Box grabbing device

Abstract

The utility model relates to a box grabbing device, relates to the technical field of railway vehicle maintenance equipment, and is used for solving the problems of potential safety hazards, lower carrying efficiency and higher manual labor intensity existing in a manual box carrying mode. Comprising a box body clamp used for clamping a to-be-clamped box body; a box body clamp is arranged on the transferring mechanism, and the transferring mechanism is used for moving the box body clamp; the visual detection system is arranged on the transfer mechanism and is used for detecting the position of the box body to be clamped; and the control system is electrically connected with the visual detection system and the transfer mechanism. According to the automatic box grabbing device, the box clamp is used for grabbing the box to be clamped, the transfer mechanism is used for adjusting the grabbing position of the box clamp, and the visual detection system and the control system are used for accurately grabbing the box to be clamped. In this way, mechanical carrying of the box body by the box body grabbing device is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of railway vehicle maintenance equipment, in particular to a box body grabbing device. Background Art

[0002] According to the layout of the production process, manual forklifts are used to transport pallets filled with boxes to the conveyor line station. Personnel then move the boxes onto the conveyor line. A single box weighs nearly 30kg, and there is a risk of collision and falling during the box transportation process, which poses a certain hidden danger to personnel safety. In addition, there are problems such as high labor intensity and low operating efficiency.

[0003] In other words, the manual transport method of boxes in the prior art has safety risks, low transport efficiency, and high labor intensity. Utility Model Content

[0004] The utility model provides a box grabbing device, which is used to solve the problems of potential safety hazards, low handling efficiency and high manual labor intensity in a method of manually carrying boxes.

[0005] The utility model provides a box grabbing device, comprising:

[0006] A box clamp, used to clamp the box to be clamped; and

[0007] A transfer mechanism, on which a box clamp is provided, and the transfer mechanism is used to move the box clamp; and

[0008] A visual inspection system is provided on the transfer mechanism and is used to detect the position of the box to be clamped;

[0009] The control system is electrically connected to the visual inspection system and the transfer mechanism. The control system is used to control the movement of the transfer mechanism according to the position information of the box to be clamped sent by the visual inspection system, so as to move the box clamp to a preset grasping position to grasp the box to be clamped.

[0010] In one embodiment, the transfer mechanism includes:

[0011] stents; and

[0012] X-axis transfer, which is set on the bracket; and

[0013] A Y-axis transfer, which is arranged on the X-axis transfer; and

[0014] The Z-axis transfer is arranged on the Y-axis transfer, and a box clamp is arranged on the Z-axis transfer;

[0015] Among them, the X-axis transfer is used to move the Y-axis transfer along the X-axis direction, the Y-axis transfer is used to move the Z-axis transfer along the Y-axis direction, and the Z-axis transfer is used to move the box fixture along the Z-axis direction.

[0016] In one embodiment, the X-axis shifting includes:

[0017] a first guide rail mounting seat, which is disposed on the bracket; and

[0018] A first linear guide rail is extended along the x-axis and is arranged on the first guide rail mounting seat, and a first slider of the first linear guide rail is connected to the y-axis transfer; and

[0019] The first driving mechanism is used to drive the first slider to slide linearly along the X-axis direction on the first slide seat of the first linear guide rail. The first driving mechanism is electrically connected to the control system.

[0020] In one embodiment, the first driving mechanism comprises:

[0021] A first rack extending along the X-axis direction and disposed on the first guide rail mounting seat; and

[0022] a first gear meshing with the first rack; and

[0023] A first transmission motor, a fixed end of which is connected to the Y-axis transfer load, and the first transmission motor is electrically connected to the control system; and

[0024] a coupling, an input end of which is connected to the drive shaft of the first transmission motor; and

[0025] One end of the transmission shaft is connected to the output end of the coupling, and the other end of the transmission shaft is connected to the first gear.

