An adjustable clamping device and its transfer system for pallet transfer

Abstract

This utility model discloses an adjustable clamping device and its transfer system for cargo hold transfer, comprising: an adjustable cargo hold clamp corresponding to the cargo hold, and an active adjustment module for positioning and supporting the adjustable cargo hold clamp; the adjustable cargo hold clamp includes a plurality of positioning clamping members for applying clamping force to the cargo hold, and a linear clamping module for driving the positioning clamping members to move relative to each other in the clamping direction, the actuating end of the linear clamping module is provided with an adjustment track, and the positioning clamping members are slidably arranged along the adjustment track; the active adjustment module includes a support portion that supports the adjustable cargo hold clamp, and a positioning seat that receives the positioning clamping members, the positioning seat being connected to the active linear module, the active linear module actuating the positioning clamping members along the sliding direction of the positioning clamping members to adjust the relative position of the positioning clamping members on the adjustment track.

Description

Technical Field

[0001] This utility model relates to the field of satellite assembly equipment technology, specifically to an adjustable clamping device and its transfer system for transferring cabin panels. Background Technology

[0002] Currently, in the satellite manufacturing field, satellite assembly is one of the core links, and its assembly quality and efficiency directly affect the overall performance and delivery cycle of the satellite. In the traditional satellite assembly process, the loading and handling of cabin panels mainly rely on manual operation or fixed loading devices designed for individual parts, which has significant limitations. Especially for the clamping and transfer of large-sized cargo panels, manual handling results in excessive labor intensity and low transfer efficiency. In addition, large-sized satellite cargo panels have high surface quality requirements, and direct clamping of the cargo panels can easily scratch the surface. Furthermore, there is the challenge of dealing with cargo panels of different shapes and sizes. Existing technologies often use relative clamping arms to clamp cargo panels, but they cannot adaptively adjust the clamping position for cargo panels of different shapes and sizes, thus failing to guarantee clamping stability for cargo panels of different shapes and sizes. Utility Model Content

[0003] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide an adjustable clamping device for the transfer of cabin panels.

[0004] The above-mentioned technical objective of this utility model is achieved through the following technical solution: an adjustable clamping device for transferring cabin panels, comprising: Adjustable hatch clamps for hatch panels, and active adjustment modules for positioning and supporting the adjustable hatch clamps; The adjustable compartment clamp includes several positioning clamping members for applying clamping force to the compartment, and a linear clamping module for driving the positioning clamping members to move relative to each other in the clamping direction. The linear clamping module has an adjustment track on its actuating end, and the positioning clamping members are slidably arranged along the adjustment track. The active adjustment module includes a support portion supported by an adjustable cabin plate clamp, and a positioning seat for receiving a positioning clamp. The positioning seat is connected to an active linear module, which actuates the positioning clamp along the sliding direction of the positioning clamp to adjust the relative position of the positioning clamp on the adjustment track.

[0005] Furthermore, the adjustment track is set along the vertical direction of the clamping action.

[0006] Furthermore, the adjustment track is provided with an adjustment slider and a guide rail clamp. The bottom of the adjustment slider is provided with a connecting seat. The positioning clamp is connected to the connecting seat. The guide rail clamp restricts the current position of the adjustment slider on the adjustment track.

[0007] Furthermore, a lifting module is provided between the positioning clamp and the adjustment track. The lifting module is used to drive the positioning clamp to move in the open posture and perform extraction actions perpendicular to the sliding direction and the clamping direction.

[0008] Furthermore, the positioning clamping member includes a positioning member and a clamping member spaced apart in the clamping direction. The positioning member cooperates with the positioning seat, and the clamping member extends relative to the positioning member in the clamping direction and is spaced apart from the positioning seat.

[0009] Furthermore, the connecting seat is provided with a vertically arranged slide rail assembly and a lifting cylinder. The positioning member and the clamping member are connected to the moving end of the slide rail assembly. The positioning member is connected to the moving end of the lifting cylinder. The clamping member extends relative to the slide rail assembly and acts on the cabin plate.

[0010] Furthermore, the connecting seat is also provided with a displacement sensor, which is arranged in the engagement direction of the positioning seat and the positioning clamp.

