阅读说明：本技术 一种具有智能夹取功能的机器人码垛机 (Robot hacking machine with function is got to intelligence clamp ) 是由 于素华 申自辉 申梦婷 申慧君 于 2021-07-05 设计创作，主要内容包括：本发明公开了一种具有智能夹取功能的机器人码垛机,涉及车箱货物码垛领域,包括箱体和夹取机构,所述夹取机构包括固定筒、双向丝杆、螺纹套、固定夹板、移动夹板、弹簧、第一电机、卡板和电动伸缩杆。该具有智能夹取功能的机器人码垛机,通过夹取机构和驱动机构的设置与配合,在将箱装货物放置于固定夹板内侧时,可有效的将箱装货物自动夹取推送到车箱的内部,不需人工进行码放操作。(The invention discloses a robot stacker crane with an intelligent clamping function, and relates to the field of cargo stacking of carriages. This robot hacking machine with function is got to intelligence clamp through the setting and the cooperation of getting mechanism and actuating mechanism of pressing from both sides, when placing the boxed goods in the solid fixed splint inboard, can effectually get the inside of propelling movement to the railway carriage with the automatic clamp of boxed goods, does not need the manual work to carry out the operation of piling up.)

1. The utility model provides a robot hacking machine with function is got to intelligence clamp, includes box (1) and presss from both sides and get mechanism (2), its characterized in that: the clamping mechanism (2) comprises a fixed cylinder (201), a bidirectional screw rod (202), a threaded sleeve (203), a fixed clamping plate (204), a movable clamping plate (205), a spring (206), a first motor (207), a clamping plate (208) and an electric telescopic rod (5);

a bidirectional screw rod (202) is rotatably connected inside the fixed cylinder (201), one end of the bidirectional screw rod (202) is fixedly connected with a first motor (207), and the first motor (207) is fixedly connected with the fixed cylinder (201) through a mounting frame;

the two ends of the bidirectional screw rod (202) are in threaded connection with threaded sleeves (203), the threaded sleeves (203) are arranged inside the fixed cylinder (201), the outer wall of one side of each threaded sleeve (203) is fixedly connected with a clamping plate (208), one end of each clamping plate (208) penetrates through the fixed cylinder (201), and one end of each clamping plate (208) is fixedly connected with a fixed clamping plate (204).

2. The robot stacker with intelligent gripping function according to claim 1, wherein: one side of solid fixed splint (204) is provided with movable splint (205), movable splint (205) with be provided with a plurality of springs (206) between solid fixed splint (204), spring (206) one end with solid fixed splint (204) fixed connection, and the other end with solid fixed splint (205) fixed connection.

3. The robot stacker with intelligent gripping function according to claim 1, wherein: a rectangular groove is formed in one side of the fixed cylinder (201), one end of the clamping plate (208) penetrates through the rectangular groove, and the clamping plate is clamped in the rectangular groove in a sliding mode.

4. The robot stacker with intelligent gripping function according to claim 1, wherein: one side fixedly connected with fourth motor (6) of a fixed section of thick bamboo (201), the transmission shaft of fourth motor (6) with a fixed section of thick bamboo (201) fixed connection, the below fixedly connected with electric telescopic handle (5) of fourth motor (6).

5. The robot stacker with intelligent clamping function according to claim 4, wherein: a driving mechanism (4) is arranged on one side of the box body (1), and the driving mechanism (4) comprises a sliding rail (401), a sliding block (402), a sliding plate (403), a gear (404), a third motor (405) and a toothed strip (406);

a sliding groove is formed in one side of the box body (1), the inner wall of the sliding groove is fixedly connected with a sliding rail (401), the outer wall of the sliding rail (401) is connected with a sliding block (402) in a sliding mode, and the outer wall of the sliding block (402) is fixedly connected with a sliding plate (403);

one side of slide (403) with electric telescopic handle (5) fixed connection, the stiff end of electric telescopic handle (5) through set up fixed folder with slide (403) fixed connection, the output of electric telescopic handle (5) with fourth motor (6) fixed connection.

6. The robot stacker with intelligent clamping function according to claim 5, wherein: the other side of the sliding plate (403) is rotatably connected with a gear (404), one side of the gear (404) is fixedly connected with a third motor (405), and the third motor (405) is fixedly connected with the sliding plate (403) through a mounting frame;

the gear (404) is connected with a toothed strip (406) in a toothed manner below, and the toothed strip (406) is fixedly connected with the outer wall of one side of the box body (1).