[0026] In one embodiment, Y-axis shifting includes:

[0027] a second guide rail mounting base connected to the fixed end of the first transmission motor and the first slider; and

[0028] A second linear guide rail, which is extended along the Y-axis direction and is arranged on the second guide rail mounting seat, and a second slider of the second linear guide rail is connected to the Z-axis transfer; and

[0029] A second rack extending along the Y-axis direction and disposed on the second guide rail mounting seat; and

[0030] a second gear meshing with the second rack; and

[0031] The second transmission motor has a fixed end connected to the Z-axis transfer load, a drive shaft of the second transmission motor is connected to the second gear, and is used to drive the second gear to rotate. The second transmission motor is electrically connected to the control system.

[0032] In one embodiment, the Z-axis shifting includes:

[0033] a third guide rail mounting base connected to the fixed end of the second transmission motor and the second slider; and

[0034] A third linear guide rail, which extends along the Z-axis direction and is arranged on the third guide rail mounting seat, and a third slider of the third linear guide rail is connected to the box fixture; and

[0035] A third rack extending along the Z-axis and disposed on the third guide rail mounting seat; and

[0036] a third gear meshing with the third rack; and

[0037] The third transmission motor has a drive shaft connected to the third gear. The third transmission motor is used to drive the third gear to rotate. The fixed end of the third transmission motor is connected to the box fixture. The third transmission motor is electrically connected to the control system.

[0038] In one embodiment, the Z-axis shifting further comprises:

[0039] a rotating electric machine, a fixed end of which is connected to the fixed end of the third transmission electric machine, and the rotating electric machine is electrically connected to the control system; and

[0040] A fixture mounting plate connected to the drive shaft of the rotating motor, and the fixture mounting plate is connected to the box fixture;

[0041] Wherein, the fixed end of the third transmission motor is connected to the box clamp through the rotating motor and the clamp mounting plate.

[0042] In one embodiment, the box clamp comprises:

[0043] Two hooks, which are slidably arranged at the bottom end of the transfer mechanism; and

[0044] A bidirectional cylinder, the fixed end of which is fixed to the bottom end of the transfer mechanism, and the two driving ends of the bidirectional cylinder are respectively connected to the two hook claws;

[0045] Among them, the bidirectional cylinder can drive the two hooks to approach each other to hook the two packaging belts of the box to be clamped.

[0046] In one embodiment, the box clamp further includes a fourth linear guide rail, a fourth slide seat of the fourth linear guide rail is arranged on the clamp mounting plate, and a fourth slide block of the fourth linear guide rail is connected to the hook claw.

[0047] In one embodiment, the visual inspection system comprises:

[0048] a camera mounting bracket fixed to the transfer mechanism; and

[0049] A visual camera, which is fixed on a camera mounting bracket and is used to take real-time photos of the box to be clamped;

[0050] Among them, the visual camera is electrically connected to the control system and is used to send the captured pictures and video information to the control system.

[0051] Compared with the existing technology, the advantages of this utility model lie in that it utilizes a box clamp to grasp the box to be clamped, uses a transfer mechanism to adjust the grasping position of the box clamp, and utilizes a visual inspection system and control system to accurately grasp the box to be clamped. This achieves mechanized handling of the box by the box grasping device, thus replacing the manual handling method used in the existing technology. This improves the safety of box handling, increases the efficiency of handling operations, and reduces the labor intensity of existing operators. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] The present invention will be described in more detail below based on embodiments with reference to the accompanying drawings.

[0053] Figure 1 This is a schematic diagram of the three-dimensional structure of the box grabbing device in an embodiment of the present utility model;

[0054] Figure 2 yes Figure 1 Schematic diagram of the three-dimensional structure of the visual inspection system;

[0055] Figure 3 yes Figure 1 Schematic diagram of the connection relationship between X-axis transfer and Y-axis transfer;

[0056] Figure 4 yes Figure 1 Schematic diagram of the three-dimensional structure of the Z-axis transfer;

[0057] Figure 5 yes Figure 1 Schematic diagram of the three-dimensional structure of the middle box fixture.

