CN217894471U

CN217894471U - Multifunctional robot palletizer gripper

Info

Publication number: CN217894471U
Application number: CN202221735251.0U
Authority: CN
Inventors: 刘峰; 刘阳春; 杨杰; 王利林; 呼柄企
Original assignee: Harbin Gonggong Gongzhe Robot Remanufacturing Anyang Co ltd
Current assignee: Harbin Gonggong Gongzhe Robot Remanufacturing Anyang Co ltd
Priority date: 2022-07-05
Filing date: 2022-07-05
Publication date: 2022-11-25
Anticipated expiration: 2032-07-05

Abstract

The utility model relates to the field of palletizing robots, in particular to a multifunctional palletizing robot gripper, which comprises a supporting mechanism, a moving mechanism, a lifting mechanism and a clamping jaw mechanism, wherein the upper end of the supporting mechanism is provided with the moving mechanism, the middle of the supporting mechanism is provided with the lifting mechanism, the lower end of the lifting mechanism is provided with the clamping jaw mechanism, and the clamping jaw mechanism comprises a top plate, an auxiliary shaft, a motor fixing seat, a second servo motor, a lead screw, a clamping plate, a supporting jaw, a fixing block and a limiting plate; the beneficial effects are that: two splint pass through positive screw thread and reverse threaded connection with the lead screw, make the lead screw can control two splint and can be close to each other or keep away from, and clamping jaw mechanism descends behind suitable height, and second servo motor drives the lead screw and rotates, and two splint of accurate control are close to each other, still avoid splint too hard and press from both sides bad article when forming the clamp power to the pile up neatly, hold in the palm the claw simultaneously and have one at the pile up neatly downside and hold in the palm the power, avoid the pile up neatly overweight to drop, lead to pressing from both sides and get the failure.

Description

Multifunctional robot palletizer gripper

Technical Field

The utility model relates to a pile up neatly machine people field especially relates to multi-functional pile up neatly machine people tongs.

Background

The stacker crane is used for stacking the cartons loaded into containers on trays and pallets (wood and plastic) according to a certain arrangement, automatically stacking the cartons, stacking the cartons into multiple layers, and pushing the cartons out so as to be conveniently transported to a warehouse for storage by a forklift. The equipment is controlled by the PLC and the touch screen, intelligent operation management is realized, and the equipment is simple and convenient and easy to master. Can greatly reduce labor force and labor intensity. The stacker crane is equipment that pocket, carton or other packaging material that the conveyer was carried are piled up into the buttress according to customer technological requirement's working method is automatic to carry out the material that will become the buttress, however current stacker crane snatchs through the arm mostly, and stability is lower, has very big restriction to the weight of snatching the object, leads to the anti-unbalance heavy slope of machinery to break the stacker crane easily when snatching heavier object.

The patent number (CN 202123325839.7) has applied for a multi-functional pile up neatly machine people tongs, and the device drives the horizontal position of mechanical tongs level through first motor and rotates through setting up the horizontal position of two sharp guiding mechanism simultaneous control pull rods, adjusts the angle of grabbing of mechanical tongs, adjusts the height of mechanical tongs through vertical adjustment mechanism, and the mechanical tongs of being convenient for is taken and is put the goods, improves the stability of pile up neatly for current mechanical arm formula tongs. However, the clamping jaw of the device is not provided with an accurate control device, so that the clamping force of the clamping jaw is unstable, articles are easily clamped and injured, and meanwhile, the clamping jaw is not provided with a lifting mechanism, so that the clamping jaw is easy to drop off when the clamped articles are too heavy, and the clamping failure is caused.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a multi-functional pile up neatly machine people tongs just in order to solve above-mentioned problem.

