CN210312548U - Big and small universal stacking gripper - Google Patents
Big and small universal stacking gripper Download PDFInfo
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- CN210312548U CN210312548U CN201921229368.XU CN201921229368U CN210312548U CN 210312548 U CN210312548 U CN 210312548U CN 201921229368 U CN201921229368 U CN 201921229368U CN 210312548 U CN210312548 U CN 210312548U
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- 230000013011 mating Effects 0.000 claims 1
- 230000001105 regulatory effect Effects 0.000 description 13
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 229910052742 iron Inorganic materials 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 235000013361 beverage Nutrition 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
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Abstract
The utility model discloses a general type sign indicating number buttress tongs of size, it includes: the gripper assembly comprises a gripper, a gripping arm, a base, a pressure cylinder, a pressure plate, an adjusting arm and a driving cylinder, the connecting assembly comprises a flange plate, a fixing plate, a first adjusting plate, a second adjusting plate, a sliding rail and an electric cylinder, the distance between the grippers is changed through the first adjusting plate and the second adjusting plate, the gripping direction and the gripping position are changed through the rotation of the gripping wall, and the pressure cylinder drives the pressure plate to adjust the size of a space for pressing an object to grip; the stacking manipulator can adjust the size of grabbing objects by utilizing the change of the structure of the manipulator, adapts to grabbing of the objects with different heights and widths, improves the adaptability of the stacking manipulator, and enlarges the application range of the stacking manipulator.
Description
Technical Field
The utility model relates to an industrial transportation operation application technology field particularly, relates to a general type sign indicating number buttress tongs of size.
Background
Along with the rapid development of the robot technology, the industrial robot is widely applied to various fields, and in logistics stacking operation, the robot gripper is adopted to grab the box pieces for automatic stacking, so that the labor intensity can be reduced, and the stacking efficiency can be improved. The stacking manipulator can neatly and automatically stack (or disassemble) the packaged goods with different external dimensions on the tray (or on a production line, etc.). In order to fully utilize the area of the tray and the stability of the stacked materials, the robot is provided with a material stacking sequence and arrangement setter. Can meet the requirements from low speed to high speed, from packaging bags to cartons, from stacking one product to stacking a plurality of different products. The device is applied to product transportation, stacking and the like, and is widely applied to different fields of automobiles, logistics, household appliances, medicines, food and beverage and the like. The existing stacking manipulator is a box-type gripper, a driving cylinder with a fixed stroke is adopted to drive a baffle plate to apply clamping force from two sides of a box body, and then a clamping jaw is used for supporting the box body from the bottom, so that the gripping is realized.
The stacking gripper in the prior art cannot grip small or large objects, generally has a certain application range, and cannot be adjusted quickly to effectively grip large and small objects when gripping the large and small objects.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a general type pile up neatly tongs of size, its change that can utilize self structure and adjust the size of snatching the article, what adapt to the article of co-altitude and width snatchs, has improved pile up neatly manipulator's adaptability, has enlarged pile up neatly manipulator's application range.
The embodiment of the utility model is realized like this:
a size general type pile up neatly tongs, it includes: the gripper assembly comprises a gripper, a grabbing arm, a base, a pressure cylinder, a pressure plate, an adjusting arm and a driving cylinder, the grabbing arm is connected to the grabbing arm, the grabbing arm is hinged to the bottom of the base, one end of the adjusting arm is hinged to the grabbing arm, the other end of the adjusting arm is connected with the driving cylinder, the driving cylinder is hinged to the bottom of the base, the pressure cylinder is fixed to the bottom of the base, and the pressure plate is connected with the bottom end of the pressure cylinder; the driving cylinder drives the grabbing arm to rotate by driving the adjusting arm, the pressure plate adjusts the distance between the pressure plate and the gripper through the pressure cylinder, the grabbing space size of the gripper is adjusted through the rotation of the grabbing arm, objects are tightly grabbed through the pressure plate, and the grabbing size of the stacking gripper is adjusted.