[0058] Reference numerals:

[0059] 10. Visual inspection system; 20. X-axis transfer; 201. First rack; 202. First guide rail mounting base; 203. First linear guide; 204. First gear; 205. Drive shaft; 206. Coupling; 207. First transmission motor; 30. Y-axis transfer; 301. Second transmission motor; 302. Second linear guide; 303. Second guide rail mounting base; 304. Second rack; 40. Z-axis transfer; 401. Third guide rail mounting base; 402. Third linear guide; 403. Third rack; 404. Third transmission motor; 405. Rotary motor; 406. Clamp mounting plate; 50. Box clamp; 502. Hook; 504. Cylinder; 505. Fourth linear guide; 60. Bracket; 200. Box to be clamped; 2001. Packaging tape; 101. Visual camera; 102. Camera mounting bracket. DETAILED DESCRIPTION

[0060] The present invention will be further described below with reference to the accompanying drawings.

[0061] like Figure 1 As shown, the present invention provides a box grabbing device, which includes a box clamp 50, a transfer mechanism, a visual inspection system 10, and a control system. The box clamp 50 is used to grab a box 200 to be clamped; the transfer mechanism is provided with the box clamp 50 and is used to move the box clamp 50; the visual inspection system 10 is provided on the transfer mechanism and is used to detect the position of the box 200 to be clamped; and the control system is electrically connected to the visual inspection system 10 and the transfer mechanism. The control system is used to control the movement of the transfer mechanism based on the position information of the box 200 to be clamped sent by the visual inspection system 10, so as to move the box clamp 50 to a preset grabbing position to grab the box 200 to be clamped.

[0062] In the above arrangement, the box 200 to be gripped is grasped by the box gripper 50, the gripping position of the box gripper 50 is adjusted by the transfer mechanism, and the visual inspection system 10 and control system are used to accurately grasp the box 200 to be gripped. This achieves mechanized handling of the box by the box gripping device, replacing the manual handling method used in the prior art. This improves the safety of box handling, increases handling efficiency, and reduces the labor intensity of existing operators.

[0063] It should be noted that the control system is located in a remote monitoring room, which is equipped with a screen display and a control circuit module. The screen display can display real-time image position information of the box 200 to be clamped. The operator can remotely operate the control circuit module in the monitoring room to control the movement of the transfer mechanism and the box clamp 50 based on the current position of the box 200 to be clamped, thereby achieving precise grasping of the box 200 to be clamped.

[0064] Specifically, if Figure 1 As shown, in one embodiment, the transfer mechanism includes a bracket 60, an X-axis transfer 20, a Y-axis transfer 30, and a Z-axis transfer 40. The X-axis transfer 20 is mounted on the bracket 60; the Y-axis transfer 30 is mounted on the X-axis transfer 20; the Z-axis transfer 40 is mounted on the Y-axis transfer 30, and a box fixture 50 is mounted on the Z-axis transfer 40. The X-axis transfer 20 is used to move the Y-axis transfer 30 along the X-axis direction, the Y-axis transfer 30 is used to move the Z-axis transfer 40 along the Y-axis direction, and the Z-axis transfer 40 is used to move the box fixture 50 along the Z-axis direction.

[0065] In the above configuration, the bracket 60 serves as the foundation for the entire box-gripping device, supporting the components mounted thereon. The transfer mechanism integrates three-axis transfer, ensuring that the box-gripping fixture 50 can move linearly in three directions of freedom. This expands the gripping range of the box-gripping device.

[0066] Specifically, if Figure 1 and Figure 3 As shown, in one embodiment, the X-axis transfer 20 includes a first guide rail mounting base 202, a first linear guide 203, and a first drive mechanism. The first guide rail mounting base 202 is mounted on the bracket 60; the first linear guide 203 extends along the x-axis and is mounted on the first guide rail mounting base 202. The first slider of the first linear guide 203 is connected to the Y-axis transfer 30; and the first drive mechanism is used to drive the first slider to slide linearly along the x-axis on the first slider of the first linear guide 203. The first drive mechanism is electrically connected to a control system. This facilitates remote control of the X-axis transfer 20 by an operator.

[0067] It should be noted that the first linear guide rail 203 has a guiding function, which can ensure that the Y-axis transfer 30 moves along the X-axis direction.

