WO2018192490A1 - 夹取货箱的装置 - Google Patents

夹取货箱的装置 Download PDF

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Publication number
WO2018192490A1
WO2018192490A1 PCT/CN2018/083377 CN2018083377W WO2018192490A1 WO 2018192490 A1 WO2018192490 A1 WO 2018192490A1 CN 2018083377 W CN2018083377 W CN 2018083377W WO 2018192490 A1 WO2018192490 A1 WO 2018192490A1
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WO
WIPO (PCT)
Prior art keywords
horizontal
gripping
clamping
frame
cylinder
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Application number
PCT/CN2018/083377
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English (en)
French (fr)
Inventor
单文君
Original Assignee
北京京东尚科信息技术有限公司
北京京东世纪贸易有限公司
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Application filed by 北京京东尚科信息技术有限公司, 北京京东世纪贸易有限公司 filed Critical 北京京东尚科信息技术有限公司
Publication of WO2018192490A1 publication Critical patent/WO2018192490A1/zh

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    • 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
    • B65G59/00—De-stacking of articles

Definitions

  • the present application relates to the field of logistics technology, and in particular to the field of logistics automation technology, and in particular to a device for picking up a cargo box.
  • the technology for taking one of the boxes out of the whole container is mainly solved by the method of stacking and unpacking, that is, one of the boxes required for the stacking operation: the upper container Move it to another place, then take the required container, then move the removed upper container to its original position.
  • the equipment used mainly includes: cylinder, connecting rod, slider guide, and rectangular coordinate robot.
  • the purpose of the present application is to propose an improved device for picking up a container to solve the technical problems mentioned in the background section above.
  • the embodiment of the present application provides a device for picking up a cargo box, the device comprising: a frame, comprising: four mullion frames, which are adapted to the four vertical frames of the cargo box; the horizontal frame comprises: a horizontal frame at the top, and four mullion frames connected a top portion; a lower horizontal frame connecting the lower portions of the four mullions; and a gripping assembly comprising: two gripping horizontal shafts, oppositely disposed and respectively coupled to the lower ends of the two adjacent mullions through the bearing housings, the two gripping portions
  • the same end of the horizontal axis is respectively provided with a wrench;
  • two bottom cylinders are respectively fixedly connected with one gripping horizontal axis and the piston rod is perpendicular to the gripping horizontal axis;
  • two gripping claws the claw ends are opposite to each other, and each gripping claw
  • the ends of the piston rods respectively connected to one bottom cylinder are respectively fixed; the two gripping cylinders are respectively connected to the lower horizontal frame, and the
  • the gripping assembly further includes: a gripping link, one end of which is rotatably coupled to a wrench that grips the horizontal axis and the joint is located between the gripping cylinder and the gripping horizontal axis, and the other end is rotated
  • a wrench connected to another gripping horizontal axis and a joint of the joint and the gripping cylinder are respectively located on both sides of the gripping horizontal axis.
  • the cross frame further includes: one or more middle cross frames, the middle cross frame being located between the top horizontal frame and the lower horizontal frame, connecting the four vertical frames; the device further comprising: a clamping component disposed at one of the following Or multiple places: between the middle horizontal frames, between the middle horizontal frame and the lower horizontal frame, and between the middle horizontal frame and the top horizontal frame, the clamping assembly includes: two clamping horizontal axes, which are oppositely arranged and respectively rotated through the bearing housing Connected to two adjacent mullions, the same end of the two clamping horizontal shafts are respectively provided with a wrench; two clamping jaws, the claw ends are oppositely disposed, and each clamping jaw is fixedly connected to a clamping horizontal axis; Two clamping cylinders are respectively connected to the horizontal frame of the upper side of the clamping assembly, and the piston rods are respectively rotated and connected to a wrench for clamping the horizontal axis.
  • the clamping assembly further includes: a clamping link, one end of which is rotatably coupled to a wrench that clamps the horizontal axis and the connection is located between the connection of the clamping cylinder and the clamping horizontal axis, and the other end is rotated
  • a wrench connected to another clamping horizontal axis and a joint of the joint and the clamping cylinder are respectively located on both sides of the clamping transverse axis.
  • the apparatus further includes: a lower guide assembly comprising: vertical guide rails, each of which is adapted to each corner of the cargo box, and is disposed on a partial frame of the horizontal frame or a partial frame of the vertical frame;
  • the guide plate cylinder is mounted on the vertical guide rail, and the piston rod is parallel to the vertical guide rail;
  • the vertical guide plate is respectively connected to the piston rod of the guide cylinder, and is pulled by the piston rod to slide along the vertical guide rail.
  • lateral sync ribs are provided between the vertical guides.
  • the apparatus further includes: an upper guide assembly disposed on the partial cross frame, including at least one set of oppositely disposed vertical guides.
  • a pin hole is provided on any horizontal axis, wherein any horizontal axis includes one or more of a gripping horizontal axis and a clamping horizontal axis; and is fixed to the frame on any horizontal axis
  • the connected claw locking assembly wherein the claw locking assembly comprises: a base of the assembly, comprising: a bottom plate, a connecting stile, a cylinder mounting portion and a horizontal shaft perforation; and a horizontal tube, the tube wall is perforated along the horizontal axis
  • the hole wall extends a predetermined size and is perpendicular to the bottom plate, and is sleeved at one end of any horizontal axis;
  • the spring tube has a cylinder wall perpendicular to the horizontal tube, and the bottom of the tube communicates with the inside of the horizontal tube through the pin through hole, and the barrel cover is provided with a pin shaft perforation and
  • the cylinder is disassembled and connected to the cylinder wall; the cylinder is fixedly connected to the cylinder mounting portion, and
  • the tube wall of the cross tube is provided with a lateral notch and/or the bottom plate of the assembly base is provided with a weight reducing through hole.
  • providing the pawl locking assembly on any of the transverse axes includes providing a dog locking assembly on the gripping transverse axis and the lowermost clamping transverse axis.
  • the distance between the claw end of the gripping pawl and the claw end of the lowermost gripping jaw is greater than the height of the single cargo box; and/or the distance between each clamping jaw is greater than a single cargo The height of the box.
  • the apparatus further includes: a guide wheel assembly, the base connecting frame, the guide wheel being adapted to the guide wheel groove of the external device, and the guide frame moving along the guide wheel groove.
  • the frame further includes: reinforcing ribs for reinforcing the frame.
  • the device for gripping the container has at least a frame and a gripping assembly, wherein the frame comprises: four mullions, which are adapted to the four vertical frames of the container; and the horizontal frame comprises: a horizontal frame at the top , connecting the tops of the four mullions; the lower horizontal frame connecting the lower portions of the four mullions; the gripping assembly comprises: two gripping horizontal axes, which are oppositely disposed and respectively connected to the lower ends of the two adjacent mullions through the bearing housings The two ends of the two horizontal axes are respectively provided with a wrench; the two bottom cylinders are respectively fixedly connected with one gripping horizontal axis and the piston rod is perpendicular to the gripping horizontal axis; the two gripping claws are disposed at opposite ends of the claws, Each of the gripping claws is fixedly connected to an end of a piston rod of a bottom cylinder; two gripping cylinders are respectively connected to the lower horizontal frame, and the piston rods
  • FIG. 1 shows an exemplary architectural diagram of one embodiment of an apparatus for picking up a container in accordance with an embodiment of the present application
  • FIG. 2 illustrates an exemplary architectural diagram of yet another embodiment of an apparatus for picking up a container in accordance with an embodiment of the present application
  • FIG. 3 shows an exemplary architectural diagram of a third embodiment of an apparatus for picking up a container in accordance with an embodiment of the present application
  • Figure 4a shows a perspective view of the jaw locking assembly of Figure 3.
