Three-jaw grabbing stacker crane

Abstract

The utility model discloses a three-jaw grabbing stacker crane. The three-jaw grabbing stacker crane comprises a base and a clamping jaw unit. An industrial robot is arranged at the upper end of the base, and a clamping jaw seat is arranged at the right end of the industrial robot; the clamping jaw unit comprises rotating shafts, clamping columns, chain wheels and chains, the rotating shafts are rotationally connected to the interiors of round holes in the right side faces of the clamping jaw bases through bearings, the clamping columns are arranged at the right ends of the outer arc faces of the rotating shafts through connecting blocks, the chain wheels are arranged at the left ends of the outer arc faces of the rotating shafts, and the three chain wheels are in transmission connection through the same chain; the three-jaw grabbing stacker crane further comprises a PLC, the PLC is arranged in the base, the input end of the industrial robot is electrically connected with the output end of the PLC, the input end of the PLC is electrically connected with an external power source, the three-jaw structure of the three-jaw grabbing stacker crane facilitates centering grabbing of round materials, the structure is simple, force measurement can be conducted, and the three-jaw grabbing stacker crane is convenient to use. And meanwhile, the stacking operation of materials of different sizes can be met, and the using effect is good.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizers, in particular to a three-claw grabbing palletizer. Background Art

[0002] With the continuous development of science and technology, our lives are undergoing unprecedented changes. In this change, palletizers are becoming an important force in the logistics industry with their high efficiency and precision. Palletizers not only improve work efficiency and reduce labor costs, but also greatly reduce safety risks at work. Nowadays, palletizers have been widely used in various fields, such as food, beverage, medicine and other industries, and have made great contributions to the automation and intelligent development of the logistics industry. Existing palletizers are generally composed of a frame and a gripper unit. The gripper unit generally has two claws, which can have a good clamping effect on square materials, but is not conducive to the grasping of cylindrical materials. The grasping stability is poor, and the positioning effect of the material is poor, which is not conducive to the stacking of cylindrical materials. Utility Model Content

[0003] The technical problem to be solved by the utility model is to overcome the existing defects and provide a three-claw grasping palletizer. The three-claw structure facilitates the centering grasping of round materials, has a simple structure and can measure force, and can meet the palletizing operations of materials of different sizes, which can effectively solve the problems in the background technology.

[0004] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a three-claw grabbing palletizer, comprising a base and a clamping claw unit;

[0005] Base: An industrial robot is arranged on the upper end thereof, and a gripper seat is arranged on the right end of the industrial robot;

[0006] The clamping jaw unit includes a rotating shaft, a clamping column, a sprocket and a chain. The rotating shaft is rotatably connected to the inside of the circular hole on the right side of the clamping jaw seat through a bearing. The right end of the outer arc surface of the rotating shaft is provided with a clamping column through a connecting block, and the left end of the outer arc surface of the rotating shaft is provided with a sprocket. The three sprockets are connected by the same chain transmission.

[0007] Wherein: it also includes a PLC controller, the PLC controller is arranged inside the base, the input end of the industrial robot is electrically connected to the output end of the PLC controller, the input end of the PLC controller is electrically connected to an external power supply, and the material can be grabbed by an electric push rod with three clamping columns, which facilitates the stacking of round materials. The structure is simple and can measure force. At the same time, it can meet the stacking operations of materials of different sizes. The palletizer has a good use effect.

[0008] Furthermore, the clamping jaw unit also includes an electric push rod and a transmission assembly. The electric push rod is arranged at the front end of the left side of the clamping jaw seat. The transmission assembly is provided on the telescopic end of the electric push rod. The rear end of the transmission assembly is fixedly connected to the chain. The input end of the electric push rod is electrically connected to the output end of the PLC controller to facilitate the control of the clamping column.

[0009] Furthermore, the transmission assembly includes a chain seat, a screw rod, a slide seat and a force sensor. The force sensor is arranged on the telescopic end of the electric push rod. The upper side of the force sensor is fixedly connected to the slide seat. The upper end of the slide seat is rotatably connected to the screw rod through a bearing. The screw rod is threadedly connected to the threaded hole in the middle of the chain seat. The rear end of the chain seat is fixedly connected to the chain. The right ends of the chain seat and the slide seat are both slidably connected to the slide rail on the left side of the clamping claw seat. The output end of the force sensor is electrically connected to the input end of the PLC controller, so that force and position can be adjusted.

