CN214166589U

CN214166589U - Flexible gripper for grabbing box body

Info

Publication number: CN214166589U
Application number: CN202022999197.8U
Authority: CN
Inventors: 程红太; 李伟; 赵亮
Original assignee: Shenyang Ruise Micro Robot Technology Co ltd
Current assignee: Shenyang Ruise Micro Robot Technology Co ltd
Priority date: 2020-12-15
Filing date: 2020-12-15
Publication date: 2021-09-10
Anticipated expiration: 2030-12-15

Abstract

The utility model discloses a flexible gripper for gripping a box body, which relates to the technical field of gripper for box bodies and solves the technical problem that the prior gripper for box bodies easily extrudes and deforms the box body to cause the damage of goods in the box body, comprising a flat plate, wherein the upper wall surface of the flat plate is movably connected with a pair of movable blocks, two ends of the pair of movable blocks are rotatably connected with a pair of upper rotating sleeves, two sides of the flat plate are respectively provided with a pair of platform openings, the pair of upper rotating sleeves are respectively penetrated through the pair of platform openings, the penetrating ends of the pair of upper rotating sleeves are respectively inserted with a lower rotating rod, one side of the bottom of the lower rotating rod is fixedly connected with a fork tooth, the center of the flat plate is provided with a mounting hole, a cylinder is fixedly connected in the mounting hole, the telescopic end of the cylinder is fixedly connected with a carton sucking disc, after the carton is firstly sucked by the carton through the carton, the device, the fork tooth is rotated to the lower part of the box body, thereby realizing the lifting of the box body from the lower part, the extrusion to the box has been reduced, the safety of the inside goods of box has been guaranteed.

Description

Flexible gripper for grabbing box body

Technical Field

The utility model relates to a box tongs technical field specifically is a flexible tongs that is used for box to snatch.

Background

In the fields of storage and logistics, the intelligent palletizing robot is applied to carry and palletize, so that the manual labor can be effectively saved, the work efficiency is improved, and the cost is reduced, the box type gripper is a palletizing robot gripping box body, key components for realizing box body carrying and palletizing are disclosed, for example, in the utility model with the publication number of CN210973042U, the box type gripper of the palletizing robot comprises a main frame, the lower surface of the main frame is provided with a mounting port, the inner wall of the mounting port is symmetrically provided with a track groove, the inner sides of the mounting port and the track groove are slidably connected with a first clamping plate and a second clamping plate, the surface of the main frame is symmetrically provided with a bearing, the inner side of the bearing is fixed with a driving rod, the surface of the driving rod is in threaded connection with the first clamping plate and the second clamping plate, one end of the driving rod is in flanged connection with a motor, the utility model drives the first clamping plate and the second clamping plate to be close by the positive rotation of the motor, the gripper is inserted into the bottom of the box body to butt between the first clamping plate and the second clamping plate, then rise through the cylinder and drive the tongs upwards make first splint of box top butt and second splint surface to this carries out the centre gripping to the four sides of box and has avoided the dropping of snatching in-process box, and satisfies the centre gripping use of unidimensional box in the certain limit, however, the device is when snatching, because carton intensity is limited, the tongs that uses the centre gripping mode easily extrudees the deformation with the box, leads to the goods in the box to damage, and the result of use is not good.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art, the utility model provides a flexible tongs for box snatchs has solved current box tongs and has easily extrudeed the box and warp, leads to the technical problem that the goods damaged in the box.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes: the utility model provides a flexible tongs for box snatchs, includes the flat board, wall swing joint has a pair of movable block on the flat board, and is a pair of the movable block both ends all rotate and are connected with a pair of commentaries on classics cover, a pair of platform opening has all been seted up to the flat board both sides, and is a pair of go up the commentaries on classics cover and run through in a pair of the platform opening, it is a pair of go up the commentaries on classics cover and run through the equal cartridge in end and have a lower bull stick, lower bull stick bottom one side rigid coupling has the prong, go up the commentaries on classics cover with install fixing device between the bull stick down, it is a pair of install interval adjusting device between the movable block, it is a pair of go up the intercommunication between the commentaries on classics cover and have rotating device, the mounting hole has been seted up to flat board center department, the rigid coupling has the cylinder in the carton mounting hole, the flexible end rigid coupling of cylinder has the sucking disc.