The utility model discloses in the embodiment of preferred, above-mentioned base is provided with two altogether, and two bases are connected respectively in coupling assembling's both ends bottom, two bases respectively with coupling assembling sliding connection, through adjusting the distance between two bases and changing the distance between the tongs, and change the space size that snatchs.
In the preferred embodiment of the present invention, the driving cylinder is hinged to the bottom of the base, the shaft of the driving cylinder is connected to the adjusting arm, and the adjusting arm is pushed or pulled by the driving cylinder to change the rotation angle of the grabbing arm relative to the base.
The utility model discloses in the embodiment of preferred, the clamp plate is connected to the axle bottom end that the above-mentioned jar was pressed, but the clamp plate is for pressing the cylinder oscilaltion height, and the article that will wait to snatch in the bottom of clamp plate is pushed down.
In the preferred embodiment of the present invention, the above-mentioned gripper includes at least two hooks, the hooks are L-shaped, and the hooks are connected in series into a whole through the pin shaft and form a wedge-shaped structure for shoveling the bottom of the object.
The utility model discloses in the embodiment of the preferred, above-mentioned coupling assembling includes ring flange, fixed plate, first regulating plate, second regulating plate, slide rail and electric jar, and the ring flange is connected at the top of fixed plate, and the slide rail is connected first regulating plate and second regulating plate respectively in the both sides of fixed plate, and electric jar is fixed to the fixed plate, and first regulating plate is connected to electric jar, and another electric jar is connected the second regulating plate.
In the preferred embodiment of the present invention, the first adjusting plate and the second adjusting plate are respectively slidable relative to the slide rail to adjust the distance, and the electric cylinder respectively drives the first adjusting plate and the second adjusting plate to slide relative to the fixing plate.
In a preferred embodiment of the present invention, one of the bases is connected to the bottom of the first adjusting plate, the other base is connected to the bottom of the second adjusting plate, and the top of the base is provided with a slot for locking the slide rail and matching with the slide rail.
The utility model has the advantages that:
the utility model discloses a first regulating plate and second regulating plate slide at the slide rail and change both apart from the distance of fixed plate, drive the base through first regulating plate and second regulating plate and slide and adjust the distance between two bases, drive the clamp plate through the jar and go up and down and adjust the height of snatching the space, drive the regulating arm through the driving cylinder and stretch out and draw back and make to snatch the arm and rotate, snatch the arm and rotate and drive the interval between the regulation of tongs to adjust the size of snatching the space; the size of the object to be grabbed can be adjusted by means of the change of the structure of the gripper, the gripper is suitable for grabbing objects with different heights and widths, the adaptability of the stacking manipulator is improved, and the application range of the stacking manipulator is expanded.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are required to be used in the embodiments will be briefly described below, and it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope.
Fig. 1 is a perspective view of the stacking gripper of the present invention;
fig. 2 is a front view of the stacking gripper of the present invention;
fig. 3 is a top view of the stacking gripper of the present invention;
icon: 1-a connecting assembly; 11-a flange plate; 12-a fixing plate; 13-a first regulating plate; 14-a second regulating plate; 15-a slide rail; 16-an electric cylinder; 2-a gripper assembly; 21-gripping the hand; 22-a gripper arm; 23-a base; 24-a pressure cylinder; 25-pressing plate; 26-an adjustment arm; 27-driving the cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. The components of embodiments of the present invention, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present invention, presented in the accompanying drawings, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.
