CN212739854U

CN212739854U - A bag palletizing gripper

Info

Publication number: CN212739854U
Application number: CN202021389839.6U
Authority: CN
Inventors: 汤永辉
Original assignee: Anhui Bule Automation Equipment Co ltd
Current assignee: Anhui Bule Automation Equipment Co ltd
Priority date: 2020-07-15
Filing date: 2020-07-15
Publication date: 2021-03-19
Anticipated expiration: 2030-07-15

Abstract

This utility model discloses a bag palletizing gripper, comprising a symmetrically arranged main crossbeam, on which two gripper mechanisms are symmetrically arranged. Each gripper mechanism includes a fixed top plate slidably fixed to the main crossbeam via a sliding mechanism, and a fixed middle plate for fixing gripper fingers. Each fixed middle plate has several mounting slots, and the gripper fingers are detachably fixed within these slots. By providing several mounting slots on the fixed middle plate, the gripper fingers can be installed simply by snapping them into the slots. The relatively dense arrangement of the mounting slots allows the gripper fingers to be positioned according to specific handling needs, facilitating installation and removal.

Description

Bagged stacking gripper

Technical Field

The utility model relates to a machinery tongs technical field, more specifically say, relate to a pile up neatly tongs in bags.

Background

In order to save stacking space and stack the goods integrally, the goods are stacked by adopting a stacker crane or a stacking robot at present. The mechanical stacker crane is limited by factors such as structure and the like, and has the defects of large occupied area, troublesome change of operation programs, large power consumption and the like. The palletizing robot is suitable for goods packaged in various shapes such as cartons, bags and the like, and has reliable performance and simple maintenance, so that enterprises can more and more widely apply the palletizing robot.

The main component of the stacking robot is a stacking gripper which is composed of a plurality of gripper fingers. The distance between the fingers of the gripper is not adjustable, so that the fingers of the gripper are arranged relatively densely to adapt to the gripping of goods with different sizes, the weight of the gripper is increased, and the energy consumption is increased. Meanwhile, the gripper is not easy to take off from the goods after the goods are placed, and the goods are easy to incline and deviate from the stacking position when the gripper is taken off.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a bagged stacking gripper, which can select the mounting quantity and the mounting interval of fingers of the gripper as required by arranging the mounting position, and is convenient to disassemble and mount; the gripper mechanism can move in the horizontal direction, so that fingers of the gripper can be conveniently horizontally drawn out from the bottom of the goods, and the technical problem existing in the background technology is solved.

The utility model provides a pile up neatly tongs in bags, including the main part crossbeam that the symmetry set up, the symmetry is provided with two tongs mechanisms on the main part crossbeam, tongs mechanism includes fixed roof, the fixed medium plate that is used for fixed tongs finger of fixing on the main part crossbeam through the slide mechanism slip, all be equipped with a plurality of mounting groove on the fixed medium plate, the tongs finger can be dismantled and fix in the mounting groove.

In a preferred embodiment, a sliding rail is arranged at the bottom of the main body cross beam along the length direction of the main body cross beam, a sliding block buckled outside the sliding rail is arranged on the fixed top plate, the sliding block is connected with the sliding mechanism, and the sliding mechanism respectively drives the sliding block to drive the two gripper mechanisms to move along the directions away from or close to each other.

In a preferred embodiment, the sliding mechanism includes a sliding motor fixed on the main body cross beam, a screw rod connected with an output shaft of the sliding motor, and a threaded sleeve fixed on the fixed top plate and sleeved outside the screw rod, the inner thread of the threaded sleeve is matched with the outer thread of the screw rod, and the screw rod is arranged in parallel with the main body cross beam.

In a preferred embodiment, the fixed top plate is hinged with the fixed middle plate, and the fixed middle plate is driven to rotate along the hinge by a driving mechanism.

In a preferred embodiment, the driving mechanism includes a driving cylinder fixed on the fixed top plate, and a rotating sleeve hinged to the driving cylinder, a cross rod is fixed on the top of the fixed middle plate, top plate supports rotatably sleeved on the outside of the cross rod are symmetrically arranged on the fixed top plate, and the rotating sleeve is fixedly sleeved on the cross rod.

In a preferred embodiment, a pressing plate mechanism is arranged between the two gripper mechanisms, the pressing plate mechanism comprises a pressing plate cylinder fixed on the fixed top plate and a pressing plate fixedly connected with a cylinder push rod of the pressing plate cylinder, and the pressing plate is opposite to the gripper fingers.

