Stacking machine manipulator

Abstract

The utility model discloses a manipulator of a stacker crane, which relates to the technical field of manipulators and comprises a left hook component and a right hook component which are connected with each other, the left hook component comprises a left side plate, an up-down plate, a first driving cylinder and a first hook, and the up-down plate is mounted on the left side plate; the first driving air cylinder and the first hook are hinged to the up-down plate, and the first driving air cylinder is connected with the first hook. The right hook assembly comprises a right side plate, a movable plate, a second driving air cylinder and a second hook, and the movable plate is movably installed on the right side plate and transversely moves relative to the right side plate; the second driving air cylinder and the second hook are hinged to the movable plate, and the second driving air cylinder is connected with the second hook. The manipulator drives the first hook hinged to the upper plate and the lower plate to rotate through the first driving air cylinder, and drives the second hook hinged to the movable plate to rotate through the second driving air cylinder, so that the function of clamping / loosening materials is achieved, manual work is replaced, and efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator for a palletizer. Background Art

[0002] The degree of automation control of traditional palletizers is not high, and manual cooperation is required in many places. The material stacking method mainly relies on manual work. Materials on the conveyor chain need to be transferred to the palletizing point manually. The palletizing process is time-consuming, labor-intensive and inefficient.

[0003] In view of this, the present invention has been deeply conceived, and actively studied, improved and tried to develop and design the present invention. Utility Model Content

[0004] The utility model aims to provide a palletizing machine manipulator which can replace manual labor and improve the palletizing work efficiency.

[0005] In order to achieve the above purpose, the solution of the utility model is:

[0006] A palletizer manipulator comprises a left hook assembly and a right hook assembly connected to each other, wherein the left hook assembly comprises a left side plate, an upper and lower plate, a first driving cylinder and a first hook, wherein the upper and lower plates are mounted on the left side plate; the first driving cylinder and the first hook are hinged to the upper and lower plates, and the first driving cylinder is connected to the first hook;

[0007] The right hook assembly includes a right side plate, a movable plate, a second driving cylinder, and a second hook. The movable plate is movably mounted on the right side plate, and the movable plate moves laterally relative to the right side plate. The second driving cylinder and the second hook are hinged to the movable plate, and the second driving cylinder is connected to the second hook.

[0008] Furthermore, the upper and lower plates are movably mounted on the left side plate, and the upper and lower plates move longitudinally relative to the left side plate; a first limit cylinder is mounted on the left side plate, and a piston rod of the first limit cylinder is connected to the upper and lower plates.

[0009] Furthermore, the upper and lower plates are longitudinally provided with a first clamping claw slide rail, and the left side plate is provided with a first clamping claw slider at a position corresponding to the first clamping claw slide rail, and the first clamping claw slide rail and the first clamping claw slider cooperate with each other.

[0010] Furthermore, a second limiting cylinder is installed on the right side plate, a limiting plate is provided on the movable plate, and a piston rod of the second limiting cylinder is connected to the limiting plate.

[0011] Furthermore, a second clamping jaw slide rail is transversely provided on the right side plate, and a second clamping jaw slider is provided on the movable plate at a position corresponding to the second clamping jaw slide rail, and the second clamping jaw slide rail and the second clamping jaw slider cooperate with each other.

[0012] Furthermore, the right side plate is provided with a limiting slot, and the second limiting cylinder is installed in the limiting slot via a limiting cylinder support.

[0013] Furthermore, it also includes a left cylinder support installed on the upper and lower plates and a right cylinder support installed on the movable plate, the cylinder body of the first driving cylinder is hinged to the left cylinder support, and the piston rod of the first driving cylinder is hinged to the first hook; the cylinder body of the second driving cylinder is hinged to the right cylinder support, and the piston rod of the second driving cylinder is hinged to the second hook.

[0014] Furthermore, the first hook includes a first hinged portion and a first hook portion, a left hook rotating seat is provided on the upper and lower plates, and the first hinged portion is hinged to the left hook rotating seat;

[0015] The second hook comprises a second hinged portion and a second hook portion, a right hook rotating seat is arranged on the movable plate, and the second hinged portion is hinged to the right hook rotating seat.

