Program-controlled cylindrical cargo gripper

Abstract

The application belongs to the field of cargo clamping jaws, in particular to a program-controlled cylindrical cargo clamping jaw, which comprises a mounting seat, an asynchronous motor and a mounting plate arranged from top to bottom; the top of the mounting seat is mounted at the end of a mechanical hand; the asynchronous motor is controlled and started by a main controller, and is fixedly installed between the mounting plate and the mounting seat; the bottom of the mounting plate is provided with a plurality of clamping plates and support arms, the clamping plates are used for clamping and conveying goods; the side of the support arm facing the goods is provided with a plurality of connecting frames; the end of the connecting frame is rotatably connected with a rotating wheel; the bottom of the mounting plate is provided with a connecting assembly, which is used for converting the output power of the asynchronous motor into the power for the movement of the clamping plates and the support arms; by arranging a plurality of rotating wheels, the goods can be subjected to extrusion force applied by the rotating wheels after being released by the clamping plates, thereby reducing the shaking of the goods due to uneven contact surface when placed.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cargo clamping jaws, in particular to a program-controlled cylindrical cargo clamping jaw. BACKGROUND

[0002] In the logistics industry, using clamping jaws to automatically transport cylindrical cargos (such as oil drums, paper rolls, gas cylinders, etc.) has become a key solution to improve efficiency. Such clamping jaws usually have arc-shaped or V-shaped jaws to fit the outer wall of the cargo, and through strong clamping force, they can firmly grasp the cargo and then be transported to the designated position by a mechanical arm system. This method not only can smoothly and efficiently handle heavy cylindrical cargos, reducing manual labor intensity and risk, but also can seamlessly integrate into the automatic assembly line of sorting, stacking, and loading, greatly improving the throughput and accuracy of logistics processing.

[0003] To achieve precise and flexible operation, modern logistics clamping jaws generally use program-controlled control. The core is to preset the program through PLC or special controller to accurately command the execution action of the clamping jaw motor or air cylinder, including clamping force, opening amplitude, lifting speed, and walking path, etc. The operator only needs to input the cargo parameters (such as diameter, weight), and the system can automatically call the corresponding program to adapt to different specifications of cargo handling.

[0004] In the prior art, in the final stage of releasing the cargo by the clamping jaw, if the landing point of the cargo is not flat, when the bottom side of the cargo first contacts the protruding part of the ground, an instantaneous impact moment will be generated, causing the center of gravity of the cargo to shift. After the clamping jaw is completely released, the cargo cannot quickly return to normal and will be in an unstable balance state, which is easy to be affected by subsequent shaking and fall, thereby causing damage to the cargo.

[0005] Therefore, a program-controlled cylindrical cargo clamping jaw is proposed to solve the above problems. SUMMARY

[0006] In order to make up for the shortcomings of the prior art and solve at least one technical problem proposed in the background art.

[0007] The technical scheme adopted by the present application to solve its technical problems is: a program-controlled cylindrical cargo clamping jaw, comprising an installation seat, an asynchronous motor and an installation plate arranged from top to bottom; the installation seat top is installed at the end of a mechanical hand; the asynchronous motor is controlled to start by a main controller, and is fixedly installed between the installation plate and the installation seat; the installation plate bottom is provided with a plurality of clamping plates and support arms, the clamping plates are used for clamping and conveying goods; the support arms are provided with a plurality of connecting frames on the side facing the goods; the connecting frames are rotatably connected with rotating wheels at the end portions; the installation plate bottom is provided with a connecting assembly, which is used for converting the output power of the asynchronous motor into the power for the movement of the clamping plates and the support arms; by arranging a plurality of rotating wheels, the goods released by the clamping plates can be subjected to extrusion force applied by the rotating wheels, thereby reducing the shaking of the goods due to uneven contact surface when placed, and improving the stability of the goods when placed.

[0008] Preferably, the connecting assembly comprises a screw rod fixedly connected with the output end of the asynchronous motor; the middle portion of the screw rod is threadedly connected with a nut; the bottom of the nut is rotatably connected with a plurality of first connecting rods, and the number of the first connecting rods is the same as that of the clamping plates; the top of the clamping plate is provided with a fixed seat fixedly installed on the bottom of the installation plate; the bottom of the fixed seat is rotatably connected with a pair of synchronous rods, and the end portions of the synchronous rods are rotatably connected with the clamping plates; the end portions of the first connecting rods are rotatably connected with the middle portions of the adjacent synchronous rods on the fixed seat; the top of the nut is rotatably connected with a plurality of second connecting rods, and the number of the second connecting rods is the same as that of the support arms; the end portions of the second connecting rods are rotatably connected with the end portions of the support arms; the support arms are slidably installed on the bottom of the installation plate; by arranging the nut, the forward and reverse rotation of the screw rod is controlled by starting the asynchronous motor, the advance and retreat of the clamping plates and the support arms are controlled by the nut, and the simplicity and synchronism of the movement control of the device on the clamping plates and the support arms are improved.

