CN219771191U - Gripper for palletizing robot - Google Patents
Gripper for palletizing robot Download PDFInfo
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- CN219771191U CN219771191U CN202321340162.0U CN202321340162U CN219771191U CN 219771191 U CN219771191 U CN 219771191U CN 202321340162 U CN202321340162 U CN 202321340162U CN 219771191 U CN219771191 U CN 219771191U
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- gripper
- hole
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- output shaft
- plate
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- 210000000078 claw Anatomy 0.000 claims abstract description 25
- 238000003825 pressing Methods 0.000 claims description 9
- 230000001154 acute effect Effects 0.000 claims description 3
- 238000010030 laminating Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
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Abstract
The utility model provides a gripper for a palletizing robot, which comprises a top plate, wherein two cylinders A are arranged at the top of the top plate in a mirror image mode, long holes are formed in the top of the top plate and close to an output shaft of the cylinders A, side edges are arranged at the edges of two sides of the top plate, two claws are symmetrically arranged between the side edges, protrusions are arranged at the tops of the claws, threaded holes are formed in one side of the protrusions, the protrusions penetrate through the long holes from the bottom of the top plate and are fixedly connected with bolts of the output shaft of the cylinders A in a matched mode through the threaded holes, a pair of connecting rods are arranged between the side edges, the connecting rods penetrate through the claws and are fixedly connected with the side edges, a pushing device is arranged on the front side of the top plate, the pushing device comprises a cylinder C and a pushing plate, and an output shaft of the cylinder C is fixedly connected with the pushing plate. When the tongs work, release goods in the tongs through thrust unit, make closely laminating between the goods of placing, the goods is difficult for taking place to incline after placing.
Description
Technical Field
The utility model belongs to the field of logistics storage equipment, and particularly relates to a gripper for a palletizing robot.
Background
The palletizing robot is a product of organically combining machinery and a computer program, and provides higher production efficiency for modern production. Under the current social background, the palletizing robot greatly improves the social productivity, saves labor cost, has high-efficiency and flexible operation, and is widely applied to factories, wharfs and other places.
In a box tongs for palletizing robot disclosed in chinese patent CN2116859772U, through the cooperation of cylinder, tongs body, motor, driving gear, screw rod, driven gear, swivel nut, carriage release lever and backup pad, when snatching the box, two tongs bodies of control are with box centre gripping and lift, then two motors of controllable make two backup pads relative movement to can support the bottom of box, avoid the box to appear the condition that drops at the in-process of snatching, make this box tongs possess the flexibility.
When the box type gripper for the stacking robot is used, as the clamping jaws are positioned at two sides, the space is required to stretch in and stretch out during stacking, gaps can be inevitably formed between the box bodies, and the space cannot be effectively utilized; even if the side without the claws is placed against the goods, gaps are generated due to the fact that the positions of the box bodies in the claws are different, so that the stacking is not tight enough, the goods are not stable due to the fact that the stacking is not tight enough, and the safety problem is caused.
Disclosure of Invention
In order to overcome the defects, the utility model provides a gripper for a palletizing robot, which is used for solving the problems.
The utility model is realized in the following way:
the utility model provides a pile up neatly machine people tongs, includes the roof, the roof top is the mirror image and is provided with two cylinder A, the roof top is close to cylinder A's output shaft department has seted up the slot hole, the left and right sides edge of roof is provided with the side arris, two symmetry is provided with two handles between the side arris, the top of handle is provided with the arch, screw hole has been seted up to bellied one side, protruding department passes the slot hole from the roof bottom, through screw hole with the bolt cooperation fixed connection of output shaft on the cylinder A, be provided with a pair of connecting rod between the side arris, the one end that the handle is close to the top is provided with a pair of through-hole, the connecting rod pass the through-hole just with side arris fixed connection, the front side of roof is provided with thrust unit, thrust unit includes cylinder C and push pedal, cylinder C's output shaft orientation two between the handle and with push pedal fixed connection.
In one embodiment of the utility model, the claws are in an L-shaped structure, and the tips of the claw fingers of the claws are designed to be acute angles.
In one embodiment of the utility model, the claw finger is provided with a rectangular long hole, a rolling shaft is rotatably arranged in the rectangular long hole, two ends of the rolling shaft are provided with bearings, and the bearings are fixedly connected with the claw finger.
In one embodiment of the utility model, the device further comprises a fixing device, the fixing device comprises a pair of air cylinders B and a pressing plate, a pair of square holes I are formed in the top of the top plate, the air cylinders B are fixedly arranged in the square holes I, the output shafts of the air cylinders B penetrate through the square holes I downwards, and the pressing plate is parallel to the horizontal plane, is arranged below the connecting rods and is fixedly connected with the output shafts of the two air cylinders B.
