Clamping jaw mechanism for stacking manipulator

Abstract

The utility model relates to the technical field of stacking mechanical arms, and discloses a clamping jaw mechanism for a stacking mechanical arm, which comprises a clamping jaw assembly, the clamping jaw assembly comprises a mounting plate, supporting plates, a driving piece, a connecting rod, a gear and a supporting rod, the supporting plates are fixed on the front side and the rear side of the bottom of the mounting plate, and the driving piece is fixed on the supporting plate. The driving part is fixed to the bottom of the mounting plate, the connecting rods are fixed to the two sides of the supporting plates, the opposite ends of the two supporting rods are fixedly connected with the two supporting plates correspondingly, and the surfaces of the supporting rods are sleeved with the gears; and the extension assemblies are arranged on the two sides of the gear. The clamping device has the advantages that driving clamping is facilitated through the clamping jaw assembly, objects of different sizes can be conveniently adjusted and clamped, the clamping length can be conveniently adjusted through the extending assembly, the length of the clamping jaw can be adjusted according to the sizes and shapes of different workpieces, and therefore the clamping capacity is improved, and the machining requirements of various workpieces are met.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing manipulators, in particular to a clamping claw mechanism used for palletizing manipulators. Background Art

[0002] Palletizing robots are automated equipment and machines that are mainly used for stacking, arranging and handling goods in warehouses and logistics environments. Such equipment is widely used in e-commerce, retail, manufacturing and other industries, and can help companies improve production efficiency, reduce costs and improve product quality. When transferring some items during the palletizing process, a gripper mechanism is usually used to grab the items until the items are transferred to the set position, and then the gripper mechanism releases the items to achieve the transfer of the items.

[0003] However, the current clamping mechanism is usually only capable of clamping objects of a single length, which makes it impossible to adjust according to the sizes and shapes of different workpieces, limiting the scope of application of the clamping. It may only be fixed on a specific workpiece. When a workpiece of a different size needs to be replaced, the entire clamp may need to be replaced, increasing the downtime of the equipment and reducing production efficiency. Moreover, the fixed clamping length may result in insufficient or excessive clamping force, causing the workpiece to be displaced or damaged during processing, increasing the defective rate of the product. Utility Model Content

[0004] The purpose of this section is to summarize some aspects of the embodiments of the utility model and briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section and the specification abstract and utility model name of this application to avoid blurring the purpose of this section, specification abstract and utility model name, and such simplifications or omissions cannot be used to limit the scope of the utility model.

[0005] In view of the above and / or existing problems in the clamping mechanism of the existing palletizing robot, the present utility model is proposed.

[0006] Therefore, the problem to be solved by the utility model is that the clamping mechanism of the prior art has a single function and is not convenient for adjusting the clamping size.

[0007] 7. The swiftly and minutely adjusting device for a wood-planer working table as claimed in claim 1, wherein the two guide wheels are pivotally connected to each other with a bolt, and the bolt has a round shank to contact with the two guide wheels, wherein the two guide wheels are pivotally connected to each other with a bolt, and the bolt has a round shank to contact with the two guide wheels.

[0008] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the driving member includes a hydraulic rod, a connecting plate and a tooth plate, the hydraulic rod is fixed to the bottom of the mounting plate, the connecting plate is fixed to the bottom of the hydraulic rod, the tooth plate is fixed to both sides of the connecting plate, and one side is meshed with the gear.

[0009] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the driving member also includes a sliding ring and a sliding rod, the sliding ring is fixed to the front and rear sides of the tooth plate, the sliding rod is slidably connected to the inside of the sliding ring, and the two ends are respectively fixedly connected to the mounting plate and the support plate.

[0010] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the driving member further comprises a first spring, the first spring is fixed to the top of the sliding ring, and the top is fixedly connected to the mounting plate.

[0011] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the extension assembly also includes a reinforcement plate and a pressure block, the reinforcement plate is fixed between one side of the support plate and the bottom of the mounting plate, and the pressure block is fixed to the bottom of the extension leg.

[0012] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the extension component also includes an anti-slip strip, which is fixed to one side of the extension frame and arranged in an array.

[0013] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the extension component also includes a slide groove and a slider, the slide groove is opened on both sides of the extension frame, and the slider is fixed on both sides of the extension leg.

[0014] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the extension assembly also includes a second spring, the second spring is fixed to the top of the extension leg, and the top is fixedly connected to the inner wall of the extension frame.

[0015] As a preferred solution of the clamping mechanism for the palletizing robot described in the utility model, the adjusting member includes a third spring, a block, a pull rod and a pull ring, the third spring is fixed to one side of the inner cavity of the fixed shell, and one side is fixedly connected to the block, the pull rod is fixed to one side of the block, and the other side passes through the outside of the fixed shell and is fixedly connected to the pull ring.