[0009] Preferably, the connecting frame is fixedly connected with a piston plate on the side facing the support arm; the side of the support arm away from the connecting frame is fixedly connected with a cylinder body; the end portion of the piston plate is the same in shape as the inner wall of the cylinder body, and a spring is fixedly installed between the end portion of the piston plate and the inner wall of the cylinder body; when the goods are oil drums or goods with convex modeling on the surface, the rotating wheels abutting against the surface of the goods will move transversely together with the directly connected connecting frames in the process of moving upward with the end of the mechanical hand, that is, the piston plate can slide along the inner wall of the cylinder body to adapt to the modeling structure of the surface of the goods; it is worth mentioning that the end portion of the piston plate is provided in the same shape as the inner wall of the cylinder body, which can be square to reduce the deflection of the piston plate when sliding; in addition, the spring should be in a compressed state in the initial state, that is, the spring will apply a pushing force to the end portion of the piston plate towards the goods, so as to ensure that the rotating wheels can be tightly attached to the outer wall of the goods when the support arm moves.

[0010] Preferably, the end of the cylinder is provided with a plurality of holes, and the end of the cylinder is communicated with a branch pipe; the plurality of branch pipes on the support arm are communicated with a main pipe, and the main pipe is in communication with a compressed gas source; the side of the piston plate facing the branch pipe is provided with an opening; the end of the connecting frame is provided with a plurality of gas outlets, and the gas outlets are arranged towards the runner; after the runner is tightly attached to the outer wall of the goods, the compressed gas source can be started, which can be a high-pressure gas cylinder, a gas pump or an air compressor; during the movement of the runner with the mechanical hand, the runner will be tightly attached to the outer wall of the goods under the pre-tightening force of the spring and the connecting action of the support arm, that is, the runner can rotate under the action of friction; when the goods are oil drums, the surface of the oil drums will be attached with metal scraps due to friction, rust and other reasons, that is, the surface of the runner will be easily attached with metal scraps during rotation; after the compressed gas source is started, high-pressure gas flow can enter the inside of the cylinder through the branch pipe, and be sprayed out from the gas outlet through the piston plate and the connecting frame; the gas flow can air wash the surface of the runner in rotation to reduce the attached scraps on the surface of the runner.

[0011] Preferably, the inner wall of the cylinder is fixedly connected with a plug; the plug and the piston plate are concentrically arranged, and the outer diameter of the end of the plug is the same as the inner diameter of the piston plate; in the initial state, there is a gap between the end of the piston plate and the end of the plug; during the movement of the runner tightly attached to the goods, the runner will move horizontally due to the shape of the goods, that is, the piston plate can slide along the inner wall of the cylinder, and the end of the plug can slide into the inside of the piston plate during the process; at this time, the plug can seal the piston plate, and at the same time, due to the continuous start of the compressed gas source, the gas pressure in the cylinder will be in a positive pressure state, that is, the end of the piston plate will be subjected to a pressure towards the goods; in this way, when the assembly composed of the runner, the connecting frame and the piston plate slides due to the shape of the surface of the goods, the assembly can be kept tightly attached to the outer wall of the goods by the additional pressure applied by the gas pressure in the cylinder, and the shaking of the assembly caused by the unstable elastic contraction of the spring during sliding can be reduced.

[0012] Preferably, the top of the runner is provided with a guide plate, and the cross section and shape of the guide plate are both arc-shaped; the guide plate is installed on the connecting frame through support arms on both sides; during the upward movement of the runner along the surface of the goods, the top cover of some oil drums may protrude from the barrel wall and make it difficult for the runner to stably flip over the cover; however, due to the arc shape of the guide plate, the guide plate can be in contact with the cover before the runner, and the assembly composed of the runner, the connecting frame and the piston plate can be guided by the surface of the guide plate to reduce the jamming of the runner when sliding over the cover; at the same time, the arrangement of the guide plate above the runner can protect the bottom runner from the secondary pollution caused by the falling of the scraps from the top runner due to air washing; in addition, the arc-shaped cross section of the guide plate can make the surface residual scraps fall from both sides by gravity.

[0013] Preferably, the rotating wheels are fixed with ratchets on both sides, the top of the ratchets is engaged with a pawl, the pawl is rotatably connected to the bottom of the guide plate, during the sliding of the rotating wheels along the surface of the goods, the ratchets can rotate synchronously with the rotating wheels, during the rotation of the ratchets, the end of the pawl can slide along the tooth back of the ratchet, when the end of the pawl passes the tooth tip of the ratchet, the pawl can be reset and fall on the ratchet again under the action of gravity, the engagement between the ratchet and the pawl can generate vibration, the vibration can be transmitted to the guide plate to speed up the shaking off of the debris attached to the guide plate, in addition, when the connecting frame on one side is driven to move by the shape of the goods, the rotating wheel on the other side can be in a suspended state, due to the one-way engagement between the ratchet and the pawl, the reverse rotation of the suspended rotating wheel caused by the continuous airflow at the air outlet can be reduced, and the suspended rotating wheel can quickly and smoothly enter the rolling state when it recontacts with the goods, it is worth mentioning that in order to ensure the vibration effect when the pawl and the ratchet are engaged, the moving speed of the end of the mechanical hand can be correspondingly controlled.

