CN116216320B - A clamp for handling multiple specifications of goods - Google Patents
A clamp for handling multiple specifications of goodsInfo
- Publication number
- CN116216320B CN116216320B CN202310431823.9A CN202310431823A CN116216320B CN 116216320 B CN116216320 B CN 116216320B CN 202310431823 A CN202310431823 A CN 202310431823A CN 116216320 B CN116216320 B CN 116216320B
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- CN
- China
- Prior art keywords
- clamping
- longitudinal
- transverse
- sliding rail
- plate
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fittings On The Vehicle Exterior For Carrying Loads, And Devices For Holding Or Mounting Articles (AREA)
- Manipulator (AREA)
Abstract
The invention provides a clamp holder for carrying multi-specification goods, which comprises a shell with an open bottom end and a clamping mechanism arranged in the shell, wherein the clamping mechanism comprises a transverse clamping assembly, a longitudinal clamping assembly and a clamping driving assembly, the transverse clamping assembly comprises a transverse sliding rail and transverse clamping pieces which are symmetrically and slidingly connected to two ends of the transverse sliding rail, the longitudinal clamping assembly comprises a longitudinal sliding rail and longitudinal clamping pieces which are symmetrically and slidingly connected to two ends of the longitudinal sliding rail, and the clamping driving assembly synchronously drives the two transverse clamping pieces to move relatively and the two longitudinal clamping pieces to move relatively so as to clamp the goods. Based on the vertical holder that link mechanism principle designed, can realize the rotation about vertical splint through driving slip table cylinder for splint and by the inseparable laminating of pressed from both sides goods, when improving the centre gripping fastness, realized the self-adaptation centre gripping of many specifications, irregular goods, greatly avoided the frequent change of anchor clamps.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a clamp holder for carrying cargoes of multiple specifications.
Background
With the rapid development of economy and the continuous improvement of industrialization level, the requirements for cargo handling are gradually increased, and the development of high efficiency and low cost is started. The traditional cargo carrying mode mainly comprises manual carrying, the cargo is transferred by a worker moving the carrier, the defects of unstable cargo carrying, easy falling of the cargo, large potential safety hazard and the like exist in the carrying process, and meanwhile, the carrying process is time-consuming and labor-consuming, low in efficiency and the problems of production cost and inconvenient operation are increased.
With the advent and rapid development of intelligent manufacturing, robots as a product of continuously accelerating modern construction are rapidly developed both in the logistics industry and in the traditional manufacturing industry, wherein transfer robots are the most representative industrial robots, are used for repeated work in industrial production, have the advantages of high efficiency, long working time, low requirements on working environment and the like, and are widely applied to various fields of ships, automobiles, logistics, medical treatment and the like.
The structural form and the working mode of the carrying robot are various, and the carrying robot needs to be designed into corresponding working modes for different working conditions so as to realize the carrying process of cargoes. However, because the types, sizes and shapes of cargoes are different, the single type of clamp is not firm when grabbing irregular cargoes, sometimes even has the risk of falling, and is easy to cause safety accidents, and the corresponding clamp is replaced for cargoes with different specifications, so that the time waste is caused by the replacement process, and the carrying efficiency is reduced. Therefore, the design of the clamp holder with stable and reliable work, strong adaptability and high carrying efficiency has very important significance for improving the production efficiency, reducing the production cost and enhancing the market competitiveness of enterprises.
Disclosure of Invention
The invention aims to provide a clamp for carrying multi-specification goods, which aims at solving the problems that the common carrying clamp on the market cannot meet the clamping requirement, has poor adaptability and the like for the goods with multiple specifications and irregular boxes, realizes the self-adaptive clamping of the goods with multiple specifications, and improves the carrying efficiency and the safety and reliability of a robot.
