A method of adjusting the placement of goods

Abstract

The present application provides a kind of goods placement adjustment method, specific steps include: (1) the goods are moved to work area interval;When the position of goods is not convenient for clamping mechanism to clamp;Enter step (1.1);If the position of goods is not needed to adjust, then enter step (2);(1.1) position adjustment drive assembly drives position adjustment rod to push goods to move to the position that clamping mechanism clamps conveniently;(2) clamping mechanism is lowered to the position corresponding to goods;(2.1) first jaw assembly and second jaw assembly clamp goods;(3) when goods need to be turned over;(3.1) rotating assembly rotates and drives first jaw assembly and second jaw assembly to rotate, and turns over goods.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of carrying robots, in particular to a cargo placement adjustment method. BACKGROUND

[0002] With the development of Internet of Things technology and the continuous increase of labor costs, hoisting and carrying is gradually moving towards automation and intelligence. At the same time, with the continuous development of intelligent technology, it has brought great changes to logistics enterprises. Intelligent carrying robots have the characteristics of large carrying capacity, high transportation efficiency, high automation degree, high safety, etc., and can better help enterprises simplify the production and transportation process. At present, intelligent carrying robot technology is applied to the field of loading and unloading, which is one of the most basic functional units in the logistics system. It not only can improve the carrying efficiency of warehouse logistics and reduce the physical labor of people, but also can optimize resources and improve efficiency, and has very broad development prospects and good economic benefits.

[0003] In the patent document with the Chinese patent application number 202110960685.4 and the publication date of 2021.12.07, a carrying robot is disclosed, which includes a frame, a walking mechanism, a rotating mechanism, a grabbing mechanism, a lifting mechanism and a translation mechanism. The rotating mechanism includes a turntable and a rotating drive member, the turntable is rotationally arranged on the frame, and the rotating drive member is connected with the turntable and is used to drive the turntable to rotate. The lifting mechanism is connected with the grabbing mechanism and is used to drive the grabbing mechanism to make lifting motion. The translation mechanism is fixedly installed on the frame, and the translation mechanism is connected with the lifting mechanism and is used to drive the lifting mechanism to translate. The beneficial effects of the present application are: through the cooperation of the grabbing mechanism, the lifting mechanism and the translation mechanism, a plurality of cargos are sequentially grabbed onto the turntable, the turntable is driven to rotate by the rotating drive member, so that the cargos stacked on the turntable are evenly placed, and the whole device is moved back and forth between the cargo stacking place and the unloading place by the walking mechanism. The carrying robot provided by the present application can transport multiple cargos at a time during each reciprocation, greatly improving the loading and unloading efficiency of the cargos.

[0004] Most of the carrying robots in the prior art are like the above-mentioned document, and the clamping method is only to clamp the cargos and place them on the designated position. However, the state of the cargos cannot be adjusted. If the cargos are vertically placed during carrying, and the designated position for carrying requires the cargos to be placed horizontally to better arrange the cargos uniformly, the carrying robot in the prior art still needs to use other devices to adjust the cargos or needs manual adjustment after carrying the cargos that do not reach the expected state. This will waste time and increase cost, affecting the efficiency of carrying. SUMMARY

[0005] The present application aims to provide a cargo placement adjustment method. The method can adjust the placement of cargos as needed, and the structure is simple and effective.

[0006] To achieve the above object, a cargo placement adjustment method is realized by a clamping device, the clamping device comprises a rack, a clamping mechanism, a lifting mechanism and a position adjusting mechanism, the rack comprises a bottom plate, a support column and a crossbeam, the bottom plate is provided with two plates, a working area is formed between the two plates, the support column is arranged at the two ends of the bottom plate, and the crossbeam is arranged between the support columns of the two plates.

[0007] The lifting mechanism is arranged on the support column at one end of the bottom plate, and the clamping mechanism is arranged on the lifting mechanism; the position adjusting mechanism is arranged at the bottom end of the bottom plate; and the camera is arranged on the crossbeam between the support columns at the other end of the bottom plate.

[0008] The lifting mechanism comprises a lifting sliding block and a lifting driving assembly, the lifting driving assembly is arranged on the support columns of the two plates, the lifting sliding block is connected to the lifting driving assembly, the lifting driving assembly drives the lifting sliding block to slide up and down along the support column, and the clamping mechanism is arranged on the lifting sliding block.

[0009] The clamping mechanism comprises a rotating assembly, a first clamping jaw assembly, a second clamping jaw assembly, a clamping crossbeam and a clamping stopper, the rotating assembly is arranged on the lifting sliding block, the first clamping jaw assembly is arranged on the rotating assembly on one plate, the second clamping jaw assembly is arranged on the rotating assembly on the other plate, the clamping crossbeam is arranged between the first clamping jaw assembly and the second clamping jaw assembly, and the clamping stopper is arranged on the clamping crossbeam between the first clamping jaw assembly and the second clamping jaw assembly; the rotating assembly drives the first clamping jaw assembly and the second clamping jaw assembly to rotate.

