CN112047120A

CN112047120A - Fragile dinner plate stacking tray clamp and clamping method

Info

Publication number: CN112047120A
Application number: CN202010761159.0A
Authority: CN
Inventors: 王积相; 鲍锦超
Original assignee: Nanjing Lingque Intelligent Manufacturing Co Ltd
Current assignee: Nanjing Lingque Intelligent Manufacturing Co Ltd
Priority date: 2020-07-31
Filing date: 2020-07-31
Publication date: 2020-12-08

Abstract

The invention discloses a fragile dinner plate pallet clamp and a clamping method, the fragile dinner plate pallet clamp is suitable for a dinner plate stacking workshop product line and is matched with a mechanical arm for use, and the fragile dinner plate pallet clamp comprises: the automatic clamp comprises a clamp body arranged on a mechanical arm, a tray clamp assembly arranged on the clamp body, a driving cylinder group connected with the tray clamp assembly and fixedly arranged on the clamp body, and a negative pressure adsorption assembly arranged on the clamp body; the clamp body is also provided with a camera unit which is communicated with the clamp tray controller; the controller is electrically coupled to drive the cylinder banks. The device of the invention sets the power output distances of the first cylinder, the second cylinder, the third cylinder and the fourth cylinder according to the size of the tray, and simultaneously drives the four clamping plate frames to clamp the tray in four directions, thereby preventing the horizontal plane of the tray from deforming caused by uneven stress.

Description

Fragile dinner plate stacking tray clamp and clamping method

Technical Field

The invention belongs to the field of stacking equipment, and particularly relates to a fragile dinner plate stacking tray clamp and a clamping method.

Background

The traditional dinner plate stacking tool is a mode of combining semi-manual work and a mechanical arm, the mechanical arm is used for clamping dinner plate stacking trays one by one, then the trays full of dinner plates are manually placed into a pressure-resistant box, because most of traditional mechanical clamps are used for clamping the dinner plates from two sides of the trays, the contact area between the clamping jaw and the trays is small in the clamping process, the trays are easy to deform, and the dinner plates stacked in the trays fall out; secondly, when the clamp inclines, the dinner plate in the tray slides to the inclined edge in a concentrated manner, so that the dinner plate at the edge can collide with the edge of the tray more easily, the dinner plate at the edge of the tray is damaged, and the transportation cost is increased.

Disclosure of Invention

The purpose of the invention is as follows: the utility model provides a fragile dinner plate stacking tray clamp and a clamping method, which are used for solving the problems in the prior art.

The technical scheme is as follows: the utility model provides a breakable dinner plate pile up neatly tray anchor clamps, is applicable to on the dinner plate pile up neatly workshop product line, uses with the arm cooperation, includes:

the automatic clamp comprises a clamp body arranged on a mechanical arm, a tray clamp assembly arranged on the clamp body, a driving cylinder group connected with the tray clamp assembly and fixedly arranged on the clamp body, and a negative pressure adsorption assembly arranged on the clamp body;

the clamp body is also provided with a camera unit which is communicated with the clamp tray controller; the controller is electrically coupled to drive the cylinder banks.

In a further embodiment, the tray clamp assembly comprises: the first group of support of connection on the anchor clamps body, the second group of support of fixed connection on first group of support, the translation subassembly at the both ends of first group of support and second group support is pegged graft to the symmetry to and connect four splint framves on the translation subassembly just four splint framves bisymmetry settings.

In a further embodiment, the first group of brackets comprise a first installation base pipe and a second installation base pipe which are symmetrically arranged and hollow and run through, and a synchronous transmission mechanism which is fixedly installed on the first installation base pipe and is positioned between the first installation base pipe and the second installation base pipe; the second set of brackets includes: the cylinder mounting plate is fixedly connected to the midpoint between the third mounting base pipe and the fourth mounting base pipe; the third installation base pipe and the fourth installation base pipe are fixedly connected with the first installation base pipe and the second installation base pipe and are vertically arranged; the first installation base pipe, the second installation base pipe, the third installation base pipe and the fourth installation base pipe are all embedded into sliding chutes matched with the translation assemblies;

the translation assembly includes: first L shape frame of alternate in first installation parent tube and second installation parent tube sets up and alternates the second L shape frame in first installation parent tube and second installation parent tube with first L shape frame relatively, alternates the third L shape frame in third installation parent tube and fourth installation parent tube to and set up and alternate the fourth L shape frame in third installation parent tube and second installation parent tube with third L shape frame relatively, the other end fixed connection splint frame of first L shape frame, second L shape frame, third L shape frame and fourth L shape frame.

