CN213010675U

CN213010675U - Bottom supporting gripper

Info

Publication number: CN213010675U
Application number: CN202021534460.XU
Authority: CN
Inventors: 李祖平; 袁辉; 苏燕
Original assignee: Maibahe Robot Kunshan Co ltd
Current assignee: Maibahe Robot Kunshan Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2021-04-20
Anticipated expiration: 2030-07-29

Abstract

The application relates to a hold in palm end tongs includes: a frame for connecting to a robotic arm; the leaning plate is vertically fixed on one side of the frame; the bottom of the transverse hand grip is provided with a group of bottom supporting rods for supporting the bottom of the cargo bag, and the bottom supporting rods form a plane capable of supporting the cargo bag; the main body part of the transverse driving piece is fixed on the frame, and the movable part of the transverse driving piece is connected with the transverse gripper and can drive the transverse gripper to move horizontally; the pressing plate is parallel to a plane formed by the bottom supporting rod; the main part of the vertical driving piece is fixed on the frame, and the movable part of the vertical driving piece is connected with the pressing plate and can drive the pressing plate to vertically move. Can realize that a plurality of sacks are neatly grabbed to can prevent to remove the inclination of sacks in-process at the tongs, finally realize that the stack is neat.

Description

Bottom supporting gripper

Technical Field

The application belongs to the technical field of manipulators, and particularly relates to a bottom supporting gripper.

Background

At present, the material mostly adopts the sack to fill, adopts mechanical tongs to carry the sack now basically, however the size of sack, specification are inconsistent, lead to the bag tongs that need be equipped with multiple specification, and then increased the input cost, and it is inconvenient to change the bag tongs, and waste time again, influences production efficiency, current bag tongs snatch effect also not ideal.

For the stacking gripper, a plurality of goods bags need to be regularly gripped, the goods bags are prevented from inclining in the process of moving the goods bags by the gripper, the final influence on the neatness of the stacking is avoided, and the gripper in the prior art is short in the aspect.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is: the bottom supporting gripper aims at solving the defects of stacking grippers in the prior art, and therefore the bottom supporting gripper is provided.

The utility model provides a technical scheme that its technical problem adopted is:

a bottom gripping grip, comprising:

a frame for connecting to a robotic arm;

the leaning plate is vertically fixed on one side of the frame;

the bottom of the transverse gripper is provided with a group of bottom supporting rods for supporting the bottom of the cargo bag, and the bottom supporting rods form a plane capable of supporting the cargo bag;

the main body part of the transverse driving piece is fixed on the frame, and the movable part of the transverse driving piece is connected with the transverse gripper and can drive the transverse gripper to move horizontally;

the pressing plate is parallel to a plane formed by the bottom supporting rod;

the main body part of the vertical driving piece is fixed on the frame, and the movable part of the vertical driving piece is connected with the pressing plate and can drive the pressing plate to vertically move.

Preferably, the utility model discloses a hold in palm end tongs, horizontal tongs includes:

the transverse rod body is horizontally arranged on the frame, and a sliding strip is fixed on one side of the transverse rod body;

the vertical rod body is fixed with one end of the transverse rod body and is perpendicular to the transverse rod body;

one end of the bottom supporting support rod is fixed with the bottom of the vertical rod body;

the frame is fixed with a sliding groove, and the sliding strip is slidably arranged in the sliding groove.

Preferably, the utility model discloses a hold in the palm end tongs, the upside part that holds in the palm the end support pole is the plane, the top that holds in the palm the end support pole is the toper of eliminating the edges and corners.

Preferably, the utility model discloses a hold in palm end tongs, the whole cuboid form that is of frame, the inside of frame is hollow, transverse driving spare with vertical driving spare all sets up the inside of frame.

Preferably, the utility model discloses a hold in palm end tongs, the shape of clamp plate is the rectangle, vertical driving piece is total two, two vertical driving piece is connected respectively the both ends of the diagonal of clamp plate.

Preferably, the utility model discloses a hold in palm end tongs, be fixed with the sleeve on the frame, mobilizable installation has the guide bar in the sleeve, the lower extreme of guide bar with the clamp plate is connected.