[0010] The position adjusting mechanism comprises a position adjusting driving assembly and a position adjusting rod, the position adjusting rod is arranged at the bottom end of the bottom plate through the position adjusting driving assembly, and the position adjusting driving assembly drives the position adjusting rod to move along the length direction of the bottom plate.

[0011] The specific steps include:

[0012] (1) Move the cargo into the working area.

[0013] When the position of the cargo is not convenient for the clamping mechanism to clamp, step (1.1) is entered; if the position of the cargo does not need to be adjusted, step (2) is entered.

[0014] (1.1) The position adjusting driving assembly drives the position adjusting rod to push the cargo to a position convenient for the clamping mechanism to clamp.

[0015] (2) The clamping mechanism is lowered to a position corresponding to the cargo.

[0016] (2.1) The first clamping jaw assembly and the second clamping jaw assembly clamp the cargo.

[0017] (3) When the goods need to be turned over.

[0018] (3.1) The rotating assembly rotates to drive the first jaw assembly and the second jaw assembly to rotate, thereby turning over the goods.

[0019] The clamping device with the above structure can achieve clamping when the goods need to be clamped. The goods are moved into the working area, the lifting driving assembly drives the lifting slider to move up and down, thereby driving the clamping mechanism to move to a height corresponding to the goods. After the clamping mechanism is moved to the position, the first jaw assembly and the second jaw assembly cooperate to clamp the goods. The lifting mechanism lifts the clamping mechanism so that the goods are separated from the ground, thereby achieving clamping. Before clamping, the state of the goods is observed by the camera. If the position of the goods is not convenient for the clamping mechanism to clamp, the position adjusting driving assembly drives the position adjusting rod to push the goods, so that the goods can be moved to the position of the clamping mechanism for clamping. At the same time, if the front and back of the goods are reversed, the first jaw assembly and the second jaw assembly can be turned over by the rotating assembly, so that the front and back of the goods can be turned over. Thus, the state of the goods can be adjusted, thereby facilitating subsequent handling, so that the problem of affecting the handling efficiency due to the need for additional adjustment of the goods during the final unified arrangement of the goods can be avoided, thereby improving the efficiency of handling.

[0020] Further, the lifting driving assembly comprises a lifting driving motor, a lifting driving driving gear, a lifting driving driven gear, a lifting driving rod, a lifting first driven wheel, a lifting second driven wheel and a lifting driving belt. The lifting driving motor is fixed on one side of the support column on the bottom plate through the lifting motor mounting plate. The lifting driving rod is arranged on the support column. The lifting driving rod is connected to the support columns on the two bottom plates. The lifting driving driving gear is arranged on the driving shaft of the lifting driving motor. The lifting driving driven gear is arranged at one end of the lifting driving rod and is meshed with the lifting driving driving gear. The lifting first driven wheel is fixed at both ends of the lifting driving rod. The lifting driving driven gear is fixedly connected to the end surface of the lifting first driven wheel at one end of the lifting driving rod. The lifting second driven wheel corresponding to the lifting first driven wheel is arranged on the bottom plate at the bottom end of the support column. The lifting driving belt is arranged between the lifting first driven wheel and the lifting second driven wheel. The lifting slider is arranged on the lifting driving belt.

[0021] When the clamping mechanism needs to be moved up and down, the lifting driving motor drives the lifting driving driving gear to rotate, and then drives the lifting driving driven gear to rotate and drives the lifting driving rod to rotate, so that the lifting first driven gear rotates and the lifting driving belt moves, so that the lifting slider arranged on the lifting driving belt moves up and down, and the lifting driving rod can ensure that the clamping mechanism can normally lift, and the structure is simple and effective.

[0022] Further, the first clamping jaw assembly comprises a first clamping jaw connecting column, a first clamping jaw base, a first clamping jaw cylinder and a first clamping jaw. One end of the first clamping jaw connecting column is connected with the rotating assembly on one bottom plate, the first clamping jaw base is arranged at the other end of the first clamping jaw connecting column, the first clamping jaw cylinder is arranged on the first clamping jaw base, and the first clamping jaw is arranged on the driving part of the first clamping jaw cylinder.

[0023] The second clamping jaw assembly comprises a second clamping jaw connecting column, a second clamping jaw base, a second clamping jaw cylinder and a second clamping jaw. One end of the second clamping jaw connecting column is connected with the rotating assembly on the other bottom plate, the second clamping jaw base is arranged at the other end of the second clamping jaw connecting column, the second clamping jaw cylinder is arranged on the second clamping jaw base, and the second clamping jaw is arranged on the driving part of the second clamping jaw cylinder.

[0024] Step (2.1) specifically comprises:

[0025] (2.11) The first clamping jaw cylinder drives the first clamping jaw to move towards the direction of the second clamping jaw.