In a further embodiment, the driven cylinder group includes: the first air cylinder and the second air cylinder are fixedly arranged on the first L-shaped frame and the second L-shaped frame respectively, and the third air cylinder and the fourth air cylinder are fixedly arranged on the second group of support air cylinder mounting plates; the power output rods of the first cylinder and the second cylinder are arranged back to back, and are respectively connected to a first L-shaped frame and a second L-shaped frame which are connected to the two ends of the first group of supports in a sliding manner; the power output rods of the third cylinder and the fourth cylinder are arranged in a reverse staggered mode and are connected to the third L-shaped frame and the fourth L-shaped frame at two ends of the second group of supports in a sliding mode; and then the power take off pole of first cylinder and second cylinder drives first L shape frame and second L shape frame relative motion in the spout on the first support of group, the power take off pole of third cylinder and fourth cylinder drives third L shape frame and fourth L shape frame relative motion in the spout on the second support of group, finally makes the two liang of relative motion of four splint framves of connecting on first L shape frame, second L shape frame, third L shape frame and fourth L shape frame.

In a further embodiment, the first L-shaped frame, the second L-shaped frame, the third L-shaped frame and the fourth L-shaped frame are provided with limiting mechanisms at the chute sections embedded in the installation base pipe; the limiting mechanism comprises: limiting grooves formed in one ends of the second L-shaped frame and the fourth L-shaped frame are inserted with limiting blocks arranged at the ports of the first L-shaped frame and the third L-shaped frame in an inserting mode, and the limiting blocks are fixedly arranged in the first L-shaped frame and the third L-shaped frame through spring pieces; the limiting groove is provided with a notch, one end of the limiting block is fixedly connected with the buckling block matched with the notch, the other side of the notch is provided with a gentle landslide section, and then when the limiting blocks at the port positions of the first L-shaped frame and the third L-shaped frame pass through the limiting grooves on the second L-shaped frame and the fourth L-shaped frame, the limiting blocks are completely popped out through the spring piece when the limiting blocks are popped out to run to the notch position, and the buckling block is clamped with the notch.

In a further embodiment, the synchronous drive mechanism comprises: the first L-shaped frame and the second L-shaped frame are fixedly arranged on the first installation base pipe, the other end of the first L-shaped frame is screwed with the transmission gear, and the first rack and the second rack are fixedly arranged on the first L-shaped frame and the second L-shaped frame respectively; the first L-shaped frame and the second L-shaped frame at the two ends of the first group of brackets move relatively under the driving of the first cylinder and the second cylinder, and then the first rack and the second rack are driven to realize synchronous movement through the transmission gear;

limiting plates are arranged at the ends, close to the transmission gear, of the first rack and the second rack.

In a further embodiment, the negative pressure adsorption assembly comprises: the device comprises a negative pressure support fixedly connected to a second group of supports, a plurality of groups of bidirectional screws fixedly arranged on the negative pressure support, a sliding block sleeved on the bidirectional screws, and an adsorption assembly fixedly arranged on the sliding block; the adsorption assembly includes: the suction nozzle is in threaded connection with the sliding block, the vacuum hose is communicated with one end of the suction nozzle, and the negative pressure fixing component is arranged at one end of the suction nozzle; the other end of the vacuum hose is communicated with a vacuum pump through a control valve.

In a further embodiment, a transmission device and a driving motor are further arranged above the negative pressure support, and the transmission device comprises: the transmission shaft is sleeved at the axle centers of the driving gears and is rotationally connected to the negative pressure support; one end of the transmission shaft is in transmission connection with one end of the driving motor; and then the drive power that driving motor produced drives a plurality of driving gears on the transmission shaft through the transmission shaft and rotates, and a plurality of two-way screw rods of drive synchronous rotation simultaneously in a plurality of driving gears synchronous rotation, make the relative motion of left and right sides slider of spiro union on two-way screw rod when two-way screw rod rotates, the position of the suction nozzle on the further adjustment negative pressure support.

In a further embodiment, the negative pressure fixation assembly comprises: the vacuum suction nozzle comprises a conical cover sleeved on a plurality of vacuum suction nozzles and an adsorption plate embedded in the inner edge of the conical cover; the adsorption plate is provided with a plurality of conical holes and is of a sponge structure; and a telescopic curtain is fixedly connected between the two adsorption plates.