[0016] As a preferred solution of the clamping mechanism for a palletizing robot described in the utility model, the extension component further includes a slot, which is opened on one side of the extension leg and is opened in an array.

[0017] The beneficial effects of the utility model are as follows: the clamping can be conveniently driven by the clamping jaw assembly so as to adjust the clamping of objects of different sizes; the clamping length can be conveniently adjusted by the extension assembly; the clamping jaw length can be adjusted according to the sizes and shapes of different workpieces, thereby improving the clamping capacity and meeting the processing requirements of various workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present utility model, the following briefly introduces the drawings required for the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative labor. Among them:

[0019] Figure 1 The overall structural diagram of the gripper mechanism used for palletizing robots.

[0020] Figure 2 It is a partial structural diagram of the gripper mechanism used in the palletizing robot.

[0021] Figure 3 It is the left view structural diagram of the gripper mechanism used for palletizing robot.

[0022] Figure 4 The figure is a structural diagram of the adjustment parts of the gripper mechanism for a palletizing robot.

[0023] Figure 5The figure is a structural diagram of the driving components of the gripper mechanism used in a palletizing robot.

[0024] Numbers in the figure: 100, clamping jaw assembly; 101, mounting plate; 102, support plate; 103, driving member; 104, connecting rod; 105, gear; 106, support rod; 103a, hydraulic rod; 103b, connecting plate; 103c, tooth plate; 103d, sliding ring; 103e, sliding rod; 103f, first spring; 200, extension assembly; 201, fixed block; 202, fixed plate; 203, extension frame; 204, fixed shell; 205, extension leg; 206, adjustment member; 206a, third spring; 206b, clamping block; 206c, pull rod; 206d, pull ring; 207, reinforcement plate; 208, pressure block; 209, anti-slip strip; 210, slide groove; 211, slider; 212, second spring; 213, clamping groove. DETAILED DESCRIPTION

[0025] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0026] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0027] Example 1, reference Figure 1 to Figure 5 , which is the first embodiment of the utility model, and this embodiment provides a clamping mechanism for a palletizing robot. The clamping mechanism for the palletizing robot includes a clamping assembly 100 and an extension assembly 200. The clamping assembly 100 is convenient for driving the clamping so as to adjust the clamping of objects of different sizes. The extension assembly 200 is convenient for adjusting the clamping length. The clamping length can be adjusted according to the size and shape of different workpieces, thereby improving the clamping capacity and meeting the processing requirements of various workpieces.

[0028] The clamping jaw assembly 100 includes a mounting plate 101, a support plate 102, a driving member 103, a connecting rod 104, a gear 105 and a support rod 106. The support plate 102 is fixed to the front and rear sides of the bottom of the mounting plate 101, the driving member 103 is fixed to the bottom of the mounting plate 101, the connecting rod 104 is fixed to both sides of the support plate 102, the opposite ends of the two support rods 106 are respectively fixedly connected to the two groups of support plates 102, and the gear 105 is sleeved on the surface of the support rod 106.

[0029] The mounting plate 101 facilitates the installation of the support plate 102 and the driving member 103 , the driving member 103 drives the gear 105 to rotate and clamp, the connecting rod 104 facilitates the support of the support rod 106 , and the support rod 106 facilitates the limited support of the gear 105 .

[0030] The extension component 200 is arranged on both sides of the gear 105, and includes a fixed block 201, a fixed plate 202, an extension frame 203, a fixed shell 204, an extension leg 205 and an adjusting member 206. The fixed block 201 is fixed on both sides of the gear 105, and the bottom is fixedly connected to the fixed plate 202. The opposite sides of the two extension frames 203 are respectively fixedly connected to the two groups of fixed plates 202. The fixed shell 204 is respectively fixed to the inside of the two groups of extension frames 203. The extension leg 205 is slidably connected to the inside of the extension frame 203, and the adjusting member 206 is fixed to the inside of the fixed shell 204.

[0031] The fixing block 201 facilitates the support of the fixing plate 202, and the extension frame 203 is fixed to the bottom of the fixing plate 202 to facilitate clamping of objects. The fixing shell 204 facilitates the installation of the adjustment member 206, and the adjustment member 206 facilitates the adjustment of the length of the extension leg 205. The extension leg 205 is adjustable to facilitate clamping of objects of different lengths.

[0032] Example 2, reference Figure 3 and Figure 5 , which is the second embodiment of the utility model, and this embodiment is based on the previous embodiment.

[0033] Specifically, the driving member 103 includes a hydraulic rod 103a, a connecting plate 103b and a tooth plate 103c. The hydraulic rod 103a is fixed to the bottom of the mounting plate 101, the connecting plate 103b is fixed to the bottom of the hydraulic rod 103a, and the tooth plate 103c is fixed to both sides of the connecting plate 103b, and one side is meshed with the gear 105.

