A clamping device for adjusting the position of goods

Abstract

The application provides a clamping device capable of adjusting the placement state of goods, which comprises a rack, a clamping mechanism, a lifting mechanism and a position adjusting mechanism, the rack comprises a bottom plate, support columns and a cross beam, the bottom plate is provided with two plates, a working area is formed between the two plates, the support columns are arranged at the two ends of the bottom plate, and the cross beam is arranged between the support columns of the two plates; 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; the camera is arranged on the cross beam between the support columns at the other end of the bottom plate; through the clamping device, the placement state of the goods can be adjusted, so that the carrying is more convenient.

Description

Technical Field

[0001] This invention relates to the field of handling robot technology, and more specifically to a clamping device that can adjust the placement of goods. Background Technology

[0002] With the development of IoT technology and the continuous increase in labor costs, lifting and handling are gradually moving towards automation and intelligence. Simultaneously, the continuous development of intelligent technology has brought significant changes to logistics companies. Intelligent handling robots, characterized by high load-bearing capacity, high transportation efficiency, high automation, and high safety, can better help companies simplify production and transportation processes. Currently, intelligent handling robot technology is applied to loading and unloading, and is one of the most basic functional units in logistics systems. It not only improves the handling efficiency of warehousing and logistics and reduces manual labor, but also optimizes resources and increases efficiency, possessing very broad development prospects and good economic benefits.

[0003] Chinese patent application No. 202110960685.4, published on December 7, 2021, discloses a handling robot, including a frame, a walking mechanism, a rotating mechanism, a gripping mechanism, a lifting mechanism, and a translating mechanism. The rotating mechanism includes a turntable and a rotating drive component. The turntable is rotatably mounted on the frame, and the rotating drive component is connected to the turntable and drives its rotation. The lifting mechanism is connected to the gripping mechanism and drives its lifting motion. The translating mechanism is fixedly mounted on the frame and is connected to the lifting mechanism, driving its translation. The beneficial effects of this invention are: through the cooperation of the gripping mechanism, lifting mechanism, and translating mechanism, multiple goods are sequentially gripped onto the turntable; the rotating drive component drives the turntable to rotate, thus evenly distributing the goods on the turntable; and the walking mechanism drives the entire device to move back and forth between the goods stacking area and the unloading area. The handling robot provided by this invention can transport multiple goods at once during each round trip, greatly improving the efficiency of loading and unloading goods.

[0004] Most existing handling robots, as described in the aforementioned literature, simply clamp goods and place them in a designated location without adjusting their state. If the goods are upright during handling, but the designated location requires them to be placed horizontally for better organization, existing handling robots require additional devices or manual adjustments when handling goods that do not meet expectations. This wastes time, increases costs, and affects handling efficiency. Summary of the Invention

[0005] The purpose of this invention is to provide a clamping device that can adjust the placement of goods. With the clamping device of this invention, the goods can be rotated to adjust their position, thereby making handling more convenient.

[0006] To achieve the above objectives, a clamping device for adjusting the placement of goods is provided. 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 provided between the support columns of the two base plates.

[0007] 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; and a camera is provided on the crossbeam between the support columns at the other end of the base plate.

[0008] 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.

[0009] 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 a 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.

[0010] 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.

[0011] The clamping device described above, when clamping goods, moves the goods into the working area, and the lifting drive component drives the lifting slider to move up and down, thereby moving the clamping mechanism to the height corresponding to the goods. After the clamping mechanism moves into position, the first and second gripper components cooperate to clamp the goods. The lifting mechanism raises the clamping mechanism so that the goods leave the ground, thus achieving clamping. Before clamping, the state of the goods is observed by a camera. If the position of the goods is inconvenient for the clamping mechanism to clamp, the position adjustment drive component drives the position adjustment rod to push the goods so that they can move to the position where the clamping mechanism can clamp. At the same time, if the front and back of the goods are reversed, the first and second gripper components can be flipped by the rotation component, thereby flipping the front and back of the goods. This allows the state of the goods to be adjusted, which facilitates subsequent handling and avoids the problem of needing to adjust the goods again during the final unified sorting, thus affecting the handling efficiency. This results in higher handling efficiency.

[0012] Furthermore, 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.