[0010] Furthermore, an inner hexagonal tube is provided at the upper end of the screw rod to facilitate the control of the rotation of the screw rod.

[0011] Furthermore, a protective cover is provided on the left side surface of the clamping jaw seat, and the sprocket, chain, chain seat, screw rod, slide seat and force sensor are all located inside the protective cover, providing protection for the internal components.

[0012] Furthermore, a protective tube is provided inside the through hole at the upper end of the protective cover, and the upper end of the inner hexagonal tube is located inside the protective tube, providing protection for the inner hexagonal tube.

[0013] Furthermore, a rubber tube is fixedly sleeved on the outer arc surface of the clamping column, and evenly distributed annular grooves are opened on the outer arc surface of the rubber tube to improve the friction force of the clamping column on the material.

[0014] Compared with the prior art, the beneficial effects of the utility model are: the three-claw grabbing palletizer has the following advantages:

[0015] 1. Adjust the PLC controller. The industrial robot drives the clamp seat to move. The clamp seat drives the three clamping columns to move to one side of the material through the rotating shaft. Then the electric push rod runs and the telescopic end pushes the slide seat to move away from the electric push rod through the force sensor. The slide seat drives the chain seat to move synchronously through the screw rod. The chain seat pulls the chain. The chain drives the rotating shaft to rotate through the sprocket. The rotating shaft drives the clamping column to rotate synchronously through the connecting block. The axis of the clamping column and the rotating shaft do not coincide, and then the three clamping columns rotate and move in the direction close to the center of the material, and clamp the material through the rubber tube. At the same time, the force sensor detects the thrust of the electric push rod and converts it into an electrical signal to transmit to the PLC controller, which facilitates the measurement of the clamping force. When the measured force reaches the specified value, the PLC controller controls the electric push rod to stop running, and then clamps the material to move for stacking. The material can be grabbed by an electric push rod with three clamping columns, which is convenient for the centering grabbing and stacking of round materials. The structure is simple and can measure force. The palletizer has a good use effect.

[0016] 2. When transporting materials of different sizes, you can use an inner hexagonal wrench to insert it into the inner hexagonal tube to rotate the screw rod. The screw rod drives the chain seat to slide along the slide rail on the right side of the clamping claw seat. Similarly, the rotating shaft drives the clamping column to move. During use, the initial position of the clamping column can be adjusted to meet the palletizing operations of materials of different sizes. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 It is a cross-sectional structural schematic diagram of the clamping jaw unit of the utility model;

[0019] Figure 3 This is an enlarged structural diagram of point A of the utility model.

[0020] In the figure: 1 base, 2 industrial robot, 3 PLC controller, 4 clamping jaw seat, 5 clamping jaw unit, 51 rotating shaft, 52 clamping column, 53 sprocket, 54 chain, 55 electric push rod, 56 transmission component, 561 chain seat, 562 screw rod, 563 slide seat, 564 force sensor, 6 hexagonal tube, 7 protective cover, 8 protective tube, 9 rubber tube, 10 annular groove. DETAILED DESCRIPTION

[0021] 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.

[0022] See also Figure 1-3 ,This embodiment provides a technical solution: a three-claw grabbing palletizer, comprising a base 1 and a gripper unit 5;

[0023] Base 1: The industrial robot 2 is arranged at the upper end thereof, and other parts of the base 1 provide installation positions. A gripper seat 4 is arranged at the right end of the industrial robot 2, and the gripper seat 4 is driven to move when the industrial robot 2 works;

