Lifting device for cargo handling
By designing a cargo handling crane device including brackets, walking components, support components, clamping components and lifting components, the problem of single type of traditional crane grippers is solved, efficient clamping and lifting of goods of different shapes and materials is achieved, and cargo handling efficiency is improved.
Patent Information
- Application Number
- CN202510050904.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-13
- Publication Date
- 2025-03-28
AI Technical Summary
The traditional crane gripper type is relatively single, and it is difficult to adapt to the cargo handling needs of different shapes and materials, resulting in inconvenient use.
A lifting device for cargo handling is designed, including a bracket, a walking assembly, a support assembly, a clamp assembly and a lift assembly. The clamping assembly includes a slider and a clamping unit. The clamping unit can clamp or release material, and the lifting assembly drives the slider, the clamping unit and the material to lift and lower relative to the support assembly.
It realizes flexible clamping and lifting of goods of different shapes and materials, solves the problem of inconvenience in use of traditional cranes, reduces labor intensity, and improves cargo handling efficiency.
Smart Images
Figure CN119706651A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of lifting and handling, and in particular to a lifting device for handling goods. Background Art
[0002] With the growth of the world economy and the rapid development of international trade, cranes, as one of the indispensable equipment in modern industrial production and logistics transportation, are widely used in various fields. Traditional cranes often have problems such as low efficiency and lack of precision when handling and stacking goods, which makes it difficult to meet the needs of modern logistics for high efficiency, precision and automation; at the same time, the gripper types of traditional cranes are relatively single, which makes it difficult to adapt to the needs of handling goods of different shapes and materials. Therefore, it is necessary to study the crane structure that is compatible with modern logistics transportation to make it more varied, practical, economical and feasible.
[0003] Therefore, there is an urgent need for a lifting device for cargo handling, which is used to solve the problem in the prior art that the traditional crane gripper type is relatively single and difficult to adapt to the needs of handling cargoes of different shapes and materials, resulting in inconvenience in use. Summary of the invention
[0004] The purpose of the present invention is to overcome the above-mentioned technical deficiencies and propose a lifting device for cargo handling to solve the technical problem in the prior art that the traditional crane gripper type is relatively single and difficult to adapt to the needs of handling cargo of different shapes and materials, resulting in inconvenience in use.
[0005] In order to achieve the above technical objectives, the present invention adopts the following technical solutions: The present invention provides a lifting device for cargo handling, comprising: Bracket; A walking assembly, connected to the support, and used to drive the support to move; A support assembly, connected to the support, for temporarily storing materials; A clamping assembly, comprising a sliding member and a clamping unit, wherein the sliding member is connected to the support and can slide close to or away from the support assembly, and the clamping unit is movably connected to the sliding member for clamping or releasing the material; and The lifting assembly is connected to the bracket and the clamping unit and is used to drive the clamping unit to lift and lower.
[0006] In some embodiments, the bracket includes a support frame and a translation frame, the support frame has a temporary storage cavity, the support assembly is connected to the inner wall of the temporary storage cavity and can slide relative to the support frame in a vertical direction, the translation frame is vertically arranged relative to the support frame and connected to the support frame, and the sliding member is slidably connected to the translation frame and can slide relative to the support frame along the plane where the translation frame is located.
[0007] In some embodiments, the translation frame is hollow, and the sliding member includes at least one first slide rail, a sliding plate and at least one first driving unit. The first slide rail spans the translation frame along the length direction of the translation frame and is connected to the translation frame. The sliding plate is connected to the first slide rail along the guide sliding of the first slide rail. The first driving unit has a fixed end and a movable end. The fixed end of the first driving unit is connected to the translation frame, and the movable end is connected to the sliding plate, which is used to drive the sliding plate to slide along the guide of the first slide rail, and the clamping unit is movably connected to the sliding plate.
[0008] In some embodiments, the number of the first slide rails in the sliding member is two, the two first slide rails are parallel to each other and arranged at intervals, and are both connected to the translation frame, and the sliding plate is slidably connected to the two first slide rails, the first driving part includes two synchronous wheels, a synchronous belt and a first driving motor, the two synchronous wheels are arranged at intervals, and are both rotatably connected to the translation frame, the synchronous belt is arranged along the guide of the first slide rail, and is cooperated with and sleeved on the two synchronous wheels, and the synchronous belt is connected to the sliding plate, the fixed end of the first driving motor is connected to the translation frame, and the output shaft is connected to one of the synchronous belts, which is used to drive the sliding block to slide along the guide of the first slide rail relative to the translation frame along the synchronous belt.
