CN114193495B

CN114193495B - Non-return sucking disc tongs device that can transversely shake

Info

Publication number: CN114193495B
Application number: CN202111582945.5A
Authority: CN
Inventors: 孙玉清; 罗伟荣; 王生海; 刘将; 陈海泉; 韩广冬; 刘志杰; 王晓邦
Original assignee: Dalian Maritime University
Current assignee: Dalian Maritime University
Priority date: 2021-12-22
Filing date: 2021-12-22
Publication date: 2023-12-29
Anticipated expiration: 2041-12-22
Also published as: CN114193495A

Abstract

The invention discloses a non-return sucker gripper device capable of transversely shaking, relates to the technical field of grabbing and conveying devices, and particularly relates to a sucker gripper device with a transverse shaking function. The invention comprises the following steps: the device comprises a shaking box structure, a fixed disc structure, a connecting rod structure, a movable disc structure, a vacuum chuck, a motor and a vacuum tank; the fixed disc structure is arranged at the upper part of the movable disc structure through a connecting rod structure; the shaking box structure is fixedly arranged on the upper part of the fixed disc structure and is connected with the movable disc structure; the motor is fixedly arranged on the fixed disc structure and is connected with the shaking box structure; the vacuum chuck is arranged at the lower end of the movable disk structure and is used for being connected with the to-be-split body; the vacuum tank is connected with the movable disk structure through a pipeline and is communicated with the vacuum chuck through the movable disk structure, so that vacuum suction force is provided for the vacuum chuck. The technical scheme of the invention solves the problem that the subsequent flow is disordered because the cargoes are frozen due to low-temperature stacking and the quantity of the cargoes grabbed at a time is different in the prior art.

Description

Non-return sucking disc tongs device that can transversely shake

Technical Field

The invention discloses a non-return sucker gripper device capable of transversely shaking, relates to the technical field of grabbing and conveying devices, and particularly relates to a sucker gripper device with a transverse shaking function.

Background

The cargo hold of the refrigerated storage ship is affected by the low-temperature environment and the stacking of cargoes, the cargoes are likely to be mutually frozen, and the phenomenon that the quantity of the cargoes which are grabbed once is different during unloading can occur, so that the subsequent process is disordered. The existing unloading mode is to separate the mutually frozen cargoes by using tools such as iron hooks and the like manually during unloading, and the method consumes great manpower and material resources, and particularly has great influence on the service life of the protection device due to low temperature in an epidemic prevention state.

Aiming at the problems in the prior art, the novel check sucker gripper device capable of transversely shaking is researched and designed, so that the problems in the prior art are overcome.

Disclosure of Invention

According to the technical problem that the subsequent process is disordered due to the fact that the cargoes are frozen due to low-temperature stacking and the quantity of the cargoes to be grabbed once is different, the check sucker gripper device capable of transversely shaking is provided. According to the invention, the transverse shaking mechanism is mainly added on the sucker grip, so that the mutually frozen cargoes can be separated through shaking, the problem of mutual freezing between cargoes in the grabbing process is effectively solved, and the invention is suitable for the situations of unloading in low-temperature places such as a cargo hold of a refrigerated carrier.

The invention adopts the following technical means:

a laterally-ditkable check chuck gripper device comprising: the device comprises a shaking box structure, a fixed disc structure, a connecting rod structure, a movable disc structure, a vacuum chuck, a motor and a vacuum tank;

further, the fixed disc structure is arranged at the upper part of the movable disc structure through a connecting rod structure;

further, the shaking box structure is fixedly arranged on the upper part of the fixed disc structure and is connected with the movable disc structure;

further, the motor is fixedly arranged on the fixed disc structure and is connected with the shaking box structure, so as to provide shaking power for the shaking box structure to drive the movable disc structure to shake;

further, the vacuum chuck is arranged at the lower end of the movable disk structure and is used for being connected with the to-be-split body;

further, the vacuum tank is connected with the movable plate structure through a pipeline and is communicated with the vacuum chuck through the movable plate structure, so that vacuum suction force is provided for the vacuum chuck.

