Goods clamping and carrying device for stereoscopic warehouse and using method of goods clamping and carrying device

Abstract

The invention discloses a goods clamping and carrying device for a stereoscopic warehouse and a using method of the goods clamping and carrying device, and belongs to the technical field of goods clamping and carrying. A connecting frame, a second electric push rod, a concave mounting plate, a rotating clamping plate and a clamping spring are arranged, and the second electric push rod is controlled to contract to pull the connecting frame to rotate; a movable seat is controlled to push the concave mounting plates to move to the two sides of the goods, an electric push rod II is controlled to extend, and a connecting frame is pushed to drive the concave mounting plates to rotate until the two concave mounting plates drive a rotating clamping plate to be tightly attached to the surface of the goods; when the rotating clamping plate is tightly attached to the surface of the goods, the rotating clamping plate starts to obliquely rotate along with the shape of the goods, the clamping spring is extruded to deform, the rotating clamping plate is jacked up under the springback effect of the clamping spring, the rotating clamping plate is tightly attached to the surface of the goods, and the goods of different shapes can be conveniently clamped and taken.

Description

Technical Field

[0001] The present invention relates to the technical field of goods clamping and handling, and particularly to a goods clamping and handling device for a stereoscopic warehouse and its usage method. Background Art

[0002] With the rapid development of the modern logistics industry, the requirements for efficiency and accuracy in the field of warehousing logistics are getting higher and higher. The traditional warehousing mode has been difficult to meet the needs of large-scale and high-frequency goods storage and handling. As a warehousing system with high-rise shelves as the core, integrating automated equipment and intelligent control systems, a stereoscopic warehouse realizes efficient management of goods through three-dimensional space storage and precise handling. Through the design of multi-layer shelves, the storage density is increased, the storage capacity of the warehouse is increased, and it has the advantages of high space utilization rate, large goods storage capacity, high degree of automation, etc. It can effectively improve warehousing efficiency and reduce labor costs. In order to meet the efficient and precise handling of diverse goods storage and handling needs in a stereoscopic warehouse, and at the same time meet the strict requirements of the automated system for safety and space utilization rate, when storing and handling goods in a stereoscopic warehouse, handling devices are often used to handle the goods and move the goods to appropriate positions.

[0003] When the existing goods clamping and handling devices for stereoscopic warehouses clamp and handle goods, they generally use electromagnetic chucks or vacuum adsorption to grab the goods. When using electromagnetic chucks or vacuum adsorption to grab the goods, it is easy to loosen during the grabbing process due to the uneven surface of the goods, resulting in the goods falling off and being damaged. At the same time, some goods are placed at different heights and depths on the shelves, which is not convenient for clamping and taking. Therefore, improvements are needed.

[0004] Based on this, the present invention designs a goods clamping and handling device for a stereoscopic warehouse and its usage method to solve the above problems. Summary of the Invention

[0005] The purpose of the present invention is to provide a goods clamping and handling device for a stereoscopic warehouse and its usage method to solve the problems in the above background art that when the existing goods clamping and handling devices for stereoscopic warehouses clamp and handle goods, they generally use electromagnetic chucks or vacuum adsorption to grab the goods. When using electromagnetic chucks or vacuum adsorption to grab the goods, it is easy to loosen during the grabbing process due to the uneven surface of the goods, resulting in the goods falling off and being damaged. At the same time, some goods are placed at different heights and depths on the shelves, which is not convenient for clamping and taking.

[0006] To achieve the above purpose, the present invention provides the following technical solutions: A goods clamping and handling device for a three-dimensional warehouse, comprising a crawler mobile vehicle. A concave base is fixedly installed on the top of the crawler mobile vehicle. Lifting frames are symmetrically arranged on both sides of the concave base. A top plate is arranged at the top of the lifting frames, and the top plate is vertically corresponding to the position of the concave base. A moving seat is slidably installed on the top of the top plate. Connecting frames are symmetrically rotatably installed at both ends inside the moving seat through bearings. A concave mounting plate is arranged on one side of the connecting frame, and two concave mounting plates are symmetrically arranged on one side of the moving seat.

[0007] As a further scheme of the present invention, the lifting frame comprises connecting bars, and the number of the connecting bars is two. Limiting sliding grooves II are symmetrically arranged on the surface of the connecting bars, and the limiting sliding grooves II penetrate through the front and rear sides of the connecting bars. At both ends of the side walls of the two connecting bars away from each other, folding frames are respectively rotatably installed through pin shafts. A connecting top rod is slidably installed through the corresponding limiting sliding grooves II between the two connecting bars, and both ends of the connecting top rod penetrate through the limiting sliding grooves II and are fixedly connected to the hinge joints at the middle positions of the folding frames.