[0014] Preferably, the bottom of the guide plate is fixed with a limiting rod, the limiting rod is located on one side of the pawl, when the pawl passes the tooth tip of the ratchet, the deflection angle of the pawl is in the maximum state, at this time, the pawl can be in contact with the limiting rod, that is, the limiting rod can limit the deflection range of the pawl to reduce the suspended time of the pawl and ensure that the pawl can engage with each tooth of the ratchet.

[0015] Preferably, the side of the air outlet facing the rotating wheel is fixed with a first baffle and a second baffle, the ends of the first baffle and the second baffle are staggered, and the end of the second baffle faces the tangent direction of the rotating wheel, the labyrinth structure formed by the first baffle and the second baffle can prevent impurities in the air from entering the inside of the air outlet when the compressed air source stops working, in addition, since the end of the second baffle faces the tangent direction of the rotating wheel, the relative speed between the compressed airflow and the rotating wheel can be increased, the shear force of the airflow on the surface of the rotating wheel is enhanced, and the cleaning effect of the airflow on the surface of the rotating wheel is improved.

[0016] Preferably, the surface of the rotating wheel is sequentially provided with an anti-static cloth and a rubber layer from outside to inside, the rubber layer can provide elastic buffering for the rotating wheel through its flexibility, and the anti-static cloth can be directly contacted with the surface of the goods, since the anti-static cloth internally mixed with conductive filaments can quickly release the static electricity generated when the rotating wheel rubs against the goods, the adsorption ability of the rotating wheel to the debris on the surface of the goods is reduced.

[0017] The present application has the advantages that:

[0018] 1. The programmable cylindrical goods clamp can reduce the shaking of the goods caused by uneven contact surface when the goods are placed, improve the stability of the goods when placed, through the setting of multiple rotating wheels, the goods released by the clamp plate can be subjected to the extrusion force of the rotating wheels, and the stability of the goods when placed can be improved.

[0019] 2. The program-controlled cylindrical cargo gripper, by setting the nut, starting the asynchronous motor to control the forward and reverse rotation of the screw rod, the advance and retreat of the clamping plate and the support arm can be controlled through the nut stagger, thereby improving the simplicity and synchronism of the device in the movement control of the clamping plate and the support arm. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0021] Figure 1 The main body schematic diagram of the present application;

[0022] Figure 2 The structure schematic diagram of the asynchronous motor in the present application;

[0023] Figure 3 The structure schematic diagram of the fixed seat in the present application;

[0024] Figure 4 The structure schematic diagram of the support arm in the present application;

[0025] Figure 5 The structure schematic diagram of the connecting frame in the present application;

[0026] Figure 6 The structure schematic diagram of the cylinder body in the present application;

[0027] Figure 7 The structure schematic diagram of the ratchet wheel in the present application;

[0028] Figure 8 The structure schematic diagram of the first baffle in the present application.

[0029] In the figure: 1, asynchronous motor; 12, mounting plate; 13, mounting seat; 14, clamping plate; 15, support arm; 16, connecting frame; 17, rotating wheel; 2, screw rod; 22, nut; 23, first connecting rod; 24, synchronous rod; 25, fixed seat; 26, second connecting rod; 3, cylinder body; 32, spring; 33, piston plate; 4, branch pipe; 42, gas outlet; 5, plug; 6, guide plate; 7, ratchet wheel; 72, pawl; 8, limiting rod; 9, first baffle; 92, second baffle; 1000, anti-static cloth; 1002, rubber layer. DETAILED DESCRIPTION

[0030] With reference to the drawings of the embodiments of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all the embodiments of the present application. Based on the embodiments of the present application, all the other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of the present application.

[0031] The specific embodiments are given below.

[0032] Please refer to Figures 1 to 8 As shown in the figure, the programmable cylindrical cargo clamping jaw comprises a mounting seat 13, an asynchronous motor 1 and a mounting plate 12 arranged from top to bottom; the top of the mounting seat 13 is mounted at the end of the mechanical hand; the asynchronous motor 1 is controlled to start by the main controller, and is fixedly installed between the mounting plate 12 and the mounting seat 13; the bottom of the mounting plate 12 is provided with a plurality of clamping plates 14 and support arms 15, the clamping plates 14 are used for clamping and conveying the cargo; the side of the support arms 15 facing the cargo is provided with a plurality of connecting frames 16; the end of the connecting frame 16 is rotatably connected with a rotating wheel 17; the bottom of the mounting plate 12 is provided with a connecting assembly, which is used for converting the output power of the asynchronous motor 1 into the power for the movement of the clamping plates 14 and the support arms 15;

[0033] In work, the operator can clamping the type of cargo as needed, and pre-inputs the outer diameter size of the cargo on the controller, the controller can control the rotating parameters of the asynchronous motor 1 through the driver, and then the clamping plates 14 can clamping the cargo powerfully, the above-mentioned working principle and logical sequence are mature technologies, and therefore will not be described here.

