Simple driving type suspension transport vehicle clamping device and transfer device

Abstract

The invention relates to the technical field of suspension transport vehicles, in particular to a simple driving type suspension transport vehicle clamping device and transfer device.The simple driving type suspension transport vehicle clamping device and transfer device comprises a fixing frame, a linear driver is installed on the fixing frame, and a movable part longitudinally reciprocating is arranged on the linear driver; the lifting frame is longitudinally connected to the fixing frame in a sliding mode, and a first longitudinal limiting component is arranged between the lifting frame and the fixing frame; the holding and clamping module comprises a lower pressing frame and a pair of holding claws which are symmetrically arranged, a transmission connecting rod is pivoted to the lower pressing frame, the movable part is connected with the lower pressing frame, and a second longitudinal limiting component is arranged between the lifting frame and the lower pressing frame; the holding claw is pivoted to the lower end of the lifting frame, the transmission connecting rod is pivoted to the holding claw, and the holding claw is located at the lower end of the lower pressing frame. The upper end of the tension spring is connected to the lifting frame, and the lower end of the tension spring is connected to the lower pressing frame. And the control is simple, the reliability is good, and the manufacturing cost can be saved.

Description

Technical Field

[0001] The present invention relates to the technical field of suspended transport vehicles, and particularly relates to a simple drive type suspended transport vehicle gripper and a transfer device. Background Art

[0002] In modern automated logistics systems and flexible production lines, suspended transport vehicles are widely used for the aerial transfer of materials or workpieces inside workshops due to their high space utilization rate, flexible paths, strong load-bearing capacity, etc. In the core processes of such transport vehicles for grasping, transporting, and placing workpieces, the performance of the gripper is crucial, and it needs to have reliable clamping force, stable lifting function, and precise opening and closing control.

[0003] Traditional drive type suspended gripper designs often face the following technical challenges: 1. The contradiction between motion coordination and structural complexity: To achieve the linkage of two basic motions, namely lifting and clamping, usually requires multiple independent drive sources (such as lifting cylinders / pneumatic cylinders and clamping cylinders / pneumatic cylinders) or complex link and gear mechanisms. This not only increases the manufacturing cost, weight, and maintenance difficulty of the system, but also improves the complexity of the control system.

[0004] 2. Ensuring the action timing under a single drive: When using a single drive source to simplify the structure, how to ensure that the clamping action starts only after the lifting action is in place and keep the clamping state stable during the lifting process (especially keeping the open state from closing accidentally) becomes a key problem. An unreasonable action sequence may lead to clamping failure (such as clamping the workpiece before it is in place) or interference collision (such as the jaws accidentally closing and touching the equipment during the descent).

[0005] In the prior art, some gripper designs using a single drive often have difficulty reliably ensuring the key working timing of "the gripper remains open before the lifting is in place and precisely triggers the clamping action after the lifting is in place" while simplifying the structure. This may lead to unreliable operation, affect the handling efficiency, and even cause damage to the workpiece or equipment. Summary of the Invention

[0006] To overcome the above deficiencies of the prior art, the present invention provides a simple drive type suspended transport vehicle gripper, which has the advantages of simple control and good reliability, and can save manufacturing costs.

[0007] To achieve the above object, the present invention is realized through the following technical solutions: A simple drive type suspended transport vehicle gripper, comprising: A fixed frame, on which a linear drive is installed, and an active part that moves longitudinally back and forth is provided on the linear drive; Lifting frame, the lifting frame is longitudinally slidably connected to the fixed frame, and a first longitudinal limiting member is provided between the lifting frame and the fixed frame; Clamping module, the clamping module includes a pressing frame and a pair of symmetrically arranged clamping claws, a transmission connecting rod is pivotally connected to the pressing frame, the moving member is connected to the pressing frame, and a second longitudinal limiting member is provided between the lifting frame and the pressing frame; the clamping claws are pivotally connected to the lower end of the lifting frame, and the transmission connecting rod is pivotally connected to the clamping claws; Tension spring, the upper end of the tension spring is connected to the lifting frame, and the lower end of the tension spring is connected to the pressing frame; When the moving member returns to the high point, the lifting frame is at the high position and is limited to the pressing frame by the second longitudinal limiting member, and the clamping module is in the open state; When the moving member descends to the first height, the lifting frame is at the low position and is limited to the fixed frame by the first longitudinal limiting member; during this process, due to the action of the tension spring, the lifting frame is always limited to the pressing frame by the second longitudinal limiting member to keep the clamping module always in the open state; During the process that the moving member continues to descend from the first height to the second height, the tension spring is stretched, and the pressing frame moves longitudinally relative to the lifting frame to realize the switching of the clamping module between the open state and the closed state.

[0008] Further, in a simple drive type suspension transport vehicle clamping device in the present application, the lifting frame includes a cross plate and a pair of first vertical plates fixedly arranged on both sides of the cross plate. The cross plate is located at the upper end of the first vertical plates. The clamping claws are pivotally connected to one end of the first vertical plates far from the cross plate. The first vertical plates are longitudinally slidably connected to the fixed frame. A first positioning plate extending horizontally is provided on the first vertical plates, and the first positioning plate is located below the cross plate; a second positioning plate is provided on the fixed frame, and the second positioning plate is arranged between the cross plate and the first positioning plate; a third positioning plate is provided on the pressing frame, and the third positioning plate is located below the second positioning plate; both ends of the tension spring are respectively connected to the cross plate and the pressing frame; when the moving member returns to the high point, the first positioning plate abuts against the third positioning plate, and the adjacent surfaces of the first positioning plate and the third positioning plate form the second longitudinal limiting member; when the moving member descends to the first height, the second positioning plate abuts against the cross plate, and the adjacent surfaces of the second positioning plate and the cross plate form the first longitudinal limiting member.