[0008] As a further scheme of the present invention, limiting sliding grooves I are symmetrically arranged on both sides of the concave base respectively. One end of the bottom of one of the folding rods at the lower cross of the connecting bars of the folding frame is rotatably connected to both ends of the concave base through a pin shaft, and the other end of the bottom of the other folding rod at the lower cross of the connecting bars of the folding frame is slidably connected through a fixed slider inside the limiting sliding groove I. Rotating frames are symmetrically and fixedly installed on both sides of the inner bottom of the concave base. An electric push rod I is rotatably installed inside the rotating frame through a pin shaft, and the top end of the electric push rod I penetrates through and is rotatably connected to the surface of the connecting top rod.

[0009] As a further scheme of the present invention, limiting sliding grooves III are symmetrically arranged on the front and rear sides of the top plate respectively. One end of the top of one of the folding rods at the upper cross of the connecting bars of the folding frame is rotatably connected to both ends of the top plate through a pin shaft, and the other end of the top of the other folding rod at the upper cross of the connecting bars of the folding frame is slidably connected through a fixed slider inside the limiting sliding groove III. A rectangular groove I is horizontally arranged left and right at the central position inside the top plate, and a moving screw rod is rotatably installed on the inner wall of the rectangular groove I through a bearing. One end of the moving screw rod passes through the rectangular groove I and extends to the outside of the top plate and is fixedly installed with a bevel gear I.

[0010] As a further scheme of the present invention, a rotating motor is fixedly installed on the surface of the top plate on the side of the bevel gear I. A bevel gear II is fixedly installed at the output end of the rotating motor, and the bevel gear II meshes with the bevel gear I. Rectangular grooves II are symmetrically arranged on both sides of the top plate at the top of the rectangular groove I. A plurality of moving rollers are rotatably installed at equal intervals inside the rectangular groove II through rotating shafts. Rectangular grooves III are respectively arranged on the side of the top plate at the top of the rectangular groove II away from the rectangular groove I, and limiting sliding rods are fixedly installed on the inner walls of the rectangular grooves III.

[0011] As a further solution of the present invention, a moving screw sleeve is fixedly installed at the central position of the bottom of the moving seat, and the moving screw sleeve is threadedly connected through the surface of the moving screw rod. Limiting sliders are symmetrically and fixedly installed on both sides of the moving screw sleeve at the bottom of the moving seat, and the limiting sliders are slidably connected through the surface of the limiting slide rod. A limiting slot is provided on the other side of the connecting frame. Installation columns are symmetrically and fixedly installed at the central position of the installation groove inside the moving seat. An electric push rod II is rotatably installed through the surface of the installation column, and one end of the electric push rod II away from the installation column is rotatably connected to one side of the connecting frame through a rotating shaft.

[0012] As a further solution of the present invention, a limiting plug is fixedly installed at one end of the concave mounting plate, and the limiting plug is inserted into the limiting slot. A connecting bolt is threadedly connected through one side of the limiting plug, and the connecting bolt passes through the limiting plug and is threadedly connected to the inner wall of the limiting slot. Three rotating clamping plates are rotatably installed at equal intervals through pin shafts inside the installation grooves on the opposite sides of the two concave mounting plates. A plurality of positioning convex blocks are respectively fixedly installed on the opposite sides of the rotating clamping plates and the concave mounting plates, and the positioning convex blocks on the surface of the rotating clamping plates correspond to the positioning convex blocks on the inner wall of the concave mounting plate. A clamping spring is provided on the surface between two opposite positioning convex blocks. The two ends of the clamping spring are respectively sleeved with positioning sleeves, and the positioning sleeves are respectively fixedly connected to the rotating clamping plate and the concave mounting plate.