In a further embodiment, the following working steps are included:

s1, arranging the clamp body above the dinner plate stacking assembly line, detecting the size of a stacking tray to be clamped by the camera unit, converting the detection data into the size of the tray and the size information of placed objects on the tray, and feeding the size information back to the clamp controller;

s2, setting the movement distance of the power output rods of the first air cylinder and the second air cylinder by the clamp controller according to the size of the tray, and further driving the first L-shaped frame and the second L-shaped frame on the first group of supports to move relatively in the sliding groove, so that the distance between the clamping plate frames in the first L-shaped frame and the second L-shaped frame is adjusted, and clamping and releasing operations of the tray in two directions are realized;

s3, setting the movement distance of the power output rods of the third cylinder and the fourth cylinder by the clamp controller according to the size of the tray; the third L-shaped frame and the fourth L-shaped frame on the first group of supports are driven to move relatively in the sliding groove, so that the distance between the clamping plate frames in the third L-shaped frame and the fourth L-shaped frame is adjusted, and clamping and releasing operations are realized from the other two symmetrical surfaces of the tray;

s4, the clamp controller controls the driving motor to be started according to the size of the dinner plate stacked in the tray, the power drives the transmission shaft and the driving gear to drive the two-way screws to synchronously rotate, and then the position of the negative pressure adsorption component is adjusted, so that the negative pressure adsorption component is consistent with the edge of the stacked dinner plate.

Has the advantages that: compared with the traditional semi-manual semi-mechanical dinner plate tray stacking method, the invention has the following advantages:

1. the power output distance of first cylinder, second cylinder, third cylinder and fourth cylinder is set for according to the tray size to the anchor clamps controller, drives four splint framves simultaneously and realizes four directions's clamp to the tray and get, prevents that the phenomenon of deformation appears in the tray horizontal plane that the atress inequality caused.

2. Form through the splint frame and the fixed subassembly of negative pressure and compress tightly the absorption of tray article and tray edge, prevent to press from both sides the condition that the dinner plate that removes the in-process and appear tray edge falls out the tray getting.

Drawings

Fig. 1 is a schematic structural view of the fragile dinner plate stacking tray clamp.

Fig. 2 is a schematic structural view of the pallet clamp assembly of the present invention.

Fig. 3 is a top view of the tray clamp assembly of the present invention.

FIG. 4 is a schematic structural diagram of the first L-shaped frame, the second L-shaped frame and the sliding chute of the present invention.

Fig. 5 is a schematic structural diagram of the synchronous drive mechanism of the present invention.

Fig. 6 is a schematic structural diagram of the limiting structure of the present invention.

Fig. 7 is a schematic structural view of the negative pressure adsorption module of the present invention.

FIG. 8 is a schematic view of the structure of the bi-directional screw of the present invention.

Fig. 9 is a schematic structural view of the retractable curtain of the present invention.

The reference signs are: the clamp comprises a clamp body 1, a first group of brackets 10, a first installation base pipe 100, a second installation base pipe 101, a first L-shaped frame 102, a second L-shaped frame 103, a second group of brackets 11, a third installation base pipe 110, a fourth installation base pipe 111, a cylinder installation plate 112, a third L-shaped frame 113, a fourth L-shaped frame 114, a clamping frame 12, a synchronous transmission mechanism 13, a fixed frame 130, a bearing seat 131, a transmission gear 132, a first rack 133, a second rack 134, a limit plate 135, a sliding groove 14, a limit groove 150, a limit block 151, a notch 152, a buckling block 153, a spring part 154, a tray clamp assembly 2, a first cylinder 30, a second cylinder 31, a third cylinder 32, a fourth cylinder 33, a negative pressure adsorption assembly 4, a negative pressure bracket 40, a bidirectional screw 41, a sliding block 42, an adsorption assembly 43, a suction nozzle 430, a conical cover 431, an adsorption plate 432, a telescopic curtain 433, a driving motor 44, a driving gear 450, a transmission, A drive belt 452.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

The applicant finds that the porcelain dinner plates are fragile in the stacking and boxing process and cannot bear extrusion and collision, the stacking tool of the dinner plates used in the existing stacking method is a mode that semi-manual work and a mechanical arm are combined, the mechanical arm is adopted to clamp the dinner plate stacking tray one by one, then the manual work is used for putting the tray full of the dinner plates into a compression box, and the breakage rate of the porcelain dinner plates is reduced. Because the traditional mechanical clamp mostly adopts symmetrical clamping jaws to clamp from two sides of the tray, the contact area between the clamping jaws and the tray is small in the clamping process, so that the tray is easy to deform, and the dinner plates stacked in the tray fall out; secondly, when the clamp inclines, the dinner plate in the tray slides to the inclined edge in a concentrated manner, so that the dinner plate at the edge can collide with the edge of the tray more easily, the dinner plate at the edge of the tray is damaged, and the transportation cost is increased.