In order to achieve the above object, the present invention adopts the following technical solutions:
The clamp holder for carrying the multi-specification goods comprises a shell with an open bottom end and a clamping mechanism arranged in the shell, wherein the clamping mechanism comprises a transverse clamping assembly, a longitudinal clamping assembly and a clamping driving assembly, the transverse clamping assembly comprises a transverse sliding rail and transverse clamping pieces which are symmetrically and slidingly connected to two ends of the transverse sliding rail, the longitudinal clamping assembly comprises longitudinal sliding rails and longitudinal clamping pieces which are symmetrically and slidingly connected to two ends of the longitudinal sliding rail, and the clamping driving assembly synchronously drives the two transverse clamping pieces to move relatively and the two longitudinal clamping pieces to move relatively so as to clamp the goods.
Further, the transverse clamping piece is slidably mounted on the transverse sliding rail through a transverse sliding block, and the longitudinal clamping piece is slidably mounted on the longitudinal sliding rail through a longitudinal sliding block;
The clamping driving assembly comprises a pen-shaped air cylinder, a rack, a gear and a disc, wherein the pen-shaped air cylinder is fixedly arranged on the inner top surface of the shell, the tail end of an extending rod of the pen-shaped air cylinder is fixed on one end of the back surface of the rack, and the rack is meshed with the gear;
The gear and the disc are coaxially and fixedly connected through a rotating shaft, the rotating shaft is vertically arranged, the disc is arranged below the gear, and the top end of the rotating shaft is rotationally connected to the inner top surface of the shell;
The disc is in transmission connection with the transverse sliding block through a transverse arc-shaped connecting rod, and the disc is in transmission connection with the longitudinal sliding block through a longitudinal arc-shaped connecting rod.
Furthermore, the transverse sliding block and the longitudinal sliding block are respectively provided with an inverted U-shaped connecting seat, the bottom end of the connecting seat is fixedly connected with the transverse sliding block or the longitudinal sliding block, and the connecting seat is sleeved on the transverse sliding rail or the longitudinal sliding rail;
one end of the transverse arc-shaped connecting rod is rotationally connected with the disc, and the other end of the transverse arc-shaped connecting rod is rotationally connected with the upper surface of the connecting seat;
one end of the longitudinal arc-shaped connecting rod is rotationally connected with the disc, and the other end of the longitudinal arc-shaped connecting rod is rotationally connected with the upper surface of the connecting seat.
Further, the horizontal clamping piece includes T shape pole and is located the horizontal splint that T shape pole bottom set up, T shape pole top is located horizontal slider bottom sets up, T shape pole top both sides with the connecting seat bottom passes through bolt fixed connection.
Further, the clamping plate surfaces of the transverse clamping plates are uniformly provided with the scribing grooves.
Further, the transverse sliding rail and the longitudinal sliding rail are fixedly arranged on the inner side wall of the shell through angle codes.
Further, the vertical clamping piece includes cylinder pole, fixed connection be in the vertical splint of cylinder pole bottom and be used for the drive the cylinder pole is around the axial rotation in the angle range of predetermineeing in order to adjust vertical splint clamping angle's angle adjustment module, angle adjustment module fixed mounting is in vertical slider bottom.
Further, the angle adjusting module comprises a bottom plate, a connecting plate, a sliding table cylinder fixedly installed at the bottom of the bottom plate, fish eye joints connected to telescopic rods of the sliding table cylinder and angle adjusting pieces, linear sliding rails are arranged on two sides of the bottom plate, two ends of the connecting plate are respectively and slidably connected to the two linear sliding rails through linear sliding blocks, and the sliding table cylinder, the fish eye joints and the angle adjusting pieces are all arranged between the two linear sliding rails;
the angle adjusting piece comprises a base plate, a lower end hole arranged on one side plate surface of the base plate and an end shaft arranged on the other side plate surface of the base plate, wherein the lower end hole and the end shaft are respectively arranged at two ends of the base plate, and the axial direction of the lower end hole and the axial direction of the end shaft are perpendicular to the base plate;
the top of the cylindrical rod sequentially rotates from bottom to top to pass through the middle hole on the connecting plate, the right hole of the fish-eye joint and the lower end hole of the connecting piece;
The bottom plate is fixedly arranged at the bottom of the longitudinal sliding block.
Further, the clamping plate surfaces of the longitudinal clamping plates are uniformly provided with the scribing grooves.
