Sheet piece stack gripping apparatus

Abstract

The invention relates to a sheet-shaped part stack gripping apparatus which comprises a movable part, a base, an actuator, a plurality of driving arms, a plurality of vertical cylinders, a plurality of supporting pins and a plurality of elastic elements, and the movable part, the actuator and the base are sequentially connected from top to bottom; the upper end parts of the driving arms are connected with the movable part, and the upper end parts of the vertical cylinders are connected with the base; the lower part of the driving arm downwards extends into the inner cavity of the vertical cylinder, and a concave part and a convex part are arranged at the lower part of the driving arm; pin holes are formed in the cylinder walls, close to the inner sides, of the lower portions of the vertical cylinders, and the supporting pins are matched with the pin holes; when the movable piece moves to a first position relative to the base, the supporting pin is supported on the convex part towards the outer side, and the end part of the inner side of the supporting pin extends out of the vertical cylinder towards the inner side; and when the movable piece moves to a second position relative to the base, the supporting pin is supported on the concave part towards the outer side, and the inner side end part of the supporting pin is contracted into the pin hole. According to the sheet-shaped piece stack gripping apparatus, the sheet-shaped piece stacks can be stably gripped, and the requirement of the sheet-shaped piece stack gripping apparatus for the distance between the sheet-shaped piece stacks is smaller.

Description

Technical Field

[0001] The present invention relates to the technical field of palletizing, and particularly relates to a grab for sheet stacks. Background Art

[0002] Some stamping equipment can stamp out multiple sheets stacked together. During the production process, a palletizing device is required to sort the multiple stacked sheets into a neat sheet stack, and then place the sheet stack on a pallet for storage and transportation. To improve efficiency, a robotic arm is needed to place the sheet stack on the pallet.

[0003] When using the existing robotic arm to place the sheet stack on the pallet, the following technical problems are faced: There is no grab suitable for grasping sheet stacks in the prior art. The grab on the existing robotic arm may cause some sheets on the sheet stack to shift during the process of grasping the sheet stack.

[0004] The opening and closing angle of the mechanical claws of the existing robotic arm grab is relatively large, and sufficient operating space needs to be reserved for the mechanical claws between the sheet stacks on the pallet, resulting in a relatively large spacing between the sheet stacks on the pallet, reducing the storage density of the pallet, and wasting space during both the storage and transportation of the sheet stacks. As Figure 1 and Figure 2 shown, although by optimizing the structure of the grab 1, the movement envelope range of the mechanical claw 101 can be reduced to a certain extent, and thus the spacing between the sheet stacks 3 on the pallet 2 can be reduced, the grab 1 still requires a certain swinging space, still resulting in a reduction in the storage density of the pallet 2, and still wasting space during the storage and transportation of the sheet stacks 3.

[0005] When placing the sheet stack on the pallet, there may be a situation where the sheet stack is placed on another sheet stack, and the upper and lower sheet stacks may not be neatly arranged. Summary of the Invention

[0006] The objective of the present invention is to provide a grab for sheet stacks to alleviate or eliminate at least one of the above technical problems.

[0007] A sheet stack gripper according to the present invention includes a movable member, a base, an actuator, a plurality of driving arms, a plurality of vertical cylinders, a plurality of support pins, and a plurality of elastic elements. The movable member, the actuator, and the base are connected in sequence from top to bottom. The actuator is configured to drive the movable member to move up and down relative to the base. The upper ends of the plurality of driving arms are all connected to the movable member, and the upper ends of the plurality of vertical cylinders are all connected to the base. The plurality of vertical cylinders enclose a sheet stack gripping space. The plurality of vertical cylinders extend downward from the base, and the lower portions of the plurality of driving arms respectively extend downward into the inner cavities of the plurality of vertical cylinders. Concave portions and convex portions that are offset from each other in the up-and-down direction are provided on the inner sides of the lower portions of the plurality of driving arms. Pin holes are provided on the inner side walls of the lower portions of the plurality of vertical cylinders close to the inner side. The plurality of support pins are respectively engaged with the plurality of pin holes, and the plurality of elastic elements respectively act on the plurality of support pins so that the plurality of support pins respectively support outwardly on the lower portions of the plurality of driving arms. When the actuator drives the movable member to move relative to the base to a first position, the plurality of support pins respectively support outwardly on the plurality of convex portions, and the inner end portions of the plurality of support pins respectively extend inwardly from the plurality of vertical cylinders. When the actuator drives the movable member to move relative to the base to a second position, the plurality of support pins respectively support outwardly on the plurality of concave portions, and the inner end portions of the plurality of support pins respectively contract into the plurality of pin holes.