A frangible tray pallet clamp as shown in figures 1 to 9 comprises: the clamp comprises a clamp body 1, a first group of brackets 10, a first installation base pipe 100, a second installation base pipe 101, a first L-shaped frame 102, a second L-shaped frame 103, a second group of brackets 11, a third installation base pipe 110, a fourth installation base pipe 111, a cylinder installation plate 112, a third L-shaped frame 113, a fourth L-shaped frame 114, a clamping frame 12, a synchronous transmission mechanism 13, a fixed frame 130, a bearing seat 131, a transmission gear 132, a first rack 133, a second rack 134, a limit plate 135, a sliding groove 14, a limit groove 150, a limit block 151, a notch 152, a buckling block 153, a spring part 154, a tray clamp assembly 2, a first cylinder 30, a second cylinder 31, a third cylinder 32, a fourth cylinder 33, a negative pressure adsorption assembly 4, a negative pressure bracket 40, a bidirectional screw 41, a sliding block 42, an adsorption assembly 43, a suction nozzle 430, a conical cover 431, an adsorption plate 432, a telescopic curtain 433, a driving motor 44, a driving gear 450, a transmission, A drive belt 452.

Wherein this anchor clamps are applicable to on the dinner plate pile up neatly workshop product line, and cooperate the linkage with the arm to the realization carries out the operation of pile up neatly vanning to the pile up neatly tray that conveys on the assembly line and come.

The clamp comprises a clamp body 1, a tray clamp assembly 2, a driving cylinder group and a negative pressure adsorption assembly 4, wherein the clamp body 1 is arranged at one end of an output shaft on a mechanical arm, and the tray clamp assembly 2, the driving cylinder group and the negative pressure adsorption assembly 4 are arranged on the clamp body 1; the tray clamp assembly 2 is used for clamping and releasing the tray under the driving of the driving cylinder group, and the negative pressure adsorption assembly 4 is used for carrying out negative pressure adsorption operation on the fragile dinner plate arranged at the edge of the tray in the process of clamping and releasing the tray, so that the fragile products at the edge of the tray are prevented from falling out and colliding.

The clamp body 1 is also provided with a camera unit which is communicated with the clamp tray controller; the controller is electrically connected with the driving cylinder group, and meanwhile, the controller is electrically connected with the driving motor 44 and the vacuum hose control valve, so that the intelligent operation of clamping the pallet by the clamp is finally realized.

The porcelain tray is made of wood or plastic materials, and the tray is usually damaged due to the stress area process in the clamping process of the two-piece type clamping jaw; the tray clamp assembly 2 described with reference to fig. 1 to 3 includes: the clamp comprises a first group of supports 10 connected to a clamp body 1, a second group of supports 11 fixedly connected to the first group of supports 10, translation assemblies symmetrically inserted at two ends of the first group of supports 10 and the second group of supports 11, and four clamping plate frames 12 connected to the translation assemblies, wherein the four clamping plate frames 12 are arranged symmetrically in pairs; the two-clamp type clamp is different from the traditional two-clamp type clamp, synchronous clamping of the tray can be achieved from four directions, and falling and sliding of fragile products in the tray caused by unbalance of clamping force are prevented. The bottom of the splint frame 12 is provided with a fork lifting block matched with the bottom of the tray, so that the contact area between the pallet and the pallet is increased, and the pallet is prevented from being deformed due to the undersize stress area.

The first group of brackets 10 comprise a first installation base pipe 100 and a second installation base pipe 101 which are symmetrically arranged and hollow and run through, and a synchronous transmission mechanism 13 which is fixedly installed on the first installation base pipe 100 and is positioned between the first installation base pipe 100 and the second installation base pipe 101; the second set of brackets 11 comprises: the cylinder mounting plate comprises a third mounting base pipe 110, a fourth mounting base pipe 111 and a cylinder mounting plate 112, wherein the third mounting base pipe 110 and the fourth mounting base pipe 111 are symmetrically arranged and are hollow and penetrate inside; the third installation base pipe 110 and the fourth installation base pipe 111 are fixedly connected with the first installation base pipe 100 and the second installation base pipe 101 and are vertically arranged; the first installation base pipe 100, the second installation base pipe 101, the third installation base pipe 110 and the fourth installation base pipe 111 are all embedded into a sliding groove 14 matched with the translation assembly;

