CN218506214U

CN218506214U - Mechanical gripper with terminal overturning function

Info

Publication number: CN218506214U
Application number: CN202222997124.4U
Authority: CN
Inventors: 刘松涛; 王云磊
Original assignee: Jiangsu Xiaoye Intelligent Equipment Co ltd
Current assignee: Jiangsu Xiaoye Intelligent Equipment Co ltd
Priority date: 2022-11-10
Filing date: 2022-11-10
Publication date: 2023-02-21
Anticipated expiration: 2032-11-10

Abstract

The utility model discloses a tail end overturning mechanical gripper, which belongs to the technical field of product automatic transfer equipment and is characterized by comprising a carrier frame, an overturning shaft, an overturning driving motor, an overturning frame, a telescopic cylinder and a parallel clamping jaw; the carrier frame forms a rigid frame body; the overturning shaft is arranged on the carrier and rotates around the axis of the overturning shaft; the overturning driving motor is connected with the overturning shaft and drives the overturning shaft to rotate around the axis of the overturning shaft; the roll-over stand is arranged on the roll-over shaft; the telescopic cylinder is arranged on the turnover frame, and the axis of the telescopic cylinder is vertical to the axis of the turnover shaft; the parallel clamping jaws are mounted on a piston rod of the telescopic cylinder. The end manipulator can completely replace manual work, provides a foundation for full automation of product manufacturing and packaging, is particularly suitable for the field of food production and manufacturing, and is favorable for ensuring production safety and sanitation.

Description

Mechanical gripper with terminal overturning function

Technical Field

The utility model belongs to the technical field of the automatic transfer apparatus of product, especially, relate to a terminal upset mechanical tongs.

Background

The degree of production automation directly determines the competitiveness of an enterprise. In recent years, the labor cost is increased in the production and manufacturing process of products, the phenomenon of wasted labor is often caused, and the automatic modification of a production line is the only way for enterprises to continuously keep the market competitiveness. Especially in the field of food production and manufacturing, the moving packaging of products in the conveying process is an important process in the product manufacturing, and the process directly influences the production efficiency of the product manufacturing. On the other hand, in the field of food production and manufacturing, the hygienic requirement standard for the production environment is high, the number of workers in a production and manufacturing workshop is reduced, a fully-automatic unmanned production line is realized, and the hygienic conditions for food production can be obviously improved.

At present, beverage products in belly-shaped bottles are conveyed on a conveying belt in an inverted mode, and the beverage products are manually grabbed and vertically loaded into a packaging box at a packaging station on one side of the conveying belt.

SUMMERY OF THE UTILITY MODEL

Problem to prior art existence, the utility model provides a solve terminal upset mechanical gripper of the problem that the degree of automation that the product upset snatched is low.

The utility model is realized in such a way, the mechanical gripper with the turnover end is characterized by comprising a carrier frame, a turnover shaft, a turnover driving motor, a turnover frame, a telescopic cylinder and a parallel clamping jaw; the carrier frame forms a rigid frame body; the overturning shaft is arranged on the carrier and rotates around the axis of the overturning shaft; the overturning driving motor is connected with the overturning shaft and drives the overturning shaft to rotate around the axis of the overturning shaft; the overturning frame is arranged on the overturning shaft; the telescopic cylinder is arranged on the turnover frame, and the axis of the telescopic cylinder is vertical to the axis of the turnover shaft; the parallel clamping jaws are mounted on a piston rod of the telescopic cylinder.

In the technical scheme, preferred, the carrier frame includes that diaphragm frame and symmetry locate diaphragm frame both sides, parallel arrangement's side grillage, axial region, two in the mid-mounting of diaphragm frame the side grillage is equipped with the shaft hole of coaxial line.

In the above technical solution, preferably, the two turning shafts are respectively assembled to the shaft holes of the side plate frames through bearings, and a planar table portion is circumferentially arranged at an inner end portion of the turning shaft.

In the above technical solution, preferably, the turnover driving motor is installed at two outer sides of one of the side plate frames, and an output shaft of the turnover driving motor is connected with one of the two turnover shafts.

In the above technical solution, preferably, the roll-over stand constitutes a planar plate stand, two ends of the roll-over stand are respectively fixed to the planar table portions of the two roll-over shafts through fasteners, and the plate surface of the roll-over stand is parallel to the axis of the roll-over shaft.