[0009] Further, in a simple drive type suspension transport vehicle clamping device in the present application, a clamping cavity is formed between the pressing frame and a pair of clamping claws. The clamping claws are provided with a limiting bottom surface, and the bottom of the pressing frame is provided with a limiting top surface; when the clamping module is in the open state, the limiting bottom surfaces of the pair of clamping claws are located on both sides of the clamping cavity, the bottom of the clamping cavity is open, and the limiting top surface is used to limit the top of the clamping cavity; during the process that the clamping module switches from the open state to the closed state, the limiting bottom surfaces of the pair of clamping claws are combined with the bottom of the clamping cavity to close the bottom opening of the clamping cavity, and the limiting top surface descends to compress the longitudinal space of the clamping cavity.

[0010] Further, in a clamping device of a simple driving type suspended transport vehicle in the present application, the clamping jaw includes a mounting plate, and a group of L-shaped limiting plates arranged at intervals are connected to the mounting plate. The L-shaped limiting plates are provided with a first limiting side edge and a second limiting side edge. A group of first limiting side edges form a limiting bottom surface, and a group of second limiting side edges form a limiting side surface. The mounting plate is parallel to the limiting side surface.

[0011] Further, in a clamping device of a simple driving type suspended transport vehicle in the present application, the clamping jaw further includes a pair of transmission plates perpendicular to the mounting plate. The transmission plates are installed on both sides of the mounting plate. A group of L-shaped limiting plates are arranged between the pair of transmission plates. The transmission plates are provided with a first rotating joint and a second rotating joint respectively pivotally connected to the lifting frame and the transmission connecting rod. When the clamping module is in the open state, the central connection line of the first rotating joint and the second rotating joint is horizontal; when the clamping module is in the closed state, the central connection line of the first rotating joint and the second rotating joint is vertical and the second rotating joint is below the first rotating joint. As a preferred solution of the present application, when the clamping module is in the closed state, the gravity of the lifting frame and the pulling force of the tension spring are in the same direction as the central connection line of the first rotating joint and the second rotating joint, so as to form a dead point to improve the stability of the clamping module when it is in the closed state.

[0012] Further, in a clamping device of a simple driving type suspended transport vehicle in the present application, a first limiting protrusion is provided on the mounting plate. When the clamping module is reset to the open state, the lower end of the first limiting protrusion abuts against the lower pressing frame to limit the lower pressing frame from continuing to move upward and the clamping jaw from continuing to flip in the open direction. As a preferred solution of the present application, based on the above device, self-locking positioning of the clamping jaw and the lower pressing frame can be realized when the clamping module is reset to the open state. Compared with directly controlling the moving stroke of the lower pressing frame to achieve positioning, it can not only ensure the positioning accuracy but also improve the positioning efficiency, and has the advantage of compact structure compared with setting a limiting member outside the clamping module. Further, in a clamping device of a simple driving type suspended transport vehicle in the present application, the L-shaped limiting plate includes a supporting plate and a side plate. The extending directions of the supporting 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 respectively the inner edges of the supporting plate and the side plate; When the clamping module is in the open state, the front end of the supporting plate faces downward and is vertically arranged as a whole, and the side plate is horizontally arranged at the upper end of the supporting plate; When the clamping module is in the closed state, the side plate is vertically arranged, and the supporting plate is horizontally arranged at the lower end of the side plate. The front ends of the supporting plates on the corresponding two clamping jaws intersect and overlap with each other.

[0013] Further, in a clamping device of a simple driving type suspended transport vehicle in the present application, it further includes a locking device. When the clamping module is switched to the closed state, the locking device is used to lock the closed state. The locking device is arranged on one of the clamping jaws. 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 pallet away from the first limiting side edge, the lock plate extends out of the side surface of the pallet along the thickness direction of the pallet to form a limiting flange, and a transmission surface is arranged on one side of the limiting flange near the front end of the pallet, and the transmission surface is always located at the rear side of the front end of the pallet; A return spring elastically connected to the limiting bottom surface, and the return spring applies an elastic force to the lock frame to slide towards the front end of the pallet; During the process of the clamping module moving from the open state to the closed state, the front end of the pallet on the opposite clamping jaw will abut against the transmission surface and push the lock frame to slide, so as to make room for the movement of the pallet; After the clamping module is in the closed state, the front end of the pallet on the opposite clamping jaw is separated from the transmission surface, and the return spring pushes the lock frame to reset and move until the limiting flange is limited below the pallet on the opposite side, so as to limit the clamping jaw from rotating in the opening direction. As a preferred solution of the present application, the clamping module is locked in the closed state by a locking device, and the movable part can lift the clamped material for subsequent transfer. Based on the above device, since a pair of clamping jaws rotate synchronously during the process of the clamping module switching between the open and closed states, and when in the closed state, the front ends of the two pallets are staggered and overlapped, then inevitably, during the movement to the closed state, the front end of one pallet will pass through the opposite pallet, that is, it will expose from the side of the opposite pallet away from the first limiting side edge, and the position of the front end of the pallet will move backward on the other pallet, so as to be able to push the lock plate arranged on the side of the pallet away from the first limiting side edge to move and make room for the movement of the pallet. After the clamping module is switched to the closed state, since the two pallets overlap each other, the front ends of the two pallets are located inside the side surfaces of the opposite pallets, that is, the front ends of the pallets do not expose from the side of the opposite pallet away from the first limiting side edge. Therefore, the front end of the pallet on the opposite clamping jaw is separated from the transmission surface, and the pushing of the return spring can make the lock frame reset until the limiting flange is limited below the pallet on the opposite side. And because the two clamping jaws rotate synchronously, the limitation of the rotation of one clamping jaw also causes the inability of the opposite clamping jaw to rotate, thereby realizing the locking of the clamping module to the closed state by the locking device.

