Stacking gripper adaptable to multi-form cargos

Abstract

The present application relates to the field of multi-form clamping jaw, specifically to a stack clamping jaw capable of adapting to multi-form goods, comprising an L-shaped clamping jaw, one end surface of the L-shaped clamping jaw is provided with a triangular inclined groove, a hollow groove one is opened in the top inner side wall surface of the L-shaped clamping jaw, a swing arm plate is swing-connected to the top inner side wall surface of the hollow groove one, a triangular pad is fixedly connected to the bottom surface of the swing arm plate, and a motor is fixedly installed to the inner side wall surface of the hollow groove one. The motor is matched to rotate the threaded rod, so that the trapezoidal slide block moves in the direction of the triangular inclined groove on the surface of the threaded rod, and the triangular pad on the bottom surface of the swing arm plate is pushed by the trapezoidal slide block, the inclined surface of the triangular pad is in contact with the inclined surface of the top surface of the trapezoidal slide block, and when the trapezoidal slide block continuously slides, the swing arm plate is upwardly jacked and tilted.

Description

Technical Field

[0001] This invention belongs to the field of multi-form gripper technology, specifically a stacking gripper that can adapt to various forms of goods. Background Technology

[0002] Palletizers automatically stack goods already packed in containers onto pallets or stacks (wooden or plastic) in a specific arrangement. They can stack multiple layers and then push the goods out for easy transport to the warehouse by forklift. This greatly reduces labor and labor intensity. Automatic palletizers are classified into two types based on their level of intelligence: robotic palletizers and mechanical palletizers. Mechanical palletizers can be further divided into gantry palletizers, column palletizers, and robotic arm palletizers.

[0003] A patent with publication number CN220744635U discloses a pressing billet stacking gripper, including a second gripping arm, a first gripping arm that slides with the second gripping arm to form a gripping cavity, and a sliding drive device that is pulsatorically connected to the first gripping arm and fixedly connected to the second gripping arm; the first gripping arm has a V-groove on the side near the second gripping arm. This invention can effectively achieve tight stacking of pressing billets on a boat, and the pressing billets will not fall off during deburring after being gripped.

[0004] In current technology, goods are packaged in various shapes, including rectangular, cylindrical, and irregular shapes. This creates grippers that can hold and stack goods of different shapes. However, most grippers are made of metal with a layer of anti-rust paint or anti-slip coating. The metal surface and the anti-rust paint are relatively smooth, so the grippers rely solely on the downward force of the goods' own weight to maintain stability. The anti-slip coating also wears down with repeated gripping, causing it to peel off. This makes it difficult for the grippers to hold the goods securely. Furthermore, when dealing with multi-shaped goods, the rectangular grippers have a small contact area with the multi-shaped goods, which can lead to swaying and displacement of the goods during transport.

[0005] Therefore, the present invention provides a stacking gripper that can adapt to goods of various shapes. Summary of the Invention

[0006] In order to overcome the shortcomings of the prior art, at least one technical problem raised in the background art is solved.

[0007] The technical solution adopted by the present invention to solve its technical problem is as follows: The present invention provides a stacking gripper that can adapt to various forms of goods, including an L-shaped clamping gripper. One end surface of the L-shaped clamping gripper is provided with a triangular oblique groove. A hollow groove is formed on the top inner wall of the L-shaped clamping gripper. A swing arm plate is sway-connected to the top inner wall of the hollow groove. A triangular pad is fixedly connected to the bottom surface of the swing arm plate. A motor is fixedly installed on the inner wall of the hollow groove. A threaded rod is fixedly connected to the output end of the motor. A trapezoidal slider provided on the inner wall of the hollow groove is threadedly movably sleeved on the outer surface of the threaded rod. A roller is movably sleeved on the top surface of the swing arm plate. A silicone anti-slip block is provided on the top surface of the L-shaped clamping gripper and at the edge of the roller.

