Adjustable bag grabbing manipulator

Abstract

The utility model discloses an adjustable bag grabbing mechanical arm which comprises a mechanical arm body and a grabbing piece, supporting plates are arranged on the front side and the rear side of the grabbing piece respectively, clamping jaws are arranged at the bottoms of the supporting plates, limiting plates are fixedly connected to the tops of the clamping jaws, fixing plates are arranged on the front sides of the clamping jaws, and the limiting plates are fixedly connected to the bottoms of the clamping jaws. A plurality of adjusting grooves are formed in the left side and the right side of the fixing plate, a concave fixing shell is arranged on the front side of the fixing plate, a fixing device used in cooperation with the adjusting grooves is arranged at the bottom of an inner cavity of the concave fixing shell, and a control device used in cooperation with the fixing device is arranged at the top of the inner cavity of the concave fixing shell. According to the bag grabbing manipulator, the fixing plate, the adjusting groove, the fixing device and the control device are matched for use, so that the problems that when an existing bag grabbing manipulator is used, the grabbing thickness of a clamping jaw which is usually used for grabbing objects is mostly fixed, the objects with different thicknesses cannot be grabbed, and the use adaptability of the manipulator is affected are solved.

Description

Technical Field

[0001] The utility model belongs to the technical field of bag grabbing manipulators, in particular to an adjustable bag grabbing manipulator. Background Art

[0002] A bag grabbing robot is a key equipment used in automated production lines. It is mainly used to grab, transport and place bagged materials. It is usually installed at the front end of an industrial robot arm and can grab, place, rotate and adjust the specifications of bagged materials. The design of the bag grabbing robot is diverse to adapt to different production needs. For example, the bag grabbing robot in an automatic loading and bagging machine has a compact structure, can flexibly take and open bags, has high work efficiency and good practicality. The problem with the existing technology is that when the existing bag grabbing robot is in use, the thickness that can be grabbed by the gripper usually used to grab items is mostly fixed, and it cannot grab items of different thicknesses, affecting the adaptability of the robot. Utility Model Content

[0003] In response to the problems existing in the prior art, the utility model provides an adjustable bag-grabbing manipulator, which has the advantage of adjusting the gripper of the manipulator. It solves the problem that when the existing bag-grabbing manipulator is in use, the gripper usually used to grasp objects has a fixed thickness that can be grasped, and cannot grasp objects of different thicknesses, which affects the adaptability of the manipulator.

[0004] The utility model is implemented as follows: an adjustable bag-grabbing manipulator comprises a manipulator body and a grabbing member, the grabbing member is arranged on the left side of the manipulator body, the front and rear sides of the grabbing member are provided with support plates, the bottom of the support plate is provided with a clamping claw, the top of the clamping claw is fixedly connected to a limiting plate, the front side of the clamping claw is provided with a fixing plate, the left and right sides of the fixing plate are provided with a plurality of adjustment slots, the front side of the fixing plate is provided with a concave fixed shell, the bottom of the inner cavity of the concave fixed shell is provided with a fixing device used in conjunction with the adjustment slot, and the top of the inner cavity of the concave fixed shell is provided with a control device used in conjunction with the fixing device.

[0005] As a preferred embodiment of the present invention, a limiting through hole is provided at the bottom of the support plate, the tops of the clamping jaws and the fixing plate pass through the limiting through hole and extend to the outside of the limiting through hole, and the sides of the clamping jaws and the fixing plate close to the inner wall of the limiting through hole are in contact with the inner wall of the limiting through hole.

[0006] As a preferred embodiment of the present invention, the side of the fixing plate close to the clamping jaw is fixedly connected to the clamping jaw, the adjustment grooves are evenly distributed on the left and right sides of the fixing plate, and the bottom of the concave fixing shell is fixedly connected to the support plate.

[0007] As a preferred embodiment of the present invention, the fixing device includes two limiting columns, and return springs are provided on the left and right sides of the curved surface of the limiting columns. Fixing members are provided on the opposite sides of the two return springs, and a pushing member is provided on the top of the fixing member.

[0008] As a preferred embodiment of the present invention, the control device includes a control switch, a control column is provided on the rear side of the control switch, a concave push plate is provided on the rear side of the control column, and travel through holes are opened on the left and right sides of the bottom of the concave push plate.