[0026] (2.12) The second clamping jaw cylinder drives the second clamping jaw to move towards the direction of the first clamping jaw.

[0027] (2.13) The first clamping jaw and the second clamping jaw clamp the goods.

[0028] When the goods need to be clamped, the first clamping jaw cylinder drives the first clamping jaw to move towards the direction of the second clamping jaw and tightly contact the goods, and the second clamping jaw cylinder drives the second clamping jaw to move towards the direction of the first clamping jaw and tightly contact the goods, so that the goods can be clamped by the cooperation of the first clamping jaw and the second clamping jaw, and the structure is simple and effective.

[0029] Further, the rotating assembly comprises a rotating motor, a rotating mounting plate, a rotating shaft coupling and a rotating connecting plate. The rotating mounting plate is fixed on the lifting slider, the rotating shaft coupling is arranged on the rotating mounting plate, the driving shaft of the rotating motor is fixed on the rotating shaft coupling, the rotating connecting plate is arranged on the main body of the rotating motor, and the rotating connecting plate on one bottom plate is connected with the first clamping jaw connecting column; the rotating connecting plate on the other bottom plate is connected with the second clamping jaw connecting column.

[0030] When the goods need to be turned over, the rotating motor is started. Since the driving shaft of the rotating motor is fixed on the rotating shaft, when the rotating motor is started, the driving shaft of the rotating motor cannot rotate, and the main body of the rotating motor rotates, so that the first jaw connecting column and the second jaw connecting column connected with the main body of the rotating motor through the rotating connecting plate rotate, thereby the first jaw assembly and the second jaw assembly rotate, and the goods can be turned over.

[0031] Further, the position adjusting driving assembly comprises a position adjusting motor, a position adjusting driving gear, a position adjusting rack, a position adjusting sliding wheel, a position adjusting guide rail and a position adjusting connecting plate. The position adjusting motor is arranged above the bottom plate, the position adjusting sliding wheel is arranged below the bottom plate through the sliding wheel plate, the mounting through slot is arranged on the bottom plate, the position adjusting driving gear is arranged on the driving shaft of the adjusting motor, the position adjusting driving gear extends to the lower side of the bottom plate through the mounting through slot, the position adjusting rack is arranged between the position adjusting sliding wheel and the position adjusting driving gear, and the position adjusting rack is engaged with the position adjusting driving gear. The position adjusting guide rail corresponding to the position adjusting rack is further arranged below the bottom plate. One end of the position adjusting rack is arranged on the position adjusting guide rail through the position adjusting sliding block, and the position adjusting rod is connected to one end of the position adjusting rack through the position adjusting connecting plate. The position adjusting rod connects the position adjusting racks on the two bottom plates.

[0032] Through the position adjusting mechanism, when the position of the goods in the working area is not convenient for the clamping mechanism to clamp, the position adjusting mechanism can push the goods, so that the goods can be moved to a position convenient for the clamping mechanism to clamp, thereby facilitating the carrying of the goods and improving the efficiency. When the position of the goods needs to be adjusted, the position adjusting motor drives the position adjusting driving gear and drives the position adjusting rack to move along the position adjusting guide rail, thereby driving the position adjusting rod connected to the position adjusting rack to move, so that the goods can be moved by the position adjusting rod.

[0033] Step (1.1) specifically comprises:

[0034] (1.11) The position adjusting motor drives the position adjusting rod to move.

[0035] (1.12) The position adjusting rod drives the goods to move to a position convenient for the clamping mechanism to clamp.

[0036] Further, the first clamping hand is further provided with a first clamping rotating assembly, the first clamping rotating assembly comprises a clamping rotating motor, a clamping rotating driving wheel, a clamping rotating driven wheel, a clamping rotating driving belt, a clamping rotating driving shaft, a clamping rotating mounting plate and a rotating clamping hand, the clamping rotating motor is arranged at the front end of the first clamping hand, the clamping rotating driving wheel is arranged on the driving shaft of the clamping rotating motor, the clamping rotating mounting plate is arranged at the end of the first clamping hand, one end of the clamping rotating driving shaft is rotatably arranged on the clamping rotating mounting plate through a clamping rotating bearing, the rotating clamping hand is arranged on the other end of the clamping rotating driving shaft, the rotating clamping hand is arranged on the side of the first clamping hand close to the clamping stopper, the clamping rotating driven wheel is arranged on the clamping rotating driving shaft, and the clamping rotating driving belt is arranged between the clamping rotating driving wheel and the clamping rotating driven wheel.

[0037] The second clamping hand is provided with a second clamping rotating assembly which has the same structure as the first clamping rotating assembly.

[0038] The step (3) specifically comprises the following steps:

[0039] (3.11) The clamping rotating motor drives the rotating clamping hand to rotate to overturn the goods.

