CN110497438B

CN110497438B - Clamping device of wallboard

Info

Publication number: CN110497438B
Application number: CN201910804533.8A
Authority: CN
Inventors: 张强军; 梁健斌
Original assignee: Guangdong Bozhilin Robot Co Ltd
Current assignee: Guangdong Bozhilin Robot Co Ltd
Priority date: 2019-08-28
Filing date: 2019-08-28
Publication date: 2020-10-30
Anticipated expiration: 2039-08-28
Also published as: CN110497438A

Abstract

The invention discloses a clamping device of a wallboard, which is used for clamping the wallboard and comprises: the device comprises a base, a clamping plate, a clamping claw and a swing driving mechanism. Wherein the grip block is connected on the base, and the grip block can move in order to spacing to the wallboard for the base. The clamping jaw is connected to the clamping plate in a swinging mode, and the moving surface of the clamping jaw is perpendicular to the moving surface of the clamping plate. The swing driving mechanism is used for driving the clamping jaws to swing between an opening position and a storage position, the clamping jaws are used for clamping a wallboard when in the opening position, and the clamping jaws are used for separating from the wallboard when in the storage position. According to the clamping device provided by the embodiment of the invention, when the clamping device clamps the wallboard, the clamping plate can move to the side surface of the wallboard to limit the position of the wallboard, and as the moving surface of the clamping claw is vertical to the moving surface of the clamping plate, after the clamping plate moves to one side surface of the wallboard, the clamping claw swings and moves to the other side surface of the wallboard, so that the wallboard is clamped. The wallboard is difficult for overturning or crooked behind the centre gripping wallboard to clamping device.

Description

Clamping device of wallboard

Technical Field

The invention belongs to the technical field of construction robots, and particularly relates to a clamping device for a wallboard.

Background

The clamping mechanism adopted in the related technology is mostly driven pneumatically or hydraulically, the mechanism is complex, various valve bodies, gas-liquid sources, pipelines and other structures need to be arranged, the clamping jaw structure is small, large materials cannot be clamped, and the application range is limited. The clamping mechanism is also easy to clamp materials, and the position of the clamping mechanism is far away from the power end position during movement, so that the clamping mechanism cannot move continuously during the clamping process. The clamping mechanism can not realize carrying, and materials easily slide or skew in the clamping process. In addition, fixture is when centre gripping big material, is difficult to switch the gesture with big material, and big material topples over or falls over easily among the switching process.

Disclosure of Invention

The present invention is directed to solving at least one of the problems of the prior art. Therefore, the invention provides a wallboard clamping device which can clamp a wallboard, the wallboard is not prone to overturning in the clamping process, and the problem that the wallboard is prone to slipping or overturning in the wallboard clamping process can be solved.

According to an embodiment of the invention, the clamping device of the wallboard is used for clamping the wallboard, and comprises: a base; the clamping plate is connected to the base and can move relative to the base to limit the wallboard; the clamping claw is connected to the clamping plate in a swinging mode, and the moving surface of the clamping claw is perpendicular to the moving surface of the clamping plate; the swing driving mechanism is used for driving the clamping jaws to swing between an opening position and a storage position, the clamping jaws are used for clamping the wallboard when in the opening position, and the clamping jaws are used for disengaging from the wallboard when in the storage position.

According to the clamping device of the wallboard, when the clamping device clamps the wallboard, the clamping plate can move to the side face of the wallboard to limit the wallboard, and because the moving face of the clamping claw is perpendicular to the moving face of the clamping plate, after the clamping plate moves to one side face of the wallboard, the clamping claw on the clamping plate can move to the other side face of the wallboard after swinging, so that the wallboard is clamped and limited in a space defined by the clamping claw, the clamping plate and the base. The wallboard is difficult for overturning or crooked behind the centre gripping wallboard to clamping device.

According to the clamping device of the wallboard, a plurality of clamping claws are arranged on the clamping plate at intervals and are controlled by the same group of swing driving mechanisms in a linkage mode, so that the actions of the clamping claws are consistent.

Optionally, the swing driving mechanism includes: a swing motor; the swing catch bar, the swing catch bar includes a plurality ofly, every the one end of swing catch bar all is connected swing motor, every the other end of swing catch bar connects one respectively the gripper jaw, the drive of swing motor swing the swing catch bar swing.