The beneficial effects of the invention are as follows:
(1) According to the clamping driving assembly, the symmetrical layout is adopted, and the clamping driving assembly drives the two pairs of clamping plates to simultaneously move inwards or outwards relatively through the rotation of the disc to clamp the goods, so that the extrusion force applied to the goods is uniformly distributed, and the problem of deformation caused by uneven stress on one side or multiple sides of the goods is avoided;
(2) Meanwhile, a scratch groove is arranged on the surface of one side of the clamping plate for clamping the goods, thereby being beneficial to increasing the friction force when the goods are clamped, improving the stability of clamping the goods and effectively ensuring the safety and reliability in the process of carrying;
(3) According to the longitudinal clamping piece designed based on the link mechanism principle, the left-right rotation of the longitudinal clamping plate can be realized by driving the sliding table cylinder, so that the clamping plate is tightly attached to the clamped goods, the clamping firmness is improved, meanwhile, the self-adaptive clamping of multi-specification irregular goods is realized, the frequent replacement of the clamp is avoided to a great extent, the adjusting procedure is saved, and the carrying efficiency of the robot for clamping the goods is improved.
Drawings
FIG. 1 is a general schematic diagram of a gripper for multi-format cargo handling;
FIG. 2 is a schematic diagram of a clamp drive assembly;
FIG. 3 is an assembled schematic view of a pen cylinder and spindle;
FIG. 4 is a schematic view of a shaft assembly and disassembly;
FIG. 5 is a schematic view of a transverse clamping member;
FIG. 6 is a schematic diagram of a second transverse clamping member;
FIG. 7 is a schematic view of a longitudinal clamp;
FIG. 8 is a second schematic view of a longitudinal clamp structure;
FIG. 9 is a schematic view of an angle adjuster;
FIG. 10 is a schematic view of a circular cargo clamp;
FIG. 11 is a schematic diagram of rectangular cargo clamping;
FIG. 12 is a schematic diagram of a parallelogram cargo clamp;
FIG. 13 is a schematic illustration of a regular hexagonal cargo clamp;
FIG. 14 is a schematic illustration of a regular pentagonal cargo clamp;
The reference sign in the figure is 1. The mechanical arm; the device comprises a housing, a clamping driving assembly, a transverse clamping member, a longitudinal clamping member, a pen-shaped air cylinder, a 7-rack, a 8-gear, a 9-rotating shaft, a 10-disc, a 11-transverse arc-shaped connecting rod, a 12-longitudinal arc-shaped connecting rod, a 13-connecting seat, a 14-transverse sliding block, a 15-transverse sliding rail, a 17-longitudinal sliding block, a 18-longitudinal sliding rail, a 19-angle code, a 20-bearing, a 21-first key, a 22-first clamping ring, a 23-second key, a 24-second clamping ring, a 25-T-shaped rod, a 26-transverse clamping plate, a 27-cylindrical rod, a 28-longitudinal clamping plate, a 29-connecting plate, a 30-fish eye joint, a 31-angle adjusting member, a 32-linear sliding block, a 33-linear sliding rail, a 34-base plate, a 35-sliding table cylinder, a 36-circular cargo, a 37-rectangular cargo, a 38-parallelogram cargo, a 39-regular hexagon cargo, a 40-pentagonal cargo and a 41-shaped hole.
Detailed Description
In order to make the purpose and technical solutions of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. All other embodiments, which can be made by a person skilled in the art without creative efforts, based on the described embodiments of the present invention fall within the protection scope of the present invention.
The meaning of "upper and lower" in the present invention means that "upper" means a position at a high position, opposite to "lower", i.e., an upper side, and "lower" means a position at a low position, opposite to "upper", i.e., a lower layer. And not to a particular limitation of the present apparatus.
The meaning of "left and right" in the present invention means that when the reader is right to the drawing, the left side of the reader is left, and the right side of the reader is right, and is not specific limitation to the device of the present invention.
The meaning of front and rear in the present invention refers to the fact that when the reader is right against the drawing, the reader is close to the front, and the reader is far away from the rear, and is not specific limitation of the device of the present invention.