The technical field is as follows:

the invention relates to the field of cargo stacking of carriages, in particular to a robot stacker crane with an intelligent clamping function.

Background art:

the wagon box is a box body used for containing materials during freight transportation. There are various types of carriages to meet the demands for transporting different goods, including box carriages, open-air carriages, railing carriages, and deep carriages. At present, the existing carriage box body can not be automatically stacked, when the boxed goods are placed, the boxed goods are manually stacked in the carriage, time and labor are wasted, and the labor intensity is high.

The invention content is as follows:

in order to solve the problems in the background art, the invention provides a robot stacker crane with an intelligent clamping function.

The technical problem to be solved by the invention is realized by adopting the following technical scheme: a robot stacker crane with an intelligent clamping function comprises a box body and a clamping mechanism, wherein the clamping mechanism comprises a fixed cylinder, a bidirectional screw rod, a threaded sleeve, a fixed clamping plate, a movable clamping plate, a spring, a first motor, a clamping plate and an electric telescopic rod;

a bidirectional screw rod is rotatably connected inside the fixed cylinder, one end of the bidirectional screw rod is fixedly connected with a first motor, and the first motor is fixedly connected with the fixed cylinder through a mounting frame;

the two ends of the bidirectional screw rod are in threaded connection with threaded sleeves, the threaded sleeves are arranged inside the fixed cylinder, the outer wall of one side of each threaded sleeve is fixedly connected with a clamping plate, one end of each clamping plate penetrates through the fixed cylinder, and one end of each clamping plate is fixedly connected with a fixed clamping plate.

Preferably, one side of solid fixed splint is provided with movable clamp plate, movable clamp plate with be provided with a plurality of springs between the solid fixed splint, spring one end with solid fixed splint fixed connection, and the other end with solid fixed splint fixed connection.

Preferably, a rectangular groove is formed in one side of the fixed cylinder, one end of the clamping plate penetrates through the rectangular groove, and the clamping plate is clamped in the rectangular groove in a sliding mode.

Preferably, one side of the fixed cylinder is fixedly connected with a fourth motor, a transmission shaft of the fourth motor is fixedly connected with the fixed cylinder, and an electric telescopic rod is fixedly connected below the fourth motor.

Preferably, a driving mechanism is arranged on one side of the box body, and the driving mechanism comprises a sliding rail, a sliding block, a sliding plate, a gear, a third motor and a rack;

a sliding groove is formed in one side of the box body, a sliding rail is fixedly connected to the inner wall of the sliding groove, a sliding block is connected to the outer wall of the sliding rail in a sliding mode, and a sliding plate is fixedly connected to the outer wall of the sliding block;

one side of slide with electric telescopic handle fixed connection, electric telescopic handle's stiff end through set up fixed folder with slide fixed connection, electric telescopic handle's output with fourth motor fixed connection.

Preferably, the other side of the sliding plate is rotatably connected with a gear, one side of the gear is fixedly connected with a third motor, and the third motor is fixedly connected with the sliding plate through a mounting frame;

the lower profile of the gear is connected with a profile rack, and the profile rack is fixedly connected with the outer wall of one side of the box body.

The working principle and the specific using process of the invention are as follows: when the robot stacker with the intelligent clamping function is used, firstly, the first motor is started to drive the two-way screw rod to rotate, the two groups of thread sleeves are in threaded connection with the two-way screw rod, the clamping plate is fixedly connected to the outer wall of one side of each thread sleeve, and the clamping plate is in sliding clamping connection with the inside of the rectangular groove, so that the two groups of thread sleeves can move towards the middle end or the two ends of the fixed cylinder simultaneously, the distance between the two groups of fixed clamping plates can be adjusted, box-packed goods with different widths can be clamped conveniently, when the box-packed goods need to be clamped, the electric telescopic rod is firstly utilized to raise the heights of the two groups of fixed clamping plates to a certain position, then the box-packed goods are placed below the fixed clamping plates, then the fixed clamping plates are lowered by utilizing the electric telescopic rod to clamp the box-packed goods, then the fixed clamping plates are moved towards one side by utilizing the driving mechanism to convey the box-packed goods to the inside of the box body, and then, after the boxed goods are placed in the box body, the fixed clamping plate is reset through the driving mechanism and the electric telescopic rod.