[0024] The clamping jaw unit 5 includes a rotating shaft 51, a clamping column 52, a sprocket 53 and a chain 54. The rotating shaft 51 is rotatably connected to the inside of the circular hole on the right side of the clamping jaw seat 4 through a bearing. The right end of the outer arc surface of the rotating shaft 51 is provided with a clamping column 52 through a connecting block. The clamping jaw seat 4 drives the three clamping columns 52 to move around the material through the rotating shaft 51. The left end of the outer arc surface of the rotating shaft 51 is provided with a sprocket 53. The three sprockets 53 are connected through the same chain 54. The chain 54 drives the rotating shaft 51 to rotate through the sprocket 53. The rotating shaft 51 drives the clamping column 52 to rotate synchronously through the connecting block. The axis of the clamping column 52 does not coincide with the axis of the rotating shaft 51, so that the three clamping columns 52 rotate and move in a direction close to the center of the material. The clamping jaw unit 5 also includes an electric push rod 55 and a transmission The electric push rod 55 is arranged at the front end of the left side of the clamping claw seat 4. The telescopic end of the electric push rod 55 is provided with a transmission assembly 56. The rear end of the transmission assembly 56 is fixedly connected to the chain 54. The input end of the electric push rod 55 is electrically connected to the output end of the PLC controller 3. The transmission assembly 56 includes a chain seat 561, a screw rod 562, a slide seat 563 and a force sensor 564. The force sensor 564 is arranged on the telescopic end of the electric push rod 55. The upper side of the force sensor 564 is fixedly connected to the slide seat 563. The upper end of the slide seat 563 is rotatably connected with the screw rod 562 through a bearing. The screw rod 562 is threadedly connected to the threaded hole in the middle of the chain seat 561. The rear end of the chain seat 561 is fixedly connected to the chain 54. The chain seat The right ends of 561 and the slide 563 are both slidably connected to the slide rail on the left side of the clamping claw seat 4, the output end of the force sensor 564 is electrically connected to the input end of the PLC controller 3, the telescopic end of the electric push rod 55 pushes the slide 563 to move away from the electric push rod 55 through the force sensor 564, the slide 563 drives the chain seat 561 to move synchronously through the screw rod 562, the chain seat 561 pulls the chain 54, the upper end of the screw rod 562 is provided with an inner hexagonal tube 6, and an inner hexagonal wrench can be used to insert into the inner hexagonal tube 6 to rotate the screw rod 562, the screw rod 562 drives the chain seat 561 to slide along the slide rail on the right side of the clamping claw seat 4, and at the same time, the rotating shaft 51 drives the clamping column 52 to move, and the initial position of the clamping column 52 can be adjusted. The position can be adjusted to facilitate the stacking of materials of different sizes. A protective cover 7 is provided on the left side of the clamping claw seat 4. The sprocket 53, chain 54, chain seat 561, screw 562, slide seat 563 and force sensor 564 are all located inside the protective cover 7. The protective cover 7 protects the internal parts. A protective tube 8 is provided inside the through hole at the upper end of the protective cover 7. The upper end of the inner hexagonal tube 6 is located inside the protective tube 8. The protective tube 8 provides protection for the inner hexagonal tube 6. A rubber tube 9 is fixedly sleeved on the outer arc surface of the clamping column 52. The clamping column 52 clamps the material through the rubber tube 9. The outer arc surface of the rubber tube 9 is provided with evenly distributed annular grooves 10. The annular grooves 10 improve the roughness of the surface of the rubber tube 9 and have good anti-slip properties.

[0025] Wherein: it also includes a PLC controller 3, the PLC controller 3 is arranged inside the base 1, the input end of the industrial robot 2 is electrically connected to the output end of the PLC controller 3, the input end of the PLC controller 3 is electrically connected to an external power supply, the force sensor 564 detects the thrust of the electric push rod 55 and converts it into an electrical signal to transmit to the PLC controller 3, thereby facilitating the measurement of the clamping force. When the measured force reaches the specified value, the PLC controller 3 controls the electric push rod 55 to stop running.

[0026] The working principle of a three-claw grabbing palletizer provided by the utility model is as follows: when in use, the PLC controller 3 is adjusted, the industrial robot 2 works to drive the clamping claw seat 4 to move, the clamping claw seat 4 drives the three clamping columns 52 to move to a circle of the material through the rotating shaft 51, and then the electric push rod 55 operates, and the telescopic end pushes the slide 563 to move away from the electric push rod 55 through the force sensor 564, and the slide 563 drives the chain seat 561 to move synchronously through the screw rod 562, and the chain seat 561 pulls the chain 54, and the chain 54 drives the rotating shaft 51 to rotate through the sprocket 53, and the rotating shaft 51 drives the clamping column 52 to rotate synchronously through the connecting block, and the axis of the clamping column 52 does not coincide with the axis of the rotating shaft 51, so that the three clamping columns 52 move closer to the material. The push rod 55 rotates and moves in the direction of the center, and clamps the material through the rubber tube 9. At the same time, the force sensor 564 detects the thrust of the electric push rod 55 and converts it into an electrical signal for transmission to the PLC controller 3, thereby facilitating the measurement of the clamping force. When the measured force reaches the specified value, the PLC controller 3 controls the electric push rod 55 to stop running, and then clamps the material to move for stacking. When transporting materials of different sizes, an inner hexagonal wrench can be used to insert it into the inner hexagonal tube 6 to rotate the screw rod 562, and the screw rod 562 drives the chain seat 561 to slide along the slide rail on the right side of the clamping claw seat 4. Similarly, the rotating shaft 51 drives the clamping column 52 to move at this time, and the initial position of the clamping column 52 can be adjusted to facilitate the stacking operation of materials of different sizes.

