Mechanical clamping and placing device for multiple sets of sole timbers

Abstract

The invention provides a multi-group sole timber mechanical clamping and placing device, which relates to the technical field of warehouse logistics equipment, and comprises a timber clamping device, a portal frame walking device and an electric control system, the timber clamping device is arranged on the portal walking device and comprises a clamping jaw translation mechanism, a clamping jaw telescopic mechanism and a plurality of clamping jaw combinations. The bottom of the portal walking device is matched with a ground passing rail, and positioning is achieved through meshing of a gear with an encoder and a ground rack. The clamping jaw translation mechanism is guided by a sliding block and driven by a gear rack, and is assisted by a micro roller device; the clamping jaw telescoping mechanism drives the clamping jaw to operate along the Z-axis positioning sliding block guide rail through chain driving; the clamping jaw drives the rough panel piece to stretch out and draw back through the air cylinder so as to clamp materials. Automatic and accurate grabbing and placing of the sole timber are achieved through the electric control system, the problems that manual high-altitude operation is dangerous and low in efficiency are solved, and the automatic sole timber grabbing and placing device has the advantages of being accurate in positioning, safe, efficient, capable of saving labor cost and the like.

Description

Technical Field

[0001] This invention relates to the field of warehousing and logistics equipment technology, and more particularly to a multi-set wooden block mechanical clamping and placement device. Background Technology

[0002] Currently, steel plates in the thick plate storage yards of domestic steel mills are typically transported to the dock via frame-mounted vehicles after sorting at the storage location. Because the steel plate loading and unloading machines at the dock use multi-hook spreaders, the lifting capacity of the spreaders and the machines is limited. Therefore, during transfer from the storage location, multiple steel plates must be separated to ensure that the hook space and weight per plate meet the lifting requirements.

[0003] In existing steel plate separation operations, the placement of wooden blocks relies entirely on manual labor. Workers must use ladders to climb to a height of approximately 3.5 meters above the frame to manually place the blocks and complete the separation operation. This traditional method has significant drawbacks: firstly, the operation is heavily influenced by the outdoor environment; secondly, workers must work at a height of 3.5 meters, posing a significant safety hazard; and finally, manual placement is inefficient, severely impacting the overall transfer process.

[0004] Therefore, there is an urgent need to develop a mechanical device that can automatically grip and place multiple sets of wooden blocks, and is safe and efficient, unaffected by the environment. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a multi-set mechanical clamping and placement device for wooden blocks. This invention uses an electronic control system to control the gantry traveling device and the wooden block clamping device, achieving automatic and precise clamping and placement of the wooden blocks.

[0006] To achieve the above objectives, the present invention provides a multi-set mechanical clamping and placing device for wooden blocks, comprising: a wooden clamping device, a gantry traveling device, and an electrical control system; The gantry traveling device is supported by a gantry structure and is used to drive the wood clamping device to move; the electrical control system is electrically connected to both the gantry traveling device and the wood clamping device. The wood clamping device is mounted on the gantry traveling device and includes a jaw translation mechanism, a jaw extension mechanism, and multiple jaw combinations. The gripper translation mechanism adopts a slider guide and is driven by a drive source through a gear and rack meshing type. The slider and the rack are arranged on both sides and are equipped with a micro roller device for auxiliary guidance and support. The gripper telescopic mechanism is connected to the gripper translation mechanism and is used to drive the gripper assembly to move along the Z-axis direction; Each gripper in the gripper assembly includes a drive cylinder and a roughened panel component; the drive cylinder is connected to the roughened panel component and is used to drive the roughened panel component to extend and retract, so that the rough surface of the roughened panel component abuts against the side surface of the pad, thereby clamping the pad through friction.

[0007] Furthermore, the bottom of the gantry traveling device is adapted to run on a travel track provided on the ground; the gantry traveling device is equipped with a drive cable and is positioned by meshing a gear with an encoder with a rack on the ground.

[0008] Furthermore, the gripper translation mechanism is mounted on the gantry traveling device and is used to drive the gripper to move along the Y-axis direction; the gripper extension mechanism is connected to the gripper translation mechanism and is used to drive the gripper to move along the Z-axis direction.

