技术领域technical field
本发明涉及物流运输技术领域，更具体地说，涉及一种夹取装置。此外，本发明还涉及一种包括上述夹取装置的货物存取平台。The invention relates to the technical field of logistics transportation, more specifically, to a clamping device. In addition, the present invention also relates to a cargo access platform comprising the above-mentioned clamping device.
背景技术Background technique
近年来快递行业飞速发展，但货物的装卸、分发、扫描、投递仍然主要依靠人力来实现。尤其对于偏远的地区，路途遥远，交通不便，人力不足，快递件的投送还存在很多不足与不便之处。In recent years, the express delivery industry has developed rapidly, but the loading and unloading, distribution, scanning, and delivery of goods still mainly rely on manpower. Especially for remote areas, the distance is long, the transportation is inconvenient, and the manpower is insufficient. There are still many shortcomings and inconveniences in the delivery of express mail.
近年来，快递领域开始尝试使用无人机运送快递，也获得了技术上的突破。但是，快递的装卸分拣等都是通过人力所为。另外，外国存在类似平台，用于对药物的分拣和安放在不同的空间位置，实现对轻小药物盒的安置。但上述平台只能利用在服务货物较轻的场所，如其能分拣的货物大多为箱药物包装盒，为了方便物品的分拣和搬运，通常需要设计多个执行机构，其设计相对复杂，花费相对较大。In recent years, the field of express delivery has begun to try to use drones to deliver express delivery, and has also achieved technological breakthroughs. However, the loading, unloading and sorting of express delivery are all done by manpower. In addition, there are similar platforms in foreign countries, which are used to sort and place drugs in different spatial locations, and realize the placement of light and small drug boxes. However, the above-mentioned platform can only be used in places where the goods are light. For example, most of the goods that can be sorted are boxes of medicine packaging boxes. In order to facilitate the sorting and handling of goods, it is usually necessary to design multiple actuators. relatively bigger.
综上所述，如何提供一种能够实现便捷搬运的快递柜夹取装置，是目前本领域技术人员亟待解决的问题。To sum up, how to provide a clamping device for express cabinets that can realize convenient handling is an urgent problem to be solved by those skilled in the art.
发明内容Contents of the invention
有鉴于此，本发明的目的是提供一种夹取装置，该夹取装置能够用于基于无人机的货物柜上，方便货物柜收取货物。In view of this, the object of the present invention is to provide a gripping device, which can be used on a cargo container based on an unmanned aerial vehicle, so as to facilitate the cargo container to pick up goods.
本发明的另一目的是提供一种包括上述夹取装置的货物存取平台。Another object of the present invention is to provide a goods access platform comprising the above-mentioned gripping device.
为了实现上述目的，本发明提供如下技术方案：In order to achieve the above object, the present invention provides the following technical solutions:
一种夹取装置，包括控制装置、底座平台和设置在所述底座平台上的能够沿X轴移动的X轴移动平台，所述X轴移动平台上设有用于推动货物的限位板，所述X轴移动平台上设有与X轴垂直的垂直X轴导轨，所述X轴导轨上相对设有两个可移动的夹取勾手，所述控制装置控制两个所述夹取勾手异向移动以夹取或放开货物；所述X轴移动平台与所述夹取勾手均与用于控制二者移动的所述控制装置连接。A clamping device, comprising a control device, a base platform and an X-axis moving platform arranged on the base platform and capable of moving along the X-axis, the X-axis moving platform is provided with a limit plate for pushing goods, the The X-axis mobile platform is provided with a vertical X-axis guide rail perpendicular to the X-axis, and the X-axis guide rail is oppositely provided with two movable clamping hooks, and the control device controls the two clamping hooks Move in different directions to clamp or release goods; both the X-axis moving platform and the clamping hook are connected with the control device for controlling the movement of the two.
优选的，还包括：Preferably, it also includes:
用于获取货物高度的距离传感器，所述距离传感器通过支撑支架设置在所述X轴移动平台上，所述距离传感器与所述控制装置连接；A distance sensor for obtaining the height of the goods, the distance sensor is arranged on the X-axis mobile platform through a support bracket, and the distance sensor is connected to the control device;
用于获取所述货物的货物信息的信息采集系统，所述信息采集系统安装在所述支撑支架上，并与所述控制装置连接。An information collection system for acquiring cargo information of the cargo, the information collection system is installed on the support bracket and connected with the control device.
优选的，所述信息采集系统为用于扫描货物上条码的扫码装置，所述信息采集系统的供电接口与所述控制装置连接。Preferably, the information collection system is a code scanning device for scanning barcodes on goods, and the power supply interface of the information collection system is connected to the control device.