[0040] The above arrangement can also overturn the goods through the arrangement of the clamping rotating assembly. When the goods are large in size and cannot be conveniently overturned by the clamping rotating assembly during the carrying, the goods can be overturned through the rotating assembly. When the goods are small in size, the goods can be overturned through the clamping rotating assembly or the rotating assembly. Through the arrangement of two different overturning devices, it is ensured that goods of different sizes can be overturned. When the goods to be overturned are small, the clamping rotating motor drives the clamping rotating driving wheel to rotate, thereby driving the clamping rotating driven wheel connected with the clamping rotating driving wheel through the clamping rotating driving belt to rotate, so as to drive the clamping rotating driving shaft to rotate and drive the rotating clamping hand to rotate, thereby realizing the overturning of the goods. The structure is simple and useful. BRIEF DESCRIPTION OF DRAWINGS

[0041] Figure 1 It is a structural schematic view of the clamping device of the application.

[0042] Figure 2 It is a structural schematic view of the clamping device of the application. Figure 1 It is an enlarged view of A in the figure.

[0043] Figure 3 It is an exploded schematic view of the lifting driving assembly of the application.

[0044] Figure 4 It is a structural schematic view of the clamping mechanism of the application.

[0045] Figure 5The exploded view of the rotating assembly of the present application.

[0046] Figure 6 The exploded view of the first clamping hand of the present application.

[0047] Figure 7 The exploded view of the rotating assembly of the present application. Figure 1 The enlarged view at B.

[0048] Figure 8 The bottom view of the frame of the present application.

[0049] Figure 9 The exploded view of the rotating assembly of the present application. Figure 8 The enlarged view at D.

[0050] Figure 10 The exploded view of the position adjusting mechanism of the present application.

[0051] Figure 11 The schematic view of the clamping mechanism clamping and overturning the goods of the present application. DETAILED DESCRIPTION

[0052] The present application will be further described in detail below in combination with the drawings and specific embodiments.

[0053] As shown in the drawings, a clamping device comprises a frame 1, a clamping mechanism 3, a lifting mechanism 4 and a position adjusting mechanism 7, the frame 1 comprises a bottom plate 11, a support column 12 and a crossbeam 13, the bottom plate 11 is provided with two plates, a working area 10 is formed between the two bottom plates 11, the support column 12 is arranged at the two ends of the bottom plate 11, and the crossbeam 13 is arranged between the support columns 12 of the two bottom plates 11. Figures 1 to 11 The lifting mechanism 4 is arranged on the support column 12 at one end of the bottom plate 11, the clamping mechanism 3 is arranged on the lifting mechanism 4, the position adjusting mechanism 7 is arranged at the bottom end of the bottom plate 11, and the camera 100 is arranged on the crossbeam 13 between the support columns 12 at the other end of the bottom plate 11. The state of the goods is observed and detected by the camera, and if the state of the goods needs to be adjusted, the goods can be knocked down or overturned according to the current state of the goods.

[0054] As shown in the drawings, the lifting mechanism 4 comprises a lifting sliding block 40 and a lifting driving assembly 41, the lifting driving assembly 41 is arranged on the support column 12 of the two bottom plates 11, the lifting sliding block 40 is connected to the lifting driving assembly 41, the lifting driving assembly 41 drives the lifting sliding block 40 to slide up and down along the support column 12, and the clamping mechanism 3 is arranged on the lifting sliding block 40.

[0055] Figures 1 to 3

[0056] ​​The lifting drive assembly 41 includes a lifting drive motor 411, a lifting drive driving gear 412, a lifting drive driven gear 413, a lifting drive rod 414, a first lifting driven pulley 415, a second lifting driven pulley 416, and a lifting drive belt (not shown in the figure). In this embodiment, the lifting drive belt is a synchronous belt, which is sleeved on the second lifting driven pulley 416. The specific synchronous belt transmission method is existing technology and will not be described in detail here. The lifting drive motor 411 is fixed to one side of a support column 12 on a base plate 11 by a lifting motor mounting plate 417. The lifting drive rod 414 is provided on the support column 12, and the lifting drive rod 414 connects the two base plates 11. The support column 12 on the support column 12 has a lifting drive active gear 412 on the drive shaft of the lifting drive motor 411. A lifting drive driven gear 413 that meshes with the lifting drive active gear 412 is provided at one end of the lifting drive rod 414. A first lifting driven wheel 415 is fixed at both ends of the lifting drive rod. The lifting drive driven gear is fixedly connected to the end face of the first lifting driven wheel at one end of the lifting drive rod. A second lifting driven wheel 416 corresponding to the first lifting driven wheel 415 is provided on the bottom plate 11 at the bottom end of the support column 12. A lifting drive belt is provided between the first lifting driven wheel 415 and the second lifting driven wheel 416. The lifting slider 40 is set on the lifting drive belt.

