CN219429174U - Gripper device for stacking system - Google Patents

Abstract

The utility model discloses a gripper device for a stacking system, which comprises a fixing frame, wherein a mounting plate connected with a mechanical arm is arranged in the middle of the fixing frame, mounting frames are arranged at two ends of the fixing frame, clamping devices are arranged at the ends of the mounting frames, each clamping device comprises a guide rail arranged at the bottom of the mounting frame, a positioning plate is arranged at the outer side of each guide rail, a driving device is arranged at the inner side of each guide rail, clamping plates are arranged on the guide rails in a sliding manner, the clamping plates are connected with the driving devices, stability in clamping and stacking is improved, rectangular frames are prevented from being inclined, stacking quality is improved, and using effects are guaranteed.

Description

Gripper device for stacking system

Technical Field

The utility model relates to the technical field of stacking grippers, in particular to a gripper device for stacking frame members.

Background

Along with development of technology, at present, the application of robots in logistics stacking operation is increasingly wide, stacking technology suitable for various different articles is also more mature, most of stacking technology is realized by replacing manual loading and carrying by robots, materials are orderly arranged on pallets, a clamping method is generally adopted for stacking rectangular basket pieces, a traditional manipulator is used for hinging two grabbing plates on two sides and then realizing grabbing action by means of a chain, grabbing is inaccurate, grabbing force cannot be ensured, goods are easy to damage, a grabbing device part of the traditional manipulator is fixed through a hinging point, goods can be lifted up and then placed on pallets, in the prior art, the position matching of a related manipulator and the pallets is realized, the placing procedure of the rectangular frame pieces is mature, but the space required to be occupied by the traditional grabbing device is larger when the grabbing is performed in a hinging mode, if individual grabbing hands do not act on a rectangular frame during grabbing, the grabbing action is continued, the goods can fall down in the process of falling down of the rectangular frame pieces, and production accidents of the goods are caused when the grabbing action is continued, and quality of the goods is reduced.

Disclosure of Invention

The utility model aims to overcome the defect that a hinged structure of a grabbing and stacking device for rectangular frames in the prior art is unstable in work when the grabbing and stacking device is used, and provides a gripper device for a stacking system.

The utility model is realized by the following technical scheme: the utility model provides a tongs device for pile up neatly system, includes the mount, the intermediate position of mount is provided with the mounting disc of being connected with the arm, the both ends of mount all are provided with the mounting bracket, the tip of mounting bracket all is provided with and presss from both sides and get the device, press from both sides and get the device including setting up the guide rail in the mounting bracket bottom, the outside of guide rail is provided with the locating plate, the inboard of guide rail is provided with drive arrangement, slide on the guide rail and be provided with splint, splint are connected with drive arrangement.

Further, the end part of the fixing frame is connected with the middle position of the mounting frame, and the fixing frame and the mounting frame are I-shaped.

Further, the side wall surface and the bottom surface of the mounting frame are provided with mounting grooves, and the positioning plate and the guide rail are movably connected with the mounting frame through bolts arranged in the mounting grooves.

Further, the mounting groove is a strip-shaped groove with a large inner groove, the upper portion of the positioning plate is provided with a U-shaped notch which is clamped on the mounting frame, and a through hole for the guide rail and the output end of the driving device to pass through is formed in the portion of the positioning plate below the mounting frame.

Further, the clamping plates are arranged on the guide rail in a sliding manner through the sliding blocks, the clamping plates are connected with the driving device through connecting plates arranged on the sliding blocks, the clamping plates are L-shaped plates, and the clamping plates are arranged in a two-to-two mode.

Further, the driving device is a driving air cylinder, and the driving air cylinder, the connecting plate and the sliding block are horizontally arranged.

Further, the vacuum chuck is arranged on the fixing frame at the inner side of the mounting frame and is arranged on the fixing frame in a vertical sliding mode through the supporting frame, and the suction cylinder is vertically arranged at the middle position of the supporting frame.

