Novel palletizing and gripping device for warehouse bundled goods

Abstract

The present invention relates to the technical field of palletizing fixtures. Provided is a palletizing and gripping device for warehouse bundled goods, said device comprising a main frame and a driving mechanism, a transmission mechanism, a connecting rod mechanism, and a holding mechanism which are mounted on the main frame. A gripper which has a cambered surface and is staggered left and right is designed, so that a bundling rope can be can tightly gripped, ensuring that goods will not to slip off or loosen during transportation; a unique crank mechanism and the connecting rod mechanism are designed, so that the self-locking function of the gripper during gripping is enhanced, ensuring that the goods will not loosen or slip off during transportation; according to the present invention, the position and gripping force of the gripper can be dynamically adjusted, so as to adapt to goods of different shapes and sizes; the opening degree of the gripper can be conveniently adjusted, so that the gripper can tightly grip the bundling rope or the surface of the goods, thereby ensuring safe and stable carrying. According to the present invention, an efficient, reliable, and safe solution for carrying paper pulp bags and other bundled goods is provided.

Description

A new type of warehouse bundled goods stacking clamping and grabbing equipment Technical Field

[0001] The invention relates to the technical field of palletizing clamps, and in particular to a novel palletizing clamping and grabbing device for bundled warehouse goods. Background Art

[0002] The grippers used in warehouse palletizing are mostly claws and clamps. When gripping bundled goods like pulp bales by clamping the binding ropes, manual inspection is often used to determine if the ropes have been grasped. With technological advancements, cameras or other visual sensors are now being used for this purpose. This technology helps operators accurately determine the position and posture of the goods, improving handling efficiency and accuracy. However, due to the influence of the operating environment and the presence of obstacles, intelligent methods such as intelligent sensing and recognition are often limited in accuracy and are costly.

[0003] In addition to the accuracy of sensing and recognition, the stability of the current clamp's self-locking mechanism remains a challenge. The clamp must remain clamped during handling. If the automatic locking mechanism fails or loosens, it may cause the goods to accidentally slip or fall.

[0004] Therefore, researching and designing a fixture with high adaptability and stability has become an urgent problem to be solved. Technical Solutions

[0005] In order to solve the problems existing in the background technology, the present invention provides a new type of warehouse bundling cargo stacking clamping and grasping equipment, which includes a main frame and a driving mechanism, a transmission mechanism, a connecting rod mechanism, and a clamping mechanism installed on the main frame. The driving mechanism includes a motor and a worm gear reducer. The transmission mechanism includes a main shaft connected to the driving mechanism and a crank installed on the main shaft. The crank includes a first crank and a second crank; the worm gear reducer is connected to the main shaft to drive the main shaft to rotate.

[0006] The clamping mechanism includes a left clamp and a right clamp. A guide shaft is provided on the main frame. The left clamp and the right clamp are slidably connected to the guide shaft. The connecting rod mechanism includes an upper connecting rod and a lower connecting rod. The two ends of the upper connecting rod are respectively hinged to the first crank and the right clamp; the two ends of the lower connecting rod are respectively hinged to the second crank and the left clamp.

[0007] The upper connecting rod and the lower connecting rod are both composed of two connecting rods at an angle a, where a>90°.

[0008] In a preferred embodiment, the left clamp includes a left clamp arm and a left clamping jaw installed on the left clamp arm, and the right clamp includes a left clamp arm and a right clamping jaw installed on the right clamp arm; the left clamping jaw and the right clamping jaw are provided with an arc surface structure.

[0009] In a preferred solution, the left clamping jaw and the right clamping jaw are rotatably connected to the left clamping arm and the right clamping arm respectively, and rely on gravity to keep the bottom in a horizontal state.

[0010] In a preferred solution, the left clamping arm and the right clamping arm are staggered in the front and rear directions.

[0011] In a preferred solution, a left roller and a right roller are respectively installed on the left clamping arm and the right clamping arm.

[0012] In a preferred solution, the left roller is installed on the front side of the left clamping arm, and the right roller is installed on the rear side of the right clamping arm.