Further, the shaking box structure includes: the device comprises a front end cover, a shaft seal, a bearing, an eccentric wheel spindle, a connecting rod, a sliding rod, a connecting rod box body, a sliding rod box body, a bearing and a rear end cover;

further, the front end cover, the connecting rod box body, the sliding rod box body and the rear end cover are sequentially fastened together to form a box body assembly;

further, the eccentric wheel main shaft, the connecting rod and the sliding rod form a crank sliding block structure, and the crank sliding block structure is packaged in the box body assembly through a bearing and a shaft seal.

Further, the slide bar is of a plate-shaped structure with a certain thickness;

further, a sliding structure is arranged on the sliding rod;

further, the sliding structure is provided with a pin connected with the connecting rod and a shaft hole for inserting the eccentric wheel main shaft;

further, the sliding rod is arranged in the sliding rod box body through a sliding structure;

further, the lower end of the sliding rod is fixedly connected with the movable plate structure.

Further, the connecting rod is of a plate-shaped structure, and is provided with a pin hole for assembling with the pin column and a shaft hole for inserting the eccentric wheel main shaft.

Further, the eccentric wheel main shaft sequentially passes through the shaft holes on the sliding rod of the connecting rod to form a crank slide block structure;

further, one end of the eccentric wheel main shaft is arranged on the bearing hole of the front end cover through a bearing and a shaft seal, and the other end of the eccentric wheel main shaft is arranged on the bearing hole of the rear end cover through a bearing;

further, one end of the eccentric wheel main shaft is connected with the output end of the motor.

Further, the fixed disk structure consists of a fixed disk and a shaking box bin arranged on the upper part of the fixed disk;

further, the shaking box bin and the fixed disc are provided with long sliding holes for the sliding rods to pass through;

further, a shaking box structure is assembled in the shaking box bin, and the sliding rod penetrates through the long sliding hole and then is connected with the movable disc structure;

further, the middle rear part of the fixed disc is provided with a mounting hole for connecting and mounting the mechanical arm;

further, connecting rod holes for installing the connecting rod structure are symmetrically arranged on the periphery of the fixed disc.

Further, the main body structure of the connecting rod structure is a cylindrical support column;

further, the upper part of the support column is provided with a circular shoulder for supporting and assembling the fixed disc structure;

further, the lower part of the support column is provided with a square slide block for sliding assembly with the movable plate structure.

Further, the movable plate structure includes: the movable disc frame, the sliding rod plate, the check valve and the electromagnetic valve;

further, the movable tray frame is a frame structure made of hollow square pipes;

further, the check valve is arranged at one end of the upper part of the movable tray frame, is communicated with the inside of the movable tray frame and is connected with the vacuum tank through a pipeline; the check valve is opened when the vacuum chuck grabs the goods; when the upstream pipeline of the check valve leaks, the check valve is closed to prevent air leakage;

further, the sliding rod plate is fixedly arranged at the upper part of the movable tray frame and is fixedly connected with the bottom end of the sliding rod;

further, a sliding component corresponding to the connecting rod structure is arranged on the movable disc frame and is in sliding connection with the bottom end of the connecting rod structure;

further, a plurality of sucker holes are formed in the bottom of the movable disc frame, and each sucker hole is provided with a vacuum sucker;

further, the upper part of the movable tray frame is provided with an electromagnetic valve, and the air in the movable tray frame is communicated and disconnected through a switch electromagnetic valve, so that the suction/separation of the vacuum chuck is realized.

Further, the sliding assembly includes: the device comprises a mounting plate, a support column slot, a sliding rail, a slideway and a lower sliding block;

further, the mounting plate is fixedly arranged on the movable tray frame, and the middle part of the mounting plate is provided with a support column slot hole for assembling a support column;

further, a slide rail is arranged at the upper part of the mounting plate, and a slide way and a lower slide block are arranged at the lower part of the mounting plate;

further, the bottom end of the support column is inserted into the support column slotted hole, and the square slide speed on the support column is assembled with the slide rail in a matched manner;

further, the lower slider is connected with the bottom end of the support column and is assembled into the slideway.

