CN212471547U

CN212471547U - Mechanical gripper

Info

Publication number: CN212471547U
Application number: CN202020355919.3U
Authority: CN
Inventors: 刘艳; 陈浩文; 高鑫峰; 刘绍鸿
Original assignee: Hunan Yingchun Sibori Intelligent Equipment Co ltd
Current assignee: Cofco Engineering Yingchun Intelligent Equipment Hunan Co ltd
Priority date: 2020-03-19
Filing date: 2020-03-19
Publication date: 2021-02-05
Anticipated expiration: 2030-03-19

Abstract

The utility model discloses a mechanical tongs, include: a frame; the XY axis moving mechanism is arranged at the top of the rack; the first mounting seat is arranged on the XY axis moving mechanism; the second mounting seat is rotatably mounted on the first mounting seat; the clamping jaws can be arranged on the second mounting seat in an opening and closing manner; the lifting platform is arranged at the bottom of the rack in a lifting manner. The lifting platform carries the material bracket to move to a designated position, the mechanical gripper places the grabbed material bags on the lifting platform, and the placing positions of the material bags on the same layer are adjusted by means of the XY-axis moving mechanism. After a layer of material package is placed, the second mounting seat and the relative position of the first mounting seat can be adjusted to drive the material package to be grabbed to rotate, so that the placing angle of the next layer of the material package can be adjusted. Along with the change layer is between the layer stack angle of material package for it is more stable to pile up.

Description

Mechanical gripper

Technical Field

The utility model belongs to the technical field of the hacking machine, in particular to mechanical tongs.

Background

In the fields of storage, logistics and the like, more and more work is replaced by intelligent equipment, and people only play roles in maintenance, monitoring, assistance and the like, so that the burden of labor force is reduced. If now in the pile up neatly flow, the material package can be grabbed to the mechanical tongs and put and pile up on the material bracket. However, as the stacking height of the material bags becomes higher, the problem of unstable stacking of the material bags exists.

SUMMERY OF THE UTILITY MODEL

The utility model discloses aim at solving the technical problem who exists among the prior art at least. Therefore, the utility model provides a mechanical tongs, include: a frame; the XY axis moving mechanism is arranged at the top of the rack; the first mounting seat is arranged on the XY axis moving mechanism; the second mounting seat is rotatably mounted on the first mounting seat; the clamping jaws can be arranged on the second mounting seat in an opening and closing manner; the lifting platform is arranged at the bottom of the rack in a lifting manner.

According to the utility model discloses mechanical tongs has following technological effect at least: the lifting platform carries the material bracket to move to a designated position, the mechanical gripper places the grabbed material bags on the lifting platform, and the placing positions of the material bags on the same layer are adjusted by means of the XY-axis moving mechanism. After a layer of material package is placed, the second mounting seat and the relative position of the first mounting seat can be adjusted to drive the material package to be grabbed to rotate, so that the placing angle of the next layer of the material package can be adjusted. Along with the change layer is between the layer stack angle of material package for it is more stable to pile up.

According to some embodiments of the invention, two the clamping jaw all rotationally sets up on the second mount pad.

According to some embodiments of the invention, the distance between the two clamping jaws is adjustable.

According to some embodiments of the invention, the second mount includes: a top plate; the guide rail is arranged at the bottom of the top plate; the two bottom plates are slidably arranged at the bottoms of the guide rails, and the two clamping jaws are respectively arranged on one bottom plate.

According to some embodiments of the present invention, the bottom plate is provided with a rotating shaft, both ends of the rotating shaft are provided with swing arms, and two swing arms on the rotating shaft are connected to one clamping jaw; the rotating shaft is connected with a driving device.

According to some embodiments of the utility model, the bottom of bottom plate is equipped with two bearing frames, the pivot is worn to establish in two bearing frames that correspond.

According to some embodiments of the utility model, still include the hold-down mechanism that can up-and-down motion, hold-down mechanism sets up the bottom of second mount pad just is located two between the clamping jaw.

According to some embodiments of the invention, the hold-down mechanism comprises a hold-down cylinder and a drive the hold-down cylinder moves in a vertical direction.

