CN211971054U

CN211971054U - Pile up neatly tongs anti-disengaging structure

Info

Publication number: CN211971054U
Application number: CN202020542294.1U
Authority: CN
Inventors: 潘建强
Original assignee: SHANGHAI DAESUM CO Ltd
Current assignee: SHANGHAI DAESUM CO Ltd
Priority date: 2020-04-13
Filing date: 2020-04-13
Publication date: 2020-11-20
Anticipated expiration: 2030-04-13

Abstract

The utility model relates to a pile up neatly tongs anti-disengaging structure, including mount and a pair of clamping jaw that is used for centre gripping article, the clamping jaw includes articulated shaft and the claw body, articulated shaft parallel arrangement, the claw body includes the connecting portion of cover locating on the articulated shaft, is located the grabbing portion of articulated shaft below and is located the control part of articulated shaft top, articulated the setting between the control part, and install the power spare that promotes the activity of control part articulated department on the mount, form and snatch the chamber between the grabbing portion, be provided with the support inner wall that upwards supports along vertical direction in the grabbing intracavity; when the claw body is only subjected to gravity, the grabbing parts are in abutting fit. The utility model discloses it is big more to have article quality between the clamping jaw, and then the clamping jaw extrusion force is big more, realizes stably pressing from both sides the effect of getting the purpose of heavy object.

Description

Pile up neatly tongs anti-disengaging structure

Technical Field

The utility model belongs to the technical field of the technique of manipulator and specifically relates to a pile up neatly tongs anti-disengaging structure is related to.

Background

A manipulator is an automatic operating device which can imitate certain motion functions of a human hand and an arm and is used for grabbing, carrying objects or operating tools according to a fixed program.

The patent of current publication No. CN205497467U discloses a pile up neatly machinery tongs, including the frame, connect gradually big support arm, flexible arm and the little support arm on the frame, still be provided with mechanical tongs device on little support arm, the below of mechanical tongs device sets up promotes the post, promotes the post top and sets up the rubber spare, the rubber spare rather than the printing plate fixed connection of top, the inner wall of mechanical tongs device sets up clean piece, and mechanical tongs device joint part passes through hinged joint.

The above prior art solutions have the following drawbacks:

when the mechanical gripper device actually acts, the article needs to be gripped by extrusion after the joint part rotates around the hinge, but the friction force generated by extrusion is limited, so that the mechanical gripper device is easy to loosen and fall off when gripping heavy objects.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, one of the purposes of the utility model is to provide a pile up neatly tongs anti-disengaging structure, article quality is big more between the clamping jaw, and then the clamping jaw extrusion force is big more, realizes stably pressing from both sides the purpose of getting the heavy object.

The above utility model discloses an above-mentioned utility model purpose can realize through following technical scheme:

an anti-disengaging structure for a stacking gripper comprises a fixing frame and a pair of clamping jaws for clamping articles, wherein the clamping jaws comprise articulated shafts and jaw bodies, the articulated shafts are arranged in parallel, each jaw body comprises a connecting part sleeved on the articulated shaft, a grabbing part positioned below the articulated shaft and a control part positioned above the articulated shaft, the control parts are arranged in a hinged mode, a power part for pushing the hinged part of the control part to move is installed on the fixing frame, a grabbing cavity is formed between the grabbing parts, and a supporting inner wall which is supported upwards along the vertical direction is arranged in the grabbing cavity;

when the claw body is only subjected to gravity, the grabbing parts are in abutting fit.

Through adopting above-mentioned technical scheme, when the clamping jaw rotates, open or close between the lower extreme of clamping jaw, realize article centre gripping and the purpose of releasing, when the clamping jaw snatchs article, the horizontally inner wall butt of portion of snatching supports article, and is heavier as article, and then the clamping-force between the clamping jaw is big more, promotes to get the stability of getting the great article of quality.

The present invention may be further configured in a preferred embodiment as: wear to be equipped with the loose axle between the control part, the loose axle is on a parallel with the articulated shaft, just the power part adopts the pneumatic cylinder, the piston end of pneumatic cylinder is fixed with the lantern ring of cover on locating the articulated shaft.

By adopting the technical scheme, when articles are clamped, the power part controls the movable shaft to move downwards to drive the claw body to drive the grabbing part to separate, otherwise, the clamping jaw is closed, and the clamping jaw is stably opened and closed.