[0014] Further, a simple drive type suspension transport vehicle gripper in the present application further includes an unlocking convex part, the unlocking convex part is arranged on the lock frame or the lock plate, and the unlocking convex part is used to cooperate with an external unlocking member to move to drive the lock frame to move until the limiting flange releases the limitation of the opposite pallet.

[0015] A transfer device includes: a suspension transport vehicle, a gripper as described above is installed at the bottom of the suspension transport vehicle, and a fixed frame is connected to the bottom of the suspension transport vehicle; Transfer table, on which there are several longitudinally extending spaced cavities that extend out of the upper end face and a pair of side faces of the transfer table. The several spaced cavities are arranged along the arrangement direction of the L-shaped limiting plate. On the upper end face of the transfer table, there is a limiting groove for placing materials; during the process of the clamping module switching from the open state to the closed state, the support plate passes through the spaced cavity to limit the material placed on the limiting groove in the clamping cavity; The unlocking seat provided at the unloading station. During the process of the hanging transport vehicle moving to the unloading station, the unlocking seat is used to push the unlocking convex part to move to the limiting flange to release the limit on the side support plate.

[0016] It can be seen from the above technical solutions that the present invention has the following beneficial effects: The present invention provides a simple drive type hanging transport vehicle gripper. Its principle is: during use, the gripper is moved to a preset height above the material to be transferred by the hanging transport vehicle. The moving part is reset to the high point. The linear drive only needs to drive the moving part to descend to the second height, and can sequentially realize the descent of the clamping module, the switching from the open state to the closed state to clamp the material. Therefore, by using a tension spring, two-stage limiting and a linkage mechanism, under the drive of a single driver, the actions are strictly and reliably executed in the order of descending, maintaining the open state to the bottom, and continuing to descend to trigger clamping. Therefore, it has the advantages of simple control and good reliability, and can save manufacturing costs.

[0017] The present invention provides a simple drive type hanging transport vehicle gripper. Through the synchronous linkage limit of the limiting bottom surface and the limiting top surface, synchronous bottom support and top pressing are formed to realize the synchronous up and down limit of the material to be taken in the longitudinal direction.

[0018] The present invention provides a transfer device that can realize the efficient transfer of materials, especially suitable for the transfer of bagged flexible materials. Description of the Drawings

[0019] Figure 1 Structural schematic diagram of a simple drive type hanging transport vehicle gripper in an embodiment of the present application (the moving part is reset to the high point); Figure 2 is Figure 1 exploded view of the components; Figure 3 Exploded view of the components of the lifting frame and the clamping module in an embodiment of the present application; Figure 4 Structural schematic diagram of the pressing frame in an embodiment of the present application; Figure 5 Structural schematic diagram of the claw of the installation locking device in an embodiment of the present application; Figure 6 is Figure 5 exploded view of the claw in; Figure 7 Structural schematic diagram of a clamping device for a simple drive type suspended transport vehicle in an embodiment of the present application (the movable part descends to the first height); Figure 8 Structural schematic diagram of a clamping device for a simple drive type suspended transport vehicle in an embodiment of the present application (the movable part descends to the second height); Figure 9 Schematic diagram showing the clamping module of the present application moving from the open state to the closed state; Figure 10 Working principle diagram of a transfer device in Embodiment 2 of the present application (corresponding to steps S1 to S4); Figure 11 Working principle diagram of a transfer device in Embodiment 2 of the present application (corresponding to step S6); Figure 12 Structural schematic diagram of a transfer table in Embodiment 2 of the present application; Figure 13 Structural schematic diagram of an unlocking seat in Embodiment 2 of the present application.