[0008] Optionally, a D-shaped surface extending downward from the pin hole to the lower end surface of the vertical cylinder is provided on the outer peripheral surface of the lower portion of each vertical cylinder.

[0009] Optionally, the upper ends of the plurality of vertical cylinders are respectively hinged to the base through a hinge structure, and the hinge axis of the hinge structure is perpendicular to the inner and outer directions and the up and down directions.

[0010] Optionally, a chamfer is provided at the edge of the inner end surface of each support pin.

[0011] Optionally, the vertical cylinder is a cylindrical member with a square inner cross-section and a circular outer cross-section.

[0012] Optionally, a base in the shape of a cuboid is connected to the outer end portion of the support pin. The base extends radially outward from the support pin, and a surface contact is provided between the outer side surface of the base and the inner side surface of the corresponding lower portion of the driving arm.

[0013] Optionally, a plurality of guide rods extending upward are fixedly connected to the base, and a plurality of guide holes respectively cooperating with the plurality of guide rods are provided on the movable member; the upper end portions of the plurality of guide rods are connection end portions for connecting to a robotic arm.

[0014] Optionally, the sheet stack gripper includes four of the vertical cylinders. When viewed from above, the four vertical cylinders are distributed at the four vertices of a square.

[0015] Optionally, the movable member includes a movable member body and a plurality of first mounting portions provided on the periphery of the movable member body. The plurality of first mounting portions respectively extend outward from the movable member body. The base includes a base body located below the movable member body and a plurality of second mounting portions provided on the periphery of the base body. The plurality of second mounting portions respectively extend outward from the base body; the upper ends of the plurality of driving arms are respectively fixedly connected to the plurality of first mounting portions, and a first position adjusting structure for adjusting the position of the driving arm in the inner and outer directions is provided between each driving arm and the corresponding first mounting portion; the upper ends of the plurality of vertical cylinders are respectively connected to the plurality of second mounting portions, and the connection positions of the upper ends of the plurality of vertical cylinders in the inner and outer directions are adjustable. A second position adjusting structure for adjusting the position of the vertical cylinder in the inner and outer directions is provided between each vertical cylinder and the corresponding second mounting portion.

[0016] Optionally, the actuator is a cylinder.

[0017] The present invention provides a sheet stack gripper capable of stably gripping a sheet stack. The sheet stack gripper has less requirement for the spacing between sheet stacks, can further reduce the space waste during the storage and transportation of sheet stacks, and can also stack the sheet stacks more neatly together. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural view of the gripper described in the background art; Figure 2 is a top view of a tray with a sheet stack placed thereon; Figure 3 is a schematic structural view of the sheet stack gripper described in some embodiments; Figure 4 is a top view of the sheet stack gripper described in some embodiments; Figure 5 is Figure 4 the A-A cross-sectional view in Figure 6 is Figure 5 a partial enlarged view of Figure 7 is a working schematic view of the sheet stack gripper described in some embodiments.

[0019] Wherein: 1 - gripper, 2 - tray, 3 - sheet stack, 4 - sheet stack gripper, 5 - robotic arm, 6 - conveying device, 101 - mechanical claw 401 - Movable part body, 402 - First installation part, 403 - First strip hole, 404 - Second strip hole, 405 - Base body, 406 - Second installation part, 407 - Third strip hole, 408 - Hinge hole, 409 - Guide rod, 410 - Actuator, 411 - Vertical cylinder, 412 - Driving arm, 413 - Support pin, 414 - D-shaped surface, 415 - Pin shaft, 416 - Bolt, 417 - Nut, 418 - Inner cavity, 419 - Sliding fit part, 420 - Concave part, 421 - Convex part, 422 - Base, 423 - Spring. Detailed implementation manners

[0020] The following will illustrate the implementation manners of the present invention with reference to the drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation manners. Various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention rather than for limiting the protection scope of the present invention.

