A clamping mechanism and a lifting machine

Abstract

This invention discloses a clamping mechanism and a hoist, relating to the field of clamping technology. It includes a mounting plate installed at the bottom of the hoist body. A clamping assembly and a drive assembly are respectively installed at the bottom and top of the mounting plate. A sensing component is installed on the clamping assembly, and a positioning component is installed on the mounting plate. When the clamping assembly engages with a workpiece, the positioning component detects whether the clamping assembly has descended to a preset workpiece clamping position. When the clamping assembly clamps and transfers a workpiece, the positioning component detects whether the clamping assembly has clamped the workpiece securely. This invention utilizes the cooperative use of the hoist body, mounting plate, clamping assembly, and positioning component. Under the action of the positioning component, it can not only provide feedback on whether the mounting plate has driven the clamping assembly to move to the workpiece clamping position, but also improve the stability of workpiece clamping through cooperation between the positioning component and the clamping assembly. Furthermore, the positioning component can perform a self-cleaning process during each product retrieval.

Description

Technical Field

[0001] This invention relates to the field of clamping technology, and in particular to a clamping mechanism and a lifting machine. Background Technology

[0002] A hoist is a fixed-point conveying device that uses a fixed guide rail as its running guide mechanism. The power system drives the carrying platform to perform horizontal and vertical reciprocating motion along the guide rail. With the help of special fixtures, it realizes the automatic picking, placing and transferring of workpieces. It is widely used in industrial production lines, warehousing and logistics, automated parking systems and other scenarios. It is a core automated equipment for improving material transfer efficiency and reducing manual handling load.

[0003] When a hoist clamps a workpiece using a fixture, the workpiece's position is typically identified by a vision system, and the fixture is moved to a fixed point by a control program for clamping. However, since the vision system only identifies the workpiece's position, when the fixture moves above the workpiece, it may cover it, preventing the vision system from accurately identifying the alignment between the fixture and the workpiece. Therefore, while the fixture may hold the workpiece, it may not be fully clamped. Even if the fixture is not fully clamped, the portion holding the workpiece can still be used for transport. During transport, the workpiece may detach and fall due to the movement of the equipment or the workpiece's own inertia. The vision system, relying on features, can only identify whether the fixture is clamping the workpiece for transport; it cannot provide real-time feedback on the workpiece's clamping status, thus failing to accurately understand the workpiece's state during clamping and transport. Therefore, a clamping mechanism and hoist are designed to solve or alleviate these problems. Summary of the Invention

[0004] The purpose of this invention is to provide a clamping mechanism and a lifting machine to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a clamping mechanism, installed on the body of a hoist, comprising: The mounting plate is installed at the bottom end of the hoist body, and the hoist body is used to drive the mounting plate to move up and down and translate. The clamping assembly and the drive assembly are respectively mounted on the bottom and top of the mounting plate. The power output end of the drive assembly passes through the mounting plate and is connected to the two sets of clamping assemblies at its bottom for driving the two sets of clamping assemblies to perform opposing convergence and opposing separation movements in the horizontal direction, so as to clamp and release the workpiece. The sensing component is installed on the clamping assembly and is used to detect the contact state between the clamping assembly and the workpiece in real time. When the clamping assembly successfully clamps the workpiece, it generates a corresponding clamping signal and feeds it back to the control terminal in the hoist body. A positioning component is mounted on a mounting plate. When the clamping component docks with the workpiece, the positioning component detects whether the clamping component has descended to a preset workpiece clamping position, confirms its position, and provides a positioning signal. It also provides auxiliary positioning guidance for the clamping component to clamp the workpiece. When the clamping component clamps and transfers the workpiece, the positioning component detects whether the clamping component is clamping the workpiece and continuously provides workpiece clamping information. When the clamping component releases the workpiece, the positioning component assists in the release and separation of the clamping component and provides a workpiece release and separation signal.

[0006] Preferably, the clamp assembly includes: The mounting clamps are symmetrically arranged at the bottom of the mounting plate, and the bottom of the mounting clamps facing the workpiece has a bottom shovel for supporting the workpiece. An arm plate is fixedly installed at the end of a mounting clamp, the top of the arm plate is connected to a drive assembly, and the arm plate is inclined toward the workpiece side. The guide module has a notch at the top of the mounting clamp, and the guide module is fixedly installed inside the notch. The guide module is used to correct the position of the clamped workpiece.