[0020] In the figure: 1 - Fixed frame; 11 - Linear driver; 111 - Movable part; 12 - Second positioning plate; 2 - Lifting frame; 21 - Tensile spring; 22 - First vertical plate; 23 - First positioning plate; 24 - Cross plate; 3 - Pressing frame; 31 - Transmission connecting rod; 32 - Third positioning plate; 33 - Limit bottom plate; 330 - Through slot; 34 - Second vertical plate; 35 - Connecting plate; 36 - Top plate; 37 - Guide rod; 371 - Compression spring; 38 - Pressing seat; 39 - Pressing block; 4 - Claw; 41 - L-shaped limit plate; 411 - Limit bottom surface; 4110 - First limit side edge; 412 - Limit side surface; 4120 - Second limit side edge; 413 - Support plate; 4130 - Slide groove; 414 - Side plate; 42 - Mounting plate; 421 - First limit protrusion; 422 - Guide post; 423 - Limit plate; 43 - Transmission plate; 431 - First rotating joint; 432 - Second rotating joint; 441 - Locking frame; 4411 - Sliding seat; 442 - Locking plate; 4421 - Limit retaining edge; 4422 - Transmission surface; 443 - Return spring; 444 - Sliding connecting plate; 4441 - Positioning protrusion; 445 - Unlocking protrusion; 5 - Suspended transport vehicle; 6 - Transfer table; 60 - Spacing cavity; 61 - Limit groove; 7 - Unlocking seat. Detailed implementation mode

[0021] Embodiment 1 Combined with Figure 1A simple drive type suspension transport vehicle gripper shown in the figure includes: A fixed frame 1, on which a linear drive 11 is installed, and a movable member 111 that moves longitudinally back and forth is provided on the linear drive 11; A lifting frame 2, which is longitudinally slidably connected to the fixed frame 1, and a first longitudinal limiting member is provided between the lifting frame 2 and the fixed frame 1; A clamping module, which includes a pressing frame 3 and a pair of symmetrically arranged clamping claws 4. A transmission link 31 is pivotally connected to the pressing frame 3. The movable member 111 is connected to the pressing frame 3. A second longitudinal limiting member is provided between the lifting frame 2 and the pressing frame 3; The clamping claws 4 are pivotally connected to the lower end of the lifting frame 2, and the transmission link 31 is pivotally connected to the clamping claws 4; A tension spring 21, the upper end of the tension spring 21 is connected to the lifting frame 2, and the lower end of the tension spring 21 is connected to the pressing frame 3; As Figure 1 shown, when the movable member 111 returns to the high point, the lifting frame 2 is at the high position and is limited to the pressing frame 3 through the second longitudinal limiting member, and the clamping module is in the open state; As Figure 7 shown, when the movable member 111 descends to the first height, the lifting frame 2 is at the low position and is limited to the fixed frame 1 through the first longitudinal limiting member; during this process, due to the action of the tension spring 21, the lifting frame 2 is always limited to the pressing frame 3 through the second longitudinal limiting member to keep the clamping module always in the open state; As Figure 8 and Figure 9 shown, during the process that the movable member 111 continues to descend from the first height to the second height, the tension spring 21 is stretched, and the pressing frame 3 moves longitudinally relative to the lifting frame 2 to realize the switching of the clamping module between the open state and the closed state.

[0022] Based on the above structure, the principle of a simple drive type suspension transport vehicle gripper is: during use, the gripper is moved to a preset height above the material to be transferred through the suspension transport vehicle. The movable member 111 returns to the high point, and the linear drive 11 only needs to drive the movable member 111 to descend to the second height, and it can successively realize the descent of the clamping module, the switching from the open state to the closed state to clamp the material. Therefore, it has the advantage of simple control and can save manufacturing costs.

[0023] In this embodiment, the linear drive 11 is a drive cylinder, and the movable member 111 is a cylinder push rod.

[0024] Combined with Figure 2 and Figure 3As shown, in this embodiment, the lifting frame 2 includes a horizontal plate 24 and a pair of first vertical plates 22 fixedly arranged on both sides of the horizontal plate 24. The horizontal plate 24 is located at the upper end of the first vertical plates 22. The clamping claws 4 are pivotally connected to one end of the first vertical plates 22 away from the horizontal plate 24. The first vertical plates 22 are longitudinally slidably connected to the fixed frame 1 through guide rails and sliders. A first positioning plate 23 extending horizontally is provided on the first vertical plates 22, and the first positioning plate 23 is located below the horizontal plate 24. A second positioning plate 12 is provided on the fixed frame 1, and the second positioning plate 12 is arranged between the horizontal plate 24 and the first positioning plate 23. A third positioning plate 32 is provided on the pressing frame 3, and the third positioning plate 32 is located below the second positioning plate 12. Both ends of the tension spring 21 are respectively connected to the horizontal plate 24 and the pressing frame 3. Combined with Figure 1 As shown, when the moving part 111 returns to the high point, the first positioning plate 23 abuts against the third positioning plate 32, and the adjacent surfaces of the first positioning plate 23 and the third positioning plate 32 form a second longitudinal limiting member. Combined with Figure 7 As shown, when the moving part 111 descends to the first height, the second positioning plate 12 abuts against the horizontal plate 24, and the adjacent surfaces of the second positioning plate 12 and the horizontal plate 24 form a first longitudinal limiting member.

[0025] Combined with Figure 5 and 9 As shown, in this embodiment, a clamping cavity is formed between the pressing frame 3 and a pair of clamping claws 4. A limiting bottom surface 411 is provided on the clamping claws 4, and a limiting top surface is provided at the bottom of the pressing frame 3. When the clamping module is in the open state, the limiting bottom surfaces 411 of the pair of clamping claws 4 are located on both sides of the clamping cavity, the bottom of the clamping cavity is open, and the limiting top surface is used to limit the top of the clamping cavity. During the process of the clamping module switching from the open state to the closed state, the limiting bottom surfaces 411 of the pair of clamping claws 4 coincide with the bottom of the clamping cavity to close the bottom opening of the clamping cavity, and the limiting top surface descends to compress the longitudinal space of the clamping cavity.