[0016] Furthermore, the first driving cylinder and the first hook, and the second driving cylinder and the second hook are connected via a Y-shaped joint.

[0017] Furthermore, it also includes a suspension beam, and the left side plate and the right side plate are respectively locked on both sides of the suspension beam.

[0018] After adopting the above scheme, the robot arm of the utility model drives the first hook hinged on the upper and lower plates to rotate through the first driving cylinder, and drives the second hook hinged on the movable plate to rotate through the second driving cylinder, the first driving cylinder and the second driving cylinder extend, the first hook and the second hook are hooked inward, the first driving cylinder and the second driving cylinder retract, and the first hook and the second hook are released outward, thereby realizing the function of clamping / releasing materials, replacing manual labor and improving efficiency.

[0019] Furthermore, since the movable plate can move laterally relative to the right side plate, the movable plate can be moved away from / closer to the left hook assembly, thereby adjusting the clamping and lifting space size between the movable plate and the upper and lower plates to facilitate clamping of materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0022] Figure 2 The structure of the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0023] Figure 3 The structure diagram of the left hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0024] Figure 4 The structure diagram of the left hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0025] Figure 5 The structure diagram of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 1 ;

[0026] Figure 6 The structure diagram of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 2 ;

[0027] Figure 7 The structure diagram of the right hook assembly in the preferred embodiment of the utility model is shown in FIG. Figure 3 .

[0028] Explanation of the accompanying drawings: 1. Left hook assembly; 101. Left side plate; 102. Upper and lower plates; 103. Left cylinder support; 104. First driving cylinder; 105. First hook; 1051. First hinged portion; 1052. First hook portion; 106. First clamping jaw slide rail; 107. First clamping jaw slider; 108. First limiting cylinder; 2. Right hook assembly; 201. Right side plate; 202. Movable plate; 203. Right cylinder support; 204. Second driving cylinder; 205. Second hook; 2051. Second hinged portion; 2052. Second hook portion; 206. Second clamping jaw slide rail; 207. Second clamping jaw slider; 208. Second limiting cylinder; 209. Limiting cylinder support; 210. Limiting plate; 211. Limiting slot; 301. Left hook rotating seat; 302. Right hook rotating seat; 4. Cantilever beam. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be described in detail below.

[0030] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings, and 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 on the present invention. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] like Figures 1 to 7 As shown, a preferred embodiment of a palletizer manipulator of the utility model comprises a left hook assembly 1 and a right hook assembly 2 connected to each other, the left hook assembly 1 comprises a left side plate 101, an upper and lower plate 102, a first driving cylinder 104 and a first hook 105, the upper and lower plates 102 are mounted on the left side plate 101; the first driving cylinder 104 and the first hook 105 are hinged to the upper and lower plates 102, and the first driving cylinder 104 is connected to the first hook 105; the right hook assembly 2 comprises a right side plate 201, a movable plate 202, a second driving cylinder 204, and a second hook 205, the movable plate 202 is movably mounted on the right side plate 201, and the movable plate 202 moves laterally relative to the right side plate 201; the second driving cylinder 204 and the second hook 205 are hinged to the movable plate 202, and the second driving cylinder 204 is connected to the second hook 205.

[0032] During operation, the first driving cylinder 104 drives the first hook 105 hinged on the upper and lower plates 102 to rotate, and the second driving cylinder 204 drives the second hook 205 hinged on the movable plate 202 to rotate, the first driving cylinder 104 and the second driving cylinder 204 extend, the first hook 105 and the second hook 205 are hooked inward, the first driving cylinder 104 and the second driving cylinder 204 retract, and the first hook 105 and the second hook 205 are released outward, thereby realizing the function of clamping / releasing materials.

[0033] Furthermore, since the movable plate 202 can move laterally relative to the right side plate 201, the movable plate 202 can be moved away from / closer to the left hook assembly 1, thereby adjusting the clamping and lifting space size between the movable plate 202 and the upper and lower plates 102 to facilitate clamping of materials.