[0007] Preferably, the driving component includes: A connecting plate is provided on a mounting plate, and a sliding hole is provided on the mounting plate. The top of the arm plate passes through the sliding hole and is fixedly connected to the connecting plate. A connecting rail is fixedly installed on the top of the mounting plate; A connecting seat is fixedly installed on the bottom of the connecting plate and is slidably engaged with the outside of the connecting guide rail.

[0008] Preferably, the driving component further includes: A bidirectional lead screw and a bearing seat, wherein the bidirectional lead screw is rotatably mounted on the top of the mounting plate via the bearing seat, and the axis of the bidirectional lead screw is parallel to the trajectory of the connecting guide rail; A drive motor is mounted on the top of the mounting plate, and the output end of the drive motor is connected to a bidirectional lead screw drive. A threaded seat is fixedly installed on the top of the connecting plate, and the outer wall of the bidirectional lead screw is threadedly connected to the threaded seat.

[0009] Preferably, the driving component further includes: A sensing element, which is fixedly installed on the top of the connecting plate; The first sensor is fixedly mounted on the top of the mounting plate, and the end of the sensing plate is inserted into the interior of the first sensor to provide feedback on the position information of the clamp assembly.

[0010] Preferably, the sensing component includes: The mounting housing is fixedly mounted on the top of the mounting clamp; The second sensor is fixedly installed inside the mounting housing; The mounting plate has a storage slot at its bottom for mounting the test piece. A film, which is fixedly installed at the bottom of the mounting clamp, and the film is located at the bottom of the test piece; A sensing probe is fixedly connected to the top of the detection plate. A through hole is provided at the top of the inner wall of the storage tank, and the top of the sensing probe passes through the through hole and is located inside the second sensor. An airbag is mounted on the outside of the sensing probe and is fitted inside the through hole.

[0011] Preferably, the positioning component includes: Mounting base, the mounting base is fixedly mounted on the mounting plate; A positioning disc is disposed at the bottom of the mounting base; The mounting shaft has its bottom fixedly connected to the positioning disc, its outer wall vertically slidingly connected to the mounting base, and a buckle snapped onto the top of its outer wall, which is located at the top of the mounting base. A spring, which is sleeved on the outside of the mounting shaft, acts on the positioning disc with a spring force away from the mounting base; A detection component, which is disposed on the top of the mounting base, is used to detect and provide feedback on the position information of the positioning disk.

[0012] Preferably, the detection component includes: A connecting rod, which is vertically fixed to the top of the mounting shaft; A detection probe, which is fixedly connected to the top of the connecting rod; Mounting bracket, which is fixedly mounted on the top of the mounting plate; A first laser sensor and a second laser sensor are mounted on a mounting bracket and are arranged alternately vertically. The first laser sensor and the second laser sensor are used to detect and provide feedback on the position information of the detection probe.

[0013] Preferably, the detection component further includes: A fixing plate is fixedly connected to the bottom of the outer wall of the connecting rod; The first vertical plate is fixedly connected to the top of the fixed plate in a vertical position, and the first vertical plate corresponds to the first laser sensor; The second vertical plate is fixedly connected to the top of the fixed plate in a vertical position, and the second vertical plate corresponds to the second laser sensor; Wiping components are respectively connected to the top of one side of the first vertical plate and the second vertical plate, and are used to wipe and clean the first laser sensor and the second laser sensor; The first window is opened at the bottom of one side of the first vertical plate and the second vertical plate respectively; The second window is located at the top of one side of the second vertical plate and corresponds to the detection probe.

[0014] Another objective of this invention is to provide a hoist, wherein the main body of the hoist is equipped with a control terminal for controlling the clamping assembly to hold the workpiece, and the control steps are as follows: Step 1: The main body of the hoist moves the mounting plate above the workpiece and lowers it, causing the positioning component to squeeze and limit the workpiece until the positioning component outputs the second position information, stopping the descent of the mounting plate; Step 2: The drive component drives the fixture assembly to clamp the workpiece until the sensing component reports that the fixture assembly has clamped the workpiece, at which point the drive component stops driving the fixture assembly to move. Step 3: The main body of the hoist drives the mounting plate to rise, so that the mounting plate drives the workpiece to rise through the clamping assembly. The information fed back by the positioning assembly determines whether the workpiece is clamped, that is, whether the positioning assembly continuously outputs the second position information. If yes, the workpiece is clamped stably; otherwise, the workpiece is not clamped stably. Adjust the position of the clamping assembly and repeat the clamping steps until the workpiece is clamped stably. Step 4: When the hoist body transports the workpiece to the designated position, the mounting plate descends, places the workpiece on the storage station, and causes the drive component to reset the clamping component. Then, the hoist body drives the mounting plate to rise, and determines whether the workpiece has been released by the information fed back by the positioning component. That is, when the mounting plate rises, whether the position information fed back by the positioning component changes from the second position information to the first position information. If so, the workpiece is released. Otherwise, the positioning component continues to feed back the second position information, and the workpiece is not released. Repeat the clamping and releasing steps.