[0013] With the above configuration, when the clamping mechanism needs to move up and down, the lifting drive motor drives the lifting drive active gear to rotate, which in turn drives the lifting drive driven gear to rotate and drives the lifting drive rod to rotate. This causes the first driven wheel of the lifting mechanism to rotate and the lifting drive belt to move, thereby causing the lifting slider set on the lifting drive belt to move up and down. At the same time, the function of the lifting drive rod allows the lifting drive belt on the two base plates to move up and down synchronously, thus ensuring that the clamping mechanism can lift and lower normally. The structure is simple and effective.

[0014] Furthermore, 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, and 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, and the first gripper is provided on the drive component of the first gripper cylinder.

[0015] 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 drive component of the second gripper cylinder.

[0016] The first gripper cylinder drives the first gripper to move toward the second gripper; the second gripper cylinder drives the second gripper to move toward the first gripper.

[0017] With the above setup, when it is necessary to clamp the goods, the first gripper cylinder drives the first gripper to move towards the second gripper to press against the goods, and the second gripper cylinder drives the second gripper to move towards the first gripper to press against the goods. The goods can be clamped by the cooperation of the first and second grippers. The structure is simple and effective.

[0018] Furthermore, 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 post; the rotary connecting plate on the other base plate is connected to the second gripper connecting post.

[0019] With the above setup, when the goods need to be flipped, the rotary motor starts. Since the drive shaft of the rotary motor is fixed on the rotary coupling, the drive shaft cannot rotate when the rotary motor starts, causing the main body of the rotary motor to rotate. This causes the first and second gripper connecting posts, which are connected to the main body of the rotary motor via the rotary connecting plate, to rotate along with the main body of the rotary motor. Thus, the rotation of the first and second gripper assemblies flips the goods.

[0020] Furthermore, the position adjustment mechanism includes a position adjustment motor, a position adjustment drive gear, a position adjustment rack, a position adjustment sliding wheel, a position adjustment guide rail, a position adjustment rod, and a position adjustment connecting plate. The position adjustment motor is positioned above the base plate, and the position adjustment sliding wheel is positioned below the base plate via a sliding wheel plate. A mounting slot is provided on the base plate. A position adjustment drive gear is mounted on the drive shaft of the adjustment motor, extending through the mounting slot to the bottom of the base plate. A position adjustment rack is positioned between the position adjustment sliding wheel and the position adjustment drive gear, meshing with the position adjustment drive gear. A position adjustment guide rail corresponding to the position adjustment rack is also provided 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. The position adjustment rod is connected to one end of the position adjustment rack via the position adjustment connecting plate, and the position adjustment rod connects the position adjustment racks on the two base plates.

[0021] The above setup, through the inclusion of a position adjustment mechanism, allows the goods to be pushed when their position within the working area is inconvenient for the gripping mechanism to grasp, thus moving them to a position where the gripping mechanism can easily grasp them. This facilitates the handling of goods and improves efficiency. When the position of the goods needs to be adjusted, the position adjustment motor drives the position adjustment drive gear, which in turn moves the position adjustment rack along the position adjustment guide rail. This, in turn, moves the position adjustment rod connected to the position adjustment rack, thereby moving the goods through the position adjustment rod.

[0022] Furthermore, 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, and 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, and 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 closer to the gripping stop. A gripping rotation driven wheel is located on the gripping rotation drive shaft, and a gripping rotation drive belt is located between the gripping rotation drive wheel and the gripping rotation driven wheel.

[0023] The second gripper is provided with a second gripping rotating assembly with the same structure as the first gripping rotating assembly.

[0024] The above setup, through the clamping and rotating component, also allows for the flipping of goods. When handling goods that are large in size, where the clamping and rotating component cannot easily flip them, the rotating component can be used for flipping. When goods are small in size, both the clamping and rotating components can be used for flipping. By setting two different flipping devices, it is ensured that goods of different sizes can be flipped. When it is necessary to flip smaller goods, the clamping and rotating motor drives the clamping and rotating drive wheel to rotate, which in turn drives the clamping and rotating driven wheel connected to the clamping and rotating drive wheel to rotate. This, in turn, drives the clamping and rotating drive shaft to rotate, causing the rotating gripper to rotate, thereby achieving the flipping of the goods. The structure is simple and useful. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the clamping device of the present invention.

[0026] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0027] Figure 3 This is an exploded view of the lifting drive assembly of the present invention.

[0028] Figure 4 This is a schematic diagram of the clamping mechanism of the present invention.

[0029] Figure 5 This is an exploded view of the rotating component of the present invention.