[0034] After the mechanical hand clamps the cargo to the stacking place through the clamping plates 14, the clamping plates 14 can be released by the asynchronous motor 1, when the ground where the cargo is placed is uneven, the cargo will have a tendency to shake due to the limited contact area with the ground, at this time, the asynchronous motor 1 can be controlled to make the plurality of support arms 15 close to the cargo, the connecting frames 16 will drive the rotating wheels 17 to move in the moving process of the support arms 15, until the rotating wheels 17 abut against the outer wall of the cargo, then the end of the mechanical hand can be vertically moved up, in the process, the rotating wheels 17 can tightly abut against the outer wall of the cargo and provide additional support for the cargo around, until the rotating wheels 17 are separated from the cargo; by setting a plurality of rotating wheels 17, the cargo can be extruded by the rotating wheels 17 after being released by the clamping plates 14, and then the shaking of the cargo due to the uneven contact surface when being placed can be reduced, and the stability of the cargo when being placed can be improved.

[0035] Please refer to Figures 1 to 4As shown, the connecting assembly comprises a screw rod 2 fixedly connected with the output end of the asynchronous motor 1; the middle part of the screw rod 2 is threadedly connected with a nut 22; the bottom of the nut 22 is rotatably connected with a plurality of first connecting rods 23, and the number of the first connecting rods 23 is the same as that of the clamping plates 14; the top of each clamping plate 14 is provided with a fixed seat 25 fixedly installed on the bottom of the mounting plate 12; the bottom of the fixed seat 25 is rotatably connected with a pair of synchronous rods 24, and the end of each synchronous rod 24 is rotatably connected with the clamping plate 14; the end of each first connecting rod 23 is rotatably connected with the middle part of the adjacent synchronous rod 24 on the fixed seat 25; the top of the nut 22 is rotatably connected with a plurality of second connecting rods 26, and the number of the second connecting rods 26 is the same as that of the support arms 15; the end of each second connecting rod 26 is rotatably connected with the end of the support arm 15; and the support arm 15 is slidingly installed on the bottom of the mounting plate 12.

[0036] When the goods are clamped by the clamping plates 14, the asynchronous motor 1 can be started by the controller and the driver to drive the directly connected screw rod 2 to rotate. When the screw rod 2 rotates, the nut 22 can move vertically under the limiting action of the surrounding first connecting rods 23. The nut 22 can move upwards and cause the first connecting rods 23 to deflect. In the process, the first connecting rods 23 can exert a pulling force on the directly connected synchronous rods 24 at the ends to cause the synchronous rods 24 to deflect towards the screw rod 2. The clamping plates 14 can keep the direction unchanged through the parallelogram formed by the pair of synchronous rods 24 and approach the goods along with the deflection of the synchronous rods 24 until the plurality of clamping plates 14 can firmly clamp the outer wall of the goods. When it is necessary to release the clamping plates 14 and drive the support arms 15 to approach the goods, the screw rod 2 can be reversed by the asynchronous motor 1. When the screw rod 2 reverses, the nut 22 can move downwards and cause the second connecting rods 26 to deflect towards the screw rod 2. The support arms 15 can slide along the bottom of the mounting plate 12 along with the deflection of the second connecting rods 26, that is, the connecting frames 16 and the rotating wheels 17 directly connected to the support arms 15 can also approach the goods. By setting the nut 22, starting the asynchronous motor 1 to control the forward and reverse rotation of the screw rod 2, and through the staggered control of the advance and retreat of the clamping plates 14 and the support arms 15 by the nut 22, the simplicity and synchronization of the movement control of the clamping plates 14 and the support arms 15 by the device can be improved.

[0037] Please refer to Figures 4 to 6 As shown, the side of the connecting frame 16 facing the support arm 15 is fixedly connected with a piston plate 33; the side of the support arm 15 away from the connecting frame 16 is fixedly connected with a cylinder body 3; the end of the piston plate 33 is the same in shape as the inner wall of the cylinder body 3, and a spring 32 is fixedly installed between the end of the piston plate 33 and the inner wall of the cylinder body 3;

[0038] When the goods are oil drums or goods with convex surface, the rotating wheel 17 against the surface of the goods will move laterally with the oil drum surface shape during the upward movement of the mechanical hand end, that is, the piston plate 33 can slide along the inner wall of the cylinder body 3 to adapt to the molding structure of the surface of the goods. It is worth mentioning that the shape of the end of the piston plate 33 is the same as the inner wall of the cylinder body 3, which can be square to reduce the deflection of the piston plate 33 during sliding. In addition, the spring 32 should be in a compressed state in the initial state, that is, the spring 32 will exert a pushing force on the end of the piston plate 33 towards the goods, so as to ensure that the rotating wheel 17 can be tightly attached to the outer wall of the goods during the movement of the supporting arm 15.