[0009] In some embodiments, the lifting assembly includes a fixed seat and a first linear drive member, the fixed seat is arranged below the sliding plate and can slide relative to the sliding plate, and the clamping unit is movably connected to the fixed seat, the first linear drive member has a fixed end and a telescopic end, the fixed end of the first linear drive member is connected to the sliding plate, and the telescopic end is connected to the fixed seat, which is used to drive the fixed seat and the clamping unit to rise and fall relative to the sliding plate.
[0010] In some embodiments, the sliding plate is provided with a guide hole, and the lifting assembly further includes at least one guide shaft, the guide shaft is arranged in a one-to-one correspondence with the guide hole, and one end of the guide shaft is connected to the fixed seat, and the other end is slidably inserted in the guide hole.
[0011] In some embodiments, the clamping unit includes two clamping plates, two abutment blocks and at least one second driving part. The two clamping plates are spaced apart from each other and are both rotatably connected to the fixed seat. The two abutment blocks are respectively connected to opposite sides of the two clamping plates. The second driving part has a fixed end and a movable end. The fixed end of the second driving member is connected to the fixed seat, and the movable end is connected to the clamping plate, and is used to drive the two clamping plates to rotate closer to or away from each other to clamp or release the material.
[0012] In some embodiments, the clamping unit further includes two suction cups, which are respectively arranged opposite to the material and respectively connected to the two clamping plates, and the suction cups can generate negative pressure adsorption force to adsorb the material.
[0013] In some embodiments, the support assembly includes at least one base support and a second linear drive member, the base support is in an "L" shape and is formed with a temporary storage groove for accommodating materials, the base support is built into the temporary storage cavity and can slide relative to the support frame, the second linear drive member has a fixed end and a telescopic end, the fixed end of the second linear drive member is connected to the support frame, and the telescopic end is connected to the base support, and is used to drive the base support to rise and fall relative to the support frame.
[0014] In some embodiments, the support assembly also includes a limit plate, which is arranged on the rising path of the base and can abut against the material to limit the base from continuing to drive the material to rise relative to the support frame and to hold the material in the temporary storage cavity.
[0015] Compared with the prior art, the beneficial effects of the cargo handling lifting device provided by the present invention include: a support assembly, a clamping assembly and a lifting assembly are arranged on the bracket, the support assembly is used for temporarily storing materials, the clamping assembly includes a sliding member and a clamping unit, the clamping unit can clamp or release materials, the lifting assembly can drive the sliding member, the clamping unit and the materials to rise and fall relative to the support assembly, and the clamped materials are temporarily stored on the support assembly, and the bracket is arranged on the walking assembly to realize the movement of the bracket. Compared with the prior art, by arranging a sliding member and a clamping unit on the bracket, the clamping unit is used to clamp or release materials, the lifting assembly is connected with the sliding member, and is used to drive the sliding member, the clamping unit and the materials to rise and fall relative to the support assembly, so that the clamped materials can be temporarily stored on the support assembly, and then the bracket and the materials are transported to the designated area by the walking assembly, which is not only simple in structure and easy to operate, but also can reduce the labor intensity for the handling of goods and improve the efficiency of cargo handling, and can solve the problem of inconvenience in the prior art caused by the single type of traditional crane gripper and the difficulty in adapting to the handling needs of goods of different shapes and materials. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a three-dimensional structural schematic diagram of a lifting device for cargo handling connected to a material provided by an embodiment of the present invention; Figure 2 is a schematic diagram of the three-dimensional structure of a bracket provided in an embodiment of the present invention; Figure 3 is a schematic diagram of the three-dimensional structure of a walking assembly provided in an embodiment of the present invention; Figure 4It is a schematic diagram of a three-dimensional structure in which a clamping assembly and a lifting assembly are connected according to an embodiment of the present invention; Figure 5 is a schematic diagram of a three-dimensional structure of a sliding member provided in an embodiment of the present invention; Figure 6 is a schematic diagram of a three-dimensional structure of a clamping assembly and a lifting assembly connected from another perspective provided by an embodiment of the present invention; Figure 7 It is a schematic diagram of the three-dimensional structure of the support assembly provided by an embodiment of the present invention.