[0026] Through the synchronous linkage limit of the limiting bottom surface 411 and the limiting top surface, the up-and-down limit of the material to be taken in the longitudinal direction can be realized.

[0027] Specifically, combined with Figure 3 and Figure 4 As shown, the pressing frame 3 includes a horizontally arranged limiting bottom plate 33 and second 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 second vertical plates 34 are longitudinally slidably connected to the first vertical plates 22 through guide rails and sliders. The third positioning plate 32 is installed on the second vertical plates 34, and the transmission connecting rod 31 is rotatably connected to the second vertical plates 34.

[0028] A pair of connecting plates 35 are connected between a pair of second vertical plates 34. A top plate 36 is fixed between the pair of connecting plates 35. The top plate 36 is arranged above the limit bottom plate 33. A pair of vertically arranged guide rods 37 are provided between the limit bottom plate 33 and the top plate 36. A pressure seat 38 is slidably sleeved on the guide rods 37. A pressure block 39 is provided at the bottom of the pressure seat 38. A through groove 330 corresponding to the pressure block 39 is provided on the limit 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 top plate 36 and the pressure seat 38. In the natural state, the bottom of the pressure block 39 passes through the through groove 330 and is located below the limit bottom plate 33. Among them, the pressure seat 38 is elastically arranged on the lower pressing frame 3. When the clamping module is in the closed state, the pressure block 39 arranged on the pressure seat 38 passes through the limit bottom plate 33 for longitudinally compacting the materials located in the clamping cavity. Specifically, the movable part 111 is connected to the top plate 36.

[0029] Combined with Figure 5 and Figure 6 As shown, in this embodiment, the clamping claw 4 includes a mounting plate 42. A group of L-shaped limit plates 41 arranged at intervals are connected to the mounting plate 42. The L-shaped limit plates 41 are provided with a first limit side edge 4110 and a second limit side edge 4120. A group of first limit side edges 4110 form a limit bottom surface 411, and a group of second limit side edges 4120 form a limit side surface 412. The mounting plate 42 is parallel to the limit side surface 412. When the clamping module is in the open state, the limit side surfaces 412 on a pair of clamping claws 4 are located at the top of the clamping cavity and on both sides of the limit top surface; when the clamping module is in the closed state, the limit side surfaces 412 on a pair of clamping claws 4 are located on both sides in the transverse direction of the clamping cavity. In this embodiment, the clamping claw 4 further includes a pair of drive plates 43 perpendicular to the mounting plate 42. The drive plates 43 are installed on both sides of the mounting plate 42. A group of L-shaped limit plates 41 are arranged between the pair of drive plates 43. The drive plates 43 are provided with a first rotating joint 431 and a second rotating joint 432 respectively pivotally connected to the lifting frame 2 and the drive link 31. When the clamping module is in the open state, the center connection line of the first rotating joint 431 and the second rotating joint 432 is horizontal; when the clamping module is in the closed state, the center 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 clamping module is in the closed state, combined with Figure 8 As shown, the direction of the gravity of the lifting frame 2 and the tension of the tension spring 21 is consistent with the center connection line of the first rotating joint 431 and the second rotating joint 432, so as to form a dead point to improve the stability of the clamping module when it is in the closed state.

[0030] Combined with Figure 3 and Figure 5As shown, in this embodiment, a first limiting convex portion 421 is provided on the mounting plate 42. When the clamping module is reset to the open state, the lower end of the first limiting convex portion 421 abuts against the pressing frame 3 to limit the further upward movement of the pressing frame 3 and the further flipping of the clamping jaw 4 in the opening direction. Based on the above device, when the clamping module is reset to the open state, self-locking positioning of the clamping jaw 4 and the pressing frame 3 can be achieved. Compared with directly controlling the moving stroke of the pressing frame 3 to achieve positioning, it can not only ensure the positioning accuracy but also improve the positioning efficiency, and has the advantage of compact structure compared with setting a limiting member outside the clamping module. Specifically, a pair of first limiting convex portions 421 are provided on the mounting plate 42, and the first limiting convex portions 421 are arranged at intervals in the arrangement direction of the L-shaped limiting plate 41. The first limiting convex portions 421 are rubber pads connected to the mounting plate 42 by screws.

[0031] Combined with Figure 5 As shown, in this embodiment, the L-shaped limiting plate 41 includes a supporting plate 413 and a side plate 414. The extending directions of the supporting plate 413 and the side plate 414 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 edges of the supporting plate 413 and the side plate 414; When the clamping module is in the open state, the front end of the supporting plate 413 is downward and the whole is vertically placed, and the side plate 414 is horizontally placed at the upper end of the supporting plate 413; When the clamping module is in the closed state, the side plate 414 is vertically placed, and the supporting plate 413 is horizontally placed at the lower end of the side plate 414. The front ends of the supporting plates 413 corresponding to the two side clamping jaws 4 intersect and overlap with each other.