[0013] A usage method of a goods clamping and handling device for a three-dimensional warehouse, the usage method comprising the following steps: Suspend the concave mounting plate on one side of the connecting frame so that the positions of the limiting plug and the limiting slot correspond. After inserting the limiting plug into the limiting slot, tighten the connecting bolt, and clamp and fix the connecting bolt inside the limiting slot to relatively fix the two concave mounting plates on the corresponding side of the connecting frame. Control the crawler mobile vehicle to move to the goods placement position in the three-dimensional warehouse, adjust the position of the crawler mobile vehicle to drive the concave base and the top plate to rotate until the moving seat faces the goods direction and is horizontal with the goods. Control the electric push rod I to contract and push the connecting top rod to slide inside the corresponding limiting chute II, so that the folding frame contracts and jacks up the top plate, and jack up the top plate away from the concave base until the height of the top plate corresponds to the height where the goods are placed. Start the rotating motor, through the meshing of the bevel gear II and the bevel gear I, control the bevel gear I to rotate, so that the moving screw sleeve moves along the surface of the moving screw rod with the rotation of the moving screw rod, control the moving seat to move on the top of the top plate, drive the limiting slider to slide on the surface of the corresponding limiting slide rod, and ensure that the moving seat does not tilt or deflect during the movement on the top of the top plate until the moving seat pushes the concave mounting plate to move to both sides of the goods; Control the telescopic movement of the second electric push rod to drive the connecting frame to rotate, driving the concave mounting plate to gradually approach the surface of the goods until the rotating clamping plate contacts the surface of the goods. Control the second electric push rod to continue to telescope and drive the connecting frame to rotate, so that the concave mounting plate squeezes the rotating clamping plate until the rotating clamping plate rotates inside the concave mounting plate, causing the rotating clamping plate to rotate and tilt to squeeze the clamping spring deformed. Under the rebounding action of the clamping spring, the rotating clamping plate is lifted up to make the rotating clamping plate tightly attached to the surface of the goods. Control the rotating motor to reverse, driving the moving screw rod to reverse, so that the moving seat drags the concave mounting plate to move until the two concave mounting plates clamp the goods on the surface of the goods and take the goods out of the shelf and move them to the top of the top plate, making the bottom of the goods contact the moving roller. Under the action of friction, control the moving roller to roll to reduce the friction when the goods move on the top of the top plate. After the goods are moved and placed on the top of the top plate, control the first electric push rod to extend and lift the connecting top rod, causing the folding frame to fold and contract, driving the top plate to move down close to the top of the concave base. Until the folding frame is completely contracted, control the crawler mobile vehicle to move, and move the goods clamped on the top of the top plate to the designated position.

[0014] Compared with the prior art, the beneficial effects of the present invention are: 1. By setting a connecting frame, a second electric push rod, a concave mounting plate, a rotating clamping plate and a clamping spring, the limit insert block is inserted into the corresponding limit slot, so as to connect and fix the two concave mounting plates relative to the corresponding connecting frame. Control the top plate to move to the goods placement position in the three-dimensional warehouse, lift the top plate to a height corresponding to the position of the high-place goods. Control the second electric push rod to contract and pull the connecting frame to rotate, so that the gap between the two concave mounting plates becomes larger. Control the moving seat to push the concave mounting plate to move to both sides of the goods, so that the concave mounting plate moves to both sides of the goods. Control the second electric push rod to extend, push the connecting frame to drive the concave mounting plate to rotate until the two concave mounting plates drive the rotating clamping plate to tightly attach to the surface of the goods. When the rotating clamping plate tightly attaches to the surface of the goods, the rotating clamping plate starts to tilt and rotate with the shape of the goods, squeezing the clamping spring deformed. Under the rebounding action of the clamping spring, the rotating clamping plate is lifted up to make the rotating clamping plate tightly attached to the surface of the goods, which is convenient for clamping and taking goods of different shapes; 2. The present invention controls the crawler mobile vehicle to move to the designated position where the goods are placed in the warehouse by setting the electric push rod I, the folding frame, the connecting top rod, the moving screw, the rotating motor and the moving rollers, adjusts the orientation of the crawler mobile vehicle to align the top plate with the goods, controls the electric push rod I to contract, pulls the connecting top rod to move between the two connecting bars, expands and elongates the folding frame, lifts the top plate away from the concave base, raises the top plate to the height corresponding to the goods, controls the rotating motor to drive the bevel gear II to rotate, through the meshing of the bevel gear II and the bevel gear I, controls the moving screw to rotate synchronously, makes the moving seat drive the concave mounting plate to move to both sides of the goods to clamp and fix the goods, then controls the rotating motor to drive the bevel gear II to reverse, makes the moving screw reverse synchronously, controls the moving seat to move on the top of the top plate, pulls the goods from the shelf to the top of the top plate until the goods are placed on the top of the moving rollers, and the moving rollers roll under the goods, thereby reducing the friction when the goods are on the top of the top plate and facilitating the clamping, picking up and handling of goods at different positions and heights in the warehouse. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained according to these drawings.

[0016] Figure 1 is the unfolded structural schematic diagram of the present invention; Figure 2 is the unfolded structural schematic diagram of the concave base, the lifting frame and the top plate of the present invention; Figure 3 is the unfolded structural schematic diagram of the concave base and the lifting frame of the present invention; Figure 4 is the structural schematic diagram of the top plate, the moving seat and the concave mounting plate of the present invention; Figure 5 is the side view structural schematic diagram of the moving seat of the present invention; Figure 6 is the sectional view structural schematic diagram of the moving seat of the present invention; Figure 7 is the structural schematic diagram of the concave mounting plate and the limit insertion block of the present invention; Figure 8 For the present invention Figure 7 is the enlarged structural schematic diagram at A in

