Clamping attachment for palletizing bundled goods in warehousing

Abstract

A clamping attachment for palletizing of bundled goods in warehousing, comprising a frame body having a rectangular structure, wherein telescopic mounts are disposed at the ends of the frame body, sliding mounts are disposed in the middle of the frame body, clamping devices are suspended on both the telescopic mounts and the sliding mounts, and the telescopic mounts and the sliding mounts drive the clamping devices to move transversely to adjust the position. The clamping devices are flexibly connected onto the frame body by means of suspending mechanisms, so that the clamping devices can rise and fall to adapt to the height specification requirements of pulp bales to be clamped by each clamping device, thereby improving the clamping accuracy and clamping efficiency. Each clamping device is provided with a crank mechanism and a connecting rod mechanism, so as to implement clamping and releasing actions of a left clamp and a right clamp; the design of connecting rods at an obtuse angle enables a self-locking function in the clamping process, thereby ensuring that goods will not get loose or slip during transportation and ensuring the stability and safety of goods during handling and palletizing.

Description

To further enhance operational efficiency, gripping units in the prior art are often equipped with multiple gripping jaws capable of simultaneously handling several pulp bales. However, the variability in bale sizes and the unpredictability of their placement complicate the ability of multiple jaws to accurately and effectively grasp different bales concurrently, which can hinder overall work efficiency. Moreover, the verification of whether the gripping jaws have securely engaged the binding ropes often relies on visual inspection by operators. Although advancements in technology have led to the use of cameras and other visual sensors for recognition, the effectiveness of these intelligent sensing solutions is frequently undermined by environmental obstacles, and their implementation can be costly. In addition to recognition accuracy, the stability of the self-locking mechanism within the gripping units in the prior art presents another challenge. It is crucial for the gripping unit to maintain a secure hold throughout the handling process. Should the automatic locking mechanism fail or become loose, there is a risk of the goods slipping or falling unexpectedly. Therefore, there is a pressing need for the development of a gripping unit that provides enhanced adaptability and stability. Summary To address the problems identified in the background, the present invention provides a clamping attachment for palletizing bundled goods in warehousing, it includes a frame body and multiple gripper units mounted on the frame body, wherein the frame body is provided with one or more telescopic frames and a sliding mechanism; each gripper unit is flexibly connected to the telescopic frame and / or the sliding mechanism through a lifting mechanism; the lifting mechanism includes a connecting plate with waist holes, through which pin shafts are provided, each of which is capable of vertical movement along the waist holes, and the gripper units are detachably connected to the pin shafts, allowing each gripper unit to adaptively move up and down when the bottom of any gripper unit is under load. In a preferred embodiment, the frame body is configured as a rectangular structure with the telescopic frames provided at both ends in the length direction, with each telescopic frame suspending two gripper units; a sliding mechanism is centrally provided, which also suspends two gripper units. In another preferred embodiment, the telescopic frame is connected to the frame body in a casing manner; a first driving mechanism is mounted on the frame body and connects to the telescopic frame through a first connecting rod; the sliding mechanism includes one or more sliding frames which are centrally mounted on the frame body and are slidingly connected to the frame body; and a second driving mechanism is mounted on the frame body and connects to the sliding frame through a second connecting rod. Preferably, there are two sliding frames, and the two sliding frames are connected by a sliding beam, to which the second connecting rod is connected. Additionally, a base is centrally mounted on the frame body, a rotating bearing is mounted above the base, and a connecting frame is mounted above the rotating bearing, with the connecting frame is rotatably connected to the frame body through the rotating bearing. Preferably, the base is connected to the frame body through two base beams. In another preferred embodiment, the gripper units include a main frame and a clamping mechanism mounted on