CN216686455U - Multifunctional gripper and stacking and grabbing system - Google Patents
Multifunctional gripper and stacking and grabbing system Download PDFInfo
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- CN216686455U CN216686455U CN202220295969.6U CN202220295969U CN216686455U CN 216686455 U CN216686455 U CN 216686455U CN 202220295969 U CN202220295969 U CN 202220295969U CN 216686455 U CN216686455 U CN 216686455U
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Abstract
The utility model relates to a multifunctional gripper and a stacking and grabbing system, which comprises a supporting plate and at least one group of grabbing components, wherein the supporting plate is provided with a plurality of supporting holes; the grabbing component comprises a fixed clamping plate, a movable clamping plate and a supporting plate, the fixed clamping plate is arranged on the supporting plate, the supporting plate is connected with the supporting plate through a supporting plate arm, the movable clamping plate is arranged between the supporting plate and the fixed clamping plate, the movable clamping plate and the supporting plate arm are connected with the supporting plate through a sliding guide mechanism, and the movable clamping plate and the supporting plate are driven by a driving mechanism to move along the sliding guide mechanism. The movable clamping plate and the fixed clamping plate are matched to position a product, the product can be clamped, the supporting plate can support the bottom of the product, the product can be grabbed and stacked no matter whether the product to be grabbed and stacked is a bare barrel or a packaging carton, the bare barrel or the carton can be grabbed by only one grabbing mechanism, the grabbing is stable, safe and reliable, the grabbing mechanism does not need to be replaced, the grabbing efficiency of the product is improved, and the equipment cost is reduced.
Description
Technical Field
The utility model relates to a mechanical gripper, in particular to a multifunctional gripper and a stacking and grabbing system.
Background
Edible oil adopts the oil drum to encapsulate, and the edible oil drum of accomplishing the encapsulation need carry out the pile up neatly, and some customers require edible oil drum must be vanned, and some customers then need not vanning naked bucket can, so require edible oil drum after the encapsulation to pile up neatly naked bucket or carton according to customer's requirement.
Because there is obvious difference in the appearance of naked bucket and carton, can't use current manipulator to accomplish to snatch, so adopt a manipulator when snatching naked bucket at present, and then need change another kind of manipulator when will pile up neatly product oil drum adopts the carton packing, just can accomplish the pile up neatly that snatchs of the product of packing, because the pile up neatly that snatchs of naked bucket or carton can't be accomplished simultaneously to current manipulator, lead to must be equipped with two kinds of different manipulators on the production line, not only greatly increased equipment cost, and the pile up neatly efficiency of product can be reduced to the change process of manipulator.
Disclosure of Invention
Aiming at the defects in the prior art, the utility model provides the multifunctional gripper and the stacking and grabbing system which are simple in structure, convenient to operate, capable of grabbing not only bare barrels but also packaging cartons.
The technical scheme for solving the technical problems is as follows: a multifunctional gripper comprises a supporting plate and at least one group of gripping assemblies arranged on the supporting plate;
the grabbing component comprises a fixed clamping plate, a movable clamping plate and a supporting plate, the fixed clamping plate is arranged on the supporting plate, the supporting plate is connected with the supporting plate through a supporting plate arm, the movable clamping plate and the supporting plate arm are connected with the supporting plate through a sliding guide mechanism, the movable clamping plate is arranged under the action of a clamping plate driving mechanism and moves along the sliding guide mechanism, and the supporting plate is arranged under the action of a supporting plate driving mechanism and moves along the sliding guide mechanism.
The utility model has the beneficial effects that: the movable clamp plate and the supporting plate are close to or far away from under the action of the respective driving mechanism, the movable clamp plate and the fixing clamp plate are matched to position products, the products can be clamped tightly, the bottom of the products can be supported by the supporting plate, so that the products to be grabbed can be grabbed and piled up in a bare barrel or a packaging carton, the grabbing of the products can be realized only by one grabbing mechanism, the grabbing of the bare barrel or the carton can be realized, the grabbing stability is realized, the safety and the reliability are realized, the grabbing mechanism does not need to be replaced, the grabbing efficiency of the products is improved, and the equipment cost is reduced.
On the basis of the technical scheme, the utility model can be further improved as follows.
Further, the supporting plate comprises at least two claw teeth which are arranged in parallel.