The meaning of "inner and outer" in the present invention means that the direction of the pointing device is inner with respect to the device itself, and vice versa, without specific limitation to the device of the present invention.
The terms "first," "second," "third," and the like in this disclosure, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the terms so used are interchangeable under appropriate circumstances such that the embodiments of the subject matter described herein are, for example, capable of operation in sequences other than those described or otherwise described herein.
As shown in fig. 1 to 9, the present embodiment provides a gripper for multi-specification cargo handling, which can be mounted on the execution end of a robot arm 1 for use. The clamp comprises a shell 2 with an open bottom end and a clamping mechanism arranged in the shell 2.
The clamping mechanism comprises a transverse clamping assembly 4, a longitudinal clamping assembly 5 and a clamping driving assembly 3. The transverse clamping assembly 4 comprises a transverse sliding rail 15 and symmetrical transverse clamping pieces which are connected to two ends of the transverse sliding rail 15 in a sliding manner, the longitudinal clamping assembly 5 comprises a longitudinal sliding rail 18 and symmetrical longitudinal clamping pieces which are connected to two ends of the longitudinal sliding rail 18 in a sliding manner, and the clamping driving assembly 3 synchronously drives the two transverse clamping pieces to move relatively and the two longitudinal clamping pieces to move relatively so as to clamp goods.
Specifically, the transverse clamping member is slidably mounted on the transverse slide rail 15 via the transverse slider 14, and the longitudinal clamping member is slidably mounted on the longitudinal slide rail 18 via the longitudinal slider 17. The transverse slide rail 15 and the longitudinal slide rail 18 are fixedly arranged on the inner side wall of the shell 2 through corner brackets 19.
The clamping driving assembly 3 comprises a pen-shaped air cylinder 6, a rack 7, a gear 8 and a disc 10, wherein the pen-shaped air cylinder 6 is fixedly arranged on the inner top surface of the shell 2, the tail end of an extending rod of the pen-shaped air cylinder 6 is fixed on one end of the back surface of the rack 7, and the rack 7 is meshed with the gear 8. The gear 8 and the disc 10 are coaxially and fixedly connected through the rotating shaft 9, the rotating shaft 9 is vertically arranged, the disc 10 is arranged below the gear 8, the top end of the rotating shaft 9 is rotatably connected to the inner top surface of the shell 2, and the rotating shaft 9 is arranged at the center of the transverse sliding rail 15 and the center of the longitudinal sliding rail 18.
The upper end of the rotating shaft 9 is provided with a bearing 20, the upper end of the bearing 20 is embedded in a notch on the inner wall of the shell 2, and the lower end of the inner ring of the bearing 20 is supported on a step of the rotating shaft 9. The rotation shaft 9 realizes the circumferential fixation of the gear 8 and the rotation shaft through the first key 21, the gear 8 is prevented from sliding downwards along the axial direction through the first clamping ring 22, the rotation shaft 9 realizes the circumferential fixation of the disc 10 and the rotation shaft through the second key 23, and the disc 10 is prevented from sliding downwards along the axial direction through the second clamping ring 24. The lower end of the rotating shaft 9 is inserted into the central holes of the longitudinal sliding rail 18 and the transverse sliding rail 15 and is rotationally connected with the central holes through bearings.
The disc 10 is in transmission connection with the transverse sliding block 14 through a transverse arc-shaped connecting rod 11, and the disc 10 is in transmission connection with the longitudinal sliding block 17 through a longitudinal arc-shaped connecting rod 12.
Specifically, the transverse slide block 14 and the longitudinal slide block 17 are provided with an inverted U-shaped connecting seat 13, the bottom end of the connecting seat 13 is fixedly connected with the transverse slide block 14 or the longitudinal slide block 17, and the connecting seat 13 is sleeved on the transverse slide rail 15 or the longitudinal slide rail 18. One end of the transverse arc-shaped connecting rod 11 is rotationally connected with the disc 10, and the other end is rotationally connected with the upper surface of the connecting seat 13. One end of the longitudinal arc-shaped connecting rod 12 is rotationally connected with the disc 10, and the other end is rotationally connected with the upper surface of the connecting seat 13.