[0068] Specifically, if Figure 1 and Figure 3 As shown, in one embodiment, the first drive mechanism includes a first rack 201, a first gear 204, a first transmission motor 207, a coupling 206, and a transmission shaft 205. The first rack 201 extends along the X-axis and is disposed on the first guide rail mounting base 202; the first gear 204 meshes with the first rack 201; the first transmission motor 207 has its fixed end connected to the Y-axis transfer 30 and is electrically connected to the control system; the coupling 206 has its input end connected to the drive shaft of the first transmission motor 207; and the transmission shaft 205 has one end connected to the output end of the coupling 206 and the other end connected to the first gear 204.

[0069] In the above arrangement, when the first transmission motor 207 rotates, the first gear 204 rolls on the first rack 201, and the first transmission motor 207 and the Y-axis transfer mechanism 30 move along the X-axis as a whole, thereby achieving the function of the transfer mechanism moving along the X-axis.

[0070] Specifically, if Figure 1 and Figure 3 As shown, in one embodiment, the Y-axis transfer 30 includes a second guide rail mounting seat 303, a second linear guide 302, a second rack 304, a second gear, and a second transmission motor 301. The second guide rail mounting seat 303 is connected to the fixed end of the first transmission motor 207 and the first slider; the second linear guide 302 is extended along the Y-axis direction and arranged on the second guide rail mounting seat 303; the second slider of the second linear guide 302 is connected to the Z-axis transfer 40; the second rack 304 is extended along the Y-axis direction and arranged on the second guide rail mounting seat 303; the second gear is meshed with the second rack 304; the second transmission motor 301 has its fixed end connected to the Z-axis transfer 40, the drive shaft of the second transmission motor 301 is connected to the second gear for driving the second gear to rotate, and the second transmission motor 301 is electrically connected to the control system.

[0071] In the above arrangement, when the second transmission motor 301 rotates, the second gear rolls on the second rack 304 , and the Z-axis transfer 40 and the second transmission motor 301 move as a whole along the Y-axis direction.

[0072] It should be noted that the second linear guide rail 302 has a guiding function, which can ensure that the Z-axis transfer 40 and the second transmission motor 301 move along the Y-axis direction as a whole.

[0073] Specifically, if Figure 4 As shown, in one embodiment, the Z-axis transfer 40 includes a third guide rail mounting base 401, a third linear guide 402, and a third rack 403. The third guide rail mounting base 401 is connected to the fixed end of the second transmission motor 301 and the second slider; the third linear guide 402 is extended along the Z-axis direction and is arranged on the third guide rail mounting base 401, and the third slider of the third linear guide 402 is connected to the box fixture 50; the third rack 403 is extended along the Z-axis direction and is arranged on the third guide rail mounting base 401; the third gear is meshed with the third rack 403; the third transmission motor 404 has its drive shaft connected to the third gear, and the third transmission motor 404 is used to drive the third gear to rotate. The fixed end of the third transmission motor 404 is connected to the box fixture 50, and the third transmission motor 404 is electrically connected to the control system.

[0074] In the above arrangement, when the third transmission motor 404 rotates, the third gear rolls on the third rack 403 , and the third transmission motor 404 and the box clamp 50 move as a whole along the Z-axis direction.

[0075] It should be noted that the third linear guide rail 402 has a guiding function, which can ensure that the third transmission motor 404 and the box clamp 50 move along the Z-axis direction as a whole.

[0076] Specifically, if Figure 4 As shown, in one embodiment, the Z-axis transfer 40 further includes a rotary motor 405 and a fixture mounting plate 406. The rotary motor 405 has a fixed end connected to the fixed end of the third transmission motor 404, and the rotary motor 405 is electrically connected to the control system; the fixture mounting plate 406 is connected to the drive shaft of the rotary motor 405, and the fixture mounting plate 406 is connected to the box fixture 50; the fixed end of the third transmission motor 404 is connected to the box fixture 50 through the rotary motor 405 and the fixture mounting plate 406.