Adopt above-mentioned further scheme's beneficial effect is that, the layer board can select suitable claw tooth interval and claw tooth quantity for use according to the size that specifically will snatch the product to in the realization is to the stable support in product bottom, the layer board adopts the claw tooth design satisfying under the effect of supporting strength, can also alleviate layer board self dead weight simultaneously, reduces the energy consumption.
Furthermore, the supporting plate driving mechanism comprises a supporting plate driving cylinder, the movable clamping plate is arranged between the supporting plate and the fixed clamping plate, a cylinder body of the supporting plate driving cylinder is arranged on the supporting plate or the movable clamping plate, and a piston rod of the supporting plate driving cylinder is hinged to the supporting plate arm.
The beneficial effects of adopting above-mentioned further scheme are that, the layer board actuating cylinder is used for driving the layer board and is close to solid fixed splint or keep away from solid fixed splint action, can play the purpose of holding the product bottom, and can set up in the backup pad to the mounted position of layer board actuating cylinder, also can set up on movable splint, can drive the layer board removal in step when movable splint remove, shortens the stroke of layer board actuating cylinder, improves and snatchs efficiency.
Furthermore, the clamping plate driving mechanism comprises a clamping plate driving cylinder, a cylinder body of the clamping plate driving cylinder is arranged on the supporting plate, and a piston rod of the clamping plate driving cylinder is hinged to the movable clamping plate.
The clamping plate driving cylinder is used for driving the movable clamping plate, so that the movable clamping plate moves close to or away from the fixed clamping plate.
Furthermore, the horizontal plane of the supporting surface of the claw tooth is positioned below the fixed clamping plate and the movable clamping plate.
Adopt above-mentioned further scheme's beneficial effect be, fixed splint and movable clamp plate cooperation centre gripping product, the claw tooth then moves the bottom support product to the product at the layer board, guarantees the security and the stability of product pile up neatly transfer process.
Furthermore, the claw teeth are of an L-shaped structure, and a plurality of claw teeth are arranged on the lower portion of the supporting plate arm.
Adopt above-mentioned further scheme's beneficial effect to be connected with the layer board arm by the minor face of L type claw tooth, and the long limit is used for bearing the weight of the product, has deep floor between minor face and the long limit to increase the support strength of claw tooth.
Furthermore, the sliding guide mechanism comprises a sliding rail, the sliding rail is arranged at the bottom of the supporting plate, and sliding blocks matched with the sliding rail are respectively arranged on the movable clamping plate and the supporting plate arm.
The beneficial effects of adopting above-mentioned further scheme are that, there is the slide rail bottom of backup pad, all has the slider that can slide on the slide rail on movable splint and the layer board, and the cooperation through slider and slide rail is led spacingly to the removal of movable splint and layer board, and the radial atress of reducible splint actuating cylinder and layer board actuating cylinder prolongs the life of actuating cylinder.
Furthermore, two groups of grabbing components are arranged on the supporting plate.
The beneficial effect who adopts above-mentioned further scheme is that, two sets of subassemblies that snatch set up in parallel in the bottom of backup pad, can once snatch more products, improve pile up neatly efficiency.
The utility model also relates to a multifunctional stacking and grabbing system which comprises a conveying line and a stacking robot and comprises the multifunctional gripper, wherein the multifunctional gripper is arranged on the stacking robot, the stacking robot drives the multifunctional gripper to act, and the conveying line is provided with a slot matched with a supporting plate of the multifunctional gripper.
The utility model has the beneficial effects that: the oil drum is conveyed and discharged by the conveying line, and in order to be more efficiently matched with the grabbing of the stacking grabbing mechanism, the conveying line is provided with slots, when the products are conveyed in place, the palletizing robot drives the palletizing grabbing mechanism to move, the fixed clamp plate is arranged on one side of the products, the movable clamp plate is arranged on the other side of the products, the movable clamp plate is close to the fixed clamp plate under the action of the clamp plate driving mechanism to clamp the products, the supporting plate is close to the fixed clamp plate under the action of the supporting plate driving mechanism, the fixed clamping plate and the movable clamping plate are matched to ensure that products to be stacked are arranged orderly, subsequent stacking is facilitated, the supporting plate inserting grooves in the conveying line facilitate the supporting plates to smoothly enter the lower parts of the products, the stacking robot acts to support the products, the products can be grabbed, and during stacking, the supporting plate resets, is drawn out from the bottom of the product, and is clamped and matched with the movable clamping plate through the fixed clamping plate to stack the product. In a word, the automatic grabbing and stacking device is simple in structure and convenient to operate, can grab and stack naked barrel products or carton box products directly, does not need to replace a grabbing mechanism, is high in grabbing and stacking efficiency, and can be completely matched with the rhythm of efficient automatic production.