The pen-shaped cylinder 6 drives the rack 7 to drive the gear 8 meshed with the rack 7 to rotate, and the disc 10 coaxially connected with the gear 8 also rotates along with the rack, so that the transverse arc-shaped connecting rod 11 and the longitudinal arc-shaped connecting rod 12 rotatably connected with the edge of the disc 10 extend and retract, and further drive the transverse sliding block 14 on the transverse sliding rail 15 and the longitudinal sliding block 17 on the longitudinal sliding rail 18 to synchronously extend and retract.
The transverse clamping piece comprises a T-shaped rod 25 and a transverse clamping plate 26 arranged at the bottom end of the T-shaped rod 25, the top end of the T-shaped rod 25 is arranged at the bottom of the transverse sliding block 14, and two sides of the top of the T-shaped rod 25 are fixedly connected with the bottom end of the connecting seat 13 through bolts. The clamping plate surfaces of the transverse clamping plates 26 are uniformly distributed with the grooves, so that friction force during clamping of goods can be increased.
Specifically, the longitudinal clamping piece comprises a cylindrical rod 27, a longitudinal clamping plate 28 fixedly connected to the bottom end of the cylindrical rod 27, and an angle adjusting module for driving the cylindrical rod 27 to axially rotate within a preset angle range so as to adjust the clamping angle of the longitudinal clamping plate 28, wherein the angle adjusting module is fixedly installed at the bottom of the longitudinal sliding block 17.
The angle adjusting module comprises a bottom plate 34, a connecting plate 29, a sliding table cylinder 35 fixedly installed at the bottom of the bottom plate 34, a fish eye joint 30 and an angle adjusting piece 31, wherein the fish eye joint 30 and the angle adjusting piece 31 are connected to a telescopic rod of the sliding table cylinder 35, linear sliding rails 33 are arranged on two sides of the bottom plate 34, two ends of the connecting plate 29 are respectively and slidably connected to the two linear sliding rails 33 through linear sliding blocks 32, and the sliding table cylinder 35, the fish eye joint 30 and the angle adjusting piece 31 are all arranged between the two linear sliding rails 33.
The angle adjusting piece 31 comprises a base plate 311, a lower end hole 312 arranged on one side plate surface of the base plate 311, and an end shaft 313 arranged on the other side plate surface of the base plate 311, wherein the lower end hole 312 and the end shaft 313 are respectively arranged at two ends of the base plate 311, the axial direction of the lower end hole 312 and the axial direction of the end shaft 313 are perpendicular to the base plate 311, a strip-shaped groove 41 is arranged on the bottom surface of the base plate 34, the strip-shaped groove 41 is perpendicular to the axial direction of the sliding table cylinder 35, and the end shaft 313 is embedded in the strip-shaped groove 41 to form a cam groove structure.
The top of the cylindrical rod 27 rotates from bottom to top through the middle hole in the connecting plate 29, the right hole of the fish-eye joint 30 and the lower end hole 312 of the connecting piece. The bottom plate 34 is fixedly arranged at the bottom of the longitudinal sliding block 17 through bolts.
The end shaft 313 of the chamfer adjustment member 31 is initially positioned intermediate the bar-shaped slot 41 of the bottom plate 34 with the longitudinal clamping plate 28 in a relatively perpendicular relationship with the transverse clamping plate 26. When the clamped object is irregular, the sliding table cylinder 35 can drive the extension rod to retract and drive the longitudinal clamping plate 28 to move left and simultaneously the longitudinal clamping plate 28 rotates clockwise, or the sliding table cylinder 35 can drive the extension rod to extend and drive the longitudinal clamping plate 28 to move right and simultaneously the longitudinal clamping plate 28 rotates anticlockwise, so that the tight combination of the longitudinal clamping plate 28 and the clamped goods is well realized. The clamping plate surfaces of the longitudinal clamping plates 28 are uniformly distributed with the grooves, which is helpful for increasing friction force during clamping goods.
As shown in fig. 10, a circular cargo clamping schematic is given.
