CN217497817U

CN217497817U - Article sorting gripper

Info

Publication number: CN217497817U
Application number: CN202220374585.3U
Authority: CN
Inventors: 白国超; 韩丙坤
Original assignee: Zhixing Robot Technology Suzhou Co ltd
Current assignee: Zhixing Robot Technology Suzhou Co ltd
Priority date: 2022-02-18
Filing date: 2022-02-18
Publication date: 2022-09-27
Anticipated expiration: 2032-02-18

Abstract

The utility model discloses an article letter sorting tongs installs on automation equipment for snatch article. This article letter sorting tongs includes: a first mounting plate; the first lateral clamping mechanism comprises a first driving unit arranged on the first mounting plate and a first clamping unit connected to the first driving unit; the second lateral clamping mechanism comprises a second driving unit arranged on the first mounting plate and a second clamping unit connected to the second driving unit, and the first clamping unit and the second clamping unit are used for clamping articles; the bottom supporting mechanism comprises a third driving unit connected to the first mounting plate and a supporting unit connected to the third driving unit, and the supporting unit is used for supporting an article. This article letter sorting tongs is installed and can carry out automatic sorting to article such as luggage on the automation equipment, effectively improves letter sorting efficiency, reduction personnel intensity of labour.

Description

Article sorting gripper

Technical Field

The utility model relates to an automatic technical field, specific are article letter sorting tongs.

Background

At transportation terminals such as airports and docks, passengers' baggage is generally transported collectively to a designated location by a baggage conveyor. If the quantity of the luggage is large, a large number of passengers concentrate on the luggage waiting place to automatically find the luggage, and the problem of wrong luggage leading caused by disordered scene order can occur. Therefore, the transportation junction is required to mainly sort the baggage of passengers. Traditional transportation hub adopts personnel manual mode letter sorting luggage mostly, specifically, personnel manually take off luggage from the conveyer, places luggage on the conveyer belt again. The mode causes the luggage sorting efficiency to be low, and also causes the labor intensity of personnel to be increased, thereby wasting time and labor.

SUMMERY OF THE UTILITY MODEL

In order to overcome the defect among the prior art, the embodiment of the utility model provides an article letter sorting tongs is provided, it is installed and can carry out automatic sorting to article such as luggage on the automation equipment, effectively improves letter sorting efficiency, reduction personnel intensity of labour.

The embodiment of the application discloses: an article sorting gripper, mounted on automated equipment, for gripping an article, comprising:

a first mounting plate;

the first lateral clamping mechanism comprises a first driving unit arranged on the first mounting plate and a first clamping unit connected to the first driving unit;

the second lateral clamping mechanism comprises a second driving unit arranged on the first mounting plate and a second clamping unit connected to the second driving unit, and the first clamping unit and the second clamping unit are used for clamping the article;

the bottom supporting mechanism comprises a third driving unit connected to the first mounting plate and a supporting unit connected to the third driving unit, and the supporting unit is used for supporting the object.

Specifically, first drive unit including set up in first motor on the first mounting panel and with the first speed reducer that first motor is connected, first clamping unit includes first link mechanism and first splint, the both ends of first link mechanism respectively with first speed reducer with first splint are connected.

Specifically, the second drive unit including set up in second motor on the first mounting panel with connect in second speed reducer on the second motor, the second clamping unit includes second link mechanism and second splint, the both ends of second link mechanism respectively with the second speed reducer with the second splint are connected.

Specifically, the third drive unit including set up in third motor on the first mounting panel with connect in third speed reducer on the third motor, the bearing unit including connect in third link mechanism on the third speed reducer with set up in third link mechanism deviates from the layer board of third speed reducer one end.

Specifically, the third drive unit include with the second mounting panel that first mounting panel is connected, set up in third motor on the second mounting panel, can connect in with sliding in the third mounting panel on the second mounting panel, be equipped with the gear on the output shaft of third motor, be equipped with on the third mounting panel be used for with gear engagement's rack, the bearing unit be for set up in layer board on the third mounting panel.

Specifically, be equipped with the slider on the second mounting panel, be equipped with on the third mounting panel with slider complex slide rail.