The working process of the invention is as follows:

the mechanical arm operates to enable the vacuum disc to be in contact with the goods to be grabbed;

opening the vacuum tank to enable the vacuum chuck to be firmly adsorbed on the goods to be grabbed;

the motor is started, the output end of the motor drives the eccentric wheel main shaft to rotate, and the eccentric wheel main shaft drives the sliding rod to do transverse reciprocating motion through the connecting rod;

the transverse reciprocating motion of the sliding rod is transmitted to the movable disc structure to form transverse shaking, so that the goods absorbed by the sucker shake transversely together, and the shaking force separates the goods which are mutually frozen together;

the manipulator operates to grab away the goods, after the goods are transported in place, the electromagnetic valve is opened to charge air into the vacuum chuck, so that the vacuum chuck is separated from the goods, and one grabbing operation is completed.

Compared with the prior art, the invention has the following advantages:

1. according to the non-return sucker gripper device capable of transversely shaking, the sucker can transversely shake, and the frozen and adhered goods can be separated from each other;

2. according to the transverse-shaking check sucker gripper device, the check valve and the vacuum tank are arranged, so that vacuum can be continuously maintained, and the running time of a vacuum pump is reduced;

3. the transverse-shaking check sucker gripper device provided by the invention is simple and convenient to arrange, simple and convenient in component disassembly and assembly and easy to replace;

4. the transverse-shaking check sucker gripper device provided by the invention is easy to realize automatic control as a whole, further saves labor cost and improves unloading efficiency;

5. the transverse-shaking check sucker gripper device provided by the invention has a wide application range, and can be applied to other operation scenes of cold storage or mutual adhesion of cargoes except for the cargo cabin area of a refrigeration ship;

6. the check sucker gripper device capable of transversely shaking is simple to operate, high in unloading efficiency, capable of sucking and releasing the vacuum sucker, capable of saving manpower in shaking capacity and capable of improving the speed of separating frozen goods.

In conclusion, the technical scheme of the invention solves the problem that the subsequent process is disordered due to the fact that the cargoes are frozen due to low-temperature stacking and the quantity of the cargoes which are grabbed once is different in the prior art.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to the drawings without inventive effort to a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present invention;

FIG. 2 is a schematic diagram of the structure of the shake box according to the invention;

FIG. 3 is an exploded view of the structure of the shaker box of the present invention;

FIG. 4 is a schematic view of the structure of the stator plate of the present invention;

FIG. 5 is a schematic view of a connecting rod according to the present invention;

FIG. 6 is a schematic diagram of a movable plate according to the present invention;

FIG. 7 is a schematic diagram of a movable plate according to a second embodiment of the present invention;

fig. 8 is a schematic view of the structure of the vacuum chuck of the present invention.

In the figure:

1. the shaking box structure 11, the front end cover 12, the shaft seal 13, the bearing 14, the eccentric wheel main shaft 15, the connecting rod 151, the pin hole 152, the orifice plate 16, the sliding rod 161, the sliding structure 162, the pin 163, the shaft hole 17, the connecting rod box 18, the sliding rod box 19 and the rear end cover;

2. the device comprises a fixed disc structure 21, a mounting hole 22, a connecting rod hole 23, a shaking box bin 24 and a fixed disc;

3. the connecting rod structure 31, the round shoulder 32, the support column 33 and the square slide are quick;

4. the movable disc structure 41, the sliding rod plate 42, the supporting column slot 43, the sliding rail 44, the sliding way 45, the lower sliding block 46, the check valve 47, the electromagnetic valve 48, the sucker hole 49, the movable disc frame 410 and the mounting plate;

5. a vacuum chuck;

6. a motor;

7. and (5) a vacuum tank.

Detailed Description

It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of 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 apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the invention, its application, or uses. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.

The relative arrangement of the components and steps, numerical expressions and numerical values set forth in these embodiments do not limit the scope of the present invention unless it is specifically stated otherwise. Meanwhile, it should be clear that the dimensions of the respective parts shown in the drawings are not drawn in actual scale for convenience of description. Techniques, methods, and apparatus known to those of ordinary skill in the relevant art may not be discussed in detail, but are intended to be part of the specification where appropriate. In all examples shown and discussed herein, any specific values should be construed as merely illustrative, and not a limitation. Thus, other examples of the exemplary embodiments may have different values. It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further discussion thereof is necessary in subsequent figures.