[0030] Figure 6 This is an explosion diagram of the first clamping device of the present invention.

[0031] Figure 7 for Figure 1 Enlarged view of point B in the middle.

[0032] Figure 8 This is a bottom view of the frame of the present invention.

[0033] Figure 9 for Figure 8 Enlarged view of point D in the middle.

[0034] Figure 10 This is an exploded view of the position adjustment mechanism of the present invention.

[0035] Figure 11 This is a schematic diagram of the clamping mechanism of the present invention clamping and flipping the goods. Detailed Implementation

[0036] The present invention will now be described in further detail with reference to the accompanying drawings and specific embodiments.

[0037] like Figures 1 to 11 As shown, a clamping device with adjustable cargo placement is disclosed. The clamping device includes a frame 1, a clamping mechanism 3, a lifting mechanism 4, and a position adjustment mechanism 7. The frame 1 includes a base plate 11, support columns 12, and a crossbeam 13. The base plate 11 is provided in two pieces, forming a working area 10 between the two base plates 11. The support columns 12 are provided at both ends of the base plate 11, and the crossbeam 13 is provided between the support columns 12 of the two base plates 11.

[0038] A lifting mechanism 4 is provided on the support column 12 at one end of the base plate 11, and the clamping mechanism 3 is provided on the lifting mechanism 4; a position adjustment mechanism 7 is provided at the bottom end of the base plate 11; a camera 100 is provided on the crossbeam 13 between the support columns 12 at the other end of the base plate 11. The camera is used to observe and detect the state of the goods. If the state of the goods needs to be adjusted, they can be knocked over or flipped according to their current state.

[0039] like Figures 1 to 3 As shown, the lifting mechanism 4 includes a lifting slider 40 and a lifting drive assembly 41. The lifting drive assembly 41 is mounted on a support column 12 on two base plates 11. The lifting slider 40 is connected to the lifting drive assembly 41. The lifting drive assembly 41 drives the lifting slider 40 to slide up and down along the support column 12. A clamping mechanism 3 is provided on the lifting slider 40.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] The first gripper assembly 32 includes a first gripper connecting post 321, a first gripper base 322, a first gripper cylinder 323, and a first gripper 324. One end of the first gripper connecting post 321 is connected to a rotating assembly 30 on a base plate 11. The other end of the first gripper connecting post 321 is provided with a first gripper base 322. The first gripper cylinder 323 is provided on the first gripper base 322. The first gripper 324 is provided on the drive component of the first gripper cylinder 323.

[0044] The second gripper assembly 33 includes a second gripper connecting post 331, a second gripper base 332, a second gripper cylinder 333, and a second gripper 334. One end of the second gripper connecting post 331 is connected to a rotating assembly 30 on another base plate 11. The other end of the second gripper connecting post 331 is provided with a second gripper base 332. The second gripper cylinder 333 is provided on the second gripper base 332. The second gripper 334 is provided on the drive component of the second gripper cylinder 333.

[0045] The first gripper cylinder 323 drives the first gripper 324 to move toward the second gripper 334; the second gripper cylinder 332 drives the second gripper 334 to move toward the first gripper 324.

[0046] In this embodiment, the first gripper cylinder and the second gripper cylinder are rodless cylinders, and their specific working principle is existing technology, which will not be described in detail here.

[0047] With the above configuration, when it is necessary to clamp the goods, the first gripper cylinder 323 drives the first gripper 324 to move towards the second gripper 334 to press against the goods, and the second gripper cylinder 333 drives the second gripper 334 to move towards the first gripper 324 to press against the goods. The goods can be clamped by the cooperation of the first gripper 324 and the second gripper 334. The structure is simple and effective.

[0048] The rotating assembly 30 includes a rotary motor 301, a rotary mounting plate 302, a rotary coupling 303, and a rotary connecting plate 304. The rotary mounting plate 302 is fixed on the lifting slider 40. The rotary coupling 303 is provided on the rotary mounting plate 302. The drive shaft 3011 of the rotary motor 301 is fixed on the rotary coupling 303. The rotary connecting plate 304 is provided on the main body 3012 of the rotary motor 301. The rotary connecting plate 304 on one base plate 11 is connected to the first gripper connecting post 321; the rotary connecting plate 304 on another base plate 11 is connected to the second gripper connecting post 331.