  • Figure 4b shows a front view of the jaw locking assembly of Figure 4a.
  • Figure 4c shows a cross-sectional view of the jaw locking assembly of Figure 4a.
  • FIG. 5 shows an exemplary application scenario showing an apparatus for picking up a container in accordance with an embodiment of the present application.
  • FIG. 1 illustrates an exemplary architectural diagram of one embodiment of an apparatus for picking up a container in accordance with an embodiment of the present application.
  • the device for picking up a container of the embodiment of the present application includes: a frame and a gripping assembly.
  • the frame comprises: four vertical frames 111, which are adapted to the four vertical frames of the container; the horizontal frame comprises: a top horizontal frame 112 connecting the tops of the four vertical frames 111; and a lower horizontal frame 113 connecting the lower portions of the four vertical frames 111
  • the gripping assembly includes: two gripping horizontal shafts 121, which are oppositely disposed and respectively rotatably connected to the lower ends of the two adjacent mullion frames 111 through the bearing housing 122, and the same ends of the two gripping horizontal shafts 121 are respectively provided with wrenches.
  • two bottom cylinders 124 are respectively fixedly connected to a gripping horizontal shaft 121 and the piston rod is perpendicular to the gripping horizontal shaft 121;
  • two gripping claws 125 the claw ends are oppositely disposed, and each gripping claw 125 is fixedly connected
  • the end of the piston rod of the bottom cylinder 124; the two gripping cylinders 126 are respectively connected to the lower horizontal frame 113, and the piston rods are respectively rotatably connected to a wrench 123 for gripping the horizontal shaft 121.
  • the position of the four mullions can be determined according to the positions of the four vertical frames of the container to be extracted; the height of the four mullions can be according to the height of the largest smashed container that needs to be picked up. Determining; the top horizontal frame and the lower horizontal frame are used to restrain and fix the four mullion frames to form a space for accommodating the cargo box; the opposite frames of the lower horizontal frame are respectively connected to the gripping cylinders for the pistons through the gripping cylinders Rotating the handle of the horizontal axis to rotate the two gripping horizontal shafts respectively, so as to drive the gripping claws fixedly connected to the gripping horizontal shaft to rotate inward respectively, so that the gripping claws buckle the handle of the cargo box, In order to raise the container gripped by the gripping claws and the cargo box stacked on the upper part of the cargo box when the device for picking up the cargo box rises.
  • the bottom cylinder is fixedly connected to the gripping horizontal axis, and the length of the gripping claw is extended downward by the expansion and contraction of the piston rod of the bottom cylinder, so that the bottom cargo box can be conveniently grasped, and When the container is lowered, it is stowed up to avoid collision with the lowered container.
  • the device for picking up the cargo box provided by the above embodiment of the present application can arbitrarily extract the cargo box in the stacking container by setting the frame and the gripping assembly, thereby effectively solving the problem that the background art cannot directly extract the cargo box.
  • the problem of any one box improves the efficiency of the extraction of the container.
  • FIG. 2 illustrates an exemplary architectural diagram of yet another embodiment of an apparatus for picking up a container in accordance with an embodiment of the present application.
  • the means for gripping the container includes a frame, a grip assembly and a clamping assembly.
  • the frame comprises: four mullions 111, which are adapted to the four vertical frames of the container; the horizontal frame comprises: a top horizontal frame 112 connecting the tops of the four vertical frames 111; and a lower horizontal frame 113 connecting the lower portions of the four vertical frames 111; More than one middle cross frame 114, the middle cross frame 114 is located between the top horizontal frame 112 and the lower horizontal frame 113, connecting four vertical frames 111; reinforcing ribs 115 for reinforcing the frame.
  • the gripping assembly comprises: two gripping horizontal shafts 121, which are oppositely disposed and respectively rotatably connected to the lower ends of two adjacent mullion frames 111 through the bearing housing 122, and the same ends of the two gripping horizontal shafts 121 are respectively provided with wrenches.
  • two bottom cylinders 124 are respectively fixedly connected to a gripping horizontal shaft 121 and the piston rod is perpendicular to the gripping horizontal shaft 121;
  • two gripping claws 125 the claw ends are oppositely disposed, and each gripping claw 125 is fixedly connected
  • the two gripping cylinders 126 are respectively connected to the lower horizontal frame 113, and the piston rods are respectively connected to a wrench 123 for gripping the horizontal shaft 121;
  • the connecting rod 127 is connected at one end to one
  • the wrench 123 of the horizontal shaft 121 is gripped and the joint is located between the joint of the gripping cylinder 126 and the gripping horizontal shaft 121, and the other end is rotatably connected to the wrench 123 of the other gripping horizontal shaft 121 and is connected and gripped.
  • the joints of the cylinders 126 are respectively located on both sides of the gripping horizontal shaft 121.
  • the clamping assembly is disposed at one or more of the following: between the middle horizontal frame 114, between the middle horizontal frame 114 and the lower horizontal frame 113, and between the middle horizontal frame 114 and the top horizontal frame 112.
  • the clamping assembly includes:
  • the clamping horizontal shafts 131 are oppositely disposed and respectively rotatably connected to two adjacent mullion frames 111 through the bearing housing 132.
  • the same ends of the two clamping horizontal shafts 131 are respectively provided with wrenches 133; two clamping jaws 134
  • the claw ends are oppositely disposed, and each of the clamping jaws 134 is fixedly connected to a clamping horizontal axis 131;
  • the two clamping cylinders 135 are respectively connected with the horizontal frame of the upper side of the clamping assembly, and the piston rods are respectively rotated and connected to one clamping horizontally.
  • a wrench 133 of the shaft 131; a clamping link 136 one end of which is rotatably connected to a wrench 133 for clamping the horizontal shaft 131, and the joint is located between the joint of the clamping cylinder 135 and the clamping horizontal axis 131, and the other end is rotationally connected.
  • the other end of the clamping transverse axis 131 is located on the other side of the clamping horizontal axis 131.
  • the distance between the claw end of the gripping claw 125 and the claw end of the lowermost gripping claw 134 is larger than the height of a single container.
  • the distance between each of the clamping jaws 134 is greater than the height of a single of the cargo boxes.
  • the gripping link is added to the above-mentioned gripping assembly, and more than one middle cross frame is added to the device, and A clamping assembly is disposed between the intermediate transverse frames, between the intermediate transverse frame and the lower transverse frame, between the intermediate transverse frame and the top transverse frame, and a clamping link is also disposed in the clamping assembly.
