CN211662052U

CN211662052U - Clamping manipulator

Info

Publication number: CN211662052U
Application number: CN202020003699.8U
Authority: CN
Inventors: 蓝国欣
Original assignee: Shantou Shunxinlong Printing Machinery Co ltd
Current assignee: Shantou Shunxinlong Printing Machinery Co ltd
Priority date: 2020-01-02
Filing date: 2020-01-02
Publication date: 2020-10-13
Anticipated expiration: 2030-01-02

Abstract

The utility model discloses a press from both sides and get manipulator, including the manipulator body, the manipulator body is including pressing from both sides the clamp and getting support, first piece, second piece, first clamping jaw, second clamping jaw, first telescopic machanism, first clamp plate, second telescopic machanism, second clamp plate, first end mechanism, first end film, second end mechanism and the second of holding in the palm hold in the palm the film to and be used for driving the clamping actuating mechanism that presss from both sides of first clamping jaw, second clamping jaw. The clamping manipulator clamps and fixes the front end and the rear end of the whole paper product row by the first clamping jaw and the second clamping jaw, the lower end of the whole paper product row is supported and fixed by the paper padding strip, the first support bottom plate and the second support bottom plate, and the upper end of the whole paper product row is pressed and fixed by the first pressing plate and the second pressing plate, so that the periphery of the whole paper product row is fixed, the whole paper product row is not easy to loosen and scatter in the clamping and conveying moving process, the clamping is firm, the whole paper product row can be kept orderly, manual carrying and stacking are not needed, time and labor are saved, and the working efficiency is improved.

Description

Clamping manipulator

Technical Field

The utility model relates to a paper products collection and arrangement equipment, in particular to press from both sides and get manipulator.

Background

After the paper products are printed, the paper products need to be stacked to form a paper product stack, and the paper products are neatly arranged, so that the storage and the transportation of the paper products are convenient. The paper product stack case at present needs to be manually stacked from bottom to top to form a paper product stack, or to be sequentially arranged from front to back to form a paper product column, when the number of the paper product stack or the paper product column reaches a certain number, the paper product stack or the paper product column is manually carried and placed in a corresponding collecting frame, the whole working process is manually carried and stacked, paper product stack disorder is easily caused, after the paper product stack or the paper product column which is not uniformly stacked is manually taken out, the whole paper product stack still needs to be manually tidily arranged, the arrangement is quite troublesome, the labor intensity is high, time and labor are wasted, and the working efficiency is low.

Disclosure of Invention

The utility model aims to solve the problem that a press from both sides and get manipulator is provided, and this kind of clamp gets the manipulator and can press from both sides the whole paper products of folding automatically, and the centre gripping is firm, guarantees that the arrangement of whole paper products of folding is neat, and labour saving and time saving improves work efficiency.

In order to solve the technical problem, the utility model discloses a technical scheme as follows:

a clamping manipulator comprises a rack, a manipulator body and a displacement driving mechanism for driving the manipulator body to lift, rotate and translate, wherein the displacement driving mechanism is installed on the rack; the method is characterized in that: the manipulator body comprises a clamping support, a first supporting block, a second supporting block, a first clamping jaw, a second clamping jaw, a first telescopic mechanism, a first pressing plate, a second telescopic mechanism, a second pressing plate, a first bottom supporting mechanism, a first bottom supporting plate, a second bottom supporting mechanism, a second bottom supporting plate and a clamping driving mechanism for driving the first clamping jaw and the second clamping jaw to be clamped, the clamping support is installed on a displacement driving mechanism, the clamping driving mechanism is fixedly installed on the clamping support, the first supporting block and the second supporting block are respectively installed on the power output end of the clamping driving mechanism, the first clamping jaw is installed on the first supporting block, and the second clamping jaw is installed on the second supporting block; the first telescopic mechanism is arranged on the first supporting block, the first pressing plate is arranged on the power output end of the first telescopic mechanism, and the action direction of the first telescopic mechanism is vertical to the first pressing plate; the second telescopic mechanism is arranged on the second supporting block, the second pressure plate is arranged on the power output end of the second telescopic mechanism, and the action direction of the second telescopic mechanism is vertical to the second pressure plate; the first bottom supporting mechanism is arranged on the first supporting block, the first bottom supporting sheet is arranged on the power output end of the first bottom supporting mechanism, and the first bottom supporting mechanism can enable the first bottom supporting sheet to be bent inwards; the second bottom supporting mechanism is arranged on the second supporting block, the second bottom supporting sheet is arranged on the power output end of the second bottom supporting mechanism, and the second bottom supporting mechanism can enable the second bottom supporting sheet to be bent inwards.

When the paper product row is clamped by the clamping manipulator (namely, a row of vertically standing paper products are sequentially arranged from front to back), a paper padding strip needs to be placed on the conveying belt, then the row of paper products is placed on the paper padding strip, the front end and the rear end of the paper padding strip are bent by other auxiliary mechanisms to be attached to the front end and the rear end of the paper product row (the paper padding strip is U-shaped), and the paper product row is conveyed to the position below the clamping manipulator by the conveying belt. The paper strip is arranged below the paper product row in a padding mode, so that the situation that the paper product row standing vertically loosens in the clamping and conveying process can be avoided, and the lower end of the paper product row is supported and fixed.