[0015] The technical effects and advantages of this invention are as follows: (1) The present invention utilizes the cooperative use of the hoist body, mounting plate, clamping assembly and positioning assembly. Under the action of the positioning assembly, it can not only provide feedback on whether the mounting plate drives the clamping assembly to move to the workpiece clamping position, but also improve the stability of workpiece clamping by cooperating with the clamping assembly. Furthermore, the positioning assembly can perform a self-cleaning process when picking up a product. (2) The present invention uses a combination of a clamping assembly, a sensing assembly and a positioning assembly. The sensing assembly can sense whether there is a workpiece clamped on the clamping assembly, which can assist the clamping assembly in clamping or releasing the workpiece. The positioning assembly can provide feedback again on whether there is a workpiece clamped on the clamping assembly, thereby performing multiple detections and feedback, thereby improving the accuracy of workpiece clamping status judgment. Attached Figure Description

[0016] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used together with the embodiments of the invention to explain the invention, but do not constitute a limitation thereof. In the drawings: Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the mounting plate of the present invention; Figure 3 This is a schematic diagram of the overall structure of the bottom of the mounting plate of the present invention; Figure 4 This is a schematic diagram of the overall structure of the bidirectional lead screw of the present invention; Figure 5 This is a schematic diagram of the overall structure of the mounting clamp of the present invention; Figure 6 This is a schematic diagram of the exploded structure of the present invention; Figure 7 This is a schematic diagram of the overall structure of the connecting rod and fixing plate assembly of the present invention; Figure 8 This is a schematic diagram of the overall structure of the mounting base of the present invention; Figure 9 This is a schematic diagram of the front structure of the mounting base of the present invention; Figure 10 This is a schematic diagram of the overall structure of the fixing plate of the present invention; Figure 11 This is a flowchart illustrating the working logic of the clamping assembly of the present invention.

[0017] In the attached diagram: 1. Hoist body; 2. Mounting plate; 3. Clamp assembly; 31. Mounting clamp plate; 32. Bottom shovel; 33. Arm plate; 34. Guide module; 4. Drive assembly; 41. Connecting plate; 42. Two-way lead screw; 43. Shaft seat; 44. Drive motor; 45. Threaded seat; 46. Connecting guide rail; 47. Connecting seat; 48. Sensing plate; 49. First sensor; 5. Sensing assembly; 51. Mounting housing; 52. Second sensor; 53. Detection plate; 54. 55. Film; 56. Sensor probe; 67. Airbag; 68. Positioning assembly; 69. Mounting base; 60. Positioning disc; 61. Mounting shaft; 62. Spring; 63. Detection assembly; 64. Connecting rod; 655. Detection probe; 656. Mounting bracket; 657. First laser sensor; 658. Second laser sensor; 659. Fixing plate; 650. First vertical plate; 6510. Second vertical plate; 6511. Wiping component; 652. First window; 653. Second window. Detailed Implementation

[0018] 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. 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.

[0019] This invention provides, for example Figures 1-11The clamping mechanism and lifting machine shown are mounted on the lifting machine body 1. The mechanism includes a mounting plate 2, clamping assemblies 3, a drive assembly 4, a sensing assembly 5, and a positioning assembly 6. The mounting plate 2 is mounted at the bottom of the lifting machine body 1, and the lifting machine body 1 drives the mounting plate 2 to move up and down and translate. The clamping assembly 3 is mounted at the bottom of the mounting plate 2, and the drive assembly 4 is mounted at the top of the mounting plate 2. The power output end of the drive assembly 4 passes through the mounting plate 2 and is connected to the two sets of clamping assemblies 3 at its bottom, driving the two sets of clamping assemblies 3 to perform opposing convergence and divergence movements in the horizontal direction for clamping and releasing the workpiece. The sensing assembly 5 is mounted on the clamping assembly 3 and is used to detect the contact state between the clamping assembly 3 and the workpiece in real time. When the clamping assembly 3 successfully clamps the workpiece, it generates a corresponding clamping positioning signal, thus forming a first feedback signal. The feedback is sent to the control terminal in the main body 1 of the hoist. The positioning component 6 is installed on the mounting plate 2. When the clamping component 3 docks with the workpiece, the positioning component 6 is used to detect whether the clamping component 3 has descended to the preset workpiece clamping position, and provides a positioning signal. It also provides auxiliary positioning guidance for the clamping component 3 to clamp the workpiece. When the clamping component 3 clamps and transfers the workpiece, the positioning component 6 is used to detect whether the clamping component 3 clamps the workpiece and continuously provides feedback on the workpiece clamping information, thereby providing feedback on the workpiece clamping status again and forming a second feedback signal. This provides continuous feedback on the status of the workpiece clamped on the clamping component 3, thereby improving the stability of the clamping component 3 when clamping and transferring the workpiece. When the clamping component 3 releases the workpiece, the positioning component 6 is used to assist the clamping component 3 in releasing and separating from the workpiece, and provides feedback on the workpiece release and separation signal to ensure that the workpiece is separated from the clamping component 3.

