CN211109843U

CN211109843U - Turnover box gripper used on stacking robot

Info

Publication number: CN211109843U
Application number: CN201921917305.3U
Authority: CN
Inventors: 侯世银; 蒋琪
Original assignee: Hualian Machinery Group Co Ltd
Current assignee: Hualian Machinery Group Co Ltd
Priority date: 2019-11-07
Filing date: 2019-11-07
Publication date: 2020-07-28
Anticipated expiration: 2029-11-07

Abstract

The utility model relates to a turnover case tongs for on pile up neatly machine people, including fixing base and tongs mechanism, the fixing base both sides all are equipped with the slide, the slide can be for the fixing base motion in opposite directions or back of the body motion, tongs mechanism sets up on the slide, tongs mechanism is equipped with rotatory tongs and gag lever post including rotatory tongs and gag lever post on each slide, the rotatable setting of rotatory tongs is on the slide, and the gag lever post is fixed to be set up on the slide, rotatory tongs is "V" font setting, tongs mechanism still is equipped with the extension spring that is used for resetting rotatory tongs, be equipped with on the fixing base and be used for driving two slides and make the actuating mechanism of motion in opposite directions or back of the body motion. According to the technical scheme, the utility model provides a turnover case tongs for on pile up neatly machine people, but this turnover case tongs rapid stabilization snatchs for can enough guarantee its high efficiency when the pile up neatly for the turnover case, can also keep stable simultaneously.

Description

Turnover box gripper used on stacking robot

Technical Field

The utility model belongs to the technical field of the equipment for packing and specifically relates to a turnover case tongs for pile up neatly machine people is related to.

Background

The turnover box stacking mode on the current market is as follows: firstly, manual stacking is used, but the stacking mode wastes time and labor; secondly, the turnover box gripper hooks the turnover box gripper hole from inside to outside and then is used for stacking according to a specific program by a robot, but the stacking mode has limitation, and materials in the turnover box cover the gripper hole of the turnover box, so that the gripper cannot grip the materials; thirdly, the turnover box gripper hooks the turnover box gripper hole from outside to inside, and then the robot carries out stacking according to a specific program, but the stability of the turnover box gripper cannot be guaranteed due to the limited length of the turnover box gripper hole, and the turnover box can be shaken at a higher speed to influence the stacking.

Disclosure of Invention

The utility model aims at: in order to overcome the defects of the prior art, the utility model provides a turnover case tongs for on pile up neatly machine people, but this turnover case tongs rapid stabilization snatchs for the turnover case can enough guarantee its high efficiency when the pile up neatly, can also keep stable simultaneously.

The technical scheme of the utility model: the utility model provides a turnover case tongs for on pile up neatly machine people which characterized in that: the hand gripping device comprises a fixed seat and hand gripping mechanisms, wherein sliding plates are arranged on two sides of the fixed seat respectively, the sliding plates can move in opposite directions or back to back relative to the fixed seat, and the hand gripping mechanisms are arranged on the sliding plates;

wherein, tongs mechanism is including rotatory tongs and gag lever post, the rotatable setting of rotatory tongs is on the board that slides, and the gag lever post is fixed to be set up on the board that slides, rotatory tongs is "V" font setting, and wherein one side of rotatory tongs is contradicted with the gag lever post and is set up, tongs mechanism still is equipped with the extension spring that is used for to the gag lever post direction rotatory tongs that resets, be equipped with on the fixing base and be used for driving two boards that slide and make the actuating mechanism of opposite directions or back of the body motion mutually.

By adopting the technical scheme, the driving mechanism drives the sliding plate to slide towards the direction close to the fixed seat, the rotating gripper is arranged in a V shape, one side of the rotating gripper firstly touches the turnover box in the sliding process of the sliding plate, and in the continuous sliding process, the rotating gripper can rotate for a certain angle under the action of the tension spring, so that the other side of the rotating gripper is far away from the limiting rod and is abutted against the turnover box, the rotating gripper grips the turnover box and is matched with the edge turned outwards on the turnover box, the rotating gripper can lift the turnover box, then the turnover box gripper and the turnover box gripper are stacked together according to a preset program by a mechanical handle, when the turnover box is required to be loosened, the driving mechanism drives the sliding plate to slide towards the direction far away from the fixed seat, the rotating gripper can be far away from the turnover box, and the rotating gripper can reset towards the limiting rod under the action force of the tension, until rotatory tongs one side is contradicted with the gag lever post and is set up, the effect of gag lever post is exactly in order to be used for restricting rotatory tongs and make it can not skew initial position when rotatory, but rotatory tongs and the border of turnover case to cooperation rapid stabilization's snatching for the turnover case can enough guarantee its high efficiency when the pile up neatly, can also keep stability simultaneously.

The utility model discloses a further setting: actuating mechanism includes cylinder, first connecting rod, second connecting rod and swing arm, cylinder one end is connected with the fixing base, and the other end is connected with the slide plate of fixing base one side, first connecting rod one end is articulated with the slide plate of fixing base one side, and the other end is articulated with the one end of swing arm, second connecting rod one end is articulated with the slide plate of fixing base opposite side, and the other end articulates the other end at the swing arm, the middle part of swing arm is rotated and is set up on the fixing base, and the cylinder is flexible can drive slide plate and make opposite directions motion or back-to-back motion.