As shown in fig. 11, a rectangular cargo holding schematic is given.
As shown in fig. 12, a parallelogram cargo holding schematic is given.
As shown in fig. 13, a schematic diagram of a regular hexagonal cargo clamp is given.
As shown in fig. 14, a regular pentagonal cargo gripping schematic is given.
The foregoing is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art will make any equivalent substitution or modification to the technical solution and technical content disclosed in the invention without departing from the scope of the technical solution of the invention, and the technical solution of the invention is not departing from the scope of the invention.
Claims (7)
1. A gripper for handling multiple sizes of goods, comprising:
the clamping mechanism comprises a transverse clamping assembly (4), a longitudinal clamping assembly (5) and a clamping driving assembly (3), wherein the bottom end of the clamping mechanism is provided with a shell (2) with an opening, the clamping mechanism is arranged in the shell (2), the transverse clamping assembly (4) comprises a transverse sliding rail (15) and transverse clamping pieces which are symmetrically and slidingly connected to two ends of the transverse sliding rail (15), the longitudinal clamping assembly (5) comprises a longitudinal sliding rail (18) and longitudinal clamping pieces which are symmetrically and slidingly connected to two ends of the longitudinal sliding rail (18), and the clamping driving assembly (3) synchronously drives the two transverse clamping pieces to move relatively and the two longitudinal clamping pieces to move relatively so as to clamp goods;
the transverse clamping piece is slidably mounted on the transverse sliding rail (15) through a transverse sliding block (14), and the longitudinal clamping piece is slidably mounted on the longitudinal sliding rail (18) through a longitudinal sliding block (17);
The clamping driving assembly (3) comprises a pen-shaped air cylinder (6), a rack (7), a gear (8) and a disc (10), wherein the pen-shaped air cylinder (6) is fixedly arranged on the inner top surface of the shell (2), the tail end of an extending rod of the pen-shaped air cylinder (6) is fixed on one end of the back surface of the rack (7), and the rack (7) is meshed with the gear (8);
The gear (8) is fixedly connected with the disc (10) coaxially through a rotating shaft (9), the rotating shaft (9) is vertically arranged, the disc (10) is arranged below the gear (8), the top end of the rotating shaft (9) is rotationally connected to the inner top surface of the shell (2), and the rotating shaft (9) is arranged at the center of the transverse sliding rail (15) and the center of the longitudinal sliding rail (18);
The disc (10) is in transmission connection with the transverse sliding block (14) through a transverse arc-shaped connecting rod (11), and the disc (10) is in transmission connection with the longitudinal sliding block (17) through a longitudinal arc-shaped connecting rod (12);
The transverse sliding block (14) and the longitudinal sliding block (17) are respectively provided with an inverted U-shaped connecting seat (13), the bottom end of the connecting seat (13) is fixedly connected with the transverse sliding block (14) or the longitudinal sliding block (17), and the connecting seat (13) is sleeved on the transverse sliding rail (15) or the longitudinal sliding rail (18);
One end of the transverse arc-shaped connecting rod (11) is rotationally connected with the disc (10), and the other end of the transverse arc-shaped connecting rod is rotationally connected with the upper surface of the connecting seat (13);
One end of the longitudinal arc-shaped connecting rod (12) is rotationally connected with the disc (10), and the other end of the longitudinal arc-shaped connecting rod is rotationally connected with the upper surface of the connecting seat (13).
2. A multi-format cargo handling gripper according to claim 1, wherein,
The transverse clamping piece comprises a T-shaped rod (25) and a transverse clamping plate (26) arranged at the bottom end of the T-shaped rod (25), the top end of the T-shaped rod (25) is arranged at the bottom of the transverse sliding block (14), and two sides of the top of the T-shaped rod (25) are fixedly connected with the bottom end of the connecting seat (13) through bolts.
3. A multi-format cargo handling gripper according to claim 2, wherein,
The clamping plate surfaces of the transverse clamping plates (26) are uniformly provided with the scribing grooves.
4. A multi-format cargo handling gripper according to claim 1, wherein,
The transverse sliding rail (15) and the longitudinal sliding rail (18) are fixedly arranged on the inner side wall of the shell (2) through corner brackets (19).