On the basis of the technical scheme, the utility model can be further improved as follows.
Furthermore, the transfer chain includes the roller frame and sets up a plurality of transport rollers on the roller frame, the slot sets up on the roller frame, and is adjacent carry between the roller.
The beneficial effect who adopts above-mentioned further scheme is that, have on the roller frame between the transport roller with the slot of layer board prong complex, the prong can pass the slot under layer board actuating mechanism's effect and enter into between the transport roller, then snatch the mechanism and shift up under the effect of robot and just can accomplish snatching of product and carry out the pile up neatly, make full use of has the roller interval of transfer chain now, reduce the cost that the pile up neatly snatched the system.
Drawings
FIG. 1 is a schematic structural view of a grasping mechanism according to the present invention;
FIG. 2 is a schematic top view of the present invention;
FIG. 3 is a schematic view of the pallet of the present invention;
FIG. 4 is a schematic structural view of the movable clamp plate of the present invention;
FIG. 5 is a schematic view of the present invention;
FIG. 6 is a schematic structural view of a bare barrel grasping state according to the present invention;
FIG. 7 is a schematic view of the carton in a grabbed state according to the present invention;
FIG. 8 is a schematic structural view of a roller conveyor line according to the present invention;
FIG. 9 is a schematic diagram of the forklift of the present invention;
in the figure, 1, a support plate; 2. fixing the clamping plate; 3. a movable splint; 4. a support plate; 5. a pallet arm; 6. a slide rail; 7. a slider; 8. a clamp plate driving cylinder; 9. a pallet drive cylinder; 10. a roll stand; 11. a slot; 12. a roller; 13. a bare barrel; 14. a carton.
Detailed Description
The principles and features of this invention are described below in conjunction with examples, which are set forth to illustrate, but are not to be construed to limit the scope of the utility model.
Embodiment 1, as shown in fig. 1 to 7, a multi-functional gripper comprises a supporting plate 1 and at least one set of gripping components arranged on the supporting plate 1;
snatch the subassembly and include solid fixed splint 2, activity splint 3 and layer board 4, gu fixed splint 2 sets up in the backup pad, layer board 4 through layer board arm 5 with the backup pad is connected, activity splint 3 and layer board arm 5 through the slip guiding mechanism with the backup pad is connected, activity splint 3 follows under splint actuating mechanism's effect the slip guiding mechanism action, layer board 4 follows under layer board actuating mechanism's effect the slip guiding mechanism action.
The supporting plate 4 comprises at least two claw teeth arranged in parallel. The layer board can be according to the size that concrete will snatch the product and select suitable claw tooth interval and claw tooth quantity for use to in the realization is to the stable support in product bottom, the layer board adopts the claw tooth design satisfying under the effect of supporting intensity, can also alleviate layer board dead weight itself simultaneously, reduces the energy consumption.
The supporting plate driving mechanism comprises a supporting plate driving cylinder 9, a cylinder body of the supporting plate driving cylinder 9 is arranged on the movable clamping plate 3, and a piston rod of the supporting plate driving cylinder 9 is hinged with the supporting plate. The supporting plate driving cylinder 9 is used for driving the supporting plate to move close to the fixed clamping plate 2 or far away from the fixed clamping plate 2, the purpose of supporting the bottom of a product can be achieved, the mounting position of the supporting plate driving cylinder 9 can be arranged on the movable clamping plate 3, the movable clamping plate can synchronously drive the supporting plate to move when moving, the stroke of the supporting plate driving cylinder is shortened, and the grabbing efficiency is improved.
The clamping plate driving mechanism comprises a clamping plate driving cylinder 8, a cylinder body of the clamping plate driving cylinder 8 is arranged on the supporting plate 1, and a piston rod of the clamping plate driving cylinder 8 is hinged to the movable clamping plate 3. The clamp plate driving cylinder 8 is used for driving the movable clamp plate 3 to realize the action that the movable clamp plate 3 is close to the fixed clamp plate 2 or far away from the fixed clamp plate 2.