The utility model discloses a following technical scheme realizes above-mentioned purpose:

the multifunctional robot palletizer gripper comprises a supporting mechanism, a moving mechanism, a lifting mechanism and a clamping jaw mechanism, wherein the moving mechanism is arranged at the upper end of the supporting mechanism, the lifting mechanism is arranged in the middle of the supporting mechanism, the clamping jaw mechanism is arranged at the lower end of the lifting mechanism, the clamping jaw mechanism comprises a top plate, an auxiliary shaft, a motor fixing seat, a second servo motor, a screw rod, a clamping plate, a supporting claw, a fixing block and a limiting plate, the auxiliary shaft is arranged on the bottom surface of the front end and the bottom surface of the rear end of the top plate, the motor fixing seat is arranged on one side of the top plate, the second servo motor is arranged in the motor fixing seat, the screw rod is arranged at the power end of the second servo motor, the clamping plate is arranged on the outer ring of the screw rod, the supporting claw is arranged at the lower end of the clamping plate, the fixing blocks are arranged at the front end and the rear end of the clamping plate, and the limiting plate is arranged between the auxiliary shaft and the screw rod; the screw rod is connected with the power end of the second servo motor through a coupler, two clamping plates are arranged, one clamping plate is connected with the screw rod through positive threads, the other clamping plate is connected with the screw rod through reverse threads, the fixing block is connected with the auxiliary shaft in a sliding mode, and the supporting claw is L-shaped.

Preferably, the supporting mechanism comprises supporting legs, a supporting frame and cushion blocks, the supporting frame is arranged on the upper sides of the supporting legs, and the cushion blocks are arranged on the upper sides of the supporting frames; wherein the support frame is a mouth-shaped support frame.

Preferably, the moving mechanism comprises a Y-axis moving shaft, a main screw, a moving block, a first servo motor, an auxiliary slide rail, an X-axis moving shaft and an electric slider, the Y-axis moving shaft is symmetrically arranged at the upper end of the cushion block, the main screw is arranged in the Y-axis moving shaft at one side, the first servo motor is arranged at the front end of the main screw, the auxiliary slide rail is arranged in the Y-axis moving shaft at the other side, the moving block is arranged on the outer ring of the main screw and the outer ring of the auxiliary slide rail, the X-axis moving shaft is arranged on the lower side of the moving block, and the electric slider is arranged on the outer ring of the X-axis moving shaft.

Preferably, the main screw is rotatably connected with the Y-axis moving shaft, the main screw is connected with the power end of the first servo motor through a coupler, the moving block is connected with the main screw through threads, the moving block is connected with the auxiliary slide rail in a sliding manner, and the electric slider is connected with the X-axis moving shaft in a sliding manner.

Preferably, elevating system includes mounting bracket, hydraulic cylinder, fixed box, rotating electrical machines and carousel, the electronic slider downside is provided with the mounting bracket, be provided with in the mounting bracket hydraulic cylinder, the hydraulic cylinder expansion end is provided with fixed box, be provided with in the fixed box rotating electrical machines, rotating electrical machines power end is provided with the carousel.

Preferably, the inner ring of the turntable is in key connection with the power end of the rotating motor.

Has the advantages that: two splint pass through positive screw thread and reverse threaded connection with the lead screw, make the lead screw can control two splint and can be close to each other or keep away from, and clamping jaw mechanism descends behind suitable height, and second servo motor drives the lead screw and rotates, and two splint of accurate control are close to each other, still avoid splint too hard and press from both sides bad article when forming the clamp power to the pile up neatly, hold in the palm the claw simultaneously and have one at the pile up neatly downside and hold in the palm the power, avoid the pile up neatly overweight to drop, lead to pressing from both sides and get the failure.

Drawings

Fig. 1 is a schematic structural view of the multifunctional robot palletizer gripper of the present invention;

fig. 2 is a front cross-sectional view of the multi-functional palletizing robot gripper of the present invention;

fig. 3 is an enlarged schematic structural view of a clamping jaw mechanism of the multifunctional palletizing robot gripper of the invention;

figure 4 is an enlarged right side view of the gripper mechanism of the multi-functional palletizing robot gripper of the present invention.