[0039] Please refer to Figure 5 and Figure 6 As shown, the end of the cylinder body 3 is provided with a plurality of holes, and the end of the cylinder body 3 is communicated with a branch pipe 4; a plurality of branch pipes 4 on the supporting arm 15 are communicated with a main pipe, and the main pipe is in communication with a compressed gas source; the side of the piston plate 33 towards the branch pipe 4 is provided with an opening; a plurality of gas outlets 42 are formed in the end of the connecting frame 16, and the gas outlets 42 are arranged towards the rotating wheel 17;

[0040] After the rotating wheel 17 is tightly attached to the outer wall of the goods, the compressed gas source can be started, which can be a high-pressure gas cylinder, a gas pump or an air compressor. During the movement of the rotating wheel 17 with the mechanical hand end, the rotating wheel 17 will be tightly attached to the outer wall of the goods under the pre-tightening force of the spring 32 and the connecting action of the supporting arm 15, that is, the rotating wheel 17 can rotate under the friction action. When the goods are oil drums, metal debris will be easily attached to the surface of the rotating wheel 17 due to friction, rust and other reasons. With the start of the compressed gas source, high-pressure gas flow can enter the inside of the cylinder body 3 through the branch pipe 4, and be sprayed out from the gas outlets 42 through the piston plate 33 and the connecting frame 16. The gas flow can air flush the surface of the rotating wheel 17 in rotation to reduce the debris attached to the surface of the rotating wheel 17.

[0041] Please refer to Figure 6 As shown, the inner wall of the cylinder body 3 is fixedly connected with a plug 5; the plug 5 is concentrically arranged with the piston plate 33, and the outer diameter of the end of the plug 5 is the same as the inner diameter of the piston plate 33;

[0042] In the initial state, there is a gap between the end of the piston plate 33 and the end of the plug 5. During the movement of the rotating wheel 17 close to the goods, the rotating wheel 17 will move laterally due to the shape of the goods, that is, the piston plate 33 can slide along the inner wall of the cylinder body 3, and the end of the plug 5 can slide into the inside of the piston plate 33. At this time, the plug 5 will seal the piston plate 33, and at the same time, due to the continuous start of the compressed air source, the gas pressure in the cylinder body 3 will be in a positive pressure state, that is, the end of the piston plate 33 will be subjected to a pressure towards the goods. In this way, when the assembly composed of the rotating wheel 17, the connecting frame 16 and the piston plate 33 slides due to the shape of the surface of the goods, it can be kept close to the outer wall of the goods due to the additional pressure exerted by the gas pressure in the cylinder body 3, thereby reducing the instability caused by the elastic contraction of the spring 32 when the assembly composed of the rotating wheel 17, the connecting frame 16 and the piston plate 33 slides.

[0043] As shown in Figure 7 and Figure 8 , the top of the rotating wheel 17 is provided with a guide plate 6, and the cross section and shape of the guide plate 6 are both arc-shaped.

[0044] During the upward movement of the rotating wheel 17 along the surface of the goods, the top cover of some oil drums may protrude from the barrel wall, making it difficult for the rotating wheel 17 to stably roll over the cover. However, due to the arc shape of the guide plate 6, the guide plate 6 can come into contact with the cover before the rotating wheel 17, and the assembly composed of the rotating wheel 17, the connecting frame 16 and the piston plate 33 can be guided by the surface of the guide plate 6, thereby reducing the jamming of the rotating wheel 17 when sliding over the cover. In addition, the arrangement of the guide plate 6 above the rotating wheel 17 can protect the bottom rotating wheel 17 from secondary pollution caused by falling debris from the top rotating wheel 17 due to air cleaning. In addition, the arc-shaped cross section of the guide plate 6 can make the surface residual debris fall from both sides by gravity.

[0045] As shown in Figure 7 and Figure 8 , the rotating wheel 17 is fixed with a ratchet 7 on both sides; the ratchet 7 is engaged with a pawl 72 on the top; and the pawl 72 is rotatably connected to the bottom of the guide plate 6.

[0046] When the rotating wheel 17 slides along the surface of the goods, the ratchet wheel 7 can rotate synchronously with the rotating wheel 17, and during the rotation of the ratchet wheel 7, the end of the pawl 72 can slide along the tooth back of the ratchet wheel 7. When the end of the pawl 72 passes the tooth tip of the ratchet wheel 7, the pawl 72 can reset under the action of gravity and fall onto the ratchet wheel 7 again. During the engagement of the ratchet wheel 7 and the pawl 72, vibration can be generated and transmitted to the guide plate 6, so as to accelerate the speed of shaking off the attached debris on the guide plate 6. In addition, when the connecting frame 16 is moved due to the shape of the goods on one side, the rotating wheel 17 on the other side can be in a suspended state. Since the engagement between the ratchet wheel 7 and the pawl 72 is unidirectional, the reverse rotation of the suspended rotating wheel 17 due to the continuous airflow at the air outlet 42 can be reduced, so as to ensure that the suspended rotating wheel 17 can quickly and smoothly enter the rolling state when it recontacts with the goods. It is worth mentioning that in order to ensure the vibration effect when the pawl 72 and the ratchet wheel 7 are engaged, the movement speed of the mechanical hand end can be correspondingly controlled.