[0020] Furthermore, the clamping assembly 3 includes a mounting clamping plate 31, an arm plate 33, and a guiding module 34. The mounting clamping plates 31 are symmetrically arranged at the bottom of the mounting plate 2. The bottom of the mounting clamping plate 31 facing the workpiece has a bottom shovel 32 for supporting and carrying the workpiece. That is, when the two mounting clamping plates 31 move relative to each other, the mounting clamping plates 31 clamp the side of the workpiece, while the bottom shovel 32 is inserted into the bottom of the workpiece. Thus, when the two mounting clamping plates 31 clamp and transport the workpiece, the bottom shovel 32 can convey the workpiece, thereby ensuring the stability of the workpiece clamping and transport. The arm plate 33 is fixedly installed at the end of the mounting clamping plate 31. The top of the arm plate 33 is connected to the drive assembly 4, so that the drive assembly 4 can drive the two mounting clamping plates 31 to move synchronously relative to or away from each other through the arm plate 33. The arm plate 33 is inclined towards the workpiece side, such as... Figure 3As shown, when the two mounting clamps 31 clamp the workpiece, the arm plate 33 can be located on the side of the workpiece to limit the workpiece again. The top of the mounting clamp 31 has a notch, and the guide module 34 is fixedly installed inside the notch. The guide module 34 is used to correct the position of the clamped workpiece. One side of the guide module 34 has a triangular pointed protrusion, which can be inserted into the recess on the side of the workpiece. This not only limits the position of the workpiece, but also improves the stability of the workpiece clamping position of the mounting clamp 31.

[0021] Furthermore, the drive assembly 4 includes a connecting plate 41, a connecting guide rail 46, a connecting seat 47, a bidirectional lead screw 42, a shaft seat 43, a drive motor 44, and a threaded seat 45. The connecting plate 41 is mounted on the mounting plate 2, and the mounting plate 2 has a sliding hole. The top of the arm plate 33 passes through the sliding hole and is fixedly connected to the connecting plate 41. The connecting guide rail 46 is fixedly installed on the top of the mounting plate 2, and the connecting seat 47 is fixedly installed on the bottom of the connecting plate 41. The connecting seat 47 is slidably engaged with the outside of the connecting guide rail 46. Under the action of the connecting guide rail 46 and the connecting seat 47, the stability of the connecting plate 41 sliding on the mounting plate 2 can be ensured. The bidirectional lead screw 42 is rotatably mounted on the top of the mounting plate 2 through the shaft seat 43. The axis of the lead screw 42 is parallel to the trajectory of the connecting guide rail 46. The drive motor 44 is mounted on the top of the mounting plate 2. The output end of the drive motor 44 is connected to the bidirectional lead screw 42. The threaded seat 45 is fixedly mounted on the top of the connecting plate 41. The outer wall of the bidirectional lead screw 42 is threadedly connected to the threaded seat 45. The threads at both ends of the bidirectional lead screw 42 are in opposite directions, and the internal threads of the two threaded seats 45 correspond to the threads at both ends of the outer wall of the bidirectional lead screw 42. Thus, when the drive motor 44 drives the bidirectional lead screw 42 to rotate, the bidirectional lead screw 42 can drive the two threaded seats 45 to move synchronously relative to each other or in opposite directions, thereby causing the two connecting plates 41 to drive the two mounting clamps 31 to move relative to each other or in opposite directions.