the translation assembly includes: first L-shaped frame 102 inserted in first installation base pipe 100 and second installation base pipe 101, second L-shaped frame 103 arranged opposite to first L-shaped frame 102 and inserted in first installation base pipe 100 and second installation base pipe 101, third L-shaped frame 113 inserted in third installation base pipe 110 and fourth installation base pipe 111, and fourth L-shaped frame 114 arranged opposite to third L-shaped frame 113 and inserted in third installation base pipe 110 and second installation base pipe 101, and other end fixed connection clamping frame 12 of first L-shaped frame 102, second L-shaped frame 103, third L-shaped frame 113 and fourth L-shaped frame 114.

The driving cylinder group includes: a first cylinder 30 and a second cylinder 31 fixedly installed on the first L-shaped frame 102 and the second L-shaped frame 103, respectively, and a third cylinder 32 and a fourth cylinder 33 fixedly installed on the cylinder installation plate 112 of the second group bracket 11; the power output rods of the first air cylinder 30 and the second air cylinder 31 are arranged back to back, and the power output rods of the first air cylinder 30 and the second air cylinder 31 are respectively connected to a first L-shaped frame 102 and a second L-shaped frame 103 which are connected to two ends of the first group of brackets 10 in a sliding manner; the power output rods of the third cylinder 32 and the fourth cylinder 33 are arranged in a reverse staggered manner, and the power output rods of the third cylinder 32 and the fourth cylinder 33 are connected to the third L-shaped frame 113 and the fourth L-shaped frame 114 at two ends of the second group of brackets 11 in a sliding manner; and then the power output rods of the first air cylinder 30 and the second air cylinder 31 drive the first L-shaped frame 102 and the second L-shaped frame 103 on the first group of brackets 10 to move relatively in the chute 14, and the power output rods of the third air cylinder 32 and the fourth air cylinder 33 drive the third L-shaped frame 113 and the fourth L-shaped frame 114 on the second group of brackets 11 to move relatively in the chute 14, so that finally, the four clamping plate frames 12 connected to the first L-shaped frame 102, the second L-shaped frame 103, the third L-shaped frame 113 and the fourth L-shaped frame 114 move relatively in pairs.

In consideration of the variety and type of the dinner plates in the actual use process, the clamp assembly is adjusted according to the size of the tray and the stacking mode and size of the dinner plates on the tray. In order to prevent the first L-shaped frame 102, the second L-shaped frame 103, the third L-shaped frame 113 and the fourth L-shaped frame 114 from being separated from the sliding groove 14 in the adjusting process when the driving cylinder drives the first L-shaped frame 102, the second L-shaped frame 103, the third L-shaped frame 113 and the fourth L-shaped frame 114 to be inserted into the sliding groove 14, the first L-shaped frame 102, the second L-shaped frame 103, the third L-shaped frame 113 and the fourth L-shaped frame 114 are limited by limiting mechanisms, and the separation from the sliding groove 14 is avoided.

The first L-shaped frame 102, the second L-shaped frame 103, the third L-shaped frame 113 and the fourth L-shaped frame 114 are provided with limiting mechanisms at the sections which are embedded in the chute 14 of the installation base pipe; the limiting mechanism comprises: limiting grooves 150 formed in one ends of the second L-shaped frame 103 and the fourth L-shaped frame 114, limiting blocks 151 arranged at ports of the first L-shaped frame 102 and the third L-shaped frame 113 in an inserting mode, and the limiting blocks 151 are fixedly installed inside the first L-shaped frame 102 and the third L-shaped frame 113 through spring pieces 154; a notch 152 is formed in the limiting groove 150, one end of the limiting block 151 is fixedly connected with a clamping block 153 matched with the notch 152, and a gentle slope section is arranged on the other side of the notch 152, so that when the limiting blocks 151 at the ports of the first L-shaped frame 102 and the third L-shaped frame 113 pass through the limiting grooves 150 on the second L-shaped frame 103 and the fourth L-shaped frame 114, the limiting blocks 151 are completely popped out through the spring piece 154 and move to the notch 152, and the clamping block 153 is clamped with the notch 152.

