Anti-shaking gripper unit

Abstract

The utility model relates to an anti-shaking gripper unit which comprises a top plate, a gripper connecting plate is fixed to the middle of the top plate, a material frame to be gripped is located below the top plate, hanging plates are fixed to the left end and the right end of the upper end face of the material frame respectively, and supporting rods are fixed to the middle of the upper end face of the material frame at intervals. The two ends of the top plate are each rotationally provided with a grabbing hook used for hooking the hanging plate when the material frame is grabbed, a pressing assembly is arranged in the middle of the bottom face of the top plate, and the pressing assembly is provided with a pressing block which can descend to be pressed on the supporting rod so as to prevent shaking when the material frame is grabbed. When the grabbing hook grabs the material frame, the pressing block in the pressing assembly is pressed on the material frame supporting rod, so that the material frame can be effectively prevented from shaking when the material frame is grabbed, and the stable state is maintained in the grabbing process of the material frame.

Description

Technical Field

[0001] The utility model relates to the technical field of logistics and transportation, in particular to an anti-swaying gripper unit. Background Art

[0002] With the continuous development of intelligent technology, aerial logistics robots have been widely used in warehousing, transportation and other applications. During storage, many materials are stored in material baskets. The robot grippers grasp the ends of the baskets and then lift them to a designated location for storage.

[0003] However, some larger material frames will shake when they are lifted after being grabbed, resulting in poor stability during the transfer process and affecting the robot's operating efficiency. Utility Model Content

[0004] The technical problem to be solved by the utility model is: in order to overcome the deficiencies in the prior art, the utility model provides an anti-swaying gripper unit to ensure that the material frame is stable and does not shake during the lifting process.

[0005] The technical solution adopted by the utility model to solve its technical problems is: an anti-sway gripper unit, including a top plate, a hand-gripping connecting plate fixed in the middle of the top plate, a material frame to be grabbed is located below the top plate, and hanging plates are fixed on the left and right ends of the upper end surface of the material frame respectively, and support rods are fixed at a distance in the middle of the upper end surface of the material frame. The two ends of the top plate are respectively rotatably installed with grab hooks that hook the hanging plates when grabbing the material frame, and a clamping assembly is provided in the middle position of the bottom surface of the top plate, and the clamping assembly has a pressure block that can be lowered and pressed on the support rod to prevent shaking when grabbing the material frame.

[0006] To ensure that the material frame is pressed more smoothly, two sets of pressing assemblies are provided at a front and rear distance from each other in the middle of the bottom surface of the top plate. The pressing assembly includes a long pressure plate, a pressing cylinder and a scissor rod. Pressure blocks are fixed to the bottom surfaces of both ends of the long pressure plate respectively. The mounting end of the pressing cylinder is fixed to the bottom surface of the top plate, and the piston rod of the pressing cylinder is fixed to the middle part of the long pressure plate. The scissor rods are respectively provided on both sides of the pressing cylinder. The upper end of the scissor rod is hinged to the bottom surface of the top plate, and the lower end of the scissor rod is hinged to the long pressure plate.

[0007] In order to achieve elastic compression of the material frame and better improve the compression effect of the material frame, the pressing block is a circular structure, and the pressing block is fixed to the bottom surface of the long pressing plate through a connecting plate. The pressing block is preferably made of polyurethane.

[0008] Specifically, in order to ensure that the grab hook firmly hooks the lifting plate and grabs the material frame, thrust cylinders are respectively installed at both ends of the upper end surface of the top plate, and a lever with a fork at the lower end is hinged on the piston rod of the thrust cylinder. A rotating shaft is provided at the bottom end of the top plate through a bearing seat. The fork of the lever is clamped at the upper end of the grab hook and fixed to the rotating shaft through a flat key.

[0009] Furthermore, the propulsion cylinder is provided with a protective cover fixed to the upper end surface of the top plate.

[0010] The beneficial effect of the present invention is that when the grab hook grabs the material frame, the pressing block in the pressing assembly is pressed against the material frame support rod, so that the material frame can be effectively prevented from shaking when grabbing the material frame, and a stable state is maintained during the material frame grabbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0012] Figure 1 It is a three-dimensional structural schematic diagram of the utility model.

[0013] Figure 2 It is a partial structural schematic diagram of the pressing assembly of the utility model.

[0014] Figure 3 It is a schematic diagram of the installation structure of the grab hook of the utility model.

[0015] In the figure: 1. Top plate, 2. Hand-grabbing connecting plate, 3. Material frame, 4. Lifting plate, 5. Support rod, 6. Grab hook, 7. Clamping assembly, 7-1. Pressing block, 7-2. Long pressing plate, 7-3. Clamping cylinder, 7-4. Scissor lever, 8. Propelling cylinder, 9. Lever, 10. Rotating shaft, 11. Protective cover. DETAILED DESCRIPTION

[0016] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0017] like Figure 1 、 Figure 3 The anti-sway gripper unit shown includes a top plate 1, a hand-gripping connecting plate 2 is fixed in the middle of the top plate 1, the gripper unit is installed on the base of the logistics robot through the hand-gripping connecting plate 2, and the material frame 3 to be grasped is placed under the top plate 1; the left and right ends of the upper end surface of the material frame 3 are respectively fixed with hanging plates 4, and the upper part of the hanging plates 4 has triangular hanging holes, and support rods 5 are fixed at a distance in the middle of the upper end surface of the material frame 3.