Further, the swing driving mechanism further includes: the swing connecting plate is connected to a motor shaft of the swing motor, and one end of each swing push rod is rotatably connected to the swing connecting plate.

Advantageously, the end of at least one of said oscillating pusher rods is connected to said oscillating connection plate by means of a ball joint bearing.

Optionally, a hinge pin is arranged between the clamping plate and the clamping claw, and one end of the swinging push rod is connected with the hinge pin.

According to the clamping device of the wall board, the base comprises two track plates, the two track plates are oppositely arranged, each track plate is provided with a first sliding groove, the clamping plate is arranged on one side of the two track plates, and the clamping plate is provided with a first guide body matched in the first sliding groove corresponding to each track plate; the movable driving mechanism is used for driving the clamping plate to switch between a clamping state and a loosening state, the first guide body moves along the first sliding groove when the clamping plate is turned over relative to the base, the clamping plate is used for limiting the wallboard on the supporting surface of the base in the clamping state, and the clamping plate is separated from the wallboard in the loosening state.

Optionally, the movable driving mechanism comprises a rotating motor, a driving rod and a linkage rod, the rotating motor is fixed on the base, the rotating motor drives the driving rod to rotate, the driving rod is connected with the linkage rod, and the linkage rod is in clearance fit with the clamping plate.

Optionally, the base still includes the main junction board, be equipped with two on the main junction board the track board, the track board includes parallel arrangement's two sets ofly, every group the both ends of track board symmetry respectively are equipped with one first spout, two sets of correspond on the track board two sets of first spout shape is unanimous, and is same a plurality of on the grip block line that first guide motion body formed with the track board is mutually perpendicular, first spout forms 90 degrees bend grooves.

Optionally, a slewing mechanism is further arranged on the main connecting plate and drives the main connecting plate to rotate.

Additional aspects and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a perspective view of a first angle of a clamping device according to an embodiment of the present invention.

Fig. 2 is a perspective view of a second angle of the clamping device according to an embodiment of the present invention.

Fig. 3 is a perspective view of a third angle of the clamping device according to an embodiment of the invention.

Fig. 4 is a schematic structural diagram of a clamping plate in a clamping device according to an embodiment of the present invention.

Fig. 5 is a perspective view of a wall panel clamped by the clamping device according to one embodiment of the invention.

Fig. 6 is a schematic perspective view of another angle at which the clamping device clamps the wall panel according to an embodiment of the invention.

Fig. 7 is a schematic perspective view of a clamping device of one embodiment of the invention, which is connected with a vehicle body and clamps a wall plate.

Fig. 8 is a schematic perspective view of the clamping device according to one embodiment of the present invention, after being connected to a vehicle body, when the clamping claws of one set of clamping plates are retracted and the clamping claws of the other set of clamping plates are extended.

Fig. 9 is a schematic perspective view of the clamping device of one embodiment of the present invention, after being connected to a vehicle body, when the clamping claws of two groups of clamping plates are extended.

Reference numerals:

a clamping device 100,

A base 1,

A support body 11, a support square tube 111, a limit part 112,

The track plate 12, the first sliding groove 121, the transverse groove 121a, the longitudinal groove 121b, the position sensor 122,

A main connecting plate 13, a cushion block 131,

A clamping plate 2,

First guide body 21, second guide body 22,

The connecting rod 23, the clamping claw 24, the hinge pin 241,

A bearing block 25 of the wallboard, a pushing block 26,

A moving drive mechanism 3,

A rotating motor 31, a driving rod 32,

A linkage rod 33, a chute block 331, a second chute 332,

A rotary mechanism 5,

A swing driving mechanism 6,

A swing motor 61, a swing push rod 62, a swing connecting plate 63, a ball joint bearing 64,

A wallboard 200,

A vehicle body 300.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

The clamping device 100 of the wall panel 200 according to the embodiment of the present invention will be described with reference to the attached drawings. The clamping device 100 of the present invention is used to clamp a wall panel 200.

A clamping device 100 of a wall panel 200 according to an embodiment of the present invention, as shown in fig. 1, the clamping device 100 comprises: the clamp comprises a base 1, a clamping plate 2, a clamping claw 24 and a swing driving mechanism 6.

Wherein, grip block 2 is connected on base 1, and grip block 2 can remove for base 1 to it is spacing to wallboard 200. The base 1 provides a reference object for the relative movement of the clamping plate 2, also provides connection and support for the clamping plate 2, and can limit the wall plate 200.

