Centering clamping mechanism and transportation equipment
By designing a centering clamping mechanism including a base frame, clamping arm, positioning member and detector, the problem of poor palletizing effect when the cargo deviates from the center clamping position is solved, and the effective centering and palletizing effect of the cargo is improved.
Patent Information
- Application Number
- CN202421690778.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-16
- Publication Date
- 2025-04-18
- Estimated Expiration
- 2034-07-16
AI Technical Summary
When the existing handling equipment transports goods whose stacking position deviates from the clamping position of the robot center, the goods are not centered when lifted, resulting in poor palletizing effect.
A centering clamping mechanism is designed, including a base frame, clamping arm, positioning member and detector. When the clamp arm moves opposite, the positioning member stops on the object and moves in the distance measurement direction. The detector detects the moving displacement of the positioning member, and determines whether the object is in the central clamping position, and pushes the object to the central clamping position if necessary.
Through the design of the centering clamping mechanism, the position of the goods can be effectively judged and adjusted, ensuring that the goods are centered when lifted, and the palletizing effect is improved.
Smart Images
Figure CN222770207U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of material handling equipment, in particular to a centering clamping mechanism and transportation equipment. Background Art
[0002] Material handling equipment is a kind of equipment that can transfer and stack materials to be transferred, including a frame and a manipulator installed on the frame. The manipulator has two clamps that can move towards each other or move away from each other. Since the stacking position of the goods is not necessarily located at the center clamping position of the two clamps (the center clamping position refers to the midpoint of the line connecting the two clamps), when the stacking position of the goods deviates from the center clamping position of the two clamps, the goods are not centered when they are lifted, and the stacking effect is poor. Utility Model Content
[0003] The utility model aims to provide a centering clamping mechanism to solve the problem that when the existing handling equipment carries goods whose stacking position deviates from the center clamping position of the manipulator, the goods are not centered when lifted and the stacking effect is poor.
[0004] The utility model is realized through the following technical solutions:
[0005] A centering clamping mechanism comprises a base frame and two clamping arms which are arranged opposite to each other on the base frame and can move synchronously toward each other or synchronously away from each other relative to the base frame. The direction in which one clamping arm moves away from the other clamping arm is defined as a ranging direction. The clamping arm has a positioning member and a detector. When the two clamping arms move toward each other to clamp an object, the positioning member is stopped on the object and moves toward the ranging direction. The detector is arranged on one side of the positioning member and is used to detect the movement displacement of the positioning member in the ranging direction.
[0006] Furthermore, the direction of one clamp arm toward the other clamp arm is defined as a clamping direction, and the positioning member is provided with an elastic member for moving the positioning member toward the clamping direction when the two clamp arms move away from each other to release the object.
[0007] Further, the clamping arm comprises a base arm that can move along the base frame and the positioning member that can move along the base arm. The positioning member is stopped on the object and moves in the ranging direction when the two base arms move toward each other to clamp the object, and moves in the clamping direction when the two base arms move away from each other to release the object. The elastic member is sleeved on the positioning member and respectively abuts against the positioning member and the base arm. The base arm comprises a receiving hole for inserting one end of the elastic member.
[0008] Furthermore, the positioning member has a connecting portion passing through the base arm and a first stop portion and a second stop portion axially opposite to each other on the connecting portion, the first stop portion being arranged outside the base arm for limiting the positioning member from separating from the base arm in the clamping direction, and the second stop portion being arranged outside the base arm for stopping an object and being able to limit the positioning member from separating from the base arm in the ranging direction.
[0009] Furthermore, the detector is arranged on the base arm and is located on one side of the first stopping portion.
[0010] Furthermore, the clamping arm comprises a base arm movable along the base frame and the positioning member movable along the base arm, and one base arm is provided with a supporting member located below the positioning member on a side opposite to the other base arm, and the supporting member comprises a supporting groove opening upward.
[0011] Furthermore, a driving mechanism is provided on the base frame for driving the two clamping arms to move toward each other or away from each other synchronously, and the moving direction of the clamping arms is defined as a front-to-back direction. The driving mechanism includes two gears spaced apart in a front-to-back direction, a toothed belt tensioned on the two gears and meshing with the two gears, and a cylinder driving the toothed belt to move forward and backward. The two clamping arms are connected to the toothed belt and move toward each other or away from each other synchronously when the toothed belt rotates around the two gears.