In one embodiment of the utility model, the pushing device is connected with the front side edge of the top plate through a long plate, a square hole II is formed in the position, close to the lower end, of the long plate perpendicular to the horizontal plane, of the long plate, and the air cylinder C is horizontally arranged in the square hole II.
In one embodiment of the utility model, the top plate is provided with a mounting seat at the top.
In one embodiment of the utility model, a rubber ring is arranged at the joint of the side edge and the connecting rod.
The beneficial effects of the utility model are as follows: when the tongs work, can place with the one side of roof rear side facing the goods, then release the interior goods of paw through thrust unit, reach the closely state of laminating between goods and the goods of placing, make the goods be difficult for taking place to incline after placing. On the other hand, this tongs for palletizing robot simple structure, light nimble, convenient production.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate some examples of the present utility model and therefore should not be considered as limiting the scope, and other related drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a pushing plate pushed out under an opened state of a gripper for a palletizing robot according to an embodiment of the present utility model;
fig. 2 is a perspective view of a gripping state of a gripper for a palletizing robot according to an embodiment of the present utility model;
fig. 3 is a front view of a gripper for a palletizing robot according to an embodiment of the present utility model;
fig. 4 is a side view of a gripper for a palletizing robot according to an embodiment of the present utility model;
fig. 5 is a top plate perspective view of a palletizing robot according to an embodiment of the present utility model;
fig. 6 is a perspective view of a gripper of a palletizing robot according to an embodiment of the present utility model.
In the figure: 1. a top plate; 11. side edges; 111. a connecting rod; 112. a rubber ring; 12. a cylinder A; 13. a long hole; 14. square hole I; 15. a long plate; 151. square holes II; 2. a paw; 21. a protrusion; 211. a threaded hole; 22. a through hole; 23. claw fingers; 231. rectangular long holes; 232. a roller; 233. a bearing; 3. a fixing device; 31. a pressing plate; 32. a cylinder B; 4. a pushing device; 41. a push plate; 42. a cylinder C; 5. and (5) a mounting seat.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, based on the embodiments of the utility model, which are apparent to those of ordinary skill in the art without inventive faculty, are intended to be within the scope of the utility model.
As shown in fig. 1-6, the present utility model provides a technical solution: including roof 1, roof 1 top is the mirror image and is provided with two cylinders A12, roof 1 top is close to the output shaft department of cylinder A12 and has offered slot hole 13, roof 1 left and right sides edge is provided with side edge 11, symmetry is provided with two hand claw 2 between two side edges 11, the top of hand claw 2 is provided with protruding 21, screw hole 211 has been offered to one side of protruding 21, protruding 21 department passes slot hole 13 from roof 1 bottom, through screw hole 211 and the bolt cooperation fixed connection of the last output shaft of cylinder A12, can control the grasp of hand claw 2 through control cylinder A12, be provided with a pair of connecting rod 111 between the side edge 11, the one end that hand claw 2 is close to the top is provided with a pair of through-hole 22, connecting rod 111 passes through-hole 22 and with side edge 11 fixed connection, the motion trail of hand claw 2 can be guaranteed to connecting rod 111, the front side of roof 1 is provided with thrust unit 4, thrust unit 4 includes cylinder C42 and push pedal 41, the output shaft orientation of cylinder C42 between two hand claw 2 and with push pedal 41 fixed connection. The pushing device 4 can push out the goods and make the goods closely fit.
In one possible embodiment, as shown in fig. 6, the gripper 2 has an "L" shape, the tips of the fingers 23 of the gripper 2 are designed at an acute angle, facilitating the scooping up of the goods during the gripping process,
as shown in fig. 6, in an implementation embodiment, the center of the claw finger 23 is provided with a rectangular long hole 231, a roller 232 is rotatably arranged in the rectangular long hole 231, two ends of the roller 232 are provided with bearings 233, the bearings 233 are fixedly connected with the claw finger 23, and the roller can reduce friction force between goods and the claw, so that the pushing device can push out conveniently.
As shown in fig. 5, in one embodiment, the device further includes a fixing device 3, the fixing device 3 includes a pair of air cylinders B32 and a pressing plate 31, a pair of square holes I14 are formed in the top of the top plate 1, the air cylinders B32 are fixedly arranged in the square holes I14, the output shafts of the air cylinders B32 penetrate through the square holes I14 downwards, the pressing plate 31 is parallel to the horizontal plane and is arranged below the connecting rod 111 and fixedly connected with the output shafts of the two air cylinders B32, and the fixing device 3 can press goods in the paw 2 to prevent the goods from falling off in the moving process.