As shown in fig. 1 and 4, the holding claw 24 is swingably attached to the holding plate 2, and the moving surface of the holding claw 24 is perpendicular to the moving surface of the holding plate 2.

The swing driving mechanism 6 is used for driving the clamping jaws 24 to swing between an opening position and a storage position, the clamping jaws 24 are used for clamping the wall board 200 when in the opening position, and the clamping jaws 24 are used for disengaging the wall board 200 when in the storage position.

With the above structure, when the clamping device 100 clamps the wall panel 200, the clamping plate 2 of the wall panel 200 according to the embodiment of the invention can move relative to the base 1 and move to the side of the wall panel 200, and keep a proper distance from the wall panel 200 to limit the wall panel 200 in a certain space, or contact the wall panel 200 and limit the wall panel 200 at the side end.

Because the motion surface of the clamping jaw 24 is perpendicular to the motion surface of the clamping plate 2, when the clamping plate 2 is located on the first side surface of the wallboard, the clamping jaw 24 on the clamping plate 2 can move to the second side surface of the wallboard 200 after swinging, the first side surface and the second side surface both limit the wallboard 200 to a certain degree, so that the wallboard 200 is clamped and limited in a space surrounded by the clamping jaw 24, the clamping plate 2 and the base 1, and the clamping device 100 forms an encircling posture for the wallboard 200.

When the wall panel 200 is located in the space, the clamping jaws 24 clamp the wall panel 200, so that the wall panel 200 is not easy to tip or tilt after the clamping device 100 clamps the wall panel 200.

In some embodiments of the present invention, as shown in fig. 1, a plurality of clamping claws 24 are spaced on the clamping plate 2, and the plurality of clamping claws 24 are controlled by the same set of swing driving mechanism 6 in a linkage manner, so that the plurality of clamping claws 24 act in a consistent manner. That is, a plurality of gripping claws 24 are provided on one gripping plate 24 at the same time, and the plurality of gripping claws 24 are simultaneously placed in the open position or the storage position under the interlocking control of the swing drive mechanism 6. A group of swing driving mechanisms 6 is adopted for linkage control, the structure is simple, and the plurality of clamping claws 24 act coordinately.

Optionally, in other examples, the clamping claws 24 on each clamping plate 2 correspond to a group of swing driving mechanisms 6, and each swing driving mechanism 6 independently controls each clamping claw 24 to swing.

Optionally, at least two side ends of the clamping plate 2 are rotatably connected with clamping claws 24, and the clamping claws 24 at different side ends are controlled by different swing driving mechanisms 6. Thus, the clamping claws 24 at different sides of the clamping plate 2 form different action surfaces with the clamping plate 2, so that a plurality of surfaces of the wall board 200 are clamped.

In some embodiments of the present invention, as shown in fig. 1, the swing drive mechanism 6 includes: the device comprises a swing motor 61 and a plurality of swing push rods 62, wherein the swing push rods 62 comprise a plurality of swing motors 61, one end of each swing push rod 62 is connected with the swing motor 61, the other end of each swing push rod 62 is connected with one clamping claw 24, and the swing motor 61 drives the swing push rods 62 to swing. The swing motor 61 transmits power to the push rod 62, and the push rod 62 drives the clamping claws 24 to swing, so that the requirement that one swing motor 61 simultaneously drives a plurality of clamping claws 24 to swing is met. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

Optionally, as shown in fig. 2, the swing driving mechanism 6 further includes: the swing connecting plate 63 is connected to the motor shaft of the swing motor 61, and one end of each of the plurality of swing push rods 62 is rotatably connected to the swing connecting plate 63. The swing connecting plate 63 provides a connection point for the plurality of swing pushing rods 62, and the swing connecting plate 63 can uniformly transmit the power transmitted by the swing motor 61 to each swing pushing rod 62, so that the plurality of clamping claws 24 can be opened or stored at a proper speed.

Advantageously, as shown in fig. 2, two ends of the clamping plate 2 are respectively provided with one clamping jaw 24, the moving surfaces of the two clamping jaws 24 are coplanar, the center of the swing connecting plate 63 is connected to the motor shaft, two ends of the swing connecting plate 63 are respectively connected to one swing pushing rod 62, the two swing pushing rods 62 respectively extend to opposite directions, the other sides of the two swing pushing rods 62 are respectively connected to one clamping jaw 24, when the swing motor 61 rotates, the swing connecting plate 63 rotates counterclockwise or clockwise, so as to drive the two swing pushing rods 62 to move oppositely or oppositely, and further to swing the two clamping jaws 24 and simultaneously locate at the opening position or the accommodating position.

