Holding and clamping device with self-locking function and suspension transport vehicle

Abstract

The invention provides an embracing and clamping device with a self-locking function and a suspension transport vehicle. The embracing and clamping device comprises a first frame body, a second frame body and a third frame body, the first driver is in transmission connection with the lower pressing frame, and a transmission connecting rod is pivoted to the lower pressing frame; the holding claws are connected to the lower end of the first frame body in a pivoted mode, the transmission connecting rod is connected with the holding claws in a pivoted mode, and a holding cavity is formed between the downward pressing frame and the pair of holding claws. The holding claw comprises a mounting plate, a group of limiting plates arranged at intervals are connected to the mounting plate, each limiting plate comprises a supporting plate, and a first limiting side edge is arranged on each supporting plate; and the locking device is arranged on the holding claw on one side. According to the locking device, the load specification of the driver can be reduced, the manufacturing cost can be saved, the reliability of locking the clamping device to the closed state can be guaranteed, and in addition, the locking device has the advantage of being easy to control due to the self-locking performance of mechanical linkage.

Description

Technical Field

[0001] The present invention relates to the field of suspended transporters, and particularly to a gripper with a self-locking function and a suspended transporter. Background Art

[0002] In the field of industrial automation (such as logistics sorting, automobile assembly line, warehousing handling, etc.), the gripper is the core device for grasping and transferring objects. Traditional grippers usually rely on a driver (such as a hydraulic cylinder, a pneumatic cylinder or a motor) to continuously provide thrust to maintain the closed state, ensuring that the grasped objects (such as bagged materials, boxes, etc.) do not fall off during the movement. However, in order to keep the gripper in the closed state, it will lead to a high load requirement for the driver, resulting in an increase in manufacturing cost. In addition, when a sudden power failure or a drive system failure occurs, the gripper may instantly lose force and loosen, causing the object to fall, resulting in insufficient locking reliability. Summary of the Invention

[0003] To overcome the above-mentioned deficiencies of the prior art, the present invention provides a gripper with a self-locking function, which can reduce the load specification of the driver, save manufacturing costs, and ensure the reliability of locking the gripper to the closed state. In addition, the locking device has the advantages of mechanical linkage self-locking and simple control.

[0004] To achieve the above object, the present invention is realized by the following technical solutions: A gripper with a self-locking function, comprising: A first frame body, on which a first driver is provided; A pair of symmetrically arranged gripper jaws, which are pivotally connected to the lower end of the first frame body. A gripping cavity is formed between the pair of gripper jaws, and the first driver is drivingly connected to the pair of gripper jaws; the gripper jaw includes a mounting plate, and a group of spaced-apart limiting plates are connected to the mounting plate. The limiting plate includes a supporting plate, and a first limiting side edge is provided on the supporting plate; It further includes a locking device provided on one of the gripper jaws, and the locking device includes: A lock frame slidably mounted on the mounting plate; A lock plate mounted on the lock frame, the lock plate is arranged on the side of the supporting plate away from the first limiting side edge, and the lock plate extends out of the side surface of the supporting plate along the thickness direction of the supporting plate to form a limiting flange; A return spring elastically connected to the supporting plate; The first driver is used to synchronously drive the pair of gripper jaws to rotate, so as to realize the switching of the gripper between the open state and the closed state; During the process of the gripper moving from the open state to the closed state, the supporting plate on the opposite gripper jaw will abut against the lock plate and push the lock frame to slide; When the clamp is in the closed state, the first limit side edge is located at the bottom of the clamping cavity, and the front ends of the supporting plates on the corresponding two sides of the clamping claws are staggered and overlapped with each other. The reset spring pushes the lock frame to reset and move until the limit stop edge is located below the supporting plate on the opposite side to limit the clamping claws from rotating in the opening direction.

[0005] Furthermore, the clamp with a self-locking function in the present application further includes a lower pressure frame, the first driver is in transmission connection with the lower pressure frame, a transmission connecting rod is pivotally connected to the lower pressure frame; the transmission connecting rod is pivotally connected to the clamping claw; The first driver drives the lower pressing frame to move longitudinally to synchronously drive a pair of gripping claws, which rotate to switch the gripper between the open state and the closed state; A limiting top surface is provided at the bottom of the lower pressure frame; the limiting top surface is located at the top of the holding cavity. When the clamp switches from the open state to the closed state, the limiting top surface descends to compress the longitudinal space of the holding cavity.