the main frame, wherein the clamping mechanism is provided with a left gripper and a right gripper that are used in conjunction. In a preferred embodiment, the left gripper includes a left arm and a left gripper mounted on the left arm, and the right gripper includes a right arm and a right gripper mounted on the right arm; the left gripper and the right gripper are formed with arcuate structures; the left arm and the right arm are arranged offset in the front-back direction. In another preferred embodiment, detection mechanisms are mounted on the left arm and the right arm, wherein the detection mechanisms include a detection rod and telescopic shafts, with the telescopic shafts passing through and being mounted in the left gripper and the right gripper, with one end of the telescopic shafts mounted with the detection rod and the opposite end mounted with a detection plate, and springs are installed inside the telescopic shafts; proximity switches are mounted in positions close to the detection plates on the left arm and the right arm for detecting the position. In a preferred embodiment, the main frame is further provided with a gripper driving mechanism, a transmission mechanism, and a connecting rod mechanism, wherein the transmission mechanism includes a main shaft connected to the gripper driving mechanism and cranks mounted on the main shaft, the cranks include a first crank and a second crank; guide shafts are provided on the main frame, with the left gripper and the right gripper slidingly connected to the guide shafts; the connecting rod mechanism includes an upper connecting rod and a lower connecting rod, with both ends of the upper connecting rod respectively pivotally connected to the first crank and the right gripper, and both ends of the lower connecting rod respectively pivotally connected to the second crank and the left gripper; each of the upper connecting rod and the lower connecting rod comprising two connecting rods that form an obtuse angle. The beneficial effects achieved by the present invention are as follows: Firstly, the present invention provides a safe and effective solution for handling pulp packages and other bundled goods. The clamping attachment for palletizing bundled goods in warehousing features gripping units that are flexibly connected to the main frame through a suspension mechanism. This design allows the gripping units to move vertically, adapting to the varying heights of the pulp bales being handled, which enhances both gripping accuracy and efficiency. Secondly, the main frame of the present invention is equipped with extendable frames on both ends and a sliding frame in the center, which supports multiple gripping units. These extendable and sliding frames allow for horizontal movement of the gripping units, enabling precise position adjustments. Additionally, the connection frame and rotary bearing design permit the entire main frame to rotate, providing a broader range of positional adjustments. This flexibility accommodates goods of various sizes and improves adaptability compared to fixed frames, particularly in confined spaces or when stacking at the edges of storage areas. It minimizes interference with surrounding structures and ensures effective gripping of pulp bales of different sizes and placements, thereby expanding the range of use and enhancing operational efficiency. Thirdly, the present invention features arcuate gripping jaws that are staggered left and right, allowing them to securely grasp binding ropes and prevent slippage or falling of goods during transport. This configuration also reduces the risk of damaging the products while gripping. Fourthly, the device is easy to operate. Operators simply need to position the gripping units correctly over the binding ropes and execute the gripping action to complete the handling task. Fifthly, the present invention incorporates a unique crank mechanism and connecting rod system that streamlines the gripping and release actions of the left and right grippers. The obtuse-angled connecting rods introduce a self-locking function for the gripping jaws. When the main shaft rotates to a position such that where parts of the connecting rods are horizontal, the gripping jaws are locked in the left and right directions, ensuring that the goods remain secure during transport. This feature enhances the stability and safety of the items throughout handling and stacking operations. Lastly, the present invention allows for convenient dynamic adjustments of the gripping jaws' position and gripping force to accommodate goods of various shapes and sizes. This design enables adjustments to the opening width of the gripping jaws, allowing them to securely grip either the binding ropes or the surface of the goods, thereby ensuring a safe and stable