CN220316496U

CN220316496U - Composite gripper device

Info

Publication number: CN220316496U
Application number: CN202321366614.2U
Authority: CN
Inventors: 请求不公布姓名
Original assignee: Zhuhai Xinye Electronic Technology Co Ltd
Current assignee: Zhuhai Xinye Electronic Technology Co Ltd
Priority date: 2023-05-31
Filing date: 2023-05-31
Publication date: 2024-01-09
Anticipated expiration: 2033-05-31

Abstract

The utility model relates to the technical field of article grabbing, in particular to a composite gripper device, two pallet holding claws are hinged at two ends of a mounting base, the two pallet holding claws rotate relative to the mounting base to grab or loosen pallets, a fixed holding claw and a movable holding claw are arranged between the two pallet holding claws, the movable holding claw can horizontally move to adjust the distance between the movable holding claw and the fixed holding claw so as to adapt to cartons with different sizes, holding hooks are also arranged at the lower ends of the movable holding claws, the holding hooks can relatively move to rotate to be close to lifting cartons or far away from loosening cartons, and when the cartons are grabbed, the movable holding claws can relatively close to the fixed holding claws to press the side surfaces of the cartons, and then the bottom of the cartons is lifted by the holding hooks, so that the cartons are prevented from falling off, and the stability of grabbing and transferring the cartons is ensured; the composite gripper device can grasp not only pallets, but also cartons with different specifications and sizes, has good universality and can greatly improve production efficiency.

Description

Composite gripper device

Technical Field

The utility model relates to the technical field of article grabbing, in particular to a composite gripper device.

Background

The pallet is often used in carton stacking production, the size specification of the cartons is different, the existing machine gripper can only grip a single object in a single size, the universality is poor, and the production efficiency is low.

Disclosure of Invention

In order to achieve the above object, the present utility model provides a composite gripper device, comprising:

the mounting base is used for connecting an external manipulator;

the two pallet holding claws are respectively hinged to two ends of the mounting base, and are connected with a first driving source which is used for driving the pallet holding claws to rotate relative to the mounting base so as to grasp or loosen the pallet;

the fixed holding claws and the movable holding claws are arranged on the mounting base and positioned between the two pallet holding claws, the movable holding claws are connected with a linear driving source, and the linear driving source is used for driving the movable holding claws to move horizontally so as to be close to or far away from the fixed holding claws; wherein,

the lower extreme of removal embracing the claw articulates there is the staple bolt, the staple bolt is connected with the second actuating source, the second actuating source is used for order about the staple bolt is relative remove embracing the claw and rotate to snatch or loosen the carton.

In some possible implementations, the first driving source is a linear cylinder or a linear oil cylinder, and one end of the first driving source is hinged to the mounting base, and the other end of the first driving source is hinged to the pallet holding claw.

In some possible implementations, the pallet holding claw includes a cross bar hinged to the mounting base and a vertical bar fixedly connected to two ends of the cross bar, a first claw member and a second claw member are disposed at the lower end of the vertical bar at intervals, and one end of the second claw member is tilted in a direction away from the first claw member.

In some possible implementations, a crash sleeve is sleeved on the vertical rod in a region between the first claw piece and the second claw piece.

In some possible implementations, the second driving source is a linear cylinder or a linear oil cylinder, and one end of the first driving source is hinged with the movable holding claw, and the other end of the first driving source is hinged with the holding hook.

In some possible implementations, the lower end of the holding hook is provided with a plurality of hook parts, and the outer side surfaces of the hook parts are obliquely arranged to form a guiding wedge surface.

In some possible implementations, the movable holding claw is fixedly mounted on a movable frame, a horizontal guide rail is arranged at the lower end of the mounting base, and the movable frame can slide reciprocally along the horizontal guide rail.

The utility model has the beneficial effects that: according to the utility model, two pallet holding claws are hinged at two ends of a mounting base, the two pallet holding claws rotate relative to the mounting base to grasp or loosen pallets, a fixed holding claw and a movable holding claw are arranged between the two pallet holding claws, the movable holding claw can horizontally move to adjust the distance between the movable holding claw and the fixed holding claw so as to adapt to cartons of different sizes, holding hooks are also arranged at the lower ends of the movable holding claws, the holding hooks can relatively move the holding claws to rotate to be close to lifting cartons or far away from loosening cartons, and when the cartons are grasped, the movable holding claws can relatively be close to the fixed holding claws to press the sides of the cartons, and then the holding hooks are used for lifting the bottoms of the cartons to prevent the cartons from falling, so that the stability of grasping and transferring the cartons is ensured; the composite gripper device can grasp not only pallets, but also cartons with different specifications and sizes, has good universality and can greatly improve production efficiency.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

Fig. 1 is a schematic structural diagram of a composite gripper device according to an embodiment of the present utility model;

fig. 2 is a front view of a structure of a composite gripper device according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a pallet holding claw according to an embodiment of the present utility model;

fig. 4 is a schematic structural view of a movable holding claw according to an embodiment of the present utility model.

Reference numerals: the pallet clamping jaw 20 comprises a mounting base 10, a horizontal guide rail 101, a pallet clamping jaw 20, a cross bar 201, a vertical rod 202, a first jaw 203, a second jaw 204, an anti-collision sleeve 205, a first driving source 21, a fixed clamping jaw 30, a movable clamping jaw 40, a linear driving source 41, a clamping hook 42, a hook portion 421, a guide wedge surface 422, a second driving source 43 and a movable frame 44.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. 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.

Referring to fig. 1 and 2, a composite gripper device is shown for gripping pallets and cartons, and the composite gripper device includes a mounting base 10, two pallet holding claws 20, a fixed holding claw 30 and a movable holding claw 40, wherein the mounting base 10 is used for connecting an external manipulator (not shown), the manipulator can adopt a conventional design principle and a conventional structural model in the industry, and the specific structure of the manipulator is not in the protection scope of the utility model, so that the description is omitted; the external mechanical arm drive can drive the mounting base 10 to move in a three-dimensional coordinate system, the two pallet holding claws 20 are respectively hinged at two ends of the mounting base 10, the two pallet holding claws 20 can be driven independently or synchronously, the embodiment is illustrated by taking independent drive as an example, the pallet holding claws 20 are connected with a first drive source 21, and the first drive source 21 can drive the pallet holding claws 20 to rotate relative to the mounting base 10, so that one end of the pallet holding claws 20 can grasp or release pallets; in this embodiment, since the size of the pallet is generally larger than that of the carton, the distance between the two pallet holding claws 20 should also be larger than that between the fixed holding claws 30 and the movable holding claws 40, the fixed holding claws 30 are fixedly mounted on the mounting base 10 through a bolt structure, the movable holding claws 40 can horizontally move on the mounting base 10 to adjust the distance between the fixed holding claws 30 and the fixed holding claws 30, so that cartons of different sizes can be accommodated, specifically, the movable holding claws 40 are connected with a linear driving source 41, the linear driving source 41 can drive the movable holding claws 40 to horizontally reciprocate on the mounting base 10 relative to the fixed holding claws 30, the lower ends of the movable holding claws 40 are hinged with hooks 42, the holding hooks 42 are connected with a second driving source 43, and the second driving source 43 can drive the movable holding claws 42 to rotate relative to the movable holding claws 40 so as to grasp/support the carton or release the carton.

In some possible implementations, referring to fig. 3, the first driving source 21 is a linear cylinder or a linear oil cylinder, one end of the first driving source 21 is hinged to the mounting base 10, the other end of the first driving source 21 is hinged to the pallet holding claw 20, and the output end of the first driving source 21 moves linearly to extend or retract, so as to drive the pallet holding claw 20 to rotate relative to the mounting base 10, and the pallet is grabbed or released.

In some possible implementation manners, the pallet holding claw 20 comprises a cross bar 201 hinged on the mounting base 10 and two vertical bars 202 arranged at two ends of the cross bar 201, the two vertical bars 202 rotate along with the cross bar 201 to approach or depart from the pallet, a first claw piece 203 and a second claw piece 204 are arranged at one end, far away from the cross bar 201, of the vertical bars 202, the first claw piece 203 and the second claw piece 204 are arranged at intervals, the interval between the first claw piece 203 and the second claw piece 204 is equal to the thickness of the pallet, and the pallet holding claw 20 is matched with the first claw piece 203 and the second claw piece 204 to grasp the pallet; to ensure that the pallet is accurately clamped between the first jaw 203 and the second jaw 204 during the grabbing process, one end of the second jaw 204 is tilted away from the first jaw 203.