According to some embodiments of the invention, the one end or both ends detachably of the clamping jaw is provided with the elongated clamping jaw.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural view of a mechanical gripper according to an embodiment of the present invention;

fig. 2 is a first perspective view of a partial structure of a mechanical gripper according to an embodiment of the present invention;

fig. 3 is a second perspective view of a partial structure of the mechanical gripper according to an embodiment of the present invention;

fig. 4 is a split view of the jaws and the lengthened jaws of the mechanical gripper according to an embodiment of the present invention;

FIG. 5 is a cross-sectional view of the mounting of a jaw and an elongated jaw according to an embodiment of the present invention;

reference numerals:

the device comprises a first mounting seat 101, a clamping jaw 102, a top plate 103, an aluminum profile 104, a bottom plate 105, a rotating shaft 106, a swing arm 107, a driving device 108, a bearing seat 109, a pressing plate 112, a pressing air cylinder 113, a lengthened clamping jaw 114, a bolt 115, a nut 116, a rack 117, a lifting platform 118, an XY axis moving mechanism 119 and a chain transmission mechanism 121.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

A mechanical gripper according to an embodiment of the invention is described below with reference to fig. 1 to 5.

As shown in fig. 1, the present solution provides a mechanical gripper comprising a frame 117; an XY axis moving mechanism 119 provided on the top of the frame 117; a first mounting base 101 arranged on the XY-axis moving mechanism 119, the first mounting base 101 being capable of realizing XY-axis positional movement with the XY-axis moving mechanism 119; a second mounting base rotatably mounted on the first mounting base 101; a pair of clamping jaws 102 which can be arranged on the second mounting seat in an opening and closing manner; and the lifting platform 118 is arranged at the bottom of the rack 117 in a liftable manner, and the lifting platform 118 is used for bearing the material bracket and conveying the material bracket to a specified position.

According to the utility model discloses mechanical tongs has following technological effect at least: the lifting platform 118 carries the material bracket to move to a designated position, the mechanical gripper places the grabbed material bag on the lifting platform 118, and the placing position of the material bag on the same layer is adjusted by the XY-axis moving mechanism 119. After a layer of material package is placed, the relative position of the second mounting seat and the first mounting seat 101 is adjusted, so that the grabbed material package can be driven to rotate, and the placing angle of the next layer of the material package can be adjusted. Along with the change layer is between the layer stack angle of material package for it is more stable to pile up.

In some specific embodiments of the present invention, the lifting of the lifting platform 118 is realized by the chain transmission mechanisms 121 arranged at the four corners of the lifting platform 118 from bottom to top, and it can be understood that the four chain transmission mechanisms 121 move synchronously to ensure the stable operation of the lifting platform 118.

In some embodiments of the present invention, both jaws 102 are rotatably disposed on the second mounting base. The two clamping jaws 102 can rotate to realize the opening and closing of the clamping jaws 102, and the material bag can be grasped conveniently.

In some embodiments of the present invention, the spacing between the two jaws 102 is adjustable. It can be understood that, the specification and the size of the material bags are different, the corresponding clamping jaws 102 are required to grab, and the adaptability of the device is improved by adjusting the distance between the two clamping jaws 102.

In some specific embodiments of the present invention, in combination with fig. 3, the second mounting seat includes: a top plate 103; a guide rail provided at the bottom of the top plate 103; two bottom plates 105 are slidably arranged at the bottom of the guide rail, and the two clamping jaws 102 are respectively arranged on one bottom plate 105. In the scheme, the guide rail is made of two aluminum profiles 104 which are arranged in parallel at intervals, the top plate 103 is used for fixing the two aluminum profiles 104, sliding grooves are formed in the bottoms of the aluminum profiles 104, screw holes are formed in positions, corresponding to the sliding grooves, of the bottom plate 105, the bottom plate 105 slides at the bottoms of the aluminum profiles 104 through matching of ship-shaped nuts located in the sliding grooves and screw rods penetrating through the screw holes, and therefore the distance between the clamping jaws 102 installed on the bottom plate 105 can be changed.

In some specific embodiments of the present invention, the bottom plate 105 is provided with a rotating shaft 106, both ends of the rotating shaft 106 are provided with swing arms 107, and two swing arms 107 on the rotating shaft are connected to one clamping jaw 102; the rotating shaft 106 is connected with a driving device 108, and the driving device 108 drives the rotating shaft 106 to rotate so as to drive the two clamping jaws 102 to open and close. It can be understood that the driving device 108 of the present embodiment is also disposed on the bottom plate 105, and when the distance between the two clamping jaws 102 is adjusted, there is no interference, and the adjustment is convenient.

In some embodiments of the present invention, the bottom of the bottom plate 105 is provided with two bearing seats 109, and the rotating shaft 106 is inserted into the corresponding two bearing seats 109. The two bearing seats 109 additionally arranged on the rotating shaft 106 can not only enhance the mounting stability of the clamping jaw 102, but also enable the rotating shaft 106 to rotate more smoothly.