Adopt the above-mentioned further setting, the cylinder is flexible can drive the sliding plate rather than being connected and slide, the sliding plate slides and drives the first connecting rod removal rather than being connected and make the swing arm of being connected with first connecting rod rotate, thereby the swing arm rotates and drives the second connecting rod removal of connection on its other end and drive the sliding plate of opposite side and slide to keeping away from the fixing base direction, it is more convenient to adopt the mode of this kind of seesaw to carry out sliding of sliding plate, the middle part of swing arm is rotated and is set up on the fixing base, make two sliding plates equal to the distance between the swing arm like this, the sliding plate can slide in step at the in-process of sliding, it is more stable.

The utility model discloses a further setting again: the fixed seat both sides respectively are equipped with a slide plate, all are equipped with two sets of tongs mechanisms on each slide plate, and the mutual symmetry setting of tongs mechanism on each slide plate.

Adopt above-mentioned further setting again, respectively be equipped with two sets of tongs mechanisms on every shifting board, just be equipped with four groups of tongs mechanisms on two shifting boards, the symmetry sets up and makes four groups of tongs mechanisms just correspond four angles of turnover case, conveniently like this lift the turnover case, and is more stable at the in-process of snatching, is difficult for dropping.

The utility model discloses a still further set up: the bottom of fixing base is equipped with two parallel arrangement's slide rail each other, and each sliding plate slidable sets up on two slide rails, the flexible direction and the slide rail direction parallel arrangement of cylinder.

Adopt above-mentioned still further setting again, guarantee the steady of slide plate and slide to guarantee steadily snatching of turnover case.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment of the present invention;

FIG. 2 is a schematic structural view of the cylinder when the cylinder is extended according to the embodiment of the present invention;

FIG. 3 is a schematic structural view of the cylinder in the embodiment of the present invention when the cylinder retracts;

fig. 4 is a schematic structural diagram of a driving mechanism according to an embodiment of the present invention;

fig. 5 is a side view of an embodiment of the present invention.

Detailed Description

As shown in fig. 1-5, a turnover box gripper for a palletizing robot comprises a fixed seat 1 and gripper mechanisms 2, wherein sliding plates 3 are arranged on two sides of the fixed seat 1, the sliding plates 3 can move in opposite directions or in opposite directions relative to the fixed seat 1, and the gripper mechanisms 2 are arranged on the sliding plates 3;

wherein, the gripper mechanism 2 comprises a rotary gripper 21 and a limiting rod 22, the rotary gripper 21 is rotatably arranged on the sliding plate 3 through a bearing, the limiting rod 22 is fixedly arranged on the sliding plate 3, the rotary gripper 21 is arranged in a V shape, one side of the rotary gripper 21 is abutted against the limiting rod 22, the gripper mechanism 2 is further provided with a tension spring 23 for resetting the rotary gripper 21 towards the limiting rod 22, one end of the tension spring 23 is connected with the sliding plate 3, the other end of the tension spring is connected with the rotary gripper 21, the fixing seat 1 is provided with a driving mechanism 4 for driving the two sliding plates 3 to move in opposite directions or in opposite directions, the driving mechanism 4 drives the sliding plate 3 to slide towards the direction close to the fixing seat 1, because the rotary gripper 21 is arranged in a V shape, one side of the rotary gripper 21 can firstly touch the turnover box 5 in the sliding process of the sliding plate 3, in the process of continuous sliding, the rotating gripper 21 rotates a certain angle under the action of the tension spring 23, so that the other side of the rotating gripper 21 is far away from the limiting rod 22 and is abutted against the turnover box 5, the rotating gripper 21 grips the turnover box 5 and is matched with the edge turned outwards on the turnover box 5, the rotating gripper 21 can lift the turnover box 5, then the turnover box 5 is palletized by a mechanical handle according to a preset program, when the turnover box 5 needs to be loosened, the driving mechanism 4 drives the sliding plate 3 to slide in the direction far away from the fixed seat 1, the rotating gripper 21 can be far away from the turnover box 5, the rotating gripper 21 can reset in the direction of the limiting rod 22 under the action of the tension spring 23 until one side of the rotating gripper 21 is abutted against the limiting rod 22, the limiting rod 22 is used for limiting the rotating gripper 21 to prevent the rotating gripper from deviating from the initial position, the edges of the rotating gripper 21 and the turnover box 5 can be rapidly and stably gripped in a matched manner, the turnover box 5 can ensure the high efficiency and keep the stability during stacking.