Among the four clamping jaw frames, the size of the clamping jaw frames of the first L-shaped frame 102 and the second L-shaped frame 103 on the first group of supports 10 is equal to the length of the pallet, so that the contact area between the clamping jaw frames on the first L-shaped frame 102 and the second L-shaped frame 103 and the pallet is large, and the synchronous mechanism arranged on the first group of supports 10 can further ensure that the clamping jaw frames at two ends of the first group of supports 10 can simultaneously clamp the pallet, thereby ensuring the stability of the clamping process; as shown in fig. 4, the synchronous drive mechanism 13 includes: a fixed frame 130 screwed and fixed on the outer side of the second installation base pipe 101, a bearing seat 131 fixedly installed in the fixed frame 130, a transmission gear 132 fixedly connected to one end of the bearing seat 131, and a first rack 133 and a second rack 134 respectively fixedly installed on the first L-shaped frame 102 and the second L-shaped frame 103, and the other end of the first rack 133 and the second rack 134 are screwed with the transmission gear 132, the first rack 133 and the second rack 134 are located on the upper and lower sides of the transmission gear 132; the first L-shaped frame 102 and the second L-shaped frame 103 at the two ends of the first group of brackets 10 move relatively under the driving of the first cylinder 30 and the second cylinder 31, and further drive the first rack 133 and the second rack 134 to realize synchronous movement through the transmission gear 132; one ends of the first rack 133 and the second rack 134 close to the transmission gear 132 are respectively provided with a limiting plate 135 which can limit the maximum distance of the movement of the first rack 133 and the second rack 134, and simultaneously prevent the first rack 133 and the second rack 134 from being separated from the transmission gear 132 and being unable to be synchronized.

When the clamp inclines, the dinner plate in the tray slides towards the inclined edge in a concentrated manner, the dinner plate at the edge can be more easily collided with the tray edge, the dinner plate at the edge of the tray is damaged, and the conveying cost is increased, so that the negative pressure adsorption device is additionally arranged on the clamp assembly to adsorb and press the dinner plate which is positioned at the edge of the tray and is not covered above the tray.

Referring to fig. 1, 7 to 9, the negative pressure adsorption assembly 4 includes: the vacuum bracket 40 is fixedly connected to the second group of brackets 11, the plurality of groups of bidirectional screws 41 are fixedly arranged on the vacuum bracket 40, the sliding block 42 is sleeved on the bidirectional screws 41, and the adsorption component 43 is fixedly arranged on the sliding block 42; the adsorption assembly 43 includes: a suction nozzle 430 screwed on the sliding block 42, a vacuum hose communicated with one end of the suction nozzle 430, and a negative pressure fixing component arranged at one end of the suction nozzle 430; the other end of the vacuum hose is communicated with a vacuum pump through a control valve.

A transmission device and a driving motor 44 are further arranged above the negative pressure support 40, and the transmission device comprises: a plurality of driving gears 450 arranged at one ends of the plurality of bidirectional screws 41, and a transmission shaft 451 sleeved at the axes of the plurality of driving gears 450 and rotatably connected to the negative pressure bracket 40; one end of the transmission shaft 451 is in transmission connection with one end of the driving motor 44; further, the driving force generated by the driving motor 44 drives the plurality of driving gears 450 on the transmission shaft 451 to rotate through the transmission shaft 451, the plurality of driving gears 450 simultaneously drive the plurality of bidirectional screws 41 to simultaneously rotate, and the bidirectional screws 41 simultaneously rotate to relatively move the left and right sliders 42 screwed on the bidirectional screws 41, thereby further adjusting the position of the suction nozzle 430 on the negative pressure support 40.

Further considering that the tray is of a quadrilateral structure, the plurality of bidirectional screws 41 are composed of bidirectional screws 41 which are parallel to the side length of the tray and perpendicular to the side length of the tray; the two-way screw rod 41 perpendicular to the transmission shaft 451 is driven by the driving gear 450 and the screw rod, the two-way screw rod 41 parallel to the transmission shaft 451 is driven by the driving belt 452 to drive the two-way screw rod 41 in the parallel direction, so that the distance between the four negative pressure fixing components at the four edges of the negative pressure support 40 is adjusted, the problem that dinner plates on the edges of trays of various sizes and types are easy to damage is solved, and the transportation cost is reduced.