Description of the reference numerals:

1. a support mechanism; 2. a moving mechanism; 3. a lifting mechanism; 4. a jaw mechanism; 101. a support leg; 102. a support frame; 103. cushion blocks; 201. a Y-axis moving axis; 202. a main screw; 203. a moving block; 204. a first servo motor; 205. an auxiliary slide rail; 206. an X-axis movement axis; 207. an electric slider; 301. a mounting frame; 302. a lifting hydraulic cylinder; 303. a fixing box; 304. a rotating electric machine; 305. a turntable; 401. a top plate; 402. an auxiliary shaft; 403. a motor fixing seat; 404. a second servo motor; 405. a screw rod; 406. a splint; 407. supporting claws; 408. a fixed block; 409. and a limiting plate.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings:

as shown in fig. 1-4, the multifunctional robot palletizer gripper comprises a support mechanism 1, a moving mechanism 2, a lifting mechanism 3 and a clamping jaw mechanism 4, wherein the upper end of the support mechanism 1 is provided with the moving mechanism 2, the middle of the support mechanism 1 is provided with the lifting mechanism 3, and the lower end of the lifting mechanism 3 is provided with the clamping jaw mechanism 4;

in this embodiment: the supporting mechanism 1 comprises supporting legs 101, supporting frames 102 and cushion blocks 103, wherein the supporting frames 102 are arranged on the upper sides of the supporting legs 101, and the cushion blocks 103 are arranged on the upper sides of the supporting frames 102; wherein support frame 102 is the mouth type support frame, provides stable operation platform for elevating system 3 and clamping jaw mechanism 4 through support frame 102, avoids the device to rock or topple because the unstable production of focus in elevating system 3 and clamping jaw mechanism 4 operation process.

In this embodiment: the moving mechanism 2 comprises a Y-axis moving shaft 201, a main screw 202, a moving block 203, a first servo motor 204, an auxiliary sliding rail 205, an X-axis moving shaft 206 and an electric sliding block 207, the Y-axis moving shaft 201 is symmetrically arranged at the upper end of a cushion block 103, the main screw 202 is arranged in the Y-axis moving shaft 201 on one side, the first servo motor 204 is arranged at the front end of the main screw 202, the auxiliary sliding rail 205 is arranged in the Y-axis moving shaft 201 on the other side, the moving block 203 is arranged on the outer ring of the main screw 202 and the outer ring of the auxiliary sliding rail 205, the X-axis moving shaft 206 is arranged on the lower side of the moving block 203, the electric sliding block 207 is arranged on the outer ring of the X-axis moving shaft 206, the main screw 202 is rotatably connected with the Y-axis moving shaft 201, the power end of the main screw 202 is connected with the first servo motor 204 through a coupler, the moving block 203 is connected with the main screw 202 through threads, the moving block 203 is slidably connected with the auxiliary sliding rail 205, and the electric sliding block 207 is slidably connected with the X-axis moving shaft 206; through setting up first servo motor 204 and lead screw 202, drive the movable block 203 through the screw thread effect and remove to drive X axle and remove axle 206 and remove, supplementary slide rail 205 avoids X axle to remove axle 206 and produces the skew at the removal in-process, and simultaneously, electronic slider 207 drives elevating system 3 and gripper mechanism 4 and removes along X axle removal axle 206, thereby makes elevating system 3 and gripper mechanism 4 can realize the free removal of X axle and Y axle.