优选的，所述底座平台上设有两个平行光轴，所述平行光轴上设有直线滑块，所述X轴移动平台设置在所述直线滑块上；Preferably, two parallel optical axes are arranged on the base platform, a linear slider is arranged on the parallel optical axis, and the X-axis moving platform is arranged on the linear slider;
所述X轴移动平台上设有第一减速电机，所述第一减速电机的输出端连接齿轮，所述齿轮与设在所述底座平台上的齿条)啮合传动，所述齿条沿X轴方向延伸设置。The X-axis mobile platform is provided with a first reduction motor, the output end of the first reduction motor is connected to a gear, and the gear is engaged with a rack (rack) arranged on the base platform, and the rack is driven along the X axis. Axis extension setting.
优选的，还包括用于感应所述夹取勾手对货物的夹取压力的压力传感器，所述压力传感器与所述控制装置连接。Preferably, it also includes a pressure sensor for sensing the clamping pressure of the clamping hook on the goods, and the pressure sensor is connected with the control device.
优选的，两个所述夹取勾手分别通过舵机设于所述垂直X轴导轨上，所述舵机的舵机固定架通过螺杆法兰与正反牙螺杆传动连接，所述正反牙螺杆设有对称螺牙；Preferably, the two clamping hooks are respectively arranged on the vertical X-axis guide rail through the steering gear, and the steering gear fixing frame of the steering gear is connected to the positive and negative screws through the screw flange. The tooth screw is provided with symmetrical thread;
所述X轴移动平台上设有第二减速电机，所述第二减速电机与同步轮连接，所述同步轮与正反牙螺杆传动连接。The X-axis mobile platform is provided with a second reduction motor, and the second reduction motor is connected with a synchronous wheel, and the synchronous wheel is connected with a positive and negative thread screw.
优选的，所述夹取勾手通过舵盘设置在所述舵机上，所述舵机具有使所述夹取勾手旋转以垂直于所述X轴移动平台的旋转部。Preferably, the gripping hook is arranged on the steering gear through a steering wheel, and the steering gear has a rotating part that rotates the gripping hook to move the platform perpendicular to the X-axis.
优选的，所述夹取勾手为L形勾手，两个所述夹取勾手的夹取部相互平行，两个所述夹取勾手的推拉部共线。Preferably, the gripping hook is an L-shaped hook, the gripping parts of the two gripping hooks are parallel to each other, and the push-pull parts of the two gripping hooks are collinear.
一种货物存取平台，包括平台和设置在所述平台上的夹取装置，所述夹取装置为上述任意一项所述的夹取装置。A goods access platform, comprising a platform and a clamping device arranged on the platform, the clamping device is the clamping device described in any one of the above.
优选的，所述平台上设置有配合连接的Y轴移动导轨和Z轴移动导轨，所述夹取装置设置在所述Y轴移动导轨或Z轴移动导轨上。Preferably, the platform is provided with a Y-axis moving guide rail and a Z-axis moving guide rail that are mated and connected, and the clamping device is arranged on the Y-axis moving guide rail or the Z-axis moving guide rail.
本发明提供的夹取装置能够通过控制装置的控制实现X轴移动平台在底座平台上的移动，设置在X轴移动平台上的限位板能够跟随X轴移动平台的移动实现对货物的推动，并通过设置在X轴移动平台上的异向移动的夹取勾手实现对货物的夹取，上述过程均可以由控制装置进行控制实现，以便协助无人机智能货物柜完成自动的货物装卸、分拣、装箱和领取等工作。The clamping device provided by the present invention can realize the movement of the X-axis mobile platform on the base platform through the control of the control device, and the limit plate arranged on the X-axis mobile platform can follow the movement of the X-axis mobile platform to push the goods. And the gripping of the goods is realized through the gripping hooks that move in different directions on the X-axis moving platform. The above process can be controlled by the control device to assist the UAV smart cargo cabinet to complete automatic cargo loading and unloading, Sorting, packing and receiving work.
本发明的技术可以结合无人机技术的发展，无人机货物行业的发展具有较好的前景，设置有上述夹取装置的货物存取平台能作为中间运输平台，极大地使货物无人机、智能货物柜有机地形成一条货物运输链。The technology of the present invention can be combined with the development of unmanned aerial vehicle technology, and the development of the unmanned aerial vehicle cargo industry has good prospects. , Intelligent cargo cabinets organically form a cargo transportation chain.
本发明还提供了一种包括上述夹取装置的货物存取平台。The present invention also provides a cargo access platform comprising the above-mentioned clamping device.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings on the premise of not paying creative efforts.
