Clamping manipulator of stacker crane

Abstract

The utility model discloses a clamping mechanical arm of a stacker crane. The clamping mechanical arm comprises a first support, a supporting frame and a rapid installation mechanism. The number of the first supports is two, fixed mounting frames are fixedly connected to the front and rear ends of the outer surfaces of the first supports, sliding columns are fixedly connected between the close surfaces of the two front and rear adjacent fixed mounting frames, and sliding supports are slidably connected to the front and rear ends of the outer surfaces of the sliding columns; the supporting frame is fixedly connected between the lower ends of the two sliding supports which are adjacent left and right; the quick mounting mechanism is arranged on the outer surface of the first bracket; the clamping manipulator further comprises rotating supporting shafts, the rotating supporting shafts are rotationally connected between the left wall and the right wall of the supporting frame, rotating motors are fixedly connected to the right side faces of the supporting frame, and the left ends of output shafts of the rotating motors penetrate through the right wall of the supporting frame. And the device is suitable for stacking machines of various sizes, and is suitable for more complex working environments at the same time.

Description

Technical Field

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

[0002] The palletizer is a machine that automatically stacks cartons that have been loaded into containers on pallets or pallets (wood or plastic) in a certain arrangement. It can stack multiple layers and then push them out to facilitate forklifts to transport them to warehouses for storage. The gripping robot is an important part of the palletizer.

[0003] Some traditional gripping manipulators use pneumatic and electric control to move the grippers closer to each other, and then press the goods down by pressing the pressure plate to grab the goods;

[0004] The existing clamping robot has the following problems: different palletizers require different clamping robots, which makes the cost high. For this reason, we propose a clamping robot for a palletizer. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the existing defects and provide a clamping manipulator for a palletizer, which can be adjusted to adapt to a variety of palletizers and adapt to more complex working environments, and can effectively solve the problems in the background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a gripping manipulator for a palletizer, comprising a first bracket, a support frame and a quick installation mechanism;

[0007] First brackets: There are two of them, the front and rear ends of the outer surface of the first bracket are fixedly connected with fixed mounting brackets, the adjacent surfaces of the two front and rear adjacent fixed mounting brackets are fixedly connected with sliding columns, and the front and rear ends of the outer surface of the sliding column are slidably connected with sliding brackets;

[0008] Support frame: It is fixedly connected between the lower ends of two adjacent sliding brackets on the left and right;

[0009] Quick installation mechanism: it is arranged on the outer surface of the first bracket;

[0010] Wherein: it also includes a rotating support shaft, the rotating support shaft is rotatably connected between the left and right walls of the support frame, the right side of the support frame is fixedly connected with a rotating motor, the left end of the output shaft of the rotating motor passes through the right wall of the support frame, the left end of the output shaft of the rotating motor is fixedly connected to the right end of the rotating support shaft on the same side, and the input end of the rotating motor is electrically connected to the external control terminal;

[0011] Among them: it also includes a rotating bracket, which is fixedly sleeved on the outer surface of the rotating support shaft in a left-right symmetrical manner, and a fixed support frame is fixedly connected between the lower ends of the adjacent surfaces of the two rotating brackets on the same side, and the interior of the fixed support frame is fixedly connected with a stacking claw, which can be adjusted in position and height to adapt to stackers of various sizes and more complex working environments.

[0012] Furthermore, adjacent surfaces of the fixed support frame are fixedly connected with gripping plates, providing a larger contact area and making the clamping force greater.

[0013] Furthermore, a support plate is fixedly connected to the middle part of the upper surface of the first bracket, a three-axis cylinder is fixedly connected to the middle part of the lower surface of the support plate, the telescopic end of the three-axis cylinder is fixedly connected to a pressure plate, and the lower surface of the pressure plate is fixedly connected to a rubber friction pad. The air inlet end of the three-axis cylinder is connected to an external air compressor for auxiliary pressing, thereby making cargo grabbing more stable.

[0014] Furthermore, a fixing frame is fixedly connected to the middle part of the upper surface of the support frame, a cylinder is fixedly connected to the interior of the fixing frame, a second bracket is fixedly connected to the front and rear ends of the lower surface of the support plate, the telescopic ends of the cylinder are fixedly connected to the opposite surfaces of the adjacent second bracket, and the air inlet end of the cylinder is connected to an external air compressor to provide power for clamping.