Specifically, the third mounting plate is located below the second mounting plate.

Specifically, the third drive unit includes second mounting panel, third motor, third speed reducer and third link mechanism, the second mounting panel connect in on the first mounting panel, the third mounting panel can connect with on the second mounting panel slidably, the third speed reducer set up in on the second mounting panel and with the third motor is connected, third link mechanism is used for connecting the third speed reducer with the third mounting panel, the bearing unit be for set up in layer board on the third mounting panel.

The utility model discloses following beneficial effect has at least:

1. the utility model discloses an article letter sorting tongs is installed back on automation equipment, can carry out automatic sorting to article such as luggage, effectively improves letter sorting efficiency, reduction personnel intensity of labour.

2. The utility model discloses an article letter sorting tongs includes side direction fixture and bottom bearing mechanism, and bottom bearing mechanism can carry out the bearing to the article that are snatched, avoids the article landing, and simultaneously, setting up of bottom bearing mechanism also can reduce the clamping-force of side direction fixture to article, avoids article to take place to warp.

In order to make the aforementioned and other objects, features and advantages of the invention comprehensible, preferred embodiments accompanied with figures are described in detail below.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic view of a first view angle of an article sorting gripper according to a first embodiment of the present invention;

fig. 2 is a schematic view of a second viewing angle of the article sorting gripper according to the first embodiment of the present invention;

fig. 3 is a schematic structural view of a third viewing angle of the article sorting gripper according to the first embodiment of the present invention;

FIG. 4 is a schematic view of a first embodiment of the present invention showing a bottom support mechanism;

FIG. 5 is a schematic view of a second embodiment of the bottom support mechanism of the present invention;

fig. 6 is a schematic structural view of a bottom support mechanism according to a third embodiment of the present invention.

Reference numbers to the above figures: 1. a first mounting plate; 21. a first motor; 22. a first speed reducer; 23. a first link mechanism; 24. a first splint; 31. a second motor; 32. a second speed reducer; 33. a second link mechanism; 34. a second splint; 41. A second mounting plate; 42. a third motor; 43. a third mounting plate; 44. a rack; 45. a support plate; 46. a slider; 47. a slide rail; 48. a third speed reducer; 49. a third linkage.

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.

The article sorting gripper of the embodiment can be mounted on automatic equipment such as a robot mechanical arm and the like and used for gripping articles such as luggage, containers and the like.

Example 1

Referring to fig. 1 to 4, the article sorting gripper of the present embodiment mainly includes a first mounting plate 1, and a first lateral clamping mechanism, a second lateral clamping mechanism and a bottom supporting mechanism all mounted on the first mounting plate 1. The first mounting plate 1 is used for being directly or indirectly connected with an automation device and mainly plays a role in fixing the first lateral clamping mechanism, the second lateral clamping mechanism and the bottom supporting mechanism. The first lateral clamping mechanism comprises a first driving unit arranged on the first mounting plate 1 and a first clamping unit connected to the first driving unit; the second lateral clamping mechanism comprises a second driving unit arranged on the first mounting plate 1 and a second clamping unit connected to the second driving unit; the first driving unit and the second driving unit respectively drive the corresponding first clamping unit and the second clamping unit to move so as to clamp two sides of an article. Bottom bearing mechanism is including connecting the third drive unit on first mounting panel 1 and connecting the bearing unit on the third drive unit, and the bearing unit is located the bottom of first centre gripping unit and second centre gripping unit substantially to bearing article, avoid taking place the landing at removal in-process article, simultaneously, the bearing unit carries out the bearing to article and also can alleviate the clamping-force of first centre gripping unit and second centre gripping unit to article, avoids the both sides of article to receive too big pressure.

The article sorting gripper of the embodiment further comprises a circuit board electrically connected with the manipulator, and the first driving unit, the second driving unit and the third driving unit are all connected with the circuit board.

Preferably, as shown in fig. 1 and fig. 2, the number of the first lateral clamping mechanism and the second lateral clamping mechanism of the present embodiment may be multiple, so as to improve stability and reliability of clamping the article.