Then, through opening the third motor, make it drive the gear and rotate, because the gear is connected with insection strip insection, and the gear rotates with the slide and is connected, the slide passes through in slider and the inside spout of slide rail sliding connection and railway carriage, so the gear can remove in the top of insection strip, and then the slide can remove, the slide passes through electric telescopic handle and fourth motor fixed connection, the transmission shaft and the solid fixed cylinder of fourth motor output carry out fixed connection, when the slide removes, the solid fixed cylinder also can remove, thereby can make two sets of solid fixed splint clamps press from both sides and get the boxed goods and remove.

Finally, through opening the second motor, make it drive the second belt pulley and rotate, and then make a set of roller in the outside rotate, because the first belt pulley of fixed connection is passed through to a plurality of roller one end, and a plurality of first belt pulleys pass through belt transmission and connect, so when a set of roller in the outside rotates, a plurality of rollers all can carry out the syntropy and rotate, and then make the drive belt rotate, when actuating mechanism promotes to press from both sides and gets the mechanism and remove, also when two sets of solid fixed splint clamp pressed from both sides and get the boxed goods and remove to the box inside, make the drive belt carry simultaneously, when solid fixed splint reset, boxed goods accessible drive belt carries it to the below one side of box.

The operation is repeated, so that the fixed clamping plate pushes the boxed goods to the inside of the carriage for many times, and the conveyer belt draws the boxed goods to one side, thereby finishing the ordered arrangement.

Compared with the prior art, the invention has the beneficial effects that: according to the robot stacker crane with the intelligent clamping function, through the arrangement and the matching of the clamping mechanism and the driving mechanism, when boxed goods are placed on the inner side of the fixed clamping plate, the boxed goods can be effectively and automatically clamped and pushed to the inside of a carriage, and manual stacking operation is not needed; and do not have the requirement to the surface smoothness of goods, the very convenient clamp of getting multiple different forms goods, and can get big article by the clamp, and is lower to the requirement of goods weight, when getting big article, only needs to place big article between the solid fixed splint, need not make solid fixed splint drive goods rise, utilize solid fixed splint centre gripping promote the goods move at the bottom half can, application range is extensive.

This robot hacking machine with function is got to intelligence clamp through conveying mechanism's setting and cooperation, can effectually get the box dress goods of propelling movement to box inside with solid fixed splint clamp and carry to carrying on one side for the box dress goods is constantly drawn close to one side, and orderly piling up has effectually improved the efficiency of piling up into the buttress.

This robot hacking machine with function is got to intelligence clamp through electric telescopic handle's setting and cooperation, can be so that the distance between the horizontal pole part of bending the pole and railway carriage one side inner wall changes, can place the vaned goods of different specifications between railway carriage one side inner wall and the horizontal pole part of bending the pole, utilizes the montant part of bending the pole to carry out the propelling movement, has increased the suitability of this railway carriage.

This robot hacking machine with function is got to intelligence clamp is through setting up the fourth motor in order to change this work mode of getting the mechanism of pressing from both sides, and accessible fourth motor makes the solid fixed cylinder carry out 90 degrees rotations, and then makes the solid fixed cylinder become vertical position by horizontal position to when meetting the inconvenient boxed goods of getting, usable spring, the subassembly that blocks that removes splint and solid fixed splint and constitute promote the boxed goods, thereby change the work mode of getting the mechanism of pressing from both sides.

This robot hacking machine with function is got to intelligence clamp sets up electric telescopic handle is for the height of adjusting two sets of solid fixed splint in order to conveniently utilize solid fixed splint clamp to get the boxed goods, and on the other hand, accessible electric telescopic handle makes solid fixed splint rise, and then risees the boxed goods of getting, can pile up the boxed goods.

The robot stacker crane with the intelligent clamping function can be used for loading in various forms, two or more groups of boxed goods can be stacked on the inner sides of two groups of fixed clamping plates, then the boxed goods are clamped and pushed into a carriage, when one side of the carriage is completely stacked and filled, the boxed goods on one side of the carriage are conveyed to the other side by a driving belt to be closed, and the steps are repeated until the carriage is filled, and the boxed goods are transversely stacked; also can open the drive belt simultaneously when using two sets of fixed splint clamps to get propelling movement vanning goods, when the vanning thing propelling movement was to the railway carriage inside, directly utilized the drive belt to carry the opposite side and drawn close, so go on repeatedly, until filling with, carry out vertical putting things in good order.