  • the gripping link here can transmit the force of one gripping cylinder rotating and gripping the horizontal shaft to the other wrench holding the horizontal shaft, so that the two gripping wrenches of the horizontal axis are simultaneously rotated outward. Even if one gripping cylinder fails, the other gripping cylinder can ensure the normal operation of the two gripping claws, improving the stability of the gripping gripping action.
  • the clamping link here can transmit the force of one clamping cylinder rotating and clamping the horizontal axis to the other wrench holding the horizontal axis, thereby interlocking the two wrenches holding the horizontal axis to rotate outward at the same time. Even if one clamping cylinder fails, the other clamping cylinder can ensure the normal operation of the two gripping claws, improving the stability of the gripping action.
  • more than one middle horizontal frame is set in the embodiment to restrain and fix the four vertical frames.
  • the clamping assembly is added to be opposed to the horizontal frame located at the upper portion of the clamping assembly.
  • the two frames are respectively provided with clamping cylinders for rotating the handle of the horizontal axis by the piston clamping the cylinder, so that the two clamping horizontal axes are respectively rotated, thereby driving the clamping fixedly connected to the clamping horizontal axis.
  • the jaws are respectively rotated inwardly to snap the handle of the container so as to grip the container located at the upper portion of the desired container when the device for picking up the container is raised.
  • the apparatus for picking up a cargo box provided by the above embodiment of the present application can improve direct extraction of a stock by providing a middle horizontal frame, a gripping assembly including a gripping link, and a clamping assembly and a clamping link.
  • the reliability and stability of any box in the box increases the efficiency of the extraction of the container.
  • FIG. 3 illustrates an exemplary architectural diagram of a third embodiment of an apparatus for picking up a container in accordance with an embodiment of the present application.
  • the means for gripping the container includes a frame, a gripping assembly, a clamping assembly, a lower guide assembly, an upper guide assembly, a pawl locking assembly 161, and a guide wheel assembly.
  • the frame includes: four mullions 111, which are adapted to the four vertical frames of the container; the horizontal frame includes: a top horizontal frame 112 connecting the tops of the four vertical frames 111; and a lower horizontal frame 113 connecting the four vertical frames 111 Lower portion; more than one middle cross frame 114, the middle cross frame 114 is located between the top horizontal frame 112 and the lower horizontal frame 113, connecting four vertical frames 111; reinforcing ribs 115 for reinforcing the frame.
  • the gripping assembly comprises: two gripping horizontal shafts 121, which are oppositely disposed and respectively rotatably connected to the lower ends of two adjacent mullion frames 111 through the bearing housing 122, and the same ends of the two gripping horizontal shafts 121 are respectively provided with wrenches.
  • two bottom cylinders 124 are respectively fixedly connected to a gripping horizontal shaft 121 and the piston rod is perpendicular to the gripping horizontal shaft 121;
  • two gripping claws 125 the claw ends are oppositely disposed, and each gripping claw 125 is fixedly connected
  • the two gripping cylinders 126 are respectively connected to the lower horizontal frame 113, and the piston rods are respectively connected to a wrench 123 for gripping the horizontal shaft 121;
  • the connecting rod 127 is connected at one end to one
  • the wrench 123 of the horizontal shaft 121 is gripped and the joint is located between the joint of the gripping cylinder 126 and the gripping horizontal shaft 121, and the other end is rotatably connected to the wrench 123 of the other gripping horizontal shaft 121 and is connected and gripped.
  • the joints of the cylinders 126 are respectively located on both sides of the gripping horizontal shaft 121.
  • the clamping assembly is disposed at one or more of the following: between the middle horizontal frame 114, between the middle horizontal frame 114 and the lower horizontal frame 113, and between the middle horizontal frame 114 and the top horizontal frame 112.
  • the clamping assembly includes:
  • the clamping horizontal shafts 131 are oppositely disposed and respectively rotatably connected to two adjacent mullion frames 111 through the bearing housing 132.
  • the same ends of the two clamping horizontal shafts 131 are respectively provided with wrenches 133; two clamping jaws 134 The claw ends are oppositely disposed, and each of the clamping claws 134 is fixedly connected to a clamping horizontal axis 131; the two clamping cylinders 135 are respectively connected with the middle horizontal frame 114 of the upper side of the clamping assembly, and the piston rods are respectively rotated to connect a clamp.
  • a wrench 133 holding a horizontal shaft 131 a clamping link 136 having one end rotatably connected to a wrench 133 for clamping the horizontal shaft 131 and a joint between the joint of the clamping cylinder 135 and the clamping horizontal shaft 131, and the other end
  • the wrench 133 connected to the other clamping horizontal shaft 131 is rotated and the joint of the joint and the clamping cylinder 135 is located on both sides of the clamping transverse shaft 131, respectively.
  • the lower guide assembly comprises: vertical guide rails 141, each of which is adapted to each corner of the cargo box, and is disposed on a partial frame of the horizontal frame or a partial frame of the vertical frame 111; the guide cylinder 142 is mounted on the vertical To the guide rail 141, the piston rod is parallel to the vertical guide rail 141; the vertical guide plate 143 is connected to the piston rod of the guide cylinder 142, respectively, and is slid along the vertical guide rail 141 by the piston rod. Lateral synchronization ribs 144 are provided between the vertical guides 143.
  • the upper guide assembly is disposed on a portion of the horizontal frame and includes at least one set of oppositely disposed vertical guide plates 151.
  • a pin hole and a dog lock assembly 161 are provided on the grip horizontal axis 121 and the lowermost grip horizontal axis 131, wherein the dog lock assembly 161 is as shown in Fig. 4a (oblique view), 4b (front view), and 4c (cross-sectional view), comprising: a base of the assembly, comprising: a bottom plate 162, connected to the mullion 111, the bottom plate 162 is provided with a cylinder mounting portion 163 and a horizontal shaft perforation; the horizontal tube 164, the wall of the tube extends along the hole wall of the horizontal axis a predetermined size and perpendicular to the bottom plate 162, sleeved at one end of any horizontal axis; a spring cylinder 165, the cylinder wall is perpendicular to the horizontal tube 164, the cylinder bottom 166 communicates with the inside of the horizontal tube 164 through the pin through hole, and the cylinder cover 167 is provided with a pin shaft Perforated and detachably connected to the
  • the bottom 166, and the shaft end penetrates the pin hole through the pin through hole, when the piston rod of the unlocking cylinder 168 rises, the shaft end moves out of the pin When compressed.
  • the tube wall of the cross tube 164 is provided with a lateral notch 172 to reduce the cross tube weight and increase the structural strength.
  • the bottom plate 162 of the assembly base is provided with a weight reducing through hole 173.
  • the apparatus further includes a guide wheel assembly, the base 181 of the guide wheel assembly is coupled to the frame, and the guide wheel 182 is adapted to the guide wheel groove of the external device to guide the frame to move along the guide wheel groove.
  • the lower guide plate assembly is added to the frame of the horizontal frame or the mullion, and the vertical direction of the lower guide plate assembly is set.
  • the guide rail is adapted to each corner of the cargo box, and the guide cylinder is mounted on the vertical guide rail, and the piston rod of the guide cylinder is connected with the vertical guide plate which can slide along the vertical guide rail, thereby using the piston rod of the guide cylinder to draw the vertical guide along the vertical guide rail Sliding improves the stability of the container into the device that grips the container.