As shown in fig. 1 to 3, the first driving unit of the present embodiment mainly includes a first motor 21 disposed on the first mounting plate 1 and a first speed reducer 22 connected to the first motor 21, the first clamping unit includes a first link mechanism 23 and a first clamping plate 24, and two ends of the first link mechanism 23 are connected to the first speed reducer and the first clamping plate 24, respectively. Specifically, when the first motor 21 drives the first speed reducer 22 to rotate, each rod in the first link mechanism 23 moves, so as to drive the first clamping plate 24 to move, thereby implementing the clamping function.

With continued reference to fig. 1 to 3, the second driving unit of the present embodiment mainly includes a second motor 31 disposed on the first mounting plate 1 and a second speed reducer 32 connected to the second motor 31, the second clamping unit includes a second link mechanism 33 and a second clamping plate 34, and two ends of the second link mechanism 33 are respectively connected to the second speed reducer 32 and the second clamping plate 34. The second clamping unit may have the same structure as the first clamping unit, and the second clamping unit and the first clamping unit are arranged in a mirror image manner.

Preferably, the first linkage 23 and the second linkage 33 may be parallel four-bar linkages, which is advantageous to ensure rigidity and strength thereof. The walls of the first clamping plate 24 and the second clamping plate 34 that contact the article may also be provided with resilient pads that protect the article being clamped.

Referring to fig. 4, the third driving unit of the present embodiment mainly includes a second mounting plate 41 for connecting with the first mounting plate 1, a third motor 42 provided on the second mounting plate 41, and a third mounting plate 43 slidably connected to the second mounting plate 41. The output shaft of the third motor 42 is provided with a gear (not shown), the third mounting plate 43 is provided with a rack 44, the rack 44 is used for being meshed with the gear, and the bearing unit can be a supporting plate 45 arranged on the third mounting plate 43. When the third motor 42 rotates, the gear can drive the rack 44 to move, and the third mounting plate 43 fixedly connected with the rack 44 moves along with the rack, so as to drive the supporting plate 45 to move to extend into or withdraw from the bottom of the article. The third mounting plate 43 is substantially located below the second mounting plate 41, when the article sorting gripper of the embodiment is not gripping an article, the third mounting plate 43 can drive the supporting plate 45 to move below the second mounting plate 41, and when the supporting plate 45 needs to extend into the bottom of the article to perform a supporting function, the third motor 42 drives the third mounting plate 43 to move so as to drive the supporting plate 45 to move below the article, so that the third mounting plate 43 and the supporting plate 45 can be accommodated conveniently, and the space required by unfolding of the supporting plate 45 can be reduced.

Referring to fig. 3 and 4, the second mounting plate 41 of the present embodiment may further include a plurality of sliding blocks 46, and the third mounting plate 43 is provided with corresponding sliding rails 47, so that the stability of the operation of the third mounting plate 43 may be improved by the way of matching the sliding blocks 46 with the sliding rails 47.

The working process of the article sorting gripper of this embodiment is as follows: the robot manipulator drives the gripper to move to an article to be gripped, the first driving unit and the second driving unit respectively drive the first clamping unit and the second clamping unit to clamp the article from two sides of the article, the third driving unit drives the bearing unit to move to the bottom of the article to bear the article, the article is moved to the upper portion of the conveying belt, the third driving unit drives the bearing unit to leave the bottom of the article, and the first driving unit and the second driving unit respectively drive the first clamping unit and the second clamping unit to leave two sides of the article, so that the article is placed on the conveying belt.

Example 2

The first and second lateral gripping mechanisms of the article sorting gripper of this embodiment are substantially the same as those of embodiment 1, and the main difference is that the third drive unit of this embodiment has a different connection manner of the third mounting plate 43 and the third motor 42. Specifically, as shown in fig. 5, the third driving unit of the present embodiment includes a second mounting plate 41, a third mounting plate 43, a third motor 42, a third speed reducer 48, and a third link mechanism 49, and the supporting unit is also a pallet 45 provided on the third mounting plate 43. The second mounting plate 41 is connected to the first mounting plate 1, the third speed reducer 48 is disposed on the second mounting plate 41 and connected to the third motor 42, and the third link mechanism 49 is used to connect the third speed reducer 48 and the third mounting plate 43. When the third motor 42 rotates, the third reducer 48 will drive the third link mechanism 49 fixedly connected thereto to rotate, and the third link mechanism 49 rotates to drive the third mounting plate 43 to slide relative to the second mounting plate 41.