The utility model discloses technical scheme's beneficial effect is:

1. through all be equipped with a plurality of on the fixed medium plate the mounting groove only needs to be in when installing the finger of tongs the installation finger buckle in the mounting groove can, the mounting groove sets up relatively densely, can select the mounted position according to specific transport needs at the finger of tongs, through the mounting groove is convenient for install and dismantle.

2. Through setting up slide mechanism can be convenient for adjust two distance between the tongs mechanism to the adaptation is convenient for take out the tongs finger from the goods bottom to the not snatching of volume goods simultaneously, makes the goods slope when avoiding the tongs finger to take out, causes the influence to follow-up pile up neatly.

Drawings

Figure 1 is a schematic view of the overall structure of the present invention,

figure 2 is a side cross-sectional view of the fixed middle plate of the present invention,

figure 3 is a side view of the present application,

fig. 4 is a schematic view of the internal structure of the present invention.

Description of reference numerals: the device comprises a main body beam 1, a gripper mechanism 2, a fixed top plate 3, a fixed middle plate 4, a mounting groove 5, a gripper finger 6, a sliding rail 7, a sliding block 8, a sliding mechanism 9, a sliding motor 10, a screw rod 11, a threaded sleeve 12, a bearing sleeve 13, a driving mechanism 14, a driving cylinder 15, a rotating sleeve 16, a cross rod 17, a top plate support 18, a pressing plate mechanism 19, a pressing plate cylinder 20, a pressing plate 21 and a middle plate support 22.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments. The embodiments of the present invention have been presented for purposes of illustration and description, and are not intended to be exhaustive or limited to the invention in the form disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiment was chosen and described in order to best explain the principles of the invention and the practical application, and to enable others of ordinary skill in the art to understand the invention for various embodiments with various modifications as are suited to the particular use contemplated.

As shown in fig. 1, the utility model provides a pile up neatly tongs in bags, including the main part crossbeam 1 that the symmetry set up, the symmetry is provided with two tongs mechanisms 2 on the main part crossbeam 1, tongs mechanisms 2 include through slide mechanism 9 slide fix on main part crossbeam 1 fixed roof 3, be used for fixed tongs to point 6 fixed medium plate 4, all be equipped with a plurality of mounting groove 5 on the fixed medium plate 4, tongs point 6 can dismantle to be fixed in the mounting groove 5. As shown in fig. 2, the mounting groove 5 is a long groove body, and the mounting portion of the finger 6 of the gripper extends into the mounting groove 5, so that the mounting firmness is ensured and the mounting is convenient to detach. The installation grooves 5 are relatively densely arranged, but when the gripper fingers 6 are installed, the installation distance of the gripper fingers 6 can be determined according to specific conditions. If when the large-size goods are stacked, the number of the arranged gripper fingers 6 can be properly reduced, 2-3 mounting grooves can be formed between every two adjacent gripper fingers, so that the quality of the gripper is reduced, the self weight of the gripper mechanism 2 is reduced, the energy consumption is reduced, and the service life is prolonged.

As shown in fig. 3, the bottom of the front and rear main body beams 1 are provided with slide rails 7 along the length direction of the main body beams 1, the fixed top plate 3 is provided with slide blocks 8 fastened outside the slide rails 7, as shown in fig. 4, the slide blocks 8 are connected with the sliding mechanisms 9, and the sliding mechanisms 9 respectively drive the slide blocks 8 to drive the two gripper mechanisms 2 to move along the directions away from or close to each other. Slide mechanism 9 including fix on main part crossbeam 1 slide motor 10, with slide motor 10 output shaft's lead screw 11, and fix on fixed roof 3 and the cover is established thread bush 12 outside the lead screw 11, thread bush 12 internal thread with 11 external screw thread looks adaptations of lead screw, lead screw 11 sets up in a parallel with main part crossbeam 1.

The free ends of the screw rods, which are respectively positioned at the tops of the two gripper mechanisms, are fixed through a bearing sleeve 13 and respectively and independently rotate. The sliding motors 10 respectively arranged at two sides of the two hand grab mechanisms 2 respectively drive the two screw rods 11 to rotate, so that the threaded sleeves 12 are driven to transmit on the screw rods 11, and the hand grab mechanisms 2 slide on the sliding rails 7 through the sliding blocks 8. When the distance between the two gripper mechanisms 2 is too large, the two gripper mechanisms 2 can be close to each other through the sliding mechanism 9. After the stacking is completed, when the gripper fingers 6 of the gripper mechanism 2 need to be taken down from the bottom of the goods, the gripper fingers 6 are horizontally drawn out from the bottom of the goods through the sliding mechanism 9, so that the goods are prevented from being inclined when the gripper fingers are taken out, and the influence on the subsequent stacking is avoided.