In order to facilitate the installation of the driving mechanism and the stable movement of the driving movable clamping plate and the supporting plate, hollow parts are arranged on the fixed clamping plate, the movable clamping plate and the supporting plate arm, so that the stroke is convenient for installing the space of the driving cylinder. The supporting plate arm is provided with two arms which are respectively connected with the bottom of the supporting plate through a sliding rail and a sliding block, and the bottom of the supporting plate arm is connected with the supporting plate. The flat plate part of the movable clamping plate is provided with a hollow structure for mounting the driving cylinder, and the position of the connecting slide block is provided with a reinforcing rib plate so as to increase the connecting strength and the supporting strength of the movable clamping plate.
The horizontal plane of the supporting surface of the claw teeth is positioned below the fixed splint 2 and the movable splint 3. The fixed clamping plate 2 and the movable clamping plate 3 are matched to clamp a product, and the claw teeth move to the bottom of the product at the supporting plate to support the product, so that the safety and the stability of the product stacking and transferring process are guaranteed.
The claw teeth are of an L-shaped structure, and are arranged on the lower portion of the supporting plate arm 5. The short edge of the L-shaped claw tooth is connected with the supporting plate arm 5, the long edge is used for bearing products, and a reinforcing rib plate is arranged between the short edge and the long edge to increase the supporting strength of the claw tooth.
The sliding guide mechanism comprises a sliding rail 6, the sliding rail 6 is arranged at the bottom of the supporting plate 1, and sliding blocks 7 matched with the sliding rail 6 are respectively arranged on the movable clamping plate 3 and the supporting plate arm 5. There is slide rail 6 bottom of backup pad 1, all has the slider 7 that can slide on slide rail 6 on movable splint 3 and the layer board, and the cooperation through slider 7 and slide rail 6 is led spacingly to the removal of movable splint 3 and layer board, and the radial atress of reducible splint actuating cylinder 8 and layer board actuating cylinder 9 prolongs the life of actuating cylinder.
Two groups of grabbing components are arranged on the supporting plate 1. Two sets of components that snatch set up in parallel in the bottom of backup pad 1, can once snatch more products, improve pile up neatly efficiency.
As shown in fig. 8 and 9, the utility model further relates to a multifunctional palletizing and grabbing system, which comprises a conveying line and a palletizing robot, wherein the multifunctional palletizing and grabbing system comprises the multifunctional gripper, the multifunctional gripper is arranged on the palletizing robot, the palletizing robot drives the multifunctional gripper to act, and the conveying line is provided with a slot 11 matched with a supporting plate of the multifunctional gripper.
The conveying line comprises a roller frame 10 and a plurality of conveying rollers 12 arranged on the roller frame 10, and the inserting grooves 11 are formed in the roller frame 10 and are arranged between the adjacent conveying rollers. The roller frame 10 between the conveying rollers is provided with the slots 11 matched with the supporting plate fork teeth, the fork teeth can penetrate through the slots 11 to enter the conveying rollers under the action of the supporting plate driving mechanism, then the grabbing mechanism moves upwards under the action of the robot to grab products to carry out stacking, the roller space of the existing conveying line is fully utilized, and the cost of a stacking grabbing system is reduced.
The oil drum is conveyed by the conveying line for discharging, in order to more efficiently match the grabbing of the stacking grabbing mechanism, the slot 11 is arranged on the conveying line, when the product is conveyed in place, the stacking robot drives the stacking grabbing mechanism to move, the fixed clamp plate 2 is arranged on one side of the product, the movable clamp plate 3 is arranged on the other side of the product, the movable clamp plate 3 is close to the fixed clamp plate 2 under the action of the clamp plate driving mechanism to clamp the product, the supporting plate is close to the fixed clamp plate 2 under the action of the supporting plate driving mechanism, the arrangement of the product to be stacked is ensured to be neat through the matching of the fixed clamp plate 2 and the movable clamp plate 3, the subsequent stacking is facilitated, the supporting plate slot 11 on the conveying line is favorable for the supporting plate to smoothly enter the lower part of the product, the product can be grabbed through the action of the stacking robot, the supporting plate resets and is drawn out from the bottom of the product during the stacking, and the stacking of the product is realized through the clamping matching of the fixed clamp plate 2 and the movable clamp plate 3, the pile up neatly can directly snatch naked bucket 13 product or 14 products of dress carton, need not to change and snatchs the mechanism, snatchs the pile up neatly efficient, can cooperate high-efficient automated production's rhythm completely.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the utility model, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The multifunctional gripper is characterized by comprising a support plate (1) and at least one group of gripping assemblies arranged on the support plate (1);
the grabbing component comprises a fixed clamping plate (2), a movable clamping plate (3) and a supporting plate (4), the fixed clamping plate (2) is arranged on the supporting plate, the supporting plate (4) is connected with the supporting plate through a supporting plate arm (5), the movable clamping plate (3) and the supporting plate arm (5) are connected with the supporting plate through a sliding guide mechanism, the movable clamping plate (3) is arranged under the action of a clamping plate driving mechanism and moves along the sliding guide mechanism, and the supporting plate (4) is arranged under the action of the supporting plate driving mechanism and moves along the sliding guide mechanism.