[0008] Preferably, a support baffle is fixedly connected to the bottom surface of the L-shaped locking claw, a horizontal support groove is provided at the top edge of the L-shaped locking claw, an arc-shaped claw limiting rod is provided on the bottom surface of the L-shaped locking claw and at the bottom edge of the horizontal support groove, and a support arm plate is fixedly connected to the back of the L-shaped locking claw.

[0009] Preferably, two sets of cylinders are fixedly installed on the outer surface of the first support arm plate, and an arc-shaped gripper is fixedly connected to the output end of the second cylinder. Two sets of support arm plates are fixedly connected to the upper and lower edges of the arc-shaped gripper.

[0010] Preferably, one end of the second support arm plate is provided with a second limiting block, the outer surfaces of the two sets of the second support arm plates are respectively movably sleeved on the surfaces of the horizontal support groove and the support baffle, the bottom outer surface of the arc-shaped gripper is movably overlapped on the outer surface of the arc-shaped gripper limiting rod, and the outer surface of the L-shaped snap-fit ​​gripper is fixedly connected to the roadway stacking gripper.

[0011] Preferably, the inner wall of the arc-shaped gripper is provided with a C-shaped hard plate, the top surface of the C-shaped hard plate is provided with a wear-resistant layer and a hollow cylinder, and the inner wall of the top of both sides of the hollow cylinder is provided with a limit block.

[0012] Preferably, a support rod is movably sleeved on the inner wall of the hollow cylinder, a buffer silicone block is fixedly connected to the bottom surface of the support rod and a semi-circular collision ball is fixedly connected to the outer surface of the support rod.

[0013] Preferably, the inner wall of the semi-circular collision ball and the docking point are respectively provided with a hollow groove 2 and a docking block, and the interior of the semi-circular collision ball is provided with a hollow groove 3, and the inner wall of the hollow groove 3 is provided with a buffer strip.

[0014] Preferably, a limiting support rod is fixedly connected to the outer surface of the roadway stacking gripper, and a pushing arm plate is fixedly connected to the outer surface of the limiting support rod at the middle position of the two sets of pushing arm plates.

[0015] Preferably, a support frame is movably sleeved on the outer surfaces of both ends of the limiting support rod, an I-beam support steel is fixedly connected to the top surface of the support frame, and a rotating shaft is provided on the top surface of the I-beam support steel at the middle position.

[0016] Preferably, the two sides of the I-beam support steel are symmetrically and movably fitted with swing connecting shafts, and a cylinder is fixedly installed on the inner surface of the swing connecting shaft. The output end of the cylinder is hinged to the outer surface of the push arm plate.