Generally, the clamping driving mechanism adopts a structure that a motor, a synchronous wheel and a synchronous belt are matched, and the synchronous belt is used as a power output end. The clamping driving mechanism respectively drives the first clamping jaw and the second clamping jaw to clamp or loosen the paper product column, the clamping is completely clamped, and the paper product column is placed in the collecting box when the clamping is loosened.

When the mechanical hand works, the mechanical hand body is moved to the position above the paper product row by using the displacement driving mechanism, so that the paper product row is positioned between the first clamping jaw and the second clamping jaw; then, the first telescopic mechanism drives the first pressure plate to move downwards, the second telescopic mechanism drives the second pressure plate to move downwards, and the first telescopic mechanism and the second telescopic mechanism are both in an extension state, so that the first pressure plate and the second pressure plate have upward-retraction inertia under the action of the first telescopic mechanism and the second telescopic mechanism; then, the clamping driving mechanism respectively drives the first supporting block and the second supporting block to move towards the middle, so that the first clamping jaw and the second clamping jaw clamp the paper product row in the middle, the first pressing plate and the second pressing plate are positioned at the upper end of the paper product row and apply slight elasticity to the upper end of the paper product row for pressing, at the moment, the first bottom supporting mechanism drives the first bottom supporting sheet to bend inwards, the second bottom supporting mechanism drives the second bottom supporting sheet to bend inwards, the first bottom supporting sheet and the second bottom supporting mechanism can support the paper product row with the lower end surrounded by the paper padding strip, support and fix the lower end of the paper product row, and prevent part of the paper products from falling out from the middle part of the paper product row in the clamping and conveying process; then, the clamping driving mechanism drives the first supporting block and the second supporting block to move towards the middle continuously, so that the first clamping jaw and the second clamping jaw completely clamp the paper product row in the middle, the manipulator body is lowered into the collecting frame through the displacement driving mechanism, then the clamping driving mechanism drives the first clamping jaw and the second clamping jaw to loosen the paper product row, and the paper product row is placed into the collecting frame; then, the first stretching mechanism drives the first pressing plate to stretch back and forth for multiple times, meanwhile, the second stretching mechanism drives the second pressing plate to stretch back and forth for multiple times, the upper ends of the paper product rows placed in the collecting frame are pressed and flapped for multiple times, and the paper product rows are automatically tidied; and finally, the first bottom supporting mechanism drives the first bottom supporting sheet to restore the original vertical state, the second bottom supporting mechanism drives the second bottom supporting sheet to restore the original vertical state, the support for the lower end of the paper product row is released, and the clamping support, the first clamping jaw and the second clamping jaw are restored to the original positions by the horizontal moving mechanism, the rotary driving mechanism and the clamping lifting mechanism. And circulating the steps, and clamping and conveying the next row of paper product arrays.

The clamping manipulator is used for clamping the paper product stack (namely, the paper products which are horizontally placed are stacked from bottom to top) in the same way as the paper product row clamping, and only when the paper product stack is clamped, a cushion paper strip does not need to be placed on a conveying belt in advance.

As a preferred scheme of the present invention, the first telescopic mechanism includes a first telescopic cylinder, a first telescopic frame, a first guide pillar and a first positioning guide sleeve, the first telescopic cylinder and the first positioning guide sleeve are mounted on the first supporting block, a piston rod of the first telescopic cylinder is arranged downward, a fixed end of the first telescopic frame is in transmission connection with the piston rod of the first telescopic cylinder, and a movable end of the first telescopic frame is connected with an upper surface of the first pressing plate; the axis of the first positioning guide sleeve is arranged along the up-down direction, the first guide pillar is positioned in the first positioning guide sleeve, and the lower end of the first guide pillar is fixedly connected with the upper surface of the first pressing plate.

As a preferred scheme of the present invention, the second telescopic mechanism includes a second telescopic cylinder, a second telescopic frame, a second guide pillar and a second positioning guide sleeve, the second telescopic cylinder and the second positioning guide sleeve are mounted on the second supporting block, a piston rod of the second telescopic cylinder is arranged downward, a fixed end of the second telescopic frame is in transmission connection with the piston rod of the second telescopic cylinder, and a movable end of the second telescopic frame is connected with an upper surface of the second pressing plate; the axis of the second positioning guide sleeve is arranged along the up-down direction, the second guide pillar is positioned in the second positioning guide sleeve, and the lower end of the second guide pillar is fixedly connected with the upper surface of the second pressing plate.

When the paper product column is positioned between the first clamping jaw and the second clamping jaw, a piston rod of the first telescopic cylinder extends downwards to drive the movable end of the first telescopic frame to extend downwards, the first pressing plate descends downwards, and the first guide pillar descends downwards in the first positioning guide sleeve to play a role in guiding; a piston rod of the second telescopic cylinder extends downwards to drive the movable end of the second telescopic frame to extend downwards, the second pressing plate descends downwards, and the second guide pillar descends downwards in the second positioning guide sleeve to play a role in guiding; the first pressing plate and the second pressing plate simultaneously apply slight elastic force to the upper ends of the paper product rows for pressing and fixing.

