Tray grabbing rotating paw mechanism

Abstract

The utility model discloses a tray grabbing rotary gripper mechanism which comprises an outer frame arranged on a stacking machine, a grabbing mechanism used for grabbing trays is arranged on the outer frame, the grabbing mechanism comprises fixing frames arranged at the two ends of the inner side of the outer frame, a pair of rotating shafts is vertically arranged on the opposite sides of the two fixing frames, and the rotating shafts are arranged on the outer frame. And the rotating shaft is rotationally connected to the side face of the fixing frame, a horizontally-arranged claw is fixedly arranged at the bottom of the rotating shaft, a second air cylinder is movably arranged on one side of the upper end of the fixing frame, and a cam is fixedly arranged at the top of the rotating shaft. According to the tray grabbing rotating paw mechanism, the grabbing mechanism mainly comprises the second air cylinder, the connecting rod, the cam, the rotating shaft and the paws, one second air cylinder can drive the two paws to rotate, the operation efficiency of a stacking machine is improved, the structure is simple, and operation is stable.

Description

Technical Field

[0001] The utility model relates to the field of stacker devices, and particularly relates to a pallet grasping and rotating gripper mechanism. Background Art

[0002] The stacker gripper usually refers to the end effector on the palletizing robot, and is also called a gripper, a fixture or a mechanical gripper. It is a key component for the palletizing robot to grasp, transport and palletize materials. The stacker gripper for grasping pallets is generally used to grasp the rack or the inner pallet. The traditional stacker gripper for grasping pallets has complex operations, high costs, inconvenient use, and can only adapt to pallets of specific sizes, with poor adaptability.

[0003] Therefore, it is necessary to propose a pallet grasping and rotating gripper mechanism to solve the above problems. Summary of the Utility Model

[0004] The main purpose of the utility model is to provide a pallet grasping and rotating gripper mechanism, which can effectively solve the problems in the background art.

[0005] To achieve the above purpose, the technical solution adopted by the utility model is as follows:

[0006] A pallet grasping and rotating gripper mechanism includes an outer frame arranged on a stacker. A grasping mechanism for grasping a pallet is arranged on the outer frame. The grasping mechanism includes fixed frames arranged at both ends inside the outer frame. A pair of rotating shafts are vertically arranged on the opposite sides of the two fixed frames, and the rotating shafts are rotatably connected to the sides of the fixed frames. The bottom of the rotating shaft is fixedly provided with a horizontally arranged claw hand. One side of the upper end of the fixed frame is movably provided with a second cylinder. The top of the rotating shaft is fixedly provided with a cam. The upper ends of the two cams corresponding to the same fixed frame are jointly provided with a connecting rod, and the connecting rod is rotatably connected to the cam. The output shaft of the second cylinder is movably connected to one of the cams.

[0007] Preferably, bearing seats are fixedly arranged on the opposite sides of the two fixed frames. Bearings are fixedly arranged inside the bearing seats, and the rotating shafts are fixed on the inner walls of the bearings.

[0008] Preferably, a fixed shaft is vertically arranged at one end of the top of the cam, and the axis of the fixed shaft does not coincide with the axis of the rotating shaft. The connecting rod is movably connected to the fixed shaft.

[0009] Preferably, a fixed support is arranged on the top of the fixed frame. The second cylinder is movably connected to the fixed support, and the output shaft of the second cylinder is movably connected to the outside of one of the fixed shafts.

[0010] Preferably, it further includes an adjusting mechanism. The adjusting mechanism includes adjusting frames movably arranged at both ends of the outer frame. A first cylinder corresponding to the end of the adjusting frame is arranged inside the outer frame, and the output shaft of the first cylinder is connected to the end of the adjusting frame, so that the first cylinder drives the adjusting frame to displace.

[0011] Preferably, a roller is rotatably connected to the end of the adjusting frame, and the roller is in rolling cooperation with the inner side of the outer frame.