Alternatively, as shown in fig. 2, the end of at least one swinging push rod 62 is connected to a swinging attachment plate 63 through a ball joint bearing 64. After the ball joint bearing 64 is adopted for connection, the swinging pushing rod 62 can swing flexibly and is not easy to be blocked, and in addition, the ball joint bearing 64 has the performances of impact resistance and abrasion resistance.

Alternatively, as shown in fig. 1, a hinge pin 241 is provided between the holding plate 2 and the holding claw 24, and one end of the swinging push rod 62 is connected to the hinge pin 241. The hinge pin 241 is adopted for connection, so that the swinging reliability between the clamping plate 2 and the clamping claw 24 is increased, and the local connection strength is improved.

In other examples, the swing motor 61 may be replaced by an air cylinder, and the output end of the air cylinder is directly connected to the clamping jaw 24.

In some embodiments of the present invention, as shown in fig. 1 and 2, the base 1 includes a supporting body 11 and a main connecting plate 13, the supporting body is connected to an end surface of the main connecting plate 13, the rail plate 12 is connected to the main connecting plate 13, and the supporting body 11 has a supporting surface for supporting the wall plate 200. The supporting surface can be a whole plane, and can also be a supporting surface formed by a plurality of planes.

Optionally, the supporting square tube comprises a plurality of supporting frames, so that the overall weight reduction is facilitated.

Alternatively, as shown in fig. 2 and 5, one end of the square supporting tube is formed with a stopper 112, and the stopper 112 is adapted to contact one side end, such as the top or the bottom, of the wall plate 200, thereby enabling the clamping device 100 to limit the wall plate 200 more than once, which greatly increases the limit of the clamping device 100 on the wall plate 200.

Optionally, the plane of the limiting portion 112 is perpendicular to the plane of the supporting square tube 111, and the plane of the limiting portion 112 is suitable for contacting one side of the wall board 200.

Advantageously, the support surface is different from the clamping plate 2 and the clamping jaw 24, and when the wall plate 200 is clamped by the clamping jaw 24, the different surfaces of the wall plate 200 are respectively contacted with the clamping plate 2, the clamping jaw 24 and the support surface to form reliable space limitation, so that the wall plate 200 is firmly fixed on the clamping device 100.

Alternatively, as shown in fig. 2, the supporting body 11 includes supporting square pipes 111, the supporting square pipes 111 are respectively disposed at upper and lower sides of the main connecting plate 13, and the supporting square pipes 111 are coplanar with the main connecting plate 13 and simultaneously form a supporting surface for supporting the wall plate 200. When the square supporting tubes 111 are provided, the contact area between the supporting body 11 and the wall board 200 can be increased, especially for a long wall board, the square supporting tubes 111 are adapted to be extended along the length direction of the wall board 200 and arranged on the main connecting plate 13 to increase the supporting force in the long side direction of the wall board 200.

Advantageously, the supporting square tube 111 is provided with a spacer block 131. The pressure buffering wallboard 200 is used for buffering the pressure formed by the supporting square pipe 111, and the contact surface of the contact between the supporting square pipe 111 and the wallboard 200 and the friction force during the contact are increased, so that the wallboard 200 is effectively prevented from sliding off.

Optionally, as shown in fig. 2, a cushion block 131 is disposed on the main connecting plate 13, and when the wall board 200 is supported on the supporting surface, the cushion block 131 can buffer the pressure of the wall board 200 on the main connecting plate 13, and can increase the friction force between the main connecting plate 13 and the wall board 200.

Alternatively, in some examples, the support body 11 is formed solely by the main connection plate 13 without providing an additional support body 11, and one surface of the main connection plate 13 is formed as a support surface.

In some examples of the present invention, as shown in fig. 1, the base 1 includes two track plates 12, the two track plates 12 are disposed opposite to each other, each track plate 12 is provided with a first sliding slot 121, the clamping plate 2 is disposed at one side of the two track plates 12, and the clamping plate 2 is provided with a first guide body 21 fitted in the first sliding slot 121 corresponding to each track plate 12, in this structure, the first guide body 21 moves relative to the base 1 under the guiding action of the first sliding slot 121.