[0009] Furthermore, the surface of the roughened panel is provided with anti-slip texture or coated with a high coefficient of friction material; the drive cylinder is configured to output a holding force to maintain the pressing state of the roughened panel on the pad.

[0010] Furthermore, the gripper is provided with multiple gripper combinations; each gripper is provided with a sensor to sense the material status; the side of the gripper is provided with travel contact limit protection.

[0011] Furthermore, the electronic control system is equipped with a travel limit device and has a numerical reading function; the electronic control system calculates the running distance by the number of rotations of each mechanism to determine the stopping point of the mechanism, so as to achieve positioning.

[0012] By adopting the above technical solution, the present invention has the following advantages compared with the prior art: 1. The present invention provides a multi-set mechanical clamping and placement device for wooden blocks, which replaces the traditional method of manually climbing to the top of the frame (about 3.5 meters) to place the wooden blocks through automatic mechanical operation, completely solving the problem of the danger of personnel climbing to heights. At the same time, a single device can save about 4 workers, significantly reducing labor costs.

[0013] 2. The present invention provides a multi-set wooden block mechanical clamping and placement device, which uses a gear and rack meshing type with encoder for positioning, and combines the electronic control system to calculate the running distance by the number of rotations of the mechanism, thereby achieving high-precision positioning of the wooden blocks and effectively ensuring the accuracy of the wooden blocks being located in the center of the steel plate.

[0014] 3. The present invention provides a multi-set wooden block mechanical clamping and placement device, which can realize the rapid clamping, transfer and placement of multiple sets of wooden blocks as needed, overcome the limitations of outdoor environment on manual operation, and significantly improve the working efficiency of the entire process of steel plate separation and material conveying. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of a multi-set wooden block mechanical clamping and placement device according to the present invention; Figure 2 This is a schematic diagram of the wood clamping device structure of a multi-set wooden block mechanical clamping and placing device according to the present invention.

[0017] In the diagram: 1. Gantry traveling device; 11. Gantry traveling guide rail; 2. Wood clamping device; 21. Gripper translation mechanism; 22. Gripper telescopic mechanism; 23. Gripper; 24. Miniature roller device; 3. Slider guide; 4. Electrical control system. Detailed Implementation

[0018] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0019] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The following description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0020] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the scope of exemplary embodiments according to the invention. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0021] Unless otherwise specifically stated, the relative arrangement, numerical expressions, and values ​​of the components and steps set forth in these embodiments do not limit the scope of the invention. It should also be understood that, for ease of description, the dimensions of the various parts shown in the drawings are not drawn to actual scale. Techniques, methods, and devices known to those skilled in the art may not be discussed in detail, but where appropriate, such techniques, methods, and devices should be considered part of the specification. In all examples listed and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limitations. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar reference numerals and letters in the following figures denote similar items; therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0022] In the description of this invention, it should be understood that the orientation or positional relationship indicated by directional terms such as "front, back, up, down, left, right", "horizontal, vertical, horizontal" and "top, bottom" is generally based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing this invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of this invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0023] For ease of description, spatial relative terms such as "above," "on top of," "on the upper surface of," "above," etc., are used herein to describe the spatial positional relationship of a device or feature as shown in the figures to other devices or features. It should be understood that spatial relative terms are intended to encompass different orientations in use or operation beyond the orientation of the device as described in the figures. For example, if the device in the figures were inverted, a device described as "above" or "on top of" other devices or structures would subsequently be positioned as "below" or "under" other devices or structures. Thus, the exemplary term "above" can include both "above" and "below." The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0024] Furthermore, it should be noted that the use of terms such as "first" and "second" to define components is merely for the purpose of distinguishing the corresponding components. Unless otherwise stated, the above terms have no special meaning and therefore should not be construed as limiting the scope of protection of this invention.

