner along the X direction, the first driving mechanism is opened and used for driving the Z-direction floating platform 12 to move along the X direction, the first driving mechanism is closed, and the Z-direction floating platform 12 can freely float along the X direction from a first origin; the Y-direction floating assembly comprises a Y-direction platform 31 and a second driving mechanism, the X-direction platform 21 is arranged on the Y-direction platform 31 in a sliding mode along the Y direction, the second driving mechanism is opened, the second driving mechanism is used for driving the X-direction platform 21 to move along the Y direction, the second driving mechanism is closed, and the X-direction platform 21 can freely float along the Y direction from a second origin.
The flexible clamp can realize the floating of the sucker assembly 11 along the Z direction through the elastic deformation of the Z-direction floating platform 12 along the Z direction; free floating of the Z-direction floating adsorption assembly 1 along the X direction can be realized through the X-direction floating assembly; the free floating of X to the floating assembly along the Y direction can be realized through the Y to the floating assembly, and then the free floating of the sucker assembly 11 along the three-dimensional direction is realized, so that the situation that the flexible clamp can not accurately reach the position of the goods to accurately adsorb the goods due to detection errors is avoided, and the automatic loading and unloading of the goods is effectively ensured.
It should be noted that: the first driving mechanism can drive the Z-direction floating platform 12 to move to a midpoint of the X-direction platform 21 in the X-direction, i.e., a first origin position, and when the first driving mechanism is turned off, the Z-direction floating platform 12 can be moved forward or backward in the X-direction from the first origin position, so that the Z-direction floating platform 12 has a certain floating amount in the X-direction. The second driving mechanism can drive the X-direction stage 21 to move to a midpoint of the Y-direction stage 31 in the Y-direction, i.e., a second origin position, and when the second driving mechanism is turned off, the X-direction stage 21 can be moved forward or backward in the Y-direction from the second origin position, so that the X-direction stage 21 has a certain amount of float in the Y-direction. The specific structures of the first driving mechanism and the second driving mechanism are not particularly limited herein as long as linear driving can be achieved.
Specifically, the Z-floating platform 12 includes a support platform 121 and a moving platform 122 that are disposed at intervals along the Z-direction, the support platform 121 and the moving platform 122 are disposed in parallel, an elastic component 123 is disposed between the support platform 121 and the moving platform 122, the support platform 121 is slidably disposed on the X-direction platform 21 along the X-direction, and the suction cup component 11 is disposed on the moving platform 122. The above-mentioned Z-direction floating platform 12 can realize the elastic deformation of the Z-direction floating platform 12 along the Z-direction through the elastic component 123 arranged between the supporting platform 121 and the moving platform 122, and the Z-direction floating platform 12 has a simple structure and is easy to prepare.
In this embodiment, the support platform 121 is a rectangular plate structure, the length of the side of the support platform 121 parallel to the X direction is longer than the length of the side parallel to the Y direction, and the moving platform 122 is also a rectangular plate structure, and in this embodiment, the shape and size of the moving platform 122 are the same as those of the support platform 121.
Optionally, the elastic component 123 includes a plurality of elastic members, which in this embodiment are springs, and one end of each spring is connected to the supporting platform 121, and the other end of each spring is connected to the moving platform 122. In order to realize stable stress of the moving platform 122, in this embodiment, springs are disposed at positions of the supporting platform 121 and the moving platform 122 near four vertex angles, so that the stress of the moving platform 122 is uniform. In other embodiments, the number and positions of the springs are not limited to the above, and may be adjusted according to the requirements.
Further, as shown in fig. 1, the support platform 121 is provided with a guiding assembly 124, the guiding assembly 124 extends along the Z direction, and the moving platform 122 is slidably disposed on the guiding assembly 124 along the Z direction. The guiding component 124 is configured to guide the moving platform 122 to move along the Z direction, so as to avoid the moving platform 122 from shifting during the moving process, and further cause inaccurate suction position of the suction cup component 11.