Optionally, the track plates 12 include two sets arranged in parallel, two ends of each set of track plates 12 are respectively and symmetrically provided with one first sliding chute 121, the two corresponding sets of first sliding chutes 121 on the two sets of track plates 12 are identical in shape, and a connection line formed by the plurality of first guide bodies 21 on the same clamping plate 2 is perpendicular to the track plates 12. Adopt above-mentioned structure, track board 12 parallel arrangement from top to bottom, and the both ends of two sets of track boards 12 are equipped with a first spout 121 respectively, and from this, grip block 2 also the symmetry is equipped with two sets ofly, and two sets of grip block 2 set up both ends about two sets of track boards 12 respectively, and two sets of grip block 2 all can overturn for main connecting plate 13. As shown in fig. 5 and 6, when two sets of clamping plates 2 are turned over and limited on the wall board 200 at the same time, it can be ensured that the two opposite sides of the wall board 200 are both limited, and at the same time, the other side of the wall board 200 is supported by the supporting surface, so that the wall board 200 can be limited by three surfaces, and after the clamping device 100 clamps the wall board 200, the wall board 200 is not easy to drop from the clamping device 100.

In the above example, the two clamping plates 2 are respectively arranged on two opposite sides of the base 1, the first guide bodies 21 of the two clamping plates 2 are respectively matched with the two groups of first sliding chutes 121, and the two clamping plates 2 are driven by the single driving mechanism 3 to move independently. From this, two grip blocks 2 can be for the transform state of base 1 respectively, when only 2 transform positions of a grip block, if only 2 of a grip block are in the clamping state, another grip block 2 is then when being in the state of laxing, the grip block 2 that is in the clamping state conveniently stretches to horizontal wallboard 200 of placing, and the length that the grip block 2 of clamping state stretches out is not more than wallboard 200's thickness, grip block 2 can be dragged a distance contact holding surface by grip block 2 this moment, and the grip block 2 that is in the state of laxing then can not disturb wallboard 200, be difficult for taking place to interfere between wallboard 200 that is dragged and other wallboard 200.

When two clamping plates 2 are provided at the same time, the centering of the wall plate 200 can also be positioned in the process of clamping the wall plate 200.

Optionally, the track plates 12 are respectively provided with four groups, wherein two groups of track plates 12 are arranged at intervals on the upper portion of the main connecting plate 13 and are coplanar with each other, the other two groups of track plates 12 are arranged at intervals on the lower portion of the main connecting plate 13 and are coplanar with each other, the track plates 12 on the upper portion and the lower portion are correspondingly arranged, and finally four groups of track plates 12 which are bilaterally symmetrical and vertically symmetrical are formed. The track plate 12 thus configured can save the material usage of the track plate 12.

In some embodiments of the present invention, as shown in fig. 3 and 4, the first sliding groove 121 is provided through the thickness direction of the track plate 12. In other examples, the first sliding groove 121 may be formed not to penetrate the track plate 12 but to be opened to a certain depth at one side of the opposite surface of the track plate 12. When the first sliding groove 121 penetrates through the thickness direction of the track plate 12, the depth of the first guiding body 21 that can extend into the first sliding groove 121 is larger, and the first guiding body 21 is not easy to be pulled out from the first sliding groove 121, meanwhile, the first guiding body 21 can also extend into and penetrate through the first sliding groove 121, and the first guiding body 21 can be provided with a limiting member at the bottom of the first sliding groove 121, so that one end of the first guiding body 21 can slide along the first sliding groove 121 while being limited in the first sliding groove 121.

As shown in fig. 3, the first sliding chute 121 includes a transverse slot 121a and a longitudinal slot 121b, the transverse slot 121a and the longitudinal slot 121b form an angle of 90 degrees, and an arc transition connection is formed between the transverse slot 121a and the longitudinal slot 121 b. As shown in fig. 4, the position is switched between the lateral groove 121a and the longitudinal groove 121b while the clamping plate 2 moves in the first slide groove 121, and the clamping plate 2 is smoothly transited at the connection between the lateral groove 121a and the longitudinal groove 121b, and is not easily caught.

Alternatively, the first runner 121 is formed as a 90-degree curved groove.