[0022] Furthermore, the drive assembly 4 also includes a sensing plate 48 and two first sensors 49. The sensing plate 48 is fixedly installed on the top of the connecting plate 41, and the two first sensors 49 are fixedly installed on the top of the mounting plate 2. The end of the sensing plate 48 is inserted into the interior of the first sensor 49 to provide feedback on the position information of the clamp assembly 3. Thus, when the two ends of the sensing plate 48 are in contact with the two first sensors 49 respectively, the feedback information from the two first sensors 49 indicates that the distance between the two connecting plates 41 is at its maximum and minimum distance.

[0023] Furthermore, the sensing component 5 includes a mounting housing 51, a second sensor 52, a detection piece 53, a base plate 54, a sensing probe 55, and an airbag 56. The mounting housing 51 is fixedly mounted on the top of the mounting clamp 31. The second sensor 52 is fixedly mounted inside the mounting housing 51. The bottom of the mounting clamp 31 has a storage slot for mounting the detection piece 53. The base plate 54 is fixedly mounted on the bottom of the mounting clamp 31 and is located at the bottom of the detection piece 53. The base plate 54 can restrain and limit the detection piece 53, and under the limitation of the base plate 54, the detection piece 53 can be offset at a certain angle within the storage slot. The sensing probe 55 is fixedly connected to the top of the detection piece 53. A through hole is opened at the top of the inner wall of the storage slot, and the top of the sensing probe 55 passes through the through hole and is located at the second sensor. Inside 52, airbag 56 is installed outside of sensor probe 55. Airbag 56 is fitted inside the through hole, and detection piece 53 has an inclined chamfer on the side facing bottom shovel 32. The top of detection piece 53 is slightly higher than the height of bottom shovel 32. When bottom shovel 32 is inserted into the bottom of workpiece, the bottom of workpiece will squeeze detection piece 53, causing detection piece 53 to drive sensor probe 55 to squeeze second sensor 52. Second sensor 52 feeds back pressure information, which can determine whether workpiece is clamped on mounting clamp 31. After mounting clamp 31 causes detection piece 53 to separate from workpiece, airbag 56 returns sensor probe 55 to center, so that second sensor 52 feeds back that no workpiece is clamped on mounting clamp 31. That is, it can be subsequently determined whether both mounting clamps 31 are separated from or connected to workpiece.

[0024] Specifically, the positioning assembly 6 includes a mounting base 61, a positioning disc 62, a mounting shaft 63, a spring 64, and a detection assembly 65. The mounting base 61 is fixedly mounted on the mounting plate 2. The positioning disc 62 is disposed at the bottom of the mounting base 61. The bottom of the mounting shaft 63 is fixedly connected to the positioning disc 62. The outer wall of the mounting shaft 63 is vertically slidably sleeved with the mounting base 61. A buckle is engaged at the top of the outer wall of the mounting shaft 63, and the buckle is located at the top of the mounting base 61. Thus, under the action of the buckle, the mounting shaft 63 can be prevented from sliding directly down and separating from the mounting base 61. The spring 64 is sleeved on the mounting shaft 65. The spring 64 is located between the mounting base 61 and the positioning disc 62. The spring 64 acts on the positioning disc 62 with a spring force away from the mounting base 61, thereby lifting the main body 1 and driving the mounting plate 2 to descend. The spring 64 can squeeze the workpiece through the positioning disc 62. When the bottom of the positioning disc 62 is squeezed and attached to the workpiece, the mounting plate 2 drives the mounting base 61 to squeeze the spring 64. The detection component 65 can provide feedback on whether the mounting plate 2 drives the clamping assembly 3 to descend into place. The detection component 65 is set on the top of the mounting base 61 and is used to detect and provide feedback on the position information of the positioning disc 62.

[0025] Furthermore, the detection component 65 includes a connecting rod 651, a detection probe 652, a mounting bracket 653, a first laser sensor 654, and a second laser sensor 655. The connecting rod 651 is vertically fixed to the top of the mounting shaft 63. The detection probe 652 is fixedly connected to the top of the connecting rod 651. The mounting bracket 653 is fixedly mounted to the top of the mounting plate 2. Both the first laser sensor 654 and the second laser sensor 655 are mounted on the mounting bracket 653, and the first laser sensor 654 and the second laser sensor 655 are staggered vertically. The first laser sensor 654 and the second laser sensor 655 are used to detect and provide feedback on the position information of the detection probe 652. The connecting rod 651 and the position of the laser emitted by the first laser sensor 654 are staggered, so that the connecting rod 651 will not block the first laser sensor 654 from emitting laser for detection. Figures 7 to 9 As shown, when the bottom of the positioning disk 62 is not in contact with the workpiece, that is, the distance between the positioning disk 62 and the mounting base 61 is at its maximum, the detection probe 652 corresponds to the first laser sensor 654. The detection probe 652 blocks the laser emitted by the first laser sensor 654, so the first laser sensor 654 feeds back position information, defined as the first laser sensor 654 feeding back first position information, that is, the positioning disk 62 is not in contact with the workpiece. When the bottom of the positioning disk 62 is in contact with the workpiece, and the mounting plate 2 drives the clamping assembly 3 to move to the workpiece clamping area, the distance between the positioning disk 62 and the mounting base 61 decreases. The detection probe 652 corresponds to the second laser sensor 655, and the detection probe 652 blocks the laser emitted by the second laser sensor 655, so the second laser sensor 655 feeds back position information, defined as the second laser sensor 655 feeding back second position information, that is, the mounting plate 2 drives the clamping assembly 3 to move to the workpiece clamping area.