Preferably, the utility model discloses a hold in palm end tongs, the guide bar is total two, sets up respectively the both ends of another diagonal of clamp plate.

Preferably, the utility model discloses a hold in the palm end tongs, the bottom both sides of the vertical body of rod are fixed with splint, have on the splint and be used for the butt joint hold in the palm the hole of end support pole, hold in the palm the end support pole and insert downthehole back with the edge welded fastening in hole.

Preferably, the utility model discloses a hold in palm end tongs, the junction or the end fixing of horizontal body of rod, the vertical body of rod have triangular reinforcing plate.

Preferably, in the bottom supporting gripper of the present invention, the vertical rod body is disposed on one side of the leaning plate, and the bottom supporting rod is lower than the lowest position of the leaning plate; the vertical body of rod from when leaning on the position board farthest, the top of support end support pole is located lean on the outside of position board, the vertical body of rod from when leaning on the position board nearest, the plane of support goods bag of support end support pole is located under the clamp plate.

The utility model has the advantages that:

can realize that a plurality of sacks are neatly grabbed to can prevent to remove the inclination of sacks in-process at the tongs, finally realize that the stack is neat.

Drawings

The technical solution of the present application is further explained below with reference to the drawings and the embodiments.

FIG. 1 is a schematic view of a bottom-supporting grip according to an embodiment of the present disclosure;

FIG. 2 is a structural diagram illustrating an actual state of a bottom-supporting gripper grasping a cargo bag according to an embodiment of the present application;

FIG. 3 is a schematic view of a transverse gripper configuration according to an embodiment of the present application;

FIG. 4 is a schematic view of a bottom support bar of the lateral hand grip of the present application;

fig. 5 is a schematic view of the structure of a vertical driving piece and a guide rod of the embodiment of the application.

The reference numbers in the figures are:

1 frame

2 leaning plate

3 horizontal tongs

4 pressing plate

5 cargo bag

31 support bottom support rod

32 transverse drive

33 transverse rod

34 vertical rod body

41 vertical drive

42 guide rod

341 clamping plate.

Detailed Description

It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict.

In the description of the present application, it is to be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientation or positional relationship indicated in the drawings for convenience in describing the present application and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed in a particular orientation, and be operated in a particular manner, and are not to be considered limiting of the scope of the present application. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the invention, unless otherwise specified, "a plurality" means two or more.

In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; 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 application can be understood by those of ordinary skill in the art through specific situations.

The technical solutions of the present application will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.

Examples

This embodiment provides a bottom-supporting grip, includes:

a frame 1 for connecting a robot arm;

the leaning plate 2 is vertically fixed on one side of the frame 1;

the bottom of the transverse gripper 3 is provided with a group of bottom supporting rods 31 for supporting the bottom of the cargo bag, and the bottom supporting rods 31 form a plane capable of supporting the cargo bag;

a main body part of the transverse driving member 32 is fixed on the frame 1, and a movable part of the transverse driving member 32 is connected with the transverse hand grip 3 and can drive the transverse hand grip 3 to move horizontally;

the pressing plate 4 is parallel to a plane formed by the bottom supporting rod 31;

and a main body part of the vertical driving piece 41 is fixed on the frame 1, and a movable part of the vertical driving piece 41 is connected with the pressing plate 4 and can drive the pressing plate 4 to vertically move.