[0011] Furthermore, the cabin plate is provided with auxiliary components that are positioned opposite to the positioning and clamping components; The positioning clamping member includes: a wedge-shaped body and a supporting member disposed at the bottom of the wedge-shaped body, wherein the outline of the supporting member is larger than that of the wedge-shaped body; The auxiliary component includes: a support member and a positioning groove disposed on the outside of the support member. The positioning groove is disposed against the wedge-shaped body in the clamping direction. A support space is provided between the support member and the surface of the cabin plate for inserting the support member. The support member and the support member are disposed against each other in the extraction direction.

[0012] Furthermore, the adjustable cabin plate clamp includes: The main frame includes clamping slide rails on both sides of the main frame and clamping sliders on the clamping slide rails. The clamping sliders are connected to adjustment rails, and each clamping slide rail is equipped with an active clamp. The linear clamping modules are arranged in parallel between the two clamping slide rails. The moving ends of the linear clamping modules are arranged opposite each other, and each moving end of the linear clamping module is connected to a controller.

[0013] A transfer system for transferring hatch panels includes the aforementioned adjustable clamping device, comprising: The gripping robot includes an end effector and a moving track, the moving track driving the gripping robot to move linearly, the end effector being provided with a quick-change master plate, and the top of the adjustable compartment clamp being provided with a quick-change female plate; The cabin plate rack and clamping platform are set on one side of the path of the moving track. The adjustable cabin plate clamp and active adjustment module are set on the clamping platform. The cabin plate rack is provided with a support bracket and a cabin plate limiting component set on the outline side of the support bracket.

[0014] The transfer system integrates a gripping robot, a panel rack, and a fixture platform. It quickly transports adjustable panel fixtures to the top of the panel rack via a transfer track. By utilizing the coordinated action of the lifting module and the positioning clamping components, it achieves precise, non-destructive, and automated transfer of panels from the rack to the assembly station, reducing manual intervention and improving the automation level and reliability of the satellite assembly process.

[0015] Compared with the prior art, the present invention has the following advantages and beneficial effects: This invention features an adjustable compartment clamp with an active adjustment module positioned at its location. An adjustment track provides an adjustment path perpendicular to the clamping direction for the positioning and clamping components. When dealing with compartments of different shapes and sizes, the active adjustment module precisely adjusts the positions of all positioning and clamping components in advance during non-working conditions. This achieves high adaptability of the adjustable compartment clamp to different compartments while separating the clamp adaptation time from the main production line, enabling an efficient online debugging mode. It avoids downtime caused by tedious adjustments on the assembly line, significantly improving the main production line's cycle time and overall efficiency, and reducing reliance on and cost of dedicated clamps.

[0016] This invention provides an auxiliary component on the cabin panel, allowing the clamping force to be applied directly to the auxiliary component. This avoids directly clamping the cabin panel body, which has high surface requirements, reducing scratches or pressure damage to the cabin panel surface during the clamping process and ensuring the quality of satellite products. Attached Figure Description