[0057] With the above configuration, when the clamping mechanism 3 needs to move up and down, the lifting drive motor 411 drives the lifting drive active gear 412 to rotate, which in turn drives the lifting drive driven gear 413 to rotate and drives the lifting drive rod 414 to rotate. When the lifting drive driven gear 413 is driven to rotate by the lifting drive active gear 412, the lifting drive rod 414 can also rotate synchronously, thereby causing the first lifting driven wheels 415 at both ends of the lifting drive rod to rotate and causing the lifting drive belt to move, thereby causing the lifting slider 40 set on the lifting drive belt to move up and down. At the same time, the function of the lifting drive rod 414 enables the lifting drive belt on the two base plates 11 to move up and down synchronously, thereby ensuring that the clamping mechanism 3 can lift and lower normally. The structure is simple and effective.

[0058] like Figures 4 to 6 As shown, the clamping mechanism 3 includes a rotating component 30, a first gripper component 32, a second gripper component 33, a clamping beam 34, and a clamping stop 35. The rotating component 30 is mounted on the lifting slider 40. The first gripper component 32 is mounted on the rotating component 30 on one base plate 11, and the second gripper component 33 is mounted on the rotating component 30 on another base plate 11. A clamping beam 34 is provided between the first gripper component 32 and the second gripper component 33, and a clamping stop 35 is provided on the clamping beam 34 between the first gripper component 32 and the second gripper component 33.

[0059] The first clamping jaw assembly 32 comprises a first clamping jaw connecting column 321, a first clamping jaw base 322, a first clamping jaw cylinder 323 and a first clamping jaw 324. One end of the first clamping jaw connecting column 321 is connected with the rotating assembly 30 on one bottom plate 11, and the other end of the first clamping jaw connecting column 321 is provided with the first clamping jaw base 322. The first clamping jaw base 322 is provided with the first clamping jaw cylinder 323, and the driving part of the first clamping jaw cylinder 323 is provided with the first clamping jaw 324.

[0060] The second clamping jaw assembly 33 comprises a second clamping jaw connecting column 331, a second clamping jaw base 332, a second clamping jaw cylinder 333 and a second clamping jaw 334. One end of the second clamping jaw connecting column 331 is connected with the rotating assembly 30 on the other bottom plate 11, and the other end of the second clamping jaw connecting column 331 is provided with the second clamping jaw base 332. The second clamping jaw base 332 is provided with the second clamping jaw cylinder 333, and the driving part of the second clamping jaw cylinder 333 is provided with the second clamping jaw 334.

[0061] The first clamping jaw cylinder 323 drives the first clamping jaw 324 to move towards the second clamping jaw 334, and the second clamping jaw cylinder 332 drives the second clamping jaw 334 to move towards the first clamping jaw 324.

[0062] In the embodiment, the first clamping jaw cylinder and the second clamping jaw cylinder are rodless cylinders, and the specific working principle is the prior art, which will not be repeated here.

[0063] When it is necessary to clamp the goods, the first clamping jaw cylinder 323 drives the first clamping jaw 324 to move towards the second clamping jaw 334 and tightly contact the goods, and the second clamping jaw cylinder 333 drives the second clamping jaw 334 to move towards the first clamping jaw 324 and tightly contact the goods. The goods can be clamped by the cooperation of the first clamping jaw 324 and the second clamping jaw 334, which is simple and effective.

[0064] The rotating assembly 30 comprises a rotating motor 301, a rotating mounting plate 302, a rotating shaft coupling 303 and a rotating connecting plate 304. The rotating mounting plate 302 is fixed on the lifting slide 40, and the rotating shaft coupling 303 is arranged on the rotating mounting plate 302. The driving shaft 3011 of the rotating motor 301 is fixed on the rotating shaft coupling 303, and the rotating connecting plate 304 is arranged on the main body 3012 of the rotating motor 301. The rotating connecting plate 304 on one bottom plate 11 is connected with the first clamping jaw connecting column 321, and the rotating connecting plate 304 on the other bottom plate 11 is connected with the second clamping jaw connecting column 331.

[0065] When the goods need to be turned over, the rotating motor 301 is started. Since the driving shaft 3011 of the rotating motor 301 is fixed on the rotating shaft 303, when the rotating motor 301 is started, the driving shaft 3011 of the rotating motor 301 cannot rotate, and the main body 3012 of the rotating motor 301 rotates, so that the first jaw connecting column 321 and the second jaw connecting column 331 connected with the main body 3012 of the rotating motor 301 through the rotating connecting plate 304 rotate with the main body 3012 of the rotating motor 301, thereby rotating the first jaw assembly 32 and the second jaw assembly 33 to turn over the goods (as shown in Figure 11 001 is the goods).