[0015] Furthermore, the quick installation mechanism includes a sliding support frame, a limiting slide, a screw rod, a support base, a mounting support plate, a mounting bolt opening and a knob, the front and rear ends of the outer surface of the first bracket are slidably connected to the sliding support frame, the upper surface of the sliding support frame is fixedly connected to the limiting slide, the interior of the limiting slide is rotatably connected to the screw rod, the telescopic ends of the screw rod pass through the upper surface of the limiting slide on the same side, the upper ends of the screw rods are fixedly connected to the knobs, the outer surfaces of the screw rods are threadedly connected to the support base, the outer surfaces of the support base are slidably connected to the inner walls of the limiting slide on the same side, the upper ends of the adjacent surfaces of the two left and right adjacent support bases are fixedly connected to the mounting support plates, and the upper surfaces of the mounting support plates are provided with mounting bolt openings for position and height adjustment.

[0016] Furthermore, the quick installation mechanism also includes a locking thread groove, the opposite sides of the first bracket are provided with evenly distributed locking thread grooves, the left and right sides of the sliding support frame are provided with locking slots, the positions of the locking slots correspond to the adjacent locking thread grooves on the left and right, and can be quickly locked.

[0017] Furthermore, a relief opening is provided in the middle of the upper surface of the support plate to facilitate air intake.

[0018] Furthermore, a counterweight block is fixedly connected to the left side of the support frame, which can be used for counterweighting to keep the gripper balanced.

[0019] Compared with the prior art, the beneficial effects of the utility model are: the clamping manipulator of the palletizer has the following advantages:

[0020] During installation, the staff turns the knob, and the rotation of the knob drives the screw to rotate, and the rotation of the screw drives the support base to move up and down under the action of the limit slide. The up and down movement of the support base drives the installation support plate to move up and down. At the same time, a thrust can be applied to the sliding support frame to control the sliding support frame to slide back and forth. When it slides to the appropriate position, the staff inserts the locking bolt into the locking slot, and then turns the locking bolt to threadably connect it with the adjacent locking thread groove, thereby allowing the position and height to be adjusted. It can be adapted to a variety of palletizers and can be installed on palletizers of various sizes and shapes to adapt to more complex working environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of the utility model;

[0022] Figure 2 It is a right side structural schematic diagram of the utility model;

[0023] Figure 3 This is a schematic diagram of the top view structure of the utility model;

[0024] Figure 4 This is an enlarged structural diagram of point A of the utility model.

[0025] In the figure: 1 first bracket, 2 fixed mounting bracket, 3 sliding column, 4 sliding bracket, 5 support frame, 6 support plate, 7 three-axis cylinder, 8 fixed frame, 9 cylinder, 10 second bracket, 11 rotating motor, 12 rotating support shaft, 13 counterweight, 14 rotating bracket, 15 fixed support frame, 16 stacking claw, 17 grab plate, 18 pressure plate, 19 quick installation mechanism, 191 sliding support frame, 192 limiting slide, 193 screw rod, 194 support base, 195 mounting support plate, 196 mounting bolt mouth, 197 locking thread groove, 198 knob, 20 avoidance mouth, 21 rubber friction pad. DETAILED DESCRIPTION

[0026] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0027] See also Figure 1-4 , this embodiment provides a technical solution: a gripping manipulator of a palletizer, comprising a first bracket 1, a support frame 5 and a quick installation mechanism 19;

[0028] First bracket 1: There are two of them, the front and rear ends of the outer surface of the first bracket 1 are fixedly connected with fixed mounting brackets 2, the adjacent surfaces of the two front and rear adjacent fixed mounting brackets 2 are fixedly connected with sliding columns 3, the front and rear ends of the outer surface of the sliding columns 3 are slidably connected with sliding brackets 4, a support plate 6 is fixedly connected between the middle of the upper surface of the first bracket 1, a three-axis cylinder 7 is fixedly connected to the middle of the lower surface of the support plate 6, a pressing plate 18 is fixedly connected to the telescopic end of the three-axis cylinder 7, a rubber friction pad 21 is fixedly connected to the lower surface of the pressing plate 18, and the air inlet end of the three-axis cylinder 7 is connected to an external air compressor;

[0029] Support frame 5: It is fixedly connected between the lower ends of two adjacent sliding brackets 4 on the left and right. The middle part of the upper surface of the support frame 5 is fixedly connected with a fixed frame 8. The inside of the fixed frame 8 is fixedly connected with a cylinder 9. The front and rear ends of the lower surface of the support plate 6 are fixedly connected with a second bracket 10. The telescopic end of the cylinder 9 is fixedly connected to the opposite surface of the adjacent second bracket 10. The air inlet end of the cylinder 9 is connected to an external air compressor. A avoidance opening 20 is opened in the middle part of the upper surface of the support plate 6. The left side of the support frame 5 is fixedly connected with a counterweight block 13.

