CN210214033U

CN210214033U - Combined type gripper

Info

Publication number: CN210214033U
Application number: CN201920867397.2U
Authority: CN
Inventors: Ming Huang; 黄明; Kewei Bian; 卞科维
Original assignee: Changzhou Er Heng Automation Equipment Co Ltd
Current assignee: Changzhou Er Heng Automation Equipment Co Ltd
Priority date: 2019-06-10
Filing date: 2019-06-10
Publication date: 2020-03-31
Anticipated expiration: 2029-06-10

Abstract

The utility model discloses a modular tongs for snatch the tray simultaneously and place the sack on the tray, it includes the mounting bracket, install on the mounting bracket, and be used for snatching the tray grabbing device of tray and install on the mounting bracket, and be used for snatching the sack grabbing device of sack. The utility model discloses can snatch tray and sack simultaneously, improve work efficiency, bring the facility for production.

Description

Combined type gripper

Technical Field

The utility model relates to a modular tongs.

Background

The sack is put on the tray, when needs remove tray and sack simultaneously, current tongs divide twice to snatch usually, snatch the sack earlier and carry the sack after, snatch the tray again and carry the tray, influence work efficiency to need a plurality of arms, occupy great production space, also increased the input cost.

Disclosure of Invention

The utility model aims to solve the technical problem that overcome prior art's defect, provide a modular tongs, it can snatch tray and sack simultaneously, has improved work efficiency, has brought the facility for production.

In order to solve the technical problem, the technical scheme of the utility model is that: a modular tongs for simultaneously grabbing a tray and placing bags on the tray, comprising:

a mounting frame;

the tray grabbing device is arranged on the mounting frame and used for grabbing the tray;

and the bag grabbing device is arranged on the mounting frame and used for grabbing the bag.

The tray grabbing device comprises a left hook component, a right hook component and two hook component driving parts; wherein the content of the first and second substances,

the left hook assembly and the right hook assembly respectively comprise a supporting rod and at least one hook piece, the supporting rod is rotatably supported on the mounting frame, and the hook pieces are fixed on the supporting rod;

one hook driving piece is installed between the supporting rods of the mounting frame and the left hook assembly, and the other hook driving piece is installed between the supporting rods of the mounting frame and the right hook assembly, so that the hook pieces of the left hook assembly and the right hook assembly are driven by the two hook driving pieces to move oppositely to hook the tray simultaneously.

The utility model provides a collude a concrete structure of driving piece, collude a driving piece and include the piston cylinder, fixedly connected with connecting piece on the bracing piece, the cylinder body of piston cylinder articulates on the mounting bracket, the piston rod of piston cylinder is articulated mutually with the connecting piece, and then colludes a rotation in order to collude the tray that colludes of subassembly and the right side colluding that colludes of subassembly through two piston cylinder drives on a left side.

Further in order to firmly grab the tray, the left end and the right end of the tray are respectively provided with a hooking hole, and when the hooking piece hooks the tray, the free end of the hooking piece is embedded into the hooking hole.

The specific structure of the bag grabbing device is further provided, and the bag grabbing device comprises a left grabbing hand assembly, a right grabbing hand assembly and two driving piston cylinders; wherein the content of the first and second substances,

the left hand grip assembly and the right hand grip assembly respectively comprise a rotating rod, a gripping part and at least one hand grip swinging arm, the rotating rod is rotatably supported on the mounting frame, the upper end part of the hand grip swinging arm is fixed on the rotating rod, and the gripping part is connected with the lower end part of the hand grip swinging arm;

the cylinder body of the driving piston cylinder is hinged to the mounting frame, the rotating handles are fixed on the rotating rods of the left hand grip assembly and the right hand grip assembly respectively, and the piston rods of the two driving piston cylinders are hinged to one rotating handle respectively so as to drive the two rotating rods to rotate through the two driving piston cylinders, and further the rotating rods drive the hand grip swinging arm and the gripping part to rotate to grip or loosen the bag.

The specific structure of the grabbing part is further provided, the grabbing part comprises at least one cross rod and a plurality of grabbing teeth connected to the cross rod in parallel, the grabbing teeth are L-shaped, and the horizontal parts of the L-shaped grabbing teeth are used for supporting the bag.

Further in order to conveniently connect the combined type gripper to the robot, a robot connecting plate is connected to the mounting frame.

Further, in order to prevent the bag from being displaced when the bag-grasping means grasps the bag and moves, the combined grasping means further includes a bag-pressing means for pressing the bag after the bag-grasping means grasps the bag, and the bag-pressing means is coupled to the mounting frame.

The concrete structure of a pressure bagging apparatus is further provided, pressure bagging apparatus is including pressing a bag piston cylinder and pressing a bag subassembly, press a bag piston cylinder to connect between mounting bracket and pressure bag subassembly to after sack grabbing device snatched the sack, press a bag piston cylinder drive pressure bag subassembly and sack butt.