[0013] In the preferred solution, a detection mechanism is respectively installed on the left clamp arm and the right clamp arm, and the detection mechanism includes a detection rod and a telescopic shaft. The telescopic shaft is installed through the left clamp jaw and the right clamp jaw, and the detection rod is installed at one end of the telescopic shaft and the detection piece is installed at the other end of the telescopic shaft. Proximity switches are provided at positions close to the detection pieces on the left clamp arm and the right clamp arm.

[0014] In a preferred solution, a spring is installed inside the telescopic shaft.

[0015] In a preferred solution, the driving mechanism includes a motor and a worm gear reducer. Beneficial effects

[0016] The beneficial effects achieved by the present invention are:

[0017] First, the present invention provides a novel warehouse bundled cargo stacking gripping device that has significant advantages in handling bundled cargo such as pulp bales. The curved, left-right offset gripping jaws are designed to tightly grip the binding ropes, ensuring that the cargo does not slip or become loose during transportation. During the gripping process, deformation, damage, or crushing of the cargo due to gripping can be avoided.

[0018] Second, the operation of the device of the present invention is relatively simple. The operator only needs to correctly place the clamp on the binding rope and perform the corresponding clamping action to complete the handling task;

[0019] Third, the present invention has designed a unique crank mechanism and connecting rod mechanism to realize the clamping and releasing action of the left and right clamps. The design of the connecting rod is greater than 90 degrees, which adds a self-locking function to the clamping claws during the clamping process. When the main shaft rotates to the horizontal position of the connecting rod, the clamps are locked in the left and right directions, ensuring that the goods will not loosen or slip during transportation, ensuring the stability and safety of the goods during handling and stacking.

[0020] Fourth, the present invention is easy to dynamically adjust the position and clamping force of the clamping jaws to adapt to goods of different shapes and sizes, and is convenient to adjust the opening degree of the clamping jaws so that it can tightly clamp the binding rope or the surface of the goods, ensuring a safe and stable handling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic diagram of the overall structure of the present invention;

[0022] FIG2 is a schematic diagram of the left clamp and the right clamp of FIG1 in a released state;

[0023] FIG3 is a schematic diagram of the left and right clamps in FIG1 in a clamped state;

[0024] FIG4 is a schematic diagram of the rear view structure of FIG1;

[0025] Figure 5 is a schematic diagram of the crank and connecting rod mechanism connection;

[0026] Figure 6 is an enlarged structural diagram of the left and right clamps;

[0027] FIG7 is a schematic diagram of the detection mechanism state when no clamping is performed;

[0028] FIG8 is a schematic diagram of the state of the detection mechanism during the clamping process.

[0029] Numbers in the figure:

[0030] 1. Main frame; 2. Driving mechanism; 3. Main shaft; 4. Crank; 41. First crank; 42. Second crank; 5. Connecting rod mechanism; 51. Upper connecting rod; 52. Lower connecting rod; 6. Clamping mechanism; 61. Left clamp; 611. Left clamping jaw; 612. Left roller; 613. Left clamping arm; 62. Right clamp; 621. Right clamping jaw; 622. Right roller; 623. Right clamping arm; 7. Guide shaft; 8. Detection mechanism; 81. Detection rod; 82. Telescopic shaft; 83. Detection plate; 84. Proximity switch. Modes for Carrying Out the Invention

[0031] The technical solutions of the present invention will be described clearly and completely below in conjunction with the drawings in the present invention. In addition, the forms of the various structures described in the following embodiments are merely examples. The present invention is not limited to the various structures described in the following embodiments. All other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0032] 1-8 , a novel warehouse bundling cargo stacking clamping and grasping device includes a main frame 1 and a driving mechanism 2, a transmission mechanism, a connecting rod mechanism 5, and a clamping mechanism 6 installed on the main frame 1 , wherein the driving mechanism 2 includes a motor and a worm gear reducer.

[0033] The worm gear reducer is a worm gear reducer with self-locking function, which can realize the closing and opening of the clamping and self-locking to avoid the occurrence of unhooking.

[0034] The transmission mechanism includes a main shaft 3 connected to the driving mechanism 2 and a crank 4 mounted on the main shaft 3, wherein the crank 4 includes a first crank 41 and a second crank 42; a worm gear reducer is connected to the main shaft 3 to drive the main shaft 3 to rotate.