In the description of the present invention, it should be understood that the azimuth or positional relationships indicated by the azimuth terms such as "front, rear, upper, lower, left, right", "lateral, vertical, horizontal", and "top, bottom", etc., are generally based on the azimuth or positional relationships shown in the drawings, merely to facilitate description of the present invention and simplify the description, and these azimuth terms do not indicate and imply that the apparatus or elements referred to must have a specific azimuth or be constructed and operated in a specific azimuth, and thus should not be construed as limiting the scope of protection of the present invention: the orientation word "inner and outer" refers to inner and outer relative to the contour of the respective component itself.

Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.

In addition, the terms "first", "second", etc. are used to define the components, and are only for convenience of distinguishing the corresponding components, and the terms have no special meaning unless otherwise stated, and therefore should not be construed as limiting the scope of the present invention.

As shown in fig. 1, the present invention provides a laterally jitterable check chuck gripper device, comprising: the vibration box structure 1, the fixed disc structure 2, the connecting rod structure 3, the movable disc structure 4, the vacuum chuck 5, the motor 6 and the vacuum tank 7; the fixed disc structure 2 is arranged on the upper part of the movable disc structure 4 through a connecting rod structure 3; the shaking box structure 1 is fixedly arranged on the upper part of the fixed disc structure 2 and is connected with the movable disc structure 4; the motor 6 is fixedly arranged on the fixed disc structure 2 and is connected with the shaking box structure 1, and shaking power is provided for the shaking box structure 1 to drive the movable disc structure 4 to shake; the vacuum chuck 5 is arranged at the lower end of the movable disk structure 4 and is used for being connected with the to-be-split body; the vacuum tank 7 is connected with the movable plate structure 4 through a pipeline, and is communicated with the vacuum chuck 5 through the movable plate structure 4 to provide vacuum suction for the vacuum chuck 5.

As shown in fig. 2 and 3, the dither box structure 1 includes: front end cover 11, shaft seal 12, bearing 13, eccentric wheel spindle 14, connecting rod 15, slide bar 16, connecting rod box 17, slide bar box 18, bearing 13 and rear end cover 19; the front end cover 11, the connecting rod box 17, the slide rod box 18 and the rear end cover 19 are sequentially fastened together to form a box assembly; the eccentric wheel main shaft 14, the connecting rod 15 and the sliding rod 16 form a crank sliding block structure, and are packaged in the box body assembly through the bearing 13 and the shaft seal 12.

As shown in fig. 2 and 3, the slide bar 16 has a plate-like structure with a certain thickness; the sliding rod 16 is provided with a sliding structure 161; the sliding structure 161 is provided with a pin 162 connected with the connecting rod 15 and a shaft hole 163 for inserting the eccentric wheel main shaft 14; the slide bar 16 is arranged inside the slide bar box 18 through a sliding structure 161; the lower end of the slide bar 16 is fixedly connected with the movable plate structure 4.

As shown in fig. 2 and 3, the connecting rod 15 has a plate-like structure, and is provided with a pin hole 151 for fitting with a pin 162, and a shaft hole 163 for inserting the eccentric wheel main shaft 14.

As shown in fig. 2 and 3, the eccentric wheel main shaft 14 sequentially passes through the shaft hole 163 on the slide bar 16 of the connecting rod 15 to form a crank slide block structure; one end of the eccentric wheel main shaft 14 is arranged on a bearing hole of the front end cover 11 through a bearing 13 and a shaft seal 12, and the other end is arranged on a bearing hole of the rear end cover 19 through the bearing 13; one end of the eccentric wheel spindle 14 is connected with the output end of the motor 6.

As shown in fig. 4, the fixed disk structure 2 is composed of a fixed disk 24 and a shaking box bin 23 arranged on the upper part of the fixed disk 24; the shaking box bin 23 and the fixed disk 24 are provided with long sliding holes for the sliding rods 16 to pass through; the shaking box bin 23 is internally provided with a shaking box structure 1, and the sliding rod 16 penetrates through a long sliding hole and then is connected with the movable disc structure 4; the middle and rear parts of the fixed disc 24 are provided with mounting holes 21 for connecting and mounting the mechanical arm; the fixed disk 24 is symmetrically provided with connecting rod holes 22 around for mounting the connecting rod structure 3.