After the technical scheme is adopted, the tray grabbing device grabs the tray, and the bag grabbing device grabs the bag, so that the tray and the bag are grabbed simultaneously, and then the robot connected with the mounting frame drives the combined type tongs, the tray and the bag to move simultaneously, so that the utility model can grab and carry the tray and the bag simultaneously, and improves the working efficiency; after the sack was grabbed, the utility model discloses still push down the upper end of sack through pressing the bagging apparatus, and then prevent that the sack from taking place the displacement at the relative tray of in-process that removes, improved the fastness that the sack grabbing device snatched, and then make the utility model discloses can long-term stable work.

Drawings

Fig. 1 is a schematic structural view of the combined gripper of the present invention.

Detailed Description

In order that the present invention may be more readily and clearly understood, the following detailed description of the present invention is provided in connection with the accompanying drawings.

As shown in fig. 1, a combined gripper for simultaneously gripping a tray 10 and bags placed on the tray 10, comprises:

a mounting frame 1;

a tray gripping device mounted on the mounting frame 1 and used for gripping the tray 10;

and a bag grasping device installed on the mounting frame 1 and grasping the bag.

As shown in fig. 1, the tray grabbing device comprises a left hook assembly, a right hook assembly and two hook driving members; wherein the content of the first and second substances,

the left hook component and the right hook component respectively comprise a support rod 21 and at least one hook piece 22, the support rod 21 is rotatably supported on the mounting rack 1, and the hook piece 22 is fixed on the support rod 21;

one hook driving part is installed between the mounting frame 1 and the supporting rod 21 of the left hook assembly, and the other hook driving part is installed between the mounting frame 1 and the supporting rod 21 of the right hook assembly, so that the hooks 22 of the left hook assembly and the right hook assembly are driven to move oppositely through the two hook driving parts to hook the tray 10 at the same time. In this embodiment, two hook members 22 are provided, and one hook member 22 is fixed to each of the two ends of the support rod 21.

As shown in fig. 1, the hook driving member includes a piston cylinder 3, a connecting member 4 is fixedly connected to the support rod 21, a cylinder body of the piston cylinder 3 is hinged to the mounting frame 1, a piston rod of the piston cylinder 3 is hinged to the connecting member 4, and the hook 22 of the left hook assembly and the right hook assembly is driven by the two piston cylinders 3 to rotate so as to hook the tray 10.

As shown in fig. 1, in order to enable the tray gripping device to securely grip the tray 10, the left end and the right end of the tray 10 are respectively provided with a hooking hole 20, and when the hook 22 hooks the tray 10, the free end of the hook 22 is embedded into the hooking hole 20.

As shown in fig. 1, the bag gripping device comprises a left gripper assembly, a right gripper assembly and two drive piston cylinders 5; wherein the content of the first and second substances,

the left hand grip assembly and the right hand grip assembly respectively comprise a rotating rod 6, a gripping part 7 and at least one hand grip swinging arm 8, the rotating rod 6 is rotatably supported on the mounting frame 1, the upper end part of the hand grip swinging arm 8 is fixed on the rotating rod 6, and the gripping part 7 is connected with the lower end part of the hand grip swinging arm 8;

the cylinder body of the driving piston cylinder 5 is hinged to the mounting frame 1, the rotating rods 6 of the left hand grip assembly and the right hand grip assembly are respectively fixed with a rotating handle, and the piston rods of the two driving piston cylinders 5 are respectively hinged to one rotating handle so as to drive the two rotating rods 6 to rotate through the two driving piston cylinders 5, and further the rotating rods 6 drive the hand grip swing arms 8 and the gripping parts 7 to rotate to grip or loosen the bag. Specifically, when the two drive piston cylinders 5 drive the two grasping portions 7 to rotate in opposite directions, the two grasping portions 7 grasp the bag, and when the two drive piston cylinders 5 drive the two grasping portions 7 to rotate in opposite directions, the two grasping portions 7 release the bag.

As shown in fig. 1, the gripping part 7 comprises at least one cross bar 71 and a plurality of gripping teeth 72 connected to the cross bar 71 in parallel, wherein the gripping teeth 72 are L-shaped, and the horizontal part of the L-shaped gripping teeth 72 is used for lifting the bag. In this embodiment, two cross bars 71 are provided in parallel up and down.

As shown in fig. 1, in order to facilitate the connection of the combination gripper to the robot, a robot connecting plate 11 is connected to the mounting frame 1.

As shown in fig. 1, in order to prevent the bag from being displaced when the bag gripping device grips the bag and moves, the combined gripper further comprises a bag pressing device for pressing the bag after the bag gripping device grips the bag, and the bag pressing device is connected to the mounting frame 1.

As shown in fig. 1, the bag pressing device includes a bag pressing piston cylinder 91 and a bag pressing assembly 92, the bag pressing piston cylinder 91 is connected between the mounting frame 1 and the bag pressing assembly 92, so that after the bag grasping device grasps the bag, the bag pressing piston cylinder 91 drives the bag pressing assembly 92 into abutment with the bag.