[0035] The clamping mechanism 6 includes a left clamp 61 and a right clamp 62. The main frame 1 is provided with a guide shaft 7. The left clamp 61 and the right clamp 62 are slidably connected to the guide shaft 7. The connecting rod mechanism 5 includes an upper connecting rod 51 and a lower connecting rod 52. The two ends of the upper connecting rod 51 are respectively hinged to the first crank 41 and the right clamp 62; the two ends of the lower connecting rod 52 are respectively hinged to the second crank 42 and the left clamp 61.

[0036] The upper connecting rod 51 and the lower connecting rod 52 are both composed of two connecting rods at an angle a, where a>90°, that is, the two connecting rods are set at an obtuse angle. In this way, when the main shaft 3 rotates to a horizontal position of the connecting rod, the clamping claws are locked in the left and right directions, ensuring that the goods will not loosen or slip during transportation, ensuring the stability and safety of the goods during handling and stacking.

[0037] The left clamp 61 includes a left clamp arm 613 and a left clamping jaw 611 mounted on the left clamp arm 613. The right clamp 62 includes a left clamp arm 613 and a right clamping jaw 621 mounted on the right clamp arm 623. The left and right clamping jaws 611 and 621 have curved surfaces. The left and right clamping jaws 611 and 621 are rotatably connected to the left and right clamp arms 613 and 623, respectively, and rely on gravity to maintain a horizontal bottom position.

[0038] In a preferred embodiment, the left clamping arm 613 and the right clamping arm 623 are staggered in the front and rear directions, and the left clamping arm 613 and the right clamping arm 623 are respectively mounted with a left roller 612 and a right roller 622. The left roller 612 is mounted on the front side of the left clamping arm 613, and the right roller 622 is mounted on the rear side of the right clamping arm 623.

[0039] A detection mechanism 8 is mounted on each of the left and right clamping arms 613, 623. The detection mechanism 8 comprises a detection rod 81 and a telescopic shaft 82. The telescopic shaft 82 extends through the left and right clamping jaws 611, 621. The detection rod 81 is mounted on one end of the telescopic shaft 82, and a detection piece 83 is mounted on the other end of the telescopic shaft 82. Proximity switches 84 are mounted on the left and right clamping arms 613, 623, near the detection piece 83. A spring is mounted inside the telescopic shaft 82.

[0040] Furthermore, the present invention can be equipped with a camera or other visual sensor to obtain real-time image information of the surrounding environment and cargo. Through image processing and analysis algorithms, it can accurately identify and locate the bundle of ropes, pulp bales or other cargo.

[0041] The connecting rod mechanism 5 and the clamping mechanism 6 of the present invention can be made of high-strength materials to ensure the stability and safety of the clamp during handling. In addition, anti-skid devices can be added as needed to increase the stability and safety of the equipment.

[0042] When the present invention is in use, the left clamping jaw 611 and the right clamping jaw 621 are in a separated and released state. When the left clamping jaw 611 and the right clamping jaw 621 are pressed on the paper bag, the entire device is moved, and the left roller 612 and the right roller 622 come into contact with the paper bag. The sliding of the rollers does not easily damage the paper bag. When the binding rope of the paper bag enters between the left clamping jaw 611 and the right clamping jaw 621, the control motor and the worm gear reducer drive the main shaft 3 to rotate. Driven by the crank 4 and the connecting rod mechanism 5, the left clamping arm 613 moves to the right and the right clamping arm 623 moves to the left. When the left clamping jaw 611 and the right clamping jaw 621 move to the binding rope position, the binding rope is lifted from the bottom of the binding rope.