[0047] Please refer to Figure 7 As shown in the figure, the bottom of the guide plate 6 is fixedly connected with a limiting rod 8; the limiting rod 8 is located on one side of the pawl 72.

[0048] When the pawl 72 passes the tooth tip of the ratchet wheel 7, the deflection angle of the pawl 72 is in the maximum state, and at this time the pawl 72 can be in contact with the limiting rod 8, that is, the limiting rod 8 can limit the deflection range of the pawl 72, so as to reduce the suspended time of the pawl 72 and ensure that the pawl 72 can engage with each tooth on the ratchet wheel 7.

[0049] Please refer to Figure 8 As shown in the figure, the first baffle 9 and the second baffle 92 are fixedly connected to one side of the air outlet 42 facing the rotating wheel 17; the ends of the first baffle 9 and the second baffle 92 are staggered, and the end of the second baffle 92 faces the tangent direction of the rotating wheel 17.

[0050] The labyrinth structure formed by the first baffle 9 and the second baffle 92 can prevent impurities in the air from entering the inside of the air outlet 42 when the compressed air source stops working. In addition, since the end of the second baffle 92 faces the tangent direction of the rotating wheel 17, the relative speed between the compressed airflow and the rotating wheel 17 can be increased, the shear force of the airflow on the surface of the rotating wheel 17 can be enhanced, and the cleaning effect of the airflow on the surface of the rotating wheel 17 can be improved.

[0051] Please refer to Figure 7 As shown in the figure, the surface of the rotating wheel 17 is sequentially provided with an anti-static cloth 1000 and a rubber layer 1002 from outside to inside.

[0052] The rubber layer 1002 can provide elastic buffer for the rotating wheel 17 by its flexibility, and the anti-static cloth 1000 can be in direct contact with the surface of the goods. Since the anti-static cloth 1000 is internally blended with conductive yarn, it can quickly release the static electricity generated when the rotating wheel 17 rubs against the goods, thereby reducing the adsorption capacity of the rotating wheel 17 to the surface debris of the goods.

[0053] Working principle:

[0054] During operation, the operator can clamp the goods according to the type of goods, and pre-input the outer diameter size of the goods on the controller. The controller can control the rotation parameters of the asynchronous motor 1 through the driver, and then the clamping plate 14 can firmly clamp the goods. The above-mentioned working principle and logical sequence are mature technologies, and therefore will not be described here.

[0055] After the manipulator clamps the goods to the stacking location through the clamping plate 14, the clamping plate 14 can be released by the asynchronous motor 1. When the ground where the goods are placed is uneven, the goods will have a tendency to shake due to limited contact area with the ground. At this time, the asynchronous motor 1 can be controlled to move the support arms 15 towards the goods. The support arms 15 move in the process, causing the connecting frame 16 to move the rotating wheel 17 together, until the rotating wheel 17 abuts against the outer wall of the goods. Then the end of the manipulator can be vertically moved upwards. In the process, the rotating wheel 17 can tightly adhere to the outer wall of the goods and provide additional support around the goods until the rotating wheel 17 is separated from the goods.

[0056] When clamping the goods through the clamping plate 14, the asynchronous motor 1 can be started by the controller and the driver to drive the straight-connected screw rod 2 to rotate. When the screw rod 2 rotates, the nut 22 can move vertically under the limiting action of the four first connecting rods 23. The nut 22 can move upwards and cause the first connecting rod 23 to deflect. In the process, the first connecting rod 23 can exert a pulling force on the synchronous rod 24 connected at the end, causing the synchronous rod 24 to deflect towards the screw rod 2. The clamping plate 14 can keep the direction unchanged through the parallelogram formed by the pair of synchronous rods 24, and move towards the goods along with the deflection of the synchronous rod 24, until the multiple clamping plates 14 can firmly clamp the outer wall of the goods. When it is necessary to release the clamping plate 14 and drive the support arm 15 to move towards the goods, the screw rod 2 can be reversed by the asynchronous motor 1. When the screw rod 2 is reversed, the nut 22 can move downwards and cause the second connecting rod 26 to deflect towards the screw rod 2. The support arm 15 can slide along the bottom of the mounting plate 12 along with the deflection of the second connecting rod 26, that is, the connecting frame 16 and the rotating wheel 17 connected straight above the support arm 15 can also move towards the goods.