2. The multi-functional hand grip according to claim 1, characterized in that said pallet (4) comprises at least two claw teeth.
3. The multi-functional hand grip according to claim 1 or 2, characterized in that the pallet driving mechanism comprises a pallet driving cylinder (9), the movable clamping plate (3) is arranged between the pallet (4) and the fixed clamping plate (2), the cylinder body of the pallet driving cylinder (9) is arranged on the supporting plate (1) or on the movable clamping plate (3), and the piston rod of the pallet driving cylinder (9) is hinged with the pallet arm (5).
4. The multi-functional hand grip according to claim 1 or 2, characterized in that the gripper driving mechanism comprises a gripper driving cylinder (8), the cylinder body of the gripper driving cylinder (8) being arranged on the support plate (1), the piston rod of the gripper driving cylinder (8) being hinged with the movable gripper plate (3).
5. The multi-functional hand grip according to claim 2, characterized in that the level of the support surface of said gripping teeth is located below said fixed clamp plate (2) and movable clamp plate (3).
6. The multifunctional gripper as claimed in claim 1 or 2, characterized in that the sliding guide mechanism comprises a sliding rail (6), the sliding rail (6) is arranged at the bottom of the support plate (1), and the movable clamping plate (3) and the pallet arm (5) are respectively provided with a sliding block (7) adapted to the sliding rail (6).
7. The multi-functional hand grip according to claim 2, characterized in that said claw teeth are of L-shaped configuration, said claw teeth being provided at the lower portion of said pallet arm (5).
8. The multi-functional hand grip according to claim 1, characterized in that said support plate (1) is provided with two sets of said gripping assemblies.
9. A multifunctional palletizing and gripping system, comprising a conveying line and a palletizing robot, and being characterized in that the multifunctional palletizing and gripping system comprises the multifunctional gripper as claimed in any one of claims 1 to 8, the multifunctional gripper is arranged on the palletizing robot, and the conveying line is provided with a slot (11) matched with a supporting plate (4) of the multifunctional gripper.
10. The multi-function pallet gripping system according to claim 9, wherein the conveyor line comprises a roller frame (10) and a plurality of conveyor rollers (12) arranged on the roller frame (10), the slots (11) being arranged on the roller frame (10) between adjacent conveyor rollers (12).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220295969.6U CN216686455U (en) | 2022-02-14 | 2022-02-14 | Multifunctional gripper and stacking and grabbing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220295969.6U CN216686455U (en) | 2022-02-14 | 2022-02-14 | Multifunctional gripper and stacking and grabbing system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216686455U true CN216686455U (en) | 2022-06-07 |
Family
ID=81828810
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202220295969.6U Active CN216686455U (en) | 2022-02-14 | 2022-02-14 | Multifunctional gripper and stacking and grabbing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216686455U (en) |
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2022
- 2022-02-14 CN CN202220295969.6U patent/CN216686455U/en active Active
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20220926 Address after: 265200, No. 39 East Longmen Road, Yantai, Shandong, Laiyang Patentee after: LAIYANG LUHUA INTELLIGENT TECHNOLOGY Co.,Ltd. Address before: 265200, No. 39 East Longmen Road, Yantai, Shandong, Laiyang Patentee before: SHANDONG LUHUA GROUP Co.,Ltd. Patentee before: LAIYANG LUHUA INTELLIGENT TECHNOLOGY Co.,Ltd. |