CN212558394U - Turnover box clamp device compatible with multiple boxes and AGV trolley - Google Patents
Turnover box clamp device compatible with multiple boxes and AGV trolley Download PDFInfo
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- CN212558394U CN212558394U CN202022153795.3U CN202022153795U CN212558394U CN 212558394 U CN212558394 U CN 212558394U CN 202022153795 U CN202022153795 U CN 202022153795U CN 212558394 U CN212558394 U CN 212558394U
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Abstract
The utility model relates to a press from both sides and get and transport technical field, concretely relates to device, AGV dolly and the clamp method of getting are got to turnover case clamp of compatible many boxes. The second clamping jaw in the clamping device is opened and adjusted to realize multi-box type variable-width clamping, then the turnover box is clamped and moves backwards, and the turnover box is placed on the first clamping jaw main body; and, when the turnover case was placed on the inclined plane, the second clamping jaw was carried the turnover case and is raised a distance, then drove the turnover case and move backward, place the turnover case steadily on first clamping jaw main part, and whole first clamping jaw main part is withdrawed backward at last, and it is applicable in pressing from both sides the turnover case of putting on the inclined plane to there can not be the risk that the turnover case dropped.
Description
Technical Field
The utility model relates to a press from both sides and get and transport technical field, concretely relates to device, AGV dolly and the clamp method of getting are got to turnover case clamp of compatible many boxes.
Background
In the process of clamping and transporting the turnover box, a plurality of application scenes that the turnover box is clamped by using the clamping jaws exist, the current main clamping jaws of the robot are very simple, each type of robot can only clamp the turnover box with the corresponding type, the turnover box can only be placed on a horizontal plane, and the risk of falling off when the turnover box is clamped from a non-plane (such as an inclined fluent shelf) exists.
Therefore, a set of stable turnover box using clamp suitable for various box types and application scenes and an AGV trolley with the clamp are needed.
SUMMERY OF THE UTILITY MODEL
Therefore, the utility model provides a device and AGV dolly are got to turnover case clamp that all is suitable for under multiple environment (plane and inclined plane), can realize that many boxes snatch and place.
In order to solve the technical problem, the utility model discloses a technical scheme as follows:
the utility model provides a device is got to turnover case clamp of compatible many boxes, it includes: the first clamping jaw structure comprises a first clamping jaw body which is horizontally arranged, and a first horizontal driving structure connected with the first clamping jaw body, wherein the first clamping jaw body is suitable for extending forwards along the horizontal direction; the second clamping jaw structure is arranged on the first clamping jaw structure and comprises two second clamping jaws, a second horizontal driving structure and a clamping jaw opening and closing driving structure, wherein the second horizontal driving structure and the clamping jaw opening and closing driving structure are connected with the second clamping jaws; wherein the second horizontal drive arrangement is adapted to drive the back and forth movement of the second jaw over the first jaw body.
In the above-mentioned device is got to turnover case of compatible many casees, first horizontal drive structure includes, first motor and first straight line guide structure, first straight line guide structure respectively with first motor with first clamping jaw main part is connected.
In the turnover box clamping device compatible with multiple box types, the first linear guide structure is a first ball screw structure; wherein the first motor and first ball screw structure are located on at least one side of the first jaw body.
In the turnover box clamping device compatible with multiple box types, the two sides of the first clamping jaw main body are respectively provided with a first guide rail sliding block structure.
The turnover box clamping device compatible with multiple box types further comprises a rack, wherein the rack is provided with the first clamping jaw structure; the top of the frame is connected with a fixed bracket through a slewing bearing; and the fixed support is provided with a top motor which drives the rack to rotate through a slewing bearing.
In the above container clamping device compatible with multiple box types, the second jaw structure includes a base, and the base is connected to the first jaw structure through the second horizontal driving structure; wherein the second horizontal driving structure comprises a second motor and a second linear guide structure.