The present invention may be further configured in a preferred embodiment as: one side of carrying on the back mutually between the portion of snatching is provided with the dog, the sliding is provided with the carriage with dog upper end butt complex on the mount.

Through adopting above-mentioned technical scheme, after the clamping jaw snatchs article, the driving sliding frame slides down, until the butt between sliding frame and the dog, has further injectd the rotation of the claw body, and the stability of article is got to the promotion clamp.

The present invention may be further configured in a preferred embodiment as: the mount includes the base plate of a pair of parallel, the articulated shaft sets up perpendicularly between the base plate, one side that the base plate carried on the back mutually is provided with spacing cylinder, the periphery of mount is located to the carriage cover, the flexible end of spacing cylinder is connected in carriage fixed connection.

Through adopting above-mentioned technical scheme, install the clamping jaw between the base plate to back of the body at the base plate and install spacing cylinder, spacing cylinder can the removal of efficient drive carriage, and the mounted position of each part on the at utmost rationally arranges the base plate, avoids spacing cylinder to disturb the normal opening and shutting of clamping jaw.

The present invention may be further configured in a preferred embodiment as: the lower extreme demountable installation of carriage has the butt piece, the butt piece cooperates with the upper end butt of dog.

Through adopting above-mentioned technical scheme, owing to in permanent use, the collision can cause the damage of butt piece between butt piece and the dog, through changing the butt piece, and then the purpose of the injecing dog that the realization can be stable.

The present invention may be further configured in a preferred embodiment as: the relative horizontal plane in dog upper end is the slope setting, just the dog is close to the one end that the portion was snatched and is higher than the one end of keeping away from the portion of snatching.

Through adopting above-mentioned technical scheme, because the article volume of pressing from both sides and getting has the difference, still has certain closed allowance behind the automatic closure of the claw body, through the inclined plane slip butt between carriage and the butt piece, realize that the control claw body is further closed to promote and snatchs stability.

The present invention may be further configured in a preferred embodiment as: and the sliding frame is provided with a pressure roller in a rotating mode, the pressure roller is parallel to the hinged shaft and is positioned on one side of the back of the grabbing part, and the pressure roller is in butt joint with the upper end of the stop block.

Through adopting above-mentioned technical scheme, when the carriage moves down, the pressure roller is rolling friction between the dog, when guaranteeing that stable drive claw body is tight, reduces the wearing and tearing of dog, guarantees the life of equipment.

The present invention may be further configured in a preferred embodiment as: offer the mounting groove that is used for setting up the both ends of pressure roller on the carriage, the mounting groove has the lower extreme of carriage to upwards extend and has seted up, just the inner wall that the mounting groove horizontal direction is relative inlays and is equipped with ball one, just ball one inlays along horizontal direction elasticity and locates in the carriage, it is equipped with ball two to inlay on the inner wall of the vertical direction of mounting groove, ball one, ball two all roll the butt with pressure roller both ends.

Through adopting above-mentioned technical scheme, when installation pressure roller in the frame, with the both ends of pressure roller directly impress in the mounting groove, wherein the ball one is impressed in the caulking groove, then is promoted again by supporting spring and resets, and a pair of pressure roller of ball forms the support, the dismouting of the pressure roller of being convenient for.

To sum up, the utility model discloses a following at least one useful technological effect:

after the clamping jaws grab an article, the horizontal inner wall of the grabbing part abuts against and supports the article, and when the article is heavier, the clamping force between the clamping jaws is larger, so that the stability of clamping the article with larger mass is improved.

Drawings

FIG. 1 is a schematic view of the assembly of the first embodiment;

FIG. 2 is a schematic diagram for embodying a jaw mounting arrangement;

FIG. 3 is a schematic view of the assembly of the second embodiment;

fig. 4 is a schematic view for embodying a pressure roller mounting structure.

In the figure, 1, a fixed frame; 11. a substrate; 12. a top plate; 2. a power member; 21. a collar; 22. a movable shaft; 3. a clamping jaw; 4. hinging a shaft; 5. a claw body; 51. a control unit; 52. a connecting portion; 53. a grasping section; 531. a stopper; 54. a grasping cavity; 6. a limiting cylinder; 7. a carriage; 71. a butting block; 72. mounting grooves; 73. caulking grooves; 74. a first ball; 741. a support spring; 75. a second ball bearing; 8. and a pressure roller.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

The first embodiment is as follows:

as shown in fig. 1 and 2, the anti-disengaging structure for the stacking gripper comprises a fixing frame 1 and a pair of clamping jaws 3, wherein the clamping jaws 3 are hinged to the fixing frame 1, and when the clamping jaws 3 rotate, the lower ends of the clamping jaws 3 are opened or closed, so that the purpose of clamping and releasing objects is achieved.