[0034] The hydraulic rod 103a is lowered to drive the connecting plate 103b to move, and when the connecting plate 103b moves, it drives the tooth plate 103c to mesh with the gear 105 to rotate.

[0035] Specifically, the driving member 103 further includes a sliding ring 103d and a sliding rod 103e. The sliding ring 103d is fixed to the front and rear sides of the tooth plate 103c. The sliding rod 103e is slidably connected to the inside of the sliding ring 103d, and its two ends are fixedly connected to the mounting plate 101 and the support plate 102 respectively.

[0036] By sliding the sliding ring 103d to be slidably connected to the surface of the sliding rod 103e, the stability of the tooth plate 103c when moving up and down can be improved.

[0037] Specifically, the driving member 103 further includes a first spring 103 f , which is fixed to the top of the sliding ring 103 d , and the top is fixedly connected to the mounting plate 101 .

[0038] The first spring 103f is fixed between the sliding ring 103d and the mounting plate 101, so that the sliding ring 103d can be assisted to extend when the tooth plate 103c descends.

[0039] Specifically, the extension assembly 200 further includes a reinforcing plate 207 and a pressing block 208 . The reinforcing plate 207 is fixed between one side of the support plate 102 and the bottom of the mounting plate 101 , and the pressing block 208 is fixed to the bottom of the extension leg 205 .

[0040] The reinforcing plate 207 can improve the connection strength between the supporting plate 102 and the mounting plate 101 , and the pressing block 208 can facilitate auxiliary positioning of the bottom of the clamped object.

[0041] Specifically, the extension assembly 200 further includes an anti-slip strip 209 , which is fixed to one side of the extension frame 203 and arranged in an array.

[0042] By arranging the anti-slip strips 209 in an array and using rubber as the material, the strength of the clamping jaws on the object can be increased and the friction thereof can be increased.

[0043] Specifically, the extension assembly 200 further includes a slide groove 210 and a slider 211 . The slide groove 210 is provided on both sides of the extension frame 203 , and the slider 211 is fixed on both sides of the extension leg 205 .

[0044] The slide groove 210 can improve the strength of the slider 211 when it slides, and when the extension leg 205 moves, it will also drive the slider 211 to move within the slide groove 210, and at the same time, it can also limit the extension leg 205 to prevent it from escaping from the extension frame 203.

[0045] Example 3, reference Figure 4 , which is the third embodiment of the utility model, and this embodiment is based on the first two embodiments.

[0046] Specifically, the extension assembly 200 further includes a second spring 212 , which is fixed to the top of the extension leg 205 , and the top of the second spring 212 is fixedly connected to the inner wall of the extension frame 203 .

[0047] The extension leg 205 can be engaged by the second spring 212, so as to assist the movement of the extension leg 205 when the extension leg 205 is extended.

[0048] Specifically, the adjusting member 206 includes a third spring 206a, a block 206b, a pull rod 206c and a pull ring 206d. The third spring 206a is fixed to one side of the inner cavity of the fixed shell 204, and one side is fixedly connected to the block 206b. The pull rod 206c is fixed to one side of the block 206b, and the other side passes through the outside of the fixed shell 204 and is fixedly connected to the pull ring 206d.

[0049] By pulling the pull ring 206d, the clamping block 206b can be driven to press the third spring 206a. At this time, the clamping block 206b will be separated from the inside of the clamping slot 213 of the extension leg 205, so as to facilitate the adjustment of the length of the extension leg 205.

[0050] Specifically, the extension component 200 further includes a slot 213 , which is opened on one side of the extension leg 205 and is opened in an array.

[0051] The slots 213 are arranged in an array, so as to facilitate the adjustment of the length of the extension legs 205 by cooperating with the adjustment member 206 .

[0052] When in use, first install and connect the mounting plate 101 to the mechanical equipment. When it is necessary to clamp an object, the hydraulic rod 103a can be opened to drive the connecting plate 103b to make the tooth plate 103c engage the gear 105. When the tooth plate 103c moves, it will drive the sliding ring 103d to slide on the surface of the sliding rod 103e. At this time, the gear 105 will rotate on the surface of the support rod 106. At the same time, the gear 105 drives the fixing block 201 and the fixing plate 202 to expand or merge the extension frame 203. Then, as the clamp descends, Then the hydraulic rod 103a is retracted, and the two extension frames 203 are relatively merged with the anti-slip strip 209 and the pressure block 208, so as to clamp objects of different specifications. If the object is long, before the clamping work is carried out, the pull ring 206d can be pulled to drive the clamping block 206b to squeeze the third spring 206a. At this time, the clamping block 206b will be separated from the inside of the clamping groove 213 of the extension leg 205, so as to facilitate the adjustment of the length of the extension leg 205. The extension frame 203 improves the clamping ability and meets the processing needs of various workpieces.