[0017] Description of reference numerals: Bracket 1; support frame 11; translation frame 12; reinforcement rib 13; walking assembly 2; overall frame leg 21; turntable 22; motor fixing plate 23; motor fixing cover plate 24; steering wheel 25; brushless motor 26; pan / tilt motor 27; support assembly 3; bottom bracket 31; second linear drive member 32; limit plate 33; sliding seat 34; first connecting rod 35; second connecting rod 36; clamping assembly 4; sliding member 41; first slide rail 411; sliding plate 412 ; first driving part 413; synchronous wheel 4131; synchronous belt 4132; first driving motor 4133; guide block 414; clamping unit 42; clamping plate 421; abutment block 422; second driving part 423; suction cup 424; parallelogram connecting rod part 425; lifting assembly 5; fixed seat 51; first linear driving member 52; hanging ring 521; guide pulley 522; winding wheel 523; second driving motor 525; guide shaft 53. DETAILED DESCRIPTION
[0018] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.
[0019] In order to solve the technical problem that traditional crane grippers are inconvenient to use because of their single type and difficulty in adapting to the needs of handling goods of different shapes and materials, the present invention provides a lifting device for cargo handling, which can be achieved by arranging a sliding member 41 and a clamping unit 42 on a bracket 1, the clamping unit 42 is used to clamp or release the material, and the lifting component 5 is connected to the sliding member 41, which is used to drive the sliding member 41, the clamping unit 42 and the material to rise and fall relative to the supporting component 3, so that the clamped material can be temporarily stored on the supporting component 3, and then the bracket 1 and the material are transported to a designated area through the walking component 2. It is not only simple in structure and easy to operate, but also can reduce the labor intensity for cargo handling and improve the efficiency of cargo handling.
[0020] It should be noted that the lifting device of the present invention is used for but not limited to the field of lifting and handling technology. For the convenience of explanation, in the present invention, only the application of the lifting device in the field of lifting and handling technology is taken as an example for explanation. The principles of applying the lifting device to other types of equipment are essentially the same as those applied to the field of lifting and handling technology, and are not described in detail here.
[0021] See also Figures 1 to 7 , Figures 1 to 4 It is a structural schematic diagram of a lifting device for cargo handling in one embodiment of the present invention. The lifting device for cargo handling includes: a bracket 1, a walking assembly 2, a supporting assembly 3, a clamping assembly 4 and a lifting assembly 5. The walking assembly 2 is connected to the bracket 1, and is used to drive the bracket 1 to move freely. The supporting assembly 3 is connected to the bracket 1, and is used to temporarily store materials. The clamping assembly 4 includes a sliding member 41 and a clamping unit 42. The sliding member 41 is connected to the bracket 1 and can slide close to or away from the supporting assembly 3. The clamping unit 42 is movably connected to the sliding member 41, and is used to clamp or release materials. The lifting assembly 5 is connected to the bracket 1 and the clamping unit 42, and is used to drive the clamping unit 42 to rise and fall.
[0022] In this device, a support component 3, a clamping component 4 and a lifting component 5 are provided on the bracket 1. The support component 3 is used for temporarily storing materials. The clamping component 4 includes a sliding member 41 and a clamping unit 42. The clamping unit 42 can clamp or release materials. The lifting component 5 can drive the sliding member 41, the clamping unit 42 and the materials to rise and fall relative to the support component 3, so as to temporarily store the clamped materials on the support component 3. At the same time, the bracket 1 is arranged on the walking component 2 to realize the movement of the bracket 1.
[0023] Compared with the prior art, by setting a sliding member 41 and a clamping unit 42 on the bracket 1, it is used to clamp or release the material, and the lifting component 5 is connected to the sliding member 41, which is used to drive the sliding member 41, the clamping unit 42 and the material to rise and fall relative to the support component 3, so that the clamped material can be temporarily stored on the support component 3, and then the bracket 1 and the material are transported to the designated area through the walking component 2. It is not only simple in structure and easy to operate, but also can reduce the labor intensity for the handling of goods and improve the efficiency of goods handling. It can solve the problem in the prior art that the traditional crane gripper type is relatively single and difficult to adapt to the handling needs of goods of different shapes and materials, resulting in inconvenience in use.
[0024] Specifically, Figure 3As shown, the walking assembly 2 here includes four integral frame legs 21, four turntables 22, four motor fixing plates 23, four motor fixing cover plates 24, four steering wheels 25 and four brushless motors 26, which are connected to the integral frame legs 21 by a shaft sleeve, and a motor fixing plate 23 is fixed below the shaft sleeve. The motor fixing plate 23 is used to fix the GM6020 pan-tilt motor 27 on the turntable 22, and a steering wheel 25 is fixed below the turntable 22. There are motor fixing cover plates 24 fixed by bolts on both sides of the steering wheel 25. The motor fixing cover plate 24 can fix the M3508 DC reduction brushless motor 26, so that the brushless motor 26 is connected to the steering wheel 25 shaft. The GM6020 pan-tilt motor can control the turntable 22 to turn the steering wheel 25. The present invention adopts a four-steering wheel 25 driving mode, which is flexible and powerful, can move freely in a small space and travel at high speed, has a strong load-bearing capacity, effectively overcomes the slipping phenomenon during the movement, and has high positioning accuracy. The M3508 DC reduction brushless motor 26 is used for traveling.
[0025] Furthermore, a tracking sensor is installed on each of the four integral frame legs 21. The sensor TSL1401 is a linear charge-coupled device (CCD) image sensor, which can capture 128 pixels in a single row and output them as analog signals. These output signals can be converted into digital signals, so that the device can determine the walking direction according to the main control board program. After determining the walking direction, the four steering motors at the travel mechanism are controlled through the CAN bus to accurately control the travel direction of each wheel. The four driving wheel motors are controlled through another CAN bus to realize the movement of the crane in all directions. The steering wheel is equipped with an absolute encoder to accurately control the travel direction of each wheel.
[0026] Furthermore, the present invention adopts Raspberry Pi as the main control unit, and detects the position and angle of the crane in the site through OpenCV and the tracking module when moving, and cooperates with the path planning algorithm to ensure fast and accurate walking. Here, Raspberry Pi, OpenCV and the tracking module are all conventional settings known to those skilled in the art, and will not be described in detail here.
[0027] In this embodiment, Figure 2 As shown, the bracket 1 includes a support frame 11 and a translation frame 12, the support frame 11 has a temporary storage cavity, the support assembly 3 is connected to the inner wall of the temporary storage cavity, and can slide relative to the support frame 11 in the vertical direction, the translation frame 12 is vertically arranged relative to the support frame 11 and connected to the support frame 11, and the sliding member 41 is slidably connected to the translation frame 12, and can slide relative to the support frame 11 along the plane where the translation frame 12 is located.
[0028] The translation frame 12 is used to support the sliding member 41 and the clamping unit 42 to slide, and the support frame 11 is used to support and temporarily store materials.
[0029] Furthermore, two reinforcing ribs 13 are arranged between the support frame 11 and the translation frame 12. The reinforcing ribs 13 are inclined relative to the support frame 11 and the translation frame 12, and are connected to the support frame 11 and the translation frame 12, so as to form an overall supporting structure of the bracket 1. Here, the support frame 11 and the translation frame 12 are both formed by welding with aluminum alloy that is common and easy to purchase on the market. It is a conventional setting known to technical personnel in this field and will not be elaborated here.
[0030] In this embodiment, Figure 7 As shown, the support assembly 3 includes at least one base 31 , a second linear drive member 32 , and a limiting plate 33 .
[0031] Among them, the base support 31 is in an "L" shape and is formed with a temporary storage groove for accommodating materials. The base support 31 is built into the temporary storage cavity and can slide relative to the support frame 11. The second linear drive member 32 has a fixed end and a telescopic end. The fixed end of the second linear drive member 32 is connected to the support frame 11, and the telescopic end is connected to the base support 31, which is used to drive the base support 31 to rise and fall relative to the support frame 11.
[0032] The bottom support 31 is used to support the material, and enables the material to be lifted or lowered relative to the support frame 11 under the drive of the second linear drive member 32 .
[0033] Furthermore, the number of base supports 31 in the support assembly 3 here is two, and the support assembly 3 also includes a sliding seat 34, a first connecting rod 35 and a second connecting rod 36. The sliding seat 34 is hollow and slidably mounted on the support frame 11. The fixed end of the second linear drive member 32 is connected to the support frame 11, and the first connecting rod 35 spans the sliding seat 34 and is connected to the sliding seat 34. The two base supports 31 are arranged at intervals from each other and are both connected to the first connecting rod 35. The second connecting rod 36 is arranged perpendicular to the first connecting rod 35, and one end of the second connecting rod 36 is hinged to the extended end of the second linear drive member 32 and the other end is connected to the support frame 11. The middle part of the second connecting rod 36 is also connected to the middle part of the first connecting rod 35. The second linear drive here is a push rod motor, a hydraulic cylinder and an air cylinder that are common and easy to purchase on the market. This belongs to a conventional setting known to those skilled in the art and will not be described in detail here.
[0034] In one embodiment, if Figure 7 As shown, the limit plate 33 is arranged on the ascending path of the bottom support 31 and can abut against the material to limit the bottom support 31 from continuing to drive the material to ascend relative to the support frame 11 and to hold the material in the temporary storage chamber.
[0035] The limiting plate 33 is arranged on the ascending path of the material and can abut against the material, and can cooperate with the bottom support 31 to fix the material in the temporary storage cavity to prevent the material from falling when moving with the bracket 1, thereby improving the stability and efficiency of material handling.
[0036] In this embodiment, Figures 4 to 6 As shown, the translation frame 12 is hollow, and the sliding member 41 includes at least one first slide rail 411, a sliding plate 412 and at least one first driving part 413. The first slide rail 411 spans the translation frame 12 along the length direction of the translation frame 12 and is connected to the translation frame 12. The sliding plate 412 is connected to the first slide rail 411 along the guide sliding of the first slide rail 411. The first driving part 413 has a fixed end and a movable end. The fixed end of the first driving part 413 is connected to the translation frame 12, and the movable end is connected to the sliding plate 412, which is used to drive the sliding plate 412 to slide along the guide of the first slide rail 411, and the clamping unit 42 is movably connected to the sliding plate 412.
[0037] The first slide rail 411 supports and guides the sliding of the sliding plate 412 , and the first driving part 413 drives the sliding of the sliding plate 412 .
[0038] Furthermore, in the present device, if Figures 4 to 6 As shown, the sliding member 41 further includes at least one guide block 414 . The guide block 414 is disposed in one-to-one correspondence with the first slide rail 411 , and the guide block 414 is slidably nested on the first slide rail 411 and connected to the sliding plate 412 .
[0039] In one embodiment, if Figures 4 to 6 As shown, there are two first slide rails 411 in the sliding member 41, the two first slide rails 411 are parallel to each other and arranged at intervals, and are both connected to the translation frame 12, and the sliding plate 412 is slidably connected to the two first slide rails 411, the first driving part 413 includes two synchronous wheels 4131, a synchronous belt 4132 and a first driving motor 4133, the two synchronous wheels 4131 are arranged at intervals, and are both rotatably connected to the translation frame 12, the synchronous belt 4132 is arranged along the guide of the first slide rail 411, and is cooperated with and sleeved on the two synchronous wheels 4131, and the synchronous belt 4132 is connected to the sliding plate 412, the fixed end of the first driving motor 4133 is connected to the translation frame 12, and the output shaft is connected to a synchronous belt 4132, which is used to drive the sliding block to slide along the guide of the first slide rail 411 relative to the translation frame 12 with the synchronous belt 4132.
[0040] The first driving motor 4133 drives the synchronous wheel 4131 to rotate, so that the synchronous belt 4132 sleeved on the synchronous wheel 4131 can slide relative to the first slide rail 411, thereby realizing the driving effect on the sliding plate 412.
[0041] Furthermore, the number of the first slide rails 411 in the sliding member 41 is two, and the two guide blocks 414 are both connected to the sliding plate 412, which can improve the stability of the operation of the device.
[0042] Furthermore, there are two first drive parts 413 in the present device, and the two first drive motors 4133 synchronously drive the two synchronous wheels 4131 to rotate, which can improve the stability of the device operation and improve the efficiency of the device in carrying heavy objects. Here, the synchronous wheels 4131, synchronous belts 4132 and first drive motors 4133 are all common and easy-to-purchase equipment on the market. This is a conventional setting known to technicians in this field and will not be elaborated here.
[0043] In this embodiment, Figures 4 to 6 As shown, the clamping unit 42 includes two clamping plates 421 , two abutting blocks 422 and at least one second driving part 423 , two suction cups 424 , and the lifting assembly 5 includes a fixing seat 51 and a first linear driving member 52 , and at least one guide shaft 53 .
[0044] Among them, the two clamping plates 421 are arranged at an interval from each other and are both rotatably connected to the fixed seat 51. The two abutment blocks 422 are respectively connected to the opposite sides of the two clamping plates 421. The second driving part 423 has a fixed end and a movable end. The fixed end of the second driving member is connected to the fixed seat 51, and the movable end is connected to the clamping plate 421, which is used to drive the two clamping plates 421 to rotate closer to or away from each other to clamp or release the material.
[0045] Driven by the second driving part 423 , the two clamping plates 421 can rotate relative to the fixing seat 51 respectively, so as to clamp or release the material. The abutting part here is elastic, which can improve the stability of the device in clamping the material.
[0046] Furthermore, the clamping unit 42 here also includes a parallelogram connecting rod portion 425, and the clamping plate 421 and the movable end of the second driving portion 423 are rotationally connected via the parallelogram connecting rod portion 425, which can improve the stability of the rotation of the device. The parallelogram connecting rod portion 425 here is a conventional setting well known to technical personnel in this field and will not be elaborated here.
[0047] Furthermore, the second driving unit 423 here is a servo that is common and easy to purchase on the market, which is a conventional setting well known to those skilled in the art and will not be described in detail here.
[0048] In one embodiment, if Figures 4 to 6 As shown, two suction cups 424 are respectively arranged opposite to the material and are respectively connected to the two clamping plates 421 . The suction cups 424 can generate negative pressure adsorption force to adsorb the material.
[0049] The suction cup 424 and the clamping plate 421 together form a clamping unit 42, which can increase the crane gripper type and improve the adaptability to goods of different shapes and materials.
[0050] Furthermore, the suction cup 424 is connected to the negative pressure vacuum pump through a connecting pipe. The negative pressure generated by the negative pressure vacuum pump can take away the air between the suction cup 424 and the object and form a negative pressure vacuum space, thereby forming an adsorption force for sucking up the material. The suction cup 424 and the negative pressure vacuum pump are common and easy-to-purchase equipment on the market, which are conventional settings known to technicians in this field and will not be described in detail here.
[0051] In one embodiment, if Figure 1 , Figure 7 As shown, the width of the limiting plate 33 is smaller than the minimum distance between the two suction cups 424 when clamping the material, so that after the two suction cups 424 absorb the material, the limiting plate 33 can pass through the gap between the two suction cups 424, thereby avoiding the limiting plate 33 from interfering with the suction cups 424 in clamping or releasing the material.
[0052] Furthermore, a waist-shaped groove is provided on the limiting plate 33, and the waist-shaped groove passes through the limiting plate 33, so that when stacking materials, when the two clamping plates 421 clamp materials with small diameters, the materials with small diameters can pass through the waist-shaped groove and stack the materials with small diameters on the bottom support 31, thereby avoiding the limiting plate 33 from interfering with the clamping plates 421 in clamping or releasing materials, which will not be elaborated here.
[0053] In one embodiment, the fixed seat 51 is arranged below the sliding plate 412 and can slide relative to the sliding plate 412, and the clamping unit 42 is movably connected to the fixed seat 51, and the first linear drive member 52 has a fixed end and a telescopic end. The fixed end of the first linear drive member 52 is connected to the sliding plate 412, and the telescopic end is connected to the fixed seat 51, which is used to drive the fixed seat 51 and the clamping unit 42 to rise and fall relative to the sliding plate 412.
[0054] The fixing seat 51 is used to support and connect the two clamping plates 421 and realize the lifting and lowering between the relative sliding plates 412 .
[0055] Furthermore, if Figures 4 to 6As shown, the first linear drive component 52 here includes a lifting ring 521, a guide pulley 522, a winding wheel 523, a steel wire rope and a second driving motor 525. The lifting ring 521 is connected to the fixed seat 51 and can pass through the sliding plate 412. The second driving motor 525 is connected to the sliding plate 412. By winding the steel wire on the winding wheel 523, and the other end of the steel wire rope passes through the sliding plate 412 and is connected to the lifting ring 521, the output shaft of the second driving motor 525 is coaxially arranged with the winding wheel 523, and when the winding wheel 523 rotates, it can drive the fixed seat 51 to rise and fall relative to the sliding plate 412. Here, the lifting ring 521, the guide pulley 522, the winding wheel 523, the steel wire rope and the second driving motor 525 are all common and easy-to-purchase equipment on the market, which belongs to the conventional settings well known to those skilled in the art and will not be described in detail here.