Description of the drawings:

in order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts;

FIG. 1 is a front cross-sectional structural schematic view of a robotic stacker;

FIG. 2 is an enlarged schematic front view of the gripping mechanism, the driving mechanism and the conveying mechanism;

FIG. 3 is a schematic top view of a robotic stacker;

FIG. 4 is an enlarged top view of the gripping mechanism and the driving mechanism;

FIG. 5 is a schematic diagram of the right side view of the gripping mechanism and the driving mechanism;

wherein: 1. a box body; 2. a gripping mechanism; 201. a fixed cylinder; 202. a bidirectional screw rod; 203. a threaded sleeve; 204. fixing the clamping plate; 205. moving the clamping plate; 206. a spring; 207. a first motor; 208. clamping a plate; 3. a conveying mechanism; 301. a roller; 302. a first pulley; 303. a second pulley; 304. a transmission belt; 305. a second motor; 4. a drive mechanism; 401. a slide rail; 402. a slider; 403. a slide plate; 404. a gear; 405. a third motor; 406. a rack bar; 5. an electric telescopic rod; 6. a fourth motor;

the specific implementation mode is as follows:

in order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below by combining the specific drawings.

Example 1:

referring to fig. 1-5, a robot stacker crane with intelligent clamping function comprises a box body 1 and a clamping mechanism 2, wherein the clamping mechanism 2 comprises a fixed cylinder 201, a bidirectional screw rod 202, a threaded sleeve 203, a fixed clamp plate 204, a movable clamp plate 205, a spring 206, a first motor 207, a clamp plate 208 and an electric telescopic rod 5; a bidirectional screw rod 202 is rotatably connected inside the fixed cylinder 201, one end of the bidirectional screw rod 202 is fixedly connected with a first motor 207, and the first motor 207 is fixedly connected with the fixed cylinder 201 through a mounting frame; two-way lead screw 202's both ends threaded connection has thread bush 203, and thread bush 203 sets up in the inside of solid fixed cylinder 201, and one side outer wall fixedly connected with cardboard 208 of thread bush 203, cardboard 208 one end pass solid fixed cylinder 201, the one end fixedly connected with solid fixed splint 204 of cardboard 208. One side of the fixed clamping plate 204 is provided with a movable clamping plate 205, a plurality of springs 206 are arranged between the movable clamping plate 205 and the fixed clamping plate 204, one end of each spring 206 is fixedly connected with the fixed clamping plate 204, and the other end of each spring is fixedly connected with the movable clamping plate 205. A rectangular groove is formed in one side of the fixed cylinder 201, one end of the clamping plate 208 penetrates through the rectangular groove, and the clamping plate is clamped in the rectangular groove in a sliding mode. One side fixedly connected with fourth motor 6 of a fixed section of thick bamboo 201, the transmission shaft and the fixed section of thick bamboo 201 fixed connection of fourth motor 6, the below fixedly connected with electric telescopic handle 5 of fourth motor 6.

Specifically, when in use, the first motor 207 is started to drive the two-way screw rod 202 to rotate, the two groups of threaded sleeves 203 are in threaded connection with the two-way screw rod 202, the clamping plate 208 is fixedly connected to the outer wall of one side of the threaded sleeves 203, and the clamping plate 208 is slidably clamped inside the rectangular groove, so that the two groups of threaded sleeves 203 can move towards the middle end or two ends of the fixed cylinder 201 at the same time, the distance between the two groups of fixed clamping plates 204 can be adjusted, box-packed goods with different widths can be clamped conveniently, when the box-packed goods need to be clamped, the height of the two groups of fixed clamping plates 204 is raised to a certain position by using the electric telescopic rod, then the box-packed goods are placed below the fixed clamping plates 204, then the fixed clamping plates 204 are lowered by using the electric telescopic rod, so that the box-packed goods are clamped by the fixed clamping plates 204, then the box-packed goods can be conveyed to the inside the box body 1 by moving the fixed clamping plates 204 towards one side by using the driving mechanism 4, after the boxed goods are placed in the box body 1, the fixed clamp plate 204 is reset through the driving mechanism 4 and the electric telescopic rod 5.