In the turnover box clamping device compatible with multiple box types, the second linear guide structure is a second ball screw structure; the base is further connected with the first clamping jaw structure through a second guide rail sliding block structure, and the number of the second guide rail sliding block structures is two, and the two second guide rail sliding block structures are located on two sides of the second ball screw.
In the above-mentioned turnover case of compatible many boxes presss from both sides gets device, the clamping jaw drive structure that opens and shuts includes third ball structure and third motor.
In the turnover box clamping device compatible with multiple box types, the second clamping jaw structure further comprises an upright column which is arranged on the base; the second clamping jaw and the clamping jaw opening and closing driving structure are arranged on the upright post; and the stand column is also provided with a fourth motor and a fourth ball screw structure which are suitable for driving the second clamping jaw and the lifting of the clamping jaw opening and closing driving structure.
The utility model also provides a AGV dolly, it includes the turnover case clamp of the many box of foretell compatibility and gets the device.
The utility model discloses technical scheme has following advantage:
1. the utility model provides a turnover box clamping device compatible with multiple boxes, which comprises a first clamping jaw structure and a first horizontal driving structure, wherein the first clamping jaw structure comprises a first clamping jaw main body which is horizontally arranged, and the first horizontal driving structure is connected with the first clamping jaw main body, and the first clamping jaw main body is suitable for extending forwards along the horizontal direction; the second clamping jaw structure is arranged on the first clamping jaw structure and comprises two second clamping jaws, a second horizontal driving structure and a clamping jaw opening and closing driving structure, wherein the second horizontal driving structure and the clamping jaw opening and closing driving structure are connected with the second clamping jaws; wherein the second horizontal drive arrangement is adapted to drive the back and forth movement of the second jaw over the first jaw body. When the turnover box clamping device clamps the turnover box, the first clamping jaw main body extends forwards along the horizontal direction and is abutted to a goods shelf of the turnover box for subsequently receiving the turnover box; then, the two second clamping jaws approach the turnover box under the action of the second horizontal driving structure and are opened under the driving of the clamping jaw opening and closing driving structure, the multiple box-type width-variable clamping can be realized through opening adjustment, then the turnover box is clamped and moves backwards, and the turnover box is placed on the first clamping jaw main body; and finally, the whole first clamping jaw body is retracted backwards, and the clamping procedure of the clamping jaw is completed.
2. The utility model provides a device is got to turnover case clamp of compatible many boxes, second clamping jaw structure still includes the stand, still is equipped with on the stand and is suitable for the drive the second clamping jaw with the clamping jaw opens and shuts fourth motor and the fourth ball structure that drive structure goes up and down, can drive the second clamping jaw and go up and down, if the turnover case is placed on the inclined plane (for example place at fluent shelf), the second clamping jaw is cliied the turnover case and is raised one section distance, then drives the turnover case and move backward, places the turnover case steadily on first clamping jaw main part, and last whole first clamping jaw main part is withdrawed backward, and it is applicable in pressing from both sides the turnover case of putting on the inclined plane to there can not be the risk that the turnover case dropped.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is a schematic structural view of a turnover box clamping device compatible with multiple box types provided in an embodiment of the present invention;
fig. 2 is a schematic view of a first jaw structure and a second jaw structure provided in an embodiment of the present invention;
fig. 3 is a schematic bottom structure view of a first clamping jaw structure and a second clamping jaw structure provided in an embodiment of the present invention;
fig. 4 is a schematic structural view of a second clamping jaw provided in an embodiment of the present invention;
fig. 5 is a schematic view of a second clamping jaw and an opening/closing driving structure thereof according to an embodiment of the present invention.
Description of reference numerals:
1-top motor, 2-pivoting support, 3-fixed support, 4-frame, 5-first jaw structure, 51-first jaw body, 52-first motor, 53-first ball screw structure, 54-first slider, 55-first guide rail, 56-second guide rail, 6-second jaw structure, 61-second jaw, 62-third ball screw structure, 63-third motor, 64-second motor, 65-second ball screw structure, 66-fourth motor, 67-base, 68-upright.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are intended to be inclusive and mean, for example, that they may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 1 to 5, the present embodiment provides a turnover box clamping device compatible with multiple box types, which includes a frame 4, where the frame 4 is a frame structure, and a first clamping jaw structure 5 is disposed at the bottom of the frame 4; the first jaw structure 5 comprises a first jaw body 51 arranged horizontally, and a first horizontal driving structure connected with the first jaw body, wherein the first jaw body 51 is suitable for extending forwards along the horizontal direction; the first horizontal driving structure can be selected to include a first motor 52 and a first ball screw structure 53 serving as a first linear guide mechanism, the first ball screw structure 53 is mounted on the first jaw body 51, and the first motor 52 drives the first jaw body 51 to perform telescopic motion through the first ball screw structure 53; the clamping jaw structure comprises a first clamping jaw structure 51, a second clamping jaw structure 6 arranged on the first clamping jaw structure 51, wherein the second clamping jaw structure 6 comprises two second clamping jaws 61, a second horizontal driving structure and a clamping jaw opening and closing driving structure, the second horizontal driving structure is connected with the second clamping jaws 61, and the second horizontal driving structure is suitable for driving the second clamping jaws 61 to move back and forth above the first clamping jaw body; the second horizontal driving structure may alternatively include a second motor 64 and a second ball screw structure 65 as a second linear guide structure; the clamping jaw opening and closing driving structure can be selected to comprise a third ball screw structure 62 and a third motor 63, preferably, the third ball screw structure 62 and the third motor 63 are respectively provided with two parts, wherein the first motor, the second motor and the third motor are preferably servo motors, and the two third ball screw structures 62 are arranged in parallel and are respectively connected with the second clamping jaw 61.
When the turnover box clamping device compatible with multiple box types is used for clamping a turnover box, the first clamping jaw main body extends forwards along the horizontal direction and is abutted to a shelf of the turnover box for subsequently receiving the turnover box; then, the two second clamping jaws approach the turnover box under the action of the second horizontal driving structure and are opened under the driving of the clamping jaw opening and closing driving structure, the multiple box-type width-variable clamping can be realized through opening adjustment, then the turnover box is clamped and moves backwards, and the turnover box is placed on the first clamping jaw main body; and finally, the whole first clamping jaw body is retracted backwards, and the clamping procedure of the clamping jaw is completed.
As an alternative embodiment, in the above container clamping device compatible with multiple box types, each of the horizontal driving structure and the clamping jaw opening and closing driving structure may further include an air cylinder and a linear guide structure.
Alternatively, in the above container gripper compatible with multiple box types, the first motor 52 and the first ball screw structure 53 may be located on one side of the first jaw body, or on both sides of the first jaw body 51.
In addition, optionally, in the above container clamping device compatible with multiple box types, two sides of the first jaw body 51 are further respectively provided with a first rail slider structure, which respectively comprises a first slider 54 and a first rail 55, and preferably, the first rail slider structure is arranged at the rear side of the first jaw body 51 and is matched with the first ball screw structure 53, so that the first jaw body 51 can stably extend and retract in the frame 4, thereby improving the stability of the container clamping device.
Alternatively, in the turnover box clamping device compatible with multiple box types, the top of the frame 4 is connected with the fixed bracket 3 through the slewing bearing 2; the fixed support 3 is provided with a top motor 1 which drives the rack 4 to rotate through a slewing bearing 2, and optionally, the top motor is a servo motor and can adjust the angle of the whole turnover box clamping device, so that the turnover box can be conveniently butted with the position of the turnover box.
Alternatively, in the above container gripper compatible with multiple box types, the second jaw structure includes a base 67, and the base 67 is connected to the first jaw structure 5 through the second horizontal driving structure; the base is further connected with the first clamping jaw structure 5 through a second guide rail sliding block structure, the second guide rail sliding block structures are two and located on two sides of the second ball screw, so that the second clamping jaw 61 is limited to move on the first clamping jaw body 51, and the stability of clamping the turnover box is improved.