[0017] In the drawings, the list of components represented by each reference numeral is as follows: 1. Crawler mobile vehicle; 2. Concave base; 201. First limiting chute; 202. Rotating frame; 203. First electric push rod; 3. Lifting frame; 301. Connecting bar; 302. Second limiting chute; 303. Folding frame; 304. Connecting top rod; 4. Top plate; 401. Third limiting chute; 402. First rectangular groove; 403. Moving screw; 404. First bevel gear; 405. Rotating motor; 406. Second bevel gear; 407. Second rectangular groove; 408. Moving roller; 409. Third rectangular groove; 410. Limiting slide bar; 5. Moving seat; 501. Moving nut; 502. Limiting slider; 503. Connecting frame; 504. Limiting slot; 505. Mounting column; 506. Second electric push rod; 6. Concave mounting plate; 601. Limiting plug; 602. Connecting bolt; 603. Rotating clamping plate; 604. Positioning convex block; 605. Positioning sleeve; 606. Clamping spring. Detailed implementation manner

[0018] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0019] Please refer to Figures 1 - 8 , the present invention provides a technical solution: A goods clamping and handling device for a three-dimensional warehouse, including a crawler mobile vehicle 1, a concave base 2 is fixedly installed on the top of the crawler mobile vehicle 1, lifting frames 3 are symmetrically arranged on both sides of the concave base 2, a top plate 4 is arranged on the top of the lifting frame 3, and the position of the top plate 4 is vertically corresponding to that of the concave base 2. A moving seat 5 is slidably installed on the top of the top plate 4. Connecting frames 503 are symmetrically and rotatably installed at both ends inside the moving seat 5 through bearings. A concave mounting plate 6 is arranged on one side of the connecting frame 503, and the two concave mounting plates 6 are symmetrically arranged on one side of the moving seat 5; During operation, the concave mounting plate 6 is connected and fixed to the connecting frame 503, so that the two concave mounting plates 6 are relatively fixed on one side of the moving seat 5. Control the crawler mobile vehicle 1 to move in the warehouse until the concave base 2 is moved to the designated position where the goods are placed. Adjust the orientation of the crawler mobile vehicle 1 so that the concave base 2 corresponds to the goods. Control the lifting frame 3 to lift and lower, lifting the top plate 4 to the height corresponding to the goods. Control the moving seat 5 to drive the concave mounting plate 6 to move to both sides of the goods, so that the concave mounting plates 6 are respectively clamped on both sides of the goods to clamp and fix the goods. Then control the moving seat 5 to move on the top of the top plate 4, pull the goods to move to the top of the top plate 4, and then control the lifting frame 3 to contract to drive the top plate 4 to move down and stick tightly to the top of the concave base 2, so that the goods are placed on the top of the top plate 4 and transferred and carried along with the crawler mobile vehicle 1.

[0020] As a further solution of the present invention, the lifting frame 3 includes connecting bars 301, and the number of the connecting bars 301 is two. Limiting sliding grooves II 302 are symmetrically arranged on the surface of the connecting bars 301, and the limiting sliding grooves II 302 penetrate through the front and rear sides of the connecting bars 301. At both ends of one side wall of the two connecting bars 301 away from each other, folding frames 303 are respectively rotatably installed through pin shafts. A connecting top rod 304 is slidably installed through between the corresponding limiting sliding grooves II 302 between the two connecting bars 301, and both ends of the connecting top rod 304 penetrate through the limiting sliding grooves II 302 and are fixedly connected to the hinge joints at the middle positions of the folding frames 303; the folding frame 303 includes two folding rods with their middle parts crossed through pin shafts and located respectively above and below the connecting bar 301. One ends of the adjacent upper and lower folding rods are respectively rotatably connected to the rotating shafts on the connecting bar 301 and the ends of the top rods 304 sliding in the sliding grooves II 302, and the other ends of the folding rods are respectively connected to the base 2 and the top plate 4.

[0021] During operation, both ends of the connecting top rod 304 slide inside the corresponding limiting sliding grooves II 302 to limit the connecting top rod 304, ensuring that the connecting top rod 304 will not be inclined, misaligned or stuck during movement. The two connecting top rods 304 respectively drive the two folding frames 303 to expand and contract synchronously, controlling the top plate 4 at the top between the four folding frames 303 to lift smoothly, facilitating the adjustment of the height of the top plate 4 according to the height of the goods placed, and clamping and carrying the goods placed at different heights.