[0017] The beneficial effects of this invention are as follows: 1. The present invention provides a stacking gripper adaptable to various cargo shapes. A motor rotates a threaded rod, causing a trapezoidal slider to move along the surface of the threaded rod towards a triangular groove. The trapezoidal slider pushes a triangular pad on the bottom surface of a swing arm plate. The inclined surface of the triangular pad contacts the inclined surface of the top surface of the trapezoidal slider. As the trapezoidal slider slides, it pushes the swing arm plate upwards, bringing the tilt angle of the swing arm plate to the same angle as the tilt surface of the triangular groove. As the L-shaped clamping gripper continuously presses and slides against the bottom surface of the various cargo shapes, the cargo gradually slides along the triangular groove to the top surface of the swing arm plate. Rollers further enhance the sliding properties of the cargo, allowing it to be gradually slid and stored towards the top surface of the L-shaped clamping gripper. 2. The stacking gripper of the present invention, which can adapt to multi-shaped goods, allows the bottom surface of the multi-shaped goods to overlap the roller surface. At this time, the motor rotates the threaded rod in the opposite direction, causing the swing arm plate to gradually move downward. After the swing arm plate gradually reaches a stable state, it can effectively increase the contact angle between the swing arm plate and the multi-shaped goods, so that the bottom surface of the multi-shaped goods can fully contact the roller surface. The angle between the swing arm plate and the multi-shaped goods will become smaller after the swing arm plate gradually stabilizes. When the surface of the multi-shaped goods contacts the inner vertical wall of the L-shaped locking claw, the L-shaped locking claw will limit the position of the multi-shaped goods. At this time, the swing arm plate will continue to swing downward, eventually causing the swing arm plate to enter the hollow groove. Without the support of the swing arm plate, the bottom surface of the multi-shaped goods will completely overlap the top surface of the silicone anti-slip block. The silicone anti-slip block will then increase the friction and anti-slip properties between the multi-shaped goods and the L-shaped locking claw. 3. The stacking gripper of the present invention, which can adapt to multi-shaped goods, allows the bottom surface of the multi-shaped goods to overlap the roller surface. At this time, the motor rotates the threaded rod in the opposite direction, causing the swing arm plate to gradually move downward. After the swing arm plate gradually reaches a stable state, it can effectively increase the contact angle between the swing arm plate and the multi-shaped goods, so that the bottom surface of the multi-shaped goods can fully contact the roller surface. The angle between the swing arm plate and the multi-shaped goods will become smaller after the swing arm plate gradually stabilizes. When the surface of the multi-shaped goods contacts the inner vertical wall of the L-shaped locking claw, the L-shaped locking claw will limit the position of the multi-shaped goods. At this time, the swing arm plate will continue to swing downward, eventually causing the swing arm plate to enter the hollow groove. Without the support of the swing arm plate, the bottom surface of the multi-shaped goods will completely overlap the top surface of the silicone anti-slip block. The silicone anti-slip block will then increase the friction and anti-slip properties between the multi-shaped goods and the L-shaped locking claw. 4. The stacking gripper of the present invention, which can adapt to multi-shaped goods, allows for horizontal movement of the support arm plates two on the outer surface of the C-shaped rigid plate when the C-shaped rigid plate is used to wrap the multi-shaped goods. The support arm plates two move within the horizontal support groove and on the outer surface of the support baffle. The horizontal support groove and the support baffle limit the horizontal movement of the support arm plates two. At the same time, when the crane lifts the multi-shaped goods, the heavier multi-shaped goods will exert a large downward force on the arc-shaped gripper. At this time, the horizontal support groove and the support baffle can support the support arm plates two, which greatly avoids the situation where the weight of the multi-shaped goods will exert a large downward force on the arc-shaped gripper, thus preventing the support arm plates two on the outer surface of the arc-shaped gripper from being compressed and deformed inside the L-shaped locking claw, affecting subsequent use. Attached Figure Description

[0018] The invention will now be further described with reference to the accompanying drawings.

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 This is a three-dimensional view of the tunnel stacking gripper in this invention. Figure 3 This is a three-dimensional view of the multi-form cargo clamping mechanism in this invention; Figure 4 This is an exploded three-dimensional view of the tunnel stacking gripper in this invention; Figure 5 This is a sectional perspective view of the L-shaped card claw in this invention; Figure 6 This is a partially enlarged sectional perspective view of the L-shaped card claw in this invention; Figure 7 This is a perspective view of the arc-shaped gripper in this invention; Figure 8This is a perspective view of the C-shaped rigid plate in this invention; Figure 9 This is a three-dimensional view of the semi-circular collision sphere in this invention.