[0057] When the cargo is an oil drum or a cargo with a convex surface, the rotating wheel 17 against the surface of the cargo will move laterally with the oil drum surface shape during the upward movement of the mechanical arm end, that is, the piston plate 33 can slide along the inner wall of the cylinder body 3 to adapt to the molding structure of the cargo surface. It is worth mentioning that the shape of the end of the piston plate 33 is the same as the inner wall of the cylinder body 3, which can be square to reduce the deflection of the piston plate 33 during sliding. In the initial state, the spring 32 should be in a compressed state, that is, the spring 32 will exert a pushing force on the end of the piston plate 33 towards the cargo, ensuring that the rotating wheel 17 can be tightly attached to the outer wall of the cargo during the movement of the support arm 15;

[0058] After the rotating wheel 17 is tightly attached to the outer wall of the cargo, the compressed gas source can be started, which can be a high-pressure gas cylinder, a gas pump or an air compressor. During the movement of the rotating wheel 17 with the mechanical arm end, the rotating wheel 17 will be tightly attached to the outer wall of the cargo under the pre-tightening force of the spring 32 and the connecting action of the support arm 15, that is, the rotating wheel 17 can rotate under the action of friction. When the cargo is an oil drum, the surface of the cargo will have metal debris that is easy to fall off due to friction, rust and other reasons, that is, the surface of the rotating wheel 17 will easily adhere to metal debris during rotation. With the start of the compressed gas source, high-pressure gas can enter the inside of the cylinder body 3 through the branch pipe 4 and be sprayed out through the gas outlet 42 through the piston plate 33 and the connecting frame 16. The gas flow can air flush the surface of the rotating wheel 17 in rotation to reduce the debris adhering to the surface of the rotating wheel 17;

[0059] In the initial state, there is a gap between the end of the piston plate 33 and the end of the plug 5. During the movement of the rotating wheel 17 tightly attached to the cargo, it will move laterally due to the shape of the cargo, that is, the piston plate 33 can slide along the inner wall of the cylinder body 3. During this process, the end of the plug 5 can slide into the inside of the piston plate 33. At this time, the plug 5 will seal the piston plate 33. At the same time, due to the continuous start of the compressed gas source, the gas pressure in the cylinder body 3 will be in a positive pressure state, that is, it will exert a pressure on the end of the piston plate 33 towards the cargo. This arrangement can make the assembly composed of the rotating wheel 17, the connecting frame 16 and the piston plate 33 keep tightly attached to the outer wall of the cargo when it slides due to the molding of the cargo surface, reducing the shaking of the assembly composed of the rotating wheel 17, the connecting frame 16 and the piston plate 33 due to the instability of the elastic contraction of the spring 32 when it slides;

[0060] When the rotating wheel 17 moves along the surface of the goods, the top cover of the oil drum may be arranged protruding from the barrel wall, which makes it difficult for the rotating wheel 17 to stably roll over the cover. However, the guide plate 6 can be in contact with the cover earlier than the rotating wheel 17 due to the arc-shaped structure, and the assembly composed of the rotating wheel 17, the connecting frame 16 and the piston plate 33 can be guided by the surface of the guide plate 6, so as to reduce the jamming of the rotating wheel 17 when sliding over the cover. In addition, the guide plate 6 arranged above the rotating wheel 17 can protect the bottom rotating wheel 17 from secondary pollution caused by the falling debris of the top rotating wheel 17 due to air cleaning. In addition, the arc-shaped cross-section of the guide plate 6 can make the debris on the surface fall from both sides by gravity.

[0061] When the rotating wheel 17 slides along the surface of the goods, the ratchet wheel 7 can rotate synchronously with the rotating wheel 17. During the rotation of the ratchet wheel 7, the end of the pawl 72 can continuously slide along the tooth back of the ratchet wheel 7. When the end of the pawl 72 passes over the tooth tip of the ratchet wheel 7, the pawl 72 can be reset and fall onto the ratchet wheel 7 again under the action of gravity. The engagement between the ratchet wheel 7 and the pawl 72 can generate vibration, which can be transmitted to the guide plate 6 to accelerate the shaking speed of the debris on the guide plate 6. In addition, when one side of the rotating wheel 17 moves due to the shape of the goods, the other side of the rotating wheel 17 can be in a suspended state. Since the engagement between the ratchet wheel 7 and the pawl 72 is unidirectional, the reverse rotation of the suspended rotating wheel 17 caused by the continuous airflow at the air outlet 42 can be reduced, ensuring that the suspended rotating wheel 17 can quickly and smoothly enter the rolling state when it recontacts with the goods. It is worth mentioning that in order to ensure the vibration effect when the pawl 72 engages with the ratchet wheel 7, the movement speed of the mechanical hand end can be correspondingly controlled.

[0062] When the pawl 72 passes over the tooth tip of the ratchet wheel 7, the deflection angle of the pawl 72 is at the maximum state. At this time, the pawl 72 can be in contact with the limiting rod 8, that is, the limiting rod 8 can limit the deflection range of the pawl 72 to reduce the suspended time of the pawl 72 and ensure that the pawl 72 can engage with each tooth of the ratchet wheel 7.

[0063] The labyrinth structure composed of the first baffle 9 and the second baffle 92 can prevent impurities in the air from entering the air outlet 42 when the compressed air source stops working. In addition, since the end of the second baffle 92 is directed towards the tangent direction of the rotating wheel 17, the relative speed between the compressed airflow and the rotating wheel 17 can be increased, the shear force of the airflow on the surface of the rotating wheel 17 can be enhanced, and the cleaning effect of the airflow on the surface of the rotating wheel 17 can be improved.