[0053] It should be noted that the above embodiments are only used to illustrate the technical solution of the utility model rather than to limit it. Although the utility model has been described in detail with reference to the preferred embodiments, ordinary technicians in the field should understand that the technical solution of the utility model can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the utility model, which should be included in the scope of the claims of the utility model.

Claims

1. A gripper mechanism for a palletizing robot, characterized in that: The invention comprises a clamping jaw assembly (100), wherein the clamping jaw assembly (100) comprises a mounting plate (101), a support plate (102), a driving member (103), a connecting rod (104), a gear (105) and a support rod (106), wherein the support plate (102) is fixed to the front and rear sides of the bottom of the mounting plate (101), the driving member (103) is fixed to the bottom of the mounting plate (101), the connecting rod (104) is fixed to the two sides of the support plate (102), the opposite ends of the two support rods (106) are respectively fixedly connected to the two groups of support plates (102), and the gear (105) is sleeved on the surface of the support rod (106); and an extension assembly (200), wherein the The extension assembly (200) is arranged on both sides of the gear (105), and comprises a fixed block (201), a fixed plate (202), an extension frame (203), a fixed shell (204), an extension leg (205) and an adjustment member (206); the fixed block (201) is fixed on both sides of the gear (105), and the bottom is fixedly connected to the fixed plate (202); opposite sides of the two extension frames (203) are respectively fixedly connected to the two groups of the fixed plates (202); the fixed shell (204) is respectively fixed to the inside of the two groups of extension frames (203); the extension leg (205) is slidably connected to the inside of the extension frame (203); and the adjustment member (206) is fixed to the inside of the fixed shell (204).

2. The gripper mechanism for a palletizing robot according to claim 1, characterized in that: The driving member (103) comprises a hydraulic rod (103a), a connecting plate (103b) and a tooth plate (103c); the hydraulic rod (103a) is fixed to the bottom of the mounting plate (101); the connecting plate (103b) is fixed to the bottom of the hydraulic rod (103a); and the tooth plate (103c) is fixed to both sides of the connecting plate (103b), with one side meshingly connected to the gear (105).

3. The gripper mechanism for a palletizing robot according to claim 2, characterized in that: The driving member (103) further comprises a sliding ring (103d) and a sliding rod (103e), wherein the sliding ring (103d) is fixed to the front and rear sides of the tooth plate (103c), and the sliding rod (103e) is slidably connected to the inside of the sliding ring (103d), and its two ends are respectively fixedly connected to the mounting plate (101) and the support plate (102).

4. The gripper mechanism for a palletizing robot according to claim 3, characterized in that: The driving member (103) further comprises a first spring (103f), wherein the first spring (103f) is fixed to the top of the sliding ring (103d), and the top is fixedly connected to the mounting plate (101).

5. The gripper mechanism for a palletizing robot according to claim 1, characterized in that: The extension assembly (200) further comprises a reinforcing plate (207) and a pressing block (208), wherein the reinforcing plate (207) is fixed between one side of the support plate (102) and the bottom of the mounting plate (101), and the pressing block (208) is fixed to the bottom of the extension leg (205).

6. The gripper mechanism for a palletizing robot according to claim 5, characterized in that: The extension assembly (200) further comprises an anti-slip strip (209), wherein the anti-slip strip (209) is fixed to one side of the extension frame (203) and is arranged in an array.

7. The gripper mechanism for a palletizing robot according to claim 1, characterized in that: The extension assembly (200) further comprises a slide groove (210) and a slider (211), wherein the slide groove (210) is provided on both sides of the extension frame (203), and the slider (211) is fixed on both sides of the extension leg (205).

8. The gripper mechanism for a palletizing robot according to claim 1, characterized in that: The extension assembly (200) further comprises a second spring (212), wherein the second spring (212) is fixed to the top of the extension leg (205), and the top is fixedly connected to the inner wall of the extension frame (203).

9. The gripper mechanism for a palletizing robot according to claim 1, characterized in that: The adjusting member (206) comprises a third spring (206a), a block (206b), a pull rod (206c) and a pull ring (206d); the third spring (206a) is fixed to one side of the inner cavity of the fixed shell (204), and one side is fixedly connected to the block (206b); the pull rod (206c) is fixed to one side of the block (206b), and the other side passes through the outside of the fixed shell (204) and is fixedly connected to the pull ring (206d).

10. The gripper mechanism for a palletizing robot according to claim 1, characterized in that: The extension component (200) further comprises a card slot (213), wherein the card slot (213) is provided on one side of the extension leg (205) and is provided in an array.

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