  • an upper guide plate assembly disposed on a partial horizontal frame is further disposed, including at least one set of opposite vertical guide plates, so that the goods entering the higher position of the device for picking up the cargo box can be conveniently guided. The box successfully reached the predetermined location.
  • a claw locking assembly for locking rotation is provided on the gripping horizontal axis and the lowermost clamping horizontal axis, and when the horizontal axis provided with the claw is rotated to clamp the claw
  • the cylinder of the claw lock assembly stops supplying air, and the shaft end of the pin is pressed into the pin hole of the gripping horizontal shaft or the clamping horizontal shaft through the spring in the lock assembly, thereby preventing The locked horizontal axis rotates.
  • the pin shaft can be moved up by the piston rod of the unlocking cylinder in the claw lock assembly, so that the shaft end of the pin shaft is lifted out of the pin hole, and the locked horizontal axis is unlocked and can be rotated.
  • the device is further provided with a guide wheel assembly, and the base of the guide wheel assembly is connected to the frame, where it can be connected to the mullion or to the horizontal frame. You can also connect the mullion and the horizontal frame at the same time. Please do not limit this.
  • the guide wheel of the guide wheel assembly can be adapted to the guide groove provided in the external device to guide the direction of movement of the guide wheel through the guide groove to guide the frame to move in the guiding direction of the guide groove.
  • the device for picking up the container described in the above embodiments of FIG. 1, FIG. 2 and FIG. 3 is merely an illustrative embodiment of the present application and does not represent a limitation of the present application.
  • only the gripping link or only the gripping link may be provided on the basis of the frame, the gripping assembly and the gripping assembly.
  • only the lower guide assembly may be provided on the basis of the embodiment shown in FIG.
  • the claw locking assembly may be provided, or only the horizontal axis or only A jaw locking assembly is provided on the clamping transverse axis, or a jaw locking assembly is provided on the other transverse axis other than the gripping transverse axis and the lowermost clamping transverse axis.
  • FIG. 5 illustrates an exemplary application scenario of an apparatus for picking up a container in accordance with an embodiment of the present application.
  • the third-to-last box that needs to extract the entire container is taken as an example.
  • the entire container can be inserted into the device for picking up the container from the top to the bottom, so that the gripper 125 is grasped.
  • the gripping claw 125 and the clamping claw 134 are contracted, the third-counter box is grasped and the cargo box above the third box is clamped and then lifted up, at this time, due to the grasping card
  • the claw 125 has a difference in height direction from the lowermost clamping jaw 134, and the container is naturally separated when lifting; after the separation, since the device is designed and applied to the Cartesian robot, the third box can be counted up after lifting. Place it in the desired position, or move it to the side of the moving tray and place it in it. After placing the third box, put the upper container back to the original place or other place, and complete the operation.
