Sucking and grabbing dual-purpose mechanical gripper of powder stacker crane
By designing a dual-purpose mechanical gripper for powder palletizer that integrates the functions of absorbing cardboard and grabbing powder bags, the problem of difficulty in simultaneously absorbing cardboard and grabbing powder bags in the prior art is solved, and the palletization efficiency is improved.
Patent Information
- Application Number
- CN202422292531.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-19
- Publication Date
- 2025-06-10
- Estimated Expiration
- 2034-09-19
AI Technical Summary
The existing powder packaging palletizing and grabbing device is difficult to absorb cardboard and grab powder bags at the same time, resulting in insufficiency of palletizing.
A dual-purpose mechanical gripper for suction and grabbing is designed, which integrates suction and grabbing functions. Through the front and back two sets of bag grabbing mechanisms and adsorption mechanisms, the absorption of cardboard and the grabbing of powder bags are realized.
The functions of absorbing cardboard and grabbing powder bags are realized, the palletization efficiency is improved, and the need for manual cooperation and coordination between the two sets of devices is reduced.
Smart Images
Figure CN222960712U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a grasping device, in particular to a mechanical gripper with both suction and grasping functions for a powder palletizer. Background Art
[0002] Due to process requirements, when palletizing powder bags with good fluidity such as activated powder, it is necessary to first place a cardboard at the bottom of the pallet, and then place another cardboard on the top of the pallet after palletizing is completed.
[0003] The existing powder packaging palletizing grasping devices are mostly for single grasping of materials or single suction and placement of materials, and it is difficult to meet the requirement of simultaneously sucking cardboard and grasping powder bags for palletizing. This results in the need to use two sets of grasping devices to cooperate coordinately or manual cooperation to place cardboard when grasping and palletizing activated powder bags. Due to poor coordination and adaptability, the palletizing efficiency of powder bags is low. Content of the Utility Model
[0004] In view of the deficiencies of the prior art, the utility model proposes a mechanical gripper with both suction and grasping functions integrated for a powder palletizer.
[0005] A mechanical gripper with both suction and grasping functions for a powder palletizer that can solve the problems of the prior art, its technical solution includes two sets of bag-grasping mechanisms arranged front and rear on a frame. Each set of bag-grasping mechanisms includes left and right bag-grasping components. The left and right bag-grasping components are opened and closed under the drive of bag-grasping cylinders correspondingly arranged on the frame. The difference is that:
[0006] 1. Each bag-grasping component includes front and rear swing arms hinged to the bottom of the frame through corresponding rotating shafts. A plurality of claw teeth are arranged at intervals front and rear on a claw tooth frame arranged between the front and rear swing arms. The front and rear left and right swing arms are connected through corresponding linkage mechanisms. The bag-grasping cylinder is hinged to the left or right side of the frame, and the cylinder rod extending downward from the bag-grasping cylinder is hinged to an arm frame arranged between the front and rear swing arms on the same side.
[0007] 2. The linkage mechanism includes left and right swing arms. Each swing arm is fixedly connected to the rotating shaft of the corresponding swing arm. The left and right swing arms are hinged through an obliquely arranged adjusting screw rod.
[0008] 3. A set of adsorption mechanism is arranged corresponding to each set of bag-grasping mechanisms.
[0009] 4. Each set of adsorption mechanisms includes left and right adsorption components arranged outside the left and right bag-grasping components. Each adsorption component includes a suction cup arranged on a suction pipe. The suction pipe is installed on a vertical rod. The left and right vertical rods are installed on a cross bar, and the cross bar is installed on the top of the frame.
[0010] Furthermore, front and rear pressing devices are arranged in the middle of the bottom of the frame between the left and right bag-grasping components of each set of bag-grasping mechanisms. Each pressing device returns downward under the action of a corresponding spring assembly.
[0011] Further, a tray rack is provided on the top of the frame between the front and rear cross bars, and the mechanical gripper is mounted on the robotic arm of the palletizing robot through the tray rack.
[0012] Advantages of the present utility model:
[0013] The suction and grasping dual-purpose mechanical gripper of the powder palletizing machine of the present utility model has the functions of both suction and grasping. It can use the suction cup to suck the cardboard for placement, and can also use the claw teeth to grasp the powder bags for palletizing, expanding the functions and improving the efficiency. Description of the Drawings
[0014] Figure 1 It is an axonometric view of an embodiment of the present utility model.