[0020] In the diagram: 11. I-beam support steel; 111. Rotating shaft; 112. Swinging connecting shaft; 113. Cylinder 1; 114. Support frame; 115. Limiting support rod; 116. Pushing arm plate; 12. Lane stacking gripper; 121. L-shaped clamping gripper; a1. Silicone anti-slip block; a2. Hollow groove 1; a3. Swinging arm plate; a4. Roller; a5. Motor; a6. Threaded rod; a7. Trapezoidal slider; a8. Triangular pad; 122. Triangular inclined groove; 123. Support 124. Baffle; 125. Arc-shaped claw limiting rod; 126. Horizontal support groove; 127. Support arm plate one; 128. Cylinder two; 129. Arc-shaped gripper; c1. C-shaped hard plate; c2. Wear-resistant layer; c3. Hollow cylinder; c4. Limiting block one; c5. Buffer silicone soft block; c6. Support rod; c7. Semi-circular collision ball; c8. Hollow groove two; c9. Connecting block; c10. Hollow groove three; c11. Buffer soft strip; 129. Support arm plate two; 1210. Limiting block two. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figure 5 - Figure 6 and Figures 8 to 9 As shown, an embodiment of the present invention provides a stacking gripper adaptable to multi-shaped goods, including an L-shaped clamping gripper 121 and multi-shaped goods movably sleeved on the outer surface of the L-shaped clamping gripper 121. One end surface of the L-shaped clamping gripper 121 is provided with a triangular inclined groove 122. A hollow groove a2 is opened on the top inner wall of the L-shaped clamping gripper 121. A swing arm plate a3 is sway-connected to the top inner wall of the hollow groove a2. A triangular pad a8 is fixedly connected to the bottom surface of the swing arm plate a3. A motor a5 is fixedly installed on the inner wall of the hollow groove a2. A threaded rod a6 is fixedly connected to the output end of the motor a5. A trapezoidal slider a7 provided on the inner wall of the hollow groove a2 is threadedly movably sleeved on the outer surface of the threaded rod a6. A roller a4 is movably sleeved on the top surface of the swing arm plate a3. A silicone anti-slip block a1 is provided on the top surface of the L-shaped clamping gripper 121 and at the edge of the roller a4. The top inclined surface of the trapezoidal slider a7 faces the direction of the triangular inclined groove 122, and the inclined surface of the triangular pad a8 is in contact with the top inclined surface of the trapezoidal slider a7.

[0023] When the bottom surface of the multi-shaped cargo comes into contact with the surface of roller a4, the motor a5 rotates the threaded rod a6 in the opposite direction, causing the swing arm plate a3 to gradually move downward. After the swing arm plate a3 reaches a stable state, it can effectively increase the contact area between the swing arm plate a3 and the multi-shaped cargo, allowing the bottom surface of the multi-shaped cargo to fully contact the surface of roller a4. When the surface of the multi-shaped cargo comes into contact with the inner vertical wall of the L-shaped locking claw 121, the L-shaped locking claw 121 will limit the position of the multi-shaped cargo. At this time, the swing arm plate a3 will continue to swing downward, eventually causing the swing arm plate a3 to enter the hollow groove a2. Without the support of the swing arm plate a3, the bottom surface of the multi-shaped cargo will completely come into contact with the top surface of the silicone anti-slip block a1, thereby using the silicone anti-slip block a1 to increase the friction and anti-slip properties between the multi-shaped cargo and the L-shaped locking claw 121.

[0024] like Figures 4 to 7 As shown, a support baffle 123 is fixedly connected to the bottom surface of the L-shaped locking claw 121. A horizontal support groove 125 is provided at the top edge of the L-shaped locking claw 121. An arc-shaped claw limiting rod 124 is provided on the bottom surface of the L-shaped locking claw 121 at the bottom edge of the horizontal support groove 125. A support arm plate 126 is fixedly connected to the back of the L-shaped locking claw 121. Two sets of cylinders 127 are fixedly installed on the outer surface of the support arm plate 126. The output end of the cylinders 127 is fixedly connected to... There is an arc-shaped gripper 128. Two sets of support arm plates 129 are fixedly connected to the upper and lower edges of the arc-shaped gripper 128. One end of the support arm plate 129 is provided with a limit block 1210. The outer surfaces of the two sets of support arm plates 129 are respectively movably sleeved on the surfaces of the horizontal support groove 125 and the support baffle 123. The bottom outer surface of the arc-shaped gripper 128 is movably overlapped on the outer surface of the arc-shaped gripper limit rod 124. The outer surface of the L-shaped snap-fit ​​gripper 121 is fixedly connected to the roadway stacking gripper 12.