图1为本发明所提供的一种夹取装置的结构示意图；Fig. 1 is a schematic structural view of a clamping device provided by the present invention;
图2为本发明所提供的一种夹取装置的俯视图。Fig. 2 is a top view of a clamping device provided by the present invention.
图1-2中：In Figure 1-2:
底座平台1、光轴支架2、平行光轴3、直线滑块4、X轴移动平台5、支撑件6、正反牙螺杆7、电机支撑座8、第二减速电机9、同步轮10；Base platform 1, optical axis bracket 2, parallel optical axis 3, linear slider 4, X-axis moving platform 5, support member 6, positive and negative thread screw 7, motor support seat 8, second reduction motor 9, synchronous wheel 10;
螺杆法兰11、皮带12、舵机13、压力传感器14、舵机固定架15、垂直X轴导轨16、连接导柱17、限位板18、L型勾手19、连接法兰20；Screw flange 11, belt 12, steering gear 13, pressure sensor 14, steering gear fixing frame 15, vertical X-axis guide rail 16, connecting guide post 17, limit plate 18, L-shaped hook 19, connecting flange 20;
信息采集系统21、螺杆22、齿条23、齿轮24、距离传感器25、支撑支架26、第一减速电机27。Information collection system 21, screw rod 22, rack 23, gear 24, distance sensor 25, support bracket 26, first reduction motor 27.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.
本发明的核心是提供一种夹取装置，该夹取装置能够用于基于无人机的货物柜上，方便货物柜收取货物。The core of the present invention is to provide a gripping device, which can be used on a cargo container based on an unmanned aerial vehicle, so as to facilitate the cargo container to pick up goods.
本发明的另一核心是提供一种包括上述夹取装置的货物存取平台。Another core of the present invention is to provide a goods storage and retrieval platform including the above-mentioned clamping device.
请参考图1和图2，图1为本发明所提供的一种夹取装置的结构示意图；图2为本发明所提供的一种夹取装置的俯视图。Please refer to FIG. 1 and FIG. 2 , FIG. 1 is a schematic structural diagram of a clamping device provided by the present invention; FIG. 2 is a top view of a clamping device provided by the present invention.
本发明所提供的一种夹取装置，主要用于货物存取平台上，为货物的自动化存取过程提供便利控制。夹取装置在结构上包括控制装置、底座平台1和设置在底座平台1上的能够沿X轴移动的X轴移动平台5，X轴移动平台5上设有用于推动货物的限位板18，X轴移动平台5上设有与X轴垂直的垂直X轴导轨16，X轴导轨16上相对设有两个可移动的夹取勾手，控制装置控制两个夹取勾手异向移动以夹取或放开货物；X轴移动平台5与夹取勾手均与用于控制二者移动的控制装置连接。The clamping device provided by the present invention is mainly used on a goods storage and retrieval platform to provide convenient control for the automatic storage and retrieval process of goods. The clamping device structurally includes a control device, a base platform 1 and an X-axis moving platform 5 that is arranged on the base platform 1 and can move along the X-axis. The X-axis moving platform 5 is provided with a limit plate 18 for pushing goods, The X-axis mobile platform 5 is provided with a vertical X-axis guide rail 16 perpendicular to the X-axis, and the X-axis guide rail 16 is relatively provided with two movable clamping hooks, and the control device controls the two clamping hooks to move in different directions to Clamp or release the goods; the X-axis moving platform 5 and the clamping hook are connected with the control device for controlling the movement of the two.
需要说明的是，上述夹取装置中能够通过控制装置的控制实现X轴移动平台5在底座平台1上的移动，设置在X轴移动平台5上的限位板18能够跟随X轴移动平台5的移动实现对货物的推动，并通过设置在X轴移动平台5上的异向移动的夹取勾手实现对货物的夹取，上述过程均可以由控制装置进行控制实现，以便协助无人机智能货物柜完成自动的货物装卸、分拣、装箱和领取等工作。It should be noted that the movement of the X-axis mobile platform 5 on the base platform 1 can be realized through the control of the control device in the above-mentioned clamping device, and the limit plate 18 arranged on the X-axis mobile platform 5 can follow the movement of the X-axis mobile platform 5 The movement of the goods realizes the promotion of the goods, and the gripping of the goods is realized through the gripping hooks that move in different directions on the X-axis moving platform 5. The above-mentioned processes can be controlled by the control device to assist the UAV The intelligent cargo cabinet completes automatic cargo loading and unloading, sorting, packing and receiving.