[0066] As shown in Figure 6 Fig. 1, a first clamping hand 324 is arranged on the first jaw assembly 32, and a first clamping and rotating assembly 31 is arranged on the first clamping hand 324. The first clamping and rotating assembly 31 comprises a clamping and rotating motor 311, a clamping and rotating driving wheel 312, a clamping and rotating driven wheel 313, a clamping and rotating driving belt (not shown in the figure), a clamping and rotating driving shaft 314, a clamping and rotating mounting plate 315, and a rotating clamping hand 316. The clamping and rotating motor 311 is arranged at the front end of the first clamping hand 324. The clamping and rotating driving wheel 312 is arranged on the driving shaft of the clamping and rotating motor 311. The clamping and rotating mounting plate 315 is arranged at the end of the first clamping hand 324. One end of the clamping and rotating driving shaft 314 is rotatably arranged on the clamping and rotating mounting plate 315 through a clamping and rotating bearing 317. The rotating clamping hand 316 is arranged at the other end of the clamping and rotating driving shaft 314. The protruding area of the rotating clamping hand 316 is larger than that of the first clamping hand 324. In this way, when the goods are clamped, the contact area of the rotating clamping hand with the goods is larger, and the goods can be clamped better. The rotating clamping hand 316 is located on the side of the first clamping hand 324 close to the clamping stopper 35. The clamping and rotating driven wheel 313 is arranged on the clamping and rotating driving shaft 314. The clamping and rotating driving belt is arranged between the clamping and rotating driving wheel 312 and the clamping and rotating driven wheel 313. The clamping and rotating driving belt is a synchronous belt. The specific synchronous belt transmission principle is prior art, which will not be described here.

[0067] A second clamping and rotating assembly identical in structure to the first clamping and rotating assembly 31 is arranged on the second clamping hand 334.

[0068] The above setting, through the setting of the clamping and rotating assembly, can also make the goods overturn. When the goods are large in size and the clamping and rotating assembly cannot conveniently overturn the goods during carrying, the goods can be overturned through the rotating assembly. When the goods are small in size, the goods can be overturned through the clamping and rotating assembly or the rotating assembly. By setting two different overturning devices, it is ensured that goods of different sizes can be overturned. When it is necessary to overturn small goods, the clamping and rotating motor drives the clamping and rotating driving wheel to rotate, thereby driving the clamping and rotating driven wheel connected with the clamping and rotating driving wheel to rotate, so as to drive the rotating clamping hand to rotate, thereby realizing overturning of the goods. The structure is simple and useful.

[0069] The clamping device with the above structure can clamp goods when the goods are moved to the working interval. The lifting driving assembly drives the lifting sliding block to move up and down, thereby driving the clamping mechanism to move to a height corresponding to the goods. After the clamping mechanism is moved to the position, the first clamping jaw assembly and the second clamping jaw assembly cooperate to clamp the goods. The lifting mechanism lifts the clamping mechanism to make the goods leave the ground, thereby realizing clamping. Before clamping, the state of the goods is observed through the camera. If the position of the goods is not convenient for the clamping mechanism to clamp, the position adjusting rod is driven by the position adjusting driving assembly to push the goods, so that the goods can be moved to a position for clamping by the clamping mechanism. At the same time, if the front and back of the goods are reversed, the first clamping jaw assembly and the second clamping jaw assembly can be overturned through the rotating assembly, so that the front and back of the goods can be overturned. Thus, the state of the goods can be adjusted, thereby facilitating subsequent carrying, so that the problem of affecting the carrying efficiency due to the need to adjust the goods for the final unified arrangement of the goods can be avoided, thereby making the carrying efficiency higher.

[0070] As Figures 10 to 11As shown, the position adjusting mechanism 7 comprises a position adjusting driving assembly and a position adjusting rod 76 arranged at the bottom end of the bottom plate 11 by the position adjusting driving assembly arranged to move along the length direction of the bottom plate 11; the position adjusting driving assembly comprises a position adjusting motor (not shown in the figure), a position adjusting driving gear 72, a position adjusting rack 73, a position adjusting sliding wheel 74, a position adjusting guide rail 75 and a position adjusting connecting plate 77, the position adjusting motor is arranged above the bottom plate 11, the position adjusting sliding wheel 74 is arranged below the bottom plate 11 by a sliding wheel plate 741, a mounting through slot 111 is arranged on the bottom plate 11, the position adjusting driving gear 72 is arranged on the driving shaft of the adjusting motor and extends to below the bottom plate 11 through the mounting through slot 111, the position adjusting rack 73 is arranged between the position adjusting sliding wheel 74 and the position adjusting driving gear 72 and is engaged with the position adjusting driving gear 72; the position adjusting guide rail 75 corresponding to the position adjusting rack 73 is also arranged below the bottom plate 11, one end of the position adjusting rack 73 is arranged on the position adjusting guide rail 75 by a position adjusting sliding block 78, and the position adjusting rod 76 is connected to one end of the position adjusting rack 73 by the position adjusting connecting plate 77, and the position adjusting rod 76 connects the position adjusting racks 73 on the two bottom plates 11.