The utility model has the beneficial effects that: the clamping plates are arranged on the guide rail in a sliding mode, the clamping plates are connected with the driving device through the sliding blocks, the clamping plates are connected with the driving device through the connecting plates arranged on the sliding blocks, the clamping plates are of an L-shaped plate, two clamping plates are arranged in a pair, the mechanical arm control fixing frame and the mounting frame are used for positioning and grabbing rectangular frames on the conveying belt, the driving air cylinder can separate the clamping plates from the positioning plates when grabbing, then the clamping plates move downwards, the positioning plates are inserted into the rectangular frames, meanwhile, the clamping plates are arranged outside the rectangular frames, stable grabbing points are formed at four corners of the rectangular frames, stability of the mechanical arm when grabbing is guaranteed, due to the fact that the clamping plates slide along the direction of the mounting frame, hinge points are not used when the clamping plates are used, occupied space is small, adjustment can be carried out according to stacking space on the supporting plates, large gaps between the clamping plates and the rectangular frames are prevented, even if the positioning plates are in the rectangular frames, the large gaps exist outside the rectangular frames, the rectangular frames can be acted on the rectangular frames under the action of the driving air cylinder, stability of the rectangular frames when clamping and stacking quality are improved, and the using effect is guaranteed.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present utility model;

FIG. 2 is a schematic side view of the present utility model;

FIG. 3 is a schematic diagram of another angular side view configuration of the present utility model;

wherein: 1. a fixing frame; 101. a mounting plate; 2. a mounting frame; 3. a clamping plate; 301. a guide rail; 302. a slide block; 303. a positioning plate; 304. a connecting plate; 4. a vacuum chuck; 401. a support frame; 402. a slide bar; 403. sucking a cylinder; 5. the cylinder is driven.

Detailed Description

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model will be understood in specific cases by those of ordinary skill in the art.

The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Example 1

As shown in fig. 1-3: the utility model provides a tongs device for pile up neatly system, includes mount 1, and the intermediate position of mount 1 upper surface is provided with the mounting disc 101 of being connected with the arm, still is provided with the protecting crust in the outside of mounting disc 101, and mounting disc 101 is connected with the arm when using, snatchs the rectangle framework through the position action of arm, puts the pile up neatly, can realize putting and pile up neatly of a plurality of trays through the cooperation with the tray of placing on the rotating turret, cooperates the conveyer belt of rectangle frame, realizes the pile up neatly of a plurality of trays.

The two ends of the fixing frame 1 are provided with the mounting frame 2, the end part of the fixing frame 1 is connected with the middle position of the mounting frame 2, the fixing frame 1 and the mounting frame 2 are I-shaped, the mounting distance between the fixing frame 1 and the mounting frame 2 is set according to the size of the rectangular frame, and the fixing frame 1 and the mounting frame 2 can be connected through welding, bolting and other connection modes, so that the technology is mature. The clamping devices are arranged at the end parts of the mounting frame 2, each clamping device comprises a guide rail 301 arranged at the bottom of the mounting frame 2, a positioning plate 303 is arranged at the outer side of the guide rail 301, a driving device is arranged at the inner side of the guide rail 301, clamping plates 3 are slidably arranged on the guide rail 301, the clamping plates 3 are connected with the driving device through sliding blocks 302, the clamping plates 3 are connected with the driving device through connecting plates 304 arranged on the sliding blocks 302, the clamping plates 3 are L-shaped plates, two clamping plates are arranged in pairs, when in use, the mechanical arm controls the fixing frame 1 and the mounting frame 2 to position and grasp rectangular frames on a conveying belt, when in grasp, a driving cylinder 5 firstly separates the clamping plates 3 from the positioning plates 303, then moves downwards, the positioning plates 303 are inserted into the rectangular frames, meanwhile, the clamping plates 3 are arranged outside the rectangular frames with openings, for example, a rectangular frame for sterilizing tableware or a rectangular frame with small parts arranged in the frame can be suitable, the driving cylinder 5 can shrink inwards to tighten the clamping plate 3 towards the direction of the locating plate 303 after the mechanical arm moves to a designated position, the edge of the rectangular frame is clamped between the clamping plate 3 and the locating plate 303, the bottom of the L-shaped clamping plate 3 can hook the lower part of the edge of the rectangular frame, stable grabbing points are formed at four corners of the rectangular frame, stability of the mechanical arm during grabbing is ensured, because the clamping plate 3 slides along the direction of the mounting frame 2 during use, no hinge point is needed, the occupied space of the clamping plate 3 during use is small, adjustment can be performed according to the stacking space on the supporting plate, a large gap between the clamping plates 3 and the rectangular frame is prevented, even if the locating plate 303 exists in the rectangular frame, the clamping plate 3 is arranged outside the rectangular frame, the clamping plate 3 also can act on the rectangular frame under the action of the driving cylinder 5, if the rectangular frame slightly deviates on the conveying belt, the locating plate 303 is inserted into the interior of the rectangular frame and acts on the frame, the effect of adjusting the position of the rectangular frame is achieved, meanwhile, the clamping plate 3 acts on the rectangular frame to provide a stress point for the clamping plate 3 when clamping, the stability when clamping and stacking is further improved, the inclination of the rectangular frame is prevented, the stacking quality is improved, and the use effect is ensured.