[0009] As a preferred embodiment of the present invention, the left and right sides of the limit column are fixedly connected to the inner wall of the concave fixed shell, and the left and right sides of the return spring are fixedly connected to the inner wall of the concave fixed shell and the fixing piece respectively. The fixing piece is sleeved on the surface of the limit column, and the side of the fixing piece close to the fixing plate passes through the concave fixed shell, and extends to the inner cavity of the adjusting groove and contacts the inner wall of the adjusting groove. The bottom of the pushing piece is fixedly connected to the fixing piece, and the top of the pushing piece passes through the stroke through hole and extends to the outside of the stroke through hole.

[0010] As a preferred embodiment of the present invention, the front side of the control column is fixedly connected to the control switch, and the rear side of the control column passes through the concave fixed shell and extends to the inner cavity of the concave fixed shell and is fixedly connected to the concave push plate.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] 1. The utility model solves the problem that the thickness of the gripping claws used to grab objects in the existing bag grabbing manipulator is mostly fixed when in use, and it cannot grab objects of different thicknesses, which affects the adaptability of the manipulator.

[0013] 2. The utility model can limit the clamping jaws and the fixing plate by setting the limiting through holes, making it convenient for users to use the clamping jaws and the fixing plate.

[0014] 3. The present invention can adjust the clamping jaws by providing a fixing plate and an adjusting slot, and can support and protect the fixing device and the control device by providing a concave fixing shell.

[0015] 4. The utility model is provided with a fixing device, which can fix the clamping claw and the fixing plate, making it convenient for users to use the clamping claw and the fixing plate.

[0016] 5. The present invention is capable of controlling the fixing device by providing a control device, making it convenient for the user to use the fixing device.

[0017] 6. The present invention can support and limit the reset spring and the fixing part by setting a limit column, reset the fixing part by setting a reset spring, fix the fixing plate by setting a fixing part, and move the fixing part by setting a pushing part.

[0018] 7. The utility model can drive the control column to move by setting a control switch, and can drive the concave push plate to move by setting a control column, and can push the push member to move by setting a concave push plate and a stroke through hole. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is a schematic diagram of the overall three-dimensional structure provided by an embodiment of the utility model;

[0020] Figure 2 This is a partial cross-sectional view of a concave fixed housing provided by an embodiment of the present utility model;

[0021] Figure 3 The embodiment of the present utility model provides Figure 2 Enlarged view at point A;

[0022] Figure 4 This is a schematic diagram of the three-dimensional structure of the limiting through hole provided in an embodiment of the present utility model;

[0023] Figure 5 It is a schematic diagram of the three-dimensional structure of the fixing device and the control device provided in an embodiment of the utility model.

[0024] In the figure: 1. Robot body; 2. Grasping part; 3. Support plate; 4. Clamping claw; 5. Limiting plate; 6. Fixing plate; 7. Adjusting slot; 8. Concave fixed shell; 9. Fixing device; 10. Control device; 11. Limiting through hole; 901. Limiting column; 902. Return spring; 903. Fixing part; 904. Pushing part; 1001. Control switch; 1002. Control column; 1003. Concave pushing plate; 1004. Travel through hole. DETAILED DESCRIPTION

[0025] In order to further understand the content, features and effects of the present invention, the following embodiments are given as examples and described in detail with reference to the accompanying drawings.

[0026] The structure of the present utility model is described in detail below with reference to the accompanying drawings.

[0027] like Figures 1 to 5As shown, an adjustable bag grabbing manipulator provided by an embodiment of the present invention includes a manipulator body 1 and a grabbing member 2, the grabbing member 2 is arranged on the left side of the manipulator body 1, and the front and rear sides of the grabbing member 2 are provided with support plates 3, the bottom of the support plate 3 is provided with a clamping claw 4, the top of the clamping claw 4 is fixedly connected to a limiting plate 5, the front side of the clamping claw 4 is provided with a fixing plate 6, the left and right sides of the fixing plate 6 are provided with a plurality of adjustment slots 7, the front side of the fixing plate 6 is provided with a concave fixed shell 8, the bottom of the inner cavity of the concave fixed shell 8 is provided with a fixing device 9 used in conjunction with the adjustment slot 7, and the top of the inner cavity of the concave fixed shell 8 is provided with a control device 10 used in conjunction with the fixing device 9.

