Double-material-frame grabbing gripper mechanism

Abstract

The utility model discloses a double-material-frame grabbing paw mechanism which comprises an outer frame arranged on a stacking machine and a pair of material frames, the outer frame is matched with the two material frames, a grabbing mechanism used for grabbing the material frames is arranged on the outer frame, the grabbing mechanism comprises air cylinders arranged on the two opposite sides of an inner cavity of the outer frame, and the air cylinders are arranged on the two opposite sides of the inner cavity of the outer frame. The output end of the air cylinder is provided with a connecting block which is driven by the air cylinder to move transversely, a convex shaft is fixedly arranged on one side of the connecting block, a supporting seat is fixedly arranged at the position, corresponding to the connecting block, of the inner side of the outer frame, a rotating body is rotationally connected to the supporting seat, and a U-shaped paw is fixedly arranged on the side, away from the connecting block, of the rotating body. According to the double-material-frame grabbing gripper mechanism, two material frames can be grabbed at the same time, the structure is simple, operation is stable, the operation efficiency of a stacking machine can be effectively improved, and the risk that grabbed objects deviate due to synchronism is reduced.

Description

Technical Field

[0001] The utility model relates to the field of stacking machine devices, in particular to a double-material frame grabbing claw mechanism. Background Art

[0002] Palletizer gripper usually refers to the end effector on the palletizing robot, also known as gripper, fixture or mechanical gripper. It is a key component of the palletizing robot for material grabbing, handling and palletizing operations.

[0003] At present, the conventional palletizer gripper has a complex structure, is inconvenient to operate, and is prone to deviation of the grasped object due to synchronization. Therefore, a palletizer gripper with a simple structure and stable operation is needed to improve the operation efficiency of the palletizer. Utility Model Content

[0004] The main purpose of the utility model is to provide a double-frame grabbing claw mechanism, which can effectively solve the problems in the background technology.

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

[0006] A double-material frame grabbing claw mechanism comprises an outer frame and a pair of material frames arranged on a stacker, and the outer frame is adapted to the two material frames, the outer frame is provided with a grabbing mechanism for grabbing the material frames, the grabbing mechanism comprises a cylinder arranged on opposite sides of an inner cavity of the outer frame, the output end of the cylinder is provided with a connecting block driven by the cylinder to move laterally, a convex shaft is fixedly provided on one side of the connecting block, a support seat is fixedly provided at the inner side of the outer frame corresponding to the connecting block, a rotating body is rotatably connected to the support seat, a "U"-shaped claw is fixedly provided on the side of the rotating body away from the connecting block, a spiral guide groove is provided on the rotating body, and the convex shaft cooperates with the guide groove for active guidance, so that when the cylinder drives the connecting block to move, the rotating body drives the claw to rotate.

[0007] Preferably, it also includes a supporting mechanism, which includes a fixed seat fixedly arranged on the inner side of the outer frame corresponding to the cylinder, the fixed seat is a hollow structure, and a gear is rotatably connected to the fixed seat, and racks are meshed at the upper and lower ends of the gear, one end of the rack at the lower end is fixed to the side wall of the connecting block, a second sliding frame is fixedly arranged at one end of the rack at the upper end, a first sliding frame diagonally arranged with the second sliding frame is arranged at one end of the rack at the lower end, and corner brackets for supporting the corners of the material frame are fixedly arranged at the ends away from the second sliding frame and the first sliding frame.

[0008] Preferably, the angle brackets on the second sliding frame and the first sliding frame are arranged at the same height.

[0009] Preferably, a spring is provided between an end of the first sliding frame away from the rack and an inner wall of the outer frame.

[0010] Preferably, the upper end of the gripper is provided with a bracket adapted to the edge of the material frame.

[0011] Preferably, a linear guide rail corresponding to the second sliding frame and the first sliding frame is fixedly provided on the inner wall of the outer frame, and the first sliding frame and the second sliding frame are both slidably connected to the inner wall of the outer frame via the linear guide rail.

[0012] Preferably, a protective baffle is provided on the inner side of the outer frame at a position corresponding to the grasping mechanism, and the protective baffle is provided with openings corresponding to the claws and the corner brackets.