The working principle of the utility model is as follows:

the tray grabbing device grabs the tray 10, and meanwhile, the bag grabbing device grabs the bag, so that the tray 10 and the bag are grabbed simultaneously, and then the robot connected with the mounting frame 1 drives the combined type grabbing hand, the tray 10 and the bag to move simultaneously, so that the tray 10 and the bag can be grabbed and carried simultaneously, and the working efficiency is improved; after the sack was grabbed, the utility model discloses still push down the upper end of sack through pressing the bagging apparatus, and then prevent that the sack from taking place the displacement at the relative tray 10 of in-process that removes, improved the fastness that the sack grabbing device snatched, and then make the utility model discloses can long-term stable work.

The above-mentioned embodiments further explain in detail the technical problems, technical solutions and advantages solved by the present invention, and it should be understood that the above only is a specific embodiment of the present invention, and is not intended to limit the present invention, and any modifications, equivalent substitutions, improvements, etc. made within the spirit and principle of the present invention should be included in the scope of the present invention.

In the description of the present invention, it is to be understood that the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are only for convenience of description and simplification of description, and do not indicate or imply that the equipment or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific position, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not imply that the components are required to be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the present disclosure, unless otherwise expressly stated or limited, the first feature may comprise both the first and second features directly contacting each other, and also may comprise the first and second features not being directly contacting each other but being in contact with each other by means of further features between them. Also, the first feature being above, on or above the second feature includes the first feature being directly above and obliquely above the second feature, or merely means that the first feature is at a higher level than the second feature. A first feature that underlies, and underlies a second feature includes a first feature that is directly under and obliquely under a second feature, or simply means that the first feature is at a lesser level than the second feature.

Claims

1. A combined gripper for simultaneously gripping a tray (10) and bags placed on the tray (10), characterized in that it comprises:

a mounting frame (1);

the tray grabbing device is arranged on the mounting rack (1) and used for grabbing the tray (10);

a bag gripping device mounted on the mounting frame (1) and used for gripping the bag.

2. The modular hand grip of claim 1 wherein: the tray grabbing device comprises a left hook assembly, a right hook assembly and two hook driving pieces; wherein the content of the first and second substances,

the left hook component and the right hook component respectively comprise a support rod (21) and at least one hook piece (22), the support rod (21) is rotatably supported on the mounting rack (1), and the hook piece (22) is fixed on the support rod (21);

one hook driving piece is installed between the mounting frame (1) and the supporting rod (21) of the left hook assembly, and the other hook driving piece is installed between the mounting frame (1) and the supporting rod (21) of the right hook assembly, so that the hook pieces (22) of the left hook assembly and the right hook assembly are driven by the two hook driving pieces to move in opposite directions to hook the tray (10) at the same time.

3. The modular hand grip of claim 2 wherein: collude a driving piece and include piston cylinder (3), fixedly connected with connecting piece (4) on bracing piece (21), the cylinder body of piston cylinder (3) articulates on mounting bracket (1), the piston rod of piston cylinder (3) is articulated mutually with connecting piece (4), and then colludes a part (22) rotation of colluding that colluding the subassembly and collude the subassembly on the right side in order to collude and get tray (10) through two piston cylinder (3) drive left sides.

4. The modular hand grip of claim 2 wherein: the left end and the right end of the tray (10) are respectively provided with a hooking hole (20), and when the hooking piece (22) hooks the tray (10), the free end of the hooking piece (22) is embedded into the hooking hole (20).

5. The modular hand grip of claim 1 wherein: the bag gripping device comprises a left gripper assembly, a right gripper assembly and two driving piston cylinders (5); wherein the content of the first and second substances,

the left hand grip component and the right hand grip component respectively comprise a rotating rod (6), a gripping part (7) and at least one hand grip swinging arm (8), the rotating rod (6) is rotatably supported on the mounting frame (1), the upper end part of the hand grip swinging arm (8) is fixed on the rotating rod (6), and the gripping part (7) is connected with the lower end part of the hand grip swinging arm (8);

the cylinder body of drive piston cylinder (5) articulates on mounting bracket (1), is fixed with the turning handle on dwang (6) of left side tongs subassembly and right tongs subassembly respectively, and the piston rod of two drive piston cylinders (5) is articulated mutually with a turning handle respectively to rotate through two dwang (6) of two drive piston cylinder (5) drive, and then make dwang (6) drive tongs swing arm (8) and snatch portion (7) and rotate in order to snatch or loosen the sack.

6. The modular hand grip of claim 5 wherein: the grabbing part (7) comprises at least one cross rod (71) and a plurality of grabbing teeth (72) connected to the cross rod (71) in parallel, the grabbing teeth (72) are L-shaped, and the horizontal parts of the L-shaped grabbing teeth (72) are used for lifting bags.

7. The modular hand grip of claim 1 wherein: and the mounting frame (1) is connected with a robot connecting plate (11).

8. The modular hand grip of claim 1 wherein: the bag pressing device is used for pressing the bag after the bag grabbing device grabs the bag, and the bag pressing device is connected to the mounting frame (1).

9. The modular hand grip of claim 8 wherein: the bag pressing device comprises a bag pressing piston cylinder (91) and a bag pressing assembly (92), wherein the bag pressing piston cylinder (91) is connected between the mounting frame (1) and the bag pressing assembly (92), so that after the bag grabbing device grabs the bag, the bag pressing piston cylinder (91) drives the bag pressing assembly (92) to abut against the bag.