First embodiment
Referring to fig. 1, the present embodiment provides a large and small universal stacking gripper, which includes: the gripper assembly 2 comprises a gripper 21, a gripper arm 22, a base 23, a pressure cylinder 24, a pressure plate 25, an adjusting arm 26 and a driving cylinder 27, the connecting assembly 1 comprises a flange plate 11, a fixing plate 12, a first adjusting plate 13, a second adjusting plate 14, a slide rail 15 and an electric cylinder 16, the flange plate 11 is connected with the fixing plate 12, the slide rail 15 is connected to the bottom of the fixing plate 12, the first adjusting plate 13 and the second adjusting plate 14 are connected to the slide rail 15 and located on two sides of the fixing plate 12, the first adjusting plate 13 and the second adjusting plate 14 are slidable relative to the slide rail 15, the base 23 is connected to the bottoms of the first adjusting plate 13 and the second adjusting plate 14, the base 23 is slidable relative to the first slide rail 15 along with the first adjusting plate 13 or the second adjusting plate, the pressure cylinder 24 and the driving cylinder 27 are connected to the bottom of the base 23, the driving cylinder, the gripping wall is connected to the base 23 and is rotatable with respect to the base 23, the pallet hand 21 changes the distance between the hand 21 by the first adjusting plate 13 and the second adjusting plate 14, changes the gripping direction and the gripping position by the rotation of the gripping wall, and drives the pressing plate 25 by the pressing cylinder 24 to adjust the size of a space for pressing the object to perform gripping.
Referring to fig. 2, the gripper assembly 2 includes grippers 21, gripping arms 22, a base 23, a pressure cylinder 24, a pressure plate 25, an adjusting arm 26 and a driving cylinder 27, wherein 4 grippers 21 are provided, 2 grippers 21 are arranged in a row, the gripper 21 includes three hooks, the hooks are L-shaped, the hooks are provided with pin holes and are connected in series into a whole through a pin shaft, the three hooks are connected in series to form a wedge-shaped structure for shoveling into the bottom of an object, and the size of a gripping space is adjusted by adjusting the distance between the two rows of grippers 21; the gripper 21 is connected to the gripper arm 22, the back of the gripper 21 and the gripper arm 22 are provided with threaded holes at the same position, the gripper 21 and the gripper arm 22 are fixed by bolts through the threaded holes, the gripper arm 22 is hinged to the bottom of the base 23, the top of the gripper arm 22 is provided with a shaft hole, the top of the gripper arm 22 is fixed to the bottom of the base 23 by a pin, the gripper arms 22 at both sides of the gripper 21 are integrally formed by a middle position, the middle position is raised and provided with a notch into which the adjusting arm 26 is inserted, one end of the adjusting arm 26 is inserted into the notch and hinged to the connection part of the gripper arm 22 by a pin, the other end of the adjusting arm 26 is connected to the shaft of the driving cylinder 27, which is fixedly connected by a coupler, the driving cylinder 27 is hinged to the bottom of the base 23, the middle position of the driving cylinder 27 is provided with a threaded hole and fixed to the bottom of, the driving cylinder 27 is a prior art, the shaft of the driving cylinder 27 is telescopic relative to the adjusting arm 26, the adjusting arm 26 is driven by the shaft of the driving cylinder 27 to pull or push the grabbing arm 22 to rotate, the driving cylinder 27 is hinged to the bottom of the base 23, the shaft of the driving cylinder 27 is connected to the adjusting arm 26, the grasping arm 22 changes the rotation angle with respect to the base 23 by driving the adjusting arm 26 with a cylinder 27, the bottom portions of the pressing cylinder 24 and the base 23 are respectively provided with bolt holes and the pressing cylinder 24 is fixed to the bottom portion of the base 23 by bolts, the pressure cylinder 24 is a pneumatic cylinder, a shaft of the pneumatic cylinder is positioned at the bottom of the pneumatic cylinder and fixedly connected to the top of the pressure plate 25 through a coupler, the pressure plate 25 is connected to the bottom end of the pressure cylinder 24 and can be lifted relative to the base 23 through the pressure cylinder 24, the shaft bottom end of the pressure cylinder 24 is connected with the pressure plate 25, the pressure plate 25 can be lifted up and down relative to the pressure cylinder 24, and the bottom of the pressure plate 25 presses an object to be grabbed; the driving cylinder 27 drives the grabbing arm 22 to rotate by driving the adjusting arm 26, the pressure plate 25 adjusts the distance between the pressure plate and the grabbing hand 21 through the pressing cylinder 24, the grabbing space of the grabbing hand 21 is adjusted by rotating the grabbing arm 22, and the grabbed objects are tightly clamped through the pressure plate 25, so that the size of the grabbed objects of the stacking grabbing hand 21 is adjusted.