Optionally, in the above container gripper compatible with multiple box types, the second jaw structure 6 further includes a column 68, which is disposed on the base 67; the second clamping jaw 61 and the clamping jaw opening and closing driving structure are arranged on the upright post 68; the upright post 68 is further provided with a fourth motor 66 and a fourth ball screw structure, which are suitable for driving the second clamping jaw and the lifting of the clamping jaw opening and closing driving structure, if the turnover box is placed on an inclined plane (for example, on a fluent shelf), the second clamping jaw clamps the turnover box and raises the turnover box for a certain distance, then the turnover box is driven to move backwards, the turnover box is stably placed on the first clamping jaw body, and finally the whole first clamping jaw body is retracted backwards, so that the turnover box is suitable for clamping the turnover box placed on the inclined plane, and the risk that the turnover box falls cannot exist.
In addition, optionally, in the above container clamping device compatible with multiple box types, a sensor is provided on the second clamping jaw structure 6, and when the sensor detects that the relative position between the second clamping jaw and the container to be clamped reaches a standard, the two third motors can rotate in opposite directions to clamp the container.
Alternatively, in the above container gripper compatible with multiple box types, a polymer pad for buffering may be disposed between the second jaw body 51 and the frame 4.
The clamping method of the turnover box clamping device compatible with multiple box types provided by the embodiment is as follows:
the top motor 1 drives the slewing bearing 2 to make the first clamping jaw body 51 aligned with the turnover box to be clamped, and the first motor 52 drives the first ball screw structure 53 to make the first clamping jaw body 51 extend forwards for a certain distance on the polymer cushion block and the second guide rail 56;
then the second clamping jaw 61 moves forwards under the driving of the second motor 64, the two third motors 64 drive the third ball screw structure 62, so that the two second clamping jaws 61 are respectively opened leftwards and rightwards, and when the sensor detects that the relative position between the clamping jaws and the box reaches a standard, the third motors 64 rotate reversely to clamp the turnover box. (if the turnover box is placed on the inclined plane, the fourth motor 66 drives the fourth ball screw 12 to drive the second clamping jaw 61 to clamp the turnover box and lift the turnover box for a certain distance), the second motor 64 rotates reversely to drive the turnover box to move, the turnover box is placed on the bearing plate of the first clamping jaw main body 51, the first motor 52 rotates reversely, and the whole clamping device is completely retracted.
The placing process of the turnover box clamping device compatible with multiple box types provided by the embodiment is as follows:
the top motor 1 drives the slewing bearing to enable the first clamping jaw body 51 to be aligned to a position to be placed, and the first motor drives the first ball screw structure 53 to enable the clamping jaw body 51 to extend forwards for a certain distance on the polymer cushion block and the second guide rail; then the turnover box is pushed to move forwards by the lower clamping jaws driven by the second motor 64, and when the turnover box reaches the placing position, the two third motors rotate reversely, so that the second clamping jaws release the turnover box. The second motor 64 rotates reversely to drive the clamping jaws to retract, the first motor rotates reversely, and the whole clamping device retracts.
Example 2
The embodiment provides an AGV dolly, and it includes embodiment 1 the device is got to compatible many casees's turnover case clamp. The AGV trolley provided by the embodiment can realize clamping of multiple boxes with variable widths through opening adjustment of the second clamping jaws in the clamping device, then clamps a turnover box and moves backwards, and places the turnover box on the first clamping jaw main body; and, when the turnover case was placed on the inclined plane (for example place at fluent shelf), the second clamping jaw was carried the turnover case and is raised a certain distance, then drove the turnover case and move backward, place the turnover case steadily on first clamping jaw main part, and whole first clamping jaw main part withdraws backward at last, and it is applicable in that the clamp is got the turnover case of placing on the inclined plane to there can not be the risk that the turnover case dropped.