[0049] With the above setup, when goods need to be flipped, the rotary motor 301 starts. Since the drive shaft 3011 of the rotary motor 301 is fixed to the rotary coupling 303, the drive shaft 3011 cannot rotate when the rotary motor 301 starts, causing the main body 3012 of the rotary motor 301 to rotate. This causes the first gripper connecting post 321 and the second gripper connecting post 331, which are connected to the main body 3012 of the rotary motor 301 via the rotary connecting plate 304, to rotate along with the main body 3012 of the rotary motor 301. This rotation of the first gripper assembly 32 and the second gripper assembly 33 allows the goods to be flipped (e.g., ...). Figure 11 As shown in the figure, 001 represents the goods.

[0050] like Figure 6As shown, a first gripping rotation assembly 31 is also provided on the first gripper 324. The first gripping rotation assembly 31 includes a gripping rotation motor 311, a gripping rotation drive wheel 312, a gripping rotation driven wheel 313, a gripping rotation drive belt (not shown in the figure), a gripping rotation drive shaft 314, a gripping rotation mounting plate 315, and a rotating gripper 316. The gripping rotation motor 311 is located at the front end of the first gripper 324, the gripping rotation drive wheel 312 is located on the drive shaft of the gripping rotation motor 311, and a gripping rotation mounting plate 315 is located at the end of the first gripper 324. One end of the gripping rotation drive shaft 314 is rotatably mounted on the gripping rotation bearing 317. On the mounting plate 315, a rotating gripper 316 is provided on the other end of the gripping rotary drive shaft 314. The protruding area of ​​the rotating gripper 316 is larger than that of the first gripper 324. In this way, when clamping goods, the contact area between the rotating gripper and the goods is larger, and the goods can be clamped better. The rotating gripper 316 is located on the side of the first gripper 324 near the gripping stop 35. A gripping rotary driven wheel 313 is provided on the gripping rotary drive shaft 314. A gripping rotary drive belt is provided between the gripping rotary driving wheel 312 and the gripping rotary driven wheel 313. The gripping rotary drive belt is a synchronous belt. The specific synchronous belt transmission principle is existing technology and will not be described in detail here.

[0051] The second gripper 334 is provided with a second gripping rotating assembly with the same structure as the first gripping rotating assembly 31.

[0052] The above setup, through the clamping and rotating component, also allows for the flipping of goods. When handling goods that are large in size, where the clamping and rotating component cannot easily flip them, the rotating component can be used for flipping. When goods are small in size, both the clamping and rotating components can be used for flipping. By setting two different flipping devices, it is ensured that goods of different sizes can be flipped. When it is necessary to flip smaller goods, the clamping and rotating motor drives the clamping and rotating drive wheel to rotate, which in turn drives the clamping and rotating driven wheel connected to the clamping and rotating drive wheel to rotate. This, in turn, drives the clamping and rotating drive shaft to rotate, causing the rotating gripper to rotate, thereby achieving the flipping of the goods. The structure is simple and useful.

[0053] The clamping device described above, when clamping goods, moves the goods into the working area, and the lifting drive component drives the lifting slider to move up and down, thereby moving the clamping mechanism to the height corresponding to the goods. After the clamping mechanism moves into position, the first and second gripper components cooperate to clamp the goods. The lifting mechanism raises the clamping mechanism so that the goods leave the ground, thus achieving clamping. Before clamping, the state of the goods is observed by a camera. If the position of the goods is inconvenient for the clamping mechanism to clamp, the position adjustment drive component drives the position adjustment rod to push the goods so that they can move to the position where the clamping mechanism can clamp. At the same time, if the front and back of the goods are reversed, the first and second gripper components can be flipped by the rotation component, thereby flipping the front and back of the goods. This allows the state of the goods to be adjusted, which facilitates subsequent handling and avoids the problem of needing to adjust the goods again during the final unified sorting, thus affecting the handling efficiency. This results in higher handling efficiency.