[0017] Figure 1 This is a structural schematic diagram of the adjustable compartment clamp and active linear module of this utility model; Figure 2 For the present utility model Figure 1 Enlarged view of point A in the middle; Figure 3 This is an exploded view of the adjustable compartment clamp and active linear module of this utility model; Figure 4 This is a schematic diagram of the structure of the adjusting track, lifting module and positioning clamp of this utility model; Figure 5 This is a schematic diagram of the structure of the compartment plate rack of this utility model; Figure 6 This is a cross-sectional view of the compartment plate rack of this utility model; Figure 7 For the present utility model Figure 6 Enlarged view of point B in the middle; Figure 8 This is a structural schematic diagram of the cabin plate and auxiliary components of this utility model; Figure 9 This is a schematic diagram showing the cooperation between the positioning clamping component and the auxiliary component of this utility model; Figure 10 This is an overall structural diagram of the transfer system of this utility model; In the picture: 1. Adjustable compartment clamp; 1.1. Main frame; 1.2. Clamping slide rail; 1.3. Clamping slider; 1.4. Active clamp; 1.5. Controller; 1.6. Quick-change master plate; 2. Active adjustment module; 2.1 Support part; 2.2 Positioning seat; 2.3 Active linear module; 3. Positioning and clamping components; 3.1. Positioning components; 3.2. Clamping components; 3.21. Wedge-shaped main body; 3.22. Supporting components; 4. Linear clamping module; 5. Adjusting rail; 5.1. Adjusting slider; 5.2. Guide rail clamp; 5.3. Connecting seat; 5.4. Frame part; 6. Lifting module; 6.1 Lifting cylinder; 6.2 Slide rail assembly; 6.21 Vertical slide rail; 6.22 Vertical slider; 7. Displacement sensor; 8. Cabin; 8.1. Auxiliary components; 8.2. Supporting components; 8.3. Positioning slots; 8.4. Supporting space; 9. Clamping robot; 9.1. End effector; 9.2. Moving track; 9.3. Quick-change master plate; 10. Cabin board rack; 10.1. First placement platform; 10.2, First linear track; 10.21, First slider; 10.3, Second linear track; 10.31, Second slider; 10.4. Supporting diagonal frame; 10.5, Third linear track; 10.51, Third slider; 10.6 Lower support block; 10.7 Side support block; 10.8 Outer limiting block; 10.81 First positioning groove; 11. Fixture platform; 12. Adjustable support mechanism; 12.1. Support base; 12.11. Fixed part; 12.12. Rotating base; 12.2 Guide rod; 12.21 Side flange; 12.3 Positioning components; 12.4 Elastic components; Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] It should be understood that although the terms upper, middle, lower, top, one end, etc., appear in this document to describe various elements, these elements are not limited by these terms. These terms are only used to distinguish the elements from each other for ease of understanding, and are not used to define any directional or sequential restrictions.

[0020] like Figure 1-10 As shown, an adjustable clamping device for transferring hatch panels includes: The adjustable compartment clamp 1 for the compartment 8 and the active adjustment module 2 for positioning and supporting the adjustable compartment clamp 1 are provided. A clamping platform 11 is located at the bottom of the active adjustment module 2. In the initial state, the adjustable compartment clamp 1 is positioned on the clamping platform 11 and placed on the active adjustment module 2. The clamping end of the adjustable compartment clamp 1 is adjusted by the active adjustment module 2 according to the size of the target compartment 8. The adjustable compartment clamp 1 includes a plurality of positioning clamping members 3 for applying clamping force to the compartment 8, and a linear clamping module 4 for driving the positioning clamping members 3 to move relative to each other in the clamping direction. The positioning clamping members 3 serve as the clamping ends of the adjustable compartment clamp 1. The linear clamping module 4 is provided with an adjustment rail 5 on its moving end. The positioning clamping members 3 are slidably arranged along the adjustment rail 5. The linear clamping module 4 has two moving ends, and each moving end is provided with an adjustment rail 5. The active adjustment module 2 includes a support portion 2.1 that supports the adjustable cabin clamp 1, and a positioning seat 2.2 that receives the positioning clamp 3. The support portion 2.1 may be disposed on the clamp platform 11 to support the frame portion 5.4 of the adjustable cabin clamp 1. The positioning clamp 3 is preferably inserted into the positioning seat 2.2. The positioning seat 2.2 is connected to an active linear module 2.3. The active linear module 2.3 actuates the positioning clamp 3 along the sliding direction of the positioning clamp 3, so that the positioning seat 2.2 drives and adjusts the relative position of the positioning clamp 3 on the adjustment track 5. Thus, the position of the positioning clamps 3 in the mutually parallel sliding directions is changed, while the position of the positioning clamps 3 in the relative clamping direction is controlled by the linear clamping module 4, thereby adapting to cabins 8 with different profiles.

[0021] Further reference Figure 4As shown, specifically, the adjustment track 5 is set along the vertical direction of the clamping action. In this embodiment, there are two adjustment tracks 5, which are respectively set on the two action ends of the linear clamping module 4. There are four positioning clamping parts 3, which are set in pairs opposite to each other. That is, there are two positioning clamping parts 3 on each adjustment track 5. The positioning seat 2.2 adjusts the relative position of the two positioning clamping parts 3 on the adjustment track 5 through the active linear module 2.3. The adjustment slide rail makes the position adjustment and clamping action of the positioning clamping parts 3 complete in two non-interfering positions.