[0013] Compared with the prior art, the utility model provides a double-frame grabbing claw mechanism, which has the following beneficial effects:

[0014] The double-material frame grabbing claw mechanism can realize simultaneous grabbing of two material frames by means of a grabbing mechanism cooperating with a supporting mechanism. It has a simple structure and stable operation, can effectively improve the operating efficiency of the stacker, and can reduce the risk of grabbing object deviation due to synchronization. The spring can increase the stability of the angle bracket and reduce looseness. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a structural schematic diagram of the utility model;

[0016] Figure 2 It is a structural schematic diagram of the utility model in which the material frame, protective baffle and outer frame are disassembled;

[0017] Figure 3 It is a structural schematic diagram of the utility model that highlights the grabbing mechanism and the supporting mechanism;

[0018] Figure 4 It is a structural schematic diagram of the utility model in a disassembled state of the connecting block, the supporting seat and the rotating body.

[0019] In the figure: 1. outer frame; 2. material frame; 3. protective baffle; 4. first sliding frame; 5. cylinder; 6. angle bracket; 7. spring; 8. second sliding frame; 9. connecting block; 10. hand claw; 11. fixed seat; 12. rack; 13. gear; 14. bracket; 15. rotating body; 16. guide groove; 17. support seat; 18. cam shaft. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] like Figure 1-4As shown, a double-frame grabbing gripper mechanism comprises an outer frame 1 and a pair of material frames 2 arranged on a stacker, and the outer frame 1 is adapted to the two material frames 2, a grabbing mechanism for grabbing the material frames 2 is arranged on the outer frame 1, and the grabbing mechanism comprises a cylinder 5 arranged on opposite sides of the inner cavity of the outer frame 1, a connecting block 9 driven by the cylinder 5 for lateral displacement is arranged at the output end of the cylinder 5, a convex shaft 18 is fixedly arranged on one side of the connecting block 9, a support seat 17 is fixedly arranged at the inner side of the outer frame 1 corresponding to the connecting block 9, a rotating body 15 is rotatably connected to the support seat 17, a "U"-shaped gripper 10 is fixedly arranged on the side of the rotating body 15 away from the connecting block 9, a bracket 14 adapted to the edge of the material frame 2 is arranged on the upper end of the gripper 10, a spiral guide groove 16 is arranged on the rotating body 15, and the convex shaft 18 is movably guided and matched with the guide groove 16, so that when the cylinder 5 drives the connecting block 9 to move, the rotating body 15 drives the gripper 10 to rotate.

[0022] Furthermore, it also includes a supporting mechanism, which includes a fixed seat 11 fixedly arranged on the inner side of the outer frame 1 corresponding to the cylinder 5, the fixed seat 11 is a hollow structure, and a gear 13 is rotatably connected to the fixed seat 11, and the upper and lower ends of the gear 13 are meshed with racks 12, one end of the rack 12 at the lower end is fixed to the side wall of the connecting block 9, one end of the rack 12 at the upper end is fixedly provided with a second sliding frame 8, and one end of the rack 12 at the lower end is provided with a first sliding frame 4 arranged diagonally with the second sliding frame 8, and the second The sliding frame 8 and the first sliding frame 4 are fixedly provided with a corner bracket 6 for supporting the corner of the material frame 2 at the ends away from each other. The corner bracket 6 on the second sliding frame 8 and the first sliding frame 4 are arranged at the same height. A spring 7 is arranged between the end of the first sliding frame 4 away from the rack 12 and the inner wall of the outer frame 1 to increase stability. The inner wall of the outer frame 1 is fixedly provided with a linear guide rail corresponding to the second sliding frame 8 and the first sliding frame 4. The first sliding frame 4 and the second sliding frame 8 are both slidably connected to the inner wall of the outer frame 1 via the linear guide rail.

[0023] Furthermore, in order to achieve protective shielding, a protective baffle 3 is provided on the inner side of the outer frame 1 at a position corresponding to the gripping mechanism, and the protective baffle 3 is provided with openings corresponding to the grippers 10 and the angle brackets 6 .