[0032] Combined with Figure 5 and Figure 6 As shown, in this embodiment, a locking device is further included. When the clamping module is switched to the closed state, the locking device is used to lock the closed state. The locking device is arranged on one of the clamping jaws 4. 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 413 away from the first limiting side edge 4110. The lock plate 442 extends out of the side surface of the supporting plate 413 along the thickness direction of the supporting plate 413 to form a limiting edge 4421. A transmission surface 4422 is provided on the side of the limiting edge 4421 near the front end of the supporting plate 413, and the transmission surface 4422 is always located at the rear side of the front end of the supporting plate 413; A return spring 443 elastically connected to the limiting bottom surface 411. The return spring 443 applies an elastic force to the lock frame 441 to slide towards the front end of the supporting plate 413; During the process of the clamping module moving from the open state to the closed state, the front end of the supporting plate 413 on the opposite clamping jaw 4 will abut against the transmission surface 4422 and push the lock frame 441 to slide to make room for the movement of the supporting plate 413; After the clamping module is in the closed state, the front end of the pallet 413 on the opposite clamping jaw 4 is disengaged from the transmission surface 4422, and the return spring 443 pushes the lock frame 441 to reset and move to a position where the limit flange 4421 is located below the pallet 413 on the opposite side to limit the rotation of the clamping jaw 4 in the opening direction.

[0033] The clamping module is locked in the closed state by the locking device, and the movable member 111 can lift the clamped material for subsequent transfer. Based on the above device, since a pair of clamping jaws 4 rotate synchronously during the process of the clamping module switching between the open and closed states, and when in the closed state, the front ends of the pallets 413 on both sides are staggered and overlapped, then necessarily, as Figure 9 shown, during the movement to the closed state, the front end of the pallet 413 on one side will pass through the pallet 413 on the opposite side, that is, it will emerge from the side of the pallet 413 on the opposite side away from the first limit side edge 4110, and the front end position of the pallet 413 will move backward on the pallet 413 on the other side, so as to be able to push the lock plate 442 arranged on the side of the pallet 413 away from the first limit side edge 4110 to move out the activity space of the pallet 413. After the clamping module is switched to the closed state, since the pallets 413 on both sides overlap each other, the front ends of the pallets 413 on both sides are located inside the side surface of the pallet 413 on the opposite side, that is, the front end of the pallet 413 does not emerge from the side of the pallet 413 on the opposite side away from the first limit side edge 4110. Therefore, the front end of the pallet 413 on the opposite clamping jaw 4 is disengaged from the transmission surface 4422, and the return spring 443 can push the lock frame 441 to reset to a position where the limit flange 4421 is located below the pallet 413 on the opposite side. And because the clamping jaws 4 on both sides rotate synchronously, the limitation of the rotation of one clamping jaw 4 also causes the inability of the clamping jaw 4 on the opposite side to rotate, thus realizing the locking of the clamping module to the closed state by the locking device.

[0034] The number of lock plates 442 is 3, and a set of lock plates 442 are arranged at intervals along the arrangement direction of the L-shaped limit plate 41. In this embodiment, the transmission surface 4422 is arranged in a rounded shape on the side near the pallet 413 at the front end of the lock plate 442. During the process of the clamping module moving from the open state to the closed state, the pallet 413 on the opposite clamping jaw 4 abuts against the transmission surface 4422 to push the lock frame 441 to slide. During this process, relative sliding will occur between the front end of the pallet 413 and the transmission surface 4422. In this embodiment, the stability of the sliding can be improved by defining the shape and position of the transmission surface 4422.

[0035] In this embodiment, a pair of sliding seats 4411 are provided on the lock frame 441. A pair of guide posts 422 are fixed to the side of the mounting plate 42 away from the L-shaped limiting plate 41. A limiting plate 423 is provided 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. A return spring 443 is sleeved on the guide post 422 and abuts against the limiting plate 423 and the sliding seat 4411 at both ends respectively. A sliding connection plate 444 is provided on the lock plate 442. A positioning convex 4441 is provided on the sliding connection plate 444. A chute 4130 is provided on the support plate 413 connected to the lock plate 442. The positioning convex 4441 is slidably arranged in the chute 4130.

[0036] The lock frame 441 is slidably connected to the mounting plate 42 through the sliding seat 4411 and the guide post 422. The sliding connection between the chute 4130 and the positioning convex 4441 supports the lock plate 442 to ensure the stability of the relative sliding movement of the lock frame 441 and the lock plate 442 with respect to the clamping claws 4 and improve the bearing capacity after the clamping module is locked.

[0037] In this embodiment, an unlocking convex portion 445 is further included. The unlocking convex portion 445 is provided on the lock frame 441 or the lock plate 442. The unlocking convex portion 445 is used to cooperate with an external unlocking member to move to drive the lock frame 441 to move to release the limit of the side support plate 413 by the limit flange 4421. In this embodiment, the unlocking convex portion 445 is provided on the side of a group of lock plates 442 away from the support plate 413.

[0038] Embodiment 2 This embodiment provides a transfer device, including: As Figure 10 shown, a suspension transport vehicle 5. A clamping device as described in Embodiment 1 is installed at the bottom of the suspension transport vehicle 5. A fixed frame 1 is connected to the bottom of the suspension transport vehicle 5; As Figure 12 shown, 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 L-shaped 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 clamping module switching from the open state to the closed state, the support plate 413 passes through the spaced cavity 60 to limit the materials placed on the limiting groove 61 in the clamping cavity; As Figure 13 shown, an unlocking seat 7 provided at the unloading station. During the process of the suspension transport vehicle 5 moving to the unloading station, the unlocking seat 7 is used to push the unlocking convex portion 445 to move to release the limit of the side support plate 413 by the limit flange 4421.