[0025] Example like Figures 1 to 2 As shown, this embodiment provides a multi-set mechanical clamping and placing device for wooden blocks, including: a wooden clamping device 2, a gantry traveling device 1, and an electrical control system 4; The gantry traveling device 1, serving as the main support for the entire equipment, adopts a gantry structure for support. Its bottom is designed to adapt to the ground-mounted gantry traveling guide rail 11, thereby enabling movement along the X-axis of the workshop or storage yard. To ensure power supply and signal transmission, drive cables are arranged on the side of the gantry traveling device 1. For positioning, the device employs a gear-encoder meshing system with a ground rack. The precise meshing of the gear and the ground rack, along with encoder feedback, ensures the accuracy of gantry movement and the placement of the wooden blocks, solving the positioning difficulties of traditional methods.

[0026] The timber clamping device 2 is installed on the gantry traveling device 1 and is supported by a lightweight frame structure, enabling it to move with the gantry and perform independent operations. Specifically, the device includes a jaw translation mechanism 21, a jaw extension mechanism 22, and a jaw 23. The cooperation of these three parts achieves three-axis guiding operation. This three-axis coordinated structural design gives the device a wide working range, allowing it to flexibly transfer multiple sets of timber to any designated position according to different specifications.

[0027] The gripper translation mechanism 21 is mounted on the gantry traveling device 1 and is used to drive the gripper 23 to move along the Y-axis, i.e., along the direction of the gantry main beam. In terms of the guiding structure, this mechanism uses a slider guide 3. In terms of the driving method, a drive source drives a gear and rack meshing type. To improve the smoothness of operation and resistance to lateral forces, the slider and rack are arranged on both sides, and a special micro-roller device 24 is provided for auxiliary support and guidance. The micro-roller device 24 is designed to roll close to the side of the guide rail, eliminating gaps, assisting in guidance, and preventing jamming. The combination of the slider and micro-roller, along with the gear and rack drive, achieves efficient and smooth operation of the mechanism, effectively resisting lateral sway and ensuring stability during operation. The gripper telescopic mechanism 22 is connected to the gripper translation mechanism 21 and is used to drive the gripper 23 to move along the Z-axis. This mechanism uses a drive source to drive a chain to provide lifting power, causing the gripper 23 at the end to rise and fall. To ensure the verticality and stability of the lifting process, the gripper 23 runs along the Z-axis positioning slider guide 3 track. The chain drive, in conjunction with the positioning slider guide 3 track, ensures efficient and high-precision operation of the gripper 23 in the height direction, allowing it to maintain a vertical posture even when the gripping range changes, adapting to materials of different shapes and sizes. The gripper 23 is supported by a truss structure, and its core actuators include a drive cylinder and a roughened panel. The drive cylinder is connected to the roughened panel. In this embodiment, a lateral friction gripping method is used. Specifically, the drive cylinder is horizontally installed inside the gripper truss, and its piston rod end is fixedly connected to the roughened panel. The roughened panel is a steel plate assembly with a high coefficient of friction contact surface. To ensure that slippage does not occur when lifting heavy dunnage, the contact surface of the roughened panel is specially processed. As a preferred embodiment, the surface of the roughened panel is processed with knurled texture or has several micro barbs to embed into the surface of the dunnage and increase the gripping force; as another embodiment, the surface of the roughened panel is vulcanized with a layer of industrial-grade high-wear-resistant rubber or polyurethane coating, which protects the surface of the dunnage while providing sufficient static friction.

[0028] During operation, the drive cylinder drives the roughened panel to extend and retract, thereby using friction or clamping force to grip the material. To accommodate the simultaneous operation of multiple wooden blocks, the gripper 23 is equipped with multiple sets of gripper 23 combinations. For intelligent sensing, each gripper 23 is equipped with a sensor for real-time monitoring of the material status. In addition, a travel limit protection is provided on the side of the gripper 23 to prevent the gripper 23 from descending too low and colliding with the ground or objects. The multiple sets of gripper 23 combinations improve the efficiency of a single operation; the sensor and travel limit protection not only endow the equipment with intelligent sensing capabilities but also prevent the equipment from accidentally colliding with the ground, greatly improving operational safety.