Preferably, the rotating device comprises a double-end servo motor, the double-end servo motor is fixedly connected to the upper wall of the moving block, the upper wall of the moving block is located on the pair of rotating shaft fixing blocks fixedly connected to the inner side of the rotating shaft sleeve, the pair of rotating shaft fixing blocks rotatably connect with a rotating shaft, the rotating shaft is communicated with the double-end servo motor, the two ends of the rotating shaft are located on the pair of rotating shaft fixing blocks fixedly connected to the outer sides of the rotating shaft fixing blocks, the pair of rotating shaft fixing blocks fixedly connected to driving gears are located on the upper rotating sleeve, driven gears are fixedly connected to the upper portions of the moving block, and the driven gears are meshed with the driving gears.

Preferably, the driving gear and the driven gear are both bevel gears.

Preferably, the distance adjusting device comprises an electric push rod, the electric push rod is fixedly connected to one side of the upper wall surface of the flat plate, a pair of limiting sleeves is fixedly connected to the upper wall surface of the flat plate and located on two sides of the cylinder, a telescopic fork is fixedly connected to a telescopic end of the electric push rod, two sides of the telescopic fork are respectively inserted into the pair of limiting sleeves, two sides of the telescopic fork are hinged to two pairs of connecting rods, and the other ends of the two pairs of connecting rods are respectively hinged to one pair of side walls of the moving block.

Preferably, the fixing device comprises a positioning pin, a positioning pin mounting hole is formed in one side of the upper rotating sleeve, the positioning pin is inserted into the positioning pin mounting hole, a plurality of positioning holes are formed in the lower rotating rod, and the positioning pin is matched with the positioning holes.

Preferably, a pair of dovetail blocks is fixedly connected to two sides of the upper wall surface of the flat plate, a pair of dovetail grooves is formed in the lower walls of the moving blocks, the pair of dovetail grooves is matched with the pair of dovetail blocks, and one end of each dovetail block is flush with one end of the opening of the corresponding platform.

Advantageous effects

The utility model provides a flexible tongs for box snatchs possesses following beneficial effect:

1. the utility model discloses a carton sucking disc is earlier with the carton back of having inhaled, through rotating the prong to the box below to the box is held up from the below in the realization, has reduced the extrusion to the box, has guaranteed the safety of the inside goods of box.

2. The utility model discloses an adjust the interval of changeing the cover on the both sides, can adapt to the box of different width, strengthened the suitability of tongs.

3. The utility model discloses a telescopic carton sucking disc and can pivoted prong, the convenience is grabbed the box in narrow and small space.

Drawings

Fig. 1 is a front view of the present invention.

Fig. 2 is a schematic top view of the present invention.

Fig. 3 is a right-side view of the present invention.