[0024] It should be noted that the utility model is a double-frame grabbing claw mechanism. When in use, the outer frame 1 is installed on the stacker and driven up and down by the driving device on the stacker. When the claw 10 and the first sliding frame 4 are moved to the lower ends of the two material frames 2, the cylinder 5 drives the connecting block 9 to move, and the connecting block 9 drives the convex shaft 18 to move. The convex shaft 18 drives the rotating body 15 and the claw 10 to rotate as a whole under the action of the guide groove 16, and then the claw 10 is turned out to the lower end of the material frame 2, and when the connecting block 9 is moved It will drive one of the racks 12 to move, and the rack 12 will drive the other rack 12 to move in the opposite direction through the gear 13, and then the first sliding frame 4 and the second sliding frame 8 will move in the opposite direction, and the two corner brackets 6 on the second sliding frame 8 and the first sliding frame 4 will move close to each other and move to the lower end of the corner of the material frame 2, and finally the outer frame 1 will rise, and the claws 10 will grab the close ends of the two material frames 2, and the corner brackets 6 will lift the corners of the material frames 2, so as to realize the grabbing of the two material frames 2, with high stability and simple structure.

[0025] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A double-frame grabbing claw mechanism, comprising an outer frame (1) and a pair of material frames (2) arranged on a palletizer, wherein the outer frame (1) is adapted to the two material frames (2), and is characterized in that: The outer frame (1) is provided with a grasping mechanism for grasping the material frame (2), the grasping mechanism comprising a cylinder (5) arranged on opposite sides of the inner cavity of the outer frame (1), the output end of the cylinder (5) is provided with a connecting block (9) driven by the cylinder (5) to move laterally, a convex shaft (18) is fixedly provided on one side of the connecting block (9), a support seat (17) is fixedly provided on the inner side of the outer frame (1) at a position corresponding to the connecting block (9), a rotating body (15) is rotatably connected to the support seat (17), a "U"-shaped hand claw (10) is fixedly provided on the side of the rotating body (15) away from the connecting block (9), a spiral guide groove (16) is provided on the rotating body (15), and the convex shaft (18) and the guide groove (16) are movably guided and matched, so that when the cylinder (5) drives the connecting block (9) to move, the rotating body (15) drives the hand claw (10) to rotate.

2. A double-frame grabbing gripper mechanism according to claim 1, characterized in that: The invention also comprises a supporting mechanism, wherein the supporting mechanism comprises a fixing seat (11) fixedly arranged on the inner side of the outer frame (1) at a position corresponding to the cylinder (5), the fixing seat (11) being a hollow structure, and a gear (13) being rotatably connected to the fixing seat (11), and the gear (13) being meshed with racks (12) at both upper and lower ends, one end of the rack (12) at the lower end being fixed to the side wall of the connecting block (9), and a second sliding frame (8) being fixedly arranged at one end of the rack (12) at the upper end, and a first sliding frame (4) being diagonally arranged with the second sliding frame (8) being arranged at one end of the rack (12) at the lower end, and an angle bracket (6) for supporting the corner of the material frame (2) being fixedly arranged at the ends away from each other.

3. A double-frame grabbing gripper mechanism according to claim 2, characterized in that: The second sliding frame (8) and the angle bracket (6) on the first sliding frame (4) are arranged at the same height.

4. A double-frame grabbing gripper mechanism according to claim 2, characterized in that: A spring (7) is arranged between an end of the first sliding frame (4) away from the rack (12) and the inner wall of the outer frame (1).

5. The double-frame grabbing gripper mechanism according to claim 1, characterized in that: The upper end of the gripper (10) is provided with a bracket (14) adapted to the edge of the material frame (2).

6. A double-frame grabbing gripper mechanism according to claim 2, characterized in that: The inner wall of the outer frame (1) is fixedly provided with linear guide rails corresponding to the second sliding frame (8) and the first sliding frame (4); the first sliding frame (4) and the second sliding frame (8) are both slidably connected to the inner wall of the outer frame (1) via the linear guide rails.

7. A double-frame grabbing gripper mechanism according to claim 2, characterized in that: A protective baffle (3) is provided on the inner side of the outer frame (1) at a position corresponding to the grasping mechanism, and an opening corresponding to the hand claw (10) and the angle bracket (6) is provided on the protective baffle (3).

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