[0018] A propulsion cylinder 8 is installed at each end of the upper end surface of the top plate 1 corresponding to the position of the hanging plate 4. The piston rod of the propulsion cylinder 8 extends and retracts toward the hanging plate 4. The end of the piston rod of the propulsion cylinder 8 is hinged to a lever 9. The bottom of the lever 9 has a shift fork, and a grab hook 6 is clamped in the shift fork. The bottom end of the top plate 1 is provided with a rotating shaft 10 that rotates through a bearing seat. The shift fork of the lever 9 is clamped on the upper end of the grab hook 6 and is fixed to the rotating shaft 10 via a flat key. Under the action of the propulsion cylinder 8, the grab hook 6 is driven to rotate around the rotating shaft 10 through the lever 9, so that the curved hook at the lower end of the grab hook 6 hooks or disengages the hanging hole at the upper end of the hanging plate 4.

[0019] In order to prevent the propulsion cylinder 8 from being adversely affected by falling foreign objects, the propulsion cylinder 8 is provided with a protective cover 11 fixed to the upper end surface of the top plate 1.

[0020] Since the heavy material frame 3 is prone to shaking when the hook 6 lifts it, two sets of pressing assemblies 7 distributed front and back are provided at the middle of the bottom surface of the top plate 1 to press the material frame 3.

[0021] Specifically, if Figure 2 As shown, each set of clamping components 7 includes two clamping blocks 7-1, a long pressure plate 7-2, a clamping cylinder 7-3 and two sets of scissor rods 7-4. The clamping blocks 7-1 are fixed to the bottom surfaces of both ends of the long pressure plate 7-2 through connecting plates and correspond to the support rods 5 on the upper end surface of the material frame 3. The clamping blocks 7-1 are circular structures and are made of polyurethane; the clamping cylinder 7-3 is arranged in the middle position of the long pressure plate 7-2, and the scissor rods 7-4 are respectively arranged on the left and right sides of the clamping cylinder 7-3. The mounting end of the clamping cylinder 7-3 is fixed to the bottom surface of the top plate 1, and the piston rod of the clamping cylinder 7-3 is fixed to the middle part of the long pressure plate 7-2. The upper end of the scissor rod 7-4 is hinged to the bottom surface of the top plate 1, and the lower end of the scissor rod 7-4 is hinged to the long pressure plate 7-2.

[0022] When the piston rod of the clamping cylinder 7-3 extends downward, it pushes the long pressure plate 7-2 down, so that the pressure blocks 7-1 at both ends of the long pressure plate 7-2 are pressed against the support rod 5. In this way, when the grab hook 6 grabs the material frame 3, it can effectively prevent the material frame 3 from shaking, and maintain a stable state during the grabbing process of the material frame 3.

[0023] Based on the above-mentioned ideal embodiment of the present invention, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. An anti-sway gripper unit, comprising a top plate (1), a gripping connecting plate (2) fixed in the middle of the top plate (1), a material frame (3) to be grasped being located below the top plate (1), hanging plates (4) fixed at the left and right ends of the upper end surface of the material frame (3), and support rods (5) fixed at intervals in the middle of the upper end surface of the material frame (3), characterized in that: The top plate (1) is rotatably mounted with hooks (6) at both ends thereof for hooking the hanging plate (4) when grabbing the material frame (3). A clamping assembly (7) is provided at the middle of the bottom surface of the top plate (1). The clamping assembly (7) has a pressure block (7-1) that can be lowered and clamped on the support rod (5) to prevent shaking when grabbing the material frame (3).

2. The anti-sway gripper unit according to claim 1, wherein: Two sets of clamping assemblies (7) are provided at a front-to-back distance in the middle of the bottom surface of the top plate (1). The clamping assembly (7) comprises a long pressure plate (7-2), a clamping cylinder (7-3) and a scissor rod (7-4). The bottom surfaces of both ends of the long pressure plate (7-2) are respectively fixed with a pressure block (7-1). The mounting end of the clamping cylinder (7-3) is fixed to the bottom surface of the top plate (1). The piston rod of the clamping cylinder (7-3) is fixed to the middle of the long pressure plate (7-2). The scissor rods (7-4) are respectively provided on both sides of the clamping cylinder (7-3). The upper end of the scissor rod (7-4) is hinged to the bottom surface of the top plate (1), and the lower end of the scissor rod (7-4) is hinged to the long pressure plate (7-2).

3. The anti-sway gripper unit according to claim 2, wherein: The pressing block (7-1) is a circular structure, and is fixed to the bottom surface of the long pressing plate (7-2) via a connecting plate. The pressing block (7-1) is made of polyurethane.

4. The anti-sway gripper unit according to claim 1, wherein: The upper end surface of the top plate (1) is respectively provided with a propulsion cylinder (8), and a lever (9) with a shift fork at the lower end is hingedly connected to the piston rod of the propulsion cylinder (8). The bottom end of the top plate (1) is provided with a rotating shaft (10) which is rotated through a bearing seat. The shift fork of the lever (9) is clamped on the upper end of the grab hook (6) and fixedly connected to the rotating shaft (10) through a flat key.

5. The anti-sway gripper unit according to claim 4, characterized in that: The propulsion cylinder (8) is provided with a protective cover (11) fixed on the upper end surface of the top plate (1).

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