[0039] Based on the above device, efficient transfer of materials can be realized, especially suitable for the transfer of flexible bagged materials.

[0040] How to use the transfer device Figure 10 and Figure 11 As shown, the following steps are included: Step S1: Reset, the movable member 111 is restored to the high point, and the suspension transport vehicle 5 moves to the holding cavity facing the limiting groove 61; Step S2: descending, the movable member 111 descends to a first height, the lifting frame 2 is located at a low position, and the second positioning plate 12 abuts against the horizontal plate 24; Step S3: Clamping. The movable member 111 descends to a second height, and the support plate 413 passes through the partition cavity 60 from the side of the transfer platform 6 until the clamping module is in a closed state and locked by the locking device. At this time, the support plate 413 supports the bottom of the material on the limiting groove 61, and the side plates 414 on both sides limit the ends of the material. The pressing block 39 elastically presses on the top of the material. Step S4: rising, the movable member 111 rises to the first positioning plate 23 and abuts against the second positioning plate 12 to move the clamping module to the top of the transfer platform 6; Step S5: Moving, the suspension transport vehicle 5 moves toward the unloading station. During this process, the movable member 111 descends until the second positioning plate 12 abuts against the transverse plate 24; Step S6: Unloading, the suspension transport vehicle 5 moves to the unloading station, and when the suspension transport vehicle 5 is in place, the suspension transport vehicle 5 Figure 11 As shown, the rightward drive causes the unlocking protrusion 445 to come into contact with the unlocking seat 7. The unlocking protrusion 445 moves to the limit stop 4421, releasing the limit on the opposite side support plate 413. The movable member 111 rises and resets, opening the clamping cavity and placing the material at the unloading station. It should be noted that during the process of the movable member 111 rising to the first height, the tension of the tension spring 21 causes the cross plate 24 to abut against the second positioning plate 12, preventing the lifting frame 2 from rising synchronously with the clamping module, causing the material to fall after being lifted, resulting in excessive impact during the unloading process.

[0041] 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 simple drive type suspension transport vehicle gripper, characterized in that: Comprising: A fixing frame (1) on which a linear driver (11) is installed, and a movable member (111) that moves longitudinally back and forth is provided on the linear driver (11); A lifting frame (2) that is longitudinally slidably connected to the fixing frame (1), and a first longitudinal limiting member is provided between the lifting frame (2) and the fixing frame (1); A clamping module, the clamping module includes a lower pressing frame (3) and a pair of symmetrically arranged clamping claws (4). A transmission connecting rod (31) is pivotally connected to the lower pressing frame (3). The movable member (111) is connected to the lower pressing frame (3). A second longitudinal limiting member is provided between the lifting frame (2) and the lower pressing frame (3); The clamping claws (4) are pivotally connected to the lower end of the lifting frame (2), and the transmission connecting rod (31) is pivotally connected to the clamping claws (4); A tension spring (21), the upper end of the tension spring (21) is connected to the lifting frame (2), and the lower end of the tension spring (21) is connected to the lower pressing frame (3); When the movable member (111) returns to the high point, the lifting frame (2) is at the high position and is limited to the lower pressing frame (3) by the second longitudinal limiting member, and the clamping module is in the open state; When the movable member (111) descends to the first height, the lifting frame (2) is at the low position and is limited to the fixing frame (1) by the first longitudinal limiting member; During the process that the movable member (111) continues to descend from the first height to the second height, the lower pressing frame (3) moves longitudinally relative to the lifting frame (2) to realize the switching of the clamping module between the open state and the closed state.

2. The simple drive type suspension transporter gripper according to claim 1, characterized in that: The lifting frame (2) includes a cross plate (24), and a pair of first vertical plates (22) fixedly arranged on both sides of the cross plate (24). The cross plate (24) is located at the upper end of the first vertical plates (22). The clamping claws (4) are pivotally connected to one end of the first vertical plates (22) far from the cross plate (24). The first vertical plates (22) are longitudinally slidably connected to the fixing frame (1). A first positioning plate (23) extending horizontally is provided on the first vertical plates (22), and the first positioning plate (23) is located below the cross plate (24); A second positioning plate (12) is provided on the fixing frame (1), and the second positioning plate (12) is arranged between the cross plate (24) and the first positioning plate (23); A third positioning plate (32) is provided on the lower pressing frame (3), and the third positioning plate (32) is located below the second positioning plate (12); Both ends of the tension spring (21) are respectively connected to the cross plate (24) and the lower pressing frame (3); When the movable member (111) returns to the high point, the first positioning plate (23) abuts against the third positioning plate (32), and the adjacent surfaces of the first positioning plate (23) and the third positioning plate (32) form the second longitudinal limiting member; When the movable member (111) descends to the first height, the second positioning plate (12) abuts against the cross plate (24), and the adjacent surfaces of the second positioning plate (12) and the cross plate (24) form the first longitudinal limiting member.