[0006] Furthermore, in the present application, a clamp with a self-locking function, the limiting plate also includes a side plate, a second limiting side edge is provided on the side plate, the extension directions of the support plate and the side plate are perpendicular to each other and are integrally connected at the end to form an L shape, the first limiting side edge and the second limiting side edge are the inner edges of the support plate and the side plate respectively, and the side plate is connected to the mounting plate on the side away from the second limiting side edge; when the clamp is in the open state, the front end of the support plate is vertically placed downward as a whole, the first limiting side edges on a pair of claws are located on both sides of the clamping cavity, the side plates are horizontally placed at the upper end of the support plate and on both sides of the limiting top surface, and the bottom of the clamping cavity is open; when the clamp is in the closed state, the side plates are vertically placed to limit the two sides of the clamping cavity, and the support plate is horizontally placed at the lower end of the side plates to close the opening at the bottom of the clamping cavity.

[0007] Furthermore, the present application provides a clamp with a self-locking function, and a limiting protrusion is provided on the mounting plate. When the clamp is reset to the open state, the lower end of the limiting protrusion contacts the lower pressure frame to limit the lower pressure frame from continuing to move upward and the clamping claw from continuing to flip in the opening direction. As a preferred solution of the present application, based on the above device, it is possible to achieve self-locking positioning of the clamping claw and the lower pressure frame when the clamp is reset to the open state. Compared with directly controlling the moving stroke of the lower pressure frame to achieve positioning, it can ensure positioning accuracy and improve positioning efficiency. In addition, compared with setting a limiting component on the outside of the clamp, it has the advantage of a compact structure. Further, in a clamping device with a self-locking function in the present application, a pair of sliding seats are provided on the locking frame. A pair of guide posts are fixed on the mounting plate on the side away from the limiting plate. A limiting baffle is provided at one end of the guide post away from the mounting plate. The sliding seat is slidably sleeved on the guide post. A return spring is sleeved on the guide post and abuts against the limiting baffle and the sliding seat at both ends respectively. A sliding connecting plate is provided on the locking plate. A positioning convex is provided on the sliding connecting plate. A chute is provided on the support plate connected to the locking plate. The positioning convex is slidably arranged in the chute. As a preferred solution of the present application, the locking frame is slidably connected to the mounting plate through the sliding seat and the guide post. The sliding connection between the chute and the positioning convex supports the locking plate to ensure the stability of the relative sliding movement of the locking frame and the locking plate with respect to the clamping jaws and improve the bearing capacity after the clamping device is locked.

[0008] Further, a clamping device with a self-locking function in the present application further includes an unlocking convex part. The unlocking convex part is arranged on the locking frame or the locking plate and is used to cooperate with an external unlocking member to move to drive the locking frame to move so that the limiting edge releases the limitation on the side support plate.

[0009] Further, a clamping device with a self-locking function in the present application further includes a transfer table. A plurality of longitudinally extending spaced cavities are provided on the transfer table. The spaced cavities extend out of the upper end surface and a pair of side surfaces of the transfer table. The plurality of spaced cavities are arranged along the arrangement direction of the limiting plates. A limiting groove for placing materials is provided on the upper end surface of the transfer table. During the process of the clamping device switching from the open state to the closed state, the side support plates on both sides pass through the spaced cavities from the side surfaces of the transfer table to limit the materials placed on the limiting groove in the clamping cavity.

[0010] Further, in a clamping device with a self-locking function in the present application, the lower pressing frame includes a horizontally arranged limiting bottom plate and vertical plates fixed on both sides of the limiting bottom plate. The limiting bottom surface is arranged at the bottom of the limiting bottom plate. The vertical plates are longitudinally slidably connected to the first frame body. The transmission connecting rod is rotatably connected to the vertical plates.

[0011] Further, in a clamping device with a self-locking function in the present application, a pair of connecting plates are connected between the pair of vertical plates. A limiting top plate is fixed on the connecting plates. The limiting top plate is arranged above the limiting bottom plate. A vertically arranged guide rod is provided between the limiting bottom plate and the limiting top plate. A pressing seat is slidably sleeved on the guide rod. A pressing block is provided at the bottom of the pressing seat. A through groove corresponding to the pressing block is provided on the limiting bottom plate. A compression spring is sleeved on the guide rod. The two ends of the compression spring abut against the limiting top plate and the pressing seat respectively. At the natural state, the bottom of the pressing block passes through the through groove and is located below the limiting bottom plate. As a preferred solution of the present application, the pressing seat is elastically arranged on the lower pressing frame. When the clamping device is in the closed state, the pressing block arranged on the pressing seat passes through the limiting bottom plate to longitudinally press the materials located in the clamping cavity.