[0034] In this embodiment, the upper and lower plates 102 are movably mounted on the left plate 101 , and the upper and lower plates 102 move longitudinally relative to the left plate 101 ; a first limiting cylinder 108 is mounted on the left plate 101 , and a piston rod of the first limiting cylinder 108 is connected to the upper and lower plates 102 .

[0035] Specifically, the upper and lower plates 102 are longitudinally provided with a first clamping claw slide rail 106, and the left side plate 101 is provided with a first clamping claw slider 107 at a position corresponding to the first clamping claw slide rail 106, and the first clamping claw slide rail 106 cooperates with the first clamping claw slider 107. The upper and lower plates 102 are driven to slide on the left side plate 101 by the first limit cylinder 108, so as to adjust the working position of the first hook 105.

[0036] In this embodiment, a second limiting cylinder 208 is installed on the right side plate 201 , a limiting plate 210 is provided on the movable plate 202 , and a piston rod of the second limiting cylinder 208 is connected to the limiting plate 210 .

[0037] Specifically, a second clamping jaw slide rail 206 is disposed transversely at the bottom of the right side plate 201, and a second clamping jaw slider 207 is disposed at the top of the movable plate 202 corresponding to the second clamping jaw slide rail 206, and the second clamping jaw slider 207 cooperates with each other. The second limiting cylinder 208 is also disposed transversely, and the limiting plate 210 is located at the top of the movable plate 202 and extends to the stroke range of the piston rod of the second limiting cylinder 208. The limiting plate 210 is driven by the second limiting cylinder 208 to drive the movable plate 202 to slide on the right side plate 201, thereby adjusting the working position of the second hook 205.

[0038] In this embodiment, a limiting slot 211 is provided at the bottom of the right side plate 201 , and the second limiting cylinder 208 is installed in the limiting slot 211 via a limiting cylinder support 209 .

[0039] Specifically, the opening direction of the limiting through slot 211 is parallel to the direction of the second clamping jaw slide rail 206, and the second limiting cylinder 208 is installed on the limiting cylinder support 209, and the limiting cylinder support 209 is bolted above the limiting slot. This structure can easily adjust the installation position of the second limiting cylinder 208, and better adapt to different sizes of objects to be stacked when the piston rod length of the second limiting cylinder 208 is limited.

[0040] This embodiment also includes a left cylinder support 103 installed on the upper and lower plates 102 and a right cylinder support 203 installed on the movable plate 202. The cylinder body of the first driving cylinder 104 is hinged to the left cylinder support 103, and the piston rod of the first driving cylinder 104 is hinged to the first hook 105; the cylinder body of the second driving cylinder 204 is hinged to the right cylinder support 203, and the piston rod of the second driving cylinder 204 is hinged to the second hook 205.

[0041] The above-mentioned first hook 105 includes a first hinged portion 1051 and a first bent hook portion 1052, a left hook rotating seat 301 is provided on the upper and lower plates 102, and the first hinged portion 1051 is hinged to the left hook rotating seat 301; the second hook 205 includes a second hinged portion 2051 and a second bent hook portion 2052, a right hook rotating seat 302 is provided on the movable plate 202, and the second hinged portion 2051 is hinged to the right hook rotating seat 302.

[0042] In this embodiment, the first hinged portion 1051 is located in the middle of the first hook 105, the first hook portion 1052 is located at the front end of the first hook 105, and the first driving cylinder 104 is hinged to the rear end of the first hook 105; the second hinged portion 2051 is located in the middle of the second hook 205, the second hook portion 2052 is located at the front end of the second hook 205, and the second driving cylinder 204 is hinged to the rear end of the second hook 205; the first hook portion 1052 and the second hook portion 2052 are used to contact materials.

[0043] In other embodiments, the first hinged portion 1051 may also be arranged at the rear end of the first hook 105, and the first driving cylinder 104 may be connected to the middle of the first hook 105; the second driving cylinder 204 may also be connected between the second hinged portion 2051 and the second hook portion 2052 of the second hook 205.