[0025] When the L-shaped clamping claw 121 needs to clamp cylindrical or irregularly shaped multi-form goods, in conjunction with the above operation, the L-shaped clamping claw 121 clamps the two sides of the multi-form goods, limiting the position of the multi-form goods. At this time, the cylinder 127 inside the support arm plate 126 pushes the arc-shaped clamping claw 128, so that the arc-shaped clamping claw 128 wraps around the outer surface of the multi-form goods, and the C-shaped hard plate c1 inside the arc-shaped clamping claw 128 is attached to the outer surface of the cylindrical multi-form goods to limit the position of the multi-form goods. When the C-shaped rigid plate c1 is used to move and wrap multi-shaped goods, the two sets of support arm plates 129 on the outer surface of the C-shaped rigid plate c1 move inside the horizontal support groove 125 and on the outer surface of the support baffle 123. The horizontal support groove 125 and the support baffle 123 limit the horizontal movement of the support arm plates 129. At the same time, when the crane lifts the multi-shaped goods, the heavier multi-shaped goods will generate a large downward force on the arc-shaped gripper 128. At this time, the horizontal support groove 125 and the support baffle 123 can support the support arm plates 129, which greatly avoids the large downward force generated by the heavy multi-shaped goods on the arc-shaped gripper 128, which would cause the support arm plates 129 on the outer surface of the arc-shaped gripper 128 to be pressed and deformed inside the L-shaped locking claw 121, affecting the continued use.

[0026] like Figures 7 to 9 As shown, the inner wall of the arc-shaped gripper 128 is provided with a C-shaped hard plate c1. The top surface of the C-shaped hard plate c1 is provided with a wear-resistant layer c2 and a hollow cylinder c3. The inner walls of the top of both sides of the hollow cylinder c3 are provided with limit blocks c4. The inner wall of the hollow cylinder c3 is movably sleeved with a support rod c6. The bottom surface of the support rod c6 is fixedly connected with a buffer silicone soft block c5 provided on the inner wall of the hollow cylinder c3. The outer surface of the support rod c6 is fixedly connected with a semi-circular collision ball c7. The inner wall of the semi-circular collision ball c7 and the docking point are provided with a hollow groove c8 and a docking block c9. The interior of the semi-circular collision ball c7 is provided with a hollow groove c10. The inner wall of the hollow groove c10 is provided with a buffer soft strip c11.

[0027] When the arc-shaped grippers 128 clamp onto irregularly shaped goods that need to be wrapped, as the two sets of arc-shaped grippers 128 continuously adhere to the surface of the goods, a set of semi-circular collision balls c7 on the outer surface of the C-shaped hard plate c1 preferentially adheres to the protruding position on the surface of the goods. As the C-shaped hard plate c1 continuously compresses, the hollow grooves c10 inside the semi-circular collision balls c7 are continuously compressed and deformed. The deformed semi-circular collision balls c7 increase the contact area with the goods, while the buffer strips c11 inside the hollow grooves c10 deform under external pressure, which can provide shock absorption for the moving goods. When a set of semi-circular collision balls c7 are squeezed by the protruding parts of the multi-shaped cargo surface, the semi-circular collision balls c7 will drive the support rod c6 to push, causing one end of the support rod c6 to slide inside the hollow cylinder c3. After sliding, the support rod c6 will squeeze and compress the surface of the buffer silicone block c5. The deformed buffer silicone block c5 will shrink into a ball. The soft material of silicone can absorb the impact force of the support rod c6 when the multi-shaped cargo moves and external force impacts the support rod c6. A sphere is a special geometric shape that is highly efficient at resisting loads. When the sphere is impacted, the external force is mainly converted into compressive force. Moreover, when the arc-shaped grippers 128 engage, the transmitted force is relatively small, preventing violent collisions. Furthermore, after the two semi-circular impact spheres c7 are engaged together, the outer surface of the impact spheres is a soft surface. When impacted, the soft surface absorbs the impact force from the outside. As long as the impact force on the semi-circular impact sphere c7 is particularly large, it will not cause the semi-circular impact sphere c7 to crack.

[0028] like Figures 1 to 4 As shown, a limiting support rod 115 is fixedly connected to the outer surface of the roadway stacking gripper 12. A pushing arm plate 116 is fixedly connected to the outer surface of the limiting support rod 115 and located in the middle of the two sets of pushing arm plates 116. A support frame 114 is movably sleeved on the outer surfaces of both ends of the limiting support rod 115. An I-beam support steel 11 is fixedly connected to the top surface of the support frame 114. A rotating shaft 111 is set on the top surface of the I-beam support steel 11 and located in the middle. Swing connecting shafts 112 are symmetrically and movably sleeved on both sides of the I-beam support steel 11. A cylinder 113 is fixedly installed on the inner surface of the swing connecting shaft 112. The output end of the cylinder 113 is hinged to the outer surface of the pushing arm plate 116.

[0029] The hoist moves the I-beam support steel 11 and rotates it inside the rotating shaft 111 to adjust the angle of the aisle stacking gripper 12. This allows the aisle stacking gripper 12 to be adjusted according to the angle of the multi-shaped goods. After the angle is adjusted, the cylinder 113 pushes and pulls the push arm plate 116 on the outer surface of the limit support rod 115. This causes one end of the aisle stacking gripper 12 to swing at the support point 114, which in turn causes the triangular groove 122 on the bottom surface of the L-shaped clamping claw 121 to gradually clamp the multi-shaped goods to the bottom edge, supporting the multi-shaped goods. At this time, the silicone anti-slip slider a1 on the outer surface of the L-shaped clamping claw 121 increases the anti-slip property between it and the bottom surface of the multi-shaped goods.

[0030] Working principle: The packaged multi-shaped goods are placed in the stacking area of ​​the automated warehouse. At this point, the I-beam support steel 11 is moved using a lifting device. The angle of the I-beam support steel 11 is adjusted using a rotating shaft 111 according to the stacking angle of the multi-shaped goods. Simultaneously, cylinder 113 pushes the push arm plate 116, causing the aisle stacking grippers 12 on the outer surface of the limit support rod 115 to extend outwards. Then, the lifting machine lowers the I-beam support steel 11, allowing the aisle stacking grippers 12 to wrap around the multi-shaped goods. On the side surface, at this time, in conjunction with cylinder 113, the push arm plate 116 is pulled back, so that the L-shaped locking claw 121 and the triangular inclined groove 122 on the outer surface of the aisle stacking claw 12 extend and engage with the bottom edge of the multi-shaped goods. When the surface of the L-shaped locking claw 121 is fully extended into the bottom surface of the multi-shaped goods and the multi-shaped goods are defined, the main oil circuit is closed by the hydraulic lock inside cylinder 113 to prevent the flow of oil and thus perform self-locking treatment on cylinder 113, so that the L-shaped locking claw 121 can maintain its current state. When the multi-shaped goods are irregular in shape, the cylinder 127 pushes the arc-shaped gripper 128, and under the constraints of the two sets of support arm plates 129, the horizontal support groove 125 and the support baffle 123, the arc-shaped gripper 128 moves horizontally and wraps around the outer surface of the irregular multi-shaped goods, thereby clamping and limiting the position of the multi-shaped goods.

[0031] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A stacking gripper adaptable to various cargo shapes, comprising an L-shaped locking gripper (121), characterized in that: One end surface of the L-shaped locking claw (121) is provided with a triangular oblique groove (122). The inner top wall of the L-shaped locking claw (121) is provided with a hollow groove (a2). The inner top wall of the hollow groove (a2) is swayably connected to a swing arm plate (a3). The bottom surface of the swing arm plate (a3) ​​is fixedly connected to a triangular pad (a8). The inner wall of the hollow groove (a2) is fixedly installed with a motor (a5). The output end of the motor (a5) is fixedly connected to a threaded rod (a6). The outer surface of the threaded rod (a6) is threadedly movably sleeved with a trapezoidal slider (a7) provided on the inner wall of the hollow groove (a2). The top surface of the swing arm plate (a3) ​​is movably sleeved with a roller (a4). The top surface of the L-shaped locking claw (121) and the edge of the roller (a4) are provided with a silicone anti-slip block (a1).