5. A multi-format cargo handling gripper according to claim 1, wherein,
The longitudinal clamping piece comprises a cylindrical rod (27), a longitudinal clamping plate (28) fixedly connected to the bottom end of the cylindrical rod (27) and an angle adjusting module used for driving the cylindrical rod (27) to rotate around the axial direction within a preset angle range so as to adjust the clamping angle of the longitudinal clamping plate (28), and the angle adjusting module is fixedly installed at the bottom of the longitudinal sliding block (17).
6. A multi-format cargo handling gripper according to claim 5, wherein,
The angle adjusting module comprises a bottom plate (34), a connecting plate (29), a sliding table cylinder (35) fixedly installed at the bottom of the bottom plate (34), a fish eye joint (30) and an angle adjusting piece (31) which are connected to a telescopic rod of the sliding table cylinder (35), linear sliding rails (33) are arranged on two sides of the bottom plate (34), two ends of the connecting plate (29) are respectively and slidably connected to the two linear sliding rails (33) through linear sliding blocks (32), and the sliding table cylinder (35), the fish eye joint (30) and the angle adjusting piece (31) are all arranged between the two linear sliding rails (33);
The angle adjusting piece (31) comprises a base plate (311), a lower end hole (312) arranged on one side plate surface of the base plate (311) and an end shaft (313) arranged on the other side plate surface of the base plate (311), wherein the lower end hole (312) and the end shaft (313) are respectively arranged at two ends of the base plate (311), and the axial direction of the lower end hole (312) and the axial direction of the end shaft (313) are perpendicular to the base plate (311);
The top of the cylindrical rod (27) sequentially rotates from bottom to top to pass through the middle hole on the connecting plate (29), the right hole of the fish-eye joint (30) and the lower end hole (312) of the angle adjusting piece (31);
the bottom plate (34) is fixedly arranged at the bottom of the longitudinal sliding block (17).
7. A multi-format cargo handling clamp as defined in claim 5 wherein said clamping plates of said longitudinal clamping plates (28) are uniformly distributed with slots.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310431823.9A CN116216320B (en) | 2023-04-21 | 2023-04-21 | A clamp for handling multiple specifications of goods |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310431823.9A CN116216320B (en) | 2023-04-21 | 2023-04-21 | A clamp for handling multiple specifications of goods |
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| Publication Number | Publication Date |
|---|---|
| CN116216320A CN116216320A (en) | 2023-06-06 |
| CN116216320B true CN116216320B (en) | 2025-08-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202310431823.9A Active CN116216320B (en) | 2023-04-21 | 2023-04-21 | A clamp for handling multiple specifications of goods |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117549340A (en) * | 2023-12-15 | 2024-02-13 | 西安工业大学 | An autonomous adaptive three-way robotic arm that prevents gripping from slipping |
| CN120440608B (en) * | 2025-07-11 | 2025-09-09 | 中船重工双威智能装备有限公司 | A self-adaptive clamping device for workpieces with multiple specifications |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111703864A (en) * | 2020-07-14 | 2020-09-25 | 格特拉克（江西）传动系统有限公司 | Anti-dropping device for gearbox turning machine |
| CN113428594A (en) * | 2021-07-23 | 2021-09-24 | 力行亲和机器人科技(西安) 有限公司 | Running robot structure for narrow space |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP7201213B2 (en) * | 2017-11-07 | 2023-01-10 | 東京都公立大学法人 | Goods moving device and goods display system |
| CN218619255U (en) * | 2022-09-14 | 2023-03-14 | 上海维自智能物流科技有限公司 | Full-automatic loading and unloading vehicle equipment |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111703864A (en) * | 2020-07-14 | 2020-09-25 | 格特拉克（江西）传动系统有限公司 | Anti-dropping device for gearbox turning machine |
| CN113428594A (en) * | 2021-07-23 | 2021-09-24 | 力行亲和机器人科技(西安) 有限公司 | Running robot structure for narrow space |
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| CN116216320A (en) | 2023-06-06 |
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