The support bottom gripper is connected to the mechanical arm for use, specifically, the mechanical arm connecting portion at the top of the frame 1 is installed on the mechanical arm, so that the frame 1 can be driven by the mechanical arm to move back and forth between the assembly line and the stacking area. The cooperation transmission line of tongs cooperation at the bottom of holding in the palm of this embodiment uses, and is specific, and the transmission line adopts the cylinder to transmit the goods bag, and the use is: in the initial state, as shown in fig. 1, the transverse hand grip 3 is far away from the leaning plate 2, and the pressing plate 4 is contracted to a position close to the lower part of the frame 1; after the cargo bags 5 arrive at the to-be-grabbed station under the driving of the transmission line, as shown in fig. 2, the mechanical arm works to enable the leaning plate 2 to be close to one side of the transmission line and enable the leaning plate 2 to lean against one side of the stacked cargo bags 5, so that one sides of the cargo bags 5 can be aligned by taking the leaning plate 2 as a reference; after the goods bag 5 is completely leaned against the position, the transverse driving piece 32 acts to enable the transverse hand grip 3 to extend into the lower part of the conveying line, and the gap between the bottom supporting rods 31 can stagger the rollers of the conveying line, so that the bottom supporting rods 31 can extend to the bottom of the goods bag 5; finally, the vertical drive 41 is actuated to press the presser plate 4 down to clamp the stack of bags 5, and the robotic arm is then actuated to stack the stack of bags 5 into the palletizing zone to complete the stacking.

The support bottom gripper can realize orderly gripping of a plurality of goods bags, can prevent the goods bags from inclining in the process of moving the goods bags by the gripper, and finally realizes orderly stacking.

Preferably, in the bottom-gripping hand of the present embodiment, as shown in fig. 3, the lateral hand 3 includes:

the transverse rod body 33 is horizontally arranged on the frame 1, and a sliding strip is fixed on one side of the transverse rod body 33;

the vertical rod body 34 is fixed with one end of the transverse rod body 33 and is perpendicular to the transverse rod body 33;

a bottom supporting rod 31, wherein one end of the bottom supporting rod 31 is fixed with the bottom of the vertical rod body 34;

a sliding groove is fixed on the frame 1, and the sliding strip is slidably arranged in the sliding groove.

Specifically, in order to ensure the structural strength and light weight of the transverse rod body 33 and the vertical rod body 34, hollow profiles are adopted in the parts.

Preferably, in the bottom-supporting grip of the present embodiment, as shown in fig. 4, the upper portion of the bottom-supporting rod 31 is a plane, and the top end of the bottom-supporting rod 31 is tapered to eliminate an edge angle. The bottom of the cargo bag is convenient for steadily to hold by the structure, and the cargo bag can be protected from being scratched by the end part with the edge angle eliminated.

Preferably, as shown in fig. 1 and 2, the frame 1 is rectangular, the interior of the frame 1 is hollow, and the horizontal driving element 32 and the vertical driving element 41 are both disposed inside the frame 1. The gripper is beneficial to the compact integral structure, specifically, the vertical driving parts 41 are arranged on two sides of the transverse driving part 32, and the internal space of the frame 1 is fully utilized.

Preferably, in the bottom-supporting gripper of this embodiment, the pressing plate 4 is rectangular, the number of the vertical driving members 41 is two, and the two vertical driving members 41 are respectively connected to two ends of a diagonal line of the pressing plate 4. The diagonally mounted configuration enables the platen 4 to be more balanced when moved.

Preferably, in the bottom supporting gripper of this embodiment, a sleeve is fixed on the frame 1, a guide rod 42 is movably installed in the sleeve, and a lower end of the guide rod is connected with the pressing plate 4. The guide rods 42 increase the balance when the platen 4 moves.

Preferably, in the bottom-supporting gripper of the present embodiment, two guide rods 42 are provided, respectively, at two ends of the other diagonal line of the pressure plate 4. The diagonally mounted configuration enables the platen 4 to be more balanced when moved.

Preferably, in the bottom-supporting gripper of this embodiment, clamping plates 341 are fixed on two sides of the bottom of the vertical rod 34, a hole for butting the bottom-supporting rod 31 is formed in the clamping plate 341, and the bottom-supporting rod 31 is inserted into the hole and then welded and fixed with the edge of the hole. Because only one end of the bottom supporting rod 31 is fixed in structure, the clamping plate 341 provides enough strength to ensure that the bottom supporting rod 31 has supporting force for supporting the cargo bag.

Preferably, in the bottom-supporting gripper of this embodiment, a triangular reinforcing plate is fixed at the joint or end of the transverse rod body 33 and the vertical rod body 34. The overall structural strength of the transverse gripper 3 is enhanced.