2. The stacking gripper adaptable to various cargo shapes according to claim 1, characterized in that: A support baffle (123) is fixedly connected to the bottom surface of the L-shaped locking claw (121). A horizontal support groove (125) is provided at the top edge of the L-shaped locking claw (121). An arc-shaped claw limiting rod (124) is provided on the bottom surface of the L-shaped locking claw (121) and at the bottom edge of the horizontal support groove (125). A support arm plate (126) is fixedly connected to the back of the L-shaped locking claw (121).

3. A stacking gripper adaptable to various cargo shapes according to claim 2, characterized in that: Two sets of cylinders (127) are fixedly installed on the outer surface of the first support arm plate (126). The output end of the second cylinder (127) is fixedly connected to an arc-shaped gripper (128). Two sets of support arm plates (129) are fixedly connected to the upper and lower edges of the arc-shaped gripper (128).

4. A stacking gripper adaptable to various cargo shapes according to claim 3, characterized in that: One end of the second support arm plate (129) is provided with a second limiting block (1210). The outer surfaces of the two sets of the second support arm plates (129) are respectively movably sleeved on the surfaces of the horizontal support groove (125) and the support baffle (123). The bottom outer surface of the arc-shaped gripper (128) is movably overlapped on the outer surface of the arc-shaped gripper limiting rod (124). The outer surface of the L-shaped snap-fit ​​gripper (121) is fixedly connected to the roadway stacking gripper (12).

5. A stacking gripper adaptable to various cargo shapes according to claim 3, characterized in that: The inner wall of the arc-shaped gripper (128) is provided with a C-shaped hard plate (c1), and the top surface of the C-shaped hard plate (c1) is provided with a wear-resistant layer (c2) and a hollow cylinder (c3) respectively. The inner wall of the top of both sides of the hollow cylinder (c3) is provided with limit blocks (c4).

6. A stacking gripper adaptable to various cargo shapes according to claim 5, characterized in that: A support rod (c6) is movably sleeved on the inner wall of the hollow cylinder (c3). A buffer silicone block (c5) is fixedly connected to the bottom surface of the support rod (c6) and a semi-circular collision ball (c7) is fixedly connected to the outer surface of the support rod (c6).

7. A stacking gripper adaptable to various cargo shapes according to claim 6, characterized in that: The inner wall of the semi-circular collision ball (c7) and the docking point are respectively provided with a hollow groove two (c8) and a docking block (c9). The interior of the semi-circular collision ball (c7) is provided with a hollow groove three (c10), and the inner wall of the hollow groove three (c10) is provided with a buffer soft strip (c11).

8. A stacking gripper adaptable to various cargo shapes according to claim 4, characterized in that: The outer surface of the roadway stacking gripper (12) is fixedly connected to a limiting support rod (115), and the outer surface of the limiting support rod (115) is fixedly connected to a pushing arm plate (116) located in the middle of the two sets of pushing arm plates (116).

9. A stacking gripper adaptable to various cargo shapes according to claim 8, characterized in that: The outer surfaces of both ends of the limiting support rod (115) are movably sleeved with a support frame (114), and the top surface of the support frame (114) is fixedly connected with an I-beam support steel (11). The top surface of the I-beam support steel (11) and located in the middle position are provided with a rotating shaft (111).

10. A stacking gripper adaptable to multi-shaped goods according to claim 9, characterized in that: The two sides of the I-beam support steel (11) are symmetrically and movably connected with swing connecting shafts (112). A cylinder (113) is fixedly installed on the inner surface of the swing connecting shaft (112). The output end of the cylinder (113) is hinged to the outer surface of the push arm plate (116).

Images