  • the bottom cylinder 124 pushes the gripping claw 125 to extend, and the gripping cylinder 126 rotates the gripping claw 125 and jams the box edge, in order to ensure two
  • the gripping cylinders 126 are simultaneously operated, and the wrench that grips the horizontal shaft is simultaneously operated by the gripping link 127; at the same time, the clamping jaws 134 also act, and the clamping cylinder 135 rotates the clamping jaws 134 to the side of the box.
  • the locked gripping horizontal shaft 121 and the clamping transverse shaft 131 are locked by the pawl locking assembly 161, so that the gripping claw 125 and/or the gripping claw 134 cannot be kept after the air is shut off, so that the container is dropped.
  • the gripping claw 125 and the clamping claw 134 are respectively controlled by the gripping cylinder 126 and the clamping cylinder 135, they can be respectively retracted; when the gripper gripped by the gripping claw 125 is taken away or placed Thereafter, the gripping cylinder 126 of the gripping claw 125 rotates to grip the horizontal axis to push the gripping claw 125 outward, while the bottom cylinder 124 retracts the gripping claw 125 upward to prevent interference when the remaining container is placed.
  • each of the clamping jaws 134 is slightly higher than the height of the stacked unit container by 1-3 mm, thereby reducing the load on the lower clamping jaws 134 and increasing the load on the device.
  • the grasping cylinder 126 of the grasping claw 125 described above rotates to grasp the horizontal axis to push out the gripping claw 125 outward, and the bottom cylinder 124 retracts the gripping claw 125 upwards, or can be divided into two steps.
  • the gripping cylinder 126 of the gripping claw 125 may firstly grip the gripping horizontal shaft to push out the gripping claw 125 outward, and then the bottom cylinder 124 retracts the gripping claw 125 upward; or the bottom cylinder 124 may first grasp The claws 125 are retracted upwards, and then the gripping cylinders 126 of the gripping claws 125 are rotated to grip the horizontal axis to push the gripping claws 125 outward, which is not limited in the present application.

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  • De-Stacking Of Articles (AREA)

Abstract

一种夹取货箱的装置包括：框架和横框。框架包括：四条竖框（111），与货箱的四条竖边框相适应；横框包括：顶部横框（112），连接四条竖框（111）的顶部；下部横框（113），连接四条竖框（111）的下部；抓持组件包括：两个抓持横轴（121），相对设置且分别通过轴承座（122）转动连接于两条相邻的竖框（111）的下端，两个抓持横轴（121）的同端分别设有扳手（123）；两个底部气缸（124），分别固定连接一个抓持横轴（121）且活塞杆垂直于抓持横轴（121）；两个抓持卡爪（125），爪端相向设置，各抓持卡爪（125）分别固定连接一个底部气缸（124）的活塞杆的末端；两个抓持气缸（126），分别连接下部横框（113），活塞杆分别转动连接一个抓持横轴（121）的扳手（123）。该夹取货箱的装置可以在成垛货箱中任意提取货箱，提高了提取货箱的效率。

Description

夹取货箱的装置
相关申请的交叉引用
本专利申请要求于2017年4月21日提交的、申请号为201710265789.7、发明名称为“夹取货箱的装置”的中国专利申请的优先权，该申请的全文以引用的方式并入本申请中。
技术领域
本申请涉及物流技术领域，具体涉及物流自动化技术领域，尤其涉及夹取货箱的装置。
背景技术
在标准货箱的自动化应用中，通常需要从整摞货箱(通常包括1到8个货箱)中任意取其中一个货箱出来。
目前，从整摞货箱中任意取其中一个货箱出来的技术，主要为采取堆垛拆垛方式来解决，也即以堆栈式操作提取所需要一摞货箱中的一个：将上层货箱移动至别处堆放，然后再取所需要的货箱，之后将取走的上层货箱移动至原位。所采用的设备主要包括：气缸、连杆、滑块导轨、直角坐标机器人等。
然而，现有的对货箱堆垛拆垛的设备，常以单独的端拾器对上层货箱从上至下逐一提取货箱，无法直接提取一摞货箱中的任意一箱，从而导致提取货箱的效率较低。
发明内容
本申请的目的在于提出一种改进的夹取货箱的装置，来解决以上背景技术部分提到的技术问题。
本申请实施例提供了一种夹取货箱的装置，装置包括：框架，包括：四条竖框，与货箱的四条竖边框相适应；横框，包括：顶部横框，连接四条竖框的顶部；下部横框，连接四条竖框的下部；抓持组件， 包括：两个抓持横轴，相对设置且分别通过轴承座转动连接于两条相邻的竖框的下端，两个抓持横轴的同端分别设有扳手；两个底部气缸，分别固定连接一个抓持横轴且活塞杆垂直于抓持横轴；两个抓持卡爪，爪端相向设置，各抓持卡爪分别固定连接一个底部气缸的活塞杆的末端；两个抓持气缸，分别连接下部横框，活塞杆分别转动连接一个抓持横轴的扳手。