[0022] Specifically, the adjusting track 5 is equipped with an adjusting slider 5.1 and a guide rail clamp 5.2. The upper part of the adjusting track 5 is connected to the actuating end of the linear clamping module 4 through an adjusting frame, and the adjusting frame is set parallel to the adjusting track 5. The bottom of the adjusting slider 5.1 is equipped with a connecting seat 5.3, and the positioning clamp 3 is connected to the connecting seat 5.3. The guide rail clamp 5.2 restricts the current position of the adjusting slider 5.1 on the adjusting track 5. When adjusting the positioning clamp 3, the guide rail clamp 5.2 unlocks to allow the adjusting slider 5.1 to slide. After the active linear module 2.3 has completed its operation, the guide rail clamp 5.2 locks, completing the position fixation of the positioning clamp 3. The guide rail clamp 5.2 provides a strong mechanical self-locking force to ensure that the positioning clamp 3 will not be displaced due to vibration or external impact during subsequent clamping or transfer operations, thus enhancing the rigidity and stability of the working state.

[0023] from Figure 4 As can be seen, to further facilitate the clamping action of the positioning clamping component 3 on the compartment plate 8, a lifting module 6 is specifically provided between the positioning clamping component 3 and the adjusting rail 5. The lifting module 6 is used to drive the positioning clamping component 3 to move in an open posture, so that the positioning clamping component 3 can move to the outside of the target position of the compartment plate 8. Then, the linear clamping module 4 drives the clamping action, and finally the lifting module 6 performs the extraction action perpendicular to the sliding direction and the clamping direction, thereby extracting the compartment plate 8 from the placement position to facilitate the transfer of the compartment plate 8. After the positioning clamping component 3 clamps, the compartment plate 8 can be smoothly lifted by the lifting action to achieve complete separation from the rack. This vertical extraction action avoids the frictional damage to the compartment plate 8 and the rack that may be caused by horizontal dragging, and improves the standardization and safety of the operation.

[0024] Specifically, the positioning clamping component 3 includes a positioning member 3.1 and a clamping member 3.2 spaced apart in the clamping direction. In other words, the positioning clamping component 3 has parts that cooperate with the active adjustment module 2 and the compartment plate 8, respectively. The positioning member 3.1 cooperates with the positioning seat 2.2, and the clamping member 3.2 extends relative to the positioning member 3.1 in the clamping direction and is spaced apart from the positioning seat 2.2. The positioning member 3.1 is set independently, thereby providing a precise initial positioning reference for the entire clamp and ensuring the consistency of each gripping.

[0025] As a further embodiment of the positioning clamping member 3 cooperating with the lifting module 6, the connecting seat 5.3 is provided with a vertically arranged slide rail assembly 6.2 and a lifting cylinder 6.1. The lifting cylinder 6.1 and the slide rail assembly 6.2 constitute the lifting module 6. The positioning member 3.1 and the clamping member 3.2 are connected to the moving end of the slide rail assembly 6.2. The positioning member 3.1 is connected to the moving end of the lifting cylinder 6.1. The clamping member 3.2 extends relative to the slide rail assembly 6.2 and acts on the cabin plate 8.

[0026] The slide rail assembly 6.2 specifically includes a vertical slide rail 6.21 and a vertical slider 6.22. The vertical slider 6.22 is fixed on the connecting seat 5.3. The vertical slide rail 6.21 is slidably fitted on the vertical slider 6.22 and is fixedly connected to the positioning clamping member 3. The clamping member 3.2 is specifically located at the bottom end of the vertical slide rail 6.21, and the positioning member 3.1 is specifically located on the side of the vertical slide rail 6.21 opposite to the clamping direction. The linear slide rail assembly 6.2 ensures the straightness and stability of the movement of the positioning member 3.1 and the clamping member 3.2 during the lifting process.

[0027] Specifically, the connecting seat 5.3 is also provided with a displacement sensor 7. The displacement sensor 7 is arranged in the direction of engagement between the positioning seat 2.2 and the positioning clamp 3. The displacement sensor 7 is preferably arranged opposite to the positioning seat 2.2 to determine whether the positioning component 3.1 of the positioning clamp 3 is correctly engaged with the positioning seat 2.2. The positioning seat 2.2 is preferably vertically upward opening and has a guide slope on the opening side to facilitate the quick positioning of the positioning component 3.1.