[0044] In this embodiment, the first driving cylinder 104 and the first hook 105 , and the second driving cylinder 204 and the second hook 205 are connected via a Y-shaped joint.

[0045] In this embodiment, a suspension beam 4 is also included, and the left side plate 101 and the right side plate 201 are respectively locked on both sides of the suspension beam 4. The left hook assembly 1 and the right hook assembly 2 are installed on the suspension beam 4 by screw locking, and the robot arm can be conveniently connected to the palletizing robot arm and other structures through the suspension beam 4 to cooperate with the palletizing work.

[0046] This specification uses specific examples to illustrate the principles and implementation methods of the utility model. The above examples are only used to help understand the method and core idea of ​​the utility model. At the same time, for those skilled in the art, according to the idea of ​​the utility model, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the utility model.

Claims

1. A palletizer robot, characterized in that: It comprises a left hook assembly and a right hook assembly connected to each other, wherein the left hook assembly comprises a left side plate, an upper and lower plate, a first driving cylinder and a first hook, wherein the upper and lower plates are mounted on the left side plate; the first driving cylinder and the first hook are hinged to the upper and lower plates, and the first driving cylinder is connected to the first hook; The right hook assembly includes a right side plate, a movable plate, a second driving cylinder, and a second hook. The movable plate is movably mounted on the right side plate, and the movable plate moves laterally relative to the right side plate. The second driving cylinder and the second hook are hinged to the movable plate, and the second driving cylinder is connected to the second hook.

2. A palletizer robot according to claim 1, characterized in that: The upper and lower plates are movably mounted on the left side plate, and the upper and lower plates move longitudinally relative to the left side plate; a first limit cylinder is mounted on the left side plate, and a piston rod of the first limit cylinder is connected to the upper and lower plates.

3. A palletizer robot according to claim 2, characterized in that: The upper and lower plates are longitudinally provided with a first clamping jaw slide rail, and the left side plate is provided with a first clamping jaw slider at a position corresponding to the first clamping jaw slide rail, and the first clamping jaw slide rail and the first clamping jaw slider cooperate with each other.

4. A palletizer robot according to claim 1, characterized in that: A second limiting cylinder is installed on the right side plate, a limiting plate is provided on the movable plate, and a piston rod of the second limiting cylinder is connected to the limiting plate.

5. A palletizer robot according to claim 4, characterized in that: The right side plate is laterally provided with a second clamping jaw slide rail, the movable plate is provided with a second clamping jaw slider at a position corresponding to the second clamping jaw slide rail, and the second clamping jaw slide rail and the second clamping jaw slider cooperate with each other.

6. A palletizer robot according to claim 4, characterized in that: The right side plate is provided with a limiting slot, and the second limiting cylinder is installed in the limiting slot via a limiting cylinder support.

7. A palletizer robot according to claim 1, characterized in that: It also includes a left cylinder support installed on the upper and lower plates and a right cylinder support installed on the movable plate. The cylinder body of the first driving cylinder is hinged to the left cylinder support, and the piston rod of the first driving cylinder is hinged to the first hook; the cylinder body of the second driving cylinder is hinged to the right cylinder support, and the piston rod of the second driving cylinder is hinged to the second hook.

8. The palletizer robot according to claim 1, characterized in that: The first hook comprises a first hinged portion and a first hook portion, a left hook rotating seat is provided on the upper and lower plates, and the first hinged portion is hinged to the left hook rotating seat; The second hook comprises a second hinged portion and a second hook portion, a right hook rotating seat is arranged on the movable plate, and the second hinged portion is hinged to the right hook rotating seat.

9. The palletizer robot according to claim 1, characterized in that: The first driving cylinder and the first hook, and the second driving cylinder and the second hook are all connected via a Y-shaped joint.

10. A palletizer robot according to any one of claims 1 to 9, characterized in that: It also includes a suspension beam, and the left side plate and the right side plate are respectively locked on both sides of the suspension beam.

Images