handling process. Brief Description of the Drawings Figure 1 presents a schematic diagram of the overall structure of the telescopic frame in its retracted state according to the present invention. Figure 2 illustrates a schematic diagram of the overall structure of the telescopic frame in its extended state according to the present invention. Figure 3 provides a schematic diagram of the structure depicted in Figure 2 from a rear view angle. Figure 4 shows a schematic diagram of the structure in Figure 2 from a bottom view angle. Figure 5 depicts a schematic diagram of the overall structure of the gripping unit according to the present invention. Figure 6 presents a schematic diagram of the left gripper and the right gripper in the released state as shown in Figure 5. Figure 7 illustrates a schematic diagram of the left gripper and the right gripper in the clamped state as depicted in Figure 5. Figure 8 provides a schematic diagram of the structure in Figure 5 from a rear view angle. Figure 9 shows a schematic diagram of the connection between the cranks and connecting rod mechanism of the gripping unit. Figure 10 presents an enlarged schematic diagram of the structure of the left gripper and the right gripper of the gripping unit. Figure 11 illustrates a schematic diagram of the detection mechanism's state when the gripping unit is not engaged in a gripping action. Figure 12 provides a schematic diagram of the detection mechanism's state when the gripping unit is actively performing a gripping action. Reference numerals in the figures: 1, connecting frame; 2, rotating bearing; 3, base mechanism; 31, base; 32, base beam; 4, frame body; 41, telescopic frame; 42, maintenance support; 5, first driving mechanism; 51, first cylinder; 52, first connecting rod; 6, gripping unit; 61, main frame; 62, gripper driving mechanism; 63, main shaft; 64, cranks; 641, first crank; 642, second crank; 65, connecting rod mechanism; 651, upper connecting rod; 652, lower connecting rod; 66, gripping mechanism; 661, left gripper; 6611, left gripper jaw; 6612, left roller; 6613, left gripper arm; 662, right gripper; 6621, right gripper jaw; 6622, right roller; 6623, right gripper arm; 67, guide shaft; 68, detection mechanism; 681, detection rod; 682, telescopic shaft; 683, detection plate; 684, proximity switch; 7, sliding mechanism; 71, sliding frame; 72, sliding frame beam; 8, second driving mechanism; 81, first cylinder; 82, second connecting rod; 9, lifting mechanism; 91, connecting plate; 92, pin shaft. Detailed description The following description provides a clear and complete disclosure of the technical solutions of the present invention with reference to the accompanying drawings. It should be noted that the shapes and configurations of the various structures illustrated in the embodiments are for illustrative purposes only. The scope of the invention is not limited to the specific structures described herein. Any other embodiments that can be conceived by those skilled in the art without inventive effort fall within the protection scope of the invention. Referring to Figs. 1 to 12, the present invention relates to a clamping attachment for palletizing bundled goods in warehousing. The clamping attachment comprises a frame body 4 and multiple gripping units 6 mounted on the frame body 4. The frame body 4 includes one or more telescopic frames 41 and a sliding mechanism 7. Each gripping unit 6 is flexibly connected to the telescopic frame 41 and / or the sliding mechanism 7 through a lifting mechanism 9. The lifting mechanism 9 includes a connecting plate 91 with waist holes, through which pin shafts 92 are provided, each of which is capable of vertical movement along the waist holes. The gripping unit 6 is detachably connected to the pin shafts 92, allowing each gripper unit 6 to adaptively move up and down when the bottom of any gripper unit 6 is under load. Additionally, the frame body 4 can also be equipped with a detachable maintenance support 42 to facilitate the maintenance and repair of the gripping unit 6. The frame body 4 of the present invention can be configured as a rectangular structure, with the telescopic frames 41 at both ends in the length direction, each suspending two gripping units 6. The sliding mechanism 7 is located at the center of the frame body 4, which also suspends two gripping units 6. The telescopic frame 41 is connected to the frame body 4 in a casing manner. The frame body is provided with first driving mechanisms 5, each of the first driving mechanisms 5 connects to the telescopic frame 41 through a first connecting rod 52. The sliding mechanism 7 includes one or more sliding frames 71 that is installed centrally on the frame body 4 and is connected to the frame body 4 in a slidable manner. Additionally, the frame body 4 