[0026] Furthermore, the detection component 65 also includes a fixing plate 656, a first vertical plate 657, a second vertical plate 658, a wiping component 659, a first window 6510, and a second window 6511. The fixing plate 656 is fixedly connected to the bottom of the outer wall of the connecting rod 651. The first vertical plate 657 is vertically fixedly connected to the top of the fixing plate 656 and corresponds to the first laser sensor 654. The second vertical plate 658 is vertically fixedly connected to the top of the fixing plate 656 and corresponds to the first laser sensor 654. Corresponding to the two laser sensors 655, wiping components 659 are respectively connected to the top of one side of the first vertical plate 657 and the second vertical plate 658, and are used to wipe and clean the first laser sensor 654 and the second laser sensor 655. The wiping component 659 is composed of a sponge block and a lint-free cloth. The lint-free cloth is wrapped around the outside of the sponge block, and the sponge block allows the lint-free cloth to flexibly adhere to the first laser sensor 654 and the second laser sensor 655, thereby wiping and cleaning the first laser sensor 654 and the second laser sensor 655. Figure 7 and Figure 9 As shown, when the mounting plate 2 drives the clamping assembly 3 to clamp the workpiece once, the positioning disc 62 moves relative to the mounting base 61 once. This allows the connecting rod 651 to drive the fixing plate 656, the first vertical plate 657, the second vertical plate 658, and the wiping element 659 to wipe and clean the first laser sensor 654 and the second laser sensor 655 respectively. When the wiping element 659 wipes and cleans the first laser sensor 654 and the second laser sensor 655, multiple wiping elements 659 simultaneously obstruct the first laser sensor 654 and the second laser sensor 655, so the first laser sensor 654 and the second laser sensor 655 do not output any information. The first window 6510 is opened at the bottom of one side of the first vertical plate 657 and the second vertical plate 658, and the second window 6511 is opened at the top of one side of the second vertical plate 658. The second window 6511 corresponds to the detection probe 652. Figure 10 As shown, the second window 6511 corresponds to the detection probe 652, so that when the detection probe 652 moves to the position of the first laser sensor 654 or the second laser sensor 655, the second vertical plate 658 will not obstruct the first laser sensor 654 or the second laser sensor 655 from performing the detection operation. When the detection probe 652 moves to the second laser sensor 655, the wiping member 659 passes over the first laser sensor 654 or the second laser sensor 655, and at this time, the first window 6510 on the first vertical plate 657 and the second vertical plate 658 corresponds to the first laser sensor 654, thereby avoiding the first vertical plate 657 and the second vertical plate 658 from obstructing the first laser sensor 654 from performing the detection operation.

[0027] Another objective of this invention is to provide a hoist, wherein the main body 1 of the hoist is equipped with a control terminal for controlling the clamping assembly 3 to clamp the workpiece, and the control steps are as follows: Step 1: The main body 1 of the hoist moves the mounting plate 2 above the workpiece and lowers the mounting plate 2, so that the positioning component 6 squeezes and limits the workpiece until the positioning component 6 outputs the second position information and stops the descent of the mounting plate 2. Step 2: Drive component 4 drives clamping component 3 to clamp the workpiece until sensing component 5 reports that clamping component 3 has clamped the workpiece, then drive component 4 stops driving clamping component 3 to move. Step 3: The main body 1 of the hoist drives the mounting plate 2 to rise, so that the mounting plate 2 drives the workpiece to rise through the clamping assembly 3. The information fed back by the positioning assembly 6 determines whether the workpiece is clamped, that is, whether the positioning assembly 6 continuously feeds back the second position information. If yes, the workpiece is clamped stably; otherwise, the workpiece is not clamped stably. Adjust the position of the clamping assembly 3 and repeat the clamping steps until the workpiece is clamped stably. Step 4: When the hoist body 1 transports the workpiece to the designated position, the mounting plate 2 descends, places the workpiece on the storage station, and the drive component 4 drives the clamping component 3 to reset. Then, the hoist body 1 drives the mounting plate 2 to rise, and judges whether the workpiece has been released by the information fed back by the positioning component 6. That is, when the mounting plate 2 rises, whether the position information fed back by the positioning component 6 changes from the second position information to the first position information. If yes, the workpiece is released. Otherwise, the positioning component 6 continues to feed back the second position information, and the workpiece is not released. Repeat the clamping and releasing steps.