[0071] The above arrangement, by arranging the position adjusting mechanism, when the position of the goods in the working area is not convenient for the clamping mechanism to clamp, the position adjusting mechanism can push the goods to move to a position convenient for the clamping mechanism to clamp, thereby facilitating the carrying of the goods and improving the efficiency; when the position of the goods needs to be adjusted, the position adjusting motor drives the position adjusting driving gear 72 and drives the position adjusting rack 73 to move along the position adjusting guide rail 75, since the position adjusting rack 73 is located between the position adjusting sliding wheel 74 and the position adjusting driving gear 72, the position adjusting sliding wheel 74 is driven to rotate when the position adjusting rack 73 moves, the position adjusting sliding wheel is arranged to provide support force to the position adjusting rack and will not affect the movement of the position adjusting rack, thereby driving the position adjusting rod 76 connected to the position adjusting rack 73 to move, so that the goods can be moved by the position adjusting rod.

[0072] The working method of the above-mentioned clamping device, the specific steps include:

[0073] (1) Move the goods into the working area.

[0074] When the position of the goods is not convenient for the clamping mechanism to clamp, step (1.1) is entered; if the position of the goods does not need to be adjusted, step (2) is entered.

[0075] (1.1) The position adjustment driving assembly drives the position adjustment rod to push the goods to a position convenient for the clamping mechanism to clamp.

[0076] (1.11) The position adjustment motor drives the position adjustment rod to move;

[0077] (1.12) The position adjustment rod drives the goods to move to a position convenient for the clamping mechanism to clamp

[0078] (2) The clamping mechanism is lowered to a position corresponding to the goods.

[0079] (2.1) The first jaw assembly and the second jaw assembly clamp the goods.

[0080] (2.11) The first jaw cylinder drives the first jaw to move towards the second jaw.

[0081] (2.12) The second jaw cylinder drives the second jaw to move towards the first jaw.

[0082] (2.13) The first jaw and the second jaw clamp the goods.

[0083] (3) When the goods need to be turned over.

[0084] (3.1) The rotating assembly rotates to drive the first jaw assembly and the second jaw assembly to rotate, turning over the goods.

[0085] When turning over smaller goods:

[0086] (3.11) The clamping rotating motor drives the rotating clamp to rotate, turning over the goods.

Claims

1. A method for adjusting the placement of goods, wherein the method is implemented by a clamping device, characterized in that: The clamping device includes a frame, a clamping mechanism, a lifting mechanism, and a position adjustment mechanism. The frame includes a base plate, support columns, and a crossbeam. The base plate consists of two pieces, forming a working area between the two base plates. The support columns are located at both ends of the base plate, and a crossbeam is located between the support columns of the two base plates. A lifting mechanism is provided on the support column at one end of the base plate, and the clamping mechanism is set on the lifting mechanism; a position adjustment mechanism is provided at the bottom end of the base plate; a camera is provided on the crossbeam between the support columns at the other end of the base plate. The lifting mechanism includes a lifting slider and a lifting drive assembly. The lifting drive assembly is mounted on a support column on two base plates. The lifting slider is connected to the lifting drive assembly. The lifting drive assembly drives the lifting slider to slide up and down along the support column. A clamping mechanism is provided on the lifting slider. The clamping mechanism includes a rotating assembly, a first gripper assembly, a second gripper assembly, a clamping beam, and a clamping stop. The rotating assembly is mounted on a lifting slider, the first gripper assembly is mounted on a rotating assembly on one base plate, and the second gripper assembly is mounted on a rotating assembly on another base plate. A clamping beam is provided between the first gripper assembly and the second gripper assembly, and a clamping stop is provided on the clamping beam between the first gripper assembly and the second gripper assembly. The rotating assembly drives the first gripper assembly and the second gripper assembly to rotate. The position adjustment mechanism includes a position adjustment drive assembly and a position adjustment rod. The position adjustment rod is disposed at the bottom end of the base plate via the position adjustment drive assembly, and the position adjustment drive assembly drives the position adjustment rod to move along the length direction of the base plate. The position adjustment drive assembly includes a position adjustment motor, a position adjustment drive gear, a position adjustment rack, a position adjustment sliding wheel, a position adjustment guide rail, and a position adjustment connecting plate. The position adjustment motor is located above the base plate, and the position adjustment sliding wheel is located below the base plate via a sliding wheel plate. A mounting slot is provided on the base plate. The position adjustment drive gear is located on the drive shaft of the adjustment motor and extends through the mounting slot to the bottom of the base plate. A position adjustment rack is located between the position adjustment sliding wheel and the position adjustment drive gear, and the position adjustment rack meshes with the position adjustment drive gear. A position adjustment guide rail corresponding to the position adjustment rack is also located below the base plate. One end of the position adjustment rack is slidably mounted on the position adjustment guide rail via a position adjustment slider. A position adjustment rod is connected to one end of the position adjustment rack via a position adjustment connecting rod plate, and the position adjustment rod connects the position adjustment racks on the two base plates. When handling goods, if the volume is large, the rotating component is used to flip them. If the volume of the goods is small, the rotating component can be used to flip them. The specific steps include: (1) Move the goods into the work area; When the position of the goods is inconvenient for the gripping mechanism to grip them, proceed to step (1.1); if the position of the goods does not need to be adjusted, proceed to step (2). (1.1) The position adjustment drive assembly drives the position adjustment rod to move the goods to a position convenient for the gripping mechanism to grip; specifically including: (1.11) The position adjustment motor drives the position adjustment rod to move; (1.12) The position adjustment rod moves the goods to a position that is convenient for the clamping mechanism to clamp; (2) The clamping mechanism descends to the position corresponding to the goods; (2.1) The first gripper assembly and the second gripper assembly clamp the goods; (3) When the goods need to be turned over; (3.1) The rotation of the rotating component drives the first gripper assembly and the second gripper assembly to rotate, thus flipping the goods.