[0012] A suspended transport vehicle includes a vehicle body and a clamp with a self-locking function. A second frame is installed at the bottom of the vehicle body. A first frame is longitudinally slidably installed on the second frame. A second drive is provided on the second frame. The second drive is transmission-connected to the first frame for driving the first frame to move up and down on the second drive.

[0013] It can be seen from the above technical solution that the present invention has the following beneficial effects: The present invention provides a clamp with a self-locking function. Since a pair of clamping claws rotate synchronously during the process of switching between the open and closed states of the clamp, and in the closed state, the front ends of the support plates on both sides are staggered and overlapped, then inevitably, in the process of moving to the closed state, the front end of the support plate on one side will pass through the support plate on the opposite side, that is, be exposed from the side of the support plate on the opposite side away from the first limit side edge, and the front end position of the support plate will move backward on the support plate on the other side, thereby pushing the lock plate arranged on the side of the support plate away from the first limit side edge to move to make room for the movement of the support plate. As the clamp is switched to the closed state, since the support plates on both sides overlap with each other, the front ends of the support plates on both sides are within the side of the opposite support plate, that is, the front ends of the support plates do not expose the side of the opposite support plate away from the first limit side edge, thereby causing the front end of the support plate on the clamp on the opposite side to disengage from the transmission surface, and the lock frame can be reset to the lower side of the opposite support plate where the limit stop edge is limited by the reset spring. Because the claws on both sides rotate synchronously, the claw on one side being restricted from rotating also prevents the claw on the opposite side from rotating, allowing the locking device to lock the gripper in the closed state. This reduces the thrust applied by the first actuator to maintain the gripper in the closed state, lowering the load specification of the first actuator and reducing manufacturing costs. Furthermore, the locking device's mechanically linked self-locking properties offer the advantage of simple control.

[0014] The present invention provides a clamp with a self-locking function, which can realize bottom limitation and top compression of a clamping cavity through one drive. Compared with separately setting a drive to realize top space compression, it has the advantage of high clamping and limiting efficiency.

[0015] The present invention provides a suspension transport vehicle, which can realize efficient transfer of materials and is particularly suitable for the transport of bagged flexible materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A schematic diagram of the three-dimensional structure of a clamp with a self-locking function in an embodiment of the present application (in an open state); Figure 2 A schematic diagram of the three-dimensional structure of a clamp with a self-locking function in an embodiment of the present application (in a closed state); Figure 3 for Figure 2Explosion schematic diagram of components of a gripper with a self-locking function; Figure 4 Schematic diagram of the structure of the gripper with a locking device in the embodiment of the present application; Figure 5 is Figure 4 Explosion schematic diagram of components of the gripper in; Figure 6 Schematic diagram of the lower pressing frame in the embodiment of the present application; Figure 7 Schematic diagram of the principle of the locking device of a gripper with a self-locking function in the embodiment of the present application; Figure 8 Schematic diagram of the principle of a gripper with a self-locking function in the embodiment of the present application for gripping and transporting materials on a transfer table; Figure 9 is Figure 8 planar schematic diagram of; Figure 10 Schematic diagram of the structure of the transfer table in the embodiment of the present application; Figure 11 Schematic diagram of the positional relationship between the limiting convex part and the lower pressing frame when a gripper with a self-locking function in the embodiment of the present application is in an open state; Figure 12 Schematic diagram of the structure of the unlocking seat in the embodiment of the present application; Figure 13 Schematic diagram of the structure of the suspension transport vehicle in the embodiment of the present application; Figure 14 Schematic diagram of the unloading process of the suspension transport vehicle in the embodiment of the present application.

[0017] In the figure: 1 - Second frame body; 11 - Second driver; 2 - First frame body; 21 - First driver; 3 - Lower pressing frame; 31 - Transmission connecting rod; 33 - Limiting bottom plate; 330 - Through groove; 34 - Vertical plate; 35 - Connecting plate; 36 - Limiting top plate; 37 - Guide rod; 371 - Compression spring; 38 - Pressing seat; 39 - Pressing block; 4 - Gripper; 41 - Limiting plate; 411 - Support plate; 4110 - First limiting side edge; 412 - Side plate; 4120 - Second limiting side edge; 4111 - Chute; 42 - Mounting plate; 421 - Limiting convex part; 422 - Guide post; 423 - Limiting baffle; 43 - Transmission plate; 431 - First rotating joint; 432 - Second rotating joint; 441 - Locking frame; 4411 - Sliding seat; 442 - Locking plate; 4421 - Limiting edge; 4422 - Transmission surface; 443 - Return spring; 444 - Sliding connecting plate; 4441 - Positioning convex; 445 - Unlocking convex part; 5 - vehicle body; 6 - transfer platform; 60 - spacing cavity; 61 - limit groove; 7 - unlocking seat. Specific implementation manner