[0028] Specifically, the adjustable panel clamp 1 includes: a main frame 1.1, clamping slide rails 1.2 disposed on both sides of the main frame 1.1, and clamping sliders 1.3 disposed on the clamping slide rails 1.2. The clamping sliders 1.3 are connected to the adjustment rails 5, and each clamping slide rail 1.2 is provided with an active clamp 1.4. The linear clamping modules 4 are arranged in parallel between the two clamping slide rails 1.2. The moving ends of the linear clamping modules 4 are arranged opposite to each other, and each moving end of the linear clamping modules 4 is connected to a controller 1.5. The active clamp 1.4 is used to limit the relative position of the adjustment rails 5 on the linear clamping modules 4, so as to provide reliable position support in the clamping state of the positioning clamping member 3 and effectively prevent the panel 8 from falling off. In addition, by providing controllers 1.5 on the moving ends of the linear clamping modules 4, each moving end can be adjusted independently to cope with panels 8 of different sizes and contours in the clamping direction.

[0029] Reference Figure 8 and Figure 9 As shown, as a further embodiment of the clamping effect of the adjustable compartment clamp 1 on the compartment 8, since the compartment 8 body is not suitable to bear too large a load, a number of auxiliary parts 8.1 for positioning are provided on the outer surface of the compartment 8. The auxiliary parts 8.1 serve as the clamping positions of the compartment 8. The positioning clamping parts 3 clamp these auxiliary parts 8.1, thus avoiding direct force on the compartment 8.

[0030] The auxiliary component 8.1 preferably extends along the normal direction of the compartment plate 8 on the surface of the compartment plate 8, thereby cooperating with the positioning clamping component 3.

[0031] It should be noted that the arrangement position of the auxiliary component 8.1 on the compartment plate 8 is defined according to the outline of the compartment plate 8, and preferably is set at intervals with the center of gravity of the compartment plate 8, so as to provide a stable transfer state when the positioning clamping component 3 clamps the compartment plate 8.

[0032] In this embodiment, as a further implementation of the cooperation between the positioning clamping member 3 and the auxiliary member 8.1, The positioning clamp 3 includes: a wedge-shaped body 3.21, and a support member 3.22 disposed at the bottom of the wedge-shaped body 3.21. The outline of the support member 3.22 is larger than that of the wedge-shaped body 3.21. The support member 3.22 is used to pull and lift during the extraction of the hatch plate 8. The auxiliary component 8.1 includes: a support member 8.2, and a positioning groove 8.3 disposed on the outside of the support member 8.2. The positioning groove 8.3 is disposed against the wedge-shaped body 3.21 in the clamping direction. A support space 8.4 is provided between the support member 8.2 and the surface of the cabin plate 8 for inserting the support member 3.22. The support member 3.22 is disposed against the support member 8.2 in the extraction direction.

[0033] Among them, the wedge-shaped main body 3.21 and the supporting component 3.22 constitute the clamping component 3.2. The wedge-shaped main body 3.21 is a V-shaped column, and the positioning groove 8.3 is a matching V-shaped groove. The positioning clamping component 3 and the auxiliary component 8.1 are positioned by the relative cooperation between the wedge-shaped main body 3.21 and the positioning groove 8.3 in the clamping direction. The wedge-shaped main body 3.21 and the positioning groove 8.3 automatically compensate for small alignment deviations to ensure clamping centering.

[0034] Specifically, the wedge-shaped body 3.21 and the supporting member 3.22 form an L-shaped profile. The auxiliary member 8.1 defines an inverted L-shaped profile through the supporting member 8.2 and the supporting space 8.4. During the clamping process of the auxiliary member 8.1, the wedge-shaped body 3.21 first cooperates with the positioning groove 8.3, and the supporting member 3.22 enters the supporting space 8.4. The wedge-shaped body 3.21 can slide in the positioning groove 8.3. Through the action of the lifting module 6, the supporting member 3.22 abuts against the bottom surface of the supporting member 8.2, thereby realizing the extraction of the cabin plate 8. The wedge-shaped body 3.21 and the positioning groove 8.3 are further tightened by the linear clamping module 4 to complete the reliable clamping of the cabin plate 8.