Referring to fig. 3, the connecting assembly 1 includes a flange 11, a fixing plate 12, a first adjusting plate 13, a second adjusting plate 14, a sliding rail 15 and an electric cylinder 16, two bases 23 are respectively connected to bottoms of the first adjusting plate 13 and the second adjusting plate 14, the two bases 23 are respectively provided with a threaded hole, the first adjusting plate 13 and the second adjusting plate 14 are respectively provided with threaded holes with opposite positions, the first adjusting plate 13 is fixed to the base 23 by bolts, the second adjusting plate 14 is fixed to the other base 23, the two bases 23 are respectively connected with the connecting assembly 1 in a sliding manner, clamping patterns with alternate concave and convex shapes are arranged at the bottom of the sliding rail 15, clamping grooves matched with the clamping patterns of the sliding rail 15 are fixedly welded at the top of the base 23, the sliding rail 15 is clamped at the top of the base 23, the two bases 23 are respectively slidable relative to the sliding rail 15, the distance between the two bases 23 is adjusted by sliding of the two bases 23 to change the distance, the size of the grabbing space is changed; the top of the flange plate 11 is provided with a connecting hole for connecting to a flange and a fixing hole mounted to the fixing plate 12, the fixing plate 12 is provided with a hole opposite to the fixing hole, the flange plate 11 is fixed to the top of the fixing plate 12 by using a screw, the number of the slide rails 15 is two, the middle parts of the two slide rails 15 and the edge position of the fixing plate 12 are respectively provided with a hole for fixing, the slide rails 15 are fixed to the bottom of the fixing plate 12 by using bolts, the slide rails 15 respectively connect the first adjusting plate 13 and the second adjusting plate 14 to both sides of the fixing plate 12, the two slide rails 15 are arranged in parallel and have clamping patterns on the inner sides, the two side edges of the bottom of the first adjusting plate 13 and the two side edges of the bottom of the second adjusting plate 14 are arranged in shapes matched with the clamping patterns, the first adjusting plate 13 and the second adjusting plate 14 are respectively clamped between the two slide rails 15, the first adjusting plate, the electric cylinders 16 are provided with screw holes and fixed to the bottom of the fixing plate 12 using screws, the electric cylinders 16 are two in total, one of the electric cylinders 16 has an iron plate welded to its shaft and passes through the screw holes, and is fixed to the bottom of the first adjusting plate 13 using screws, the other electric cylinder 16 has an iron plate welded to its shaft and passes through the screw holes, and is fixed to the bottom of the second adjusting plate 14 using screws, the electric cylinders 16 respectively connect the first adjusting plate 13 and the second adjusting plate 14 to the fixing plate 12, one of the bases 23 is provided with screw holes and connects to the bottom of the first adjusting plate 13 using screws, the other base 23 is provided with screw holes and connects to the bottom of the second adjusting plate 14 using screws, the two electric cylinders 16 respectively drive the first adjusting plate 13 and the second adjusting plate 14 to slide relative to the fixing plate 12 by distance adjustment between the first adjusting plate 13 and the fixing plate 12, and distance adjustment between the second, the distance between the two bases 23 is changed, thereby changing the distance between the fingers 21.
To sum up, the embodiment of the present invention changes the distance between the first adjusting plate and the second adjusting plate from the fixed plate by sliding on the slide rail, adjusts the distance between the two bases by driving the bases to slide through the first adjusting plate and the second adjusting plate, adjusts the height of the grabbing space by driving the pressing plate to lift through the pressure cylinder, rotates the grabbing arm by driving the adjusting cylinder to stretch and retract, rotates the grabbing arm to drive the grabbing hand to adjust the distance between the grabbing arms, thereby adjusting the size of the grabbing space; the size of grabbing objects can be adjusted through the change of the structure of the gripper, the gripper is suitable for grabbing objects with different heights and widths, the adaptability of the stacking manipulator is improved, and the application range of the stacking manipulator is expanded.