[0021] It should be noted that the drawings provided in the following embodiments only schematically illustrate the basic concept of the present invention. Therefore, only the components related to the present invention are shown in the drawings, rather than being drawn according to the number, shape and size of the components in actual implementation. The type, quantity and proportion of each component in actual implementation can be arbitrarily changed, and the component layout type may also be more complex.

[0022] As Figures 3 to 6A sheet stack gripper 4 as shown includes a movable member, a base, an actuator 410, a plurality of driving arms 412, a plurality of vertical cylinders 411, a plurality of support pins 413, and a plurality of elastic elements. The movable member, the actuator 410, and the base are connected in sequence from top to bottom. The actuator 410 is used to drive the movable member to move up and down relative to the base. The upper ends of the plurality of driving arms 412 are all connected to the movable member, and the upper ends of the plurality of vertical cylinders 411 are all connected to the base. The plurality of vertical cylinders 411 enclose a grasping space for the sheet stack 3. The plurality of vertical cylinders 411 extend downward beyond the base, and the lower parts of the plurality of driving arms 412 respectively extend downward into the inner cavities 418 of the plurality of vertical cylinders 411. Concave portions 420 and convex portions 421 that are staggered with each other in the vertical direction are arranged on the inner sides of the lower parts of the plurality of driving arms 412. Pin holes are arranged on the inner side walls of the lower parts of the plurality of vertical cylinders 411. The plurality of support pins 413 are respectively matched with the plurality of pin holes, and the plurality of elastic elements respectively act on the plurality of support pins 413 so that the plurality of support pins 413 respectively support outwardly on the lower parts of the plurality of driving arms 412. When the actuator 410 drives the movable member to move relative to the base to the first position, the plurality of support pins 413 respectively support outwardly on the plurality of convex portions 421, and the inner end portions of the plurality of support pins 413 respectively extend inwardly beyond the plurality of vertical cylinders 411. When the actuator 410 drives the movable member to move relative to the base to the second position, the plurality of support pins 413 respectively support outwardly on the plurality of concave portions 420, and the inner end portions of the plurality of support pins 413 respectively contract into the plurality of pin holes.

[0023] Adopting the above technical solution, a sheet stack gripper 4 capable of stably grasping the sheet stack 3 is proposed. The requirements for the spacing between the sheet stacks 3 of the sheet stack gripper 4 are smaller, and the space waste during the storage and transportation of the sheet stack 3 can be further reduced.

[0024] The working principle of the above sheet stack gripper 4 is as follows: The robotic arm drives the sheet stack gripper 4 to run to the grasping position. The plurality of vertical cylinders 411 surround the sheet stack 3 at the grasping position. Then, the plurality of support pins 413 are controlled to respectively extend inwardly beyond the plurality of vertical cylinders 411. The horizontal position of the sheet stack 3 is limited by the plurality of vertical cylinders 411, and the ends of the plurality of vertical cylinders 411 form a support for the sheet stack 3, realizing the grasping of the sheet stack 3. The robotic arm drives the sheet stack gripper 4 with the grasped sheet stack 3 to run to the placement position. Then, the plurality of support pins 413 are controlled to respectively contract inwardly, and the plurality of vertical cylinders 411 release the support for the sheet stack 3, enabling the sheet stack 3 to be placed at the placement position. Then, the robotic arm drives the sheet stack gripper 4 to leave the placement position. During this process, the plurality of vertical cylinders 411 can complete the grasping and placement of the sheet stack 3 without opening and closing.

[0025] In the above-mentioned sheet stack gripper 4, since the multiple vertical cylinders 411 do not need to be opened and closed, there is no need to open or close the space, and a gap slightly larger than the diameter of the vertical cylinder 411 can be formed between the sheet stacks 3, which greatly reduces the restriction on the gap between the sheet stacks 3. Figure 2 As shown, for the circular and elliptical sheet stacks 3, the space between the sheet stacks 3 is large at both ends and small in the middle. With the sheet stack gripper 4 with four vertical cylinders 411 used later in this application, the four vertical cylinders 411 are arranged in the areas with large gaps on both sides of the sheet stacks 3, further reducing the restriction on the gap between the sheet stacks 3. By reasonably setting the travel of the support pins, the restriction on the gap between the sheet stacks 3 can even be completely lifted. The above-mentioned gap is usually a horizontal gap.

[0026] It should be noted that the central axis of the grasping space extends in the up-down direction. In the description of this application, the side close to the grasping space is the inner side, and the side facing away from the grasping space is the outer side. The inner and outer directions refer to the radial directions perpendicular to the central axis of the grasping space.

