CN218402677U - Paw mechanism of intelligent manipulator stacker - Google Patents

Abstract

The utility model discloses a hand claw mechanism of intelligent manipulator hacking machine, including set casing and first cylinder, the bottom fixedly connected with second cylinder at the outside both ends of set casing, one side fixedly connected with second telescopic link of second cylinder, one side fixedly connected with of second telescopic link prevents the board that falls, the inside fixedly connected with fixed plate of set casing. This intelligent manipulator hacking machine's hand claw mechanism is through being provided with parts such as first cylinder fixed block, open the cylinder, utilize the telescopic link, promote the fixed block of bottom downwards, the collets can longitudinal guide move on the second dead lever simultaneously, but inlay the inside lateral sliding's of first reservation tank relation because of the one end of supporting rod, drive two supporting rods of both sides activity articulated through first dead lever and move to the centre in opposite directions, thereby can carry out the centre gripping to the article, stability when having improved the centre gripping, insufficient direction when the centre gripping removes, stable problem has been solved.

Description

Paw mechanism of intelligent manipulator stacker crane

Technical Field

The utility model relates to a manipulator pile up neatly technical field specifically is a hand claw mechanism of intelligent manipulator hacking machine.

Background

The stacking machine is a paper box which is filled into a container, the paper box is stacked on a tray or a pallet according to a certain arrangement, the paper box needs to be clamped and conveyed through a mechanical arm on the stacking machine in the stacking process, and the problem that goods are conveniently clamped in four directions is solved according to a claw mechanism of the intelligent mechanical arm stacking machine provided by the patent number 200710020078.X, but guidance and stability when clamping is moved cannot be kept during clamping, so that the claw mechanism of the intelligent mechanical arm stacking machine needs to be improved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a hand claw mechanism of intelligent manipulator hacking machine to provide in solving above-mentioned background art and not enough direction, stable problem when the centre gripping removes.

In order to achieve the above purpose, the utility model provides a following technical scheme: the utility model provides a hand claw mechanism of intelligent manipulator hacking machine, includes set casing and first cylinder, the bottom fixedly connected with second cylinder at the outside both ends of set casing, one side fixedly connected with second telescopic link of second cylinder, one side fixedly connected with anti-falling plate of second telescopic link, the inside fixedly connected with fixed plate of set casing, the first preformed groove of the inside one end fixedly connected with of set casing, the inside both ends fixedly connected with second dead lever of set casing, the inside top fixedly connected with first cylinder of set casing, the first telescopic link of bottom fixedly connected with of first cylinder, the bottom of first telescopic link runs through the inside and the fixedly connected with fixed block of fixed plate, the both ends fixedly connected with nest block of fixed block, the both sides of fixed block are provided with the second preformed groove, the activity articulates between the second preformed groove has first dead lever, one side activity of first dead lever articulates there is the supporting rod.

Preferably, one end of the clamping rod is embedded in the first preformed groove and can slide, and the sleeve block is sleeved outside the second fixing rod and can move.

Preferably, the bottom fixedly connected with mount pad of supporting rod, one side of mount pad is provided with the grip block, four corners fixedly connected with connecting blocks of grip block one side.

Preferably, the anti-falling plates are arranged in two groups and are symmetrically distributed on two sides of the bottom end of the fixed shell.

Preferably, the anti-falling plate is L-shaped, and four groups of second cylinders are arranged.

Preferably, the inside of mount pad one side is provided with the mounting groove, the connecting block inlays and to dismantle in the inside of mounting groove.

Compared with the prior art, the beneficial effects of the utility model are that: the gripper mechanism of the intelligent manipulator stacker crane not only realizes more guiding and stability during clamping movement, realizes convenient replacement of applicable clamping blocks, but also realizes prevention of falling of materials;

(1) The clamping device is provided with a first air cylinder, a first telescopic rod, a fixing block, a first fixing rod, a clamping rod, a first reserved groove, a mounting seat, a sleeve block and a second fixing rod, wherein one end of the clamping rod is embedded in the first reserved groove and can slide, the sleeve block is sleeved outside the second fixing rod and can move, the air cylinder is opened, the telescopic rod is utilized to push the fixing block at the bottom downwards, meanwhile, the sleeve block can longitudinally guide and move on the second fixing rod, and because one end of the clamping rod is embedded in the first reserved groove and can transversely slide, the first fixing rod drives the two clamping rods movably hinged at two sides to move towards the middle, so that an object can be clamped, and the stability during clamping is improved;