[0077] In the above arrangement, a rotary motor 405 is integrated in the Z-axis transfer 40, and the rotational position of the box clamp 50 is adjusted by the rotary motor 405. This further enhances the gripping range of the box gripping device.

[0078] It should be noted that the transfer mechanism in this application is integrated with a three-axis transfer mechanism, which enables the box grabbing device to translate in three directions and has a rotation function, thereby enhancing the grabbing function and grabbing efficiency of the box grabbing device.

[0079] Specifically, in one embodiment, the box clamp further includes a fourth linear guide rail 505 , a fourth slide of the fourth linear guide rail 505 is disposed on the clamp mounting plate 406 , and a fourth slider of the fourth linear guide rail 505 is connected to the hook 502 .

[0080] Specifically, if Figure 2 As shown, in one embodiment, the visual inspection system 10 includes a camera mounting bracket 102 and a visual camera 101. The camera mounting bracket 102 is fixed to the transfer mechanism; the visual camera 101 is fixed to the camera mounting bracket 102 and is used to capture real-time images of the box 200 to be clamped; the visual camera 101 is electrically connected to the control system and is used to transmit captured images and video information to the control system.

[0081] It should be noted that the visual camera 101 can capture the current position of the box 200 to be clamped in real time and send its position information to the control system. It can be displayed on the screen display in the monitoring room for the operator to remotely control the movement of the transfer mechanism and the box clamp 50.

[0082] The box grabbing device of the utility model has the following characteristics:

[0083] 1. It takes into account the camera positioning, box direction identification and box grabbing in one, without mixing, simple gripping process, low failure rate and high efficiency.

[0084] 2. The motor rotation mechanism is added to take into account the clamping of boxes in multiple directions to ensure that all boxes are clamped in place.

[0085] 3. Considering the problem that the box body may be easily damaged by clamping, the hook claw 502 is used to clamp the two packaging belts 2001 on the box body, thereby avoiding the problem of damaging the box body and improving the efficiency and stability of the mechanism.

[0086] 4. Considering that the size of the box frame may change later, it can be adjusted later by changing the position of the cylinder 504 and the hook 502.

[0087] While the present invention has been described with reference to preferred embodiments, various modifications may be made and equivalent components may be substituted without departing from the scope of the present invention. In particular, the various technical features described in the various embodiments may be combined in any manner, provided no structural conflicts exist. The present invention is not limited to the specific embodiments disclosed herein, but encompasses all technical solutions within the scope of the claims.

Claims

1. A box grabbing device, characterized in that: include: A box clamp (50) for clamping the box (200) to be clamped; as well as a transfer mechanism, on which the box clamp (50) is arranged, and the transfer mechanism is used to move the box clamp (50); and A visual inspection system (10) is provided on the transfer mechanism, and the visual inspection system (10) is used to detect the position of the box (200) to be clamped; A control system is electrically connected to the visual inspection system (10) and the transfer mechanism, and the control system is used to control the movement of the transfer mechanism according to the position information of the box (200) to be clamped sent by the visual inspection system (10), so as to move the box clamp (50) to a preset grasping position to grasp the box (200) to be clamped.

2. The box grabbing device according to claim 1, characterized in that: The transfer mechanism includes: a bracket (60); and An X-axis transfer (20) is provided on the support (60); and A Y-axis transfer (30) disposed on the X-axis transfer (20); and A Z-axis transfer (40) is provided on the Y-axis transfer (30), and the box clamp (50) is provided on the Z-axis transfer (40); The X-axis transfer (20) is used to move the Y-axis transfer (30) along the X-axis direction, the Y-axis transfer (30) is used to move the Z-axis transfer (40) along the Y-axis direction, and the Z-axis transfer (40) is used to move the box clamp (50) along the Z-axis direction.

3. The box grabbing device according to claim 2, characterized in that: The X-axis transfer (20) includes: a first guide rail mounting seat (202) disposed on the bracket (60); and A first linear guide rail (203) is extended along the x-axis direction and is arranged on the first guide rail mounting seat (202), and a first slider of the first linear guide rail (203) is connected to the Y-axis transfer (30); and A first driving mechanism is used to drive the first sliding block to slide linearly along the X-axis direction on the first sliding seat of the first linear guide rail (203), and the first driving mechanism is electrically connected to the control system.