The spring 206 and the movable clamp plate 205 are provided in order to prevent the fixed clamp plate 204 from directly striking on the packaged goods at the time of gripping and from damaging the packaged goods, and therefore the spring 206 and the movable clamp plate 205 are provided for buffering, and further, a rubber pad is provided at one side of the movable clamp plate 205 for increasing friction. The fourth motor 6 is arranged to change the working mode of the clamping mechanism 2, the fixed cylinder 201 can rotate by 90 degrees through the fourth motor 6, and then the fixed cylinder 201 can be changed to a vertical position from a horizontal position, so that when the boxed goods which are inconvenient to clamp are encountered, the blocking assembly consisting of the spring 206, the movable clamping plate 205 and the fixed clamping plate 204 can be used for pushing the boxed goods, and the working mode of the clamping mechanism 2 can be changed. The electric telescopic rod 5 is arranged to conveniently adjust the heights of the two groups of fixed clamping plates 204, so that boxed goods can be conveniently clamped by the fixed clamping plates 204.

Example 2:

referring to fig. 1-5, a driving mechanism 4 is disposed on one side of the box body 1, and the driving mechanism 4 includes a slide rail 401, a slide block 402, a slide plate 403, a gear 404, a third motor 405, and a rack bar 406; a sliding groove is formed in one side of the box body 1, the inner wall of the sliding groove is fixedly connected with a sliding rail 401, the outer wall of the sliding rail 401 is connected with a sliding block 402 in a sliding mode, and the outer wall of the sliding block 402 is fixedly connected with a sliding plate 403; one side and the electric telescopic handle 5 fixed connection of slide 403, the stiff end of electric telescopic handle 5 is through setting up fixed folder and slide 403 fixed connection, the output and the fourth motor 6 fixed connection of electric telescopic handle 5. The other side of the sliding plate 403 is rotatably connected with a gear 404, one side of the gear 404 is fixedly connected with a third motor 405, and the third motor 405 is fixedly connected with the sliding plate 403 through a mounting frame; the lower profile of the gear 404 is connected with a profile strip 406, and the profile strip 406 is fixedly connected with the outer wall of one side of the box body 1.

Specifically, during the use, through opening third motor 405, make it drive gear 404 rotate, because gear 404 and insection strip 406 insection are connected, and gear 404 rotates with slide 403 to be connected, slide 403 passes through slider 402 and slide rail 401 sliding connection and the inside spout of railway carriage 1, so gear 404 can remove in the top of insection strip 406, and then slide 403 can remove, slide 403 passes through electric telescopic handle 5 and fourth motor 6 fixed connection, the transmission shaft of fourth motor 6 output carries out fixed connection with fixed section of thick bamboo 201, when slide 403 removes, fixed section of thick bamboo 201 also can remove, thereby can make two sets of fixed splint 204 press from both sides the clamping box dress goods and remove.

The scheme in this embodiment can be selectively combined with the scheme in other embodiments.

Example 3:

referring to fig. 1-3, a conveying mechanism 3 is disposed at the bottom of the box 1, and the conveying mechanism 3 includes a roller 301, a first belt pulley 302, a second belt pulley 303, a transmission belt 304, and a second motor 305; the bottom of box 1 rotates and is connected with a plurality of rollers 301, the equal fixedly connected with first belt pulley 302 of one end of a plurality of rollers 301, and the one end fixedly connected with second belt pulley 303 of a set of roller 301 in the outside, and the below of second belt pulley 303 is connected with second motor 305 through belt transmission, and second motor 305 fixed connection is in the bottom of box 1. The outer wall of the rollers 301 is provided with a transmission belt 304, and the first pulleys 302 are connected through the transmission belt. The belt 304 remains flush with the bottom of the tank 1.

Specifically, during the use, through opening second motor 305, make it drive second belt pulley 303 and rotate, and then make a set of roller 301 in the outside rotate, because the first belt pulley 302 of fixed connection is passed through to a plurality of roller 301 one end, and a plurality of first belt pulley 302 is connected through belt transmission, so when a set of roller 301 in the outside rotates, a plurality of roller 301 all can carry out the syntropy and rotate, and then make drive belt 304 rotate, when actuating mechanism 4 promotes to press from both sides and get mechanism 2 and remove, also when two sets of solid fixed splint 204 press from both sides and get the box dress goods and remove to box 1 inside, make drive belt 304 carry simultaneously, when solid fixed splint 204 resets, box dress goods accessible drive belt 304 carries it to the below one side of box 1.

The scheme in this embodiment can be selectively combined with the scheme in other embodiments.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.