The subassembly is fixed to negative pressure includes: a cone cover 431 sleeved on the plurality of vacuum suction nozzles 430, and a suction plate 432 embedded in the inner edge of the cone cover 431; the adsorption plate 432 is provided with a plurality of conical holes, and the adsorption plate 432 is in a sponge structure; the telescopic curtain 433 of fixed connection between two adsorption plates 432, can form the safety cover in the top of dinner plate after telescopic curtain 433 extends, prevent that anchor clamps from falling out the tray when manipulator rotates at random, have certain fixed action. The further horizontal and vertical dislocation that divide into of flexible curtain 433 sets up the integral type structure on toper cover 431 for cup jointing a plurality of suction nozzles 430 on the negative pressure support 40, adsorption plate 432 can filter the surface dust of dinner plate, prevent that the dust from piling up the inconvenience that causes the clearance in vacuum hose later stage in suction nozzle 430 department, secondly can form the cushioning effect between suction nozzle 430 and dinner plate, anchor clamps press from both sides tight tray back downwards, because there is the dysmorphism space between dinner plate and the dinner plate when the dinner plate stacks, adsorption plate 432 extrudees to fill the dysmorphism space under the clamp of anchor clamps and firstly increases absorbent sealed cushioning nature, secondly, warp the adsorption plane and then increase the adsorption efficiency that has a plurality of curved surfaces between the inside and outside surface of dinner plate and adsorption plate 432. Thereby realizing the function of absorbing and pressing the dinner plate which is positioned at the edge of the tray and is not provided with a shielding object above.

The working principle is as follows:

the clamp body 1 is arranged above a dinner plate stacking production line, the camera shooting unit detects the size of a stacking tray to be clamped, and then detection data are converted into the size of the tray and size information of placed objects on the tray to be fed back to the clamp controller; the clamp controller sets the movement distance of the power output rods of the first air cylinder 30 and the second air cylinder 31 according to the size of the pallet, and further drives the first L-shaped frame 102 and the second L-shaped frame 103 on the first group of brackets 10 to move relatively in the sliding groove 14, so that the distance between the clamping plate frames 12 in the first L-shaped frame 102 and the second L-shaped frame 103 is adjusted, and the clamping operation in two directions is realized on the pallet; the clamp controller also sets the movement distance of the power output rods of the third air cylinder 32 and the fourth air cylinder 33 according to the size of the pallet; further driving the third L-shaped frame 113 and the fourth L-shaped frame 114 on the first group of brackets 10 to move relatively in the chute 14, so as to adjust the distance between the clamping plate frames 12 in the third L-shaped frame 113 and the fourth L-shaped frame 114, and realize clamping and releasing operations from the other two symmetrical planes of the tray; the clamp controller controls the driving motor 44 to be started according to the size of the dinner plates stacked in the tray, and the power drives the bidirectional screw rods 41 to synchronously rotate through the transmission shaft 451 and the driving gear 450, so that the position of the negative pressure adsorption assembly 4 is adjusted, and the negative pressure adsorption assembly is consistent with the edges of the stacked dinner plates.

The clamp controller of the invention sets the power output distances of the first cylinder 30, the second cylinder 31, the third cylinder 32 and the fourth cylinder 33 according to the size of the pallet, and simultaneously drives the four clamping plate frames 12 to clamp the pallet in four directions, thereby preventing the deformation of the horizontal plane of the pallet caused by uneven stress. The clamping plate frame 12 and the negative pressure fixing component form adsorption and compression on the tray articles and the tray edge, so that the condition that the dinner plate at the tray edge falls out of the tray in the clamping and moving process is prevented.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.

Claims

1. The utility model provides a breakable dinner plate pile up neatly tray anchor clamps which characterized in that is applicable to on the dinner plate pile up neatly workshop product line, uses with the arm cooperation, includes:

2. The frangible tray palletizing clamp according to claim 1, wherein the tray clamp assembly comprises: the first group of support of connection on the anchor clamps body, the second group of support of fixed connection on first group of support, the translation subassembly at the both ends of first group of support and second group support is pegged graft to the symmetry to and connect four splint framves on the translation subassembly just four splint framves bisymmetry settings.

3. The fragile dinner plate stacking tray clamp according to claim 2, wherein the first set of brackets comprises a first installation base pipe and a second installation base pipe which are symmetrically arranged and hollow inside, and a synchronous transmission mechanism which is fixedly installed on the first installation base pipe and is positioned between the first installation base pipe and the second installation base pipe; the second set of brackets includes: the cylinder mounting plate is fixedly connected to the midpoint between the third mounting base pipe and the fourth mounting base pipe; the third installation base pipe and the fourth installation base pipe are fixedly connected with the first installation base pipe and the second installation base pipe and are vertically arranged; the first installation base pipe, the second installation base pipe, the third installation base pipe and the fourth installation base pipe are all embedded into sliding chutes matched with the translation assemblies;