4. The box grabbing device according to claim 3, characterized in that: The first driving mechanism comprises: A first rack (201) extending along the X-axis direction and arranged on the first guide rail mounting seat (202); and a first gear (204) meshing with the first rack (201); and A first transmission motor (207), a fixed end of which is connected to the Y-axis transfer (30), and the first transmission motor (207) is electrically connected to the control system; and a coupling (206), an input end of which is connected to the drive shaft of the first transmission motor (207); and A transmission shaft (205) has one end connected to the output end of the coupling (206), and the other end of the transmission shaft (205) is connected to the first gear (204).

5. The box grabbing device according to claim 4, characterized in that: The Y-axis transfer (30) includes: a second guide rail mounting seat (303) connected to a fixed end of the first transmission motor (207) and the first slider; and A second linear guide rail (302) extending along the Y-axis direction and arranged on the second guide rail mounting seat (303), wherein the second slider of the second linear guide rail (302) is connected to the Z-axis transfer (40); and A second rack (304) extending along the Y-axis direction and arranged on the second guide rail mounting seat (303); and a second gear meshing with the second rack (304); and A second transmission motor (301) has a fixed end connected to the Z-axis transfer (40), a drive shaft of the second transmission motor (301) connected to the second gear for driving the second gear to rotate, and the second transmission motor (301) is electrically connected to the control system.

6. The box grabbing device according to claim 5, characterized in that: The Z-axis transfer (40) includes: a third guide rail mounting base (401) connected to a fixed end of the second transmission motor (301) and the second slider; and A third linear guide rail (402) extending along the Z-axis direction and arranged on the third guide rail mounting seat (401), wherein a third slider of the third linear guide rail (402) is connected to the box fixture (50); and a third rack (403) extending along the Z-axis direction and arranged on the third guide rail mounting seat (401); and a third gear meshing with the third rack (403); and A third transmission motor (404) has a drive shaft connected to the third gear, the third transmission motor (404) is used to drive the third gear to rotate, the fixed end of the third transmission motor (404) is connected to the box clamp (50), and the third transmission motor (404) is electrically connected to the control system.

7. The box grabbing device according to claim 6, characterized in that: The Z-axis transfer (40) further comprises: a rotating motor (405), a fixed end of which is connected to a fixed end of the third transmission motor (404), and the rotating motor (405) is electrically connected to the control system; and A fixture mounting plate (406) connected to the drive shaft of the rotating motor (405), and the fixture mounting plate (406) is connected to the box fixture (50); Wherein, the fixed end of the third transmission motor (404) is connected to the box clamp (50) through the rotating motor (405) and the clamp mounting plate (406).

8. The box grabbing device according to claim 7, characterized in that: The box body fixture (50) comprises: Two hooks (502) slidably disposed at the bottom end of the transfer mechanism; and A bidirectional cylinder (504), a fixed end of which is fixed to the bottom end of the transfer mechanism, and two driving ends of the bidirectional cylinder (504) are respectively connected to the two hook claws (502); The bidirectional cylinder (504) is capable of driving the two hook claws (502) to approach each other so as to hook the two packaging belts (2001) of the box (200) to be clamped.

9. The box grabbing device according to claim 8, characterized in that: The box body fixture (50) further includes a fourth linear guide rail (505), a fourth slide seat of the fourth linear guide rail (505) is arranged on the fixture mounting plate (406), and a fourth slide block of the fourth linear guide rail (505) is connected to the hook (502).

10. The box grabbing device according to claim 9, characterized in that: The visual inspection system (10) comprises: a camera mounting bracket (102) fixed on the transfer mechanism; and A visual camera (101), fixed on the camera mounting bracket (102), for photographing the box to be clamped (200) in real time; Wherein, the visual camera (101) is electrically connected to the control system and is used to send the captured pictures and video information to the control system.

Images