The third mounting plate 43 of the present embodiment is also located generally below the second mounting plate 41 for the receipt of the third mounting plate 43 and the pallet 45.

Adopt above-mentioned structure, the motion of third drive unit accessible third link mechanism 49 in the less scope of this embodiment drives third mounting panel 43 and produces the motion of great scope, is favorable to saving the storage space of third mounting panel 43, avoids third mounting panel 43 and manipulator's other structures to produce and interferes.

Example 3

The article sorting gripper of this embodiment, with its first and second lateral gripper mechanisms substantially identical to those of embodiment 1, differs mainly by the third drive unit. Specifically, as shown in fig. 6, the third driving unit of the present embodiment mainly includes a third motor 42 (in the figure, the third motor 42 is shielded by a housing of the gripper) disposed on the first mounting plate 1 and a third speed reducer 48 connected to the third motor 42, and the holding unit includes a third link mechanism 49 connected to the third speed reducer 48 and a support plate 45 disposed at an end of the third link mechanism 49 away from the third speed reducer 48. By adopting the structure, the bottom supporting mechanism has better degree of freedom, and improves the flexibility of grabbing articles.

The present invention has been explained by using specific embodiments, and the explanation of the above embodiments is only used to help understand the method and the core idea of the present invention; meanwhile, for the general technical personnel in the field, according to the idea of the present invention, there are changes in the specific implementation and application scope, to sum up, the content of the present specification should not be understood as the limitation of the present invention.

Claims

1. The utility model provides an article letter sorting tongs installs on automation equipment for snatch article, its characterized in that includes:

a first mounting plate;

the bottom supporting mechanism comprises a third driving unit connected to the first mounting plate and a supporting unit connected to the third driving unit, and the supporting unit is used for supporting the article.

2. The article sorting gripper of claim 1, wherein the first drive unit includes a first motor disposed on the first mounting plate and a first speed reducer connected to the first motor, and the first gripping unit includes a first link mechanism and a first clamp plate, and both ends of the first link mechanism are connected to the first speed reducer and the first clamp plate, respectively.

3. The article sorting gripper of claim 1, wherein the second drive unit includes a second motor disposed on the first mounting plate and a second reducer connected to the second motor, and the second gripper unit includes a second linkage and a second jaw, and both ends of the second linkage are connected to the second reducer and the second jaw, respectively.

4. The article sorting gripper of claim 1, wherein the third drive unit includes a third motor disposed on the first mounting plate and a third reducer coupled to the third motor, and wherein the support unit includes a third linkage coupled to the third reducer and a support plate disposed on an end of the third linkage opposite the third reducer.

5. The article sorting gripper of claim 1, wherein the third drive unit comprises a second mounting plate coupled to the first mounting plate, a third motor disposed on the second mounting plate, and a third mounting plate slidably coupled to the second mounting plate, wherein a gear is disposed on an output shaft of the third motor, a rack is disposed on the third mounting plate for engaging with the gear, and the support unit is a pallet disposed on the third mounting plate.

6. The article sorting gripper of claim 5, wherein the second mounting plate has a slider thereon and the third mounting plate has a slide rail thereon that engages the slider.

7. The article sorting gripper of claim 5, wherein the third mounting plate is located below the second mounting plate.

8. The article sorting gripper of claim 1, wherein the third drive unit includes a second mounting plate, a third motor, a third reducer, and a third linkage, the second mounting plate is connected to the first mounting plate, the third mounting plate is slidably connected to the second mounting plate, the third reducer is disposed on the second mounting plate and connected to the third motor, the third linkage is configured to connect the third reducer to the third mounting plate, and the support unit is a support plate disposed on the third mounting plate.

9. The article sorting gripper of claim 8 wherein said third mounting plate is located below said second mounting plate.