[0028] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A clamping mechanism, installed on the main body (1) of a hoist, characterized in that: include: Mounting plate (2), which is installed at the bottom end of the hoist body (1), and the hoist body (1) is used to drive the mounting plate (2) to move up and down and horizontally; The clamping assembly (3) and the driving assembly (4) are respectively installed at the bottom and top of the mounting plate (2). The power output end of the driving assembly (4) passes through the mounting plate (2) and is connected to the two sets of clamping assemblies (3) at its bottom. It is used to drive the two sets of clamping assemblies (3) to perform mutual convergence and separation movements in the horizontal direction, so as to clamp and release the workpiece. Sensing component (5), which is installed on clamping component (3) to detect the contact state between clamping component (3) and workpiece in real time, and generates a corresponding clamping signal when clamping component (3) successfully clamps the workpiece, and feeds it back to the control terminal in the main body (1) of the hoist. Positioning component (6), which is mounted on mounting plate (2), is used to detect whether the clamping component (3) has descended to the preset workpiece clamping position when the clamping component (3) docks with the workpiece, and to provide a positioning signal for the clamping component (3) to clamp the workpiece. When the clamping component (3) clamps and transfers the workpiece, the positioning component (6) is used to detect whether the clamping component (3) clamps the workpiece and to continuously provide workpiece clamping information. When the clamping component (3) releases the workpiece, the positioning component (6) is used to assist the clamping component (3) in releasing and separating from the workpiece, and to provide a workpiece release and separation signal.

2. The clamping mechanism according to claim 1, characterized in that: The clamp assembly (3) includes: Mounting clamp (31) is symmetrically arranged at the bottom of mounting plate (2). The bottom of mounting clamp (31) facing the workpiece has a bottom shovel (32) for supporting and carrying the workpiece. Arm plate (33), the arm plate (33) is fixedly installed at the end of the mounting clamp (31), the top of the arm plate (33) is connected to the drive assembly (4), and the arm plate (33) is inclined toward the workpiece side; The guide module (34) has a notch at the top of the mounting clamp (31), and the guide module (34) is fixedly installed inside the notch. The guide module (34) is used to correct the position of the clamped workpiece.

3. The clamping mechanism according to claim 2, characterized in that: The driving component (4) includes: A connecting plate (41) is provided on a mounting plate (2). A sliding hole is provided on the mounting plate (2). The top of the arm plate (33) passes through the sliding hole and is fixedly connected to the connecting plate (41). A connecting guide rail (46) is fixedly installed on the top of the mounting plate (2); Connecting seat (47) is fixedly installed on the bottom of connecting plate (41) and is slidably engaged with the outside of connecting guide rail (46).

4. The clamping mechanism according to claim 3, characterized in that: The driving component (4) also includes: A two-way lead screw (42) and a bearing seat (43) are provided. The two-way lead screw (42) is rotatably mounted on the top of the mounting plate (2) via the bearing seat (43). The axis of the two-way lead screw (42) is parallel to the trajectory of the connecting guide rail (46). A drive motor (44) is mounted on the top of the mounting plate (2), and the output end of the drive motor (44) is connected to the bidirectional lead screw (42) for transmission. A threaded seat (45) is fixedly installed on the top of a connecting plate (41), and the outer wall of the bidirectional lead screw (42) is threadedly connected to the threaded seat (45).

5. A clamping mechanism according to claim 4, characterized in that: The driving component (4) also includes: The sensing sheet (48) is fixedly installed on the top of the connecting plate (41); The first sensor (49) is fixedly installed on the top of the mounting plate (2), and the end of the sensing plate (48) is inserted into the interior of the first sensor (49) to provide feedback on the position information of the clamp assembly (3).