[0018] Embodiment 1 As Figures 1 to 3 shown, this embodiment provides a gripper with a self - locking function, including: The first frame body 2, on which a first driver 21 is provided; a pressing frame 3, the first driver 21 is in transmission connection with the pressing frame 3, and a transmission connecting rod 31 is pivotally connected to the pressing frame 3; a pair of symmetrically arranged clamping claws 4, the clamping claws 4 are pivotally connected to the lower end of the first frame body 2, the transmission connecting rod 31 is pivotally connected to the clamping claws 4, and a clamping cavity is formed between the pressing frame 3 and the pair of clamping claws 4; the clamping claw 4 includes a mounting plate 42, and a group of spaced - apart limiting plates 41 are connected to the mounting plate 42, the limiting plate 41 includes a supporting plate 411, and a first limiting side edge 4110 is provided on the supporting plate 411; As Figure 4 and Figure 5 shown, it further includes a locking device arranged on one of the clamping claws 4, and the locking device includes: A lock frame 441 slidably mounted on the mounting plate 42; a lock plate 442 mounted on the lock frame 441, the lock plate 442 is arranged on the side of the supporting plate 411 away from the first limiting side edge 4110, the lock plate 442 extends out of the side surface of the supporting plate 411 along the thickness direction of the supporting plate 411 to form a limiting flange 4421, a transmission surface 4422 is provided on one side of the limiting flange 4421 near the front end of the supporting plate 411, and the transmission surface 4422 is always located behind the front end of the supporting plate 411; a return spring 443 elastically connected to the supporting plate 411, and the return spring 443 applies an elastic force to the lock frame 441 to slide towards the front end of the supporting plate 411; the first driver 21 is used to drive the pressing frame 3 to move longitudinally to synchronously drive the pair of clamping claws 4 to rotate, so as to realize the switching of the gripper between the open state and the closed state; as Figure 7 shown, during the process of the gripper moving from the open state to the closed state, the front end of the supporting plate 411 on the opposite clamping claw 4 will abut against the transmission surface 4422 and push the lock frame 441 to slide, so as to make room for the movement of the supporting plate 411; after the gripper is in the closed state, the first limiting side edge 4110 is limited at the bottom of the clamping cavity, the front ends of the supporting plates 411 on the corresponding two clamping claws 4 intersect and overlap with each other to limit the bottom of the clamping cavity, the front end of the supporting plate 411 on the opposite clamping claw 4 is separated from the transmission surface 4422, and the return spring 443 pushes the lock frame 441 to reset and move until the limiting flange 4421 is limited below the supporting plate 411 on the opposite side, so as to limit the rotation of the clamping claw 4 in the opening direction.

[0019] Based on the above device, since a pair of claws 4 rotate synchronously during the process of the clamp switching between the open and closed states, and when in the closed state, the front ends of the support plates 411 on both sides are staggered and overlap, then inevitably, in the process of moving to the closed state, the front end of the support plate 411 on one side will pass through the support plate 411 on the opposite side, that is, it will be exposed from the side of the support plate 411 on the opposite side away from the first limiting side edge 4110, and the front end position of the support plate 411 will move backward on the support plate 411 on the other side, thereby pushing the lock plate 442 set on the side of the support plate 411 away from the first limiting side edge 4110 to move to make room for the movement of the support plate 411. After the clamp is switched to the closed state, the supporting plates 411 on both sides overlap with each other, so the front ends of the supporting plates 411 on both sides are located inside the side of the opposite supporting plate 411, that is, the front ends of the supporting plates 411 do not expose the side of the opposite supporting plate 411 away from the first limiting side edge 4110. As a result, the front end of the supporting plate 411 on the opposite holding claw 4 is separated from the transmission surface 4422, and the lock frame 441 is reset to the limiting edge 4421 below the opposite holding claw 411 by the push of the return spring 443. In addition, because the holding claws 4 on both sides rotate synchronously, the holding claw 4 on one side is limited to being unable to rotate, which also causes the holding claw 4 on the opposite side to be unable to rotate, thereby achieving the locking device locking the clamp to the closed state.