is equipped with a second driving mechanism 8, which is connected to the sliding frame 71 through a second connecting rod 82. Two sliding frames 71 are preferably provided. The two sliding frames 71 are connected by a sliding frame beam 72, to which the second connecting rod 82 is connected. Additionally, a base 31 is centrally installed on the frame body 4, with a rotating bearing 2 mounted above it. Above the rotating bearing 2, the connecting frame 1 is rotatably connected to the frame body 4 through the rotating bearing 2. The base 31 is secured to the frame body 4 by two base beams 32. Each of the gripping unit 6 comprises a main frame 61, and further includes a gripper driving mechanism 62, a transmission mechanism, a connecting rod mechanism 65, and a gripping mechanism 66, which are mounted on the main frame 61. The gripper driving mechanism 62 includes a motor and a worm gear reducer with a self-locking function that facilitates the closing, opening, and self-locking of grippers, thereby preventing any accidental disengagement. The transmission mechanism includes a main shaft 63 connected to the gripper driving mechanism 62 and cranks 64 installed on the main shaft 63. The cranks 64 include a first crank 641 and a second crank 642. The worm gear reducer is connected to the main shaft 63 to initiate its rotation. The gripping mechanism 66 includes a left gripper 661 and a right gripper 662. Guide shafts 67 are mounted on the main frame 61, and the left gripper 661 and right gripper 662 are slidably connected to the guide shafts 67. The connecting rod mechanism 65 includes an upper connecting rod 651 and a lower connecting rod 652. The ends of the upper connecting rod 651 are pivotally attached to the first crank 641 and the right gripper 662, respectively, while the ends of the lower connecting rod 652 are pivotally connected to the second crank 642 and the left gripper 661, respectively. Both the upper connecting rod 651 and the lower connecting rod 652 comprise two connecting rods that form an obtuse angle. When the main shaft 63 rotates to a position such that parts of the connecting rods are horizontal, the gripper jaws are locked in both the left and right directions, thereby ensuring that the cargo remains secure and does not loosen or slip during transportation. This mechanism guarantees the stability and safety of the cargo through handling and stacking processes. The left gripper 661 includes a left gripper arm 6613 and a left gripper jaw 6611 installed on the left gripper arm 6613. The right gripper 662 includes a right gripper arm 6623 and a right gripper jaw 6621 installed on the right gripper arm 6623. The left gripper jaw 6611 and the right gripper jaw 6621 have an arcuate structure. The left gripper jaw 6611 and the right gripper jaw 6621 are pivotally connected to the left gripper arm 6613 and the right gripper arm 6623, respectively, and rely on gravity to maintain their bottom edges at a horizontal state. The left gripper arm 6613 and the right gripper arm 6623 are arranged offset in the front-back direction. The left gripper arm 6613 and the right gripper arm 6623 are equipped with a left roller 6612 and a right roller 6622, respectively. The left roller 6612 is installed on the front side of the left gripper arm 6613, and the right roller 6622 is installed on the rear side of the right gripper arm 6623. The left gripper arm 6613 and the right gripper arm 6623 are each equipped with detection mechanisms 68. Each of the detection mechanisms 68 includes a detection rod 681 and telescopic shafts 682. The telescopic shafts 682 pass through the left gripper jaw 6611 and the right gripper jaw 6621, respectively. The telescopic shafts 682 are configured such that one end of the telescopic shafts 682 is equipped with the detection rod 681, and the opposite end of the telescopic shafts 682 is equipped with a detection plate 683. A proximity switch 684 is installed near the detection plate 683 on both the left gripper arm 6613 and the right gripper arm 6623. Each of the telescopic shafts 682 is internally equipped with a spring. Additionally, the present invention can be equipped with a camera or other visual sensors to obtain real-time image information of the surrounding environment and cargo. Through image processing and analysis algorithms, it can accurately identify and locate bundled ropes, pulp packages, or other cargo. The connecting rod mechanism 65 and the gripping mechanism 66 can be made of high-strength materials to ensure the stability and safety of the grippers during handling. Furthermore, anti-slip devices can be added as needed to enhance the stability and safety of the equipment. When using the clamping attachment for palletizing bundled goods in warehousing disclosed by the present invention, a