In this embodiment: the lifting mechanism 3 comprises a mounting frame 301, a lifting hydraulic cylinder 302, a fixed box 303, a rotating motor 304 and a turntable 305, the mounting frame 301 is arranged on the lower side of the electric slider 207, the lifting hydraulic cylinder 302 is arranged in the mounting frame 301, the fixed box 303 is arranged at the movable end of the lifting hydraulic cylinder 302, the rotating motor 304 is arranged in the fixed box 303, the turntable 305 is arranged at the power end of the rotating motor 304, and the inner ring of the turntable 305 is in key connection with the power end of the rotating motor 304; lifting cylinder 302 drives fixed box 303 through the expansion end and goes up and down to drive rotating electrical machines 304 and gripper mechanism 4 and go up and down, rotating electrical machines 304 drives carousel 305 through the key simultaneously and rotates, thereby drives gripper mechanism 4 and rotates, makes gripper mechanism 4 can realize the rotation of Z axle free movement and horizontal direction, makes gripper mechanism 4's removal space increase, can adapt to different workplaces.

In this embodiment: the clamping jaw mechanism 4 comprises a top plate 401, an auxiliary shaft 402, a motor fixing seat 403, a second servo motor 404, a screw rod 405, a clamping plate 406, a supporting jaw 407, a fixing block 408 and a limiting plate 409, wherein the auxiliary shaft 402 is arranged on the bottom surfaces of the front end and the rear end of the top plate 401, the motor fixing seat 403 is arranged on one side of the top plate 401, the second servo motor 404 is arranged in the motor fixing seat 403, the screw rod 405 is arranged at the power end of the second servo motor 404, the clamping plate 406 is arranged on the outer ring of the screw rod 405, the supporting jaw 407 is arranged at the lower end of the clamping plate 406, the fixing blocks 408 are arranged at the front end and the rear end of the clamping plate 406, and the limiting plate 409 is arranged between the auxiliary shaft 402 and the screw rod 405; the screw rod 405 is connected with the power end of the second servo motor 404 through a coupler, two clamping plates 406 are arranged, one clamping plate 406 is connected with the screw rod 405 through positive threads, the other clamping plate 406 is connected with the screw rod 405 through negative threads, the fixing block 408 is connected with the auxiliary shaft 402 in a sliding mode, and the supporting claw 407 is L-shaped; the second servo motor 404 drives the screw rod 405 through the coupler, so that the screw rod 405 is close to or far away from the two clamp plate 406 signals through thread accurate control, articles are prevented from being damaged by clamping, the supporting claw 407 has a supporting force on the articles, the articles are prevented from falling too heavily, and clamping failure is caused.

In the structure, when the device is required to stack, first, the first servo motor 204 is started, the main screw 202 is driven to rotate through the coupler, the moving block 203 drives the X-axis moving shaft 206 to move through the screw action, meanwhile, the electric slider 207 is started to drive the lifting mechanism 3 and the clamping jaw mechanism 4 to move along the moving direction, so that the lifting mechanism 3 and the clamping jaw mechanism 4 can move to the upper side of an object, then, the lifting hydraulic cylinder 302 is started, the movable end of the lifting hydraulic cylinder 302 drives the fixed box 303 and the clamping jaw mechanism 4 to descend, meanwhile, the rotating motor 304 is started, the rotating motor 304 drives the clamping jaw mechanism 4 to rotate to the direction suitable for clamping the clamping jaw mechanism 4 through the turntable 305, the second servo motor 404 is started, the second servo motor 404 drives the screw rod 405 to rotate through the coupler, the two clamping jaws 406 are far away from each other through the positive screw action and the negative screw action, when the clamping jaw mechanism 4 descends to a proper height, the second servo motor 404 drives the screw rod 405 to rotate through the coupler, the two clamping jaws 406 are close to each other through the screw action, a clamping force is formed on the stack, meanwhile, the clamping jaw 407 has a lifting force on the lower side, over-weight is avoided from dropping, and the stacking failure is caused.