Optionally, the guide assembly 124 includes a plurality of guide posts 1241, one end of the guide posts 1241 is connected to the support platform 121, the moving platform 122 is provided with guide holes 1221 corresponding to the positions of the guide posts 1241, and the moving platform 122 is sleeved on the guide posts 1241 through the guide holes 1221 and can move along the guide posts 1241. The cooperation of many guide posts 1241 and the guiding hole 1221 on the mobile platform 122 can realize playing the guide effect to the removal of mobile platform 122 along the Z direction, can make mobile platform 122 wholly steadily remove moreover, avoids appearing the condition of slope. In this embodiment, a guide post 1241 is disposed at each of the four top corners of the supporting platform 121, so that the moving platform 122 can move more stably. In other embodiments, the number of the guide posts 1241 and the positions of the guide posts 1241 are not limited to the above-mentioned arrangement, and may be adjusted according to the situation.
Further, as shown in fig. 2, a stop part 1242 is disposed at an end of the guide post 1241, which is not connected to the support platform 121, and the size of the stop part 1242 is larger than that of the guide hole 1221, so that the moving platform 122 is slidably disposed between the stop part 1242 and the support platform 121, and the moving platform 122 is prevented from falling out of the guide post 1241.
As shown in fig. 1 and 2, an X-direction guide rail structure 4 extending along the X direction is disposed between the Z-direction floating platform 12 and the X-direction platform 21, and the X-direction guide rail structure 4 can guide the movement of the Z-direction floating platform 12 along the X direction, so as to avoid the deflection of the Z-direction floating platform 12 during the movement process. Specifically, the X-direction guide rail structure 4 includes a first guide rail 41 provided to one of the Z-direction floating platform 12 and the X-direction platform 21, and a first slider 42 provided to the other of the Z-direction floating platform 12 and the X-direction platform 21, the first slider 42 being slidably provided on the first guide rail 41, in this embodiment, the bottom of the Z-direction floating platform 12 is provided with the first guide rail 41, the first slider 42 is provided on the X-direction platform 21, and the first guide rail 41 extends in the X-direction. To improve the movement stability of the Z-direction floating platform 12, two sets of first guide rails 41 are provided at intervals along the Y-direction at the bottom of the Z-direction floating platform 12.
As shown in fig. 1 and 2, a Y-track structure 5 extending along the Y direction is disposed between the X-direction platform 21 and the Y-direction platform 31, and the Y-track structure 5 can guide the movement of the X-direction platform 21 along the Y direction, so as to avoid the deflection of the X-direction platform 21 during the movement process. Specifically, the Y-track structure 5 includes a second guide rail 51 disposed on one of the X-direction platform 21 and the Y-direction platform 31, and a second slider 52 disposed on the other of the X-direction platform 21 and the Y-direction platform 31, the second slider 52 being slidably disposed on the second guide rail 51, in this embodiment, the bottom of the X-direction platform 21 is provided with the second guide rail 51, the second slider 52 is disposed on the Y-direction platform 31, and the second guide rail 51 extends along the Y-direction. In order to improve the movement stability of the X-direction stage 21, two sets of second guide rails 51 are provided at intervals in the X-direction at the bottom of the X-direction stage 21.
Optionally, the flexible fixture further includes a visual detection device 8, where the visual detection device 8 is disposed on the Y-direction platform 31, and the position of the cargo is detected by the visual detection device 8, so that the suction cup assembly 11 moves to the cargo position to adsorb the cargo. In this embodiment, the visual detection device 8 is a 3D camera.
As shown in fig. 4, in the present embodiment, the suction cup assembly 11 includes suction cups disposed in a plurality of arrays of the moving platform 122, through which the goods can be sucked. In other embodiments, the suction cup assembly 11 may also be an integral suction cup (e.g., a sponge suction cup) through which the cargo is sucked.
As shown in fig. 1 and 5, the flexible fixture further includes a first telescopic support assembly 6, the first telescopic support assembly 6 is disposed on one of two sides of the Y-direction platform 31 that are disposed opposite to each other in the Y-direction, the first telescopic support assembly 6 and the visual inspection apparatus 8 are disposed on two opposite sides of the Y-direction platform 31, and the first telescopic support assembly 6 can be telescopic in the Z-direction. The setting of first flexible supporting component 6 can be through stretching out in order to play the effect to the goods support when sucking disc subassembly 11 side direction adsorbs the goods, avoids because the goods self weight is heavier, can't effectively suck the condition of goods when leading to the side to adsorb the goods.