connecting part attaches the clamping attachment to a mechanical arm. The mechanical arm positions the clamping attachment above the pulp packages. At this stage, the entire frame body 4 is manually rotated or driven by a mechanism to adjust the angle, positioning the grippers at an appropriate orientation. The second driving mechanism 8 then moves the sliding frame 71 to a suitable position, allowing the grippers suspended from the sliding frame 71 to align with the pulp packages. If the grippers suspended from the telescopic frame 41 are not correctly positioned, the first driving mechanism 5 extends or retracts the telescopic frame 41, moving the grippers horizontally to the precise location above the corresponding pulp packages. Initially, the left gripper jaw 6611 and the right gripper jaw 6621 remain in an open, released state. Once all the gripping units 6 are in the appropriate positions, the gripper driving mechanisms 62 activate. The left roller 6612 and the right roller 6622 on the respective left gripper arm 6613 and the right gripper arm 6623 make contact with the pulp package, sliding smoothly without causing damage. When the binding rope of the pulp package enters the space between the left gripper jaw 6611 and the right gripper jaw 6621, the motor and worm gear reducer drive the main shaft 63 to rotate. The cranks 64 and the connecting rod mechanism 65 then cause the left gripper arm 6613 to move right, and the right gripper arm 6623 to move left. As the left gripper jaw 6611 and the right gripper jaw 6621 reach the position of the binding rope, they lift the binding rope from the bottom. As the left gripper arm 6613 and the right gripper arm 6623 continue to move, the binding rope comes into contact with the arcuate structure of the left gripper jaw 6611 and the right gripper jaw 6621, causing them to slightly rotate. When the binding rope reaches a certain position, it contacts the detection rod 681, compressing the spring and pushing the detection plate 683 away from the proximity switch 684. At this point, the monitoring signal changes, and the simultaneous signal changes from the proximity switches 684 on the left gripper arm 6613 and the right gripper arm 6623 indicates that the binding rope is securely gripped. The entire gripping unit 6 can then be lifted, moving the pulp package. At this time, the left gripper jaw 6611 and the right gripper jaw 6621 have a dual self-locking protection mechanism. The worm gear reducer activates the locking mode, and the connecting rod rotates to a nearly horizontal position, achieving a dead-point self-locking. After the operation is completed, the motor is reversed to separate and return the left gripper jaw 6611 and the right gripper jaw 6621 to their original positions. A detection sensor can be set at the original position of the left gripper jaw 6611 and the right gripper jaw 6621. When they return to the original position, a control signal is triggered to stop the motor, completing the correction. Finally, a few points to note: First, in the description of this application, unless otherwise specified, the terms "installed," "connected," and "connected" should be understood broadly and can refer to mechanical or electrical connections or internal connections between two elements. They can be directly connected or indirectly connected through intermediate elements. Terms like "up," "down," "left," and "right" are used to indicate relative positional relationships, which may change if the absolute position of the described object changes. Second, the drawings in this disclosure only involve structures related to the embodiments of this disclosure. Other structures can be referred to in conventional designs. Unless there is a conflict, the embodiments of this disclosure and features in different embodiments can be combined. Lastly, the above description is only a preferred embodiment of this disclosure and is not intended to limit it. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A clamping attachment for palletizing bundled goods in warehousing, characterized in that it includes a frame body (4) and multiple gripper units (6) mounted on the frame body (4), wherein the frame body (4) is provided with one or more telescopic frames (41) and a sliding mechanism (7); each gripper unit (6) is flexibly connected to the telescopic frame (41) and / or the sliding mechanism (7) through a lifting mechanism (9); the lifting mechanism (9) includes a connecting plate (91) with waist holes, through which pin shafts (92) are provided, each of which is capable of vertical movement along the waist holes, and the gripper units (6) are detachably connected to the pin shafts (92), allowing each gripper unit (6) to adaptively move up and down when the bottom of any gripper unit (6) is under load.