In the above technical solution, preferably, the cylinder body of the telescopic cylinder is fixed to the roll-over stand; the roll-over stand is provided with a guide sleeve, the guide sleeve is provided with a guide rod, the axes of the guide sleeve and the guide rod are parallel to the axis of the telescopic cylinder, and the parallel clamping jaws are connected with a piston rod and the guide rod of the telescopic cylinder.

In the above technical scheme, preferably, two guide rods are symmetrically arranged on two sides of the telescopic cylinder, a piston rod of the telescopic cylinder and corresponding end portions of the two guide rods fix a grabbing frame, and the grabbing frame is provided with the parallel clamping jaws; telescopic cylinder, locating telescopic cylinder's both sides guide bar, install in telescopic cylinder and guide bar snatch the frame and parallel clamping jaw constitute flexible assembly of snatching.

In the above technical scheme, preferably, the parallel clamping jaws are provided with two clamping portions, and an arc-shaped clamping opening is formed between the two clamping portions.

In the above technical solution, preferably, the roll-over stand is installed with two sets of the grabbing assemblies in bilateral symmetry.

In the above technical solution, preferably, a needle swing component is installed at the other outer end of the turnover shaft, two touch pressure sensors are installed on the outer side of the side plate frame corresponding to the needle swing component, and the two touch pressure sensors form a corner limiting structure capable of contacting with the swing end of the needle swing component.

The utility model discloses the advantage and the effect of application are:

the technical scheme of the application provides a can realize snatching terminal manipulator of upset action, and mechanical tongs has the parallel clamping jaw of snatching executive component, and the position change of vertical downward and level to the side can be realized to the double-layered mouth of parallel clamping jaw, makes the automation action of snatching the upset to the product on the conveyer belt realize, and the part action stroke is short, and is efficient. The end manipulator can completely replace manual work, provides a foundation for full automation of product manufacturing and packaging, is particularly suitable for the field of food production and manufacturing, and is favorable for ensuring production safety and sanitation.

Drawings

FIG. 1 is a schematic view of the present invention;

FIG. 2 is a schematic structural view of the roll-over shaft of the present invention;

fig. 3 is a schematic view of the installation structure of the grabbing assembly of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

For the problem that the degree of automation that solves the product upset and snatch is low, the utility model particularly provides a terminal upset mechanical tongs, this end manipulator can replace the manual work completely, for the product manufacture packing complete automation provides the basis, is particularly useful for in the food manufacturing field, is favorable to guaranteeing production safety and sanitation. For further explanation of the structure of the present invention, the following detailed description is made with reference to the accompanying drawings:

referring to fig. 1-3, a mechanical gripper with a reversed end is characterized by comprising a carrier 1, a reversing shaft 2, a reversing drive motor 3, a reversing frame 4, a telescopic cylinder 5 and a parallel clamping jaw 6.

The carrier frame is a basic framework of the mechanical gripper and is used as a carrier component of other functional components in the mechanical gripper. The carrier is a rigid frame. In the embodiment, the carrier frame specifically comprises a cross plate frame 1-1 and side plate frames 1-2 which are symmetrically arranged on two sides of the cross plate frame and are arranged in parallel, a middle shaft part 1-3 is arranged in the middle of the cross plate frame, and the two side plate frames are provided with shaft holes of the same axis. The cross plate frame and the side plate frame are metal hollow plates, and the side plate frame is fixed on the cross plate frame through bolts. The middle shaft part is a cylindrical component with flange parts at two ends and is arranged in the middle of the transverse plate frame through bolts. The carrier can be assembled in a high-speed parallel robot in a production workshop, the high-speed parallel robot is a conventional known automatic device, has the functional characteristics of translational motion along an X-Y axis in a three-dimensional space and rotation around a Z axis, is suitable for high-speed production operation in industries such as food, medicine and the like by matching with a high-precision machine vision system, and is mainly used for assembling, carrying, sorting and the like of light and small scattered materials. The high-speed parallel robot has a rotary servo motor disposed below, the upper end of the middle shaft of the carrier is connected to the output shaft of the rotary servo motor, and the axis of the middle shaft is vertical in the state that the carrier is assembled. Under the driving action of the high-speed parallel robot, the mechanical gripper can realize space displacement and uses the middle shaft part as a vertical shaft turnover angle.