Further, the first telescopic support assembly 6 includes a first fixing frame 61, a first sliding frame 62 and a first telescopic driving mechanism 63, and the first fixing frame 61 is connected with the Y-direction platform 31; the first sliding frame 62 is slidably disposed on the first fixing frame 61 along the Z direction; the first telescopic driving mechanism 63 is disposed on the first fixing frame 61, and the first telescopic driving mechanism 63 is used for driving the first sliding frame 62 to move along the Z direction relative to the first fixing frame 61. The first sliding frame 62 is driven to move along the Z direction relative to the first fixing frame 61 by the first telescopic driving mechanism 63, so that the length of the whole structure of the first telescopic supporting component 6 is changed, the first sliding frame can extend into the bottom of the goods or retract from the bottom of the goods, and the structure is simple and easy to prepare.
As shown in fig. 6, the flexible fixture further includes a second telescopic support assembly 7, where the second telescopic support assembly 7 is disposed on a side of the Y-direction platform 31 adjacent to the first telescopic support assembly 6, and the second telescopic support assembly 7 is capable of telescoping in the Z-direction. The setting of second flexible supporting component 7 can play the effect to the goods support when sucking disc subassembly 11 side direction adsorbs the goods, avoids because the goods self weight is heavier, can't effectively suck the condition of goods when leading to the side to adsorb the goods.
Further, the second telescopic support assemblies 7 comprise a second fixing frame 71, a second sliding frame 72 and a second telescopic driving mechanism 73, and the second fixing frame 71 is connected with the Y-direction platform 31; the second sliding frame 72 is slidably disposed on the second fixing frame 71 along the Z direction; the second telescopic driving mechanism 73 is disposed on the second fixing frame 71, and the second telescopic driving mechanism 73 is used for driving the second sliding frame 72 to move along the Z direction relative to the second fixing frame 71. The second telescopic support assembly 7 drives the second sliding frame 72 to move along the Z direction relative to the second fixing frame 71 through the second telescopic driving mechanism 73, so that the change of the length of the whole structure is realized, and the second sliding frame can extend into the bottom of the goods or retract from the bottom of the goods.
When adsorbing the goods from the top of goods, because Z to floating platform 12 can realize elastic deformation, so if visual inspection equipment 8 exists the detection error in the Z direction, can make sucking disc subassembly 11 adsorb the top surface of goods because of the setting of Z to floating platform 12.
When the goods are adsorbed from the side wall of the goods, when the flexible clamp reaches a specified position, the first driving mechanism is closed, and at the moment, the Z-direction floating platform 12 can freely float along the X direction from the first origin position, so that the sucker assembly 11 has a certain floating amount along the X direction, and can be adsorbed to the side surface of the goods;
when the other side wall of the goods is sucked, when the flexible clamp reaches the designated position, the second driving mechanism is closed, and at the moment, the X-direction platform 21 can freely float along the Y direction from the second origin position, so that the sucker assembly 11 can have a certain floating amount along the Y direction, and the side surface of the goods can be sucked.
Because the first telescopic supporting component 6 and the second telescopic supporting component 7 are arranged on two adjacent sides of the Y-direction platform 31, when the flexible clamp laterally adsorbs cargoes according to the adsorption requirement, if the first telescopic supporting component 6 is positioned at the bottom of the flexible clamp, the cargoes are supported by the first telescopic supporting component 6; when the second telescopic support assembly 7 is located at the bottom of the flexible clamp, the cargo is supported by the second telescopic support assembly 7.
The flexible clamp can float in multiple degrees of freedom in a three-dimensional space, so that automatic unloading and loading are realized; the flexible clamp is compact in structure, can realize larger telescopic space in a smaller space, and can effectively support cargoes simultaneously, so that various attitude materials can be stably taken during loading or unloading.
The embodiment provides a loading and unloading vehicle system, including actuating mechanism and set up in the floating anchor clamps of actuating mechanism output, adsorb the goods through flexible anchor clamps, rethread actuating mechanism will adsorb the goods loading or unloading. The flexible clamp is provided with a visual detection device 8, the position of goods is identified through the visual detection device 8, and an execution signal is transmitted to an execution mechanism after software operation so as to give a system coordinate, and the execution mechanism drives the floating clamp to move in place.
Alternatively, the actuator may be a multi-powered robot, a multi-axis motion platform, or the like.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Various obvious changes, rearrangements and substitutions can be made by those skilled in the art without departing from the scope of the invention. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.