[0012] Furthermore, the base frame is provided with a first guide rail on one side of the toothed belt, and the clamping arm is provided with a first connecting member fixedly connected to the toothed belt and a first sliding seat slidably connected to the first guide rail, the first connecting members on the two clamping arms are opposite to each other on the left and right, and the first connecting member and the first sliding seat on the same clamping arm are opposite to each other on the left and right.
[0013] Furthermore, the base frame is provided with a second guide rail on one side of the cylinder, the cylinder is provided with a second connecting member fixedly connected to the toothed belt, and the second connecting member is provided with a second sliding seat slidably connected to the second guide rail.
[0014] In order to solve the problem that the clamping of the chuck fails or the goods are easy to fall when the existing handling equipment carries the goods whose stacking position deviates from the central clamping position of the manipulator, the utility model provides a centering clamping mechanism, and accordingly, provides a transportation equipment, including a frame, on which the above-mentioned centering clamping mechanism is provided, the frame is provided with a moving arm extending forward and backward and capable of moving left and right along the frame, the moving arm is provided with a moving seat capable of moving forward and backward along the same, and the centering clamping mechanism is arranged on the moving seat and can move up and down relative to the moving seat.
[0015] The advantage of the technical solution is that, by configuring the clamping arms to be positioned against the object and moving in the distance measuring direction when the two clamping arms move toward each other to clamp the object, and a detector provided on one side of the positioning member for detecting the movement displacement of the positioning member in the distance measuring direction, it is determined whether the object to be clamped is located in the center clamping position by the movement displacement of the two positioning members in the distance measuring direction. When the placement position of the object deviates from the center clamping position, one positioning member is positioned against the object and pushes the object in the direction of the other positioning member until the two detectors detect that the movement displacement of the corresponding positioning members is the same (the object is pushed to the center clamping position), the object is lifted in the center, and the stacking effect is good. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.
[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following briefly introduces the drawings required for describing the embodiments.
[0018] Figure 1 is a front view of the centering clamping mechanism disclosed in Example 1;
[0019] Figure 2 yes Figure 1 A partial enlarged view of the middle A;
[0020] Figure 3 is a cross-sectional view of the centering clamping mechanism disclosed in Example 1;
[0021] Figure 4 yes Figure 3 A partial enlarged view of point B in the middle;
[0022] Figure 5 is a three-dimensional diagram of the centering clamping mechanism disclosed in Example 1 in direction one;
[0023] Figure 6 is a three-dimensional diagram of the centering clamping mechanism disclosed in Example 1 in direction 2;
[0024] Figure 7 yes Figure 6 A partial enlarged view of point C in the middle;
[0025] Figure 8 yes Figure 6 A partial enlarged view of point D in the middle;
[0026] Fig. 9 It is a perspective view of the transportation equipment disclosed in the embodiment. DETAILED DESCRIPTION
[0027] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0028] Example 1: Figure 1-8 As shown, the transport equipment includes a frame 1 and a centering clamping mechanism 2 arranged on the frame 1, the frame 1 is provided with a moving arm 3 extending forward and backward and capable of moving left and right along the frame 1, the moving arm 3 is provided with a moving seat 4 capable of moving forward and backward along the frame 1, the centering clamping mechanism 2 is arranged on the moving seat 4 and can move up and down relative to the moving seat 4, the centering clamping mechanism 2 includes a base frame 201 arranged on the moving seat 4 and two clamping arms 202 arranged relatively front and back on the base frame 201 and capable of synchronously moving toward each other or synchronously moving away from each other relative to the base frame 201, the direction in which one clamping arm 202 moves away from the other clamping arm 202 is defined as the ranging direction, the clamping arm 202 has a positioning member 203 and a detector 204, the positioning member 203 is stopped on the object and moves in the ranging direction when the two clamping arms 202 move toward each other to clamp the object, the detector 204 is arranged on one side of the positioning member 203 for detecting the movement displacement of the positioning member 203 in the ranging direction, and the detector 204 is an existing displacement sensor.