[0027] In some embodiments, the outer peripheral surface of the lower part of each vertical cylinder 411 is provided with a D-shaped surface 414 extending downward from the pin hole to the lower end surface of the vertical cylinder 411. After grabbing the stack of sheet members 3, when stacking the stack of sheet members 3, the lower part of the vertical cylinder 411 extends into the outer periphery of the stack of sheet members 3 below the stacking position, and the D-shaped surface 414 matches the stack of sheet members 3 below the stacking position, so that the stack of sheet members 3 stacked to the stacking position is aligned with the stack of sheet members below the stacking position, so that the stack of sheet members 3 is stacked more neatly. By stacking the stack of sheet members 3 more neatly, it is also helpful to reduce the restriction on the horizontal gap between the stacks of sheet members 3.

[0028] In some embodiments, the upper ends of the plurality of vertical cylinders 411 are respectively hinged to the base through hinge structures, and the hinge axes of the hinge structures are perpendicular to the inner and outer directions and the upper and lower directions, so that the vertical cylinders 411 can swing slightly to prevent the driving arms 412 from getting stuck.

[0029] In some embodiments, the edge of the inner end surface of each support pin 413 is provided with a chamfer. Providing the chamfer can reduce damage to the stack of sheet pieces. In specific implementation, the chamfer is usually a rounded corner.

[0030] In some embodiments, the vertical cylinder 411 is a cylindrical member with a round outer surface and a square inner surface. The inner cavity 418 of the cylindrical member is square, which is convenient for positioning the driving arm 412 and the base 422 and guiding the sliding direction.

[0031] In specific implementation, the cross-section of the driving arm 412 perpendicular to the central axis of the vertical cylinder 411 is square, the cross-section of the base 422 perpendicular to the central axis of the vertical cylinder 411 is square, the outer side surface of the driving arm 412 matches the outer side surface of the inner cavity 418 of the cylindrical part, the two side surfaces of the driving arm 412 in the circumferential direction of the base match the outer side parts of the two side surfaces of the inner cavity 418 of the cylindrical part in the circumferential direction of the base, and the two side surfaces of the base 422 in the circumferential direction of the base match the inner side parts of the two side surfaces of the inner cavity 418 of the cylindrical part in the circumferential direction of the base.

[0032] In some embodiments, a base 422 in the shape of a cuboid is connected to the outer end of the support pin 413. The base 422 extends radially out of the support pin 413 along the radial direction of the support pin 413, and a surface contact is formed between the outer side surface of the base 422 and the inner side surface of the lower part of the corresponding driving arm 412. The surface contact can form a stable support for the support pin 413. In specific implementation, the elastic element can be a spiral spring 423 arranged between the base 422 and the inner wall of the vertical cylinder 411, and multiple spiral springs 423 can be arranged between the base 422 and the inner wall of the vertical cylinder 411.

[0033] In some embodiments, a plurality of guide rods 409 extending upward are fixedly connected to the base, and a plurality of guide holes respectively cooperating with the plurality of guide rods 409 are arranged on the movable part; the upper ends of the plurality of guide rods 409 are connection ends for connecting with the robotic arm 5. The plurality of guide rods 409 can guide the movement direction of the movable part and ensure that the movable part can move up and down stably. In specific implementation, the lower ends of the plurality of guide rods 409 can be connected to the threaded holes on the base body 405 by means of threaded cooperation. Connecting the plurality of guide rods 409 with the robotic arm 5 can reduce the number of components. In specific implementation, external threads are provided at the upper ends of the plurality of guide rods 409.

[0034] In some embodiments, the sheet stack gripper 4 includes four vertical cylinders 411. When viewed from above, the four vertical cylinders 411 are distributed at the four vertices of a square. By arranging the four vertical cylinders 411, the circular sheet stack and the elliptical sheet stack can be grasped, making reasonable use of the structural characteristics of the circular sheet stack and the elliptical sheet stack, reducing the requirements for the horizontal gaps between the circular sheet stacks and between the elliptical sheet stacks, and having the characteristics of simple structure and easy implementation.

[0035] In some embodiments, the movable member includes a movable member body 401 and a plurality of first mounting portions 402 disposed on the peripheral side of the movable member body 401. The plurality of first mounting portions 402 respectively protrude outward from the movable member body 401. The base includes a base body 405 located below the movable member body 401 and a plurality of second mounting portions 406 disposed on the peripheral side of the base body 405. The plurality of second mounting portions 406 respectively protrude outward from the base body 405; the upper ends of the plurality of driving arms 412 are respectively fixedly connected to the plurality of first mounting portions 402, and a first position adjusting structure for adjusting the position of the driving arm 412 in the inner and outer directions is provided between each driving arm 412 and the corresponding first mounting portion 402; the upper ends of the plurality of vertical cylinders 411 are respectively connected to the plurality of second mounting portions 406, and the connection positions of the upper ends of the plurality of vertical cylinders 411 in the inner and outer directions are adjustable. A second position adjusting structure for adjusting the position of the vertical cylinder 411 in the inner and outer directions is provided between each vertical cylinder 411 and the corresponding second mounting portion 406. The position of the driving wall and the position of the vertical cylinder 411 can be adjusted to accommodate sheet stacks 3 of different sizes.

[0036] As a preferred example, the plurality of first mounting portions 402 respectively protrude outward from the movable member body 401. Each first mounting portion 402 is provided with a first elongated hole 403 extending in the inner and outer directions and a second elongated hole 404 extending in the inner and outer directions. The second elongated hole 404 penetrates the hole wall of the first elongated hole 403; the driving arm 412 corresponding to the first mounting portion 402 is slidably engaged with the first elongated hole 403, and a bolt 416 engaged with the second elongated hole 404 and a nut 417 connected to the bolt 416 fixedly connect the driving arm 412 and the first mounting portion 402 together. By adopting the above technical solution, the position of the driving arm 412 can be adjusted infinitely in the inner and outer directions. On the one hand, the position of the driving arm 412 can be adjusted to accommodate sheet stacks 3 of different sizes; on the other hand, the position of the driving arm 412 can be finely adjusted to make the driving arm 412 better match the vertical cylinder 411. In specific implementation, the driving arm 412 includes a sliding portion 419 slidably engaged with the first elongated hole 403.

[0037] As a preferred example, the plurality of second mounting portions 406 respectively protrude outward from the base body 405. Each second mounting portion 406 is provided with a third elongated hole 407 extending in the inner and outer directions and penetrating the second mounting portion 406 in the up and down directions. A plurality of hinge holes 408 are provided on the hole wall of the third elongated hole 407, and the plurality of hinge holes 408 are arranged at intervals in the inner and outer directions. The vertical cylinder 411 corresponding to the second mounting portion 406 is hinged to one of the plurality of hinge holes 408 through a pin shaft 415. By hinging the vertical section to different hinge holes 408, the adjustment of the position of the vertical cylinder 411 in the inner and outer directions can be achieved.

[0038] In some embodiments, in order to more stably grasp the stack of sheet-like members 3, a plurality of first mounting portions 402 are arranged at intervals in sequence in the circumferential direction of the movable member body 401, and a plurality of second mounting portions 406 are arranged at intervals in sequence in the circumferential direction of the base body 405.

[0039] In some embodiments, the actuator 410 is a cylinder. The cylinder has the characteristics of being easy to implement and control. In specific implementation, the cylinder block of the cylinder is fixedly connected to the base body 405, and the piston rod of the cylinder is fixedly connected to the movable member body 401. In specific implementation, the cylinder can adopt the air supply system in the workshop, and the air supply system can be controlled by a controller, and the controller can be implemented by a programmable logic controller in the prior art. For example, for example, the solenoid valve of the air supply system is controlled by a controller deployed with a preset program to control the operation of the cylinder. The above-mentioned cylinder can select commercially available products, such as the MHQ2 series cylinders of SMC, which have the characteristics of high precision.

[0040] As Figure 7 shown, by installing the above-mentioned stack gripper 4 for sheet-like members at the end of the robotic arm 5, the robotic arm 5 and the stack gripper 4 for sheet-like members can be cooperated to achieve the grasping and placement of the stack of sheet-like members 3, and the stack of sheet-like members 3 on the conveying device 6 can be grasped and placed on the tray 2 by using the robotic arm 5 and the stack gripper 4 for sheet-like members.