In one possible embodiment, as shown in fig. 4, the pushing device 4 is connected to the front edge of the top plate 1 through a long plate 15, a square hole II151 is formed in the long plate 15 near the lower end of the long plate 15 perpendicular to the horizontal plane, and an air cylinder C42 is horizontally disposed inside the square hole II 151.
As shown in fig. 1-2, in one possible embodiment, the top plate 1 is provided with a mounting 5 on top for the connection of the grippers to the palletizing robot.
In one possible embodiment, as shown in fig. 5, a rubber ring 112 is provided at the connection of the side edge 11 and the connecting rod 111, so as to prevent the problem of collision with the side edge 11 during the process of opening the grip.
Specifically, the operating principle of this palletizing robot tongs is: the stretching and grabbing of the gripper 2 are controlled by adjusting the stretching length of the output shaft of the air cylinder A12, the gripper 2 stretches to cover the goods, then grabs the goods, the output shaft of the air cylinder B32 stretches out of the driving pressing plate 31 to move downwards to press the goods to fix the positions of the goods, the goods cannot fall out of the gripper 2 in the moving process, after the gripper moves to a designated position, the gripper is placed against the goods by one surface of the rear side of the top plate, the output shaft of the air cylinder B32 is controlled to retract, the driving pressing plate 31 moves upwards to loosen the goods, the pushing device 4 is started, the pushing device 4 is controlled by the air cylinder C42, the output shaft of the air cylinder C42 stretches out to drive the pushing plate 41 to push the goods out, the goods are tightly attached, the pushing device 4 is closed to retract the output shaft of the air cylinder C42, and the gripper 2 is opened to leave, so that stacking of the next goods is performed.
The above is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (7)
1. The utility model provides a tongs for palletizing robot which characterized in that: including roof (1), roof (1) top is the mirror image and is provided with two cylinders A (12), roof (1) top is close to output shaft department of cylinder A (12) has seted up slot hole (13), the left and right sides edge of roof (1) is provided with side edge (11), two symmetry is provided with two hand (2) between side edge (11), the top of hand (2) is provided with protruding (21), screw hole (211) have been seted up to one side of protruding (21), protruding (21) department passes slot hole (13) from roof (1) bottom, through screw hole (211) with bolt cooperation fixed connection of output shaft on cylinder A (12), be provided with a pair of connecting rod (111) between side edge (11), the one end that hand (2) are close to the top is provided with a pair of through-hole (22), connecting rod (111) pass through-hole (22) and with side edge (11) fixed connection, the front side of hand (1) is provided with thrust unit (4), through screw hole (41) with push pedal (42) and two cylinder (41) are connected between the output shaft (41).
2. A gripper for palletizing robots according to claim 1, characterized in that: the hand claw (2) is of an L-shaped structure, and the tips of the claw fingers (23) of the hand claw (2) are arranged to be acute angles.
3. A gripper for palletizing robots according to claim 2, characterized in that: rectangular long holes (231) are formed in the claw fingers (23), rollers (232) are rotatably arranged in the rectangular long holes (231), bearings (233) are arranged at two ends of the rollers (232), and the bearings (233) are fixedly connected with the claw fingers (23).
4. A gripper for palletizing robots according to claim 1, characterized in that: the fixing device (3) comprises a pair of air cylinders B (32) and a pressing plate (31), a pair of square holes I (14) are formed in the top of the top plate (1), the air cylinders B (32) are fixedly arranged inside the square holes I (14), an output shaft of each air cylinder B downwards penetrates through the square holes I (14), and the pressing plate (31) is arranged below the connecting rod (111) in parallel to the horizontal plane and is fixedly connected with the output shafts of the two air cylinders B (32).
5. A gripper for palletizing robots according to claim 1, characterized in that: the pushing device (4) is connected with the front side edge of the top plate (1) through a long plate (15), the long plate (15) is perpendicular to the horizontal plane, a square hole II (151) is formed in the position, close to the lower end, of the long plate (15), and the air cylinder C (42) is horizontally arranged in the square hole II (151).
6. A gripper for palletizing robots according to claim 1, characterized in that: the top of the top plate (1) is provided with a mounting seat (5).
7. A gripper for palletizing robots according to claim 1, characterized in that: a rubber ring (112) is arranged at the joint of the side edge (11) and the connecting rod (111).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321340162.0U CN219771191U (en) | 2023-05-30 | 2023-05-30 | Gripper for palletizing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321340162.0U CN219771191U (en) | 2023-05-30 | 2023-05-30 | Gripper for palletizing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219771191U true CN219771191U (en) | 2023-09-29 |
Family
ID=88129829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321340162.0U Active CN219771191U (en) | 2023-05-30 | 2023-05-30 | Gripper for palletizing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219771191U (en) |
-
2023
- 2023-05-30 CN CN202321340162.0U patent/CN219771191U/en active Active
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| GR01 | Patent grant | ||
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