本发明的技术可以结合无人机技术的发展，无人机货物行业的发展具有较好的前景，设置有上述夹取装置的货物存取平台能作为中间运输平台，极大地使货物无人机、智能货物柜有机地形成一条货物运输链。The technology of the present invention can be combined with the development of unmanned aerial vehicle technology, and the development of the unmanned aerial vehicle cargo industry has good prospects. , Intelligent cargo cabinets organically form a cargo transportation chain.
在上述实施例的基础之上，上述夹取装置还包括距离传感器25和信息采集系统21。On the basis of the above-mentioned embodiments, the above-mentioned clamping device further includes a distance sensor 25 and an information collection system 21 .
距离传感器25用于获取货物高度，距离传感器25通过支撑支架26设置在X轴移动平台5上，距离传感器25与控制装置连接；距离传感器25将获取到的货物高度发送给控制装置，以便于控制装置为该货物分配合适的存放空间。请参考图1，在底座平台1上，可以利用支撑支架26安装在整个平台上的距离传感器25，通过距离传感器25识别到距离货物不同的距离，进而获取每个货物箱的实际高度，再通过将实际高度发送给控制装置，给货物安排相匹配的货物柜箱子。The distance sensor 25 is used to obtain the height of the goods, and the distance sensor 25 is arranged on the X-axis mobile platform 5 through the support bracket 26, and the distance sensor 25 is connected with the control device; the distance sensor 25 sends the obtained goods height to the control device, so as to control The device allocates a suitable storage space for the cargo. Please refer to Fig. 1, on the base platform 1, the distance sensor 25 installed on the entire platform can be used by the support bracket 26, and the different distances from the goods can be identified through the distance sensor 25, and then the actual height of each cargo box can be obtained, and then passed The actual height is sent to the control device, and the cargo is arranged with a matching cargo container box.
信息采集系统21用于获取货物的货物信息，信息采集系统21安装在支撑支架26上，并与控制装置连接。信息采集系统21用于将获取得到的货物信息发送给控制装置，在收到货物信息后，控制装置将其存储并用于货物的提取和整体工作中。The information collection system 21 is used to obtain the cargo information of the cargo, and the information collection system 21 is installed on the supporting frame 26 and connected with the control device. The information collection system 21 is used to send the obtained cargo information to the control device, and after receiving the cargo information, the control device stores it and uses it in the extraction of the cargo and the overall work.
本实施例中通过使用距离传感器25实现对货物的高度的读取，利用获得的高度值对货物进行按高度进行分拣及装箱等全自动过程，有效地提高智能货物柜的空间利用率。In this embodiment, the distance sensor 25 is used to read the height of the goods, and the obtained height value is used to perform automatic processes such as sorting and packing according to the height of the goods, effectively improving the space utilization rate of the intelligent cargo cabinet.
另外，本实施例中设有信息采集系统21，能对货物的信息进行读取、保存，实现协助智能货物柜通自助领取的功能。In addition, in this embodiment, an information collection system 21 is provided, which can read and save the information of the goods, and realize the function of assisting the self-service collection of the smart goods through the cabinet.
在上述实施例的基础之上，信息采集系统21为用于扫描货物上条码的扫码装置，信息采集系统21的供电接口与控制装置连接。On the basis of the above embodiments, the information collection system 21 is a code scanning device for scanning barcodes on goods, and the power supply interface of the information collection system 21 is connected to the control device.
可选的，信息采集系统21通过除扫码外的其他途径获取货物上的相关信息，为后面货物的领取做基础。Optionally, the information collection system 21 acquires relevant information on the goods through other means than scanning codes, so as to lay the foundation for receiving the goods later.
在上述任意一个实施例的基础之上，底座平台1上设有两个平行光轴3，平行光轴3上设有直线滑块4，X轴移动平台5设置在直线滑块4上；X轴移动平台5上设有第一减速电机27，第一减速电机27的输出端连接齿轮24，齿轮24与设在底座平台1上的齿条23啮合传动，齿条23沿X轴方向延伸设置。On the basis of any one of the above-mentioned embodiments, two parallel optical axes 3 are arranged on the base platform 1, a linear slider 4 is arranged on the parallel optical axis 3, and an X-axis moving platform 5 is arranged on the linear slider 4; X The shaft moving platform 5 is provided with a first reduction motor 27, the output end of the first reduction motor 27 is connected to the gear 24, the gear 24 is engaged with the rack 23 provided on the base platform 1 for transmission, and the rack 23 is extended along the X-axis direction .