在一些实施例中，抓持组件还包括：抓持连杆，一端转动连接于一个抓持横轴的扳手且连接处位于抓持气缸的连接处与该抓持横轴之间，另一端转动连接于另一个抓持横轴的扳手且连接处和抓持气缸的连接处分别位于该抓持横轴的两侧。
在一些实施例中，横框还包括：一个以上的中间横框，中间横框位于顶部横框和下部横框之间，连接四条竖框；装置还包括：夹持组件，设于以下一处或多处：中间横框之间、中间横框与下部横框之间以及中间横框与顶部横框之间，夹持组件包括：两个夹持横轴，相对设置且分别通过轴承座转动连接于两条相邻的竖框，两个夹持横轴的同端分别设有扳手；两个夹持卡爪，爪端相向设置，各夹持卡爪分别固定连接一个夹持横轴；两个夹持气缸，分别与夹持组件上侧的横框连接，活塞杆分别转动连接一个夹持横轴的扳手。
在一些实施例中，夹持组件还包括：夹持连杆，一端转动连接于一个夹持横轴的扳手且连接处位于夹持气缸的连接处与该夹持横轴之间，另一端转动连接于另一个夹持横轴的扳手且连接处和夹持气缸的连接处分别位于该夹持横轴的两侧。
在一些实施例中，装置还包括：下部导板组件，包括：竖向导轨，各个竖向导轨分别与货箱的各个角相适应，设于横框的部分框架上或竖框的部分框架上；导板气缸，安装于竖向导轨上，活塞杆平行于竖向导轨；竖向导板，分别连接导板气缸的活塞杆，由活塞杆牵引沿竖向导轨滑动。
在一些实施例中，竖向导板之间设有横向的同步肋条。
在一些实施例中，装置还包括：上部导板组件，设于部分横框上，包括至少一套相对设置的竖向导板。
在一些实施例中，在任意横轴上设有销孔，其中，任意横轴包括：抓持横轴和夹持横轴中的一项或多项；在任意横轴上设有与框架固定连接的卡爪锁止组件，其中，卡爪锁止组件包括：组件底座，包括：底板，连接竖框，底板上设有气缸安装部和横轴穿孔；横管，管壁沿横轴穿孔的孔壁延伸预定尺寸且垂直于底板，套接于任意横轴的一端；弹簧筒，筒壁垂直于横管，筒底通过销轴通孔联通横管内部，筒盖设有销轴穿孔且可拆卸连接于筒壁；解锁气缸，固定连接于气缸安装部，活塞杆与底板的板面平行；销轴，轴根穿出筒盖连接解锁气缸的活塞杆，轴身位于弹簧筒中，轴身靠近轴端侧设有凸台；弹簧，套接于销轴位于凸台和筒盖之间的轴身，将凸台抵于筒底，且轴端通过销轴通孔穿入销孔，当解锁气缸的活塞杆上升带动轴端移出销孔时被压缩。
在一些实施例中，横管的管壁设有横向缺口和/或组件底座的底板设有减重通孔。
在一些实施例中，在任意横轴上设有卡爪锁止组件包括：在抓持横轴和最下方的夹持横轴上设有卡爪锁止组件。
在一些实施例中，抓持卡爪的爪端与最下方的夹持卡爪的爪端之间的距离大于单个货箱的高度；和/或各夹持卡爪之间的距离大于单个货箱的高度。
在一些实施例中，装置还包括：导轮组件，底座连接框架，导轮与外部设备的导轮槽相适应，引导框架沿导轮槽移动。
在一些实施例中，框架还包括：用于加固框架的加固肋条。
本申请上述实施例提供的夹取货箱的装置，至少设置了框架和抓持组件，其中，框架包括：四条竖框，与货箱的四条竖边框相适应；横框，包括：顶部横框，连接四条竖框的顶部；下部横框，连接四条竖框的下部；抓持组件包括：两个抓持横轴，相对设置且分别通过轴承座转动连接于两条相邻的竖框的下端，两个抓持横轴的同端分别设有扳手；两个底部气缸，分别固定连接一个抓持横轴且活塞杆垂直于抓持横轴；两个抓持卡爪，爪端相向设置，各抓持卡爪分别固定连接一个底部气缸的活塞杆的末端；两个抓持气缸，分别连接下部横框，活塞杆分别转动连接一个抓持横轴的扳手。该实施例通过至少设置框 架和抓持组件，可以成垛提取货箱，有效解决了背景技术中无法直接提取一摞货箱中的任意一箱的问题，提高了提取货箱的效率。
附图说明
通过阅读参照以下附图所作的对非限制性实施例所作的详细描述，本申请的其它特征、目的和优点将会变得更明显：
图1示出了根据本申请实施例的夹取货箱的装置的一个实施例的示例性架构图；
图2示出了根据本申请实施例的夹取货箱的装置的又一个实施例的示例性架构图；
图3示出了根据本申请实施例的夹取货箱的装置的第三个实施例的示例性架构图；
图4a示出了图3中的卡爪锁止组件的斜视图。
图4b示出了图4a中的卡爪锁止组件的正视图。
图4c示出了图4a中的卡爪锁止组件的剖视图。
图5示出了示出了根据本申请实施例的夹取货箱的装置的一个示例性应用场景。
附图标记：111-竖框；112-顶部横框；113-下部横框；114-中间横框；115-加固肋条；121-抓持横轴；122-用于抓持横轴的轴承座；123-抓持横轴的扳手；124-底部气缸；125-抓持卡爪；126-抓持气缸；127-抓持连杆；131-夹持横轴；132-用于夹持横轴的轴承座；133-夹持横轴的扳手；134-夹持卡爪；135-夹持气缸；136-夹持连杆；141-竖向导轨；142-导板气缸；143-下部导板组件的竖向导板；144-同步肋条；151-上部导板组件的竖向导板；161-卡爪锁止组件；162-底板；163-气缸安装部；164-横管；165-弹簧筒；166-筒底；167-筒盖；168-解锁气缸；169-销轴；170-凸台；171-弹簧；172-横向缺口；173-减重通孔；181-导轮组件的底座；182-导轮。
具体实施方式
下面结合附图和实施例对本申请作进一步的详细说明。可以理解 的是，此处所描述的具体实施例仅仅用于解释相关发明，而非对该发明的限定。另外还需要说明的是，为了便于描述，附图中仅示出了与有关发明相关的部分。
需要说明的是，在不冲突的情况下，本申请中的实施例及实施例中的特征可以相互组合。下面将参考附图并结合实施例来详细说明本申请。
图1示出了根据本申请实施例的夹取货箱的装置的一个实施例的示例性架构图。
如图1所示，本申请实施例的夹取货箱的装置包括：框架和抓持组件。
其中，框架包括：四条竖框111，与货箱的四条竖边框相适应；横框，包括：顶部横框112，连接四条竖框111的顶部；下部横框113，连接四条竖框111的下部；抓持组件包括：两个抓持横轴121，相对设置且分别通过轴承座122转动连接于两条相邻的竖框111的下端，两个抓持横轴121的同端分别设有扳手123；两个底部气缸124，分别固定连接一个抓持横轴121且活塞杆垂直于抓持横轴121；两个抓持卡爪125，爪端相向设置，各抓持卡爪125分别固定连接一个底部气缸124的活塞杆的末端；两个抓持气缸126，分别连接下部横框113，活塞杆分别转动连接一个抓持横轴121的扳手123。
在本实施例中，四条竖框的设置位置，可以根据所要提取的货箱的四条竖边框的位置来确定；四条竖框的高度，可以根据所需夹取的最大成摞货箱的高度来确定；顶部横框和下部横框用于约束并固定四条竖框以形成容置货箱的空间；下部横框相对的两个框上，分别连接抓持气缸，用于经由抓持气缸的活塞转动抓持横轴的把手，使得两个抓持横轴分别转动，从而带动固定连接于抓持横轴的抓持卡爪分别向内旋转，使得抓持卡爪卡扣货箱的把手处，以便在夹取货箱的装置上升时，带走抓持卡爪抓持的货箱以及叠放于该货箱上部的货箱。
在这里，还在抓持横轴上固定连接了底部气缸，通过底部气缸的活塞杆的伸缩来调节抓持卡爪向下延伸的长度，从而可以方便的卡抓底部的货箱，并在将货箱放下后向上收起，以免碰撞放下的货箱。
本申请的上述实施例提供的夹取货箱的装置，通过设置框架和抓持组件，可以在成垛货箱中任意提取货箱，有效解决了背景技术中无法直接提取一摞货箱中的任意一箱的问题，提高了提取货箱的效率。
进一步参考图2，图2示出了根据本申请实施例的夹取货箱的装置的又一个实施例的示例性架构图。
如图2所示，夹取货箱的装置包括：框架、抓持组件和夹持组件。
框架，包括：四条竖框111，与货箱的四条竖边框相适应；横框，包括：顶部横框112，连接四条竖框111的顶部；下部横框113，连接四条竖框111的下部；一个以上的中间横框114，中间横框114位于顶部横框112和下部横框113之间，连接四条竖框111；用于加固框架的加固肋条115。