[0015] Figure 2 It is Figure 1 the front view of the embodiment.
[0016] Figure 3 It is Figure 2 the top view of
[0017] Figure 4 It is Figure 3 the side view of
[0018] Drawing number identification: 1, frame; 2, bag grasping cylinder; 3, rotating shaft; 4, rotating arm; 5, claw tooth rack; 6, claw teeth; 7, arm frame; 8, swing arm; 9, adjusting screw; 10, suction pipe; 11, suction cup; 12, vertical bar; 13, cross bar; 14, bale press; 15, spring assembly; 16, tray rack. Specific Embodiment
[0019] The technical solution of the present utility model will be further described below in conjunction with the embodiments shown in the drawings.
[0020] The suction and grasping dual-purpose mechanical gripper of the powder palletizing machine of the present utility model includes two sets of bag grasping mechanisms, front and rear, provided on the frame 1. Each set of bag grasping mechanisms includes left and right bag grasping components. The left and right bag grasping components are synchronously opened and closed under the drive of the bag grasping cylinders 2 correspondingly arranged on the frame 1. A tray rack 16 is provided at the center of the top of the frame 1. The mechanical gripper of the present utility model is mounted on the robotic arm of the palletizing machine through the tray rack 16, as shown in Figure 1 , Figure 2 , Figure 3 , Figure 4 shown.
[0021] Each packet grabbing component includes front and rear swing arms 4. The inner ends of the front and rear swing arms 4 are coaxially and fixedly installed through rotating shafts 3 correspondingly arranged at the bottom of the frame 1. There is an arm frame 7 between the middle parts of the front and rear swing arms 4, and there is a claw tooth frame 5 between the outer parts of the front and rear swing arms 4. A plurality of claw teeth 6 are equidistantly arranged at the front and rear of the claw tooth frame 5; The packet grabbing cylinder 2 is arranged outside the right side of the frame 1. The cylinder body of the packet grabbing cylinder 2 is hinged to the frame 1 through a cylinder seat. The cylinder rod extending downward from the packet grabbing cylinder 2 is hinged to the plate ear of the right side arm frame 7. The left and right swing arms 4 on the front and rear sides are connected by corresponding linkage mechanisms, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 shown.
[0022] Each linkage mechanism includes left and right crescent-shaped swing arms 8. The large head end of the right swing arm 8 is fixedly connected to the rotating shaft 3 of the right swing arm 4. The small head end of the right swing arm 8 is obliquely arranged downward to the right. The large head end of the left swing arm 8 is fixedly connected to the rotating shaft 3 of the left swing arm 4. The small head end of the left swing arm 8 is obliquely arranged upward to the right. The small head ends of the left and right swing arms 8 are respectively hinged to both ends of an obliquely arranged adjusting screw rod 9, such as Figure 1 , Figure 4 shown.
[0023] Corresponding to each set of packet grabbing mechanisms, there are two front and rear bale presses 14. Specifically: There are two front and rear bale presses 14 centered at the bottom of the frame 1 between the left and right packet grabbing components. Each bale press 14 returns downward to the initial position before the mechanical gripper grabs the packet under the action of the corresponding spring mechanism 15, such as Figure 1 , Figure 2 , Figure 4 shown.
[0024] On the front and rear frames 1 of the disc frame 16, there is a set of adsorption mechanism each. Each set of adsorption mechanisms corresponds to each set of packet grabbing mechanisms. Specifically; Each set of adsorption mechanisms includes left and right adsorption components. The left and right adsorption components are arranged outside the left and right packet grabbing components. Each adsorption component includes a suction cup 11 arranged at the bottom of a suction pipe 10. The suction pipe 10 is installed at the lower end of a vertical rod 12. The upper ends of the left and right vertical rods 12 are installed at the left and right ends of a cross bar 13. The cross bar 13 is installed at the top of the frame 1; At the initial position before the mechanical gripper grabs the packet, the position heights of the left and right suction cups 11 are lower than those of the left and right claw teeth 6, such as Figure 1 , Figure 2 , Figure 3 , Figure 4 shown.
