CN219337745U

CN219337745U - Be applied to mechanical gripper of goods transport

Info

Publication number: CN219337745U
Application number: CN202320094657.3U
Authority: CN
Inventors: 陈良明
Original assignee: Individual
Current assignee: Individual
Priority date: 2023-02-01
Filing date: 2023-02-01
Publication date: 2023-07-14
Anticipated expiration: 2033-02-01

Abstract

The utility model discloses a mechanical gripper applied to cargo transportation, which comprises a mechanical gripper main body, wherein a left gripper and a right gripper are arranged on the mechanical gripper main body, a plurality of fingers are arranged on the left gripper and the right gripper, movable wheel groups are arranged at the tip parts of the fingers, the movable wheel groups mainly comprise movable wheel brackets, movable wheels and rotating shafts, movable wheel driving mechanisms are arranged on the left gripper and the right gripper, the movable wheel driving mechanisms mainly comprise motors and transmission parts, the motors are connected with a left rotating shaft and a right rotating shaft through the transmission parts, and the movable wheel driving mechanisms drive the left rotating shaft and the right rotating shaft to rotate; compared with the prior art, the utility model has simple structure, can realize convenient and quick clamping, and is not easy to damage the clamping object.

Description

Be applied to mechanical gripper of goods transport

Technical Field

The utility model belongs to cargo handling equipment, and particularly relates to a mechanical gripper applied to cargo handling.

Background

In the production and living processes, goods are often required to be carried, the carrying mode is generally manual carrying and mechanical carrying, the manual carrying can adapt to various complex carrying environments, but the carrying efficiency is low; mechanical handling has certain requirements on handling environment, but handling efficiency is high.

At present, when bagged materials such as rice bags, soybean bags and the like in a carrying warehouse are placed regularly, mechanical carrying is adopted under the condition that the bags are properly used, mechanical carrying equipment is mechanical grippers, the mechanical grippers generally consist of a fixed seat, a left gripper and a right gripper, the left gripper and the right gripper are arranged on the fixed seat, a plurality of gripper fingers are arranged on the left gripper and the right gripper, the mechanical grippers are arranged on a mechanical arm, and the gripper driving mechanism arranged on the mechanical grippers or the mechanical arm is used for controlling the mechanical grippers to perform clamping movement so as to carry the bagged materials rapidly; however, when the bagged objects are stacked in disorder, the bagged objects are clamped and carried by the mechanical grippers, and the bagged objects are very easy to puncture by the gripper fingers of the mechanical grippers, so that the bagged objects are stacked in disorder, manual carrying is mostly adopted, but the manual carrying has the problems of low efficiency and high cost.

Aiming at the problem that the bagged materials are very easy to puncture when being stacked in disorder, the Chinese patent utility model patent No. 2020115466372 discloses a stacking robot with a sorting function, wherein an anti-damage clamp is disclosed, a front anti-damage roller capable of rotating is arranged at the tip of an L-shaped clamping plate of the anti-damage clamp, and the front anti-damage roller is firstly contacted with the bagged materials when the bagged materials are clamped, so that the bagged materials can be lifted smoothly; meanwhile, a plurality of guide shifting devices are arranged on the L-shaped clamping plate, all the guide shifting wheels of the guide shifting devices are uniformly distributed on the surface of the L-shaped clamping plate, and all the guide shifting wheels can be lifted upwards from two sides of the bagged goods in the rotation process of all the guide shifting wheels when the bagged goods are clamped during stacking; in the actual use process, the damage-preventing clamp holder has a good clamping effect on the bagged goods, and can effectively avoid damage to the bagged goods; however, on one hand, the guide deflector sheaves are densely distributed on the inner surface of the L-shaped clamping plate, the structure is somewhat bulky, and the lifting effect of the guide deflector sheaves can be achieved only when the bag-turning goods enter the inner surface of the L-shaped clamping plate; on the other hand, when the anti-damage clamp holder clamps the bagged goods, the part which is firstly contacted with the bagged goods is the front anti-damage roller, the front anti-damage roller has a smooth contact surface at the function, the bagged goods are prevented from being punctured, but the problem exists that the front anti-damage roller can rotate, and when the part of the bagged goods can only be clamped, the bagged goods fall off easily.

Disclosure of Invention

The utility model aims to solve the problems of bulkiness in structure and poor clamping effect of a clamping device in the prior art, and provides a mechanical gripper which has a simple structure, good clamping effect and is not easy to damage a clamped object and is applied to cargo transportation.

The utility model solves the technical problems by adopting the technical scheme that: the utility model provides a be applied to mechanical gripper of goods transport, including the mechanical gripper main part, be equipped with left gripper and right gripper in the mechanical gripper main part, be equipped with many fingers on left gripper and the right gripper, finger tip is equipped with the loose pulley system, the loose pulley system mainly comprises loose pulley support, loose pulley and axis of rotation, the axis of rotation passes through the bearing and loose pulley support connection on the loose pulley support, the loose pulley cup joints in the axis of rotation, and with axis of rotation fixed connection, the contained angle of loose pulley support and finger tip of loose pulley system is 150 ~ 180, the axis of rotation interconnect of loose pulley system forms left axis of rotation on the left gripper, the axis of rotation interconnect of loose pulley system forms right axis of rotation on the right gripper, be equipped with loose pulley actuating mechanism on left gripper and the right gripper, loose pulley actuating mechanism mainly comprises motor and driving piece, the motor passes through the driving piece and is connected with left axis of rotation and right axis of rotation, loose pulley actuating mechanism drives left axis of rotation and right axis of rotation and rotates.