[0029] The steps for clamping an object by the centering clamping mechanism 2 are as follows: first, the centering clamping mechanism 2 moves to the top of the object and then moves downward, so that the two clamping arms 202 are located on both sides of the object. Then, the two clamping arms 202 move synchronously toward each other to approach the object. If the placement position of the object deviates from the center clamping position, at least one positioning member 203 abuts against the object and pushes the object in the direction of the other positioning member 203. At this time, the positioning member 203 abutting against the object moves in the ranging direction, and the detector 204 detects the movement displacement of the positioning member 203 in the ranging direction. When the two detectors 204 detect that the movement displacement of the corresponding positioning members 203 is the same, the object is pushed to the center clamping position. At this time, the centering clamping mechanism 2 moves up along the moving seat 4 to lift the object and move the object to the target position.
[0030] In summary, the utility model provides a centering clamping mechanism 2 to solve the problem that when the existing handling equipment carries and stacks goods whose stacking position deviates from the center clamping position of the manipulator, the goods are not centered when they are lifted, resulting in poor stacking effect. The mechanism mainly configures the clamping arms 202 to be positioned against the object and move in the distance measuring direction when the two clamping arms 202 move toward each other to clamp the object, and a detector 204 is provided on one side of the positioning member 203 for detecting the movement displacement of the positioning member 203 in the distance measuring direction. The movement displacement of the two positioning members 203 in the distance measuring direction is used to determine whether the object to be clamped is located in the center clamping position. When the placement position of the object deviates from the center clamping position, one positioning member 203 is positioned against the object and pushes the object in the direction of the other positioning member 203 until the two detectors 204 detect that the movement displacement of the corresponding positioning members 203 is the same (the object is pushed to the center clamping position, and the geometric center of the object overlaps with the center clamping position at this time). The object is lifted in the center and the stacking effect is good.
[0031] In the embodiment of the utility model, the direction from one clamp arm 202 to the other clamp arm 202 is defined as the clamping direction, and the positioning member 203 is provided with an elastic member 205 that moves the positioning member 203 in the clamping direction when the two clamp arms 202 move in opposite directions to release the object. Since the positioning member 203 is provided with an elastic member 205 that moves the positioning member 203 in the clamping direction when the two clamp arms 202 move in opposite directions to release the object, the positioning member 203 can be quickly moved and reset when the two clamp arms 202 release the object, and at the same time, it plays a certain buffering and protective role on the positioning member 203 when the two clamp arms 202 move toward each other to clamp the object.
[0032] In the embodiment of the utility model, the clamping arm 202 has a base arm 206 that can move forward and backward along the base frame 201 and a positioning member 203 that can move forward and backward along the base arm 206. The positioning member 203 is stopped on the object and moves in the distance measurement direction when the two base arms 206 move toward each other to clamp the object, and moves in the clamping direction when the two base arms 206 move away from each other to release the object. The elastic member 205 is sleeved on the positioning member 203 and respectively abuts against the positioning member 203 and the base arm 206. The base arm 206 has a receiving hole 207 for inserting one end of the elastic member 205. The above structure is provided by arranging the elastic member 205 between the positioning member 203 and the base arm 206 and arranging the receiving hole 207 for inserting one end of the elastic member 205 on the base arm 206, so that the elastic member 205 has good assembly stability.
[0033] In the embodiment of the utility model, the positioning member 203 has a connecting shaft portion 208 passing through the base arm 206, and a first stop portion 209 and a second stop portion 210 axially opposite to each other on the connecting shaft portion 208. The first stop portion 209 is arranged outside the base arm 206 to limit the positioning member 203 from being separated from the base arm 206 in the clamping direction, and the second stop portion 210 is arranged outside the base arm 206 to stop an object and limit the positioning member 203 from being separated from the base arm 206 in the distance measuring direction. The above structure makes the positioning member 203 and the base arm 206 assembled stably by configuring the positioning member 203 to be the connecting shaft portion 208 passing through the base arm 206, the first stop portion 209 limiting the positioning member 203 from being separated from the base arm 206 in the clamping direction, and the second stop portion 210 limiting the positioning member 203 from being separated from the base arm 206 in the distance measuring direction.
[0034] In the embodiment of the utility model, the detector 204 is arranged on the base arm 206 and located on one side of the first stopper 209. Since the detector 204 is arranged on the base arm 206 and located on one side of the first stopper 209, it is convenient for the detector 204 to detect the displacement of the positioning member 203 in the distance measurement direction.