As shown in fig. 5, the main structure of the connecting rod structure 3 is a cylindrical support column 32; the upper part of the support column 32 is provided with a circular shoulder 31 for supporting the assembly stator structure 2; the lower part of the support column 32 is provided with a square slide block 33 for sliding assembly with the movable disk structure 4.

As shown in fig. 6 and 7, the movable plate structure 4 includes: a movable disc frame 49, a slide rod plate 41, a check valve 46 and an electromagnetic valve 47; the movable tray 49 is a frame structure made of a hollow square tube; the check valve 46 is arranged at one end of the upper part of the movable tray frame 49, is communicated with the inside of the movable tray frame 49 and is connected with the vacuum tank 7 through a pipeline; the check valve 46 opens when the vacuum chuck 5 grabs the cargo; when the upstream line of the check valve 46 leaks, the check valve 46 closes, preventing air leakage; the slide bar plate 41 is fixedly arranged on the upper part of the movable tray frame 1 and fixedly connected with the bottom end of the slide bar 16; the movable disc frame 49 is provided with a sliding component corresponding to the connecting rod structure 3 and is in sliding connection with the bottom end of the connecting rod structure 3; the bottom of the movable disc frame 49 is provided with a plurality of sucker holes 48, and each sucker hole 48 is provided with a vacuum sucker 5; the upper part of the movable tray frame 49 is provided with an electromagnetic valve 47, and the inside of the movable tray frame 49 is opened and closed by opening and closing the electromagnetic valve 47, so that the suction/separation of the vacuum chuck 5 is realized.

As shown in fig. 6 and 7, the slide assembly includes: mounting plate 410, support column slot 42, slide rail 43, slideway 44 and lower slider 45; the mounting plate 410 is fixedly mounted on the movable tray 49, and a support column slot 42 is formed in the middle of the mounting plate for assembling the support column 32; the upper part of the mounting plate 410 is provided with a sliding rail 43, and the lower part is provided with a sliding way 44 and a lower sliding block 45; the bottom end of the support column 32 is inserted into the support column slot 42, and the square slide block 33 thereon is matched and assembled with the slide rail 43; a lower slider 45 is connected to the bottom end of the support post 32 and fits into the slideway 44.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.

Claims

1. The utility model provides a but transverse dithering's non return sucking disc tongs device which characterized in that:

the non-return sucking disc tongs device that can transversely shake include: the device comprises a shaking box structure (1), a fixed disc structure (2), a connecting rod structure (3), a movable disc structure (4), a vacuum chuck (5), a motor (6) and a vacuum tank (7);

the fixed disc structure (2) is arranged at the upper part of the movable disc structure (4) through the connecting rod structure (3);

the shaking box structure (1) is fixedly arranged on the upper part of the fixed disc structure (2) and is connected with the movable disc structure (4);

the motor (6) is fixedly arranged on the fixed disc structure (2) and is connected with the shaking box structure (1), and shaking power is provided for the shaking box structure (1) to drive the movable disc structure (4) to shake;

the vacuum chuck (5) is arranged at the lower end of the movable disk structure (4) and is used for being connected with the to-be-split body;

the vacuum tank (7) is connected with the movable disc structure (4) through a pipeline, and is communicated with the vacuum chuck (5) through the movable disc structure (4) to provide vacuum suction for the vacuum chuck (5);

the main structure of the connecting rod structure (3) is a cylindrical supporting column (32);

the upper part of the support column (32) is provided with a circular shoulder (31) for supporting and assembling the fixed disc structure (2);

the lower part of the support column (32) is provided with a square sliding block (33) which is used for sliding assembly with the movable disc structure (4);

the movable disc structure (4) comprises: a movable disc frame (49), a sliding rod plate (41), a check valve (46) and an electromagnetic valve (47);

the movable tray frame (49) is a frame structure made of hollow square pipes;

the check valve (46) is arranged at one end of the upper part of the movable tray frame (49), is communicated with the inside of the movable tray frame (49) and is connected with the vacuum tank (7) through a pipeline;