[0056] In one embodiment, if Figures 4 to 6 As shown, the sliding plate 412 is provided with guide holes, and the guide shafts 53 are arranged one-to-one correspondingly to the guide holes, and one end of the guide shaft 53 is connected to the fixing seat 51, and the other end is slidably inserted into the guide hole.
[0057] The guide hole and the guide shaft 53 cooperate with each other to improve the stability during the lifting process.
[0058] Furthermore, the number of the guide shafts 53 is two, the two guide shafts 53 are spaced apart from each other, and are both connected to the fixing seat 51 .
[0059] In order to better understand the present invention, the following Figures 1 to 7 The technical solution of the present invention is described in detail: The support 1 is provided with a support assembly 3, a clamping assembly 4 and a lifting assembly 5. The support assembly 3 is used for temporarily storing materials. The clamping assembly 4 includes a sliding member 41 and a clamping unit 42. The clamping unit 42 can be used to clamp or release materials. The lifting assembly 5 can drive the sliding member 41, the clamping unit 42 and the materials to rise and fall relative to the support assembly 3, so as to temporarily store the clamped materials on the support assembly 3. Meanwhile, the support 1 is provided on the walking assembly 2, so as to realize the free movement of the support 1. Compared with the prior art, by arranging the sliding member 41 and the clamping unit 42 on the support 1, so as to clamp or release the materials, the lifting assembly 5 is connected with the sliding member 41, so as to drive the sliding member 41, the clamping unit 42 and the materials to rise and fall relative to the support assembly 3, so that the clamped materials can be temporarily stored on the support assembly 3, and then the support 1 and the materials are transported to the designated area through the walking assembly 2. The structure is simple and the operation is convenient. The labor intensity for the handling of goods can be reduced and the efficiency of the handling of goods can be improved.
[0060] The beneficial effect of the present invention is that the traditional mechanical gripper and the pneumatic suction cup 424 gripper are combined to form a dual-purpose gripper, which can directly grasp objects with different surface structures, and the two symmetrically distributed suction cups 424 can enhance the suction reliability and stability.
[0061] At the same time, the present invention adopts a forklift-type storage area as a self-unloading mechanism, and realizes self-unloading by driving the hydraulic rod through the push rod motor to drive the frame to move up and down. A cargo base 31 is provided on the frame to place the cargo, and a limit plate 33 for the gripper to pass through is provided to ensure that the cargo is placed stably, which greatly improves the work efficiency and transportation efficiency and is suitable for port logistics handling work.
[0062] In addition, the present invention uses a steering wheel 25 chassis and adopts a four-steering wheel 25 driving mode. The GM6020 pan / tilt motor controls the steering of the turntable 22 to control the steering of the steering wheel 25, so that the crane is flexible and powerful, can move freely in a small space at high speed, has a strong load-bearing capacity, overcomes the wheel slip phenomenon, and improves positioning accuracy.
[0063] Furthermore, in terms of control, the present invention innovatively combines image recognition with the tracking system: OpenCV is used to obtain the cargo position, which is processed into a digital signal and transmitted to the STM32 microcontroller for route planning. At the same time, TSL1401 tracking sensors are installed on the four legs of the crane, and the analog signals they output are converted into digital signals. The walking direction is determined according to the main control board program, and the position and angle are detected during movement through OpenCV and the tracking module, which cooperates with the path planning algorithm to ensure fast and accurate walking.
[0064] Through the above structure, the device can solve the problem in the prior art that the traditional crane gripper has a single type and is difficult to adapt to the needs of handling goods of different shapes and materials, thus causing inconvenience in use.
[0065] The specific implementation of the present invention described above does not constitute a limitation on the protection scope of the present invention. Any other corresponding changes and modifications made based on the technical concept of the present invention should be included in the protection scope of the claims of the present invention.
Claims
1. A lifting device for cargo handling, characterized in that: include: Bracket; A walking assembly, connected to the support, and used to drive the support to move; A support assembly, connected to the support, for temporarily storing materials; A clamping assembly, comprising a sliding member and a clamping unit, wherein the sliding member is connected to the support and can slide close to or away from the support assembly, and the clamping unit is movably connected to the sliding member for clamping or releasing the material; and The lifting assembly is connected to the bracket and the clamping unit and is used to drive the clamping unit to lift and lower.