As the utility model discloses an optimal scheme, first end mechanism that holds in palm includes first vertical rodless cylinder, first sleeve and first connecting rod, is equipped with the first through-hole that moves towards from top to bottom on the first piece, and first vertical rodless cylinder is installed on the first piece, first sleeve is in first through-hole, the piston fixed connection of first telescopic lateral wall and first vertical rodless cylinder, and first connecting rod is in first sleeve, first end of holding in the palm the film upper end is articulated with first connecting rod lower extreme.

As the utility model discloses an optimal scheme, the second holds in the palm end mechanism and includes the vertical no thick stick cylinder of second, second sleeve and second connecting rod, is equipped with the second through-hole that moves towards from top to bottom on the second prop up the piece, and the vertical no thick stick cylinder of second is installed on the second prop up the piece, the second sleeve is in the second through-hole, the telescopic lateral wall of second and the piston fixed connection of the vertical no thick stick cylinder of second, and the second connecting rod is in the second sleeve, second support film upper end is articulated with second connecting rod lower extreme.

When the vertical rodless cylinder works, the piston of the first vertical rodless cylinder moves downwards, at the moment, the first connecting rod is in an original position, the first sleeve is driven by the piston of the first vertical rodless cylinder to move downwards, and the lower end of the first sleeve props against the hinged position of the upper end of the first bottom supporting plate and the lower end of the first connecting rod, so that the vertical first bottom supporting plate is bent inwards; the piston of the second vertical rodless cylinder moves downwards, at the moment, the second connecting rod is not moved in situ, the second sleeve is driven by the piston of the second vertical rodless cylinder to move downwards, and the lower end of the second sleeve abuts against the hinged position of the upper end of the second bottom supporting plate and the lower end of the second connecting rod, so that the vertical second bottom supporting plate is bent inwards; the inward-bent first bottom supporting sheet and the inward-bent second bottom supporting sheet can support the paper product columns with the lower ends surrounded by the paper packing strips. After the paper product column is released by the first clamping jaw and the second clamping jaw, the piston of the first vertical rodless cylinder moves upwards, at the moment, the first connecting rod is not moved in situ, the first sleeve is driven by the piston of the first vertical rodless cylinder to move upwards, and the lower end of the first sleeve is far away from the hinged part of the upper end of the first bottom supporting piece and the lower end of the first connecting rod, so that the first bottom supporting piece is restored to the original vertical state; the piston of the second vertical rodless cylinder moves upwards, at the moment, the second connecting rod is in the original position, the second sleeve moves upwards under the driving of the piston of the second vertical rodless cylinder, and the lower end of the second sleeve is far away from the hinged position of the upper end of the second bottom supporting plate and the lower end of the second connecting rod, so that the second bottom supporting plate is restored to the original vertical state.

As the utility model discloses a preferred scheme, displacement drive mechanism gets elevating system, rotary driving mechanism and horizontal migration mechanism including the clamp, and the clamp is got elevating system and is installed in the frame, and rotary driving mechanism installs on the power take off who gets elevating system is got to the clamp, and horizontal migration mechanism installs on rotary driving mechanism's power take off, the clamp is got the pedestal mounting on horizontal migration mechanism's power take off. The paper product clamping device comprises a horizontal moving mechanism, a clamping support, a first clamping jaw and a second clamping jaw, wherein the horizontal moving mechanism is driven by the clamping and lifting mechanism to lift the clamping support, the first clamping jaw and the second clamping jaw, the horizontal moving mechanism, the clamping support, the first clamping jaw and the second clamping jaw are driven by the rotary driving mechanism to rotate to the positions above a paper product row, the horizontal moving mechanism drives the clamping support to horizontally move, and the first clamping jaw and the second clamping jaw on the clamping support are moved to the positions above the paper product row, so that the paper product row is located between the first clamping jaw and the second clamping jaw. When the mechanical hand body clamps the paper product row in the middle, the clamping support is driven to rotate through the rotary driving mechanism, the paper product row is moved to the upper side of the collecting frame, and then the horizontal moving mechanism and the clamping support, the first clamping jaw and the second clamping jaw on the horizontal moving mechanism are driven to descend into the collecting frame through the clamping lifting mechanism. The rotary driving mechanism is a rotary cylinder.

As a further preferred aspect of the present invention, the clamping lifting mechanism comprises a clamping support frame, a clamping driving motor, a clamping driving wheel, a clamping driven wheel, a clamping transmission chain, a clamping longitudinal linear guide slot, a clamping longitudinal slider and a lifting column, the clamping support frame is mounted on the frame, the clamping driving motor and the clamping driving wheel are both mounted at the lower end of the clamping support frame, the clamping driven wheel is mounted at the upper end of the clamping support frame, the clamping driving wheel is in transmission connection with an output shaft of the clamping driving motor, and the clamping driving wheel and the clamping driven wheel are connected through the clamping transmission chain; the clamping longitudinal linear guide groove is arranged on the clamping support frame, the clamping longitudinal sliding block is arranged on the clamping longitudinal linear guide groove, the lifting column is fixedly arranged on the clamping longitudinal sliding block and is positioned in the clamping longitudinal linear guide groove, the upper end of the lifting column is connected with the rotary driving mechanism, and the clamping longitudinal sliding block is connected with the clamping transmission chain. The clamping driving motor drives the clamping driving wheel to rotate, the clamping driving wheel rotates along with the rotation of the clamping driving wheel, the clamping longitudinal sliding block connected with the clamping transmission chain slides up and down along the clamping longitudinal linear guide groove along with the conveying of the clamping transmission chain, and the lifting column slides up and down in the clamping longitudinal linear guide groove under the driving of the clamping longitudinal sliding block.