[0030] Quick installation mechanism 19: It is arranged on the outer surface of the first bracket 1, and the quick installation mechanism 19 includes a sliding support frame 191, a limiting slide 192, a screw 193, a support base 194, a mounting support plate 195, a mounting bolt port 196 and a knob 198. The front and rear ends of the outer surface of the first bracket 1 are slidably connected to the sliding support frame 191, the upper surface of the sliding support frame 191 is fixedly connected to the limiting slide 192, and the inside of the limiting slide 192 is rotatably connected to the screw 193 The telescopic ends of the screw rods 193 all penetrate the upper surface of the limit slide 192 on the same side, the upper ends of the screw rods 193 are fixedly connected with knobs 198, the outer surfaces of the screw rods 193 are threadedly connected with support bases 194, the outer surfaces of the support bases 194 are slidably connected with the inner walls of the limit slide 192 on the same side, the upper ends of the adjacent surfaces of the two support bases 194 on the left and right are fixedly connected with mounting support plates 195, and the upper surfaces of the mounting support plates 195 are provided with mounting bolt openings 196 for quick installation. The mounting mechanism 19 also includes a locking thread groove 197. The opposite sides of the first bracket 1 are provided with evenly distributed locking thread grooves 197. The left and right sides of the sliding support frame 191 are provided with locking slots. The positions of the locking slots correspond to the adjacent locking thread grooves 197. During installation, the staff rotates the knob 198, and the rotation of the knob 198 drives the screw rod 193 to rotate. The rotation of the screw rod 193 drives the support base 194 to move up and down under the action of the limit slide 192. The support base 194 moves up and down to drive the installation support plate 195 to move up and down. At the same time, a thrust can be applied to the sliding support frame 191 to control the sliding support frame 191 to slide back and forth. When the sliding is in the appropriate position, the staff inserts the locking bolt into the locking slot, and then rotates the locking bolt to threadably connect it with the adjacent locking thread groove 197. In this way, the position and height can be adjusted, and it can be adapted to a variety of palletizers and can be installed on palletizers of various sizes and shapes to adapt to more complex working environments.

[0031] Wherein: it also includes a rotating support shaft 12, the rotating support shaft 12 is rotatably connected between the left and right walls of the support frame 5, the right side of the support frame 5 is fixedly connected with a rotating motor 11, the left end of the output shaft of the rotating motor 11 passes through the right wall of the support frame 5, the left end of the output shaft of the rotating motor 11 is fixedly connected to the right end of the rotating support shaft 12 on the same side, and the input end of the rotating motor 11 is electrically connected to the external control terminal;

[0032] Among them: it also includes a rotating bracket 14, which is fixedly sleeved on the outer surface of the rotating support shaft 12 in a left-right symmetrical manner, and a fixed support frame 15 is fixedly connected between the lower ends of the adjacent surfaces of the two rotating brackets 14 on the same side, and the interior of the fixed support frame 15 is fixedly connected to a stacking claw 16, and the adjacent surfaces of the fixed support frame 15 are fixedly connected to a grab plate 17.

[0033] The working principle of the clamping manipulator of a palletizer provided by the utility model is as follows: during the working process, when the clamping manipulator is located at a position where the goods can be grasped, the staff simultaneously controls the two cylinders 9 to open the exhaust valves, the pressure inside the cylinder 9 is reduced, and the telescopic end of the cylinder 9 contracts under the action of an external force, so that the two support frames 5 are driven by the telescopic end of the cylinder 9 to approach each other, and at the same time, the rotating motor 11 is started under the regulation of the external control terminal, the output shaft of the rotating motor 11 rotates to drive the rotating support shaft 12 to rotate, the rotating support shaft 12 rotates to drive the two rotating brackets 14 to rotate, the rotating bracket 14 rotates to drive the fixed support frame 15 to rotate, the fixed support frame 15 rotates to drive the stacking claw 16 to rotate, and the goods are grabbed under the action of the rotation of the stacking claw 16 and the approach of the stacking claw 16, and at the same time, the external air compressor supplies air to the three-axis cylinder 7, and the three-axis cylinder 7 The lower end of the telescopic end moves downward, and the telescopic end of the three-axis cylinder 7 moves downward to drive the pressure plate 18 downward, so that the goods are pressed tightly, so as to grab the goods. During installation, the staff turns the knob 198, and the rotation of the knob 198 drives the screw rod 193 to rotate, and the rotation of the screw rod 193 drives the support base 194 to move up and down under the action of the limit slide 192. The support base 194 moves up and down and drives the installation support plate 195 to move up and down. At the same time, a thrust can be applied to the sliding support frame 191 to control the sliding support frame 191 to slide back and forth. When it slides to the appropriate position, the staff inserts the locking bolt into the locking slot, and then rotates the locking bolt to threadably connect it with the adjacent locking thread groove 197, thereby allowing position and height adjustment. It can be adapted to a variety of palletizers and can be installed on palletizers of various sizes and shapes to adapt to more complex working environments.