具体地，X轴移动平台5通过两根平行光轴3设置于底座平台1，两根平行光轴3共由四个光轴支架2设置在底座平台1上，且平行光轴3上分别设置了一个直线滑块4，X轴移动平台5就设置在直线滑块4上。X轴移动平台5利用电机支撑座8固定第一减速电机27，第一减速电机能够带动其上的齿轮24转动。齿轮24与齿条23啮合传动，齿条固定在底座平台1上，从而使X轴移动平台5移动；齿条23利用螺杆22安装在底座平台1，安装过程中，通过对两根螺杆22的安装调节使齿条23与齿轮24啮合，X轴移动平台5的移动使用齿轮齿条啮合传动，第一减速电机27带动齿轮24转动，从而使X轴移动平台5相对于底座平台1移动。Specifically, the X-axis moving platform 5 is arranged on the base platform 1 through two parallel optical axes 3, and the two parallel optical axes 3 are arranged on the base platform 1 by four optical axis brackets 2, and the parallel optical axes 3 are respectively arranged A linear slide block 4 is provided, and the X-axis moving platform 5 is just arranged on the linear slide block 4. The X-axis mobile platform 5 utilizes the motor support base 8 to fix the first reduction motor 27, and the first reduction motor can drive the gear 24 thereon to rotate. The gear 24 is meshed with the rack 23 for transmission, and the rack is fixed on the base platform 1 to move the X-axis moving platform 5; the rack 23 is installed on the base platform 1 by the screw 22. The installation and adjustment make the rack 23 mesh with the gear 24, and the movement of the X-axis moving platform 5 is driven by rack and pinion engagement.
工作过程中，第一减速电机27正转，平台向外移动，从而实现通过限位板18把放在底座平台1的货物向前推进。During the working process, the first reduction motor 27 rotates forward, and the platform moves outward, so that the goods placed on the base platform 1 can be pushed forward through the limiting plate 18 .
第一减速电机27反转，X轴移动平台5向里返回到原处，从而通过夹取勾手把货物从箱子或者无人机降落平台勾回到底座平台1上，进而实行下一步操作。The first reduction motor 27 reverses, and the X-axis moving platform 5 returns to the original position inwardly, so that the goods can be hooked back to the base platform 1 from the box or the drone landing platform by the gripping hook, and then the next step operation is carried out.
需要说明的是，齿条23与齿轮24为模数、压力角应当相等，或者齿轮24与齿条23具有准确啮合的结构关系，且二者确保标准安装。It should be noted that the rack 23 and the gear 24 are modulus, and the pressure angles should be equal, or the gear 24 and the rack 23 have a structural relationship of accurate meshing, and the two ensure standard installation.
在上述任意一个实施例的基础之上，还包括用于感应夹取勾手对货物的夹取压力的压力传感器14，压力传感器14与控制装置连接。需要说明的是，通过两根夹取勾手的同步运动及压力传感器的作用，能使货物居中对齐且不会压坏。On the basis of any one of the above embodiments, it also includes a pressure sensor 14 for sensing the clamping pressure of the clamping hook on the goods, and the pressure sensor 14 is connected with the control device. It should be noted that, through the synchronous movement of the two gripping hooks and the function of the pressure sensor, the goods can be centered and not crushed.
在上述任意一个实施例的基础之上，两个夹取勾手分别通过舵机13设于垂直X轴导轨16上，舵机13的舵机固定架15通过螺杆法兰11与正反牙螺杆传动连接，正反牙螺杆7设有对称螺牙。X轴移动平台5上设有第二减速电机9，第二减速电机9与同步轮10连接，同步轮10与正反牙螺杆传动连接。On the basis of any one of the above-mentioned embodiments, the two clamping hooks are respectively arranged on the vertical X-axis guide rail 16 through the steering gear 13. Transmission connection, positive and negative thread screw rod 7 is provided with symmetrical thread. The X-axis moving platform 5 is provided with a second reduction motor 9, and the second reduction motor 9 is connected with the synchronous wheel 10, and the synchronous wheel 10 is connected with the positive and negative thread screw drive.
在上述任意一个实施例的基础之上，夹取勾手通过舵盘设置在舵机13上，舵机13具有使夹取勾手旋转以垂直于X轴移动平台5的旋转部。On the basis of any one of the above-mentioned embodiments, the gripping hook is arranged on the steering gear 13 through the steering wheel, and the steering gear 13 has a rotating part that rotates the gripping hook to move the platform 5 perpendicular to the X-axis.