[0027] It is worth noting that the industrial robot 2, PLC controller 3, electric push rod 55 and force sensor 564 disclosed in the above embodiments can be freely configured according to the actual application scenario. The industrial robot 2 can choose an industrial robot of model KR200-2comp, the PLC controller 3 can choose a PLC controller of model S7-1500, the electric push rod 55 can choose an electric push rod of model ANT-52, and the force sensor 564 can choose a force sensor of model LH-S10B. The PLC controller 3 controls the operation of the industrial robot 2, the electric push rod 55 and the force sensor 564 using methods commonly used in the prior art.

[0028] 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 three-claw grabbing palletizer, characterized in that: It comprises a base (1) and a clamping jaw unit (5); A base (1): an industrial robot (2) is arranged at the upper end thereof, and a gripper seat (4) is arranged at the right end of the industrial robot (2); The clamping jaw unit (5) comprises a rotating shaft (51), a clamping column (52), a sprocket (53) and a chain (54). The rotating shaft (51) is rotatably connected to the inside of a circular hole on the right side of the clamping jaw seat (4) through a bearing. The right end of the outer arc surface of the rotating shaft (51) is provided with a clamping column (52) through a connecting block. The left end of the outer arc surface of the rotating shaft (51) is provided with a sprocket (53). The three sprockets (53) are connected by a same chain (54). The industrial robot (2) further comprises a PLC controller (3), wherein the PLC controller (3) is arranged inside the base (1), the input end of the industrial robot (2) is electrically connected to the output end of the PLC controller (3), and the input end of the PLC controller (3) is electrically connected to an external power supply.

2. A three-claw grabbing palletizer according to claim 1, characterized in that: The clamping jaw unit (5) further comprises an electric push rod (55) and a transmission assembly (56), wherein the electric push rod (55) is arranged at the front end of the left side of the clamping jaw seat (4), the transmission assembly (56) is arranged on the telescopic end of the electric push rod (55), the rear end of the transmission assembly (56) is fixedly connected to the chain (54), and the input end of the electric push rod (55) is electrically connected to the output end of the PLC controller (3).

3. A three-claw grabbing palletizer according to claim 2, characterized in that: The transmission assembly (56) comprises a chain seat (561), a screw rod (562), a slide seat (563) and a force sensor (564). The force sensor (564) is arranged on the telescopic end of the electric push rod (55). The upper side surface of the force sensor (564) is fixedly connected to the slide seat (563). The upper end of the slide seat (563) is rotatably connected to the screw rod (562) through a bearing. The screw rod (562) is threadedly connected to a threaded hole in the middle of the chain seat (561). The rear end of the chain seat (561) is fixedly connected to the chain (54). The right ends of the chain seat (561) and the slide seat (563) are both slidably connected to the slide rail on the left side of the clamping claw seat (4). The output end of the force sensor (564) is electrically connected to the input end of the PLC controller (3).

4. A three-claw grabbing palletizer according to claim 3, characterized in that: The upper end of the screw rod (562) is provided with an inner hexagonal tube (6).

5. A three-claw grabbing palletizer according to claim 4, characterized in that: A protective cover (7) is provided on the left side surface of the clamping jaw seat (4), and the sprocket (53), the chain (54), the chain seat (561), the screw rod (562), the slide seat (563) and the force sensor (564) are all located inside the protective cover (7).

6. A three-claw grabbing palletizer according to claim 5, characterized in that: A protective tube (8) is provided inside the through hole at the upper end of the protective cover (7), and the upper end of the inner hexagonal tube (6) is located inside the protective tube (8).

7. The three-claw grabbing palletizer according to claim 1, characterized in that: The outer arc surface of the clamping column (52) is fixedly sleeved with a rubber tube (9), and the outer arc surface of the rubber tube (9) is provided with evenly distributed annular grooves (10).

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