抓持组件，包括：两个抓持横轴121，相对设置且分别通过轴承座122转动连接于两条相邻的竖框111的下端，两个抓持横轴121的同端分别设有扳手123；两个底部气缸124，分别固定连接一个抓持横轴121且活塞杆垂直于抓持横轴121；两个抓持卡爪125，爪端相向设置，各抓持卡爪125分别固定连接一个底部气缸124的活塞杆的末端；两个抓持气缸126，分别连接下部横框113，活塞杆分别转动连接一个抓持横轴121的扳手123；抓持连杆127，一端转动连接于一个抓持横轴121的扳手123且连接处位于抓持气缸126的连接处与该抓持横轴121之间，另一端转动连接于另一个抓持横轴121的扳手123且连接处和抓持气缸126的连接处分别位于该抓持横轴121的两侧。
夹持组件，设于以下一处或多处：中间横框114之间、中间横框114与下部横框113之间以及中间横框114与顶部横框112之间，夹持组件包括：两个夹持横轴131，相对设置且分别通过轴承座132转动连接于两条相邻的竖框111，两个夹持横轴131的同端分别设有扳手133；两个夹持卡爪134，爪端相向设置，各夹持卡爪134分别固定连接一个夹持横轴131；两个夹持气缸135，分别与夹持组件上侧的横框连接，活塞杆分别转动连接一个夹持横轴131的扳手133；夹持连杆136，一端转动连接于一个夹持横轴131的扳手133且连接处位于夹持气缸135的连接处与该夹持横轴131之间，另一端转动连接于另 一个夹持横轴131的扳手133且连接处和夹持气缸135的连接处分别位于该夹持横轴131的两侧。
抓持卡爪125的爪端与最下方的夹持卡爪134的爪端之间的距离大于单个货箱的高度。各夹持卡爪134之间的距离大于单个所述货箱的高度。
在本实施例中，与图1所述的夹取货箱的装置不同的是，在上述的抓持组件中增加了抓持连杆，并且装置中增加了一个以上的中间横框，并在中间横框之间、中间横框与下部横框之间、中间横框与顶部横框之间，分别设置了夹持组件，并且在夹持组件中也设置了夹持连杆。
这里的抓持连杆，可以将一个抓持气缸转动抓持横轴的力量传递至另一个抓持横轴的扳手处，从而联动两个抓持横轴的扳手同时向外旋转。即使一个抓持气缸出现故障，另一个抓持气缸仍可以保证两个抓持卡爪的正常操作，提高了抓持卡抓的动作的稳定性。
同理，这里的夹持连杆，可以将一个夹持气缸转动夹持横轴的力量传递至另一个夹持横轴的扳手处，从而联动两个夹持横轴的扳手同时向外旋转。即使一个夹持气缸出现故障，另一个夹持气缸仍可以保证两个抓持卡爪的正常操作，提高了夹持卡抓的动作的稳定性。
考虑到一摞货箱的重量可能较重，并且一摞货箱在移动过程中可能出现的水平方向的移动，本实施例中还设置了一个以上的中间横框，约束并固定四条竖框，以加固图1中容置货箱的空间，提高夹取货箱的装置的稳定性；并在除抓持卡爪之外，增加设置夹持组件，在位于夹持组件上部的横框相对的两个框上还分别设有夹持气缸，用于经由夹持气缸的活塞转动夹持横轴的把手，使得两个夹持横轴分别转动，从而带动固定连接于夹持横轴的夹持卡爪分别向内旋转，以便卡扣货箱的把手处，从而在夹取货箱的装置上升时夹持位于所需提取的货箱上部的货箱。
本申请的上述实施例提供的夹取货箱的装置，通过设置框架中包括中间横框、抓持组件包括抓持连杆以及设置夹持组件以及夹持连杆，可以提高直接提取一摞货箱中的任意一箱的可靠性和稳定性，从而提 高了提取货箱的效率。
进一步参考图3，图3示出了根据本申请实施例的夹取货箱的装置的第三个实施例的示例性架构图。
如图3所示，夹取货箱的装置包括：框架、抓持组件、夹持组件、下部导板组件、上部导板组件、卡爪锁止组件161和导轮组件。
其中，框架，包括：四条竖框111，与货箱的四条竖边框相适应；横框，包括：顶部横框112，连接四条竖框111的顶部；下部横框113，连接四条竖框111的下部；一个以上的中间横框114，中间横框114位于顶部横框112和下部横框113之间，连接四条竖框111；用于加固框架的加固肋条115。
抓持组件，包括：两个抓持横轴121，相对设置且分别通过轴承座122转动连接于两条相邻的竖框111的下端，两个抓持横轴121的同端分别设有扳手123；两个底部气缸124，分别固定连接一个抓持横轴121且活塞杆垂直于抓持横轴121；两个抓持卡爪125，爪端相向设置，各抓持卡爪125分别固定连接一个底部气缸124的活塞杆的末端；两个抓持气缸126，分别连接下部横框113，活塞杆分别转动连接一个抓持横轴121的扳手123；抓持连杆127，一端转动连接于一个抓持横轴121的扳手123且连接处位于抓持气缸126的连接处与该抓持横轴121之间，另一端转动连接于另一个抓持横轴121的扳手123且连接处和抓持气缸126的连接处分别位于该抓持横轴121的两侧。
夹持组件，设于以下一处或多处：中间横框114之间、中间横框114与下部横框113之间以及中间横框114与顶部横框112之间，夹持组件包括：两个夹持横轴131，相对设置且分别通过轴承座132转动连接于两条相邻的竖框111，两个夹持横轴131的同端分别设有扳手133；两个夹持卡爪134，爪端相向设置，各夹持卡爪134分别固定连接一个夹持横轴131；两个夹持气缸135，分别与夹持组件上侧的中间横框114连接，活塞杆分别转动连接一个夹持横轴131的扳手133；夹持连杆136，一端转动连接于一个夹持横轴131的扳手133且连接处位于夹持气缸135的连接处与该夹持横轴131之间，另一端转动连接于另一个夹持横轴131的扳手133且连接处和夹持气缸135的连接 处分别位于该夹持横轴131的两侧。
下部导板组件，包括：竖向导轨141，各个竖向导轨141分别与货箱的各个角相适应，设于横框的部分框架上或竖框111的部分框架上；导板气缸142，安装于竖向导轨141上，活塞杆平行于竖向导轨141；竖向导板143，分别连接导板气缸142的活塞杆，由活塞杆牵引沿竖向导轨141滑动。竖向导板143之间设有横向的同步肋条144。
上部导板组件，设于部分横框上，包括至少一套相对设置的竖向导板151。
在抓持横轴121和最下方的夹持横轴131上设有销孔和卡爪锁止组件161，其中，卡爪锁止组件161如图4a(斜视图)、4b(正视图)和4c(剖视图)所示，包括：组件底座，包括：底板162，连接竖框111，底板162上设有气缸安装部163和横轴穿孔；横管164，管壁沿横轴穿孔的孔壁延伸预定尺寸且垂直于底板162，套接于任意横轴的一端；弹簧筒165，筒壁垂直于横管164，筒底166通过销轴通孔联通横管164内部，筒盖167设有销轴穿孔且可拆卸连接于筒壁；解锁气缸168，固定连接于气缸安装部163，活塞杆与底板162的板面平行；销轴169，轴根穿出筒盖167连接解锁气缸168的活塞杆，轴身位于弹簧筒165中，轴身靠近轴端侧设有凸台170；弹簧171，套接于销轴169位于凸台170和筒盖167之间的轴身，将凸台170抵于筒底166，且轴端通过销轴通孔穿入销孔，当解锁气缸168的活塞杆上升带动轴端移出销孔时被压缩。横管164的管壁设有横向缺口172，以减轻横管重量并提高结构强度。组件底座的底板162设有减重通孔173。
返回图3，装置还包括导轮组件，导轮组件的底座181连接框架，导轮182与外部设备的导轮槽相适应，引导框架沿导轮槽移动。
在本实施例中，与图2中夹取货箱的装置不同的是，本实施例中在横框或竖框的部分框架上，还增加了下部导板组件，并设置下部导板组件的竖向导轨适应货箱的各个角，在竖向导轨上安装导板气缸，导板气缸的活塞杆连接可沿竖向导轨滑动的竖向导板，从而利用导板气缸的活塞杆来牵引竖向导板沿竖向导轨滑动，提高了货箱进入夹取货箱的装置的稳定性。
此外，本实施例中还设置了设于部分横框上的上部导板组件，包括至少一套相对设置的竖向导板，从而可以方便的引导进入夹取货箱的装置中较高位置处的货箱顺利到达预定位置。
此外，本实施例中还在抓持横轴和最下方的夹持横轴上，设置了用于锁定转动的卡爪锁止组件，当设有卡爪的横轴转动到使卡爪夹持货箱的状态时，卡爪锁止组件的气缸停止供气，通过锁止组件中的弹簧，将销轴的轴端压入抓持横轴或夹持横轴的销孔内，从而可以防止被锁止的横轴转动。当需要解除锁止时，可以通过卡爪锁止组件中的解锁气缸的活塞杆带动销轴上移，从而销轴的轴端被提出销孔，被锁止的横轴解除锁止，能够转动。
为了将本实施例中的夹取货箱的装置连接至外部设备，本装置还设置了导轮组件，导轮组件的底座连接上述框架，这里既可以连接至竖框，也可以连接至横框，还可以同时连接竖框和横框，本身请对此不做限定。导轮组件的导轮可以与设置于外部设备的导轮槽相适应，从而通过导轮槽引导导轮的运动方向，以引导框架沿导轮槽的导引方向移动。