2. The method for adjusting the placement of goods according to claim 1, characterized in that: The lifting drive assembly includes a lifting drive motor, a lifting drive active gear, a lifting drive driven gear, a lifting drive rod, a first lifting driven wheel, a second lifting driven wheel, and a lifting drive belt. The lifting drive motor is fixed to one side of a support column on a base plate via a lifting motor mounting plate. A lifting drive rod is mounted on the support column, connecting the support columns on two base plates. A lifting drive active gear is mounted on the drive shaft of the lifting drive motor. A lifting drive driven gear meshing with the lifting drive active gear is mounted at one end of the lifting drive rod. The first lifting driven wheel is fixed to both ends of the lifting drive rod. The lifting drive driven gear is fixedly connected to the end face of the first lifting driven wheel at one end of the lifting drive rod. A second lifting driven wheel corresponding to the first lifting driven wheel is mounted on the base plate at the bottom of the support column. A lifting drive belt is positioned between the first and second lifting driven wheels, and the lifting slider is mounted on the lifting drive belt.

3. The method for adjusting the placement of goods according to claim 1, characterized in that: The first gripper assembly includes a first gripper connecting post, a first gripper base, a first gripper cylinder, and a first gripper. One end of the first gripper connecting post is connected to a rotating assembly on a base plate. The other end of the first gripper connecting post is provided with a first gripper base. The first gripper cylinder is provided on the first gripper base. The first gripper is provided on the drive component of the first gripper cylinder. The second gripper assembly includes a second gripper connecting post, a second gripper base, a second gripper cylinder, and a second gripper. One end of the second gripper connecting post is connected to a rotating assembly on another base plate. The other end of the second gripper connecting post is provided with a second gripper base. A second gripper cylinder is provided on the second gripper base. A second gripper is provided on the driving component of the second gripper cylinder. Step (2.1) specifically includes: (2.11) The first gripper cylinder drives the first gripper to move toward the second gripper; (2.12) The second gripper cylinder drives the second gripper to move in the direction of the first gripper; (2.13) The first and second grippers clamp the goods.

4. The method for adjusting the placement of goods according to claim 3, characterized in that: The rotating assembly includes a rotary motor, a rotary mounting plate, a rotary coupling, and a rotary connecting plate. The rotary mounting plate is fixed on the lifting slider, and a rotary coupling is provided on the rotary mounting plate. The drive shaft of the rotary motor is fixed on the rotary coupling, and a rotary connecting plate is provided on the main body of the rotary motor. The rotary connecting plate on one base plate is connected to the first gripper connecting column; the rotary connecting plate on the other base plate is connected to the second gripper connecting column.

5. A method for adjusting the placement of goods according to claim 3, characterized in that: A first gripping rotation assembly is also provided on the first gripper. The first gripping rotation assembly includes a gripping rotation motor, a gripping rotation drive wheel, a gripping rotation driven wheel, a gripping rotation drive belt, a gripping rotation drive shaft, a gripping rotation mounting plate, and a rotating gripper. The gripping rotation motor is located at the front end of the first gripper. The gripping rotation drive wheel is located on the drive shaft of the gripping rotation motor. A gripping rotation mounting plate is located at the end of the first gripper. One end of the gripping rotation drive shaft is rotatably mounted on the gripping rotation mounting plate through a gripping rotation bearing. A rotating gripper is located at the other end of the gripping rotation drive shaft. The rotating gripper is located on the side of the first gripper near the gripping stop. A gripping rotation driven wheel is located on the gripping rotation drive shaft. A gripping rotation drive belt is located between the gripping rotation drive wheel and the gripping rotation driven wheel. A second gripping rotating assembly with the same structure as the first gripping rotating assembly is provided on the second gripper; Step (3) specifically includes when flipping smaller goods: (3.11) The gripping rotary motor drives the rotary gripper to rotate and flip the goods.

Images