2. The cargo handling lifting device according to claim 1, characterized in that: The bracket includes a supporting frame and a translation frame, the supporting frame has a temporary storage cavity, the supporting assembly is connected to the inner wall of the temporary storage cavity and can slide relative to the supporting frame in a vertical direction, the translation frame is vertically arranged relative to the supporting frame and connected to the supporting frame, and the sliding member is slidably connected to the translation frame and can slide relative to the supporting frame along the plane where the translation frame is located.
3. The cargo handling lifting device according to claim 2, characterized in that: The translation frame is hollow, and the sliding member includes at least one first slide rail, a sliding plate and at least one first driving part. The first slide rail spans the translation frame along the length direction of the translation frame and is connected to the translation frame. The sliding plate is connected to the first slide rail along the guide sliding of the first slide rail. The first driving part has a fixed end and a movable end. The fixed end of the first driving part is connected to the translation frame, and the movable end is connected to the sliding plate, and is used to drive the sliding plate to slide along the guide of the first slide rail, and the clamping unit is movably connected to the sliding plate.
4. The cargo handling lifting device according to claim 3, characterized in that: There are two first slide rails in the sliding member, the two first slide rails are parallel to each other and arranged at intervals, and are both connected to the translation frame, and the sliding plate is slidably connected to the two first slide rails, the first driving part includes two synchronous wheels, a synchronous belt and a first driving motor, the two synchronous wheels are arranged at intervals, and are both rotatably connected to the translation frame, the synchronous belt is arranged along the guide of the first slide rail, and is cooperated with and sleeved on the two synchronous wheels, and the synchronous belt is connected to the sliding plate, the fixed end of the first driving motor is connected to the translation frame, and the output shaft is connected to one of the synchronous belts, which is used to drive the sliding block to slide along the guide of the first slide rail relative to the translation frame along the synchronous belt.
5. The cargo handling lifting device according to claim 3, characterized in that: The lifting assembly includes a fixed seat and a first linear drive member, the fixed seat is arranged below the sliding plate and can slide relative to the sliding plate, and the clamping unit is movably connected to the fixed seat, the first linear drive member has a fixed end and a telescopic end, the fixed end of the first linear drive member is connected to the sliding plate, and the telescopic end is connected to the fixed seat, and is used to drive the fixed seat and the clamping unit to rise and fall relative to the sliding plate.
6. The cargo handling lifting device according to claim 5, characterized in that: The sliding plate is provided with a guide hole, and the lifting assembly further comprises at least one guide shaft, the guide shaft is arranged in one-to-one correspondence with the guide hole, and one end of the guide shaft is connected to the fixing seat, and the other end is slidably inserted in the guide hole.
7. The cargo handling lifting device according to claim 5, characterized in that: The clamping unit includes two clamping plates, two abutment blocks and at least one second driving part. The two clamping plates are spaced apart from each other and are both rotatably connected to the fixed seat. The two abutment blocks are respectively connected to the opposite sides of the two clamping plates. The second driving part has a fixed end and a movable end. The fixed end of the second driving member is connected to the fixed seat, and the movable end is connected to the clamping plates, and is used to drive the two clamping plates to rotate closer to or away from each other to clamp or release materials.
8. The cargo handling lifting device according to claim 7, characterized in that: The clamping unit further comprises two suction cups, which are respectively arranged opposite to the material and respectively connected to the two clamping plates, and the suction cups can generate negative pressure adsorption force for adsorbing the material.
9. The cargo handling lifting device according to claim 2, characterized in that: The support assembly includes at least one base support and a second linear drive member, the base support is "L"-shaped and is formed with a temporary storage groove for accommodating materials, the base support is built into the temporary storage cavity and can slide relative to the support frame, the second linear drive member has a fixed end and a telescopic end, the fixed end of the second linear drive member is connected to the support frame, and the telescopic end is connected to the base support, and is used to drive the base support to rise and fall relative to the support frame.
10. The cargo handling lifting device according to claim 9, characterized in that: The support assembly also includes a limit plate, which is arranged on the ascending path of the base and can abut against the material to limit the base from continuing to drive the material to rise relative to the support frame and to hold the material in the temporary storage cavity.