应当理解，本申请上述图1、图2和图3的实施例中所描述的夹取货箱的装置，仅为本申请的示意性实施例，并不代表对本申请的限定。例如，本申请的上述图2的实施例中，还可以在设置框架、抓持组件和夹持组件的基础上，仅设置抓持连杆或者仅设置夹持连杆。又例如，在上述图3的实施例中，可以在图2所示的实施例的基础上，仅设置下部导板组件，或者仅设置卡爪锁止组件，又或者仅在抓持横轴或仅在夹持横轴上设置卡爪锁止组件，又或者在除抓持横轴和最下方的夹持横轴之外的其它横轴上设有卡爪锁止组件。
进一步参考图5，图5示出了根据本申请实施例的夹取货箱的装置的一个示例性应用场景。
如图5所示，以需要提取整摞货箱的倒数第三箱为例，首先，可以从上向下将整摞货箱套入夹取货箱的装置内，使得抓持卡爪125的爪端下降至倒数第三箱时，抓持卡爪125和夹持卡爪134收缩，抓持倒数第三箱并夹持第三箱之上的货箱然后上提，这时候由于抓持卡爪 125与最下方的夹持卡爪134具有高度方向的差值，上提时将货箱自然分离；分离后由于本装置设计应用在直角坐标机器人上，所以上提后可将倒数第三箱放置到所需要位置，或下接移动托盘侧移出去，将其放入其中；放置完倒数第三箱后，将上面货箱放回原处或他处，即完成操作。
在本应用场景中，夹取货箱的装置在套入货箱后，底部气缸124推动抓持卡爪125伸出，抓持气缸126转动抓持卡爪125并卡住箱边，为了保证两个抓持气缸126同时动作，通过抓持连杆127同步抓持横轴的扳手同时动作；与此同时，夹持卡爪134也动作，夹持气缸135转动夹持卡爪134卡住箱边；然后，由卡爪锁止组件161将转动后的抓持横轴121和夹持横轴131锁住，防止断气后抓持卡爪125和/或夹持卡爪134不能保持以致货箱掉落；由于抓持卡爪125和夹持卡爪134分别由抓持气缸126和夹持气缸135控制，所以可以分别收放；当被抓持卡爪125抓持的货箱被取走或放置后，抓持卡爪125的抓持气缸126转动抓持横轴以便向外推出抓持卡爪125，同时底部气缸124将抓持卡爪125向上收回，防止在放置其余货箱时发生干涉，方便其余货箱放回原处或他处。各夹持卡爪134之间的高度差，分别比堆叠后的单位货箱的高度略高出1-3mm，从而减轻位于下方的夹持卡爪134的负担，增加装置负载量。
应当理解，上述的抓持卡爪125的抓持气缸126转动抓持横轴以便向外推出抓持卡爪125，同时底部气缸124将抓持卡爪125向上收回，也可以分做两步进行，可以首先抓持卡爪125的抓持气缸126转动抓持横轴以便向外推出抓持卡爪125，然后底部气缸124将抓持卡爪125向上收回；也可以首先底部气缸124将抓持卡爪125向上收回，之后抓持卡爪125的抓持气缸126转动抓持横轴以便向外推出抓持卡爪125，本申请对此不做限定。
以上描述仅为本申请的较佳实施例以及对所运用技术原理的说明。本领域技术人员应当理解，本申请中所涉及的发明范围，并不限于上述技术特征的特定组合而成的技术方案，同时也应涵盖在不脱离上述发明构思的情况下，由上述技术特征或其等同特征进行任意组合而形 成的其它技术方案。例如上述特征与本申请中公开的(但不限于)具有类似功能的技术特征进行互相替换而形成的技术方案。

Claims (13)

  1. 一种夹取货箱的装置，其特征在于，所述装置包括：
    框架，包括：四条竖框，与货箱的四条竖边框相适应；横框，包括：顶部横框，连接所述四条竖框的顶部；下部横框，连接所述四条竖框的下部；
    抓持组件，包括：两个抓持横轴，相对设置且分别通过轴承座转动连接于两条相邻的竖框的下端，两个抓持横轴的同端分别设有扳手；两个底部气缸，分别固定连接一个所述抓持横轴且活塞杆垂直于所述抓持横轴；两个抓持卡爪，爪端相向设置，各抓持卡爪分别固定连接一个所述底部气缸的活塞杆的末端；两个抓持气缸，分别连接所述下部横框，活塞杆分别转动连接一个所述抓持横轴的扳手。
  2. 根据权利要求1所述的装置，其特征在于，所述抓持组件还包括：
    抓持连杆，一端转动连接于一个所述抓持横轴的扳手且连接处位于抓持气缸的连接处与该抓持横轴之间，另一端转动连接于另一个所述抓持横轴的扳手且连接处和抓持气缸的连接处分别位于该抓持横轴的两侧。
  3. 根据权利要求1所述的装置，其特征在于，所述横框还包括：
    一个以上的中间横框，所述中间横框位于所述顶部横框和所述下部横框之间，连接所述四条竖框；
    所述装置还包括：
    夹持组件，设于以下一处或多处：所述中间横框之间、所述中间横框与所述下部横框之间以及所述中间横框与所述顶部横框之间，所述夹持组件包括：两个夹持横轴，相对设置且分别通过轴承座转动连接于两条相邻的竖框，两个夹持横轴的同端分别设有扳手；两个夹持卡爪，爪端相向设置，各夹持卡爪分别固定连接一个所述夹持横轴；两个夹持气缸，分别与所述夹持组件上侧的横框连接，活塞杆分别转 动连接一个所述夹持横轴的扳手。
  4. 根据权利要求1所述的装置，其特征在于，所述夹持组件还包括：
    夹持连杆，一端转动连接于一个所述夹持横轴的扳手且连接处位于夹持气缸的连接处与该夹持横轴之间，另一端转动连接于另一个所述夹持横轴的扳手且连接处和夹持气缸的连接处分别位于该夹持横轴的两侧。
  5. 根据权利要求1至4任意一项所述的装置，其特征在于，所述装置还包括：
    下部导板组件，包括：竖向导轨，各个竖向导轨分别与所述货箱的各个角相适应，设于所述横框的部分框架上或所述竖框的部分框架上；导板气缸，安装于所述竖向导轨上，活塞杆平行于所述竖向导轨；竖向导板，分别连接所述导板气缸的活塞杆，由所述活塞杆牵引沿所述竖向导轨滑动。
  6. 根据权利要求5所述的装置，其特征在于，所述竖向导板之间设有横向的同步肋条。
  7. 根据权利要求5所述的装置，其特征在于，所述装置还包括：
    上部导板组件，设于部分所述横框上，包括至少一套相对设置的竖向导板。
  8. 根据权利要求3所述的装置，其特征在于，在任意横轴上设有销孔，其中，所述任意横轴包括：所述抓持横轴和所述夹持横轴中的一项或多项；
    在所述任意横轴上设有与所述框架固定连接的卡爪锁止组件，其中，所述卡爪锁止组件包括：
    组件底座，包括：底板，连接所述竖框，所述底板上设有气缸安 装部和横轴穿孔；横管，管壁沿所述横轴穿孔的孔壁延伸预定尺寸且垂直于所述底板，套接于所述任意横轴的一端；弹簧筒，筒壁垂直于所述横管，筒底通过销轴通孔联通所述横管内部，筒盖设有销轴穿孔且可拆卸连接于所述筒壁；
    解锁气缸，固定连接于所述气缸安装部，活塞杆与所述底板的板面平行；
    销轴，轴根穿出所述筒盖连接所述解锁气缸的活塞杆，轴身位于所述弹簧筒中，轴身靠近轴端侧设有凸台；
    弹簧，套接于所述销轴位于所述凸台和所述筒盖之间的轴身，将所述凸台抵于所述筒底，且所述轴端通过所述销轴通孔穿入销孔，当所述解锁气缸的活塞杆上升带动所述轴端移出所述销孔时被压缩。
  9. 根据权利要求8所述的装置，其特征在于，所述横管的管壁设有横向缺口和/或所述组件底座的底板设有减重通孔。
  10. 根据权利要求8所述的装置，其特征在于，所述在所述任意横轴上设有卡爪锁止组件包括：
    在所述抓持横轴和最下方的夹持横轴上设有卡爪锁止组件。
  11. 根据权利要求3所述的装置，其特征在于，所述抓持卡爪的爪端与最下方的夹持卡爪的爪端之间的距离大于单个所述货箱的高度；和/或
    所述各夹持卡爪之间的距离大于单个所述货箱的高度。
  12. 根据权利要求1所述的装置，其特征在于，所述装置还包括：
    导轮组件，底座连接所述框架，导轮与外部设备的导轮槽相适应，引导所述框架沿所述导轮槽移动。
  13. 根据权利要求1所述的装置，其特征在于，所述框架还包括：用于加固所述框架的肋条。
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CN206767128U (zh) * 2017-04-21 2017-12-19 北京京东尚科信息技术有限公司 夹取货箱的装置

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