[0022] As a further solution of the present invention, limiting sliding grooves I 201 are symmetrically arranged on both sides of the concave base 2 respectively. One end of the bottom of one of the folding rods at the lower part of the folding frame 303 crossed on the connecting bar 301 is rotatably connected to both ends of the concave base 2 through a pin shaft, and the other end of the bottom of the other folding rod at the lower part of the folding frame 303 crossed on the connecting bar 301 is slidably connected through a fixed slider inside the limiting sliding groove I 201; on the front and rear sides of the inner bottom of the concave base 2, rotating frames 202 are symmetrically and fixedly installed respectively. An electric push rod I 203 is rotatably installed inside the rotating frame 202 through a pin shaft, and the top end of the electric push rod I 203 penetrates through and is rotatably connected to the surface of the connecting top rod 304; During operation, control the electric push rod I 203 to expand and contract, so that the top end of the electric push rod I 203 pushes the connecting top rod 304 to slide inside the corresponding limiting sliding groove II 302, thereby controlling the unfolding and folding of the folding frame 303, facilitating the control of the distance between the top plate 4 and the concave base 2. During the unfolding or folding process of the folding frame 303, one end of the bottom of the folding frame 303 is inside the limiting sliding groove I 201 to limit the folding frame 303, ensuring that the folding frame 303 will not be disengaged or misaligned during the unfolding or folding process.

[0023] As a further solution of the present invention, limiting chute three 401 is symmetrically arranged on the front and rear sides of the top plate 4 respectively. One end of the folding rod at the top of the folding frame 303 where it crosses on the upper part of the connecting bar 301 is rotationally connected to both ends of the top plate 4 through a pin shaft, and the other end of the folding rod at the top of the folding frame 303 where it crosses on the upper part of the connecting bar 301 is slidably connected to the inside of the limiting chute three 401 through a fixed slider. A rectangular groove one 402 is horizontally arranged left and right at the central position inside the top plate 4, and a moving screw rod 403 is rotationally installed on the inner wall of the rectangular groove one 402 through a bearing. One end of the moving screw rod 403 passes through the rectangular groove one 402 and extends to the outside of the top plate 4 to be fixedly installed with a bevel gear one 404; a rotating motor 405 is fixedly installed on the surface of the top plate 4 on one side of the bevel gear one 404, and a bevel gear two 406 is fixedly installed at the output end of the rotating motor 405, and the bevel gear two 406 meshes with the bevel gear one 404. A moving nut 501 is fixedly installed at the central position of the bottom of the moving seat 5, and the moving nut 501 is threadedly connected to the surface of the moving screw rod 403; During operation, start the rotating motor 405 to control the bevel gear two 406 to rotate. Through the meshing of the bevel gear two 406 and the bevel gear one 404, the moving screw rod 403 rotates synchronously, so that the moving nut 501 moves on the surface of the moving screw rod 403, controlling the moving seat 5 to move on the top of the top plate 4, so that the moving seat 5 drives the concave mounting plate 6 to extend out of the top plate 4 to facilitate clamping and fixing of the goods.

[0024] As a further solution of the present invention, rectangular grooves two 407 are symmetrically arranged on both sides of the top plate 4 at the top of the rectangular groove one 402. A plurality of moving rollers 408 are rotationally installed in the rectangular grooves two 407 at equal intervals through rotating shafts; rectangular grooves three 409 are respectively arranged on the side of the top plate 4 at the top away from the rectangular groove one 402. A limiting slide bar 410 is fixedly installed on the inner wall of the rectangular groove three 409; limiting sliders 502 are symmetrically fixedly installed on both sides of the moving nut 501 at the bottom of the moving seat 5, and the limiting sliders 502 are slidably connected to the surface of the limiting slide bar 410; During operation, when the moving seat 5 moves on the surface of the moving screw rod 403 along with the moving nut 501, it drives the limiting sliders 502 to slide on the surface of the corresponding limiting slide bar 410, limiting the moving seat 5 to ensure that the moving seat 5 does not tilt or misalign during the movement on the top of the top plate 4, so that the moving seat 5 moves smoothly on the top of the top plate 4, driving the concave mounting plate 6 to move smoothly to both sides of the goods to clamp and fix the goods.

[0025] As a further solution of the present invention, mounting posts 505 are symmetrically and fixedly installed at the central position of the inner mounting groove of the moving seat 5. The surface of the mounting post 505 is penetrated and rotatably installed with a second electric push rod 506. One end of the second electric push rod 506 away from the mounting post 505 is rotatably connected to one side of the connecting frame 503 through a rotating shaft, and the other side of the connecting frame 503 is rotatably installed in the moving seat 5 through a rotating shaft. During operation, control the second electric push rod 506 to expand and contract to push the connecting frame 503 to rotate around the connection position with the moving seat 5, so as to conveniently control the opening and closing between the two concave mounting plates 6 and clamp and fix the goods. A limit slot 504 is provided on the other side of the connecting frame 503; a limit plug 601 is fixedly installed at one end of the concave mounting plate 6, and the limit plug 601 is inserted into the limit slot 504. One side of the limit plug 601 is penetrated and threadedly connected with a connecting bolt 602, and the connecting bolt 602 penetrates the limit plug 601 and is threadedly connected with the inner wall of the limit slot 504; During operation, insert the limit plug 601 into the corresponding limit slot 504 to ensure that the concave mounting plate 6 and the connecting frame 503 will not be misaligned or offset when they are connected and fixed. Tighten the connecting bolt 602 to pass through the limit plug 601 and connect with the inner wall of the limit slot 504, so as to clamp and fix the limit plug 601 inside the limit slot 504, which is convenient for disassembling and replacing the concave mounting plate 6.