Optionally, as shown in fig. 3, one or more position sensors 122 are disposed on the track plate 12 near the first sliding groove 121, the position sensors 122 are electrically connected to the motor 31, and the position sensors 122 are configured to feed back specific positions of the clamping plate 2 in the first sliding groove 121 and transmit signals to the motor 31, so as to rotate or stop the motor 31, thereby controlling the clamping plate 2 to change states, and enabling the clamping plate 2 to clamp the wall board 200 or release the wall board 200.

In some examples of the present invention, as shown in fig. 1, the clamping device 100 further includes a moving driving mechanism 3, the moving driving mechanism 3 is configured to drive the clamping plate 2 to switch between a clamping state and a loosening state, and the first guiding body 21 moves along the first sliding groove 121 when the clamping plate 2 is turned over relative to the base 1, the clamping plate 2 is configured to limit the wall board 200 on the supporting surface of the base 1 in the clamping state, and the clamping plate 2 is configured to be separated from the wall board 200 in the loosening state. When the clamping device 100 of the present invention clamps the wall board 200, the wall board 200 can be supported by the supporting surface and simultaneously limited by the clamping plate 2, so that the wall board 200 can be continuously kept on the supporting surface, therefore, the wall board 200 can be lifted up during clamping the wall board 200, and the wall board 200 can also be carried, and the wall board 200 is not easy to fall off the supporting surface.

Alternatively, as shown in fig. 1, a plurality of connecting rods 23 are disposed on the clamping plate 2, the plurality of connecting rods 23 are disposed corresponding to the plurality of track plates 12, each connecting rod 23 is disposed with a first guiding body 21, and the first guiding body 21 is a rolling bearing. The first guide body 21 is formed of a rolling bearing, so that the connecting rod 23 can be stably connected to the track plate 12, and the rolling bearing can be more smoothly moved relative to the track plate 12 by rolling and sliding in the first slide groove 121, thereby preventing the connecting rod 23 from being caught.

Advantageously, as shown in fig. 2, one side of the clamping plate 2 capable of clamping the wallboard 200 is provided with a wallboard bearing block 25, the wallboard bearing block 25 buffers the acting force of the wallboard 200 on the clamping plate 2 in the clamping process on one hand, so as to increase the local bearing capacity of the clamping plate 2, and on the other hand, the friction force of the clamping plate 2 after contacting with the wallboard 200 can be increased, so that the clamping plate 2 is better limited to the wallboard 200.

Optionally, as shown in fig. 1, the moving driving mechanism 3 includes a rotating motor 31, a driving rod 32 and a linkage rod 33, the rotating motor 31 is fixed on the base 1, the rotating motor 31 drives the driving rod 32 to rotate, the driving rod 32 is connected with the linkage rod 33, and the linkage rod 33 is in clearance fit connection with the clamping plate 2. In the process of rotating the rotating motor 31, the clamping plate 2 slides along the first sliding groove 121 and switches states, so that the clamping plate 2 drives the clamping claws 24 to move away from the wall board 200 or move close to the wall board 200.

Alternatively, the rotating motor 31 is a servo motor, and the servo motor is connected to a speed reducer to precisely control the rotation of the driving rod 32. The multi-position stop of the clamping plate 2 can be satisfied by using the closed-loop characteristic of the servo motor.

Optionally, as shown in fig. 1 and fig. 3, the linkage rod 33 includes a chute block 331 fixedly connected to the driving rod 32, the chute block 331 is provided with a second chute 332, and the clamping plate 2 is provided with a second guiding body 22 engaged in the second chute 332. By providing the second sliding groove 332 on the sliding groove block 331, after the second guiding body 22 is engaged in the second sliding groove 332, on the one hand, the power can be transmitted from the driving rod 32 to the clamping plate 2, and on the other hand, the second guiding body 22 can form a certain degree of displacement adjustment in the second sliding groove 332 during the process of transmitting the power, so that the clamping plate 2 can adapt to the movement of various first sliding grooves 121, especially when a corner is formed in the first sliding groove 121, when the clamping plate 2 moves to the corner, the second guiding body 22 can adjust the relative position in the second sliding groove 332 during the process of transmitting the power, therefore, the clamping plate 2 moves smoothly and is not easy to be jammed during the changing state along the first sliding groove 121.

In the description of the present invention, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features for distinguishing between the described features, whether they are sequential or not.