The turnover shaft is arranged on the carrier frame and rotates around the axis of the turnover shaft. Specifically, the turnover mechanism comprises two turnover shafts, wherein the two turnover shafts are respectively assembled in shaft holes of the side plate frame through bearings, and a plane table part is arranged on the inner end part of each turnover shaft in the circumferential direction. Namely, the side plate frame is used as a shaft seat component of the turning shaft, the turning shaft is assembled on the corresponding side plate frame through a bearing, the turning shaft can rotate around the axis of the turning shaft, and the two turning shafts are coaxial. The axis of the turning shaft is horizontal and vertical to the middle shaft part. The flat table portion 2-1 is a mounting end face structure formed at an inner end portion of the roll-over shaft for mounting the roll-over stand.

The turnover driving motor is a driving part for driving the turnover angle of the turnover frame. The overturning driving motor is connected with the overturning shaft, and the overturning driving motor drives the overturning shaft to rotate around the axis of the overturning shaft. The turnover driving motor is arranged at the outer side part of one of the two side plate frames, and an output shaft of the turnover driving motor is connected with one of the two turnover shafts, namely the turnover shaft corresponding to the installation side of the turnover driving motor is connected with the output shaft of the turnover driving motor. In this embodiment, the turnover driving motor is a rotary servo motor, and is fixed to the side plate frame by screws, and an output shaft of the turnover driving motor is connected with a corresponding turnover shaft by a coupling.

The roll-over stand is located between two trip shaft, and in this embodiment, the roll-over stand is the fretwork grillage structure. The roll-over stand is arranged on the roll-over shaft. Two ends of the roll-over stand are respectively fixed on the plane table parts of the two roll-over shafts through fasteners, and the plate surface of the roll-over stand is parallel to the axis of the roll-over shaft. The roll-over stand not only can be used as a carrier framework with a roll-over angle, but also is an intermediate component for transmitting torsion between two roll-over shafts.

The telescopic cylinder is a telescopic driving part of the parallel clamping jaws. The telescopic cylinder is arranged on the roll-over stand, and the axis of the telescopic cylinder is vertical to the axis of the roll-over shaft. Specifically, the front part of the cylinder body of the telescopic cylinder is fixed on the roll-over stand. The roll-over stand is provided with a through hole for extending a piston rod of the telescopic cylinder.

In order to ensure that the mechanical gripper acts stably and accurately, a guide sleeve 7 is mounted on the roll-over stand, the guide sleeve is mounted on a sleeve body of the roll-over stand by using a fastening piece, the guide sleeve is provided with an axial guide hole, and a corresponding through hole is formed in the corresponding position of the roll-over stand. The guide sleeve is provided with a guide rod 8 which is a polished rod inserted into a guide hole of the guide sleeve and used as a part for ensuring the stability of the telescopic action of the parallel clamping jaws. The axes of the guide sleeve and the guide rod are parallel to the axis of the telescopic cylinder, and the parallel clamping jaw is connected with the piston rod and the guide rod of the telescopic cylinder. In this embodiment, telescopic cylinder's bilateral symmetry sets up two guide bars, and telescopic cylinder's piston rod and the fixed frame that snatchs of the corresponding tip of two guide bars snatch the parallel clamping jaw of frame installation. The grabbing frame is a plane rigid frame body and is used for carrying parallel clamping jaws, and the grabbing frame is provided with a threaded hole connected with the end part of the guide rod and a threaded hole connected with the end part of a piston rod of the telescopic cylinder. In this embodiment, the face of grabbing the frame is parallel with the face of roll-over stand.

The parallel clamping jaw is arranged on a piston rod of the telescopic cylinder. The parallel clamping jaws are provided with two clamping parts 6-1, and an arc-shaped clamping opening is formed between the two clamping parts. The parallel clamping jaws are standard parts known in the prior art, the front end part of the parallel clamping jaws is provided with two clamping heads which move parallel to each other, the two clamping heads move linearly, and clamping is realized by changing the distance between the two clamping heads. The bottom end face of the parallel clamping jaw is abutted against the plate face of the grabbing frame and is connected through a screw. The clamping parts are curved finger-shaped parts with arc structures, the two clamping parts are arranged on the chucks of the parallel clamping jaws by screws, the arc mouths are opposite to form an arc-shaped clamping mouth, and the arc-shaped clamping mouth is controlled by the parallel clamping jaws to open and close so as to realize reliable and stable clamping of the beverage products in belly bottles.

The telescopic grabbing assembly consists of the telescopic cylinder, the guide rods arranged on two sides of the telescopic cylinder, the grabbing frame arranged on the telescopic cylinder and the guide rods and the parallel clamping jaws. In this embodiment, two sets of assemblies of grabbing are installed to roll-over stand bilateral symmetry.