(2) By arranging the mounting seat, the mounting groove and the connecting block, the mounting seat is fixedly connected to the bottom end of the clamping rod 7, the clamping block is arranged on one side of the mounting seat, the connecting blocks are fixedly connected to four corners of one side of the clamping block, and the connecting blocks are embedded in the mounting groove in a detachable relation, so that the clamping block suitable for clamping can be replaced when objects in different shapes need to be clamped, and the clamping device is more suitable for clamping;

(3) Through being provided with second cylinder, second telescopic link, the board of preventing falling, because of preventing that the board of falling is provided with two sets ofly, prevent falling board symmetric distribution in the both sides of set casing bottom, prevent that the board of falling is "L" shape, the second cylinder is provided with the relation of four groups, can open the second cylinder, utilizes the second telescopic link can be with preventing that the board of falling removes to one side, and at this moment two bottoms of preventing the board of falling can laminate, prevent that the material from dropping.

Drawings

Fig. 1 is a schematic front view of a cross-sectional structure of the present invention;

FIG. 2 is a schematic side view of the connection between the first fixing rod and the fixing block of the present invention;

FIG. 3 is a schematic structural view of the second cylinder and the fixed shell of the present invention in front view;

fig. 4 is a front view structure diagram of the connection mode of the clamping block and the mounting seat of the present invention.

In the figure: 1. a stationary housing; 2. a first cylinder; 3. a fixing plate; 4. a first telescopic rod; 5. a fixed block; 6. a first fixing lever; 7. a clamping rod; 8. a first preformed groove; 9. a falling prevention plate; 10. a mounting seat; 11. mounting grooves; 12. connecting blocks; 13. a clamping block; 14. a second cylinder; 15. a second telescopic rod; 16. sleeving blocks; 17. a second fixing bar; 18. and a second preformed groove.

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.

Example 1: referring to fig. 1-4, a gripper mechanism of an intelligent manipulator stacker crane includes a fixed shell 1 and a first cylinder 2, the bottoms of the two ends of the outside of the fixed shell 1 are fixedly connected with a second cylinder 14, one side of the second cylinder 14 is fixedly connected with a second telescopic rod 15, one side of the second telescopic rod 15 is fixedly connected with an anti-falling plate 9, the inside of the fixed shell 1 is fixedly connected with a fixed plate 3, one end of the inside of the fixed shell 1 is fixedly connected with a first reserved groove 8, the two ends of the inside of the fixed shell 1 are fixedly connected with a second fixed rod 17, the top of the inside of the fixed shell 1 is fixedly connected with the first cylinder 2, the bottom of the first cylinder 2 is fixedly connected with a first telescopic rod 4, the bottom of the first telescopic rod 4 penetrates through the inside of the fixed plate 3 and is fixedly connected with a fixed block 5, the two ends of the fixed block 5 are fixedly connected with sleeve blocks 16, the two sides of the fixed block 5 are provided with second reserved grooves 18, a first fixed rod 6 is movably hinged between the second reserved grooves 18, and one side of the first fixed rod 6 is movably hinged with a clamping rod 7;

one end of the clamping rod 7 is embedded in the first preformed groove 8 and can slide, and the sleeve block 16 is sleeved outside the second fixing rod 17 and can move;

specifically, as shown in fig. 1 and 2, the first cylinder 2 is opened, the fixing block 5 at the bottom is pushed downwards by the first telescopic rod 4, meanwhile, the sleeve block 16 can longitudinally move on the second fixing rod 17 in a guiding manner, one end of each clamping rod 7 is embedded in the transverse sliding relationship inside the first reserved groove 8, and the two clamping rods 7 movably hinged to two sides are driven by the first fixing rod 6 to move towards the middle, so that the object can be clamped, and the stability during clamping is improved.