Optionally, a movable wheel is fixed on the left rotating shaft between the left gripper fingers, and a movable wheel is fixed on the right rotating shaft between the right gripper fingers.

The application mode and the principle of the utility model are as follows: when the product is used, the mechanical gripper of the product is connected with the mechanical arm, the movable wheel driving mechanism on the mechanical gripper is connected with the power source of the mechanical arm, the gripper driving mechanism for driving the gripper to perform clamping movement is connected with the power source of the mechanical arm, the gripper driving mechanism can be a hydraulic driving mechanism, a pneumatic driving mechanism or a gear driving mechanism, the gripper driving mechanism can be integrated on the mechanical arm or on the mechanical gripper main body, the movable wheel driving mechanism is started according to a specific model, the movable wheel on the left gripper rotates anticlockwise, the movable wheel on the right gripper rotates clockwise, the mechanical arm controls the mechanical gripper to move in space, and the gripper driving mechanism controls the left gripper and the right gripper to clamp a clamp object to finish the carrying work of the clamp object;

when the left gripper and the right gripper of the mechanical gripper are in clamping movement, firstly, the movable wheels on the left gripper and the right gripper are contacted with the gripping object, and due to the structural reasons of the movable wheels, the gripping object is contacted with the movable wheels in a surface contact mode, the surface contact stress is dispersed, the gripping object is not easy to damage, and meanwhile, when the movable wheels are contacted with the surface of the gripping object, the movable wheels can rapidly lift the gripping object into a clamping cavity formed by the left gripper and the right gripper, so that the requirement on a clamping position is not high, the gripping can be completed only by clamping a part of the gripping object, and the mechanical gripper is not only suitable for gripping bagged goods, but also suitable for gripping hard regular goods.

Compared with the prior art, the utility model has at least the following effects: the utility model has simple structure, can realize convenient and quick clamping, and is not easy to damage the clamping object.

Drawings

FIG. 1 is a schematic diagram of a front view of the present utility model;

fig. 2 is a right-side view of the left gripper of the present utility model.

Description of the embodiments

In embodiment 1, the utility model is further described below with reference to fig. 1 and 2, a mechanical gripper applied to cargo handling comprises a mechanical gripper main body 1, the mechanical gripper main body is a fixed seat for installing and fixing the gripper, gripper driving mechanisms are integrated on the mechanical gripper main body of some models, a left gripper 2 and a right gripper 3 are arranged on the mechanical gripper main body, a plurality of fingers 4 are arranged on the left gripper and the right gripper, movable wheel groups 5 are arranged at the tip ends of the fingers, the movable wheel groups mainly comprise movable wheel supports 6, movable wheels 7 and rotating shafts 8, the rotating shafts are connected with the movable wheel supports through bearings arranged on the movable wheel supports, the movable wheels are sleeved on the rotating shafts and fixedly connected with the rotating shafts, the included angles between the movable wheel supports of the movable wheel groups and the tip ends of the fingers are 150-180 degrees, the included angles are better in clamping effect, the rotating shafts of the left movable wheel groups are mutually connected to form left rotating shafts, the rotating shafts of the left movable wheel groups and the right grippers are mutually connected to form right rotating shafts, movable wheel driving mechanisms 9 are arranged on the left gripper and the left gripper, the movable wheel driving mechanisms are mainly comprise movable wheel supports and a movable wheel driving motor, the upper gripper and the right gripper are connected with the left gripper driving shafts through rotating shafts of the left gripper driving wheels and the right gripper driving wheels, and the upper gripper are connected with the left gripper driving wheels and the right gripper driving mechanism through the rotating shafts, and the upper gripper driving wheels are well through the rotating shafts, and the upper gripper driving wheels are connected with the left gripper and the upper gripper.

The present utility model is not limited to the above-mentioned embodiments, and any changes or substitutions that can be easily understood by those skilled in the art within the technical scope of the present utility model are intended to be included in the scope of the present utility model.

Claims

1. Be applied to mechanical gripper of goods transport, including mechanical gripper main part (1), be equipped with left gripper (2) and right gripper (3) in the mechanical gripper main part, be equipped with many fingers (4), its characterized in that on left gripper and the right gripper: the finger tip is equipped with movable wheelset (5), the movable wheelset mainly comprises movable wheel support (6), movable wheel (7) and axis of rotation (8), the axis of rotation passes through the bearing and the movable wheel leg joint of installing on the movable wheel support, the movable wheel cup joints in the axis of rotation, and with axis of rotation fixed connection, the contained angle of movable wheel support and finger tip of movable wheelset is 150 ° -180, the axis of rotation interconnect of movable wheelset forms left pivot on the left gripper, the axis of rotation interconnect of movable wheelset forms right pivot on the right gripper, be equipped with movable wheel actuating mechanism (9) on left gripper and the right gripper, movable wheel actuating mechanism mainly comprises motor and driving medium, the motor passes through the driving medium and is connected with left pivot and right pivot, movable wheel actuating mechanism drives left pivot and right pivot and rotates.

2. A mechanical gripper for use in cargo handling according to claim 1, wherein: a movable wheel is fixed on the left rotating shaft between the left gripper fingers, and a movable wheel is fixed on the right rotating shaft between the right gripper fingers.

3. A mechanical gripper for use in cargo handling according to claim 1, wherein: the included angle between the movable wheel support of the movable wheel group and the tip part of the finger claw is 180 degrees.