As a further preferable proposal of the utility model, the horizontal moving mechanism comprises a horizontal supporting seat, a horizontal driving wheel, a horizontal driven wheel and a horizontal transmission chain, horizontal slider, two horizontal linear guide and be used for driving horizontal action wheel pivoted horizontal drive motor, the horizontal support seat is installed on rotary driving mechanism's power transmission end, horizontal action wheel, level are all installed on the horizontal support seat from driving wheel and horizontal drive motor, and the output shaft transmission of horizontal action wheel and horizontal drive motor is connected, and horizontal action wheel and level are connected through horizontal drive chain between the driving wheel, and two horizontal linear guide install in the frame and be in horizontal drive chain's length direction both sides respectively, and horizontal slider installs on two horizontal linear guide, press from both sides to get the support and be connected with horizontal slider, and horizontal slider is connected with horizontal drive chain. The slide block and the clamping support thereon are controlled to move horizontally by the positive and negative rotation of the horizontal driving motor.

Compared with the prior art, the utility model, have following advantage:

the clamping manipulator clamps and fixes the front end and the rear end of the whole paper product row by the first clamping jaw and the second clamping jaw, the lower end of the whole paper product row is supported and fixed by the paper padding strip, the first support bottom plate and the second support bottom plate, and slight elastic force is exerted on the upper end of the whole paper product row by the first pressing plate and the second pressing plate to press and fix, so that the periphery of the whole paper product row is fixed, the whole paper product row is not easy to loosen and scatter in the clamping and conveying moving process, the clamping is firm, the whole paper product row can be kept to be arranged neatly, manual carrying and stacking are not needed, time and labor are saved, and the working efficiency is improved.

Drawings

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

fig. 2 is a schematic structural diagram of a first bottom supporting mechanism and a second bottom supporting mechanism in an embodiment of the present invention;

fig. 3 is a schematic view showing a state in which the paper product columns are wrapped by the packing paper strips according to the embodiment of the present invention.

Detailed Description

The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

As shown in fig. 1, the gripping manipulator in this embodiment includes a rack 1, a manipulator body 2, and a displacement driving mechanism 3 for driving the manipulator body 2 to move up, down, rotate, and translate, where the displacement driving mechanism 3 is installed on the rack 1, and the manipulator body 2 is installed on the displacement driving mechanism 3; the manipulator body 2 comprises a clamping support 201, a first support block 202, a second support block 203, a first clamping jaw 204, a second clamping jaw 205, a first telescopic mechanism 206, a first pressing plate 207, a second telescopic mechanism 208, a second pressing plate 209, a first support mechanism 210, a first support plate 211, a second support mechanism 212, a second support plate 213 and a clamping driving mechanism 214 for driving the first clamping jaw 204 and the second clamping jaw 205 to clamp, the clamping support 201 is arranged on the displacement driving mechanism 3, the clamping driving mechanism 214 is fixedly arranged on the clamping support 201, the first support block 202 and the second support block 203 are respectively arranged on the power output end of the clamping driving mechanism 214, the first clamping jaw 204 is arranged on the first support block 202, and the second clamping jaw 205 is arranged on the second support block 203; the first telescopic mechanism 206 is installed on the first support block 202, the first pressure plate 207 is installed on the power output end of the first telescopic mechanism 206, and the action direction of the first telescopic mechanism 206 is perpendicular to the first pressure plate 207; the second telescopic mechanism 208 is arranged on the second supporting block 203, the second pressure plate 209 is arranged on the power output end of the second telescopic mechanism 208, and the action direction of the second telescopic mechanism 208 is vertical to the second pressure plate 209; the first bottom supporting mechanism 210 is installed on the first supporting block 202, the first bottom supporting sheet 211 is installed on the power output end of the first bottom supporting mechanism 210, and the first bottom supporting mechanism 210 can enable the first bottom supporting sheet 211 to be bent inwards; the second bottom supporting mechanism 212 is mounted on the second support block 203, the second bottom supporting sheet 213 is mounted on the power output end of the second bottom supporting mechanism 212, and the second bottom supporting mechanism 212 can bend the second bottom supporting sheet 213 inward.

As shown in fig. 3, when the paper product row 4 is gripped by the gripping robot (i.e., a paper product 41 standing vertically is formed by arranging paper products in sequence from front to back), a strip of paper padding 5 is placed on the conveyor belt, and then a row of paper product rows 4 is placed on the strip of paper padding 5, and the front and rear ends of the strip of paper padding 5 are bent by other auxiliary mechanisms to abut against the front and rear ends of the paper product row 4 (the strip of paper padding 5 is U-shaped), and are conveyed by the conveyor belt to the lower side of the gripping robot. The lower part of the paper product row 4 is provided with a paper padding strip 5 which can prevent the paper product row 4 standing vertically from loosening in the clamping and conveying process and play a role in supporting and fixing the lower end of the paper product row 4.