In some possible implementations, the area of the vertical rod 202 between the first claw 203 and the second claw 204 is sleeved with a collision preventing sleeve 205, so as to avoid the problem that the vertical rod 202 collides with the pallet to cause damage.

In some possible implementations, referring to fig. 4, the second driving source 43 is a linear cylinder or a linear oil cylinder, one end of the first driving source 21 is hinged with the movable holding claw 40, the other end is hinged with the holding hook 42, and the output end of the second driving source 43 moves along a straight line to extend or retract, so as to drive the holding hook 42 to rotate relative to the movable holding claw 40, and the purpose of grabbing, supporting or loosening the carton is achieved; in this embodiment, the distance between the fixed holding claw 30 and the movable holding claw 40 is adjustable and is matched with the length/width of the carton, the holding claw 42 rotates to the bottom of the carton to limit the carton, and the scheme of this embodiment can avoid the problem of the carton being deformed due to compression in the existing mode of clamping and fixing, and is suitable for the situation of the carton with an out-of-band film which cannot be absorbed by the sucker structure.

In some possible implementations, the lower end of the clasp 42 is provided with a plurality of hooks 421, and the outer sides of the hooks 421 are inclined to form guide wedges 422, which aim to ensure that the hooks 421 can be inserted from the gap between the bottom of the carton and the horizontal plane to support the carton.

In some possible implementations, the movable holding claw 40 is fixedly mounted on the movable frame 44, the lower end surface of the mounting base 10 is provided with a horizontal guide rail 101, the upper end of the movable frame 44 is provided with a slider, and the movable frame 44/movable holding claw 40 linearly reciprocates on the horizontal guide rail 101 through the slider.

The foregoing is merely illustrative of specific embodiments of the present utility model, and the scope of the present utility model is not limited thereto, but any changes or substitutions within the technical scope of the present utility model should be covered by the scope of the present utility model. Therefore, the protection scope of the present utility model shall be subject to the protection scope of the claims.

Claims

1. A composite gripper device, comprising:

the mounting base (10) is used for being connected with an external manipulator;

the two pallet holding claws (20) are respectively hinged to two ends of the mounting base (10), the pallet holding claws (20) are connected with a first driving source (21), and the first driving source (21) is used for driving the pallet holding claws (20) to rotate relative to the mounting base (10) so as to grasp or loosen pallets;

the movable holding claw (40) is connected with a linear driving source (41), and the linear driving source (41) is used for driving the movable holding claw (40) to move horizontally so as to be close to or far away from the fixed holding claw (30); wherein,

the lower extreme of moving holding claw (40) articulates has holding hook (42), holding hook (42) are connected with second actuating source (43), second actuating source (43) are used for order about holding hook (42) relatively remove holding claw (40) rotation to snatch or loosen the carton.

2. The composite gripper device according to claim 1, wherein the first driving source (21) is a linear cylinder or a linear oil cylinder, one end of the first driving source (21) is hinged to the mounting base (10), and the other end of the first driving source is hinged to the pallet holding claw (20).

3. The composite gripper device according to claim 1 or 2, wherein the pallet holding claw (20) comprises a cross rod (201) hinged to the mounting base (10) and vertical rods (202) fixedly connected to two ends of the cross rod (201), a first claw piece (203) and a second claw piece (204) which are spaced apart are arranged at the lower end of the vertical rods (202), and one end of the second claw piece (204) is tilted in a direction away from the first claw piece (203).

4. A composite gripping device according to claim 3, characterised in that the area of the vertical bar (202) between the first jaw (203) and the second jaw (204) is sleeved with a crash sleeve (205).

5. The composite gripper device according to claim 1, wherein the second driving source (43) is a linear cylinder or a linear oil cylinder, one end of the first driving source (21) is hinged to the movable gripper (40), and the other end is hinged to the gripper hook (42).

6. The composite gripper device according to claim 1, wherein a plurality of hooks (421) are provided at the lower end of the clasping hook (42), and the outer side surfaces of the hooks (421) are inclined to form a guiding wedge surface (422).

7. The composite gripper device according to claim 1, wherein the movable gripper (40) is fixedly mounted on a movable frame (44), a horizontal guide rail (101) is provided at the lower end of the mounting base (10), and the movable frame (44) can slide reciprocally along the horizontal guide rail (101).