3. The clamping device of a simple drive type suspension transporter according to claim 2, characterized in that: A clamping cavity is formed between the lower pressing frame (3) and a pair of clamping claws (4). A limiting bottom surface (411) is provided on the clamping claws (4), and a limiting top surface is provided at the bottom of the lower pressing frame (3); When the clamping module is in the open state, the limiting bottom surfaces (411) of a pair of clamping jaws (4) are located on both sides of the clamping cavity, the bottom of the clamping cavity is open, and the limiting top surface is used to limit the top of the clamping cavity; During the process of the clamping module switching from the open state to the closed state, the limiting bottom surfaces (411) of a pair of clamping jaws (4) coincide with the bottom of the clamping cavity to close the bottom opening of the clamping cavity, and the limiting top surface descends to compress the longitudinal space of the clamping cavity.

4. The simple drive type suspension transport vehicle gripper according to claim 3, characterized in that: The clamping jaw (4) includes a mounting plate (42), and a group of L-shaped limiting plates (41) arranged at intervals are connected to the mounting plate (42). The L-shaped limiting plate (41) is provided with a first limiting side edge (4110) and a second limiting side edge (4120). A group of first limiting side edges (4110) form the limiting bottom surface (411), and a group of second limiting side edges (4120) form the limiting side surface (412). The mounting plate (42) is parallel to the limiting side surface (412).

5. The simple drive type suspension transport vehicle gripper according to claim 4, characterized in that: The clamping jaw (4) further includes a pair of drive plates (43) perpendicular to the mounting plate (42). The drive plates (43) are installed on both sides of the mounting plate (42). A group of L-shaped limiting plates (41) are arranged between the pair of drive plates (43). The drive plates (43) are provided with a first rotating joint (431) and a second rotating joint (432) respectively pivotally connected to the lifting frame (2) and the drive link (31). When the clamping module 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 clamping module 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).

6. The simple drive type suspension transport vehicle gripper according to claim 4, characterized in that: The mounting plate (42) is provided with a first limiting protrusion (421). When the clamping module is reset to the open state, the lower end of the first limiting protrusion (421) abuts against the lower pressing frame (3) to limit the lower pressing frame (3) from continuing to move upward and the clamping jaw (4) from continuing to flip in the opening direction.

7. The simple drive type suspension transport vehicle gripper according to claim 5, characterized in that: The L-shaped limiting plate (41) includes a support plate (413) and a side plate (414). The extending directions of the support plate (413) and the side plate (414) 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 edges of the support plate (413) and the side plate (414); When the clamping module is in the open state, the front end of the support plate (413) faces downward and is vertically arranged as a whole, and the side plate (414) is horizontally arranged at the upper end of the support plate (413); When the clamping module is in the closed state, the side plate (414) is vertically arranged, the support plate (413) is horizontally arranged at the lower end of the side plate (414), and the front ends of the support plates (413) on the corresponding two clamping jaws (4) are staggered and coincide with each other.

8. The simple drive type suspension transport vehicle gripper according to claim 7, characterized in that: It further includes a locking device. When the clamping module switches to the closed state, the locking device is used to lock the closed state. The locking device is arranged on one of the clamping jaws (4), and the locking device includes: A lock frame (441) slidably mounted on the mounting plate (42); A lock plate (442) installed on the lock frame (441), the lock plate (442) is arranged on the side of the support plate (413) away from the first limit side edge (4110), the lock plate (442) extends out of the side surface of the support plate (413) along the thickness direction of the support plate (413) to form a limit flange (4421), and a transmission surface (4422) is provided on one side of the limit flange (4421) near the front end of the support plate (413), and the transmission surface (4422) is always located at the rear side of the front end of the support plate (413); A return spring (443) elastically connected to the limit bottom surface (411), and the return spring (443) applies an elastic force to the lock frame (441) to slide towards the front end of the support plate (413); During the process of the clamping module moving from the open state to the closed state, the front end of the support plate (413) on the opposite clamping jaw (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 support plate (413); After the clamping module is in the closed state, the front end of the support plate (413) on the opposite clamping jaw (4) is separated from the transmission surface (4422), and the return spring (443) pushes the lock frame (441) to reset and move until the limit flange (4421) is limited below the support plate (413) on the opposite side, so as to limit the clamping jaw (4) from rotating in the opening direction.

9. The simple drive type suspension transporter gripper according to claim 8, wherein: 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), and the unlocking convex part (445) is used to cooperate with an external unlocking member to move to drive the lock frame (441) to move until the limit flange (4421) releases the limit on the support plate (413) on the opposite side.

10. A transfer device, characterized in that, Comprising: A suspended transport vehicle (5), a clamping device as described in claim 9 is installed at the bottom of the suspended transport vehicle (5), and the fixed frame (1) is connected to the bottom of the suspended transport vehicle (5); A transfer table (6), several 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), and several spaced cavities (60) are arranged along the arrangement direction of the L-shaped limit plate (41), and a limit groove (61) for placing materials is provided on the upper end surface of the transfer table (6); during the process of the clamping module switching from the open state to the closed state, the support plate (413) passes through the spaced cavity (60) to limit the materials placed on the limit groove (61) in the clamping cavity; An unlocking seat (7) provided at the unloading station, during the process of the suspended transport vehicle (5) moving to the unloading station, the unlocking seat (7) is used to push the unlocking convex part (445) to move until the limit flange (4421) releases the limit on the support plate (413) on the opposite side.

Images