[0026] Inside the mounting grooves on the opposite sides of the two concave mounting plates 6, three rotating clamping plates 603 are rotatably installed at equal intervals through pin shafts. A plurality of positioning convex blocks 604 are respectively fixedly installed on the opposite sides of the rotating clamping plates 603 and the concave mounting plates 6, and the positioning convex blocks 604 on the surface of the rotating clamping plates 603 correspond to the positioning convex blocks 604 on the inner wall of the concave mounting plates 6. A clamping spring 606 is provided on the surface between the two opposite positioning convex blocks 604. The two ends of the clamping spring 606 are respectively sleeved with positioning sleeves 605, and the positioning sleeves 605 are respectively fixedly connected with the rotating clamping plates 603 and the concave mounting plates 6; During operation, the concave mounting plates 6 rotate on both sides of the goods. When the rotating clamping plates 603 are in contact with the surface of the goods, the surface of the goods jacks up and squeezes the rotating clamping plates 603, causing the rotating clamping plates 603 to rotate inside the concave mounting plates 6 following the shape of the goods. At the same time, the clamping spring 606 is squeezed and deformed. Under the elastic return action of the clamping spring 606, the rotating clamping plates 603 are jacked up, so that the rotating clamping plates 603 are pressed against the surface of the goods, thereby clamping and fixing the goods.

[0027] A method for using a goods clamping and handling device for a three-dimensional warehouse, the method for using includes the following steps: Suspend the concave mounting plate 6 on one side of the connecting frame 503 so that the position of the limit insertion block 601 corresponds to that of the limit slot 504. After inserting the limit insertion block 601 into the limit slot 504, tighten the connecting bolt 602 and clamp the connecting bolt 602 inside the limit slot 504, so that the two concave mounting plates 6 are relatively fixed on one side of the corresponding connecting frame 503. Control the crawler mobile vehicle 1 to move to the goods placement position of the stereoscopic warehouse, adjust the position of the crawler mobile vehicle 1 to drive the concave base 2 and the top plate 4 to rotate until the moving seat 5 faces the goods direction and is horizontal with the goods. Control the first electric push rod 203 to contract and push the connecting top rod 304 to slide inside the corresponding second limit chute 302, so that the folding frame 303 contracts and jacks up the top plate 4. Jack up the top plate 4 away from the concave base 2 until the height of the top plate 4 corresponds to the height where the goods are placed. Start the rotation motor 405. Through the meshing of the second bevel gear 406 and the first bevel gear 404, control the first bevel gear 404 to rotate, so that the moving nut sleeve 501 moves on the surface of the moving screw rod 403 as the moving screw rod 403 rotates. Control the moving seat 5 to move on the top of the top plate 4, driving the limit slider 502 to slide on the surface of the corresponding limit slide bar 410, ensuring that the moving seat 5 does not tilt or deflect during the movement on the top of the top plate 4 until the moving seat 5 pushes the concave mounting plate 6 to move to both sides of the goods; Control the second electric push rod 506 to extend and retract to push the connecting frame 503 to rotate, driving the concave mounting plate 6 to gradually approach the surface of the goods until the rotating clamping plate 603 contacts the surface of the goods. Control the second electric push rod 506 to continue to extend and retract to push the connecting frame 503 to rotate, so that the concave mounting plate 6 squeezes the rotating clamping plate 603 until the rotating clamping plate 603 rotates inside the concave mounting plate 6, causing the clamping spring 606 deformed by the rotation and inclination of the rotating clamping plate 603. Under the resilience of the clamping spring 606, jack up the rotating clamping plate 603 so that the rotating clamping plate 603 is pressed against the surface of the goods. Control the rotation motor 405 to reverse, driving the moving screw rod 403 to reverse, so that the moving seat 5 drags the concave mounting plate 6 to move until the two concave mounting plates 6 clamp on the surface of the goods, carry the goods out of the goods shelf and move to the top of the top plate 4, so that the bottom of the goods contacts the moving roller 408. Under the action of friction, control the moving roller 408 to roll to reduce the friction when the goods move on the top of the top plate 4. After the goods move and are placed on the top of the top plate 4, control the first electric push rod 203 to extend and jack up the connecting top rod 304, so that the folding frame 303 folds and contracts, driving the top plate 4 to move down close to the top of the concave base 2. Until the folding frame 303 is completely contracted, control the crawler mobile vehicle 1 to move, and move the goods clamped on the top of the top plate 4 to the designated position.