2. The clamping attachment for palletizing bundled goods in warehousing according to claim 1, characterized in that the frame body (4) is configured as a rectangular structure with the telescopic frames (41) provided at both ends in the length direction, with each telescopic frame (41) suspending two gripper units (6); a sliding mechanism (7) is centrally provided, which also suspends two gripper units (6).

3. The clamping attachment for palletizing bundled goods in warehousing according to claim 1, characterized in that the telescopic frame (41) is connected to the frame body (4) in a casing manner; a first driving mechanism (5) is mounted on the frame body (4) and connects to the telescopic frame (41) through a first connecting rod (52); the sliding mechanism (7) includes one or more sliding frames (71) which are centrally mounted on the frame body (4) and are slidingly connected to the frame body (4); and a second driving mechanism (8) is mounted on the frame body (4) and connects to the sliding frame (71) through a second connecting rod (82).

4. The clamping attachment for palletizing bundled goods in warehousing according to claim 3, characterized in that there are two sliding frames (71), and the two sliding frames (71) are connected by a sliding beam (72), to which the second connecting rod (82) is connected.

5. The clamping attachment for palletizing bundled goods in warehousing according to claim 1, characterized in that a base (31) is centrally mounted on the frame body (4), a rotating bearing (2) is mounted above the base (31), and a connecting frame (1) is mounted above the rotating bearing (2), with the connecting frame (1) is rotatably connected to the frame body (4) through the rotating bearing (2).

6. The clamping attachment for palletizing bundled goods in warehousing according to claim 1, characterized in that the base (31) is connected to the frame body (4) through two base beams (32).

7. The clamping attachment for palletizing bundled goods in warehousing according to claim 1, characterized in that the gripper units (6) include a main frame (61) and a clamping mechanism (66) mounted on the main frame (61), wherein the clamping mechanism (66) is provided with a left gripper (661) and a right gripper (662) that are used in conjunction.

8. The clamping attachment for palletizing bundled goods in warehousing according to claim 7, characterized in that the left gripper (661) includes a left arm (6613) and a left gripper jaw (6611) mounted on the left arm (6613), and the right gripper (662) includes a right arm (6623) and a right gripper jaw (6621) mounted on the right arm (6623); the left gripper jaw (6611) and the right gripper jaw (6621) are formed with arcuate structures; the left arm (6613) and the right arm (6623) are arranged offset in the front-back direction.

9. The clamping attachment for palletizing bundled goods in warehousing according to claim 8, characterized in that detection mechanisms (68) are mounted on the left arm (6613) and the right arm (6623), wherein the detection mechanisms (68) include a detection rod (681) and telescopic shafts (682), with the telescopic shafts (682) passing through and being mounted in the left gripper jaw (6611) and the right gripper jaw (6621), with one end of the telescopic shafts (682) mounted with the detection rod (681) and the opposite end mounted with a detection plate (683), and springs are installed inside the telescopic shafts (682); proximity switches (684) are mounted in positions close to the detection plates (683) on the left arm (6613) and the right arm (6623) for detecting the position.

10. The clamping attachment for palletizing bundled goods in warehousing according to claim 7, characterized in that the main frame (61) is further provided with a gripper driving mechanism (62), a transmission mechanism, and a connecting rod mechanism (65), wherein the transmission mechanism includes a main shaft (63) connected to the gripper driving mechanism (62) and cranks (64) mounted on the main shaft (63), the cranks (64) include a first crank (641) and a second crank (642); guide shafts (67) are provided on the main frame (61), with the left gripper (661) and the right gripper (662) slidingly connected to the guide shafts (67); the connecting rod mechanism (65) includes an upper connecting rod (651) and a lower connecting rod (652), with both ends of the upper connecting rod (651) respectively pivotally connected to the first crank (641) and the right gripper (662), and both ends of the lower connecting rod (652) respectively pivotally connected to the second crank (642) and the left gripper (661); each of the upper connecting rod (651) and the lower connecting rod (652) comprising two connecting rods that form an obtuse angle.

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