6. The clamping mechanism according to claim 2, characterized in that: The sensing component (5) includes: Mounting housing (51), which is fixedly mounted on the top of mounting clamp (31); The second sensor (52) is fixedly installed inside the mounting housing (51); The bottom of the mounting plate (31) is provided with a storage slot for mounting the detection piece (53); The film (54) is fixedly installed at the bottom of the mounting plate (31) and is located at the bottom of the test piece (53); The sensing probe (55) is fixedly connected to the top of the detection plate (53). A through hole is provided at the top of the inner wall of the storage tank. The top of the sensing probe (55) passes through the through hole and is located inside the second sensor (52). An airbag (56) is installed on the outside of the sensing probe (55) and is fitted inside the through hole.

7. The clamping mechanism according to claim 1, characterized in that: The positioning component (6) includes: Mounting base (61), which is fixedly mounted on mounting plate (2); A positioning disc (62) is disposed at the bottom of the mounting base (61); Mounting shaft (63), the bottom of which is fixedly connected to positioning disc (62), the outer wall of which is vertically slidably connected to mounting base (61), and a buckle is engaged at the top of the outer wall of which is located at the top of mounting base (61); A spring (64) is sleeved on the outside of the mounting shaft (63), and the spring (64) acts on the positioning disc (62) with a spring force away from the mounting base (61); The detection component (65) is disposed on the top of the mounting base (61) and is used to detect the position information of the feedback positioning disk (62).

8. A clamping mechanism according to claim 7, characterized in that: The detection component (65) includes: A connecting rod (651) is fixedly connected to the top of the mounting shaft (63) in a vertical position; A detection probe (652) is fixedly connected to the top of a connecting rod (651); Mounting bracket (653), which is fixedly mounted on the top of mounting plate (2); The first laser sensor (654) and the second laser sensor (655) are both mounted on the mounting bracket (653) and are arranged alternately vertically. The first laser sensor (654) and the second laser sensor (655) are used to detect the position information of the feedback detection probe (652).

9. A clamping mechanism according to claim 8, characterized in that: The detection component (65) further includes: A fixing plate (656) is fixedly connected to the bottom of the outer wall of the connecting rod (651); The first vertical plate (657) is fixedly connected to the top of the fixed plate (656) in a vertical state, and the first vertical plate (657) corresponds to the first laser sensor (654); The second vertical plate (658) is fixedly connected to the top of the fixed plate (656) in a vertical state, and the second vertical plate (658) corresponds to the second laser sensor (655); Wiping component (659), which is connected to the top of one side of the first vertical plate (657) and the second vertical plate (658) respectively, and is used to wipe and clean the first laser sensor (654) and the second laser sensor (655); The first window (6510) is opened at the bottom of one side of the first vertical plate (657) and the second vertical plate (658); The second window (6511) is located at the top of one side of the second vertical plate (658) and corresponds to the detection probe (652).

10. A hoist, characterized in that, The hoist includes the clamping mechanism as described in claim 1. The hoist body (1) is provided with a control terminal for controlling the clamping assembly (3) to clamp the workpiece. The control steps are as follows: Step 1: The main body (1) of the hoist drives the mounting plate (2) to move above the workpiece and drives the mounting plate (2) to descend, so that the positioning component (6) squeezes and limits the workpiece until the positioning component (6) outputs the second position information and stops the descent of the mounting plate (2); Step 2: Drive component (4) drives clamp component (3) to clamp the workpiece until sensing component (5) feedbacks that clamp component (3) has clamped the workpiece, drive component (4) stops driving clamp component (3) to move; Step 3: The main body (1) of the hoist drives the mounting plate (2) to rise, so that the mounting plate (2) drives the workpiece to rise through the clamping assembly (3), and judges whether the workpiece is clamped by the information fed back by the positioning assembly (6), that is, whether the positioning assembly (6) continuously feeds back and outputs the second position information. If yes, the workpiece is clamped stably; otherwise, the workpiece is not clamped stably. Adjust the position of the clamping assembly (3) and repeat the clamping steps until the workpiece is clamped stably. Step 4: When the hoist body (1) transports the workpiece to the designated position, the mounting plate (2) descends, places the workpiece on the storage station, and causes the drive component (4) to drive the clamping component (3) to reset. Then the hoist body (1) drives the mounting plate (2) to rise, and judges whether the workpiece has been released by the information fed back by the positioning component (6). That is, when the mounting plate (2) rises, whether the position information fed back by the positioning component (6) changes from the second position information to the first position information. If yes, the workpiece is released. Otherwise, the positioning component (6) continues to feed back the second position information, and the workpiece is not released. Repeat the clamping and releasing steps.

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