[0035] This utility model also provides a transfer system for transferring cabin panels, including the aforementioned adjustable clamping device, comprising: The gripping robot 9 includes an end effector 9.1 and a moving track 9.2. The moving track 9.2 drives the gripping robot 9 to move linearly. The end effector 9.1 is equipped with a quick-change master plate 9.3, and the top of the adjustable compartment clamp 1 is equipped with a quick-change mother plate 1.6. The hatch rack 10 and the clamping platform 11 are set on one side of the path of the moving track 9.2. The adjustable hatch clamp 1 and the active adjustment module 2 are set on the clamping platform 11. The hatch rack 10 is provided with a support bracket 10.4 and a hatch 8 limiting component set on the contour side of the support bracket 10.4. The clamping robot 9 fixes the adjustable hatch clamp 1 by the mutual engagement of the quick-change female plate 1.6 and the quick-change male plate, and then moves to the hatch rack 10 to clamp the hatch 8 on it. At this time, the positioning clamping component 3 and the auxiliary component 8.1 are aligned and clamped to transfer the hatch 8.

[0036] The transfer system integrates a clamping robot 9, a cabin panel rack 10, and a fixture platform 11. The adjustable cabin panel fixture 1 is quickly transported to the top of the cabin panel rack 10 via a transfer track. By utilizing the coordinated action of the lifting module 6 and the positioning clamping component 3, the cabin panel 8 is transferred from the rack to the assembly station in a precise, non-destructive, and automated manner, reducing manual intervention and improving the automation level and reliability of the satellite assembly process.

[0037] Both the male and female quick-change discs 1.6 are quick-change disc units. These units connect and disconnect vertically. For example, the male quick-change disc is equipped with a piston rod, which is pneumatically or hydraulically driven to perform telescopic movements to achieve relative engagement and disengagement with respect to the female quick-change disc 1.6. The quick-change disc unit can be any commercially available quick-change disc, such as an ATI quick-change disc, with the optional model being 9120-160FT, which will not be elaborated on further here.

[0038] like Figures 5 to 7 As shown, as a further embodiment of the hatch plate rack 10, to avoid surface wear of the hatch plate 8, the hatch plate 8 is positioned and constrained on the hatch plate rack 10 in an inclined posture. The hatch rack 10 includes: a hatch 8 platform, a support bracket 10.4 slidably mounted on the hatch 8 platform, an outer limiting block 10.8 slidably mounted on the outer side of the inclined surface of the support bracket 10.4, a lower support block 10.6 mounted at the bottom of the support bracket 10.4, and side support blocks 10.7 slidably mounted on both sides of the support bracket 10.4. The lower support block 10.6, the side support blocks 10.7, and the outer limiting block 10.8 constitute a hatch 8 limiting assembly and define a limiting space that opens obliquely upward along the inclined surface of the support bracket 10.4. In other words, when the hatch 8 is placed on the hatch rack 10, the hatch 8 is only allowed to detach from the opening direction.

[0039] Among them, the first support slide rail and the second support slide rail are arranged parallel to the bottom of the support bracket 10.4 on the platform of the compartment 8. The support bracket 10.4 is composed of multiple triangular structures, specifically a right-angle tripod. The side support block 10.7 is set on the second support slide rail and abuts against both sides of the compartment 8. The second support slide rail is specifically set outside the first support slide rail. The side support block 10.7 extends toward the side of the compartment 8 and is limited to the side of the compartment 8.

[0040] The lower support block 10.6 is used to support the bottom of the compartment plate 8. Specifically, it can be an L-shaped lower support block 10.6, which provides a support surface corresponding to the bottom of the compartment plate 8 and a limiting surface for the outer surface of the compartment plate 8. The outer limiting block 10.8 extends from the outside of the support bracket 10.4 toward the light-exposed surface of the compartment plate 8 away from the support surface, specifically constraining it in the thickness direction of the compartment plate 8.