具体地，舵机13固定在舵机固定架15上，舵机固定架15一方面依靠螺杆法兰11与正反牙螺杆7连接，一方面与垂直X轴导轨16配合，垂直X轴导轨16通过螺钉固定在底座平台1上。第二减速电机9利用电机支撑座8固定在X轴移动平台5上，第二减速电机9带动同步轮10转动，通过皮带12带动与另一同步轮10同轴连接的正反牙螺杆7相对转动从而能使两个舵机13相向或背向水平移动，使得货物能够居中对齐，解决货物放置不平齐的问题。Specifically, the steering gear 13 is fixed on the steering gear fixing frame 15. The steering gear fixing frame 15 is connected with the positive and negative screw rod 7 by means of the screw flange 11 on the one hand, and cooperates with the vertical X-axis guide rail 16 on the one hand, and the vertical X-axis guide rail 16 It is fixed on the base platform 1 by screws. The second deceleration motor 9 is fixed on the X-axis mobile platform 5 by using the motor support base 8, the second deceleration motor 9 drives the synchronous wheel 10 to rotate, and the positive and negative screw rod 7 coaxially connected with the other synchronous wheel 10 is driven by the belt 12 to be opposite The rotation can make the two steering gears 13 move horizontally towards or away from each other, so that the goods can be centered and aligned, and the problem of uneven placement of the goods can be solved.
当货物平齐时，压力传感器14反馈信息给控制装置，驱动第二减速电机9反向转动，使两个舵机13异向移动相远离。两个夹取勾手通过舵盘安装在两个舵机13上，两个舵机13工作能使夹取勾手19沿轴转动90度，使夹取勾手19存在垂直于底座平台1与水平于底座平台1两种状态形式，当X轴移动平台5通过限位板18把货物向前推进时，夹取勾手立起，使得夹取勾手不妨碍货物的移动，当整个平台拉动货物时，夹取勾手先垂直立起，当夹取勾手到达货物正后方时，再水平放下，进而把货物勾拉回底座平台1。When the goods are level, the pressure sensor 14 feeds back information to the control device to drive the second reduction motor 9 to rotate in reverse, so that the two steering gears 13 move in different directions and move away from each other. The two gripping hooks are installed on the two steering gears 13 through the steering wheel, and the two steering gears 13 can work to make the gripping hooks 19 rotate 90 degrees along the axis, so that the gripping hooks 19 exist perpendicular to the base platform 1 and Horizontal to the base platform 1, there are two states. When the X-axis moving platform 5 pushes the goods forward through the limit plate 18, the gripping hook stands up so that the gripping hook does not hinder the movement of the goods. When the entire platform is pulled When carrying goods, the gripping hooks are first erected vertically, and when the gripping hooks reach the back of the goods, they are lowered horizontally, and then the goods are hooked back to the base platform 1 .
本发明提供的实施例中具有使货物自动摆正的功能，通过使用通过电机转动的正反牙螺杆，是安装在正反牙螺杆上的舵机同步正向或反向运动，进而使装在舵机当得两根X型勾手靠近或者远离。通过舵机13的工作，能实现两个夹取勾手的勾子的垂直立起与水平放置两种状态。The embodiment provided by the present invention has the function of automatically aligning the goods. By using the positive and negative screw rods rotated by the motor, the steering gear mounted on the positive and negative screw rods moves forward or reverse synchronously, so that the steering gear mounted on the The steering gear acts as two X-shaped hooks approaching or moving away. Through the work of the steering gear 13, two states of vertical erection and horizontal placement of the hooks of the two gripping hooks can be realized.
在上述任意一个实施例的基础之上，夹取勾手为L形夹取件，两个夹取勾手的夹取部相互平行，两个夹取勾手的推拉部共线。On the basis of any one of the above embodiments, the gripping hook is an L-shaped gripping piece, the gripping parts of the two gripping hooks are parallel to each other, and the push-pull parts of the two gripping hooks are collinear.
利用齿条齿轮传动，使X轴移动平台5移动，进而进行对货物的推拉。退的时候依靠限位板，拉的时候依靠两个水平放置的L型勾手19。The X-axis mobile platform 5 is moved by rack and pinion transmission, and then the goods are pushed and pulled. Rely on the limit plate when retreating, and rely on two horizontally placed L-shaped hooks 19 when pulling.
上述任意一个实施例所提供的控制装置均可以安装在底座平台或者地面上，与整个平台的电机、传感器、舵机及信息采集系统连接起来，控制平台的所有操作，达到货物自动装卸、分拣、装箱及领取等工作效果。The control device provided by any of the above embodiments can be installed on the base platform or on the ground, and connected with the motors, sensors, steering gear and information collection system of the entire platform to control all operations of the platform to achieve automatic loading and unloading and sorting of goods. , Packing and receiving work effects.
上述任意一个实施例的使用过程包括以下若干个操作过程。The use process of any one of the above embodiments includes the following several operation processes.