[0041] The above embodiments are only preferred embodiments given to fully illustrate the present invention, and the protection scope of the present invention is not limited thereto. Equivalent substitutions or transformations made by those skilled in the art on the basis of the present invention are all within the protection scope of the present invention. In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics of the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0042] In the description of the present invention, it should be understood that the directions indicated by the terms "upper", "lower", "front", "rear", "left", "right", etc. are the directions represented based on the coordinate system in the Figure 3 accompanying drawings, which are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation to the present invention.

Claims

1. A sheet-like stack gripper, characterized in that, It includes a movable part, a base, an actuator, multiple driving arms, multiple vertical cylinders, multiple support pins and multiple elastic elements. The movable part, the actuator and the base are connected in sequence from top to bottom. The actuator is used to drive the movable part to move up and down relative to the base. The upper ends of multiple driving arms are all connected to the movable part. The upper ends of multiple vertical cylinders are all connected to the base. Multiple vertical cylinders enclose a sheet stack grasping space. Multiple vertical cylinders extend downward from the base. The lower parts of multiple driving arms respectively extend downward into the inner cavities of multiple vertical cylinders. Concave parts and convex parts that are staggered in the up-and-down direction are arranged on the inner sides of the lower parts of multiple driving arms. Pin holes are arranged on the inner side walls of the lower parts of multiple vertical cylinders close to the inside. Multiple support pins are respectively matched with multiple pin holes. Multiple elastic elements respectively act on multiple support pins so that multiple support pins respectively support outwardly on the lower parts of multiple driving arms. When the actuator drives the movable part to move to the first position relative to the base, multiple support pins respectively support outwardly on multiple convex parts, and the inner end parts of multiple support pins respectively extend inwardly from multiple vertical cylinders. When the actuator drives the movable part to move to the second position relative to the base, multiple support pins respectively support outwardly on multiple concave parts, and the inner end parts of multiple support pins respectively contract into multiple pin holes.

2. The sheet stack gripper according to claim 1, characterized in that, A D-shaped surface extending downward from the pin hole to the lower end surface of the vertical cylinder is arranged on the outer peripheral surface of the lower part of each vertical cylinder.

3. The sheet stack gripper according to claim 1, characterized in that, The upper ends of multiple vertical cylinders are respectively hinged to the base through a hinge structure, and the hinge axis of the hinge structure is perpendicular to the inside-outside direction and the up-down direction.

4. The sheet stack gripper according to claim 1, characterized in that, A chamfer is arranged on the edge of the inner end surface of each support pin.

5. The sheet stack gripper according to claim 1, characterized in that, The vertical cylinder is a cylindrical part with a round outer surface and a square inner surface.

6. The sheet stack gripper according to claim 1, characterized in that, A cuboid-shaped base is connected to the outer end part of the support pin. The base extends radially outward from the support pin, and the outer side surface of the base is in surface contact with the inner side surface of the corresponding lower part of the driving arm.

7. The sheet stack gripper according to claim 1, characterized in that, Multiple upwardly extending guide rods are fixedly connected to the base. Multiple guide holes respectively matched with multiple guide rods are arranged on the movable part. The upper end parts of multiple guide rods are connection end parts for connecting with a robotic arm.

8. The sheet stack gripper according to claim 1, characterized in that, The sheet stack gripper includes four vertical cylinders. Looking from top to bottom, the four vertical cylinders are distributed at the four vertices of a square.

9. The sheet stack gripper according to claim 1, wherein, The movable part includes a movable part body and a plurality of first mounting parts arranged on the periphery of the movable part body. The plurality of first mounting parts respectively extend outward from the movable part body. The base includes a base body located below the movable part body and a plurality of second mounting parts arranged on the periphery of the base body. The plurality of second mounting parts respectively extend outward from the base body; the upper ends of the plurality of driving arms are respectively fixedly connected to the plurality of first mounting parts, and a first position adjusting structure for adjusting the position of the driving arm in the inner and outer directions is provided between each driving arm and the corresponding first mounting part; the upper ends of the plurality of vertical cylinders are respectively connected to the plurality of second mounting parts, and the connection positions of the upper ends of the plurality of vertical cylinders in the inner and outer directions are adjustable, and a second position adjusting structure for adjusting the position of the vertical cylinder in the inner and outer directions is provided between each vertical cylinder and the corresponding second mounting part.

10. The sheet stack gripper according to claim 1, characterized in that, The actuator is a cylinder.

Images