[0020] There are three locking plates 442, one set spaced apart in the same direction as the stop plates 41. The transmission surface 4422 is rounded and located at the front end of the locking plates 442, near the side of the support plate 411. As the gripper moves from an open to a closed position, the support plate 411 on the opposite gripper 4 abuts the transmission surface 4422, pushing the lock frame 441 to slide. During this process, the front end of the support plate 411 and the transmission surface 4422 slide relative to each other. By defining the shape and position of the transmission surface 4422 in this application, the stability of the sliding movement is improved.

[0021] In this embodiment, a limiting top surface is provided at the bottom of the lower pressure frame 3; the limiting top surface is located at the top of the holding cavity. When the clamp switches from the open state to the closed state, the limiting top surface descends to compress the longitudinal space of the holding cavity.

[0022] like Figure 3 and Figure 6 As shown, in this embodiment, the lower pressure frame 3 includes a horizontal limiting base plate 33 and vertical plates 34 fixed on both sides of the limiting base plate 33, the limiting bottom surface is arranged at the bottom of the limiting base plate 33, and the vertical plates 34 are longitudinally slidably connected to the first frame body 2 through guide rails and sliders. The first driver 21 is a pair of cylinders, and the movable rods of a pair of first drivers 21 are respectively installed on a pair of vertical plates 34, and the transmission connecting rod 31 is rotatably connected to the vertical plates 34.

[0023] In this embodiment, a pair of connecting plates 35 are connected between a pair of the vertical plates 34. A pair of limiting top plates 36 are fixed on the connecting plates 35. The limiting top plates 36 are arranged above the limiting bottom plates 33. A vertically arranged guide rod 37 is provided between the limiting bottom plates 33 and the limiting top plates 36. A pressing seat 38 is slidably sleeved on the guide rod 37. A pressing block 39 is provided at the bottom of the pressing seat 38. A through groove 330 corresponding to the pressing block 39 is provided on the limiting bottom plate 33. A compression spring 371 is sleeved on the guide rod 37. Two ends of the compression spring 371 are respectively abutted against the limiting top plate 36 and the pressing seat 38. In the natural state, the bottom of the pressing block 39 passes through the through groove 330 and is located below the limiting bottom plate 33. The pressing seat 38 is elastically arranged on the lower pressing frame 3. When the gripper is in the closed state, the pressing block 39 arranged on the pressing seat 38 passes through the limiting bottom plate 33 to longitudinally compact the materials located in the holding cavity.

[0024] As Figures 2 to 5 shown, in this embodiment, the limiting plate 41 further includes a side plate 412. A second limiting side edge 4120 is provided on the side plate 412. The extending directions of the supporting plate 411 and the side plate 412 are perpendicular to each other and integrally connected at the end to form an L shape. The first limiting side edge 4110 and the second limiting side edge 4120 are respectively the inner edges of the supporting plate 411 and the side plate 412. The side of the side plate 412 away from the second limiting side edge 4120 is connected to the mounting plate 42. When the gripper is in the open state, the front end of the supporting plate 411 is vertically arranged downward as a whole. The first limiting side edges 4110 on a pair of holding claws 4 are located on both sides of the holding cavity. The side plate 412 is horizontally arranged above the supporting plate 411 and is located on both sides of the limiting top surface. The bottom of the holding cavity is open. When the gripper is in the closed state, the side plate 412 is vertically arranged to limit both sides of the holding cavity. The supporting plate 411 is horizontally arranged at the lower end of the side plate 412 to close the open bottom of the holding cavity.

[0025] The holding claw 4 further includes a pair of transmission plates 43 perpendicular to the mounting plate 42. The transmission plates 43 are installed on both sides of the mounting plate 42. A group of limiting plates 41 are arranged between the pair of transmission plates 43. First rotating joints 431 and second rotating joints 432 respectively pivotally connected to the first frame body 2 and the transmission connecting rod 31 are provided on the transmission plates 43. When the gripper is in the open state, the central connection line of the first rotating joint 431 and the second rotating joint 432 is horizontal. When the gripper is in the closed state, the central connection line of the first rotating joint 431 and the second rotating joint 432 is vertical and the second rotating joint 432 is below the first rotating joint 431. When the gripper is in the closed state, the holding cavity is rectangular. The limiting top surface and the first limiting side edge 4110 limit the upper and lower ends of the holding cavity. The second limiting side edges 4120 on both sides limit one pair of side surfaces of the holding cavity. The two transmission plates 43 on both sides limit the other pair of side surfaces of the holding cavity.