[0012] Compared with the prior art, the present utility model provides a pallet grasping and rotating gripper mechanism, which has the following beneficial effects:

[0013] 1. For this pallet grasping and rotating gripper mechanism, the grasping mechanism mainly includes a second cylinder, a connecting rod, a cam, a rotating shaft, and a gripper. One second cylinder can drive the rotation of two grippers, improving the operation efficiency of the stacker. Moreover, the structure is simple and the operation is stable.

[0014] 2. For this pallet grasping and rotating gripper mechanism, the adjusting mechanism includes an adjusting frame and a first cylinder, which can realize the position adjustment of the grasping mechanism, so as to adapt to the grasping of pallets of different sizes. The roller can facilitate the stable displacement of the adjusting frame and reduce the friction between the adjusting frame and the outer frame. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0016] Figure 2 is a schematic structural diagram of the adjusting frame, fixed frame and outer frame of one end of the present utility model in a disassembled state;

[0017] Figure 3 is a schematic structural diagram of the fixed frame of the present utility model;

[0018] Figure 4 is a schematic structural diagram of the grasping mechanism of the present utility model in a disassembled state.

[0019] In the figure: 1. Outer frame; 2. Adjusting frame; 3. Fixed frame; 4. Gripper; 5. First cylinder; 6. Roller; 7. Second cylinder; 8. Fixed support; 9. Bearing seat; 10. Connecting rod; 11. Cam; 12. Rotating shaft; 13. Bearing; 14. Fixed shaft. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] In order to make the technical means, creative features, achieved purposes and functions of the present utility model easy to understand, the present utility model will be further described below in conjunction with specific embodiments.

[0021] Such as Figures 1-4As shown in the figure, a pallet grasping and rotating gripper mechanism includes an outer frame 1 arranged on a stacker. A grasping mechanism for grasping a pallet is arranged on the outer frame 1. The grasping mechanism includes fixing frames 3 arranged at both inner ends of the outer frame 1. On the opposite sides of the two fixing frames 3, a pair of rotating shafts 12 are vertically arranged. On the opposite sides of the two fixing frames 3, bearing seats 9 are fixedly arranged. Inside the bearing seats 9, bearings 13 are fixedly arranged. The rotating shafts 12 are fixed on the inner walls of the bearings 13. At the bottom of the rotating shafts 12, horizontally arranged grippers 4 are fixedly arranged. On one side of the upper end of the fixing frame 3, a second cylinder 7 is arranged. At the top of the rotating shafts 12, cams 11 are fixedly arranged. At the upper ends of the two cams 11 corresponding to the same fixing frame 3, a connecting rod 10 is arranged together. At one end of the top of the cam 11, a fixed shaft 14 is vertically arranged, and the axis of the fixed shaft 14 does not coincide with the axis of the rotating shaft 12. The end of the connecting rod 10 is movably connected to the fixed shaft 14. The output shaft of the second cylinder 7 is movably connected to one of the cams 11. On the top of the fixing frame 3, a fixed support 8 is arranged. The second cylinder 7 is movably connected to the fixed support 8. The output shaft of the second cylinder 7 is movably connected to the outside of one of the fixed shafts 14. By arranging the grasping mechanism mainly including the second cylinder 7, the connecting rod 10, the cam 11, the rotating shaft 12, and the gripper 4, two grippers 4 can be driven to rotate by one second cylinder 7, improving the operation efficiency of the stacker, and having a simple structure and stable operation.

[0022] It further includes an adjusting mechanism. The adjusting mechanism includes adjusting frames 2 movably arranged at both ends of the outer frame 1. Inside the outer frame 1, a first cylinder 5 corresponding to the end of the adjusting frame 2 is arranged, and the output shaft of the first cylinder 5 is connected to the end of the adjusting frame 2. Thus, the first cylinder 5 drives the adjusting frame 2 to displace. The end of the adjusting frame 2 is rotatably connected with a roller 6, and the roller 6 is in rolling fit with the inner side of the outer frame 1. The roller 6 can facilitate the stable displacement of the adjusting frame 2 and reduce the friction between the adjusting frame 2 and the outer frame 1. By arranging the adjusting mechanism including the adjusting frame 2 and the first cylinder 5, the position adjustment of the grasping mechanism can be realized, so as to adapt to the grasping of pallets of different sizes.