the sliding rod plate (41) is fixedly arranged at the upper part of the movable disc frame (49) and is fixedly connected with the bottom end of the sliding rod (16);

the movable disc frame (49) is provided with a sliding component corresponding to the connecting rod structure (3) and is in sliding connection with the bottom end of the connecting rod structure (3);

the bottom of the movable disc frame (49) is provided with a plurality of sucker holes (48), and each sucker hole (48) is provided with a vacuum sucker (5);

the upper part of the movable disc frame (49) is provided with an electromagnetic valve (47), and the inside of the movable disc frame (49) is opened and closed by opening and closing the electromagnetic valve (47), so that the suction/separation of the vacuum chuck (5) is realized;

the sliding assembly includes: the device comprises a mounting plate (410), a support column slot (42), a sliding rail (43), a slideway (44) and a lower sliding block (45);

the mounting plate (410) is fixedly arranged on the movable tray frame (49), and the middle part of the mounting plate is provided with a support column slot hole (42) for assembling a support column (32);

the upper part of the mounting plate (410) is provided with a sliding rail (43), and the lower part is provided with a sliding rail (44) and a lower sliding block (45);

the bottom end of the support column (32) is inserted into the support column slot hole (42), and the square slide block (33) on the support column is matched and assembled with the slide rail (43);

the lower slide block (45) is connected with the bottom end of the support column (32) and is assembled into the slide way (44).

2. The laterally shakable check chuck gripper apparatus according to claim 1, wherein:

the shaking box structure (1) comprises: the device comprises a front end cover (11), a shaft seal (12), a bearing (13), an eccentric wheel main shaft (14), a connecting rod (15), a sliding rod (16), a connecting rod box (17), a sliding rod box (18), a bearing (13) and a rear end cover (19);

the front end cover (11), the connecting rod box body (17), the slide rod box body (18) and the rear end cover (19) are sequentially fastened together to form a box body assembly;

the eccentric wheel main shaft (14), the connecting rod (15) and the sliding rod (16) form a crank sliding block structure, and the crank sliding block structure is packaged in the box body assembly through the bearing (13) and the shaft seal (12).

3. The laterally shakable check chuck gripper apparatus according to claim 2, wherein:

the sliding rod (16) is of a plate-shaped structure with a certain thickness;

a sliding structure (161) is arranged on the sliding rod (16);

the sliding structure (161) is provided with a pin (162) connected with the connecting rod (15) and a shaft hole (163) for inserting the eccentric wheel main shaft (14);

the sliding rod (16) is arranged in the sliding rod box body (18) through a sliding structure (161);

the lower end of the sliding rod (16) is fixedly connected with the movable disc structure (4).

4. A laterally shakable check chuck gripper apparatus according to claim 3, wherein:

the connecting rod (15) is of a plate-shaped structure, and is provided with a pin hole (151) for assembling with the pin column (162) and a shaft hole (163) for inserting the eccentric wheel main shaft (14).

5. The laterally shakable check chuck gripper apparatus according to claim 4, wherein:

the eccentric wheel main shaft (14) sequentially passes through a shaft hole (163) on a sliding rod (16) of the connecting rod (15) to form a crank sliding block structure;

one end of the eccentric wheel main shaft (14) is arranged on a bearing hole of the front end cover (11) through a bearing (13) and a shaft seal (12), and the other end of the eccentric wheel main shaft is arranged on a bearing hole of the rear end cover (19) through the bearing (13);

one end of the eccentric wheel main shaft (14) is connected with the output end of the motor (6).

6. The laterally shakable check chuck gripper apparatus according to claim 1, wherein:

the fixed disc structure (2) consists of a fixed disc (24) and a shaking box bin (23) arranged at the upper part of the fixed disc (24);

the shaking box bin (23) and the fixed disc (24) are provided with long sliding holes for the sliding rods (16) to pass through;

the shaking box bin (23) is internally provided with a shaking box structure (1), and the sliding rod (16) is connected with the movable disc structure (4) after passing through a long sliding hole;

the middle and rear parts of the fixed disc (24) are provided with mounting holes (21) for connecting and mounting the mechanical arm;

connecting rod holes (22) for installing the connecting rod structure (3) are symmetrically arranged around the fixed disc (24).