Generally, the clamping driving mechanism 214 adopts a structure in which a motor, a synchronous wheel and a synchronous belt are matched, and the synchronous belt is used as a power output end. The nip drive mechanism 214 drives the first jaw 204 and the second jaw 205 to nip or unclamp the paper product column 4, respectively, with the nip being fully gripped and the unclamp placing the paper product column 4 in the collection bin.

The first telescopic mechanism 206 comprises a first telescopic cylinder 2061, a first telescopic frame 2062, a first guide post 2063 and a first positioning guide sleeve 2064, the first telescopic cylinder 2061 and the first positioning guide sleeve 2064 are installed on the first support block 202, a piston rod of the first telescopic cylinder 2061 is arranged downwards, the fixed end of the first telescopic frame 2062 is in transmission connection with the piston rod of the first telescopic cylinder 2061, and the movable end of the first telescopic frame 2062 is connected with the upper surface of the first pressing plate 207; the axis of the first positioning guide sleeve 2064 is arranged along the up-down direction, the first guide post 2063 is positioned in the first positioning guide sleeve 2064, and the lower end of the first guide post 2063 is fixedly connected with the upper surface of the first pressing plate 207; the second telescopic mechanism 208 comprises a second telescopic cylinder 2081, a second telescopic frame 2082, a second guide post 2083 and a second positioning guide sleeve 2084, the second telescopic cylinder 2081 and the second positioning guide sleeve 2084 are installed on the second support block 203, a piston rod of the second telescopic cylinder 2081 is arranged downwards, the fixed end of the second telescopic frame 2082 is in transmission connection with the piston rod of the second telescopic cylinder 2081, and the movable end of the second telescopic frame 2082 is connected with the upper surface of the second pressing plate 209; the axis of the second positioning guide sleeve 2084 is arranged along the up-down direction, the second guide post 2083 is located in the second positioning guide sleeve 2084, and the lower end of the second guide post 2083 is fixedly connected with the upper surface of the second pressure plate 209.

When the paper product column 4 is located between the first clamping jaw 204 and the second clamping jaw 205, the piston rod of the first telescopic cylinder 2061 extends downward to drive the movable end of the first telescopic frame 2062 to extend downward, the first pressing plate 207 descends downward, and the first guide pillar 2063 descends downward in the first positioning guide sleeve 2064 to play a role in guiding; a piston rod of the second telescopic cylinder 2081 extends downwards to drive a movable end of the second telescopic frame 2082 to extend downwards, the second pressure plate 209 descends downwards, and the second guide post 2083 descends downwards in the second positioning guide sleeve 2084 to play a role in guiding; the first pressing plate 207 and the second pressing plate 209 press and fix the upper end of the paper product column 4 by applying a slight elastic force at the same time.

As shown in fig. 2, the first bottom supporting mechanism 210 includes a first vertical rodless cylinder 2101, a first sleeve 2102 and a first connecting rod 2103, a first through hole 2021 which runs up and down is formed in the first supporting block 202, the first vertical rodless cylinder 2101 is mounted on the first supporting block 202, the first sleeve 2102 is located in the first through hole 2021, the outer side wall of the first sleeve 2102 is fixedly connected with a piston of the first vertical rodless cylinder 2101, the first connecting rod 2103 is located in the first sleeve 2102, and the upper end of the first bottom supporting sheet 211 is hinged to the lower end of the first connecting rod 2103; the second bottom supporting mechanism 212 includes a second vertical rodless cylinder 2121, a second sleeve 2122 and a second connecting rod 2123, a second through hole 2031 extending upward and downward is formed in the second support block 203, the second vertical rodless cylinder 2121 is mounted on the second support block 203, the second sleeve 2122 is located in the second through hole 2031, the outer side wall of the second sleeve 2122 is fixedly connected with the piston of the second vertical rodless cylinder 2121, the second connecting rod 2123 is located in the second sleeve 2122, and the upper end of the second bottom supporting plate 213 is hinged to the lower end of the second connecting rod 2123.

When the device works, the piston of the first vertical rodless cylinder 2101 moves downwards, at the moment, the first connecting rod 2103 is in an original position and is not moved, the first sleeve 2102 moves downwards under the driving of the piston of the first vertical rodless cylinder 2101, and the lower end of the first sleeve 2102 props against the hinged part of the upper end of the first bottom supporting plate 211 and the lower end of the first connecting rod 2103, so that the vertical first bottom supporting plate 211 is bent inwards; the piston of the second vertical rodless cylinder 2121 moves downwards, at this time, the second connecting rod 2123 is in an original position and is not moved, the second sleeve 2122 is driven by the piston of the second vertical rodless cylinder 2121 to move downwards, and the lower end of the second sleeve 2122 abuts against the hinged position of the upper end of the second bottom supporting plate 213 and the lower end of the second connecting rod 2123, so that the vertical second bottom supporting plate 213 is bent inwards; the inwardly bent first and

second base pieces

211 and 213 can hold the paper product row 4 whose lower end is surrounded by the packing paper strip 5. After the paper product column 4 is released by the first clamping jaw 204 and the second clamping jaw 205, the piston of the first vertical rodless cylinder 2101 moves upwards, at the moment, the first connecting rod 2103 is in the original position, the first sleeve 2102 moves upwards under the driving of the piston of the first vertical rodless cylinder 2101, and the lower end of the first sleeve 2102 is far away from the hinged joint of the upper end of the first bottom supporting piece 211 and the lower end of the first connecting rod 2103, so that the first bottom supporting piece 211 is restored to the original vertical state; the piston of the second vertical rodless cylinder 2121 moves upward, at this time, the second connecting rod 2123 is in situ, the second sleeve 2122 is driven by the piston of the second vertical rodless cylinder 2121 to move upward, and the lower end of the second sleeve 2122 is away from the hinge joint between the upper end of the second bottom supporting plate 213 and the lower end of the second connecting rod 2123, so that the second bottom supporting plate 213 returns to the original vertical state.