[0041] In other embodiments, the outer limiting block 10.8 is configured to be rotatable, thereby rotating away from the surface of the compartment plate 8 under certain circumstances, thus releasing the constraint on the compartment plate 8. For example, during the process of transporting the compartment plate rack 10 to the loading position, the outer limiting block 10.8 needs to be maintained in a constrained posture. Of course, when the compartment plate 8 enters the material area and the compartment plate rack 10 does not move, the outer limiting block 10.8 can also be rotated away from the compartment plate 8 in advance so that the first execution end 9.1 can grasp the compartment plate 8 through the adjustable compartment plate clamp 1. In other embodiments, it is also desirable to adjust the outer limiting block 10.8 in the thickness direction of the compartment plate 8 to accommodate compartment plates 8 of different thicknesses, or to further adjust the limiting space.

[0042] Further reference Figure 7 As shown, specifically, limiting support rails are provided on both sides of the inclined surface of the support bracket 10.4, and an adjusting support mechanism 12 is provided on the limiting support rails. The adjusting support mechanism 12 includes: Support seat 12.1 is fixedly mounted on the moving end of the limit support rail; A guide rod 12.2 is inserted into the support seat 12.1. One end of the guide rod 12.2 is fixedly connected to the outer limiting block 10.8. A limiting elastic element 12.4 is provided at the end of the guide rod 12.2 away from the outer limiting block 10.8. The limiting elastic element 12.4 abuts between the guide rod 12.2 and the support seat 12.1 and drives the outer limiting block 10.8 to move toward the surface of the panel 8. The positioning element 12.3 protrudes from the surface of the support base 12.1. The outer limiting block 10.8 is provided with a positioning groove that cooperates with the positioning element 12.3. The positioning element 12.3 specifically positions the outer limiting block 10.8 in a constrained posture extending out of the outer surface of the compartment plate 8, and in a released posture away from the surface of the compartment plate 8.

[0043] Optionally, the positioning element 12.3 is configured as a spherical protrusion, preferably a ball-head plunger that is threadedly fixed within the support 12.1.

[0044] Specifically, the support seat 12.1 is fixed on the third slider 10.51. The support seat 12.1 includes a fixed part 12.11 connected to the third slider 10.51 and a rotating base 12.12 extending in the thickness direction of the cabin plate 8. The outer limiting block 10.8 is rotatably mounted on the rotating base 12.12. The guide rod 12.2 passes through the rotating base 12.12. A linear bearing 12.5 is provided between the inner hole of the rotating base 12.12 and the outer wall of the guide rod 12.2. A retaining edge 12.21 is provided at the end of the guide rod 12.2 away from the outer limiting block 10.8. The limiting elastic member 12.4 abuts between the retaining edge 12.21 and the fixed part 12.11.

[0045] To ensure the linear position of the outer limit block 10.8, the lower support block 10.6, and the side support block 10.7, a manual guide rail clamping module is provided on the moving end of the first support slide rail, the second support slide rail, and the limit support rail.

[0046] This specific embodiment is merely an explanation of the present utility model and is not intended to limit the present utility model. After reading this specification, those skilled in the art can make modifications to this embodiment without contributing any inventive step, but as long as they are within the scope of the claims of the present utility model, they are protected by patent law.

Claims

1. An adjustable clamping device for transferring hatch panels, characterized in that, include: An adjustable cabin clamp (1) for the cabin plate (8), and an active adjustment module (2) for positioning and supporting the adjustable cabin clamp (1); The adjustable compartment clamp (1) includes a plurality of positioning clamping members (3) for applying clamping force to the compartment (8), and a linear clamping module (4) for driving the positioning clamping members (3) to move relative to each other in the clamping direction. The linear clamping module (4) is provided with an adjustment track (5) on its actuating end, and the positioning clamping members (3) are slidably arranged along the adjustment track (5). The active adjustment module (2) includes a support portion (2.1) supported by the adjustable cabin clamp (1) and a positioning seat (2.2) for receiving the positioning clamp (3). The positioning seat (2.2) is connected to an active linear module (2.3). The active linear module (2.3) actuates the positioning clamp (3) along the sliding direction of the positioning clamp (3) to adjust the relative position of the positioning clamp (3) on the adjustment track (5).

2. The adjustable clamping device for pallet transfer according to claim 1, characterized in that: The adjustment track (5) is set in the vertical direction of the clamping action.