[0026] As Figure 4 and Figure 11As shown in the figure, in this embodiment, a limiting convex portion 421 is provided on the mounting plate 42. When the gripper is reset to the open state, the lower end of the limiting convex portion 421 abuts against the lower pressing frame 3 to limit the further upward movement of the lower pressing frame 3 and the further flipping of the clamping jaw 4 in the opening direction. Based on the above device, when the gripper is reset to the open state, a self-locking positioning of the clamping jaw 4 and the lower pressing frame 3 can be achieved. Compared with directly controlling the moving stroke of the lower pressing frame 3 to achieve positioning, it can not only ensure the positioning accuracy but also improve the positioning efficiency, and compared with arranging a limiting member outside the gripper, it has the advantage of a compact structure. Specifically, a pair of limiting convex portions 421 are provided on the mounting plate 42, and the limiting convex portions 421 are arranged at intervals in the arrangement direction of the limiting plate 41. The limiting convex portions 421 are rubber pads connected to the mounting plate 42 by screws.

[0027] As Figure 4 and Figure 5 shown in the figure, in this embodiment, a pair of sliding seats 4411 are provided on the locking frame 441. A pair of guide posts 422 are fixed on the side of the mounting plate 42 away from the limiting plate 41. A limiting baffle 423 is provided at the end of the guide post 422 away from the mounting plate 42. The sliding seat 4411 is slidably sleeved on the guide post 422. The return spring 443 is sleeved on the guide post 422 and abuts against the limiting baffle 423 and the sliding seat 4411 at both ends respectively; a sliding connecting plate 444 is provided on the locking plate 442, a positioning convex 4441 is provided on the sliding connecting plate 444, and a sliding groove 4111 is provided on the support plate 411 connected to the locking plate 442. The positioning convex 4441 is slidably arranged in the sliding groove 4111. The locking frame 441 is slidably connected to the mounting plate 42 through the sliding seat 4411 and the guide post 422, and the sliding connection between the sliding groove 4111 and the positioning convex 4441 supports the locking plate 442 to ensure the stability of the relative sliding movement of the locking frame 441 and the locking plate 442 with respect to the clamping jaw 4 and improve the bearing capacity after the gripper is locked. In this embodiment, an unlocking convex portion 445 is further included. The unlocking convex portion 445 is provided on the locking frame 441 or the locking plate 442. The unlocking convex portion 445 is used to cooperate with an external unlocking member to move to drive the locking frame 441 to move so that the limiting flange 4421 releases the limitation on the side support plate 411. In this embodiment, the unlocking convex portion 445 is provided on one group of locking plates 442 on the side away from the support plate 411 and on the side of the locking plate 442 close to the locking frame 441.

[0028] This as Figures 8 to 9As shown, in the embodiment, a transfer platform 6 is further included, and a plurality of longitudinally extending partition cavities 60 are provided on the transfer platform 6. The partition cavities 60 extend out of the upper end surface and a pair of side surfaces of the transfer platform 6. The plurality of partition cavities 60 are arranged along the arrangement direction of the limiting plates 41. A limiting groove 61 for placing materials is provided on the upper end surface of the transfer platform 6; in the process of switching the clamp from an open state to a closed state, the support plates 411 on both sides pass through the partition cavities 60 from the sides of the transfer platform 6 to limit the materials placed on the limiting grooves 61 in the clamping cavities.

[0029] Example 2 like Figure 13 As shown, a suspended transport vehicle includes a vehicle body 5 and a clamp with a self-locking function in Example 1, a second frame 1 is installed at the bottom of the vehicle body 5, the first frame 2 is longitudinally slidably installed on the second frame 1 through a guide rail slider, and a second driver 11 is provided on the second frame 1, the second driver 11 is connected to the first frame 2 for driving the first frame 2 to move up and down on the second driver 11, and the specific second driver 11 is a cylinder.

[0030] like Figure 12 and Figure 14 As shown, in this embodiment, the external unlocking component is an unlocking seat 7 provided at the unloading station. When the vehicle body 5 moves to the unloading station, the unlocking seat 7 is used to push the unlocking protrusion 445 to move to the limiting edge 4421 to release the limitation of the opposite side support plate 411.