The displacement driving mechanism 3 comprises a clamping lifting mechanism 31, a rotary driving mechanism 32 and a horizontal moving mechanism 33, the clamping lifting mechanism 31 is installed on the frame 1, the rotary driving mechanism 32 is installed on the power output end of the clamping lifting mechanism 31, the horizontal moving mechanism 33 is installed on the power output end of the rotary driving mechanism 32, and the clamping support 201 is installed on the power output end of the horizontal moving mechanism 33. The horizontal moving mechanism 33 and the gripping support 201, the first clamping jaw 204 and the second clamping jaw 205 thereon are driven by the gripping and lifting mechanism 31 to lift, the horizontal moving mechanism 33 and the gripping support 201, the first clamping jaw 204 and the second clamping jaw 205 thereon are rotated to the position above the paper product row 4 by the rotary driving mechanism 32, the gripping support 201 is driven by the horizontal moving mechanism 33 to move horizontally, and the first clamping jaw 204 and the second clamping jaw 205 on the gripping support 201 are moved to the position above the paper product row 4, so that the paper product row 4 is located between the first clamping jaw 204 and the second clamping jaw 205. When the robot body 2 grips the paper product row 4 in the middle, the rotation driving mechanism 32 drives the gripping support 201 to rotate, so that the paper product row 4 is moved to the upper side of the collecting frame, and then the gripping lifting mechanism 31 drives the horizontal moving mechanism 33 and the gripping support 201, the first gripping jaw 204 and the second gripping jaw 205 thereon to descend into the collecting frame. The rotation driving mechanism 32 is a rotary cylinder.

The clamping lifting mechanism 31 comprises a clamping support frame 311, a clamping driving motor 312, a clamping driving wheel (not marked in the figure), a clamping driven wheel (not marked in the figure), a clamping transmission chain (not marked in the figure), a clamping longitudinal linear guide groove 313, a clamping longitudinal sliding block 314 and a lifting column 315, wherein the clamping support frame 311 is arranged on the frame 1, the clamping driving motor 312 and the clamping driving wheel are both arranged at the lower end of the clamping support frame 311, the clamping driven wheel is arranged at the upper end of the clamping support frame 311, the clamping driving wheel is in transmission connection with an output shaft of the clamping driving motor 312, and the clamping driving wheel and the clamping driven wheel are connected through the clamping; the clamping longitudinal linear guide groove 313 is arranged on the clamping support frame 311, the clamping longitudinal slide block 314 is arranged on the clamping longitudinal linear guide groove 313, the lifting column 315 is fixedly arranged on the clamping longitudinal slide block 314 and is positioned in the clamping longitudinal linear guide groove 313, the upper end of the lifting column 315 is connected with the rotary driving mechanism 32, and the clamping longitudinal slide block 314 is connected with the clamping transmission chain. The clamping driving motor 312 drives the clamping driving wheel to rotate, the clamping driven wheel rotates along with the rotation of the clamping driving wheel, the clamping longitudinal sliding block 314 connected with the clamping transmission chain slides up and down along the clamping longitudinal linear guide groove 313 along with the conveying of the clamping transmission chain, and the lifting column 315 slides up and down in the clamping longitudinal linear guide groove 313 under the driving of the clamping longitudinal sliding block 314.

The horizontal moving mechanism 33 comprises a horizontal supporting seat 331, a horizontal driving wheel 332, a horizontal driven wheel 333, a horizontal transmission chain 334, a horizontal sliding block 335, two horizontal linear guide rails 336 and a horizontal driving motor 337 for driving the horizontal driving wheel 332 to rotate, the horizontal supporting seat 331 is installed on a power conveying end of the rotary driving mechanism 32, the horizontal driving wheel 332, the horizontal driven wheel 333 and the horizontal driving motor 337 are all installed on the horizontal supporting seat 331, the horizontal driving wheel 332 is in transmission connection with an output shaft of the horizontal driving motor 337, the horizontal driving wheel 332 is connected with the horizontal driven wheel 333 through a horizontal transmission chain 334, two horizontal linear guide rails 336 are installed on the rack 1 and are respectively positioned on two sides of the horizontal transmission chain 334 in the length direction, the horizontal sliding blocks 335 are installed on the two horizontal linear guide rails 336, the clamping supporting seat 201 is connected with the horizontal sliding blocks 335, and the horizontal sliding blocks 335 are connected with the horizontal transmission chain 334. The slide block and the clamping support 201 thereon are controlled to move horizontally by the forward and backward rotation of the horizontal driving motor 337.