[0043] As the left clamping arm 613 and the right clamping arm 623 continue to move, the rope contacts the arc surface structure of the left clamping jaw 611 and the right clamping jaw 621, causing the left clamping jaw 611 and the right clamping jaw 621 to slightly flip. When the rope reaches a certain position, it contacts the detection rod 81, pushing the detection rod 81 to compress the spring and push the detection piece 83 away from the proximity switch 84. At this time, the monitoring point signal jumps, and the proximity switch 84 signals of the left clamping arm 613 and the right clamping arm 623 jump at the same time, which can be judged as holding the rope tightly. At this time, the entire clamping device can be lifted and the paper bag can be moved. At this time, the left clamping jaw 611 and the right clamping jaw 621 have double self-locking protection. The worm gear reducer starts the locking mode, and the connecting rod rotates to a near-horizontal position to achieve dead point self-locking. After the operation is completed, the motor is rotated in the opposite direction to separate the left clamping jaw 611 and the right clamping jaw 621 and return them to their original position. Detection sensors can be set at the origin positions of the left clamping jaw 611 and the right clamping jaw 621. When the left clamping jaw 611 and the right clamping jaw 621 move to the origin positions, a control signal is triggered to stop the motor from rotating.

[0044] Finally, a few points should be explained: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "install", "connect", and "connect" should be understood in a broad sense, which can be mechanical connection or electrical connection, or internal communication between two components, or direct connection. "Up", "down", "left", and "right" are only used to indicate relative position relationships. When the absolute position of the described object changes, the relative position relationship may change; secondly: in the drawings of the embodiments disclosed in the present invention, only the structures involved in the embodiments disclosed in the present invention are involved. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of the present invention can be combined with each other; finally: the above is only the preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A new type of warehouse bundling cargo stacking clamping and grabbing equipment, characterized in that: It includes a main frame and a driving mechanism, a transmission mechanism, a connecting rod mechanism, and a clamping mechanism installed on the main frame, wherein: The transmission mechanism includes a main shaft connected to the driving mechanism and a crank mounted on the main shaft, wherein the crank includes a first crank and a second crank; The clamping mechanism comprises a left clamp and a right clamp, a guide shaft is arranged on the main frame, and the left clamp and the right clamp are slidably connected to the guide shaft; The connecting rod mechanism comprises an upper connecting rod and a lower connecting rod, and the two ends of the upper connecting rod are respectively hinged to the first crank and the right clamp; The two ends of the lower connecting rod are hinged to the second crank and the left clamp respectively; The upper connecting rod and the lower connecting rod are both composed of two connecting rods at an angle a, where a>90°.

2. The novel warehouse bundling cargo stacking clamping and grabbing equipment according to claim 1 is characterized by: The left clamp comprises a left clamp arm and a left clamp jaw installed on the left clamp arm, and the right clamp comprises a left clamp arm and a right clamp jaw installed on the right clamp arm; the left clamp jaw and the right clamp jaw are provided with an arc surface structure.

3. The new type of warehouse bundling cargo stacking clamping and grabbing equipment according to claim 2 is characterized by: The left clamping jaw and the right clamping jaw are rotatably connected to the left clamping arm and the right clamping arm respectively, and rely on gravity to keep the bottom in a horizontal state.

4. The novel warehouse bundling cargo stacking clamping and grabbing equipment according to claim 2 is characterized by: The left clamping arm and the right clamping arm are staggered in the front and rear directions.

5. The new type of warehouse bundling cargo stacking clamping and grabbing equipment according to claim 1 is characterized by: A left roller and a right roller are respectively installed on the left clamping arm and the right clamping arm.

6. The novel warehouse bundling cargo stacking clamping and grabbing equipment according to claim 4 is characterized by: The left roller is installed on the front side of the left clamping arm, and the right roller is installed on the rear side of the right clamping arm.

7. The novel warehouse bundling cargo stacking clamping and grabbing equipment according to claim 1 is characterized by: A detection mechanism is installed on the left clamp arm and the right clamp arm respectively, and the detection mechanism includes a detection rod and a telescopic shaft. The telescopic shaft is installed through the left clamp jaw and the right clamp jaw, the detection rod is installed at one end of the telescopic shaft, and a detection sheet is installed at the other end of the telescopic shaft. Proximity switches are arranged at positions on the left clamp arm and the right clamp arm close to the detection sheet.

8. The novel warehouse bundling cargo stacking clamping and grabbing equipment according to claim 1 is characterized by: A spring is installed inside the telescopic shaft.

9. The novel warehouse bundling cargo stacking clamping and grabbing equipment according to claim 1 is characterized by: The driving mechanism includes a motor and a worm gear reducer.

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