[0029] The electrical control system 4 is electrically connected to both the gantry traveling device 1 and the wood clamping device 2, and is used to coordinate the operation and positioning of the entire device. This system is equipped with travel limit devices and has a numerical reading function. During positioning control, the electrical control system 4 calculates the actual traveling distance by reading the number of rotations of the motors of each mechanism (such as the traveling, translating, and telescopic mechanisms), and then uses this to determine the stopping point of the mechanism, thereby achieving precise positioning of the placement device.

[0030] This unit's operating procedure: The electronic control system 4 first uses the numerical reading function and calculates the running distance by the number of rotations of each mechanism to determine the stopping point of the mechanism. It controls the gantry traveling device 1 to run along the ground track to the material picking area by meshing the encoder gear with the ground rack. At the same time, it controls the jaw translation mechanism 21 in the wood clamping device 2 to drive the jaw 23 to move along the Y-axis slider guide 3 to align with the material. The jaw extension mechanism 22 drives the jaw 23 to descend along the Z-axis positioning slider guide 3 track by the drive source drive chain. When the sensor on the jaw 23 senses the material status and the side stroke contact limit protection is confirmed to be in place, the drive cylinder in the jaw 23 actuates to drive the rough panel to extend and retract to achieve the clamping of multiple sets of pad wood. Subsequently, the device lifts and carries the pad wood to the designated placement position of the steel plate, and then descends again along the Z-axis to accurately place the pad wood in the center of the steel plate, thus completing the automated clamping and placement process.

[0031] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A multi-set wooden block mechanical clamping and placement device, characterized in that, include: Timber clamping device, gantry traveling device and electrical control system; The gantry traveling device is supported by a gantry structure and is used to drive the wood clamping device to move. The electrical control system is electrically connected to the gantry traveling device and the timber clamping device, respectively. The wood clamping device is mounted on the gantry traveling device and includes a jaw translation mechanism, a jaw extension mechanism, and multiple jaw combinations. The gripper translation mechanism adopts a slider guide and is driven by a drive source through a gear and rack meshing type. The slider and the rack are arranged on both sides and are equipped with a micro roller device for auxiliary guidance and support. The gripper telescopic mechanism is connected to the gripper translation mechanism and is used to drive the gripper assembly to run along the Z-axis direction; Each gripper in the gripper assembly includes a drive cylinder and a roughened panel component; the drive cylinder is connected to the roughened panel component and is used to drive the roughened panel component to extend and retract, so that the rough surface of the roughened panel component abuts against the side surface of the pad, thereby clamping the pad through friction.

2. The multi-set wooden block mechanical clamping and placement device according to claim 1, characterized in that, The bottom of the gantry traveling device is adapted to run on a travel track provided on the ground; the gantry traveling device is equipped with a drive cable and is positioned by meshing a gear with an encoder with a rack on the ground.

3. The multi-set wooden block mechanical clamping and placement device according to claim 1, characterized in that, The gripper translation mechanism is mounted on the gantry traveling device and is used to drive the gripper to move along the Y-axis; the gripper extension mechanism is connected to the gripper translation mechanism and is used to drive the gripper to move along the Z-axis.

4. The multi-set wooden block mechanical clamping and placement device according to claim 1, characterized in that, The surface of the roughened panel is provided with anti-slip texture or coated with a high coefficient of friction material; the drive cylinder is configured to output a holding force to maintain the pressure of the roughened panel on the pad.

5. The multi-set wooden block mechanical clamping and placement device according to claim 1, characterized in that, The gripper telescopic mechanism uses a drive source to drive the chain, which drives the gripper at the end to run along the Z-axis positioning slider guide track.

6. The multi-set wooden block mechanical clamping and placement device according to claim 1, characterized in that, The gripper is equipped with multiple gripper combinations; each gripper is equipped with a sensor to sense the material status; the side of the gripper is equipped with a travel contact limit protection.

7. The multi-set wooden block mechanical clamping and placement device according to claim 1, characterized in that, The electronic control system is equipped with a travel limit device and has a numerical reading function; the electronic control system calculates the running distance by the number of rotations of each mechanism to determine the stopping point of the mechanism, so as to achieve positioning.

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