[0034] It is worth noting that YS7134 can be selected as disclosed in the above embodiments.

[0035] The above description is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A gripping manipulator for a palletizer, characterized in that: It comprises a first bracket (1), a support frame (5) and a quick installation mechanism (19); First brackets (1): two of them are provided, the outer surfaces of the first brackets (1) are fixedly connected to fixed mounting brackets (2) at both ends, and the adjacent surfaces of two front and rear adjacent fixed mounting brackets (2) are fixedly connected to sliding columns (3), and the outer surfaces of the sliding columns (3) are slidably connected to sliding brackets (4) at both ends. A support frame (5): fixedly connected between the lower ends of two adjacent sliding frames (4) on the left and right; A quick installation mechanism (19) is arranged on the outer surface of the first bracket (1); Wherein: it also includes a rotating support shaft (12), the rotating support shaft (12) is rotatably connected between the left and right walls of the support frame (5), the right side surface of the support frame (5) is fixedly connected with a rotating motor (11), the left end of the output shaft of the rotating motor (11) passes through the right wall of the support frame (5), the left end of the output shaft of the rotating motor (11) is fixedly connected to the right end of the rotating support shaft (12) on the same side, and the input end of the rotating motor (11) is electrically connected to an external control terminal; The invention also includes a rotating bracket (14), which is fixedly sleeved on the outer surface of the rotating support shaft (12) in a bilaterally symmetrical manner, and a fixed support bracket (15) is fixedly connected between the lower ends of the adjacent surfaces of the two rotating brackets (14) on the same side, and a stacking claw (16) is fixedly connected inside the fixed support bracket (15).

2. The gripping manipulator of a palletizer according to claim 1, characterized in that: The adjacent surfaces of the fixed support frame (15) are fixedly connected with a gripping plate (17).

3. The gripping manipulator of a palletizer according to claim 1, characterized in that: A support plate (6) is fixedly connected to the middle of the upper surface of the first bracket (1), a three-axis cylinder (7) is fixedly connected to the middle of the lower surface of the support plate (6), a pressing plate (18) is fixedly connected to the telescopic end of the three-axis cylinder (7), a rubber friction pad (21) is fixedly connected to the lower surface of the pressing plate (18), and an air inlet end of the three-axis cylinder (7) is connected to an external air compressor.

4. The gripping manipulator of a palletizer according to claim 1, characterized in that: The middle part of the upper surface of the support frame (5) is fixedly connected to a fixing frame (8), the interior of the fixing frame (8) is fixedly connected to a cylinder (9), the front and rear ends of the lower surface of the support plate (6) are fixedly connected to a second bracket (10), the telescopic ends of the cylinder (9) are fixedly connected to the opposite surfaces of the adjacent second bracket (10), and the air inlet end of the cylinder (9) is connected to an external air compressor.

5. The gripping manipulator of a palletizer according to claim 1, characterized in that: The quick installation mechanism (19) comprises a sliding support frame (191), a limiting slide frame (192), a screw rod (193), a support base (194), a mounting support plate (195), a mounting bolt opening (196) and a knob (198); the front and rear ends of the outer surface of the first bracket (1) are slidably connected to the sliding support frame (191); the upper surface of the sliding support frame (191) is fixedly connected to the limiting slide frame (192); the interior of the limiting slide frame (192) is rotatably connected to the screw rod (193); the screw rod (193) is 3) are all extended and retracted through the upper surface of the limit slide (192) on the same side, the upper end of the screw rod (193) is fixedly connected with a knob (198), the outer surface of the screw rod (193) is threadedly connected with a support base (194), the outer surface of the support base (194) is slidably connected to the inner wall of the limit slide (192) on the same side, the upper ends of the adjacent surfaces of the two support bases (194) on the left and right are fixedly connected with a mounting support plate (195), and the upper surface of the mounting support plate (195) is provided with a mounting bolt opening (196).

6. The gripping manipulator of a palletizer according to claim 5, characterized in that: The quick installation mechanism (19) further comprises locking thread grooves (197), the opposite sides of the first bracket (1) are provided with evenly distributed locking thread grooves (197), the left and right sides of the sliding support frame (191) are provided with locking slots, and the positions of the locking slots correspond to the adjacent locking thread grooves (197) on the left and right.

7. The gripping manipulator of a palletizer according to claim 3, characterized in that: A relief opening (20) is provided in the middle of the upper surface of the support plate (6).

8. The gripping manipulator of a palletizer according to claim 1, characterized in that: The left side surface of the support frame (5) is fixedly connected with a counterweight block (13).

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