In operation, the mechanical hand body 2 is moved above the paper product column 4 by the displacement driving mechanism 3, so that the paper product column 4 is located between the first clamping jaw 204 and the second clamping jaw 205; then, the first telescopic mechanism 206 drives the first pressure plate 207 to move downwards, the second telescopic mechanism 208 drives the second pressure plate 209 to move downwards, and both the first telescopic mechanism 206 and the second telescopic mechanism 208 are in an extended state, so that the first pressure plate 207 and the second pressure plate 209 have inertia of retracting upwards under the action of the first telescopic mechanism 206 and the second telescopic mechanism 208; then, the clamping driving mechanism 214 respectively drives the first supporting block 202 and the second supporting block 203 to move towards the middle, so that the first clamping jaw 204 and the second clamping jaw 205 clamp the paper product column 4 in the middle, the first pressing plate 207 and the second pressing plate 209 are positioned at the upper end of the paper product column 4 and apply slight elastic force to the upper end of the paper product column 4 for pressing, at the moment, the first base supporting mechanism 210 drives the first base supporting plate 211 to bend inwards, the second base supporting mechanism 212 drives the second base supporting plate 213 to bend inwards, the first base supporting plate 211 and the second base supporting mechanism 212 can support the paper product column 4 with the lower end surrounded by the paper padding strip 5, support and fix the lower end of the column 4, and prevent part of the paper products from falling out from the middle part of the paper product column 4 in the clamping and conveying process; then, the clamping driving mechanism 214 drives the first supporting block 202 and the second supporting block 203 to move continuously towards the middle, so that the first clamping jaw 204 and the second clamping jaw 205 completely clamp the paper product column 4 in the middle, the manipulator body 2 is lowered into the collecting frame through the displacement driving mechanism 3, then the clamping driving mechanism 214 drives the first clamping jaw 204 and the second clamping jaw 205 to release the paper product column 4, and the paper product column 4 is placed into the collecting frame; subsequently, the first stretching mechanism 206 drives the first pressing plate 207 to stretch back and forth for multiple times, and the second stretching mechanism 208 drives the second pressing plate 209 to stretch back and forth for multiple times, so that the upper ends of the paper product rows 4 placed in the collecting frame are pressed and flapped for multiple times, and the paper product rows 4 are automatically tidied; finally, the first bottom supporting mechanism 210 drives the first bottom supporting plate 211 to return to the original vertical state, the second bottom supporting mechanism 212 drives the second bottom supporting plate 213 to return to the original vertical state, the support for the lower end of the paper product column 4 is released, and the horizontal moving mechanism 33, the rotary driving mechanism 32 and the clamping lifting mechanism 31 are used for returning the clamping support 201, the first clamping jaw 204 and the second clamping jaw 205 to the original positions. The paper product row 4 is pinched and conveyed in the cycle.

The front end and the rear end of the whole paper product row 4 are clamped and fixed by the first clamping jaw 204 and the second clamping jaw 205, the lower end of the whole paper product row 4 is supported and fixed by the paper cushion strip 5, the first support bottom plate 211 and the second support bottom plate 213, and the upper end of the whole paper product row 4 is pressed and fixed by applying slight elastic force by the first pressing plate 207 and the second pressing plate 209, so that the periphery of the whole paper product row 4 is fixed, the whole paper product row 4 is not easy to loosen and disperse in the clamping and conveying moving process, the clamping is firm, the whole paper product row 4 can be kept orderly arranged, manual carrying and stacking are not needed, time and labor are saved, and the working efficiency is improved.

In addition, it should be noted that the names of the parts and the like of the embodiments described in the present specification may be different, and all the equivalent or simple changes made according to the structure, the features and the principle of the present invention are included in the protection scope of the present invention. Various modifications, additions and substitutions may be made by those skilled in the art without departing from the scope of the invention as defined in the accompanying claims.

Claims

1. A clamping manipulator comprises a rack, a manipulator body and a displacement driving mechanism for driving the manipulator body to lift, rotate and translate, wherein the displacement driving mechanism is installed on the rack; the method is characterized in that: the manipulator body comprises a clamping support, a first supporting block, a second supporting block, a first clamping jaw, a second clamping jaw, a first telescopic mechanism, a first pressing plate, a second telescopic mechanism, a second pressing plate, a first bottom supporting mechanism, a first bottom supporting plate, a second bottom supporting mechanism, a second bottom supporting plate and a clamping driving mechanism for driving the first clamping jaw and the second clamping jaw to be clamped, the clamping support is installed on a displacement driving mechanism, the clamping driving mechanism is fixedly installed on the clamping support, the first supporting block and the second supporting block are respectively installed on the power output end of the clamping driving mechanism, the first clamping jaw is installed on the first supporting block, and the second clamping jaw is installed on the second supporting block; the first telescopic mechanism is arranged on the first supporting block, the first pressing plate is arranged on the power output end of the first telescopic mechanism, and the action direction of the first telescopic mechanism is vertical to the first pressing plate; the second telescopic mechanism is arranged on the second supporting block, the second pressure plate is arranged on the power output end of the second telescopic mechanism, and the action direction of the second telescopic mechanism is vertical to the second pressure plate; the first bottom supporting mechanism is arranged on the first supporting block, the first bottom supporting sheet is arranged on the power output end of the first bottom supporting mechanism, and the first bottom supporting mechanism can enable the first bottom supporting sheet to be bent inwards; the second bottom supporting mechanism is arranged on the second supporting block, the second bottom supporting sheet is arranged on the power output end of the second bottom supporting mechanism, and the second bottom supporting mechanism can enable the second bottom supporting sheet to be bent inwards.