当货物存取平台控制无人机降落在某一平台上时，无人机把货物降落，此时平台把货物推到一指定位置上。安装在Y/Z移动导轨上的无人机货物存取平台的对心偏正调整双臂夹取装置通过系统控制中心在Y和Z轴的移动，到达指定位置的正前方。此时货物与底座平台1处于水平位置，同时平台的限位板与指定位置见间无空隙，保证货物能勾拉到底座平台。When the cargo access platform controls the drone to land on a certain platform, the drone lands the cargo, and the platform pushes the cargo to a designated position. The centering and offset adjustment of the UAV cargo access platform installed on the Y/Z moving guide rails can reach the front of the designated position through the movement of the system control center on the Y and Z axes. At this time, the goods and the base platform 1 are in a horizontal position, and there is no gap between the limiting plate of the platform and the designated position at the same time, so that the goods can be hooked to the base platform.
当平台的位置确认无误后，第二减速电机9开始转动，带动正反牙螺杆7转动，进而使连在上面的两个舵机13相向而行到达极限位置。After the position confirmation of platform is correct, the second deceleration motor 9 starts to rotate, drives positive and negative tooth screw rod 7 to rotate, and then makes two steering gears 13 that are connected above move towards the limit position.
当减速电机停止后，舵机13开始工作，使靠舵盘安装在舵机13的L型夹取勾手从水平位置转动90度到达垂直状态，并且一直保持该状态。装在X轴移动平台5的第一减速电机27开始转动，带动齿轮24转动，齿轮24进而相对固定在底座平台1的齿条23移动。进而达到X轴移动平台5移动，此时X轴移动平台5慢慢接近货物，并且移动到极限值。当到极限值时，第一减速电机27停止转动，继而X轴移动平台5也停止移动，此时，L型勾手19已经到达货物箱的正后方，两舵机13开始工作，把相连的L型勾手19回复到原来位置(即水平平行于底座平台1的位置)。第二减速电机9开始工作，此时第二减速电机9反转，使两个舵机13靠近，即使两L型勾手19靠近从而水平推动货物，勾手压到货物，并把货物对齐之后，压力传感器14受到力的挤压，立即断开第二减速电机9，使勾手停止向中间靠拢，防止损坏物品。同时控制第一减速电机27反向转动，使X轴移动平台5退回，并把货物勾拉回底座平台，从而实现货物的自动装卸过程。After the decelerating motor stopped, the steering gear 13 started to work, so that the L-type clamping hook that was installed on the steering gear 13 by the steering wheel was rotated 90 degrees from the horizontal position to reach the vertical state, and kept this state. The first reduction motor 27 mounted on the X-axis moving platform 5 starts to rotate, driving the gear 24 to rotate, and the gear 24 then moves relative to the rack 23 fixed on the base platform 1 . Then the X-axis mobile platform 5 moves, at this time, the X-axis mobile platform 5 slowly approaches the goods and moves to the limit value. When reaching the limit value, the first reduction motor 27 stops rotating, and then the X-axis mobile platform 5 also stops moving. The L-shaped hook 19 returns to its original position (ie the position horizontally parallel to the base platform 1). The second deceleration motor 9 starts to work. At this time, the second deceleration motor 9 reverses to make the two steering gears 13 approach, even if the two L-shaped hooks 19 approach to push the goods horizontally, the hooks press the goods, and align the goods. , the pressure sensor 14 is extruded by force, and immediately disconnects the second reduction motor 9, so that the hook stops moving closer to the middle, preventing damage to the article. At the same time, the first reduction motor 27 is controlled to rotate in reverse, so that the X-axis mobile platform 5 is returned, and the goods are hooked back to the base platform, thereby realizing the automatic loading and unloading process of the goods.
进一步地，货物被拉到底座平台上，信息采集系统21收集货物的信息，保存在控制装置，同时距离传感器25测量该货物的高度，系统自动匹配一个相应的货物柜箱子，平台移动到相应货物柜箱子正前面，此时，控制第二减速电机9和舵机13把L型勾手19拉远且垂直立起，第一减速电机27转动，使X轴移动平台5向外移动，利用限位板18把货物缓慢推进货物柜箱子里，保存好货物，等待买家领取。Further, the cargo is pulled onto the base platform, and the information collection system 21 collects the information of the cargo and saves it in the control device. At the same time, the distance sensor 25 measures the height of the cargo, and the system automatically matches a corresponding cargo cabinet box, and the platform moves to the corresponding cargo. The front of the cabinet box, at this time, the second reduction motor 9 and the steering gear 13 are controlled to pull the L-shaped hook 19 away and stand vertically, and the first reduction motor 27 rotates to make the X-axis mobile platform 5 move outwards. The position board 18 slowly pushes the goods in the cargo cabinet box, keeps the goods, and waits for the buyer to receive.