The fixing frame 1 comprises a pair of base plates 11 which are parallel and vertically placed, the clamping jaw 3 comprises a hinged shaft 4 and a jaw body 5 which are fixed between the base plates 11, the hinged shafts 4 are parallel, the jaw body 5 comprises a connecting part 52 which is rotatably sleeved on the hinged shaft 4, the connecting part 52 extends downwards to form a grabbing part 53, the connecting part 52 extends upwards to form a control part 51, the control part 51 of the jaw body 5 extends oppositely, a movable shaft 22 penetrates through the control part 51, the movable shaft 22 is positioned in the middle of the hinged shaft 4 and is arranged in parallel with the hinged shaft 4, a power part 2 is further fixed at the lower end of the top plate 12, the power part 2 can adopt a cylinder (or a hydraulic cylinder and the like), a lantern ring 21 is fixed at the piston end of the hydraulic cylinder, and the lantern ring 21 is coaxially sleeved; when the object is gripped, the piston end of the hydraulic cylinder is firstly extended out, so that the movable shaft 22 moves downwards, the claw body 5 is driven to drive and the gripping parts 53 are separated, otherwise, the clamping jaw 3 is closed.

And under the condition that the claw body 5 is only subjected to gravity, the grabbing parts 53 are abutted and closed, a grabbing cavity 54 is formed between the grabbing parts 53, the lowest end of the grabbing part 53 is horizontally arranged towards one side in the grabbing cavity 54, when the clamping jaw 3 grabs an article, the horizontal inner wall of the grabbing part 53 is abutted and supported on the article, and when the article is heavier, the clamping force between the clamping jaws 3 is larger, and the stability of clamping the article with larger mass is improved.

The outer side of the fixed frame 1 is sleeved with a sliding frame 7, the sliding frame 7 is a square frame body (can also be in an annular structure and the like), a limiting cylinder 6 is fixed on one side of the substrate 11 opposite to the other side, the piston end of the limiting cylinder 6 is fixed with the upper end of the sliding frame 7, the sliding frame 7 is lifted in the vertical direction through the extension and retraction of the piston end in the limiting cylinder 6, a stop block 531 extends on one side of the grabbing part 53 opposite to the other side, a butt block 71 is arranged at the lower end of the sliding frame 7 and opposite to the stop block 531, and the butt block 71 is detachably fixed at the lower end of the sliding frame; after the clamping jaw 3 grabs the object, the sliding frame 7 is driven to slide downwards until the sliding frame 7 abuts against the stop block 531, so that the rotation of the jaw body 5 is further limited, and the stability of clamping the object is improved.

And the upper end of butt joint piece 71 is the inclined plane setting, and the one end that dog 531 is close to grabbing portion 53 is higher than the one end of keeping away from grabbing portion 53, because there is the difference in the article volume of getting, still has certain closed allowance after the automatic closure of the claw body 5, slides the butt through the inclined plane between carriage 7 and butt joint piece 71, realizes that control claw body 5 further closes to promote and snatchs stability.

The implementation principle of the embodiment is as follows:

when clamping articles, firstly, the piston end of the hydraulic cylinder extends out, so that the movable shaft 22 moves downwards to drive the claw body 5 to drive the grabbing part 53 to separate, otherwise, the clamping jaw 3 is closed to clamp the articles, after the clamping jaw 3 grabs the articles, the horizontal inner wall of the grabbing part 53 is abutted to support the articles, and when the articles are heavier, the clamping force between the clamping jaws 3 is larger, so that the stability of clamping the articles with larger mass is improved.