Advantageously, as shown in fig. 1 and 3, grip plate 2 is provided with a pusher 26, and second actuator 22 is provided on pusher 26 and is a roller. The pushing block 26 is connected with the clamping plate 2 and provides support for the roller, the rolling surface of the roller is suitable for contacting with the inner wall of the first sliding chute 121, the axis of the roller is suitable for being arranged perpendicular to the surface of the pushing block 26, and the roller can smoothly move in the first sliding chute 121.

Optionally, the pushing block 26 may not be limited to a roller, and the pushing block 26 may also be a sliding block, the sliding block is consistent with the width direction of the second sliding groove 332 in size, and the sliding block is in contact with the width direction wall surface of the second sliding groove 332, and the length of the sliding block is smaller than the length of the second sliding groove 332.

Optionally, the pushing block 26 is integrally formed with the clamping plate 2, and the pushing block 26 is perpendicular to the clamping plate 2.

Optionally, the pushing block 26 is detachably disposed on the clamping plate 2 and perpendicular to the surface of the clamping plate. For example, the pushing block 26 may be connected to the clamping plate 2 through a bolt connection, and the pushing block 26 may also be connected to the clamping plate 2 through a slot and a stopper.

Optionally, a plurality of sliding groove blocks 331 are arranged on the driving rod 32 at intervals along the length direction thereof, the plurality of sliding groove blocks 331 are arranged in parallel and correspondingly, the second sliding groove 332 on each sliding groove block 331 has the same shape, and a connecting line formed by the plurality of second guiding bodies 22 is perpendicular to the sliding groove blocks 331. Adopt the spout piece 331 coplane of above-mentioned structure, and the multiple position of grip block 2 all can be connected with spout piece 331, and grip block 2 is at the in-process of motion, and the whole face keeps unanimous, avoids appearing the problem of unilateral slope to make grip block 2 can be spacing wallboard 200 on the holding surface all the time when clamping state, wallboard 200 is difficult for inclining and drops.

In some embodiments of the present invention, as shown in fig. 4 and 5, the main connecting plate 13 is further provided with a rotating mechanism 5, and the rotating mechanism 5 drives the base 1 to rotate. That is to say, under the drive of rotation mechanism 5, whole base 1 can take place to rotate, and when base 1 took place to rotate at the in-process of centre gripping wallboard 200, then can make wallboard 200 change the state of putting from the horizontal state to the state of putting immediately, and the wallboard 200 is installed or is transported to convenient centre gripping wallboard 200 back.

Optionally, the swing mechanism 5 comprises a worm gear mechanism. Optionally, the swing mechanism 5 comprises a swing cylinder.

Alternatively, as shown in fig. 7, the swing mechanism 5 is disposed on the vehicle body 300, the vehicle body 300 includes a frame, and the swing mechanism 5 is fixedly connected to the frame. After the swing mechanism 5 drives the clamping device 100 to rotate, the clamping device 100 can rotate relative to the vehicle 300, and the vehicle 300 can drive the clamping device 100 to move.

Alternatively, the vehicle body 300 is formed as a traveling mechanism of a transfer robot, and the holding device 100 is provided on the transfer robot to transfer the wall plate 200 and other large materials.

The clamping device 100 of the wall board 200 can realize the integration of the transportation and the installation of the wall board 200 in the using process.

When the wall board 200 is placed in the material area, the clamping device 100 makes the clamping plate 2 parallel to the ground through the action of the swing mechanism 5, as shown in fig. 8, the single-sided clamping plate 2 close to the ground slides and extends along the first sliding groove 121 first, the clamping plate 2 is parallel to the ground, and the single-sided clamping plate 2 at this time can extend into the bottom of the wall board 200 and lift up the wall board 200, and the wall board 200 leans against the supporting body 1, when the wall board 200 is lifted up for the first time, the clamping plate 2 cannot extend into the bottom of the wall board 200 completely, the extending length of the clamping plate 2 is smaller than the thickness of the wall board 200, and the clamping claw 24 is in the retraction position, so that the clamping plate 2 and the second wall board 200 are prevented from interfering with each other when lifted up. After the first lifting of the wall board 200, the wall board 200 can be moved backward for a certain distance and then put down on the wooden support, so that the wall board 200 is separated from other wall boards 200.