[0023] It should be noted that the present utility model is a pallet grasping and rotating gripper mechanism. When in use, the outer frame 1 is driven by a driving source on the stacker to descend. When it descends to the position where the gripper 4 is at the bottom of the pallet, it stops. Then the second cylinder 7 drives the cam 11 to rotate through the connecting rod 10. The cam 11 drives the rotating shaft 12 to rotate, and the rotating shaft 12 drives the gripper 4 to rotate and extend to the bottom of the pallet. Then the pallet can be lifted. When putting down, the second cylinder 7 drives the connecting rod 10 to retract, and then the whole rotation of the cam 11, the rotating shaft 12, and the gripper 4 retracts, so that the pallet drops. Moreover, by controlling the first cylinder 5, the overall displacement of the adjusting frame 2 and the fixing frame 3 can be driven, so as to adjust the distance between the two fixing frames 3 to adapt to pallets of different sizes, increasing the adaptability.

[0024] The above has shown and described the basic principles, main features and advantages of the present utility model. Those skilled in the art should understand that the present utility model is not limited by the above embodiments. What is described in the above embodiments and the specification only illustrates the principles of the present utility model. Without departing from the spirit and scope of the present utility model, the present utility model will have various changes and improvements, and these changes and improvements all fall within the scope of the present utility model claimed. The scope of protection claimed by the present utility model is defined by the appended claims and their equivalents.

Claims

1. A pallet grabbing rotating claw mechanism, comprising an outer frame (1) arranged on a palletizer, characterized in that: The outer frame (1) is provided with a gripping mechanism for gripping the tray, the gripping mechanism comprising fixed frames (3) arranged at both ends of the inner side of the outer frame (1), a pair of rotating shafts (12) are vertically arranged on opposite sides of the two fixed frames (3), and the rotating shafts (12) are rotatably connected to the side of the fixed frames (3), a horizontally arranged claw hand (4) is fixedly arranged at the bottom of the rotating shaft (12), a second cylinder (7) is movably arranged on one side of the upper end of the fixed frame (3), a cam (11) is fixedly arranged on the top of the rotating shaft (12), a connecting rod (10) is commonly arranged at the upper ends of the two cams (11) corresponding to the same fixed frame (3), and the connecting rod (10) is rotatably connected to the cam (11), and the output shaft of the second cylinder (7) is movably connected to one of the cams (11).

2. A pallet grabbing rotating claw mechanism according to claim 1, characterized in that: A bearing seat (9) is fixedly arranged on one opposite side of the two fixing frames (3), a bearing (13) is fixedly arranged on the inner side of the bearing seat (9), and the rotating shaft (12) is fixed on the inner wall of the bearing (13).

3. The pallet grabbing rotating claw mechanism according to claim 1, characterized in that: A fixed shaft (14) is vertically arranged at one end of the top of the cam (11), and the axes of the fixed shaft (14) and the rotating shaft (12) do not coincide with each other, and the connecting rod (10) is movably connected to the fixed shaft (14).

4. A pallet grabbing rotating claw mechanism according to claim 3, characterized in that: A fixed support (8) is provided on the top of the fixed frame (3), the second cylinder (7) is movably connected to the fixed support (8), and the output shaft of the second cylinder (7) is movably connected to the outer side of one of the fixed shafts (14).

5. The pallet grabbing rotating claw mechanism according to claim 1, characterized in that: The invention also comprises an adjusting mechanism, wherein the adjusting mechanism comprises an adjusting frame (2) movably arranged at two ends of the outer frame (1), a first cylinder (5) corresponding to the end of the adjusting frame (2) is arranged inside the outer frame (1), and an output shaft of the first cylinder (5) is connected to the end of the adjusting frame (2), so that the first cylinder (5) drives the adjusting frame (2) to move.

6. A pallet grabbing rotating claw mechanism according to claim 5, characterized in that: The end of the adjustment frame (2) is rotatably connected to a roller (6), and the roller (6) is in rolling engagement with the inner side of the outer frame (1).

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