Claims

1. A goods clamping and handling device for a stereoscopic warehouse, comprising a crawler mobile vehicle (1), characterized in that: A concave base (2) is fixedly installed on the top of the crawler mobile vehicle (1). Lifting frames (3) are symmetrically arranged on both sides of the concave base (2). A top plate (4) is provided at the top of the lifting frame (3), and the position of the top plate (4) is vertically corresponding to that of the concave base (2). A moving seat (5) is slidably installed on the top of the top plate (4). At both ends inside the moving seat (5), connecting frames (503) are symmetrically rotatably installed through bearings. A concave mounting plate (6) is provided on one side of the connecting frame (503), and the two concave mounting plates (6) are symmetrically arranged on one side of the moving seat (5).

2. The goods clamping and handling device for a stereoscopic warehouse according to claim 1, wherein: The lifting frame (3) includes connecting bars (301), and the number of the connecting bars (301) is two. Limiting sliding grooves two (302) are symmetrically arranged on the surface of the connecting bars (301), and the limiting sliding grooves two (302) penetrate through the front and rear sides of the connecting bars (301). At both ends of the side walls of the two connecting bars (301) away from each other, folding frames (303) are respectively rotatably installed through pin shafts. A connecting top rod (304) is slidably installed through the corresponding limiting sliding grooves two (302) between the two connecting bars (301), and both ends of the connecting top rod (304) penetrate through the limiting sliding grooves two (302) and are fixedly connected to the hinge joints at the middle positions of the folding frames (303).

3. The goods clamping and handling device for a stereoscopic warehouse according to claim 2, characterized in that: Limiting sliding grooves one (201) are symmetrically arranged on both sides of the concave base (2) respectively. One end of the bottom of one of the folding rods at the lower cross of the connecting bar (301) of the folding frame (303) is rotatably connected to both ends of the concave base (2) through a pin shaft, and the other end of the bottom of the other folding rod at the lower cross of the connecting bar (301) of the folding frame (303) is slidably connected through a fixed slider inside the limiting sliding groove one (201). Rotating frames (202) are symmetrically and fixedly installed on both sides of the inner bottom of the concave base (2). An electric push rod one (203) is rotatably installed inside the rotating frame (202) through a pin shaft, and the top end of the electric push rod one (203) penetrates through and is rotatably connected to the surface of the connecting top rod (304).

4. A goods clamping and handling device for a stereoscopic warehouse according to claim 2, characterized in that: Limiting sliding grooves three (401) are symmetrically arranged on the front and rear sides of the top plate (4) respectively. One end of the top of one of the folding rods at the upper cross of the connecting bar (301) of the folding frame (303) is rotatably connected to both ends of the top plate (4) through a pin shaft, and the other end of the other folding rod at the upper cross of the connecting bar (301) at the top of the folding frame (303) is slidably connected through a fixed slider inside the limiting sliding groove three (401). A rectangular groove one (402) is horizontally arranged left and right at the central position inside the top plate (4), and a moving screw rod (403) is rotatably installed on the inner wall of the rectangular groove one (402) through a bearing. One end of the moving screw rod (403) passes through the rectangular groove one (402) and extends to the outside of the top plate (4) and is fixedly installed with a bevel gear one (404).

5. The goods clamping and handling device for a stereo warehouse according to claim 4, characterized in that: On the surface of the top plate (4) on one side of the bevel gear one (404), a rotating motor (405) is fixedly installed. The output end of the rotating motor (405) is fixedly installed with a bevel gear two (406), and the bevel gear two (406) meshes with the bevel gear one (404). On the top of the top plate (4), rectangular grooves two (407) are symmetrically arranged on both sides of the rectangular groove one (402). Inside the rectangular groove two (407), a plurality of moving rollers (408) are rotatably installed at equal intervals through rotating shafts. On the top of the top plate (4), on the side of the rectangular groove two (407) away from the rectangular groove one (402), rectangular grooves three (409) are respectively arranged. Inside the rectangular groove three (409), a limiting slide rod (410) is fixedly installed on the inner wall.

6. The goods clamping and handling device for a stereoscopic warehouse according to claim 5, characterized in that: At the central position of the bottom of the moving seat (5), a moving screw sleeve (501) is fixedly installed, and the moving screw sleeve (501) is threadedly connected through the surface of the moving screw rod (403). On both sides of the moving screw sleeve (501) at the bottom of the moving seat (5), limiting slider blocks (502) are symmetrically fixedly installed, and the limiting slider blocks (502) are slidably connected through the surface of the limiting slide rod (410). On the other side of the connecting frame (503), a limiting slot (504) is arranged. At the central position of the installation groove inside the moving seat (5), installation columns (505) are symmetrically fixedly installed. The surface of the installation column (505) is rotatably installed with an electric push rod two (506) through a rotating shaft, and the end of the electric push rod two (506) away from the installation column (505) is rotatably connected to one side of the connecting frame (503) through a rotating shaft.