The method for clamping the turnover box by the AGV trolley provided by the embodiment comprises the following steps: driving the first clamping jaw body to extend forwards along the horizontal direction to reach a turnover box receiving position; driving the second clamping jaw to extend forwards and clamping the turnover box; the second clamping jaw is driven to retract backwards, the turnover box is driven to move backwards, and the turnover box is placed on the first clamping jaw main body; driving the first jaw body to retract to an initial position.
In the clamping method, after the turnover box is clamped, if the turnover box is in an inclined state, the second clamping jaw is driven to move upwards to drive the turnover box to be lifted for a certain distance, and then the second clamping jaw is driven to retract backwards.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (10)
1. The utility model provides a device is got to turnover case clamp of compatible many boxes which characterized in that includes:
the first clamping jaw structure comprises a first clamping jaw body which is horizontally arranged, and a first horizontal driving structure connected with the first clamping jaw body, wherein the first clamping jaw body is suitable for extending forwards along the horizontal direction;
the second clamping jaw structure is arranged on the first clamping jaw structure and comprises two second clamping jaws, a second horizontal driving structure and a clamping jaw opening and closing driving structure, wherein the second horizontal driving structure and the clamping jaw opening and closing driving structure are connected with the second clamping jaws; wherein the second horizontal drive arrangement is adapted to drive the back and forth movement of the second jaw over the first jaw body.
2. The device of claim 1, wherein the first horizontal drive arrangement includes a first motor and a first linear guide arrangement coupled to the first motor and the first jaw body, respectively.
3. The device of claim 2, wherein the first linear guide structure is a first ball screw structure; wherein the first motor and first ball screw structure are located on at least one side of the first jaw body.
4. The turnover box clamping device of claim 3, wherein the first clamping jaw body is further provided with first guide rail slider structures on two sides.
5. The turnover clamping device of any one of claims 1 to 4, further comprising a frame on which the first jaw structure is disposed; the top of the frame is connected with a fixed bracket through a slewing bearing; and the fixed support is provided with a top motor which drives the rack to rotate through a slewing bearing.
6. The tote grabber of claim 5, wherein the second jaw structure comprises a base connected to the first jaw structure by the second horizontal drive structure; wherein the second horizontal driving structure comprises a second motor and a second linear guide structure.
7. The device of claim 6, wherein the second linear guide structure is a second ball screw structure; the base is further connected with the first clamping jaw structure through a second guide rail sliding block structure, and the number of the second guide rail sliding block structures is two, and the two second guide rail sliding block structures are located on two sides of the second ball screw.
8. The turnover clamping device of claim 6, wherein the jaw opening and closing drive structure comprises a third ball screw structure and a third motor.
9. The device of claim 8, wherein the second jaw structure further comprises a post disposed on the base; the second clamping jaw and the clamping jaw opening and closing driving structure are arranged on the upright post; and the stand column is also provided with a fourth motor and a fourth ball screw structure which are suitable for driving the second clamping jaw and the lifting of the clamping jaw opening and closing driving structure.
10. An AGV trolley comprising a container gripper according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022153795.3U CN212558394U (en) | 2020-09-27 | 2020-09-27 | Turnover box clamp device compatible with multiple boxes and AGV trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202022153795.3U CN212558394U (en) | 2020-09-27 | 2020-09-27 | Turnover box clamp device compatible with multiple boxes and AGV trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212558394U true CN212558394U (en) | 2021-02-19 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202022153795.3U Active CN212558394U (en) | 2020-09-27 | 2020-09-27 | Turnover box clamp device compatible with multiple boxes and AGV trolley |
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| Country | Link |
|---|---|
| CN (1) | CN212558394U (en) |
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2020
- 2020-09-27 CN CN202022153795.3U patent/CN212558394U/en active Active
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