In the figure: 1-plate; 11-dovetail block; 12-a platform opening; 2-moving block; 3-turning on a sleeve; 31-lower rotating rod; 32-tines; 33-a driven gear; 34-a positioning pin; 35-positioning holes; 4-a double-head servo motor; 41-a rotating shaft; 42-shaft fixing block; 43-a drive gear; 5, an electric push rod; 51-a telescopic fork; 52-a connecting rod; 53-a stop collar; 6-cylinder; 61-carton suction cups.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: a flexible gripper for gripping a box body comprises a flat plate 1, wherein the upper wall surface of the flat plate 1 is movably connected with a pair of moving blocks 2, two ends of each moving block 2 are rotatably connected with a pair of upper rotating sleeves 3, two sides of the flat plate 1 are respectively provided with a pair of platform openings 12, the pair of upper rotating sleeves 3 penetrate through the pair of platform openings 12, penetrating ends of the pair of upper rotating sleeves 3 are respectively inserted with a lower rotating rod 31, one side of the bottom of the lower rotating rod 31 is fixedly connected with a fork tooth 32, a fixing device is arranged between the upper rotating sleeves 3 and the lower rotating rod 31, an interval adjusting device is arranged between the pair of moving blocks 2, a rotating device is communicated between the pair of upper rotating sleeves 3, the center of the flat plate 1 is provided with a mounting hole, an air cylinder 6 is fixedly connected in the mounting hole, and a carton sucker 61 is fixedly connected at the telescopic end of the air cylinder 6; the rotating device comprises a double-end servo motor 4, the double-end servo motor 4 is fixedly connected to the upper wall surface of the moving block 2, a pair of rotating shaft fixing blocks 42 is fixedly connected to the upper wall surface of the moving block 2 and positioned on the inner sides of the pair of upper rotating sleeves 3, a rotating shaft 41 is rotatably connected between the pair of rotating shaft fixing blocks 42 and communicated with the double-end servo motor 4, driving gears 43 are fixedly connected to two ends of the rotating shaft 41 and positioned on the outer sides of the pair of rotating shaft fixing blocks 42, driven gears 33 are fixedly connected to the pair of upper rotating sleeves and positioned above the moving block 2, and the driven gears 33 are meshed with the driving gears 43; the driving gear 43 and the driven gear 33 are both bevel gears; the distance adjusting device comprises an electric push rod 5, the electric push rod 5 is fixedly connected to one side of the upper wall surface of the flat plate 1, a pair of limiting sleeves 53 are fixedly connected to the upper wall surface of the flat plate 1 and positioned on two sides of the air cylinder 6, a telescopic fork 51 is fixedly connected to the telescopic end of the electric push rod 5, two sides of the telescopic fork 51 are respectively inserted into the pair of limiting sleeves 53, two sides of the telescopic fork 51 are hinged to two pairs of connecting rods 52, and the other ends of the two pairs of connecting rods 52 are respectively hinged to the side walls of the pair of moving blocks 2; the fixing device comprises a positioning pin 34, a positioning pin mounting hole is formed in one side of the upper rotating sleeve 3, the positioning pin 34 is inserted into the positioning pin mounting hole, a plurality of positioning holes 35 are formed in the lower rotating rod 31, and the positioning pin 34 is matched with the positioning holes 35; a pair of dovetail blocks 11 are fixedly connected to two sides of the upper wall surface of the flat plate 1, a pair of dovetail grooves begin to be formed in the lower walls of the moving blocks 2, the pair of dovetail grooves are matched with the pair of dovetail blocks 11, and one end of each pair of dovetail blocks 11 is flush with one end of each pair of platform openings 12.

The following components are provided according to the scheme:

the electric push rod is also called a linear driver, is a novel linear actuating mechanism mainly composed of a motor push rod, a control device and other mechanisms, and can be considered as an extension of a rotating motor in the aspect of structure.

The paper box sucker adopts a model NAPFYS-200-50-N vacuum sucker produced by Fushan automatic equipment limited company (the vacuum sucker is communicated with vacuum equipment through a connecting pipe and then contacts with an object to be lifted such as glass, paper and the like, the vacuum equipment is started to suck, negative air pressure is generated in the sucker, so that the object to be lifted is firmly sucked, and the object to be lifted can be carried),

all the electrical components in the present application are connected with the power supply adapted to the electrical components through the wires, and an appropriate controller should be selected according to actual conditions to meet the control requirements, and specific connection and control sequences should be obtained.

Example (b): as can be known from the attached drawings 1-3 of the specification, when in use, the power input end of an electric push rod 5 and a double-head servo motor 4 are communicated with an external controller and an external power supply through wires, an air cylinder 6 and a carton suction cup 61 are communicated with an external pneumatic valve and an external air compressor, a flat plate 1 is fixedly arranged on a mechanical arm of a carrying robot, the electric push rod 5 is started, a telescopic fork 51 is pushed through the electric push rod 5, when the telescopic fork 51 moves rightwards, a pair of movable blocks 2 can be close to each other along a dovetail block 11 through a connecting rod 52, when the telescopic fork 51 moves leftwards, the pair of movable blocks 2 can be far away from each other along the dovetail block 11 through the connecting rod 52, the purpose that the distance between the fork teeth 32 is adjusted according to the width of a carton is achieved, a positioning pin 34 is pulled out, a lower rotating rod 31 is pulled out, the distance between the fork teeth 32 and the carton suction cup 61 is adjusted according to the height of the carton to be grabbed, after adjustment is finished, the positioning pin 34 is inserted into the corresponding positioning hole 35, the flat plate 1 is moved to the position right above the carton, the telescopic end of the cylinder 6 is controlled to descend, the carton sucker 61 is enabled to be attached to the upper surface of the carton, the carton is tightly sucked through the carton sucker 61, the cylinder 6 is contracted, the carton is enabled to move upwards, when the lower surface of the carton is higher than the fork teeth 32, the double-end servo motors 4 on two sides are started, the double-end servo motors 4 drive the rotating shaft 41 to rotate, the driving gears 43 at two ends of the rotating shaft 41 are meshed with the driven gears 33 on the pair of upper rotating sleeves 3, the driving gears 43 and the driven gears 33 are bevel gears, the pair of upper rotating sleeves 3 can rotate in opposite directions, when the upper rotating sleeves 3 rotate 90 degrees, the double-end servo motors 4 are stopped, the fork teeth 32 can be rotated to the lower part of the carton at the moment, the cylinder 6 is controlled to descend, when the carton descends to the fork teeth 32, the carton sucker 61 is released, and finishing the grabbing.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one of the elements does not exclude the presence of other like elements in the process, method, article, or apparatus that comprises the element.