3. The adjustable clamping device for pallet transfer according to claim 1, characterized in that: The adjustment track (5) is provided with an adjustment slider (5.1) and a guide rail clamp (5.2). The bottom of the adjustment slider (5.1) is provided with a connecting seat (5.3). The positioning clamp (3) is connected to the connecting seat (5.3). The guide rail clamp (5.2) restricts the current position of the adjustment slider (5.1) on the adjustment track (5).

4. The adjustable clamping device for pallet transfer according to claim 1, characterized in that: A lifting module (6) is also provided between the positioning clamp (3) and the adjusting slide rail. The lifting module (6) is used to drive the positioning clamp (3) to move in the open posture and perform extraction actions perpendicular to the sliding direction and the clamping direction.

5. An adjustable clamping device for pallet transfer according to claim 3, characterized in that: The positioning clamping member (3) includes a positioning member (3.1) and a clamping member (3.2) spaced apart in the clamping direction. The positioning member (3.1) cooperates with the positioning seat (2.2). The clamping member (3.2) extends relative to the positioning member (3.1) in the clamping direction and is spaced apart from the positioning seat (2.2).

6. An adjustable clamping device for pallet transfer according to claim 5, characterized in that: The connecting seat (5.3) is provided with a vertically arranged slide rail assembly (6.2) and a lifting cylinder (6.1). The positioning member (3.1) and the clamping member (3.2) are connected to the moving end of the slide rail assembly (6.2). The positioning member (3.1) is connected to the moving end of the lifting cylinder (6.1). The clamping member (3.2) extends relative to the slide rail assembly (6.2) and acts on the cabin plate (8).

7. An adjustable clamping device for pallet transfer according to claim 3, characterized in that: The connecting seat (5.3) is also provided with a displacement sensor (7), which is arranged in the engagement direction of the positioning seat (2.2) and the positioning clamp (3).

8. An adjustable clamping device for pallet transfer according to claim 1, characterized in that: The compartment plate (8) is provided with an auxiliary component (8.1) that is disposed opposite to the positioning clamp (3); The positioning clamp (3) includes: a wedge-shaped body (3.21) and a support member (3.22) disposed at the bottom of the wedge-shaped body (3.21), wherein the outline of the support member (3.22) is larger than that of the wedge-shaped body (3.21); The auxiliary component (8.1) includes: a support member (8.2) and a positioning groove (8.3) disposed on the outside of the support member (8.2). The positioning groove (8.3) abuts against the wedge-shaped body (3.21) in the clamping direction. A support space (8.4) for inserting a support member (3.22) is spaced between the support member (8.2) and the surface of the cabin plate (8). The support member (3.22) abuts against the support member (8.2) in the extraction direction.

9. An adjustable clamping device for pallet transfer according to claim 1, characterized in that: The adjustable cabin plate clamp (1) includes: The main frame (1.1) includes clamping slide rails (1.2) on both sides of the main frame (1.1) and clamping sliders (1.3) on the clamping slide rails (1.2). The clamping sliders (1.3) are connected to the adjusting slide rails, and each clamping slide rail (1.2) is provided with an active clamp (1.4). The linear clamping modules (4) are arranged in parallel between the two clamping slide rails (1.2). The moving ends of the linear clamping modules (4) are arranged opposite to each other, and each moving end of the linear clamping modules (4) is connected to a controller (1.5).

10. A transfer system for pallet transfer, characterized in that, The adjustable clamping device according to any one of claims 1 to 9 comprises: The gripping manipulator (9) includes an end effector (9.1) and a moving track (9.2), the moving track (9.2) drives the gripping manipulator (9) to move linearly, the end effector (9.1) is provided with a quick-change master plate (9.3), and the top of the adjustable compartment clamp (1) is provided with a quick-change mother plate (1.6); The cabin plate rack (10) and the clamping platform (11) are set on one side of the path of the moving track (9.2). The adjustable cabin plate clamp (1) and the active adjustment module (2) are set on the clamping platform (11). The cabin plate rack (10) is provided with a support inclined frame (10.4) and a cabin plate (8) limiting assembly set on the outline side of the support inclined frame (10.4).

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