Claims (10)

1. The flexible anchor clamps, its characterized in that includes:
the Z-direction floating adsorption assembly (1) comprises a sucker assembly (11) and a Z-direction floating platform (12), wherein the sucker assembly (11) is arranged on the Z-direction floating platform (12), and the Z-direction floating platform (12) can elastically deform along the Z direction;
the X-direction floating assembly comprises an X-direction platform (21) and a first driving mechanism, the Z-direction floating platform (12) is slidably arranged on the X-direction platform (21) along the X direction, the first driving mechanism is opened and used for driving the Z-direction floating platform (12) to move along the X direction, the first driving mechanism is closed, and the Z-direction floating platform (12) can freely float along the X direction from a first origin;
the Y-direction floating assembly comprises a Y-direction platform (31) and a second driving mechanism, wherein the X-direction platform (21) is slidably arranged on the Y-direction platform (31) along the Y direction, the second driving mechanism is opened and used for driving the X-direction platform (21) to move along the Y direction, the second driving mechanism is closed, and the X-direction platform (21) can freely float along the Y direction from a second origin.
2. The flexible clamp of claim 1, wherein the Z-directed floating platform (12) comprises:
support platform (121) and moving platform (122) that follow Z to direction interval set up, support platform (121) with set up elastic component (123) between moving platform (122), support platform (121) along X direction slip set up in on X to platform (21), sucking disc subassembly (11) set up in on moving platform (122).
3. The flexible clamp according to claim 2, wherein a guiding assembly (124) is provided on the support platform (121), the guiding assembly (124) extends along the Z direction, and the moving platform (122) is slidably provided on the guiding assembly (124) along the Z direction.
4. A flexible clamp according to claim 3, wherein the guide assembly (124) comprises a plurality of guide posts (1241), one end of the guide post (1241) is connected with the supporting platform (121), a guide hole (1221) is arranged at a position of the moving platform (122) corresponding to the guide post (1241), and the moving platform (122) is sleeved on the guide post (1241) through the guide hole (1221) and can move along the guide post (1241).
5. The flexible clamp according to claim 4, wherein a stop (1242) is provided at an end of the guide post (1241) not connected to the support platform (121), and the moving platform (122) is slidably disposed between the stop (1242) and the support platform (121).
6. Flexible clamp according to claim 1, characterized in that an X-guide rail structure (4) extending in X-direction is provided between the Z-floating platform (12) and the X-platform (21);
and a Y-direction guide rail structure (5) extending along the Y direction is arranged between the X-direction platform (21) and the Y-direction platform (31).
7. The flexible clip of any one of claims 1-6, wherein the flexible clip further comprises:
the first telescopic supporting component (6) is arranged on one of two sides of the Y-direction platform (31) which are oppositely arranged along the Y direction, and the first telescopic supporting component (6) can be telescopic along the Z direction;
the second telescopic support assembly (7) is arranged on one side of the Y-direction platform (31) adjacent to the first telescopic support assembly (6), and the second telescopic support assembly (7) can stretch along the Z direction.
8. The flexible clamp according to claim 7, characterized in that the first telescopic support assembly (6) and the second telescopic support assembly (7) each comprise:
the fixing frame is connected with the Y-direction platform (31);
the sliding frame is arranged on the fixing frame in a sliding manner along the Z direction;
the telescopic driving mechanism is arranged on the fixing frame and is used for driving the sliding frame to move along the Z direction relative to the fixing frame.
9. The flexible clip of any one of claims 1-6, wherein the flexible clip further comprises:
and the visual detection device (8) is arranged on the Y-direction platform (31).
10. A lift truck system comprising an actuator and a flexible clamp according to any one of claims 1 to 9 disposed at an output of the actuator.
CN202311677821.4A 2023-12-08 2023-12-08 Flexible clamp and loading and unloading vehicle system Pending CN117429874A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311677821.4A CN117429874A (en) 2023-12-08 2023-12-08 Flexible clamp and loading and unloading vehicle system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311677821.4A CN117429874A (en) 2023-12-08 2023-12-08 Flexible clamp and loading and unloading vehicle system

Publications (1)

Publication Number Publication Date
CN117429874A true CN117429874A (en) 2024-01-23

Family

ID=89555548

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311677821.4A Pending CN117429874A (en) 2023-12-08 2023-12-08 Flexible clamp and loading and unloading vehicle system

Country Status (1)

Country Link
CN (1) CN117429874A (en)

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