[0025] The operation mode of the present utility model is as follows:
[0026] In the initial state, the cylinder rods of the front and rear bag-grabbing cylinders 2 retract synchronously, and the left and right rotating arms 4 (i.e., the left and right claw teeth 6) of the front and rear bag-grabbing mechanisms are synchronously opened through the transmission of their respective linkage mechanisms. At this time, the front and rear adsorption mechanisms can be used to suck and place the front and rear cardboard before and after palletizing; the adsorption mechanism is provided with a vacuum detection element to monitor the sucking of the cardboard in real time, avoiding the cardboard from falling and being unable to be accurately sucked to the designated position, resulting in palletizing errors; the vacuum detection element detects the negative pressure value of the suction cup 11. When sucking the cardboard, when the negative pressure value changes violently, a feedback signal is sent to prompt the palletizing robot to make a wrong movement and re-suck the cardboard.
[0027] Figure 1 , Figure 4 This is the state when the mechanical gripper grabs the front and rear powder bags at the same time. At this time, the cylinder rods of the front and rear bag-grabbing cylinders 2 extend synchronously, and the left and right rotating arms 4 (i.e., the left and right claw teeth 6) of the front and rear bag-grabbing mechanisms are synchronously closed through the transmission of their respective linkage mechanisms. During the grabbing process, each powder bag presses upward against the front and rear bag-pressing devices 14 and gradually compresses the spring mechanism 15. Finally, each powder bag is stably clamped between the left and right claw teeth 6 and the bag-pressing device 14, effectively preventing the powder bag from falling; the adjusting screw 9 in the linkage mechanism is used to adjust the distance between the left and right claw teeth 6, so as to adjust according to the specifications and sizes of the grabbed powder bags, eliminating the need to prepare mechanical grippers of multiple specifications, with higher adaptability and practicality, which is beneficial to improving the working efficiency of the grabbing process.
Claims
1. A dual-purpose mechanical gripper for a powder palletizer, comprising two sets of front and rear grabbing mechanisms arranged on a frame (1), each set of grabbing mechanisms comprising left and right grabbing components, the left and right grabbing components opening and closing under the drive of grabbing cylinders (2) correspondingly arranged on the frame (1), characterized in that: Each bag grabbing assembly comprises front and rear rotating arms (4) hingedly mounted on the bottom of a frame (1) via corresponding rotating shafts (3); a plurality of claw teeth (6) are arranged at intervals at the front and rear on a claw tooth frame (5) arranged between the front and rear rotating arms (4); the left and right rotating arms (4) at the front and rear sides are connected via corresponding linkage mechanisms; the bag grabbing cylinder (2) is hingedly mounted on the left or right side of the frame (1); and a cylinder rod extending downwardly from the bag grabbing cylinder (2) is hingedly connected to an arm frame (7) arranged between the front and rear rotating arms (4) on the same side; The linkage mechanism comprises left and right swing arms (8), each swing arm (8) is fixedly connected to the rotating shaft (3) of the corresponding rotating arm (4), and the left and right swing arms (8) are hingedly connected via an obliquely arranged adjusting screw (9); A set of adsorption mechanisms is provided corresponding to each set of bag grabbing mechanisms; Each set of adsorption mechanisms comprises left and right adsorption components arranged outside the left and right bag grabbing components, and each adsorption component comprises a suction cup (11) arranged on a suction pipe (10). The suction pipe (10) is installed on a vertical rod (12). The left and right vertical rods (12) are installed on a horizontal rod (13). The horizontal rod (13) is installed on the top of the frame (1).
2. The dual-purpose mechanical gripper for powder palletizer according to claim 1 is characterized in that: A front and a rear bag presser (14) are centrally arranged at the bottom of the frame (1) between the left and right bag press assemblies of each bag press mechanism, and each bag presser (14) returns downward under the action of a corresponding spring assembly (15).
3. The dual-purpose mechanical gripper for powder palletizer according to claim 1 or 2, characterized in that: A disc rack (16) is provided on the top of the frame (1) between the front and rear cross bars (13), and the mechanical gripper is installed on the mechanical arm of the palletizing robot through the disc rack (16).