4. A frangible tray palletizing pallet clamp according to claim 3, wherein the driving cylinder group comprises: the first air cylinder and the second air cylinder are fixedly arranged on the first L-shaped frame and the second L-shaped frame respectively, and the third air cylinder and the fourth air cylinder are fixedly arranged on the second group of support air cylinder mounting plates; the power output rods of the first cylinder and the second cylinder are arranged back to back, and are respectively connected to a first L-shaped frame and a second L-shaped frame which are connected to the two ends of the first group of supports in a sliding manner; the power output rods of the third cylinder and the fourth cylinder are arranged in a reverse staggered mode and are connected to the third L-shaped frame and the fourth L-shaped frame at two ends of the second group of supports in a sliding mode; and then the power take off pole of first cylinder and second cylinder drives first L shape frame and second L shape frame relative motion in the spout on the first support of group, the power take off pole of third cylinder and fourth cylinder drives third L shape frame and fourth L shape frame relative motion in the spout on the second support of group, finally makes the two liang of relative motion of four splint framves of connecting on first L shape frame, second L shape frame, third L shape frame and fourth L shape frame.

5. The stacking tray clamp for fragile dinner plates according to claim 3, wherein the first L-shaped frame, the second L-shaped frame, the third L-shaped frame and the fourth L-shaped frame are provided with limiting mechanisms which are embedded in the chute sections of the installation base pipes; the limiting mechanism comprises: limiting grooves formed in one ends of the second L-shaped frame and the fourth L-shaped frame are inserted with limiting blocks arranged at the ports of the first L-shaped frame and the third L-shaped frame in an inserting mode, and the limiting blocks are fixedly arranged in the first L-shaped frame and the third L-shaped frame through spring pieces; the limiting groove is provided with a notch, one end of the limiting block is fixedly connected with the buckling block matched with the notch, the other side of the notch is provided with a gentle landslide section, and then when the limiting blocks at the port positions of the first L-shaped frame and the third L-shaped frame pass through the limiting grooves on the second L-shaped frame and the fourth L-shaped frame, the limiting blocks are completely popped out through the spring piece when the limiting blocks are popped out to run to the notch position, and the buckling block is clamped with the notch.

6. The frangible tray palletizer clamp according to claim 3, wherein the synchronous drive mechanism comprises: the first L-shaped frame and the second L-shaped frame are fixedly arranged on the first installation base pipe, the other end of the first L-shaped frame is screwed with the transmission gear, and the first rack and the second rack are fixedly arranged on the first L-shaped frame and the second L-shaped frame respectively; the first L-shaped frame and the second L-shaped frame at the two ends of the first group of brackets move relatively under the driving of the first cylinder and the second cylinder, and then the first rack and the second rack are driven to realize synchronous movement through the transmission gear;

7. The frangible tray palletizing tray clamp according to claim 1, wherein the negative pressure suction assembly comprises: the device comprises a negative pressure support fixedly connected to a second group of supports, a plurality of groups of bidirectional screws fixedly arranged on the negative pressure support, a sliding block sleeved on the bidirectional screws, and an adsorption assembly fixedly arranged on the sliding block; the adsorption assembly includes: the suction nozzle is in threaded connection with the sliding block, the vacuum hose is communicated with one end of the suction nozzle, and the negative pressure fixing component is arranged at one end of the suction nozzle; the other end of the vacuum hose is communicated with a vacuum pump through a control valve.

8. The fragile dinner plate palletizing tray clamp according to claim 4, wherein a transmission device and a driving motor are further arranged above the negative pressure support, and the transmission device comprises: the transmission shaft is sleeved at the axle centers of the driving gears and is rotationally connected to the negative pressure support; one end of the transmission shaft is in transmission connection with one end of the driving motor; and then the drive power that driving motor produced drives a plurality of driving gears on the transmission shaft through the transmission shaft and rotates, and a plurality of two-way screw rods of drive synchronous rotation simultaneously in a plurality of driving gears synchronous rotation, make the relative motion of left and right sides slider of spiro union on two-way screw rod when two-way screw rod rotates, the position of the suction nozzle on the further adjustment negative pressure support.

9. The frangible tray palletizing tray clamp according to claim 4, wherein the negative pressure fixing assembly comprises: the vacuum suction nozzle comprises a conical cover sleeved on a plurality of vacuum suction nozzles and an adsorption plate embedded in the inner edge of the conical cover; the adsorption plate is provided with a plurality of conical holes and is of a sponge structure; and a telescopic curtain is fixedly connected between the two adsorption plates.

10. The clamping and fixing method for the fragile dinner plate stacking tray clamp according to claim 1, is characterized by comprising the following working steps: