Variable-pitch truss gripper

Abstract

The utility model provides a variable-pitch truss gripper which comprises a rack, a transfer mechanism arranged on the rack and at least one group of gripping mechanisms, each group of gripping mechanism is connected to the transfer mechanism through a gripping support, and the transfer mechanism can drive all the gripping mechanisms to linearly move on the rack; the grabbing mechanism is used for grabbing materials and comprises a lifting air cylinder, the lifting air cylinder is connected to a grabbing support, a push rod of the lifting air cylinder is downwards connected with a lifting connecting plate, a first guide column and a second guide column are arranged on the left side and the right side of the lifting air cylinder respectively, the upper ends of the first guide column and the second guide column are connected with the grabbing support, and the lower ends of the second guide column are fixedly connected with the lifting connecting plate. The distance adjusting assembly is arranged below the lifting connecting plate, at least one suction cup assembly is connected with the distance adjusting assembly, the distance adjusting assembly drives the suction cup assembly connected with the distance adjusting assembly to move, and the distance between the suction cup assemblies is adjusted. And the distance between the suction cups is adjusted through the distance adjusting assembly, so that materials of different sizes are grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical equipment, in particular to a variable pitch truss grabber. Background Art

[0002] The existing method of packing gloves or similar items is manual stacking and packing, which requires a large number of people and is inefficient, and the packing quantity is not uniform.

[0003] In existing automated production lines, the gripping mechanism is an auxiliary device that is mainly used to help workers carry, move and place objects that are too heavy, too hot, too large or otherwise difficult to handle manually. This mechanism is similar to an arm and consists of a series of parts, including claws and moving parts, which can grasp and move objects with multiple degrees of freedom.

[0004] The grabbing size and width of the existing grabbing mechanism are fixed and cannot be adjusted, while gloves have different sizes and dimensions. Therefore, according to the existing automatic grabbing method and combined with the characteristics of gloves or similar objects, a suitable grabbing mechanism is provided. Utility Model Content

[0005] The technical problem to be solved by the utility model is: in order to overcome the deficiency in the prior art that materials of different sizes and widths cannot be grasped at the same time, the utility model provides a variable-pitch truss gripper.

[0006] The utility model solves the technical problem by adopting the following technical solution: a variable pitch truss gripper, comprising a frame, a transfer mechanism and a grabbing mechanism, wherein the transfer mechanism is arranged on the frame, the grabbing mechanism is at least one group, each group of grabbing mechanisms is connected to the transfer mechanism through a grabbing bracket, and the transfer mechanism can drive all grabbing mechanisms to move linearly on the frame; the grabbing mechanism is used to grab materials, and comprises a lifting cylinder, a lifting connecting plate, a first guide column, a second guide column, a spacing adjustment component, a vacuum generator and two or three groups of suction cup components, and the lifting cylinder is connected to the frame through a cylinder mounting frame. On the grabbing bracket, the push rod of the lifting cylinder is connected downward to the lifting connecting plate, the first guide column and the second guide column are respectively arranged on the left and right sides of the lifting cylinder, and the upper end of the first guide column is connected to the grabbing bracket through the first linear bearing, and the lower end is fixedly connected to the lifting connecting plate, the upper end of the second guide column is connected to the grabbing bracket through the second linear bearing, and the lower end is fixedly connected to the lifting connecting plate; the spacing adjustment component is arranged below the lifting connecting plate, and at least one group of suction cup components is connected to the spacing adjustment component, and the suction cup components connected thereto are driven to move through the spacing adjustment component to realize the spacing adjustment between the suction cup components.

[0007] Furthermore, the center distance adjustment component in the present scheme is connected to two groups of suction cup components, and the distance adjustment component includes a first optical axis, a second optical axis, a left optical axis bracket, a right optical axis bracket, a first pen-shaped cylinder, a second pen-shaped cylinder, a left cylinder support plate and a right cylinder support plate, wherein the first optical axis and the second optical axis are arranged in parallel below the lifting connecting plate, and the left sides of the first optical axis and the second optical axis are connected to the left side of the lifting connecting plate through the left optical axis bracket, and the right sides are connected to the right side of the lifting connecting plate through the right optical axis bracket, the first pen-shaped cylinder and the second pen-shaped cylinder are arranged up and down, and are located between the first optical axis and the second optical axis; the first pen-shaped cylinder and the second pen-shaped cylinder are arranged back to back, the right end of the first pen-shaped cylinder is connected to the lifting connecting plate through the right cylinder support plate, and its push rod is connected to a group of suction cup components on the right side, and the left end of the second pen-shaped cylinder is connected to the lifting connecting plate through the right cylinder support plate, and its push rod is connected to a group of suction cup components on the left side.

[0008] The suction cup assemblies can be two groups or three groups. If there are two groups, one group can be fixed and the other group can be movable, or both groups can be movable. Taking three groups as an example, the suction cup assemblies are three groups, which are arranged side by side below the spacing adjustment assembly, wherein the middle group of suction cup assemblies is a fixed suction cup assembly, and the two groups of suction cup assemblies on both sides are respectively a left movable suction cup assembly and a right movable suction cup assembly.

[0009] Furthermore, the fixed suction cup assembly includes a first vacuum suction cup, a first suction cup support plate, a first T-shaped connecting plate and a second T-shaped connecting plate. The first vacuum suction cup is multiple and is arranged at intervals on the first suction cup support plate. The first suction cup support plate is connected to the lifting connecting plate through the first T-shaped connecting plate and the second T-shaped connecting plate; the left movable suction cup assembly includes a second vacuum suction cup, a second suction cup support plate, a suction cup left connecting plate, and a third linear bearing. The second vacuum suction cup is multiple and is arranged at intervals on the second suction cup support plate. The lower end of the suction cup left connecting plate is connected to the second suction cup support plate, and the upper end is respectively connected to the first optical axis and the second optical axis through two third linear bearings. ; The push rod of the second pen-shaped cylinder is connected to the left connecting plate of the suction cup, and the second pen-shaped cylinder can drive the left connecting plate of the suction cup to move on the first optical axis and the second optical axis; the right movable suction cup assembly includes a third vacuum suction cup, a third suction cup support plate, a suction cup right connecting plate, and a fourth linear bearing. The third vacuum suction cup is multiple and is arranged at intervals on the third suction cup support plate. The lower end of the suction cup right connecting plate is connected to the third suction cup support plate, and the upper end is respectively connected to the first optical axis and the second optical axis through two fourth linear bearings; the push rod of the first pen-shaped cylinder is connected to the right connecting plate of the suction cup, and the first pen-shaped cylinder can drive the right connecting plate of the suction cup to move on the first optical axis and the second optical axis.

[0010] The first pen-shaped cylinder and the second pen-shaped cylinder are arranged in opposite directions, and the push rod can push outward or retract inward at the same time, respectively driving the left connecting plate of the suction cup and the right connecting plate of the suction cup to move on the first optical axis and the second optical axis, thereby realizing the spacing adjustment between the three suction cup assemblies.

[0011] The transmission gear of the present invention is a gearbox, ... At least one group of first connecting components is also provided on the lower layer, and each group of the first connecting components includes a first clamping plate and a first upper connecting plate, and the first clamping plate and the first upper connecting plate are respectively arranged on the upper and lower sides of the lower layer of the first belt, and the first clamping plate and the first upper connecting plate are fastened and clamped on the first belt by fasteners such as screws, and the inner side of the first upper connecting plate extends inward to the top of the grabbing bracket and is fixedly connected to the grabbing bracket by fasteners; at least one group of second connecting components is also provided on the second belt, and each group of the second connecting components includes a second clamping plate and a second upper connecting plate, and the second clamping plate and the second upper connecting plate are respectively arranged on the upper and lower sides of the lower layer of the second belt, and the second clamping plate and the second upper connecting plate are fastened and clamped on the second belt by fasteners such as screws, and the inner side of the second upper connecting plate extends inward to the top of the grabbing bracket and is fixedly connected to the grabbing bracket by fasteners; the first guide rail assembly is arranged below the first belt, and the second guide rail assembly is arranged below the second belt, and the two sides of the bottom of the grabbing bracket are respectively connected to the first guide rail assembly and the second guide rail assembly.

[0012] Furthermore, in order to facilitate the adjustment of the tension of the belt, a first tension seat and a second tension seat are also included, the first driven bearing seat is fixed on the first tension seat, the second driven bearing seat is fixed on the second tension seat, the first tension seat and the second tension seat are both provided with oblong holes, and the first tension seat and the second tension seat are fixed to the frame by screws arranged in the oblong holes. The length direction of the oblong holes is the same as the length direction of the belt, and the belt tension can be adjusted by adjusting the locking position of the screws in the oblong holes.

[0013] The structures of the first guide rail assembly and the second guide rail assembly are basically the same. Specifically, the first guide rail assembly includes a first slide rail and a first slider, a first pad rail is provided at the bottom of the first slide rail, and the first slider is fixedly connected to the frame through the first pad rail, at least one first slider is provided on the first slide rail, a first lower connecting plate is provided on the first slider, one end of the first lower connecting plate is fixedly connected to the first slider, and the other end extends inward to the bottom of the grabbing bracket and is fixedly connected to the grabbing bracket through fasteners such as screws and bolts; the second guide rail assembly includes a second slide rail and a second slider, a second pad rail is provided at the bottom of the second slide rail, and the frame is fixedly connected to the second pad rail, at least one second slider is provided on the second slide rail, and the second slider is provided with a second lower connecting plate, one end of the second lower connecting plate is fixedly connected to the second slider, and the other end extends inward to the bottom of the grabbing bracket and is fixedly connected to the grabbing bracket through fasteners such as screws and bolts.

[0014] Furthermore, it also includes a drag chain assembly, which is used for electrical wiring, including a nylon drag chain, a drag chain support plate, a drag chain bracket and a tray bracket, wherein the drag chain support plate is supported below the nylon drag chain, and the upper end of the nylon drag chain is connected to the drag chain bracket, and the drag chain bracket is connected to the grab bracket, and there are two tray brackets, which are respectively arranged at the left and right ends of the bottom surface of the drag chain support plate, and the tray bracket is fixedly connected to the side of the rack. The drag chain support plate is supported on one side of the rack by the drag chain bracket for placing the drag chain.

[0015] Furthermore, in order to facilitate support, four feet are provided at the bottom of the frame.

[0016] The beneficial effects of the utility model are as follows: the utility model provides a variable pitch truss gripper, which uses a suction cup as a gripper to replace manual labor, grabs multi-channel material stacks, and is convenient for packing in the next process. The structure is compact and reasonable, and the mechanical action is rigorous and efficient. This variable pitch truss gripper can replace manual material stacking and packing, and has the advantages of accurate packing quantity, fast production rhythm, and low failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0018] Figure 1 It is a structural schematic diagram of a variable pitch truss grabber of the utility model.

[0019] Figure 2 It is a structural schematic diagram of the transfer mechanism.

[0020] Figure 3 It is a structural diagram of the grasping mechanism.

[0021] In the figure: 1, frame, 2a, first slide rail, 2b, second slide rail, 3, foot, 4, motor mounting seat, 5, active bearing seat, 6, drive shaft, 7a, first driven pulley, 7b, second driven pulley, 8a, first driven bearing seat, 8b, second driven bearing seat, 9a, first tensioning seat, 9b, second tensioning seat, 10a, first slider, 10b, second slider, 11a, first clamping plate, 11b, second clamping plate, 12a, first upper connecting plate , 12b, second upper connecting plate, 13, nylon drag chain, 14, drag chain support plate, 15, drag chain bracket, 16a, first lower connecting plate, 16b, second lower connecting plate, 17a, first limit block, 17b, second limit block, 18a, first pad rail, 18b, second pad rail, 19, pallet bracket, 20, grab bracket, 21a, first driving pulley, 21b, second driving pulley, 22a, first belt, 22b, second belt, 23, servo Motor, 24, reducer, 25a, first guide column, 25b, second guide column, 26, vacuum generator, 27, lifting cylinder, 28, cylinder mounting frame, 29a, first linear bearing, 29b, second linear bearing, 30, vacuum device mounting plate, 31, lifting connecting plate, 32a, first optical axis, 32b, second optical axis, 33a, optical axis left bracket, 33b, optical axis right bracket, 34a, first pen-shaped cylinder, 34b, second pen-shaped cylinder, 35a, suction cup left connecting plate, 35b, suction cup right connecting plate, 36a, third linear bearing, 36b, fourth linear bearing, 37a, first vacuum suction cup, 37b, second vacuum suction cup, 37c, third vacuum suction cup, 38a, first suction cup support plate, 38b, second suction cup support plate, 38c, third suction cup support plate, 39a, cylinder left support plate, 39b, cylinder right support plate, 40, first T-type connecting plate, 41, second T-type connecting plate. DETAILED DESCRIPTION

[0022] The present invention is now described in further detail in conjunction with the accompanying drawings. These drawings are simplified schematic diagrams that only illustrate the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention, and directions and references (e.g., up, down, left, right, etc.) may only be used to help describe the features in the drawings. Therefore, the following specific embodiments are not adopted in a restrictive sense, and the scope of the subject matter for which protection is sought is limited only by the attached claims and their equivalents.

[0023] like Figure 1 As shown, a variable pitch truss gripper of the utility model comprises a frame 1, a transfer mechanism and a grabbing mechanism, wherein the frame 1 is a rectangular frame structure as a whole, a support plate is provided on the top for installing other components, and four feet 3 are provided on the bottom; the transfer mechanism is arranged on the support plates on both sides above the frame 1, and the grabbing mechanism is at least one group. In this embodiment, there are two groups of grabbing mechanisms, which are arranged side by side in the frame 1, and each group of grabbing mechanisms is connected to the transfer mechanism through a grabbing bracket 20, so that the grabbing mechanism is suspended in the frame 1, and the transfer mechanism can drive all grabbing mechanisms to move linearly on the frame 1.

[0024] like Figure 2As shown, the transfer mechanism includes a servo motor 23, a reducer 24, a drive shaft 6, a first driving pulley 21a, a second driving pulley 21b, a first belt 22a, a second belt 22b, a first driven pulley 7a, a second driven pulley 7b, a first guide rail assembly and a second guide rail assembly, wherein the first driving pulley 21a, the first belt 22a, the first driven pulley 7a and the first guide rail assembly together constitute a transmission mechanism on the left side, the second driving pulley 21b, the second belt 22b, the second driven pulley 7b and the second guide rail assembly together constitute a transmission mechanism on the right side, and the transmission mechanism on the left side and the transmission mechanism on the right side are both connected to the drive shaft 6. The specific connection relationship is as follows: the servo motor 23 is connected to the reducer 24 and is fixedly connected to the frame 1 through the motor mounting seat 4. The output end of the reducer 24 is connected to one end of the driving shaft 6, and the other end of the driving shaft 6 is rotatably supported on the bracket through the active bearing seat 5. The first belt 22a and the second belt 22b are arranged in parallel above the frame 1, and the two ends of the first belt 22a are respectively connected to the first driving pulley 21a and the first driven pulley 7a, and the two ends of the second belt 22b are respectively connected to the second driving pulley 21b and the second driven pulley 7b; the first driving pulley 21a and the second driving pulley 21b are fixedly connected to the driving shaft 6, the first driven pulley 7a is rotatably supported on the bracket through the first driven bearing seat 8a, and the second driven pulley 7b is rotatably supported on the bracket through the second driven bearing seat 8b. The first driven pulley 7a and the second driven pulley 7b are located on the same side of the frame 1, and bearings are provided in the first driven bearing seat 8a and the second driven bearing seat 8b. In order to facilitate the adjustment of the tension of the belt, a first tensioning seat 9a and a second tensioning seat 9b are also included, the first driven bearing seat 8a is fixed on the first tensioning seat 9a, the second driven bearing seat 8b is fixed on the second tensioning seat 9b, the first tensioning seat 9a and the second tensioning seat 9b are both provided with oblong long holes, and the first tensioning seat 9a and the second tensioning seat 9b are fixedly connected to the frame 1 by screws arranged in the oblong long holes. The length direction of the oblong long holes is the same as the length direction of the belt, and the belt tension can be adjusted by adjusting the locking position of the screws in the oblong long holes.At least one group of first connecting components is also provided on the lower layer of the first belt 22a, and each group of the first connecting components includes a first clamping plate 11a and a first upper connecting plate 12a, which are respectively arranged on the upper and lower sides of the lower layer of the first belt 22a, and the first clamping plate 11a and the first upper connecting plate 12a are fastened and clamped on the first belt 22a by fasteners such as screws, and the inner side of the first upper connecting plate 12a extends inward to the top of the grabbing bracket 20, and is fixedly connected to the grabbing bracket 20 by fasteners, and the grabbing bracket 20 is connected to the first belt 22a by the first upper connecting plate 12a, so that when the first belt 22a rotates, the grabbing bracket 20 is driven to move synchronously; the second belt 22b At least one group of second connecting components is also provided on it, and each group of the second connecting components includes a second clamping plate 11b and a second upper connecting plate 12b, and the second clamping plate 11b and the second upper connecting plate 12b are respectively arranged on the upper and lower sides of the lower layer of the second belt 22b, and the second clamping plate 11b and the second upper connecting plate 12b are fastened and clamped on the second belt 22b by fasteners such as screws, and the inner side of the second upper connecting plate 12b extends inward to the top of the grabbing bracket 20 and is fixedly connected to the grabbing bracket 20 by fasteners; in this embodiment, each grabbing bracket 20 is connected to the grabbing bracket 20 by corresponding 2 groups of first connecting components and 2 groups of second connecting components on both sides, so that the transmission of linear motion is converted into linear movement of the grabbing mechanism through the rotation of the belt.

[0025] The first guide rail assembly is arranged below the first belt 22a, and the second guide rail assembly is arranged below the second belt 22b. The two sides of the bottom of the grab bracket 20 are respectively connected to the first guide rail assembly and the second guide rail assembly. The structures of the first guide rail assembly and the second guide rail assembly are basically the same. Specifically, the first guide rail assembly includes a first slide rail 2a and a first slider 10a. The first slide rail 2a is provided with a first pad rail 18a at the bottom and is fixedly connected to the frame 1 through the first pad rail 18a. The first slide rail 2a is provided with at least one first slider 10a. The first slider 10a is provided with a first lower connecting plate 16a. One end of the first lower connecting plate 16a is fixedly connected to the first slider 10a, and the other end extends inward to the bottom of the grab bracket 20 and is fastened by screws, bolts, etc. The second guide rail assembly includes a second slide rail 2b and a second slider 10b, the second slide rail 2b is provided with a second pad rail 18b at the bottom, and is fixedly connected to the frame 1 through the second pad rail 18b, the second slide rail 2b is provided with at least one second slider 10b, the second slider 10b is provided with a second lower connecting plate 16b, one end of the second lower connecting plate 16b is fixedly connected to the second slider 10b, and the other end extends inward to the bottom of the grabbing bracket 20, and is fixedly connected to the grabbing bracket 20 through fasteners such as screws and bolts. In this embodiment, there are two groups of grabbing mechanisms, and the two sides of the grabbing bracket 20 of each group of grabbing mechanisms are connected and supported by two first lower connecting plates 16a and two second lower connecting plates 16b respectively. In order to facilitate the arrangement of electrical circuits, a drag chain assembly is also included. The drag chain assembly is used for electrical wiring, including a nylon drag chain 13, a drag chain support plate 14, a drag chain bracket 15 and a tray bracket 19. The drag chain support plate 14 is supported below the nylon drag chain 13, and the upper end of the nylon drag chain 13 is connected to the drag chain bracket 15. The drag chain bracket 15 is connected to the grab bracket 20. There are two tray brackets 19, which are respectively arranged at the left and right ends of the bottom surface of the drag chain support plate 14, and the tray bracket 19 is fixed to the side of the rack 1. The drag chain support plate 14 is supported on one side of the rack 1 by the drag chain bracket 15 for placing the drag chain. In this embodiment, four first sliders 10a are provided on the first slide rail 2a, and four second sliders 10b are provided on the second slide rail 2b. A first limit block 17a is provided at the end of the first slide rail 2a for limiting the first slider 10a, and a second limit block 17b is provided at the end of the second slide rail 2b for limiting the second slider 10b.

[0026] like Figure 3As shown, the grabbing mechanism is used to grab materials, including a lifting cylinder 27, a lifting connecting plate 31, a first guide column 25a, a second guide column 25b, a spacing adjustment component, a vacuum generator 26 and two or three groups of suction cup components. The vacuum generator 26 is installed on the grabbing bracket 20 through a vacuum device mounting plate 30. The lifting cylinder 27 is connected to the grabbing bracket 20 through a cylinder mounting frame 28. The push rod of the lifting cylinder 27 is downwardly connected to the lifting connecting plate 31. The first guide column 25a and the second guide column 25b are respectively arranged on the left and right sides of the lifting cylinder 27, and the upper end of the first guide column 25a is connected to the grabbing bracket 20 through a first linear bearing 29a, and the lower end is fixedly connected to the lifting connecting plate 31. The upper end of the second guide column 25b is connected to the grabbing bracket 20 through a second linear bearing 29b, and the lower end is fixedly connected to the lifting connecting plate 31. In order to ensure the limiting and buffering of the first guide column 25a and the second guide column 25b when they move up and down, a limiting ring and a buffer pad are also provided above them. The spacing adjustment component is arranged below the lifting connection plate 31, and at least one group of suction cup components is connected to the spacing adjustment component, and the suction cup components connected thereto are driven to move by the spacing adjustment component to adjust the spacing between the suction cup components. In this embodiment, the spacing adjustment component is connected to two groups of suction cup components, and the spacing adjustment component includes a first optical axis 32a, a second optical axis 32b, a left optical axis bracket 33a, a right optical axis bracket 33b, a first pen-shaped cylinder 34a, a second pen-shaped cylinder 34b, a left cylinder support plate 39a, and a right cylinder support plate 39b, wherein the first optical axis 32a and the second optical axis 32b are arranged in parallel below the lifting connection plate 31, and the left sides of the first optical axis 32a and the second optical axis 32b are connected to the left side of the lifting connection plate 31 through the left optical axis bracket 33a, and the right sides are connected to the left side of the lifting connection plate 31 through the right optical axis bracket 33a. The frame 33b is connected to the right side of the lifting connecting plate 31, and the first pen-shaped cylinder 34a and the second pen-shaped cylinder 34b are arranged up and down and are located between the first optical axis 32a and the second optical axis 32b; the first pen-shaped cylinder 34a and the second pen-shaped cylinder 34b are arranged opposite to each other, and the right end of the first pen-shaped cylinder 34a is connected to the lifting connecting plate 31 through the cylinder right support plate 39b, and its push rod is connected to a group of sucker assemblies on the right side, and the left end of the second pen-shaped cylinder 34b is connected to the lifting connecting plate 31 through the cylinder right support plate 39b, and its push rod is connected to a group of sucker assemblies on the left side. The sucker assemblies can be two groups or three groups. If there are two groups, one group can be fixed and one group can be movable, or both groups can be movable. In this embodiment, three groups are taken as an example, and the sucker assemblies are three groups, which are arranged side by side below the spacing adjustment assembly, wherein the middle group of sucker assemblies is a fixed sucker assembly, and the two groups of sucker assemblies on both sides are respectively a left movable sucker assembly and a right movable sucker assembly.The fixed suction cup assembly includes a first vacuum suction cup 37a, a first suction cup support plate 38a, a first T-shaped connecting plate 40 and a second T-shaped connecting plate 41. The first vacuum suction cup 37a is multiple and is spaced apart on the first suction cup support plate 38a. The first suction cup support plate 38a is connected to the lifting connecting plate 31 through the first T-shaped connecting plate 40 and the second T-shaped connecting plate 41. The left movable suction cup assembly includes a second vacuum suction cup 37b, a second suction cup support plate 38b, a suction cup left connecting plate 35a, and a third linear bearing 36a. The second vacuum suction cup 37b is multiple and is spaced apart on the second suction cup support plate 38b. The lower end of the suction cup left connecting plate 35a is connected to the second suction cup support plate 38b, and the upper end is connected to the first optical axis 32a and the second optical axis 32b respectively through two third linear bearings 36a. The push rod of the cylinder 34b is connected to the left connecting plate 35a of the suction cup, and can drive the left connecting plate 35a of the suction cup to move on the first optical axis 32a and the second optical axis 32b through the second pen-shaped cylinder 34b; the right movable suction cup assembly includes a third vacuum suction cup 37c, a third suction cup support plate 38c, a suction cup right connecting plate 35b, and a fourth linear bearing 36b. The third vacuum suction cup 37c is multiple and is arranged at intervals on the third suction cup support plate 38c. The lower end of the suction cup right connecting plate 35b is connected to the third suction cup support plate 38c, and the upper end is respectively connected to the first optical axis 32a and the second optical axis 32b through two fourth linear bearings 36b; the push rod of the first pen-shaped cylinder 34a is connected to the right connecting plate 35b of the suction cup, and can drive the right connecting plate 35b of the suction cup to move on the first optical axis 32a and the second optical axis 32b through the first pen-shaped cylinder 34a. The first pen-shaped cylinder 34a and the second pen-shaped cylinder 34b are arranged in opposite directions, and the push rod can push outward or retract inward at the same time, respectively driving the suction cup left connecting plate 35a and the suction cup right connecting plate 35b to move on the first optical axis 32a and the second optical axis 32b, thereby realizing the spacing adjustment between the three suction cup assemblies.

[0027] Working principle:

[0028] The servo motor 23 drives the drive shaft 6 to rotate through the reducer 24, and the drive shaft 6 drives the first active pulley 21a and the second active pulley 21b to rotate, and then the first belt 22a and the second belt 22b are rotated, thereby driving the grabbing mechanism to move along the guide rail through the grabbing bracket 20 to adjust the grabbing position.

[0029] When grabbing materials, the lifting cylinder 27 drives the three groups of suction cup assemblies to move up and down through the lifting connecting plate 31, so that the suction cups at the bottom contact the materials, and then the vacuum generator 26 is started to vacuum the suction cups so that they are adsorbed on the materials to achieve material grabbing.

[0030] When grabbing materials of different sizes, the first pen-shaped cylinder 34a and the second pen-shaped cylinder 34b respectively push the suction cup left connecting plate 35a and the suction cup right connecting plate 35b to move along the first optical axis 32a and the second optical axis 32b, thereby adjusting the spacing between each group of suction cup assemblies to adapt to the grabbing of different materials.

[0031] This variable pitch truss gripper is used for stacking products at the end of the production line such as gloves. The transfer mechanism motor drives the grabbing mechanism to the top of the product flow channel, and the cylinder drives the suction cup mechanism to extend to the end of the material flow line. At this time, the cylinder extends to grab the material and then retracts. The cylinder retracts and places the material in the stacking flow channel, reciprocating. When the material is stacked to the set quantity, it flows to the packing station.

[0032] Based on the above ideal embodiments of the utility model, the relevant staff can make various changes and modifications without departing from the scope of the utility model through the above description. The technical scope of this utility model is not limited to the contents of the specification, and its technical scope must be determined according to the scope of the claims.

Claims

1. A variable pitch truss gripper, characterized in that: It includes a frame, a transfer mechanism and a grabbing mechanism, wherein the transfer mechanism is arranged on the frame, the grabbing mechanism is at least one group, each group of grabbing mechanisms is connected to the transfer mechanism through a grabbing bracket, and the transfer mechanism can drive all grabbing mechanisms to move linearly on the frame; The grabbing mechanism is used to grab materials, including a lifting cylinder, a lifting connecting plate, a first guide column, a second guide column, a spacing adjustment component, a vacuum generator and two or three groups of suction cup components. The lifting cylinder is connected to the grabbing bracket through a cylinder mounting frame, and the push rod of the lifting cylinder is downwardly connected to the lifting connecting plate. The first guide column and the second guide column are respectively arranged on the left and right sides of the lifting cylinder, and the upper end of the first guide column is connected to the grabbing bracket through a first linear bearing, and the lower end is fixedly connected to the lifting connecting plate. The upper end of the second guide column is connected to the grabbing bracket through a second linear bearing, and the lower end is fixedly connected to the lifting connecting plate; the spacing adjustment component is arranged below the lifting connecting plate, and at least one group of suction cup components is connected to the spacing adjustment component, and the suction cup components connected thereto are driven to move by the spacing adjustment component to achieve spacing adjustment between the suction cup components.

2. The variable pitch truss gripper according to claim 1, characterized in that: The spacing adjustment component includes a first optical axis, a second optical axis, a left optical axis bracket, a right optical axis bracket, a first pen-shaped cylinder, a second pen-shaped cylinder, a left cylinder support plate and a right cylinder support plate, wherein the first optical axis and the second optical axis are arranged in parallel below the lifting connecting plate, and the left sides of the first optical axis and the second optical axis are connected to the left side of the lifting connecting plate through the left optical axis bracket, and the right sides are connected to the right side of the lifting connecting plate through the right optical axis bracket, the first pen-shaped cylinder and the second pen-shaped cylinder are arranged up and down, and are located between the first optical axis and the second optical axis; the first pen-shaped cylinder and the second pen-shaped cylinder are arranged back to back, the right end of the first pen-shaped cylinder is connected to the lifting connecting plate through the right cylinder support plate, and its push rod is connected to a group of suction cup assemblies on the right side, and the left end of the second pen-shaped cylinder is connected to the lifting connecting plate through the right cylinder support plate, and its push rod is connected to a group of suction cup assemblies on the left side.

3. The variable pitch truss gripper according to claim 2, characterized in that: The suction cup assemblies are divided into three groups and arranged side by side below the spacing adjustment assembly, wherein the middle group of suction cup assemblies is a fixed suction cup assembly, and the two groups of suction cup assemblies on both sides are a left movable suction cup assembly and a right movable suction cup assembly respectively.

4. The variable pitch truss gripper according to claim 3, characterized in that: The fixed suction cup assembly includes a first vacuum suction cup, a first suction cup support plate, a first T-shaped connecting plate and a second T-shaped connecting plate, wherein the first vacuum suction cup is multiple and is arranged at intervals on the first suction cup support plate, and the first suction cup support plate is connected to the lifting connecting plate through the first T-shaped connecting plate and the second T-shaped connecting plate; The left movable suction cup assembly comprises a second vacuum suction cup, a second suction cup support plate, a suction cup left connecting plate, and a third linear bearing. The second vacuum suction cup is multiple and is arranged at intervals on the second suction cup support plate. The lower end of the suction cup left connecting plate is connected to the second suction cup support plate, and the upper end is connected to the first optical axis and the second optical axis respectively through two third linear bearings. The push rod of the second pen-shaped cylinder is connected to the suction cup left connecting plate, and the second pen-shaped cylinder can drive the suction cup left connecting plate to move on the first optical axis and the second optical axis. The right movable suction cup assembly includes a third vacuum suction cup, a third suction cup support plate, a suction cup right connecting plate, and a fourth linear bearing. The third vacuum suction cup is multiple and is arranged at intervals on the third suction cup support plate. The lower end of the suction cup right connecting plate is connected to the third suction cup support plate, and the upper end is respectively connected to the first optical axis and the second optical axis through two fourth linear bearings; the push rod of the first pen-shaped cylinder is connected to the suction cup right connecting plate, and the first pen-shaped cylinder can drive the suction cup right connecting plate to move on the first optical axis and the second optical axis.

5. The variable pitch truss gripper according to claim 1, characterized in that: The transfer mechanism includes a servo motor, a reducer, a drive shaft, a first driving pulley, a second driving pulley, a first belt, a second belt, a first driven pulley, a second driven pulley, a first guide rail assembly and a second guide rail assembly. Wherein, the servo motor is connected to the reducer and fixedly connected to the frame through a motor mounting seat, the output end of the reducer is connected to one end of the driving shaft, and the other end of the driving shaft is rotatably supported on the bracket through an active bearing seat, the first belt and the second belt are arranged in parallel above the frame, and the two ends of the first belt are respectively connected to the first active pulley and the first driven pulley, and the two ends of the second belt are respectively connected to the second active pulley and the second driven pulley; the first active pulley and the second active pulley are fixedly connected to the driving shaft, the first driven pulley is rotatably supported on the bracket through the first driven bearing seat, and the second driven pulley is rotatably supported on the bracket through the second driven bearing seat; At least one group of first connecting components is also provided on the lower layer of the first belt, and each group of the first connecting components includes a first clamping plate and a first upper connecting plate, which are respectively arranged on the upper and lower sides of the lower layer of the first belt, and the first clamping plate and the first upper connecting plate are fastened and clamped on the first belt by fasteners, and the inner side of the first upper connecting plate extends inward to the top of the grabbing bracket and is fixedly connected to the grabbing bracket by fasteners; The second belt is also provided with at least one group of second connecting components, each group of the second connecting components includes a second clamping plate and a second upper connecting plate, the second clamping plate and the second upper connecting plate are respectively arranged on the upper and lower sides of the lower layer of the second belt, the second clamping plate and the second upper connecting plate are fastened and clamped on the second belt by fasteners, the inner side of the second upper connecting plate extends inward to the top of the grabbing bracket, and is fixedly connected to the grabbing bracket by fasteners; The first guide rail assembly is arranged below the first belt, the second guide rail assembly is arranged below the second belt, and two sides of the bottom of the grabbing bracket are respectively connected to the first guide rail assembly and the second guide rail assembly.

6. The variable pitch truss gripper according to claim 5, characterized in that: It also includes a first tensioning seat and a second tensioning seat, the first driven bearing seat is fixed on the first tensioning seat, the second driven bearing seat is fixed on the second tensioning seat, the first tensioning seat and the second tensioning seat are both provided with oval long holes, and the first tensioning seat and the second tensioning seat are fixed to the frame by screws arranged in the oval long holes.

7. The variable pitch truss gripper according to claim 5, characterized in that: The first guide rail assembly includes a first slide rail and a first slider, a first pad rail is provided at the bottom of the first slide rail and is fixedly connected to the frame through the first pad rail, at least one first slider is provided on the first slide rail, a first lower connecting plate is provided on the first slider, one end of the first lower connecting plate is fixedly connected to the first slider, and the other end extends inward to the bottom of the grabbing bracket and is fixedly connected to the grabbing bracket through a fastener; the second guide rail assembly includes a second slide rail and a second slider, a second pad rail is provided at the bottom of the second slide rail and is fixedly connected to the frame through the second pad rail, at least one second slider is provided on the second slide rail, and a second lower connecting plate is provided on the second slider, one end of the second lower connecting plate is fixedly connected to the second slider, and the other end extends inward to the bottom of the grabbing bracket and is fixedly connected to the grabbing bracket through a fastener.

8. The variable pitch truss gripper according to claim 5, characterized in that: It also includes a drag chain assembly, which is used for electrical wiring and includes a nylon drag chain, a drag chain pallet, a drag chain bracket and a pallet bracket. The drag chain pallet is supported below the nylon drag chain, and the upper end of the nylon drag chain is connected to the drag chain bracket, and the drag chain bracket is connected to the grabbing bracket. There are two pallet brackets, which are respectively arranged at the left and right ends of the bottom surface of the drag chain pallet, and the pallet bracket is fixedly connected to the side of the frame.

9. The variable pitch truss gripper according to claim 1, characterized in that: The bottom of the frame is also provided with four footings.

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