The mounting frame 2 is provided with mounting grooves on the side wall surface and the bottom surface, the positioning plate 303 and the guide rail 301 are movably connected with the mounting frame 2 through bolts arranged in the mounting grooves, the mounting grooves are strip-shaped grooves with large inner grooves, the upper portion of the positioning plate 303 is provided with U-shaped notches which are clamped on the mounting frame 2, the part of the positioning plate 303 below the mounting frame 2 is provided with through holes for the guide rail 301 and the output end of a driving device, the driving device is a driving air cylinder 5, the driving air cylinder 5 and a connecting plate 304 are horizontally arranged with a sliding block 302, the driving air cylinder 5, the positioning plate 303 and the guide rail 301 are all bolted on the mounting frame 2 through connecting bolts, and the mounting positions of the driving air cylinder 5, the positioning plate 303 and the guide rail 301 can be adjusted through the different sizes of the rectangular frames when the rectangular frame is used, so that the rectangular frame with various specifications is applicable, the rectangular frame with various specifications is also applicable when the stability when clamping is ensured, the economic benefit is improved, and the use effect is ensured.

The inside at mounting bracket 2 is provided with vacuum chuck 4 on mount 1, vacuum chuck 4 passes through support frame 401 and slides from top to bottom and set up on mount 1, the vertical suction cylinder 403 that is provided with in intermediate position of support frame 401 is provided with slide bar 402 and assists vacuum chuck up-and-down motion on the support frame, the inboard at mounting bracket 2 sets up vacuum chuck 4 can put things in good order some box that have the plane when using, vacuum chuck 4 directly acts on the plane of box when using, realize the transportation and the putting in good order of snatching to the box, realize the trading of multiple use, improve commodity competitiveness greatly.

Working principle: when the device is used, the rectangular frame is placed and positioned through the action of the mechanical arm by mounting the device on the mechanical arm, the clamping plate is controlled to slide in the horizontal direction through the driving air cylinder, the occupied space of the clamping plate when the clamping plate is clamped is reduced, and the rectangular frame is clamped and fixed through the inward contraction force of the clamping plate, so that the rectangular frame is placed.

Finally, it should be noted that: the foregoing description is only illustrative of the preferred embodiments of the present utility model, and although the present utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements or changes may be made without departing from the spirit and principles of the present utility model.

Claims (7)

1. The utility model provides a tongs device for pile up neatly system, includes the mount, the intermediate position of mount is provided with the mounting disc of being connected with the arm, its characterized in that: the utility model discloses a fixing rack, including the fixing rack, the both ends of mount all are provided with the mounting bracket, the tip of mounting bracket all is provided with and presss from both sides and get the device, press from both sides and get the device including setting up the guide rail in the mounting bracket bottom, the outside of guide rail is provided with the locating plate, the inboard of guide rail is provided with drive arrangement, slide on the guide rail and be provided with splint, splint are connected with drive arrangement.

2. A gripper apparatus for a palletizing system according to claim 1, wherein: the end of the fixing frame is connected with the middle position of the mounting frame, and the fixing frame and the mounting frame are I-shaped.

3. A gripper apparatus for a palletizing system according to claim 1, wherein: the side wall surface and the bottom surface of the mounting frame are respectively provided with a mounting groove, and the locating plate and the guide rail are movably connected with the mounting frame through bolts arranged in the mounting grooves.

4. A gripper apparatus for a palletizing system according to claim 3, wherein: the mounting groove is a strip-shaped groove with a large inner groove, the upper portion of the positioning plate is provided with a U-shaped notch which is clamped on the mounting frame, and the part of the positioning plate below the mounting frame is provided with a through hole for the guide rail and the output end of the driving device to pass through.

5. A gripper apparatus for a palletizing system as defined in claim 4, wherein: the clamping plates are arranged on the guide rail in a sliding manner through the sliding blocks, the clamping plates are connected with the driving device through connecting plates arranged on the sliding blocks, the clamping plates are L-shaped plates, and the clamping plates are arranged in a two-to-two mode.

6. A gripper apparatus for a palletizing system as defined in claim 5, wherein: the driving device is a driving cylinder, and the driving cylinder, the connecting plate and the sliding block are horizontally arranged.

7. A gripper apparatus for a palletizing system according to claim 1, wherein: the vacuum chuck is arranged on the fixing frame at the inner side of the mounting frame and is arranged on the fixing frame in a vertical sliding mode through the supporting frame, and a suction cylinder is vertically arranged at the middle position of the supporting frame.