Preferably, in the bottom supporting gripper of this embodiment, the vertical rod 34 is disposed on one side of the leaning plate 2, and the bottom supporting rod 31 is lower than the lowest position of the leaning plate 2; when the vertical rod body 34 is farthest away from the position plate 2, the top end of the bottom supporting rod 31 is located on the outer side of the position plate 2, and when the vertical rod body 34 is closest to the position plate 2, the plane of the bottom supporting rod 31 for supporting the cargo bag is located under the pressing plate 4.

In light of the foregoing description of the preferred embodiments according to the present application, it is to be understood that various changes and modifications may be made without departing from the spirit and scope of the invention. The technical scope of the present application is not limited to the contents of the specification, and must be determined according to the scope of the claims.

Claims

1. A bottom-supporting grip, comprising:

a frame (1) for connecting a robot arm;

the leaning plate (2) is vertically fixed on one side of the frame (1);

the bottom of the transverse hand grip (3) is provided with a group of bottom supporting rods (31) for supporting the bottom of the cargo bag, and the bottom supporting rods (31) form a plane capable of supporting the cargo bag;

the main body part of the transverse driving piece (32) is fixed on the frame (1), and the movable part of the transverse driving piece (32) is connected with the transverse gripper (3) and can drive the transverse gripper (3) to move horizontally;

the pressing plate (4) is parallel to a plane formed by the bottom supporting support rod (31);

the main body part of the vertical driving piece (41) is fixed on the frame (1), and the movable part of the vertical driving piece (41) is connected with the pressing plate (4) and can drive the pressing plate (4) to vertically move.

2. The sub-grip according to claim 1, characterized in that said transverse grip (3) comprises:

the transverse rod body (33) is horizontally arranged on the frame (1), and a sliding strip is fixed on one side of the transverse rod body (33);

the vertical rod body (34) is fixed with one end of the transverse rod body (33) and is perpendicular to the transverse rod body (33);

one end of the bottom supporting rod (31) is fixed with the bottom of the vertical rod body (34);

a sliding groove is fixed on the frame (1), and the sliding strip is slidably arranged in the sliding groove.

3. The bottom hand grip according to claim 2, characterized in that the upper portion of said bottom support bar (31) is plane and the top end of said bottom support bar (31) is tapered to eliminate corners.

4. The sub-gripper as claimed in any one of claims 1 to 3, characterised in that said frame (1) is generally rectangular parallelepiped-shaped, the interior of said frame (1) is hollow, and said transverse drive member (32) and said vertical drive member (41) are both arranged inside said frame (1).

5. The sub-gripper as claimed in any one of claims 1 to 3, characterised in that said pressure plate (4) has a rectangular shape, and in that there are two of said vertical driving members (41), said two vertical driving members (41) being connected to each end of a diagonal of said pressure plate (4).

6. The bottom-supporting hand grip according to claim 5, characterized in that a sleeve is fixed on the frame (1), a guide rod (42) is movably mounted in the sleeve, and the lower end of the guide rod is connected with the pressure plate (4).

7. A sub-grip as claimed in claim 6, characterised in that said guide bars (42) are provided in total in two, respectively at the ends of the other diagonal of said pressure plate (4).

8. The bottom-supporting grip as claimed in claim 2 or 3, characterized in that clamping plates (341) are fixed to both sides of the bottom of the vertical rod body (34), the clamping plates (341) are provided with holes for butting against the bottom-supporting rod (31), and the bottom-supporting rod (31) is inserted into the holes and then welded and fixed to the edges of the holes.

9. A bottom gripping grip as claimed in claim 2 or 3, characterized in that a triangular reinforcing plate is fixed to the connection or end of the transverse bar (33) and the vertical bar (34).

10. The bottom-supporting hand grip according to claim 2 or 3, characterized in that said vertical rod (34) is arranged on one side of said rest plate (2), said bottom-supporting rod (31) being lower than the lowest of said rest plate (2); vertical body of rod (34) leave when leaning on a board (2) farthest, the top that holds in the palm end support pole (31) is located lean on the outside of a board (2), vertical body of rod (34) leave when leaning on a board (2) nearest, the plane that holds in the palm end support pole (31) and support the goods bag is located under clamp plate (4).