[0035] In the embodiment of the utility model, a base arm 206 is provided with a supporting member 211 located below the positioning member 203 on the side opposite to the other base arm 206, and the supporting member 211 has a supporting groove 212 opening upward. Among them, the supporting groove 212 is a V-shaped groove or a U-shaped groove. Since a base arm 206 is provided with a supporting member 211 located below the positioning member 203 on the side opposite to the other base arm 206, when the two clamping arms 202 move toward each other to clamp an object, the lower end of the object can be lifted by the supporting member 211, thereby improving the stability of clamping and preventing it from falling.
[0036] When the two clamping arms 202 move toward each other to clamp the object, the positioning member 203 moves toward the distance measuring direction so that the thickness of the positioning member 203 protruding from the base arm 206 is smaller than the thickness of the supporting member 211 protruding from the base arm 206 .
[0037] In the embodiment of the utility model, a driving mechanism 213 for driving the two clamping arms 202 to move toward each other synchronously or move away from each other synchronously is provided on the base frame 201. The driving mechanism 213 includes two gears 214 spaced apart from each other, a toothed belt 215 stretched on the two gears 214 and meshed with the two gears 214, and a cylinder 216 for driving the toothed belt 215 to move forward and backward. The two clamping arms 202 are connected to the toothed belt 215 and move toward each other synchronously or move away from each other synchronously when the toothed belt 215 rotates around the two gears 214. Since the driving mechanism 213 has the toothed belt 215, the cylinder 216 and the two gears 214, the toothed belt 215 can be driven to rotate around the two gears 214 by the extension and contraction of the output end of the cylinder 216, thereby realizing the synchronous movement of the two clamping arms 202, and the structure is simple and the movement stability is good.
[0038] In the embodiment of the utility model, the base frame 201 is provided with a first guide rail 217 on one side of the toothed belt 215, and the clamping arm 202 is provided with a first connecting member 218 fixedly connected to the toothed belt 215 and a first slide seat 219 slidably connected to the first guide rail 217. The first connecting members 218 on the two clamping arms 202 are opposite to each other on the left and right, and the first connecting member 218 and the first slide seat 219 on the same clamping arm 202 are opposite to each other on the left and right. The above structure is achieved by arranging a first guide rail 217 on one side of the toothed belt 215, arranging a first connecting member 218 fixedly connected to the toothed belt 215 and a first slide seat 219 slidably connected to the first guide rail 217 on the clamping arm 202, and the first connecting member 218 and the first slide seat 219 on the same clamping arm 202 are opposite to each other on the left and right, so that the connection between the clamping arm 202 and the toothed belt 215 and the base frame 201 is stable and the movement is smooth; and because the first connecting members 218 on the two clamping arms 202 are opposite to each other on the left and right, the two clamping arms 202 can move toward each other or move away from each other synchronously when the cylinder 216 drives the toothed belt 215 to rotate around the two gears 214, and the structure is simple and easy to implement.
[0039] In the embodiment of the utility model, the base frame 201 is provided with a second guide rail 220 on one side of the cylinder 216, the cylinder 216 is provided with a second connecting member 221 fixedly connected to the toothed belt 215, and the second connecting member 221 is provided with a second slide seat 222 slidably connected to the second guide rail 220. The above structure is provided with the second guide rail 220 on one side of the cylinder 216, the second connecting member 221 fixedly connected to the toothed belt 215 is provided on the cylinder 216, and the second slide seat 222 slidably connected to the second guide rail 220 is provided on the second connecting member 221, so that the connection between the cylinder 216 and the base frame 201 and the toothed belt 215 is stable and the movement is smooth.
[0040] Example 2: Fig. 9 As shown, the transport device includes a frame 1, on which is provided a movable arm 3 which extends forward and backward and can move left and right along the frame 1, on which is provided a movable seat 4 which can move forward and backward along the movable arm 3, and on which is provided a centering clamping mechanism 2 which is arranged on the movable seat 4 and can move up and down relative to the movable seat 4, and further includes a controller for controlling the movement of the movable arm 3, the movable seat 4 and the centering clamping mechanism 2, the controller being electrically connected to the detector 204, and causing the centering clamping mechanism 2 to move upward when the two detectors 204 detect that the movement displacements of the corresponding positioning members 203 are the same.