In this embodiment, the driving mechanism 4 includes a cylinder 41, a first connecting rod 42, a second connecting rod 43 and a swing arm 44, one end of the cylinder 41 is connected to the fixing base 1, the other end of the cylinder is connected to the sliding plate 3 on one side of the fixing base 1, one end of the first connecting rod 42 is hinged to the sliding plate 3 on one side of the fixing base 1, the other end of the first connecting rod 42 is hinged to one end of the swing arm 44, one end of the second connecting rod 43 is hinged to the sliding plate 3 on the other side of the fixing base 1, the other end of the second connecting rod 43 is hinged to the other end of the swing arm 44, the middle portion of the swing arm 44 is rotatably disposed on the fixing base 1, the cylinder 41 is telescopic to drive the sliding plates 3 to move in opposite directions or opposite directions, the cylinder 3 is telescopic to drive the sliding plate 3 connected thereto to slide, the sliding plate 3 is slidable to drive the first connecting rod 42 connected, thereby swing arm 44 rotates to drive the second connecting rod 43 of connection on its other end and moves and drive the sliding plate 3 of opposite side and to keeping away from 1 direction of fixing base and slide, it is more convenient to adopt the mode of this kind of seesaw to carry out sliding plate 3's slip, the middle part of swing arm 44 is rotated and is set up on fixing base 1, make two sliding plate 3 equal to the distance between the swing arm 44 like this, sliding plate 3 can slide in step at the in-process that slides, and is more stable.

In this embodiment, 1 both sides of fixing base respectively are equipped with a slide plate 3, all be equipped with two sets of tongs mechanisms 2 on each slide plate 3, and the mutual symmetry setting of tongs mechanism 2 on each slide plate 3, respectively be equipped with two sets of tongs mechanisms 2 on every slide plate 3, just be equipped with four groups of tongs mechanisms 2 on two slide plates 3, the symmetry sets up four groups of tongs mechanisms 2 and just corresponds four angles of turnover case 5, conveniently get up turnover case 5 like this, and it is more stable at the in-process that snatchs, be difficult for dropping, the distance between rotatory tongs 21 on fixing base 1 one side and the rotatory tongs 21 on fixing base 1 opposite side must be than the length of turnover case 5, the distance between two rotatory tongs on every slide plate 3 is greater than the width of turnover case 5, can avoid bumping when snatching turnover case 5 like this.

In this embodiment, the bottom of fixing base 1 is equipped with two mutual parallel arrangement's slide rail 6, and each sliding plate 3 slidable sets up on two slide rails 6, and the flexible direction and the 6 direction parallel arrangement of slide rail of cylinder 41 set up like this and can guarantee the steady of sliding plate 3 and slide to guarantee steadily snatching of turnover case 5.

The working principle of the utility model is that when in use, the fixed seat 1 is used for connecting a palletizing manipulator, the manipulator drives the whole set of turnover box 5 gripper to perform palletizing action, when the manipulator grabs the turnover box 5 by the rotary gripper 21, the cylinder 41 is in an extension state, when the gripper mechanism 2 is at the farthest distance, after the manipulator handle 21 is fed in place, the cylinder 41 retracts to act, when the gripper mechanisms 2 are closed towards each other, one end of the rotary gripper 21 provided with the tension spring 23 firstly touches the turnover box 5, when the gripper mechanism is continuously closed until the other end of the rotary gripper 21 also touches the turnover box 5, so that four corners of the turnover box are gripped by the rotary gripper 21, and then the turnover box 5 can be lifted by the rotary gripper 21 matched with the edge turned outwards turned over the turnover box 5, then the rotary gripper 21 of the manipulator handle and the turnover box 5 are palletized according to the preset program, when the turnover box 5 needs to be loosened, the air cylinder 41 extends outwards, and the rotary gripper 21 is pulled back to the initial position by the tension spring 23 as long as the gripper mechanism 2 moves away from the other sides, so that the turnover box 5 is loosened, and the manipulator can take the rotary gripper 21 to grab other turnover boxes 5 needing to be stacked.

Claims

1. The utility model provides a turnover case tongs for on pile up neatly machine people which characterized in that: the hand gripping device comprises a fixed seat and hand gripping mechanisms, wherein sliding plates are arranged on two sides of the fixed seat respectively, the sliding plates can move in opposite directions or back to back relative to the fixed seat, and the hand gripping mechanisms are arranged on the sliding plates;

2. A transfer container gripper for use on a palletizing robot as claimed in claim 1, characterized in that: actuating mechanism includes cylinder, first connecting rod, second connecting rod and swing arm, cylinder one end is connected with the fixing base, and the other end is connected with the slide plate of fixing base one side, first connecting rod one end is articulated with the slide plate of fixing base one side, and the other end is articulated with the one end of swing arm, second connecting rod one end is articulated with the slide plate of fixing base opposite side, and the other end articulates the other end at the swing arm, the middle part of swing arm is rotated and is set up on the fixing base, and the cylinder is flexible can drive slide plate and make opposite directions motion or back-to-back motion.

3. A transfer container gripper for use on a palletizing robot according to claim 2, characterized in that: the fixed seat both sides respectively are equipped with a slide plate, all are equipped with two sets of tongs mechanisms on each slide plate, and the mutual symmetry setting of tongs mechanism on each slide plate.

4. A tote gripper for use on palletizing robots according to claim 1, 2 or 3, characterized in that: the bottom of fixing base is equipped with two parallel arrangement's slide rail each other, and each sliding plate slidable sets up on two slide rails, the flexible direction and the slide rail direction parallel arrangement of cylinder.