This description describes examples of embodiments of the invention, and is not intended to illustrate and describe all possible forms of the invention. It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention, and it is to be understood that the scope of the invention is not limited to such specific statements and embodiments. Those skilled in the art can make various other specific modifications and combinations based on the teachings of the present invention without departing from the spirit of the invention, and such modifications and combinations are still within the scope of the invention.
Claims (8)
1. The utility model provides a general type pile up neatly tongs of size which characterized in that includes: the gripper assembly comprises a gripper, a grabbing arm, a base, a pressure cylinder, a pressure plate, an adjusting arm and a driving cylinder, the gripper is connected to the grabbing arm, the grabbing arm is hinged to the bottom of the base, one end of the adjusting arm is hinged to the grabbing arm, the other end of the adjusting arm is connected with the driving cylinder, the driving cylinder is hinged to the bottom of the base, the pressure cylinder is fixed to the bottom of the base, and the pressure plate is connected with the bottom end of the pressure cylinder; the driving cylinder drives the grabbing arm to rotate by driving the adjusting arm, the pressure plate adjusts the distance between the pressure plate and the gripper through the pressure cylinder, the grabbing space size of the gripper is adjusted through the rotation of the grabbing arm, and the object is tightly clamped through the pressure plate, so that the size of the object grabbed by the stacking gripper is adjusted.
2. A size and shape stacking gripper as claimed in claim 1, wherein the number of the bases is two, the two bases are connected to the bottom of the two ends of the connecting component respectively, the two bases are connected with the connecting component in a sliding mode respectively, and the distance between the grippers is changed by adjusting the distance between the two bases, so that the size of the gripping space is changed.
3. A size and shape palletizing gripper as in claim 2, wherein the driving cylinder is hinged to the bottom of the base, the shaft of the driving cylinder is connected to an adjusting arm, and the gripping arm changes the rotation angle relative to the base by pushing or pulling the adjusting arm through the driving cylinder.
4. The stacking gripper as claimed in claim 1, wherein the bottom of the shaft of the pressure cylinder is connected with a pressure plate, the pressure plate can be lifted up and down relative to the pressure cylinder, and the bottom of the pressure plate presses an object to be gripped.
5. The size and shape stacking gripper of claim 1, wherein the gripper comprises at least two hooks, the hooks are L-shaped, and the hooks are connected in series into a whole through a pin shaft and form a wedge-shaped structure for shoveling into the bottom of an object.
6. A size and shape universal type palletizing gripper according to claim 2, wherein the connecting assembly comprises a flange plate, a fixing plate, a first adjusting plate, a second adjusting plate, slide rails and electric cylinders, the flange plate is connected to the top of the fixing plate, the slide rails respectively connect the first adjusting plate and the second adjusting plate to both sides of the fixing plate, the electric cylinders are fixed to the fixing plate, the electric cylinders are connected with the first adjusting plate, and the other electric cylinders are connected with the second adjusting plate.
7. The size and shape stacking gripper of claim 6, wherein the first and second adjustment plates are slidable relative to the slide rail to adjust the spacing, and the electric cylinder slides the first and second adjustment plates relative to the fixed plate.
8. A size and shape stacking gripper as claimed in claim 7 wherein one of said bases is attached to the bottom of a first adjustment plate and the other of said bases is attached to the bottom of a second adjustment plate, the top of said base being provided with a slot for engaging a slide rail and mating with the slide rail.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921229368.XU CN210312548U (en) | 2019-07-31 | 2019-07-31 | Big and small universal stacking gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921229368.XU CN210312548U (en) | 2019-07-31 | 2019-07-31 | Big and small universal stacking gripper |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210312548U true CN210312548U (en) | 2020-04-14 |
Family
ID=70127708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921229368.XU Expired - Fee Related CN210312548U (en) | 2019-07-31 | 2019-07-31 | Big and small universal stacking gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210312548U (en) |
-
2019
- 2019-07-31 CN CN201921229368.XU patent/CN210312548U/en not_active Expired - Fee Related
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200414 |