[0054] like Figures 10 to 11 As shown, the position adjustment mechanism 7 includes a position adjustment drive assembly and a position adjustment rod 76. The position adjustment rod 76 is mounted at the bottom end of the base plate 11 via the position adjustment drive assembly, which drives the position adjustment rod 76 to move along the length of the base plate 11. The position adjustment drive assembly includes a position adjustment motor (not shown), a position adjustment drive gear 72, a position adjustment rack 73, a position adjustment sliding wheel 74, a position adjustment guide rail 75, and a position adjustment connecting plate 77. The position adjustment motor is mounted above the base plate 11, and the position adjustment sliding wheel 74 is mounted below the base plate 11 via a sliding wheel plate 741. A mounting slot 111 is provided on the base plate 11. A position adjustment drive gear 72 is provided on the moving shaft. The position adjustment drive gear 72 extends through the mounting slot 111 to the bottom of the base plate 11. A position adjustment rack 73 is provided between the position adjustment sliding wheel 74 and the position adjustment drive gear 72. The position adjustment rack 73 meshes with the position adjustment drive gear 72. A position adjustment guide rail 75 corresponding to the position adjustment rack 73 is also provided below the base plate 11. One end of the position adjustment rack 73 is slidably mounted on the position adjustment guide rail 75 through a position adjustment slider 78. A position adjustment rod 76 is connected to one end of the position adjustment rack 73 through a position adjustment connecting plate 77. The position adjustment rod 76 connects the position adjustment racks 73 on the two base plates 11.

[0055] The above configuration, through the setting of a position adjustment mechanism, allows the goods to be pushed when their position within the working area is inconvenient for the clamping mechanism to grasp, thus moving them to a position where the clamping mechanism can easily grasp them. This facilitates the handling of goods and improves efficiency. When the position of the goods needs to be adjusted, the position adjustment motor drives the position adjustment drive gear 72, which in turn drives the position adjustment rack 73 to move along the position adjustment guide rail 75. Since the position adjustment rack 73 is located between the position adjustment sliding wheel 74 and the position adjustment drive gear 72, the movement of the position adjustment rack 73 drives the position adjustment sliding wheel 74 to rotate. The position adjustment sliding wheel provides support to the position adjustment rack without affecting its movement, thereby driving the position adjustment rod 76 connected to the position adjustment rack 73 to move. This allows the goods to be moved via the position adjustment rod.

[0056] The working method of the above-mentioned clamping device includes the following specific steps:

[0057] (1) Move the goods into the work area.

[0058] When the position of the goods is inconvenient for the gripping mechanism to grip, proceed to step (1.1); if the position of the goods does not need to be adjusted, proceed to step (2).

[0059] (1.1) The position adjustment drive assembly drives the position adjustment rod to move the goods to a position that is convenient for the clamping mechanism to clamp.

[0060] (1.11) The position adjustment motor drives the position adjustment rod to move;

[0061] (1.12) The position adjustment lever moves the goods to a position that is convenient for the clamping mechanism to clamp.

[0062] (2) The gripping mechanism descends to the position corresponding to the goods.

[0063] (2.1) The first gripper assembly and the second gripper assembly clamp the goods.

[0064] (2.11) The first gripper cylinder drives the first gripper to move toward the second gripper.

[0065] (2.12) The second gripper cylinder drives the second gripper to move in the direction of the first gripper.

[0066] (2.13) The first and second grippers clamp the goods.

[0067] (3) When the goods need to be turned over.

[0068] (3.1) The rotation of the rotating component drives the first gripper assembly and the second gripper assembly to rotate, thus flipping the goods.

[0069] When flipping smaller goods:

[0070] (3.11) The gripping rotary motor drives the rotary gripper to rotate and flip the goods.

Claims

1. A clamping device with adjustable cargo placement, 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.

2. The clamping device 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 clamping device 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. The first gripper cylinder drives the first gripper to move toward the second gripper; the second gripper cylinder drives the second gripper to move toward the first gripper.

4. The clamping device 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. The clamping device for adjusting the placement of goods according to claim 1, characterized in that: 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 positioned above the base plate, and the position adjustment sliding wheel is positioned below the base plate via a sliding wheel plate. A mounting slot is provided on the base plate. A position adjustment drive gear is mounted on the drive shaft of the adjustment motor, extending through the mounting slot to the bottom of the base plate. A position adjustment rack is positioned between the position adjustment sliding wheel and the position adjustment drive gear, meshing with the position adjustment drive gear. A position adjustment guide rail corresponding to the position adjustment rack is also provided 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.

6. The clamping device for adjusting the placement of goods according to claim 3, characterized in that: The first gripper is also provided with a first gripping rotation assembly, which 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, and 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, and 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 closer to the gripping stop. A gripping rotation driven wheel is located on the gripping rotation drive shaft, and a gripping rotation drive belt is located between the gripping rotation drive wheel and the gripping rotation driven wheel. The second gripper is provided with a second gripping rotating assembly with the same structure as the first gripping rotating assembly.

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