As shown in fig. 4, the fixed top plate 3 is hinged to the fixed middle plate 4, and the fixed middle plate 4 is driven to rotate along the hinge by a driving mechanism 14. The driving mechanism 14 comprises a driving cylinder 15 fixed on the fixed top plate 3 and a rotating sleeve 14 hinged with the driving cylinder 15. As shown in fig. 4, a cross bar 17 is fixed on the top of the fixed middle plate 4 through a middle plate support 22, roof supports 18 which are rotatably sleeved on the outer portion of the cross bar 17 are symmetrically arranged on the fixed roof, and the rotating sleeves 14 are fixedly sleeved on the cross bar 17. The driving cylinder 14 drives the rotating sleeve 14 to rotate along the hinged position, the rotating sleeve 14 is fixed on the cross rod 17, and the cross rod 17 and the top plate support 18 are fixed in a rotating mode, so that the cross rod 17 can drive the fixed middle plate 4 to rotate around the rotating connection position of the fixed middle plate and the top plate support 18, the hand grip fingers 6 can move in an opening and closing mode, and the gripping action is achieved.

As shown in fig. 4, a pressing plate mechanism 19 is arranged between the two gripper mechanisms 2, the pressing plate mechanism 19 includes a pressing plate cylinder 20 fixed on the fixed top plate 3, and a pressing plate 21 fixedly connected to a cylinder push rod of the pressing plate cylinder 20, and the pressing plate 21 is opposite to the gripper finger 6. The pressing plate 21 is driven by the pressing plate cylinder 20 to compress the grabbed goods, so that the goods are prevented from falling in the conveying process.

It is obvious that the described embodiments are only some of the embodiments of the present invention, and not all of them. Based on the embodiments in the present disclosure, all other embodiments obtained by a person of ordinary skill in the art and related fields without creative efforts shall fall within the protection scope of the present disclosure. The structures, devices, and methods of operation of the present invention, not specifically described and illustrated, are generally practiced by those of ordinary skill in the art without specific recitation or limitation.

Claims

1. A bagged palletizing gripper, comprising a main body beam that is symmetrically arranged, and two gripper mechanisms are symmetrically arranged on the main body beam, characterized in that: the gripper mechanism comprises a fixed gripper that is slidably fixed on the main body beam by a sliding mechanism. The top plate and the fixed middle plate for fixing the fingers of the gripper are provided with several installation grooves, and the fingers of the gripper are detachably fixed in the installation grooves.

2 . A bagged palletizing gripper according to claim 1 , wherein a slide rail is provided at the bottom of the main body beam along the length direction of the main body beam, and the fixed top plate is provided with a buckle outside the slide rail. 3 . The sliding block is connected with the sliding mechanism, and the sliding mechanism respectively drives the sliding block to drive the two gripper mechanisms to move in the direction of moving away from or approaching each other.

3 . The bag palletizing gripper according to claim 1 , wherein the sliding mechanism comprises a sliding motor fixed on the main body beam, a lead screw connected with the output shaft of the sliding motor, and a fixed sliding motor. 4 . A threaded sleeve is sleeved on the fixed top plate and outside the screw rod, the inner thread of the threaded sleeve is matched with the external thread of the screw rod, and the screw rod is arranged parallel to the main body beam.

4 . The bag palletizing gripper according to claim 1 , wherein the fixed top plate and the fixed middle plate are hinged, and the fixed middle plate is driven to rotate along the hinge by a driving mechanism. 5 .

5 . The bag palletizing gripper according to claim 4 , wherein the driving mechanism comprises a driving cylinder fixed on the fixed top plate, a rotating sleeve hinged with the driving cylinder, and the A cross bar is fixed on the top of the fixed middle plate, and a top plate bracket that is rotatably sleeved outside the cross bar is symmetrically arranged on the fixed top plate, and the rotating sleeve is fixedly sleeved on the cross bar.

6 . The bag palletizing gripper according to claim 1 , wherein a pressing plate mechanism is arranged between the two gripper mechanisms, and the pressing plate mechanism comprises a pressing plate cylinder fixed on the fixed top plate. 7 . . The pressing plate is fixedly connected with the cylinder push rod of the pressing plate cylinder, and the pressing plate is opposite to the fingers of the gripper.