[0031] Based on the above device, efficient material transfer can be achieved, especially for the transportation of bagged flexible materials. The method of using the hanging transport vehicle includes the following steps: Step S1: Reset, the second driver 11 and the first driver 21 are reset, the first frame 2 and the lower pressure frame 3 are at the highest point, the clamp is in the open state, and the vehicle body 5 moves to the holding cavity facing the limit groove 61; Step S2: descending, the second driver 11 drives the first frame 2 to descend to the lowest point; Step S3: Clamping, such as Figure 8 and Figure 9 As shown, the first driver 21 drives the lower pressure frame 3 to descend to the lowest point, and the support plate 411 penetrates the partition cavity 60 from the side of the transfer platform 6 until the clamp is in the closed state and is locked by the locking device; at this time, the support plate 411 supports the bottom of the material on the limiting groove 61, and the side plates 412 on both sides limit the two ends of the material. The other two sides are limited by the transmission plate 43, and the pressure block 39 is elastically pressed on the top of the material; step S4: rising, the second driver 11 drives the first frame 2 to rise to move the clamp to the top of the transfer platform 6; step S5: moving, the car body 5 moves toward the unloading station; step S6: unloading, the car body 5 moves to the unloading station, and in the process of the car body 5 being in place, the unlocking protrusion 445 is driven by the car body 5 as shownFigure 14 The middle part moves to the right and conflicts with the unlocking seat 7. The unlocking protrusion 445 moves to the limit stop edge 4421 to release the limit of the opposite side support plate 411. The first driver 21 drives the lower pressure frame 3 to rise and reset, open the holding cavity, and place the material at the unloading station.

[0032] The technical principles of the present invention have been described above in conjunction with specific embodiments. These descriptions are intended solely to illustrate the principles of the present invention and are not to be construed in any way as limiting the scope of protection of the present invention. Based on the explanations herein, those skilled in the art will be able to conceive of other specific embodiments of the present invention without inventive effort, and such embodiments will fall within the scope of protection of the present invention.

Claims

1. A clamping device with a self-locking function, characterized in that: Comprising: A first frame body (2) with a first driver (21) provided thereon; A pair of symmetrically arranged clamping claws (4) pivotally connected to the lower end of the first frame body (2). A clamping cavity is formed between the pair of clamping claws (4), and the first driver (21) is drivingly connected to the pair of clamping claws (4); The clamping claw (4) includes a mounting plate (42), and a group of spaced-apart limiting plates (41) are connected to the mounting plate (42). The limiting plate (41) includes a supporting plate (411), and a first limiting side edge (4110) is provided on the supporting plate (411); It further includes a locking device provided on one of the clamping claws (4), and the locking device includes: A lock frame (441) slidably mounted on the mounting plate (42); A lock plate (442) mounted on the lock frame (441). The lock plate (442) is arranged on the side of the supporting plate (411) away from the first limiting side edge (4110), and the lock plate (442) extends out of the side surface of the supporting plate (411) along the thickness direction of the supporting plate (411) to form a limiting flange (4421); A return spring (443) elastically connected to the supporting plate (411); The first driver (21) is used to synchronously drive the pair of clamping claws (4) to rotate, so as to realize the switching of the gripper between the open state and the closed state; During the process of the gripper moving from the open state to the closed state, the supporting plate (411) on the opposite clamping claw (4) will abut against the lock plate (442) and push the lock frame (441) to slide; After the gripper is in the closed state, the first limiting side edge (4110) is limited to the bottom of the clamping cavity. The front ends of the supporting plates (411) on the corresponding two clamping claws (4) are staggered and overlapped with each other. The return spring (443) pushes the lock frame (441) to reset and move until the limiting flange (4421) is limited below the supporting plate (411) on the opposite side, so as to limit the rotation of the clamping claw (4) in the opening direction.

2. The clamping device with a self-locking function according to claim 1, characterized in that : It further includes a pressing frame (3), the first driver (21) is drivingly connected to the pressing frame (3), and a transmission connecting rod (31) is pivotally connected to the pressing frame (3); The transmission connecting rod (31) is pivotally connected to the clamping claw (4); The first driver (21) drives the pressing frame (3) to move longitudinally to synchronously drive the pair of clamping claws (4) to rotate, so as to realize the switching of the gripper between the open state and the closed state; A limiting top surface is provided at the bottom of the pressing frame (3); The limiting top surface is located at the top of the clamping cavity. During the process of the gripper switching from the open state to the closed state, the limiting top surface descends to compress the longitudinal space of the clamping cavity.

3. The clamping device with a self-locking function according to claim 2, characterized in that: The pressing frame (3) includes a horizontally arranged limiting bottom plate (33) and vertical plates (34) fixed on both sides of the limiting bottom plate (33). The limiting bottom surface is arranged at the bottom of the limiting bottom plate (33). The vertical plates (34) are longitudinally slidably connected to the first frame body (2), and the transmission connecting rod (31) is rotatably connected to the vertical plates (34).