7. The goods clamping and handling device for a stereoscopic warehouse according to claim 6, characterized in that: One end of the concave installation plate (6) is fixedly installed with a limiting plug (601), and the limiting plug (601) is inserted into the limiting slot (504). On one side of the limiting plug (601), a connecting bolt (602) is threadedly connected through, and the connecting bolt (602) passes through the limiting plug (601) and is threadedly connected to the inner wall of the limiting slot (504). Inside the installation grooves on the opposite sides of the two concave installation plates (6), three rotating clamping plates (603) are rotatably installed at equal intervals through pin shafts. On the opposite sides of the rotating clamping plate (603) and the concave installation plate (6), a plurality of positioning convex blocks (604) are respectively fixedly installed, and the positioning convex blocks (604) on the surface of the rotating clamping plate (603) correspond to the positioning convex blocks (604) on the inner wall of the concave installation plate (6). A clamping spring (606) is arranged on the surface between two opposite positioning convex blocks (604). Both ends of the clamping spring (606) are respectively sleeved with positioning sleeves (605), and the positioning sleeves (605) are respectively fixedly connected to the rotating clamping plate (603) and the concave installation plate (6).

8. A method of using a goods clamping and handling device for a three-dimensional warehouse, according to any one of claims 1-7, a goods clamping and handling device for a three-dimensional warehouse, characterized in that, The usage method includes the following steps: Suspend the concave mounting plate (6) on one side of the connecting frame (503) so that the position of the limit insertion block (601) corresponds to that of the limit slot (504). After inserting the limit insertion block (601) into the limit slot (504), tighten the connecting bolt (602) and clamp the connecting bolt (602) inside the limit slot (504) to relatively fix the two concave mounting plates (6) on one side of the corresponding connecting frame (503). Control the crawler mobile vehicle (1) to move to the goods placement position in the stereoscopic warehouse, adjust the position of the crawler mobile vehicle (1) to drive the concave base (2) and the top plate (4) to rotate until the moving seat (5) faces the goods direction and is horizontal with the goods. Control the first electric push rod (203) to contract and push the connecting top rod (304) to slide inside the corresponding second limit sliding groove (302), so that the folding frame (303) contracts to lift the top plate (4), and lift the top plate (4) away from the concave base (2) until the height of the top plate (4) corresponds to the height where the goods are placed. Start the rotation motor (405), through the meshing of the second bevel gear (406) and the first bevel gear (404), control the first bevel gear (404) to rotate, so that the moving nut sleeve (501) moves on the surface of the moving screw rod (403) with the rotation of the moving screw rod (403), control the moving seat (5) to move on the top of the top plate (4), drive the limit sliding block (502) to slide on the surface of the corresponding limit sliding rod (410), and ensure that the moving seat (5) does not tilt or deflect during the movement on the top of the top plate (4) until the moving seat (5) pushes the concave mounting plate (6) to move to both sides of the goods; Control the telescopic movement of the second electric push rod (506) to drive the connecting frame (503) to rotate, driving the concave mounting plate (6) to gradually approach the surface of the goods until the rotating clamping plate (603) contacts the surface of the goods. Control the second electric push rod (506) to continue telescoping to drive the connecting frame (503) to rotate, so that the concave mounting plate (6) presses the rotating clamping plate (603) until the rotating clamping plate (603) rotates inside the concave mounting plate (6), causing the rotating clamping plate (603) to rotate and tilt to squeeze the clamping spring (606) and deform it. Under the rebounding action of the clamping spring (606), the rotating clamping plate (603) is lifted to make the rotating clamping plate (603) closely adhere to the surface of the goods. Control the reverse rotation of the rotating motor (405) to drive the moving screw rod (403) to reverse, so that the moving seat (5) drags the concave mounting plate (6) to move until the two concave mounting plates (6) clamp the surface of the goods and carry the goods out of the shelf and move to the top of the top plate (4), making the bottom of the goods contact the moving roller (408). Under the action of friction, control the moving roller (408) to roll to reduce the friction when the goods move on the top of the top plate (4). After the goods are moved and placed on the top of the top plate (4), control the first electric push rod (203) to extend and lift the connecting top rod (304), causing the folding frame (303) to fold and contract, driving the top plate (4) to move downwards and approach the top of the concave base (2). Until the folding frame (303) is completely contracted, control the crawler mobile vehicle (1) to move, and move the goods clamped on the top of the top plate (4) to the designated position.

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