The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. Multi-functional pile up neatly machine people tongs, its characterized in that: comprises a supporting mechanism (1), a moving mechanism (2), a lifting mechanism (3) and a clamping jaw mechanism (4), the upper end of the supporting mechanism (1) is provided with the moving mechanism (2), the middle of the supporting mechanism (1) is provided with the lifting mechanism (3), the lower end of the lifting mechanism (3) is provided with the clamping jaw mechanism (4), the clamping jaw mechanism (4) comprises a top plate (401), an auxiliary shaft (402), a motor fixing seat (403), a second servo motor (404), a screw rod (405), a clamping plate (406), a supporting jaw (407), a fixing block (408) and a limiting plate (409), the bottom surfaces of the front end and the rear end of the top plate (401) are provided with the auxiliary shafts (402), one side of the top plate (401) is provided with the motor fixing seat (403), the second servo motor (404) is arranged in the motor fixing seat (403), the power end of the second servo motor (404) is provided with the screw rod (405), the outer ring of the screw rod (405) is provided with the clamping plate (406), the lower end of the clamping plate (406) is provided with the supporting claw (407), the front end and the rear end of the clamping plate (406) are provided with the fixing blocks (408), the limiting plate (409) is arranged between the auxiliary shaft (402) and the screw rod (405); the screw rod (405) is connected with a power end of the second servo motor (404) through a coupler, two clamping plates (406) are arranged, one clamping plate (406) is connected with the screw rod (405) through a positive thread, the other clamping plate (406) is connected with the screw rod (405) through a negative thread, the fixing block (408) is connected with the auxiliary shaft (402) in a sliding mode, and the supporting claw (407) is L-shaped.

2. The multi-functional palletizing robot gripper as claimed in claim 1, wherein: the supporting mechanism (1) comprises supporting legs (101), supporting frames (102) and cushion blocks (103), wherein the supporting frames (102) are arranged on the upper sides of the supporting legs (101), and the cushion blocks (103) are arranged on the upper sides of the supporting frames (102); wherein the support frame (102) is a mouth-shaped support frame.

3. The multi-functional palletizing robot gripper as claimed in claim 2, wherein: the moving mechanism (2) comprises a Y-axis moving shaft (201), a main screw (202), a moving block (203), a first servo motor (204), an auxiliary sliding rail (205), an X-axis moving shaft (206) and an electric sliding block (207), the upper end of the cushion block (103) is symmetrically provided with the Y-axis moving shaft (201), one side of the Y-axis moving shaft is provided with the main screw (202) in the Y-axis moving shaft (201), the front end of the main screw (202) is provided with the first servo motor (204), the other side of the Y-axis moving shaft is provided with the auxiliary sliding rail (205) in the Y-axis moving shaft (201), the outer ring of the main screw (202) and the outer ring of the auxiliary sliding rail (205) are provided with the moving block (203), the lower side of the moving block (203) is provided with the X-axis moving shaft (206), and the outer ring of the X-axis moving shaft (206) is provided with the electric sliding block (207).

4. The multi-functional palletizing robot gripper according to claim 3, wherein: the main screw (202) is rotatably connected with the Y-axis moving shaft (201), the main screw (202) is connected with the power end of the first servo motor (204) through a coupler, the moving block (203) is connected with the main screw (202) through threads, the moving block (203) is connected with the auxiliary sliding rail (205) in a sliding mode, and the electric sliding block (207) is connected with the X-axis moving shaft (206) in a sliding mode.

5. The multi-functional palletizing robot gripper according to claim 4, wherein: elevating system (3) are including mounting bracket (301), hydraulic cylinder (302), fixed box (303), rotating electrical machines (304) and carousel (305), electric slider (207) downside is provided with mounting bracket (301), be provided with in mounting bracket (301) hydraulic cylinder (302), hydraulic cylinder (302) expansion end is provided with fixed box (303), be provided with in fixed box (303) rotating electrical machines (304), rotating electrical machines (304) power end is provided with carousel (305).

6. The multi-functional palletizing robot gripper according to claim 5, wherein: the inner ring of the turntable (305) is in power end key connection with the rotating motor (304).