4. The clamping device with a self-locking function according to claim 3, characterized in that: A pair of connecting plates (35) are connected between the pair of vertical plates (34). A limiting top plate (36) is fixed on the connecting plate (35). The limiting top plate (36) is arranged above the limiting bottom plate (33). A vertical guide rod (37) is arranged between the limiting bottom plate (33) and the limiting top plate (36). A pressing seat (38) is slidably sleeved on the guide rod (37). A pressing block (39) is arranged at the bottom of the pressing seat (38). A through groove (330) corresponding to the pressing block (39) is arranged on the limiting bottom plate (33). A compression spring (371) is sleeved on the guide rod (37). The two ends of the compression spring (371) are respectively abutted against the limiting top plate (36) and the pressing seat (38). In the natural state, the bottom of the pressing block (39) passes through the through groove (330) and is located below the limiting bottom plate (33).

5. The clamping device with a self-locking function according to claim 1, wherein: The limiting plate (41) further includes a side plate (412). A second limiting side edge (4120) is arranged on the side plate (412). The extending directions of the supporting plate (411) and the side plate (412) are perpendicular to each other and are integrally connected at the end to form an L shape. The first limiting side edge (4110) and the second limiting side edge (4120) are respectively the inner side edges of the supporting plate (411) and the side plate (412). The side of the side plate (412) away from the second limiting side edge (4120) is connected to the mounting plate (42). When the gripper is in the open state, the front end of the supporting plate (411) is downward and vertically arranged as a whole. The first limiting side edges (4110) on the pair of clamping claws (4) are located on both sides of the clamping cavity. The side plate (412) is horizontally arranged at the upper end of the supporting plate (411) and is located on both sides of the limiting top surface. The bottom of the clamping cavity is open. When the gripper is in the closed state, the side plate (412) is vertically arranged to limit both sides of the clamping cavity. The supporting plate (411) is horizontally arranged at the lower end of the side plate (412) to close the open bottom of the clamping cavity.

6. The clamping device with a self-locking function according to claim 1, wherein: A pair of sliding seats (4411) are arranged on the lock frame (441). A pair of guide posts (422) are fixed on the mounting plate (42) on the side away from the limiting plate (41). A limiting baffle (423) is arranged at one end of the guide post (422) away from the mounting plate (42). The sliding seat (4411) is slidably sleeved on the guide post (422). The return spring (443) is sleeved on the guide post (422) and its two ends are respectively abutted against the limiting baffle (423) and the sliding seat (4411). A sliding connecting plate (444) is arranged on the lock plate (442). A positioning convex (4441) is arranged on the sliding connecting plate (444). A chute (4111) is arranged on the supporting plate (411) connected to the lock plate (442). The positioning convex (4441) is slidably arranged in the chute (4111).

7. The clamping device with a self-locking function according to claim 6, characterized in that: It further includes an unlocking convex part (445). The unlocking convex part (445) is arranged on the lock frame (441) or the lock plate (442). The unlocking convex part (445) is used to cooperate with an external unlocking member to move so as to drive the lock frame (441) to move to release the limitation of the opposite supporting plate (4 8. The clamping device with a self-locking function according to claim 2, characterized in that: A limiting convex part (421) is provided on the mounting plate (42). When the gripper is reset to the open state, the lower end of the limiting convex part (421) abuts against the lower pressing frame (3) to limit the further upward movement of the lower pressing frame (3) and the further flipping of the clamping claws (4) in the opening direction.

9. The clamping device with a self-locking function according to claim 1, characterized in that: It further includes a transfer table (6). A plurality of longitudinally extending spaced cavities (60) are provided on the transfer table (6). The spaced cavities (60) extend out of the upper end surface and a pair of side surfaces of the transfer table (6). The plurality of spaced cavities (60) are arranged along the arrangement direction of the limiting plate (41). A limiting groove (61) for placing materials is provided on the upper end surface of the transfer table (6). During the process of the gripper switching from the open state to the closed state, the two side support plates (411) pass through the spaced cavities (60) from the side surfaces of the transfer table (6) to limit the materials placed on the limiting groove (61) in the clamping cavity.

10. A suspended transport vehicle, characterized in that: It includes a vehicle body (5) and a gripper with a self-locking function as described in claim 1. A second frame body (1) is installed at the bottom of the vehicle body (5). The first frame body (2) is longitudinally slidably installed on the second frame body (1). A second driver (11) is provided on the second frame body (1). The second driver (11) is in transmission connection with the first frame body (2) for driving the first frame body (2) to move up and down on the second driver (11).

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