[0041] It should be understood that the terms "first", "second", etc. are used in the present invention to describe various information, but such information should not be limited to these terms, and these terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present invention, the "first" information may also be referred to as the "second" information, and similarly, the "second" information may also be referred to as the "first" information. In addition, the terms "center of a circle", "up", "down", "left", "right", "vertical", "horizontal", "inside", "outside", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.
[0042] As described above, one or more implementation methods are provided in combination with specific contents, and the specific implementation of the utility model is not limited to these descriptions. Any method, structure, etc. similar to or identical to the method, structure, etc. of the utility model, or some technical deductions or replacements made on the premise of the concept of the utility model should be regarded as the protection of the utility model.
Claims
1. A centering clamping mechanism, comprising a base frame and two clamping arms arranged opposite to each other on the base frame and capable of synchronously moving toward each other or synchronously moving away from each other relative to the base frame, characterized in that: The direction in which one clamp arm moves away from the other clamp arm is defined as a ranging direction. The clamp arm has a positioning member and a detector. When the two clamp arms move toward each other to clamp an object, the positioning member stops on the object and moves in the ranging direction. The detector is arranged on one side of the positioning member and is used to detect the movement displacement of the positioning member in the ranging direction.
2. The centering clamping mechanism according to claim 1, characterized in that: The direction of one clamp arm toward the other clamp arm is defined as a clamping direction, and the positioning member is provided with an elastic member for moving the positioning member toward the clamping direction when the two clamp arms move away from each other to release the object.
3. The centering clamping mechanism according to claim 2, characterized in that: The clamping arm comprises a base arm movable along the base frame and the positioning member movable along the base arm. The positioning member abuts against the object and moves in the distance measuring direction when the two base arms move toward each other to clamp the object, and moves in the clamping direction when the two base arms move away from each other to release the object. The elastic member is sleeved on the positioning member and abuts against the positioning member and the base arm respectively. The base arm comprises a receiving hole for inserting one end of the elastic member.
4. The centering clamping mechanism according to claim 3, characterized in that: The positioning member comprises a connecting shaft portion passing through the base arm and a first stop portion and a second stop portion axially opposite to each other on the connecting shaft portion. The first stop portion is arranged outside the base arm and is used to limit the positioning member from separating from the base arm in the clamping direction. The second stop portion is arranged outside the base arm and is used to stop an object and can limit the positioning member from separating from the base arm in the ranging direction.
5. The centering clamping mechanism according to claim 4, characterized in that: The detector is arranged on the base arm and is located at one side of the first stop portion.
6. The centering clamping mechanism according to claim 1, characterized in that: The clamping arm comprises a base arm movable along the base frame and the positioning member movable along the base arm. One base arm is provided with a supporting member located below the positioning member on a side opposite to the other base arm, and the supporting member comprises a supporting groove opening upward.
7. The centering clamping mechanism according to claim 1, characterized in that: The base frame is provided with a driving mechanism for driving the two clamping arms to move toward each other or away from each other synchronously. The moving direction of the clamping arms is defined as the front-to-back direction. The driving mechanism includes two gears spaced apart from each other, a toothed belt tensioned on the two gears and meshing with the two gears, and a cylinder driving the toothed belt to move forward and backward. The two clamping arms are connected to the toothed belt and move toward each other or away from each other synchronously when the toothed belt rotates around the two gears.
8. The centering clamping mechanism according to claim 7, characterized in that: The base frame is provided with a first guide rail on one side of the toothed belt, and the clamping arm is provided with a first connecting member fixedly connected to the toothed belt and a first sliding seat slidably connected to the first guide rail. The first connecting members on the two clamping arms are opposite to each other on the left and right, and the first connecting member and the first sliding seat on the same clamping arm are opposite to each other on the left and right.
9. The centering clamping mechanism according to claim 7 or 8, characterized in that: The base frame is provided with a second guide rail at one side of the cylinder, the cylinder is provided with a second connecting member fixedly connected to the toothed belt, and the second connecting member is provided with a second sliding seat slidably connected to the second guide rail.
10. A transport device comprising a frame, characterized in that The frame is provided with a centering clamping mechanism as described in any one of claims 1 to 9, the frame is provided with a movable arm extending forward and backward and capable of moving left and right along the frame, the movable arm is provided with a movable seat capable of moving forward and backward along the movable arm, and the centering clamping mechanism is arranged on the movable seat and can move up and down relative to the movable seat.