2. The gripping manipulator of claim 1, wherein: the first telescopic mechanism comprises a first telescopic cylinder, a first telescopic frame, a first guide pillar and a first positioning guide sleeve, the first telescopic cylinder and the first positioning guide sleeve are arranged on the first supporting block, a piston rod of the first telescopic cylinder is arranged downwards, the fixed end of the first telescopic frame is in transmission connection with the piston rod of the first telescopic cylinder, and the movable end of the first telescopic frame is connected with the upper surface of the first pressing plate; the axis of the first positioning guide sleeve is arranged along the up-down direction, the first guide pillar is positioned in the first positioning guide sleeve, and the lower end of the first guide pillar is fixedly connected with the upper surface of the first pressing plate.

3. The gripping manipulator of claim 1, wherein: the second telescopic mechanism comprises a second telescopic cylinder, a second telescopic frame, a second guide pillar and a second positioning guide sleeve, the second telescopic cylinder and the second positioning guide sleeve are arranged on the second supporting block, a piston rod of the second telescopic cylinder is arranged downwards, the fixed end of the second telescopic frame is in transmission connection with the piston rod of the second telescopic cylinder, and the movable end of the second telescopic frame is connected with the upper surface of the second pressing plate; the axis of the second positioning guide sleeve is arranged along the up-down direction, the second guide pillar is positioned in the second positioning guide sleeve, and the lower end of the second guide pillar is fixedly connected with the upper surface of the second pressing plate.

4. The gripping manipulator of claim 1, wherein: the first bottom supporting mechanism comprises a first vertical rodless cylinder, a first sleeve and a first connecting rod, a first through hole which moves up and down is formed in the first supporting block, the first vertical rodless cylinder is installed on the first supporting block, the first sleeve is located in the first through hole, the outer side wall of the first sleeve is fixedly connected with a piston of the first vertical rodless cylinder, the first connecting rod is located in the first sleeve, and the upper end of the first bottom supporting sheet is hinged to the lower end of the first connecting rod.

5. The gripping manipulator of claim 1, wherein: the second bottom supporting mechanism comprises a second vertical rodless cylinder, a second sleeve and a second connecting rod, a second through hole in the vertical direction is formed in the second supporting block, the second vertical rodless cylinder is installed on the second supporting block, the second sleeve is located in the second through hole, the outer side wall of the second sleeve is fixedly connected with a piston of the second vertical rodless cylinder, the second connecting rod is located in the second sleeve, and the upper end of the second bottom supporting sheet is hinged to the lower end of the second connecting rod.

6. The gripping manipulator of claim 1, wherein: the displacement driving mechanism comprises a clamping lifting mechanism, a rotary driving mechanism and a horizontal moving mechanism, the clamping lifting mechanism is installed on the rack, the rotary driving mechanism is installed on a power output end of the clamping lifting mechanism, the horizontal moving mechanism is installed on a power output end of the rotary driving mechanism, and the clamping support is installed on the power output end of the horizontal moving mechanism.

7. The gripping manipulator of claim 6, wherein: the clamping lifting mechanism comprises a clamping support frame, a clamping driving motor, a clamping driving wheel, a clamping driven wheel, a clamping transmission chain, a clamping longitudinal linear guide groove, a clamping longitudinal sliding block and a lifting column, the clamping support frame is installed on the rack, the clamping driving motor and the clamping driving wheel are both installed at the lower end of the clamping support frame, the clamping driven wheel is installed at the upper end of the clamping support frame, the clamping driving wheel is in transmission connection with an output shaft of the clamping driving motor, and the clamping driving wheel and the clamping driven wheel are connected through the clamping transmission chain; the clamping longitudinal linear guide groove is arranged on the clamping support frame, the clamping longitudinal sliding block is arranged on the clamping longitudinal linear guide groove, the lifting column is fixedly arranged on the clamping longitudinal sliding block and is positioned in the clamping longitudinal linear guide groove, the upper end of the lifting column is connected with the rotary driving mechanism, and the clamping longitudinal sliding block is connected with the clamping transmission chain.

8. The gripping manipulator of claim 6, wherein: horizontal migration mechanism includes horizontal support seat, horizontal action wheel, level from driving wheel, horizontal drive chain, horizontal slider, two horizontal linear guide and is used for driving horizontal action wheel pivoted horizontal drive motor, and the horizontal support seat is installed on rotary drive mechanism's power transmission end, and horizontal action wheel, level are all installed on the horizontal support seat from driving wheel and horizontal drive motor, and the horizontal action wheel is connected with horizontal drive motor's output shaft transmission, and horizontal action wheel and level are connected through horizontal drive chain from between the driving wheel, and two horizontal linear guide install in the frame and are in horizontal drive chain's length direction both sides respectively, and horizontal slider installs on two horizontal linear guide, press from both sides and get the support and be connected with horizontal slider, and horizontal slider is connected with horizontal drive chain.