In this embodiment, the other outer end of the turning shaft is provided with a needle swinging component 9, i.e. the outer end of the turning shaft which is not connected with the turning driving motor is provided with the needle swinging component. Namely, a swing needle component which is protruded outwards in the radial direction is installed on the side surface of the outer side extending end part of the turnover shaft through a screw, and the outer end part of the swing needle component is a swinging end. Two touch pressure sensors 10 are arranged on the outer side of the side plate frame corresponding to the swing needle component, and the two touch pressure sensors form a corner limiting structure capable of being in contact with the swing end of the swing needle component. That is, right-angled flaps are mounted on the corresponding outer sides of the side frames by screws, and the side portions of the right-angled flaps form joining edges and are connected to the side frames by screws. Through holes are processed on two vertical plate surfaces of the right-angle folded plate, a touch pressure sensor of a touch pressure detecting head facing the balance pin component is installed in the through holes through a locking nut, the touch pressure sensor is used as a forming switch component for controlling the turnover driving motor, and the turnover angle of the turnover shaft can be controlled.

The mechanical gripper has the functions of grabbing and overturning around the horizontal axis, is carried on a high-speed parallel robot, can grab, move and vertically place the inverted products on the conveying belt side by side, and realizes the automatic transfer and placement of the products.

The above description is only exemplary of the present invention and should not be construed as limiting the present invention, and any modifications, equivalents and improvements made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a terminal upset machinery tongs which characterized in that includes:

a carrier, the carrier constituting a rigid frame;

the turnover shaft is arranged on the carrier frame and rotates around the axis of the turnover shaft;

the overturning driving motor is connected with the overturning shaft and drives the overturning shaft to rotate around the axis of the overturning shaft;

the overturning frame is arranged on the overturning shaft;

the telescopic cylinder is arranged on the turnover frame, and the axis of the telescopic cylinder is perpendicular to the axis of the turnover shaft;

and the parallel clamping jaws are arranged on the piston rod of the telescopic cylinder.

2. The end turning mechanical gripper as claimed in claim 1, wherein the carrier frame comprises a cross plate frame and parallel side plate frames symmetrically arranged at both sides of the cross plate frame, a middle shaft part is arranged at the middle part of the cross plate frame, and the two side plate frames are provided with shaft holes which are coaxial.

3. The mechanical end-turning gripper as claimed in claim 2, wherein the two turning shafts are respectively fitted to the shaft holes of the side plate frames through bearings, and the inner end portion of the turning shaft is circumferentially provided with a flat table portion.

4. The end turning mechanical gripper of claim 3, wherein the turning drive motor is mounted on an outer side of one of the side frames, and an output shaft of the turning drive motor is connected to one of the turning shafts.

5. The mechanical end-turning gripper as claimed in claim 4, wherein the turning frame is a planar plate frame, two ends of the turning frame are respectively fixed to the planar table portions of the two turning shafts through fasteners, and the plate surface of the turning frame is parallel to the axis of the turning shaft.

6. The end turning mechanical gripper as claimed in claim 5, wherein the cylinder body of the telescopic cylinder is fixed to the turning frame; the roll-over stand is provided with a guide sleeve, the guide sleeve is provided with a guide rod, the axes of the guide sleeve and the guide rod are parallel to the axis of the telescopic cylinder, and the parallel clamping jaws are connected with a piston rod and the guide rod of the telescopic cylinder.

7. The mechanical gripper with the overturned tail end as claimed in claim 6, wherein two guide rods are symmetrically arranged on two sides of the telescopic cylinder, a piston rod of the telescopic cylinder and corresponding end parts of the two guide rods are used for fixing a gripping frame, and the gripping frame is provided with the parallel clamping jaws; telescopic cylinder, locating telescopic cylinder's both sides guide bar, install in telescopic cylinder and guide bar snatch the frame and parallel clamping jaw constitute flexible assembly of snatching.

8. The end turning mechanical gripper of claim 7, wherein the parallel jaws mount two gripping portions forming an arcuate gripping opening therebetween.

9. The end turning mechanical gripper of claim 8, wherein the roll-over stand has two sets of said gripping assemblies mounted in bilateral symmetry.

10. The mechanical gripper for turning over the tail end of a robot as claimed in claim 9, wherein a pendulum pin component is mounted at the other outer end of the turning shaft, two touch sensors are mounted on the outer side of the side plate frame corresponding to the pendulum pin component, and the two touch sensors form a corner limiting structure capable of being in contact with the swinging end of the pendulum pin component.