进一步地，当有买家前来货物箱领取货物时，系统匹配信息，确认某个货物后，平台再次来到该货物存放的箱子前面。与货物从无人机降落平台时的操作一致，把货物拉到底座平台上。移动整个平台，使平台移动到货物安全出口出，此时把货物从底座平台推到出口处，即可完成货物的卸载，分拣，装箱，领取的全自动功能。Furthermore, when a buyer comes to the cargo box to pick up the goods, the system matches the information, and after confirming a certain goods, the platform comes to the box where the goods are stored again. Pull the cargo onto the base platform in the same way as when the cargo is landing on the platform from the drone. Move the entire platform so that the platform moves to the safe exit of the goods. At this time, the goods are pushed from the base platform to the exit, and the fully automatic functions of unloading, sorting, packing and receiving of goods can be completed.
使用上述传感技术和机械控制技术实现了平台运作的全智能化和自动化。减少人力物力，提高效率。另外，该发明能够适用在交通不方便的与及较为偏远的地方，使货物行业覆盖于更大地区。Using the above-mentioned sensing technology and mechanical control technology realizes the full intelligence and automation of platform operation. Reduce manpower and material resources and improve efficiency. In addition, the invention can be applied to inconvenient and relatively remote places, so that the cargo industry can cover a larger area.
除了上述各个实施例中所提供的夹取装置的主要结构，本发明还提供一种包括上述实施例公开的夹取装置的货物存取平台，该货物存取平台包括平台和设置在平台上的夹取装置，其中夹取装置为上述任意一个实施例所提供的夹取装置，或为任意个实施例所提供的夹取装置的组合。In addition to the main structure of the clamping device provided in each of the above embodiments, the present invention also provides a cargo access platform including the clamping device disclosed in the above embodiments, the cargo access platform includes a platform and a A gripping device, wherein the gripping device is the gripping device provided in any one of the above embodiments, or a combination of the gripping devices provided in any of the embodiments.
可选的，平台上设置有配合连接的Y轴移动导轨和Z轴移动导轨，夹取装置设置在Y轴移动导轨或Z轴移动导轨上。Optionally, the platform is provided with a Y-axis moving guide rail and a Z-axis moving guide rail which are matched and connected, and the clamping device is arranged on the Y-axis moving guide rail or the Z-axis moving guide rail.
底座平台1主要安装在同它匹配的Y/Z轴移动导轨上，实现货物空间三轴移动；底座平台1用于其他机构的固定和货物的托举。The base platform 1 is mainly installed on the matching Y/Z axis moving guide rail to realize the three-axis movement of the cargo space; the base platform 1 is used for fixing other mechanisms and lifting cargo.
该货物存取平台的其他各部分的结构请参考现有技术，本文不再赘述。For the structures of other parts of the cargo access platform, please refer to the prior art, which will not be repeated here.
本说明书中各个实施例采用递进的方式描述，每个实施例重点说明的都是与其他实施例的不同之处，各个实施例之间相同相似部分互相参见即可。Each embodiment in this specification is described in a progressive manner, each embodiment focuses on the difference from other embodiments, and the same and similar parts of each embodiment can be referred to each other.
以上对本发明所提供的夹取装置及具有该夹取装置的货物存取平台进行了详细介绍。本文中应用了具体个例对本发明的原理及实施方式进行了阐述，以上实施例的说明只是用于帮助理解本发明的方法及其核心思想。应当指出，对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以对本发明进行若干改进和修饰，这些改进和修饰也落入本发明权利要求的保护范围内。The gripping device provided by the present invention and the cargo access platform provided with the gripping device have been introduced in detail above. In this paper, specific examples are used to illustrate the principle and implementation of the present invention, and the descriptions of the above embodiments are only used to help understand the method and core idea of the present invention. It should be pointed out that for those skilled in the art, without departing from the principle of the present invention, some improvements and modifications can be made to the present invention, and these improvements and modifications also fall within the protection scope of the claims of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611160132.6ACN106516726B (en) | 2016-12-15 | 2016-12-15 | A cargo access platform and its clamping device |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611160132.6ACN106516726B (en) | 2016-12-15 | 2016-12-15 | A cargo access platform and its clamping device |
| Publication Number | Publication Date |
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| CN106516726A CN106516726A (en) | 2017-03-22 |
| CN106516726Btrue CN106516726B (en) | 2019-09-27 |
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611160132.6AExpired - Fee RelatedCN106516726B (en) | 2016-12-15 | 2016-12-15 | A cargo access platform and its clamping device |
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| CN (1) | CN106516726B (en) |
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