And then, the clamping plate 2 is controlled to completely extend to the bottom of the wallboard 200, the clamping claws 24 on the single-side clamping plate 2 are enabled to swing to extend out and protrude out of the foremost edge of the clamping plate 2 to carry out secondary supporting, when the wallboard 200 is supported by the lower clamping plate 2 again, as shown in fig. 9, the upper clamping plate 2 and the clamping claws 24 also act simultaneously to clamp the wallboard 200 and the clamping claws 24 surround the wallboard 200, and the wallboard 200 is effectively prevented from toppling forwards. Then, the revolving mechanism 5 is operated again to rotate the wall board 200 by 90 degrees under the condition of being clamped, and the horizontal placement state is changed into the vertical installation state. In the whole process, the wall plate 200 is not easy to slip off, and the clamping plate 2 is not easy to clamp.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Two track plates 12 are shown in fig. 1 and two swinging push rods 62 are shown in fig. 2 for illustrative purposes, but it is obvious to those skilled in the art after reading the above technical solutions that the solution can be applied to other numbers of track plates 12 and swinging push rods 62, and the invention also falls into the protection scope of the present invention.

Other constructions of the clamping device 100 of the wall panel 200 according to embodiments of the present invention, such as the specific rotation structure of the swing mechanism 5, the driving realization of the car body 300, are known to those skilled in the art and will not be described in detail herein.

In the description herein, references to the description of the terms "embodiment," "example," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A clamping device of wallboard, the clamping device is used for centre gripping wallboard, its characterized in that, clamping device includes:

a base;

the clamping plate is connected to the base and can move relative to the base to limit the wallboard;

the clamping claw is connected to the clamping plate in a swinging mode, and the moving surface of the clamping claw is perpendicular to the moving surface of the clamping plate;

the swing driving mechanism is used for driving the clamping jaws to swing between an opening position and a storage position, the clamping jaws are used for clamping the wallboard when in the opening position, and the clamping jaws are used for separating from the wallboard when in the storage position; a plurality of clamping claws are arranged on the clamping plate at intervals and are controlled by the same group of swing driving mechanisms in a linkage manner, so that the actions of the clamping claws are consistent;

the swing driving mechanism includes: the clamping jaw device comprises a swing motor and a swing push rod, wherein the swing push rod comprises a plurality of ends, one end of each swing push rod is connected with the swing motor, the other end of each swing push rod is connected with one clamping jaw, and the swing motor drives the swing push rod to swing.

2. The wallboard clamping device of claim 1, wherein said swing drive mechanism further comprises: the swing connecting plate is connected to a motor shaft of the swing motor, and one end of each swing push rod is rotatably connected to the swing connecting plate.

3. A wall panel clamping apparatus as claimed in claim 2 wherein the end of at least one said swinging pusher arm is connected to said swinging attachment plate by a ball joint bearing.

4. The wall panel clamping device of claim 1, wherein a hinge pin is provided between the clamping plate and the clamping jaw, and one end of the swinging pushing rod is connected with the hinge pin.

5. The clamping device of wall panel according to claim 1, wherein the base comprises two track plates, the two track plates are oppositely arranged, each track plate is provided with a first sliding slot, the clamping plate is arranged at one side of the two track plates, and the clamping plate is provided with a first guiding body which is matched in the first sliding slot corresponding to each track plate;

the movable driving mechanism is used for driving the clamping plate to switch between a clamping state and a loosening state, the first guide body moves along the first sliding groove when the clamping plate is turned over relative to the base, the clamping plate is used for limiting the wallboard on the supporting surface of the base in the clamping state, and the clamping plate is separated from the wallboard in the loosening state.

6. The clamping device of wall panel as claimed in claim 5, wherein the moving driving mechanism comprises a rotating motor, a driving rod and a linkage rod, the rotating motor is fixed on the base, the rotating motor drives the driving rod to rotate, the driving rod is connected with the linkage rod, and the linkage rod is in clearance fit connection with the clamping plate.

7. The wall panel clamping device according to claim 5, wherein the base further comprises a main connecting plate, two rail plates are disposed on the main connecting plate, the rail plates include two groups of rail plates disposed in parallel, two ends of each group of rail plates are respectively and symmetrically provided with one first sliding groove, the two corresponding groups of first sliding grooves on the two groups of rail plates are identical in shape, a connecting line formed by a plurality of first guide bodies on the same clamping plate is perpendicular to the rail plates, and the first sliding grooves form 90-degree curved grooves.

8. The wallboard gripping apparatus of claim 7, wherein the main connection plate further comprises a rotation mechanism, the rotation mechanism drives the main connection plate to rotate.