In other embodiments of the present invention, the distance between the two clamping jaws 102 is adjustable, and it can be understood that the clamping jaws 102 can be directly opened and closed by changing the distance between the clamping jaws 102, and the material bag can be grabbed.

In some embodiments of the present invention, the device further comprises a pressing mechanism capable of moving up and down, the pressing mechanism is disposed at the bottom of the second mounting seat and located between the two clamping jaws 102, and is used for pressing the material bag. Mechanical tongs are at the in-process of snatching the material package, and the material contains and easily rocks for relate to hold-down mechanism, make material package and clamping jaw 102 laminate more, reduce the material package because of rocking the harmful effects that drop.

In a specific embodiment of the present invention, as shown in fig. 2, the pressing mechanism includes a pressing plate 112 and a pressing cylinder 113 driving the pressing plate 112 to move in a vertical direction. After the mechanical gripper grabs the material package, the pressing cylinder 113 drives the pressing plate 112 to move, so that the material package is limited between the pressing plate 112 and the clamping jaw 102.

In some embodiments of the present invention, one or both ends of the jaw 102 may be removably provided with an elongated jaw 114. The lengthened clamping jaw 114 is detachably arranged on the clamping jaw 102, so that the mechanical gripper can be suitable for material bags of different specifications and sizes, and the universality of the mechanical gripper is improved. As shown in FIG. 4, the end of the clamping jaw 102 is provided with a mortise, the end of the elongated clamping jaw 114 is provided with a tenon matched with the mortise, and the clamping jaw 102 is fixed by the matching of the bolt 115 and the nut 116 after being joggled with the elongated clamping jaw 114. It will be appreciated that other connection means may be used to detachably connect the clamping jaw 102 to the elongated clamping jaw 114, such as an internal thread at the end of the clamping jaw 102 and an external threaded post adapted to the internal thread at the end of the elongated clamping jaw 114.

The working process is as follows: after the mechanical gripper grabs the material package, the pressing cylinder 113 drives the pressing plate 112 to move, so that the material package is limited between the pressing plate 112 and the clamping jaw 102. The material bracket moves to the designated position convenient for receiving the material bag along with the lifting platform 118, and simultaneously the mechanical gripper starts to move along with the XY-axis moving mechanism 119 and places the material bag on the material bracket of the lifting platform 118 after moving to the designated position. After placing the material package of one deck, through the relative position of adjustment second mount pad with first mount pad 101, can drive the material package that is snatched and rotate to can change the angle of placing of next layer material package, each layer changes the angle and piles up, can make to pile up more steadily.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A mechanical gripper, comprising:

a frame;

the XY axis moving mechanism is arranged at the top of the rack;

the first mounting seat is arranged on the XY axis moving mechanism;

the second mounting seat is rotatably mounted on the first mounting seat;

the clamping jaws can be arranged on the second mounting seat in an opening and closing manner;

the lifting platform is arranged at the bottom of the rack in a lifting manner.

2. The mechanical gripper of claim 1, wherein: and the two clamping jaws are rotatably arranged on the second mounting seat.

3. The mechanical gripper of claim 2, wherein: the distance between the two clamping jaws is adjustable.

4. The mechanical gripper of claim 3, wherein the second mount includes:

a top plate;

the guide rail is arranged at the bottom of the top plate;

the two bottom plates are slidably arranged at the bottoms of the guide rails, and the two clamping jaws are respectively arranged on one bottom plate.

5. The mechanical gripper of claim 4, wherein: the bottom plate is provided with a rotating shaft, two ends of the rotating shaft are provided with swing arms, and the two swing arms on the rotating shaft are connected with one clamping jaw; the rotating shaft is connected with a driving device.

6. The mechanical gripper of claim 5, wherein: the bottom of bottom plate is equipped with two bearing frames, the pivot is worn to establish in two corresponding bearing frames.

7. The mechanical gripper of claim 1, wherein: the distance between the two clamping jaws is adjustable.

8. The mechanical gripper of claim 1, wherein: the clamping device is characterized by further comprising a pressing mechanism capable of moving up and down, wherein the pressing mechanism is arranged at the bottom of the second mounting seat and located between the two clamping jaws.

9. The mechanical gripper of claim 8, wherein: the pressing mechanism comprises a pressing plate and a pressing cylinder for driving the pressing plate to move along the vertical direction.

10. The mechanical gripper of claim 1, wherein: one end or two end parts of the clamping jaw are detachably provided with lengthened clamping jaws.