[0064] The rubber layer 1002 can provide elastic buffering for the rotating wheel 17 through its flexibility, which can protect the rotating wheel 17. The anti-static cloth 1000 can be directly in contact with the surface of the goods. Since the anti-static cloth 1000 internally mixes conductive filaments, it can quickly release static electricity generated when the rotating wheel 17 rubs against the goods, thereby reducing the adsorption ability of the rotating wheel 17 to the debris on the surface of the goods.

[0065] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all such variations and modifications are intended to be included within the scope of the application as defined in the following claims.

Claims

1. A programmable cylindrical cargo gripper, characterized by: Including from top to bottom installation seat (13), asynchronous motor (1), mounting plate (12); The top of the installation seat (13) is installed at the end of the manipulator; The asynchronous motor (1) is controlled to start by the main controller, and the asynchronous motor (1) is fixedly installed between the mounting plate (12) and the installation seat (13); The bottom of the mounting plate (12) is provided with a plurality of clamping plates (14) and support arms (15), the clamping plate (14) is used for clamping and conveying goods; The side of the support arm (15) facing the goods is provided with a plurality of connecting frames (16); The end of the connecting frame (16) is rotatably connected with a rotating wheel (17); The bottom of the mounting plate (12) is provided with a connecting assembly, and the connecting assembly is used for converting the output power of the asynchronous motor (1) into the power for the movement of the clamping plate (14) and the support arm (15); The connecting assembly comprises a screw rod (2) fixedly connected with the output end of the asynchronous motor (1); The middle part of the screw rod (2) is threadedly connected with a nut (22); The bottom of the nut (22) is rotatably connected with a plurality of first connecting rods (23), and the number of the first connecting rods (23) and the clamping plates (14) is the same; The top of the clamping plate (14) is provided with a fixing seat (25), and the fixing seat (25) is fixedly installed at the bottom of the mounting plate (12); The bottom of the fixing seat (25) is rotatably connected with a pair of synchronous rods (24), and the end of the synchronous rod (24) is rotatably connected with the clamping plate (14); The end of the first connecting rod (23) is rotatably connected with the middle part of the adjacent synchronous rod (24) on the fixing seat (25); The top of the nut (22) is rotatably connected with a plurality of second connecting rods (26), and the number of the second connecting rods (26) and the support arms (15) is the same; The end of the second connecting rod (26) is rotatably connected with the end of the support arm (15); The support arm (15) is slidably installed at the bottom of the mounting plate (12); The side of the connecting frame (16) facing the support arm (15) is fixedly connected with a piston plate (33); The side of the support arm (15) away from the connecting frame (16) is fixedly connected with a cylinder body (3); The end of the piston plate (33) and the inner wall of the cylinder body (3) are the same in shape, and a spring (32) is fixedly installed between the end of the piston plate (33) and the inner wall of the cylinder body (3).

2. A programmable cylindrical cargo gripper according to claim 1, characterized in that: The end of the cylinder body (3) is provided with a plurality of holes, and the end of the cylinder body (3) is communicated with a branch pipe (4); A plurality of the branch pipes (4) on the support arm (15) are communicated with a main pipe, and the main pipe is in communication with a compressed air source; The side of the piston plate (33) facing the branch pipe (4) is provided with an opening; The end of the connecting frame (16) is provided with a plurality of gas outlets (42), and the gas outlets (42) are arranged towards the rotating wheel (17).

3. A programmable cylindrical cargo gripper according to claim 2, wherein: The inner wall of the cylinder body (3) is fixedly connected with a plug (5); The plug (5) and the piston plate (33) are concentrically arranged, and the outer diameter of the end of the plug (5) is the same as the inner diameter of the piston plate (33).

4. A programmable cylindrical cargo gripper according to claim 3, wherein: The top of the rotating wheel (17) is provided with a guide plate (6), and the cross section and shape of the guide plate (6) are both arc-shaped; The guide plate (6) is installed on the connecting frame (16) through a support arm on both sides.

5. A programmable cylindrical cargo gripper according to claim 4, wherein: The rotating wheel (17) is fixed with a ratchet wheel (7) on both sides; the top of the ratchet wheel (7) is engaged with a pawl (72); the pawl (72) is rotatably connected to the bottom of the guide plate (6).

6. A programmable cylindrical cargo gripper according to claim 5, wherein: The bottom of the guide plate (6) is fixed with a limiting rod (8); the limiting rod (8) is located on one side of the pawl (72).

7. A programmable cylindrical cargo gripper according to claim 6, wherein: The air outlet (42) is fixed with a first baffle (9) and a second baffle (92) on one side of the rotating wheel (17); the ends of the first baffle (9) and the second baffle (92) are staggered, and the end of the second baffle (92) is towards the tangent direction of the rotating wheel (17).

8. A programmable cylindrical cargo gripper according to claim 7, wherein: The surface of the rotating wheel (17) is sequentially provided with an anti-static cloth (1000) and a rubber layer (1002) from outside to inside.

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