Example two:

the difference from the first embodiment is that: as shown in fig. 3 and 4, a pair of pressure rollers 8 is mounted on the sliding frame 7, the pressure rollers 8 are parallel to the hinge shaft 4, and when the sliding frame 7 moves downward, the pressure rollers 8 abut against the stoppers 531, and mounting grooves 72 for mounting two ends of the pressure rollers 8 are respectively formed at the lower end of the sliding frame 7, two ends of the pressure rollers 8 are embedded in the mounting grooves 72, meanwhile, two balls 75 are embedded in the uppermost inner wall of the mounting grooves 72, embedding grooves 73 are respectively formed on the horizontally opposite inner walls of the mounting grooves 72, a supporting spring 741 and a first ball 74 are slidably disposed in the embedding grooves 73, and a notch of the embedding groove 73 is in threaded connection with a stopper ring, the supporting spring 741 pushes the second ball 75 to expose the stopper ring, and the first ball 74 and the second ball 75 are both in rolling abutment with two ends of the;

when the pressure roller 8 is installed on the rack, two ends of the pressure roller 8 are directly pressed into the installation grooves 72, the first balls 74 are pressed into the embedding grooves 73 and then pushed to reset by the supporting springs 741, the first balls 74 support the pressure roller 8, when the sliding frame 7 moves downwards, the pressure roller 8 rolls and rubs between the stop blocks 531, stable clamping of the driving claw body 5 is guaranteed, meanwhile, abrasion of the stop blocks 531 is reduced, and the service life of the equipment is guaranteed.

The embodiment of this specific implementation mode is the preferred embodiment of the present invention, not limit according to this the utility model discloses a protection scope, so: all equivalent changes made according to the structure, shape and principle of the utility model are covered within the protection scope of the utility model.

Claims

1. The utility model provides a pile up neatly tongs anti-disengaging structure which characterized in that: the clamping jaw comprises a fixing frame (1) and a pair of clamping jaws (3) used for clamping articles, wherein each clamping jaw (3) comprises a hinged shaft (4) and a jaw body (5), the hinged shafts (4) are arranged in parallel, each jaw body (5) comprises a connecting part (52) sleeved on the hinged shaft (4), a grabbing part (53) positioned below the hinged shaft (4) and a control part (51) positioned above the hinged shaft (4), the control parts (51) are hinged, a power part (2) for pushing the hinged part of the control part (51) to move is installed on the fixing frame (1), a grabbing cavity (54) is formed between the grabbing parts (53), and a supporting inner wall which is upwards supported in the vertical direction is arranged in the grabbing cavity (54);

when the claw body (5) is only subjected to gravity, the grabbing parts (53) are in abutting fit.

2. The pallet hand drop prevention structure according to claim 1, wherein: wear to be equipped with loose axle (22) between control portion (51), loose axle (22) are on a parallel with articulated shaft (4), just power component (2) adopt the cylinder, the piston end of cylinder is fixed with the lantern ring (21) of cover on articulated shaft (4).

3. The pallet hand drop prevention structure according to claim 1, wherein: one side of carrying on the back mutually between the portion of snatching (53) is provided with dog (531), sliding set has on mount (1) with dog (531) upper end butt complex carriage (7).

4. The pallet hand drop prevention structure according to claim 3, wherein: mount (1) includes base plate (11) of a pair of parallel, articulated shaft (4) set up perpendicularly between base plate (11), one side that base plate (11) carried on the back mutually is provided with spacing cylinder (6), the periphery of mount (1) is located to carriage (7) cover, the flexible end of spacing cylinder (6) is connected in carriage (7) fixed connection.

5. The pallet hand drop prevention structure according to claim 3, wherein: the lower extreme demountable installation of carriage (7) has butt piece (71), butt piece (71) and the upper end butt cooperation of dog (531).

6. The pallet hand drop prevention structure according to claim 5, wherein: the upper end of the stop block (531) is obliquely arranged relative to the horizontal plane, and one end, close to the grabbing part (53), of the stop block (531) is higher than one end, far away from the grabbing part (53).

7. The pallet hand drop prevention structure according to claim 3, wherein: on carriage (7) and lie in and all rotate on the back of the body one side of snatching portion (53) and be provided with pressure roller (8), pressure roller (8) are parallel with articulated shaft (4), just upper end butt cooperation of pressure roller (8) and dog (531).

8. The pallet hand drop prevention structure according to claim 7, wherein: offer mounting groove (72) that are used for setting up the both ends of pressure roller (8) on carriage (7), mounting groove (72) have the lower extreme of carriage (7) to upwards extend and seted up, just the inner wall that mounting groove (72) horizontal direction is relative inlays and is equipped with ball (74), just ball (74) are inlayed along horizontal direction elasticity and are located in carriage (7), it is equipped with ball two (75) to inlay on the inner wall of the vertical direction of mounting groove (72), ball (74), ball two (75) all roll the butt with pressure roller (8) both ends.