Claims

1. The flexible gripper for gripping the box body comprises a flat plate (1) and is characterized in that the upper wall surface of the flat plate (1) is movably connected with a pair of moving blocks (2), two ends of the pair of moving blocks (2) are rotatably connected with a pair of upper rotating sleeves (3), two sides of the flat plate (1) are respectively provided with a pair of platform openings (12), the pair of upper rotating sleeves (3) penetrate through the pair of platform openings (12), the penetrating ends of the pair of upper rotating sleeves (3) are respectively inserted with a lower rotating rod (31), one side of the bottom of the lower rotating rod (31) is fixedly connected with a fork tooth (32), a fixing device is arranged between the upper rotating sleeves (3) and the lower rotating rod (31), an interval adjusting device is arranged between the pair of moving blocks (2), a rotating device is communicated between the pair of upper rotating sleeves (3), and a mounting hole is formed in the center of the flat plate (1), an air cylinder (6) is fixedly connected in the mounting hole, and a carton sucking disc (61) is fixedly connected at the telescopic end of the air cylinder (6).

2. Flexible grip for gripping containers, according to claim 1, the rotating device comprises a double-head servo motor (4), the double-head servo motor (4) is fixedly connected with the upper wall surface of the moving block (2), a pair of rotating shaft fixing blocks (42) are fixedly connected to the upper wall surface of the moving block (2) and positioned at the inner sides of the pair of upper rotating sleeves (3), a rotating shaft (41) is rotatably connected between the pair of rotating shaft fixing blocks (42), the rotating shaft (41) is communicated with the double-end servo motor (4), the two ends of the rotating shaft (41) are located in a pair, driving gears (43) are fixedly connected to the outer sides of the rotating shaft fixing blocks (42), the upper rotating sleeve is located in a pair, driven gears (33) are fixedly connected to the upper portion of the moving block (2), and the driven gears (33) are meshed with the driving gears (43).

3. Flexible grip for gripping containers, as in claim 2, characterized in that said driving gear (43) and said driven gear (33) are bevel gears.

4. The flexible gripper for gripping the box body as claimed in claim 1, wherein the distance adjusting device comprises an electric push rod (5), the electric push rod (5) is fixedly connected to one side of the upper wall surface of the flat plate (1), a pair of limiting sleeves (53) are fixedly connected to the upper wall surface of the flat plate (1) and located on two sides of the cylinder (6), a telescopic fork (51) is fixedly connected to a telescopic end of the electric push rod (5), two sides of the telescopic fork (51) are respectively inserted into the pair of limiting sleeves (53), two sides of the telescopic fork (51) are hinged to two pairs of connecting rods (52), and the other ends of the two pairs of connecting rods (52) are respectively hinged to side walls of the pair of moving blocks (2).

5. The flexible gripper for gripping the box body as claimed in claim 1, wherein the fixing device comprises a positioning pin (34), a positioning pin mounting hole is formed in one side of the upper rotating sleeve (3), the positioning pin (34) is inserted into the positioning pin mounting hole, a plurality of positioning holes (35) are formed in the lower rotating rod (31), and the positioning pin (34) is matched with the positioning holes (35).

6. The flexible gripper for gripping the box body as claimed in claim 1, wherein a pair of dovetail blocks (11) is fixedly connected to two sides of the upper wall surface of the flat plate (1), a pair of dovetail grooves are formed in the lower walls of the pair of moving blocks (2), the pair of dovetail grooves are matched with the pair of dovetail blocks (11), and one end of the pair of dovetail blocks (11) is flush with one end of the pair of platform openings (12).