Example 2: the bottom end of the clamping rod 7 is fixedly connected with an installation seat 10, one side of the installation seat 10 is provided with a clamping block 13, and four corners of one side of the clamping block 13 are fixedly connected with connecting blocks 12;

an installation groove 11 is formed in one side of the installation seat 10, and the connecting block 12 is embedded in the installation groove 11 and can be detached;

specifically, as shown in fig. 1 and 4, by using the detachable relationship of the connecting block 12 inserted into the mounting groove 11, when it is necessary to clamp objects of different shapes, the connecting block 12 can be detached from one side of the mounting seat 10, so that the applicable clamping block 13 can be replaced.

Example 3: the two groups of anti-falling plates 9 are arranged, and the anti-falling plates 9 are symmetrically distributed on two sides of the bottom end of the fixed shell 1;

the anti-falling plate 9 is L-shaped, and four groups of second air cylinders 14 are arranged;

specifically, as shown in fig. 1 and 3, the second cylinder 14 is opened, the anti-falling plate 9 can be moved to one side by the second telescopic rod 15, and the bottoms of the two anti-falling plates 9 are attached to prevent the material from falling.

The working principle is as follows: the utility model discloses when using, at first, open first cylinder 2, utilize first telescopic link 4, 5 promotion downwards with the fixed block of bottom, simultaneously the cover block 16 can be on second dead lever 17 longitudinal guide remove, but the one end of supporting rod 7 inlays in the inside lateral sliding's of first preformed groove relation, but drive two supporting rods 7 of both sides activity articulated through first dead lever 6 and move to the centre in opposite directions, thereby can carry out the centre gripping to the article, afterwards, open second cylinder 14, utilize second telescopic link 15 can be with preventing that board 9 from moving to one side, at this moment, the bottom of two boards 9 that prevent falling can laminate, prevent that the material from dropping, finally, it inlays in mounting groove 11 detachable relation to utilize connecting block 12, can be when the article centre gripping of different shapes needs, dismantle connecting block 12 from one side of mount pad 10, thereby removable grip block 13 that is suitable for mutually.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims (6)

1. The utility model provides a hand claw mechanism of intelligent manipulator hacking machine, includes set casing (1) and first cylinder (2), its characterized in that: the bottom fixedly connected with second cylinder (14) at the outside both ends of set casing (1), one side fixedly connected with second telescopic link (15) of second cylinder (14), one side fixedly connected with anti-falling board (9) of second telescopic link (15), the inside fixedly connected with fixed plate (3) of set casing (1), the first reservation groove of the inside one end fixedly connected with (8) of set casing (1), both ends fixedly connected with second dead lever (17) of set casing (1) inside, the first cylinder of the inside top fixedly connected with (2) of set casing (1), the first telescopic link of the bottom fixedly connected with (4) of first cylinder (2), the bottom of first telescopic link (4) runs through inside and the fixedly connected with fixed block (5) of fixed plate (3), the both ends fixedly connected with nested piece (16) of fixed block (5), the both sides of fixed block (5) are provided with second reservation groove (18), it has first dead lever (6) to articulate between second reservation groove (18), one side of first dead lever (6) articulates there is supporting rod (7).

2. The gripper mechanism of an intelligent robotic palletiser according to claim 1, wherein: one end of the clamping rod (7) is embedded in the first preformed groove (8) and can slide, and the sleeve block (16) is sleeved on the outer portion of the second fixing rod (17) and can move.

3. The gripper mechanism of an intelligent robotic palletizer as in claim 1, wherein: the clamping device is characterized in that a mounting seat (10) is fixedly connected to the bottom end of the clamping rod (7), a clamping block (13) is arranged on one side of the mounting seat (10), and four corner fixedly connected connecting blocks (12) on one side of the clamping block (13) are fixedly connected with the corners.

4. The gripper mechanism of an intelligent robotic palletiser according to claim 1, wherein: the anti-falling plates (9) are arranged in two groups, and the anti-falling plates (9) are symmetrically distributed on two sides of the bottom end of the fixed shell (1).

5. The gripper mechanism of an intelligent robotic palletiser according to claim 1, wherein: the anti-falling plate (9) is L-shaped, and four groups of second cylinders (14) are arranged.

6. The gripper mechanism of an intelligent robotic palletiser according to claim 3, wherein: the inside of mount pad (10) one side is provided with mounting groove (11), connecting block (12) inlay the inside detachable in mounting groove (11).

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