[0028] refer to Figure 1 and Figure 4 A limiting through hole 11 is provided at the bottom of the support plate 3, and the tops of the clamping jaw 4 and the fixing plate 6 pass through the limiting through hole 11 and extend to the outside of the limiting through hole 11, and the side of the clamping jaw 4 and the fixing plate 6 close to the inner wall of the limiting through hole 11 are in contact with the inner wall of the limiting through hole 11.

[0029] The above solution is adopted: by providing the limiting through hole 11, the clamping jaws 4 and the fixing plate 6 can be limited, making it convenient for users to use the clamping jaws 4 and the fixing plate 6.

[0030] refer to Figure 2 and Figure 3 The side of the fixing plate 6 close to the clamping jaw 4 is fixedly connected to the clamping jaw 4, the adjustment slots 7 are evenly distributed on the left and right sides of the fixing plate 6, and the bottom of the concave fixing shell 8 is fixedly connected to the support plate 3.

[0031] With the above solution, the clamping jaws 4 can be adjusted by providing the fixing plate 6 and the adjusting slot 7 , and the fixing device 9 and the control device 10 can be supported and protected by providing the concave fixing housing 8 .

[0032] refer to Figure 5 The fixing device 9 includes two limiting columns 901, and return springs 902 are provided on the left and right sides of the curved surface of the limiting column 901. A fixing piece 903 is provided on the opposite side of the two return springs 902, and a pushing piece 904 is provided on the top of the fixing piece 903.

[0033] By adopting the above solution, by providing the fixing device 9 , the clamping jaws 4 and the fixing plate 6 can be fixed, making it convenient for users to use the clamping jaws 4 and the fixing plate 6 .

[0034] refer to Figure 5 The control device 10 includes a control switch 1001, a control column 1002 is provided on the rear side of the control switch 1001, a concave push plate 1003 is provided on the rear side of the control column 1002, and a travel through hole 1004 is opened on the left and right sides of the bottom of the concave push plate 1003.

[0035] By adopting the above solution, the control device 10 is provided to control the fixing device 9 , making it convenient for the user to use the fixing device 9 .

[0036] refer to Figure 3 and Figure 5 The left and right sides of the limiting column 901 are fixedly connected to the inner wall of the concave fixed shell 8, and the left and right sides of the return spring 902 are fixedly connected to the inner wall of the concave fixed shell 8 and the fixing member 903 respectively. The fixing member 903 is sleeved on the surface of the limiting column 901, and the side of the fixing member 903 close to the fixing plate 6 passes through the concave fixed shell 8, and extends to the inner cavity of the adjusting groove 7 and contacts the inner wall of the adjusting groove 7. The bottom of the pushing member 904 is fixedly connected to the fixing member 903, and the top of the pushing member 904 passes through the stroke through hole 1004 and extends to the outside of the stroke through hole 1004.

[0037] The above solution is adopted: by setting the limiting column 901, the reset spring 902 and the fixing member 903 can be supported and limited, by setting the reset spring 902, the fixing member 903 can be reset, by setting the fixing member 903, the fixing plate 6 can be fixed, and by setting the pushing member 904, the fixing member 903 can be driven to move.

[0038] refer to Figure 3 and Figure 5 The front side of the control column 1002 is fixedly connected to the control switch 1001 , and the rear side of the control column 1002 passes through the concave fixed shell 8 and extends to the inner cavity of the concave fixed shell 8 and is fixedly connected to the concave push plate 1003 .

[0039] The above solution is adopted: by setting the control switch 1001, the control column 1002 can be driven to move, by setting the control column 1002, the concave push plate 1003 can be driven to move, and by setting the concave push plate 1003 and the travel through hole 1004, the push member 904 can be pushed to move.

[0040] The working principle of this utility model:

[0041] When it is necessary to adjust the thickness of the object that the manipulator can grasp, first pull the control switch 1001 to drive the control column 1002 to move, and the control column 1002 drives the concave push plate 1003 to move synchronously. The concave push plate 1003 will push the push member 904 to move along the trajectory of the inner cavity of the stroke through hole 1004, and push the fixing member 903 to move on the surface of the limit column 901, and squeeze the reset spring 902 to make the two fixing members 903 be pulled out from the inner cavity of the adjustment slot 7. When the fixing member 903 is pulled out, the clamping claw 4 It is no longer in a fixed state, and the clamping jaw 4 is moved to a suitable position, and then the control switch 1001 is released. The force released after the reset spring 902 is squeezed will push the fixing member 903 to move in the opposite direction on the surface of the limit column 901. The fixing member 903 drives the pushing member 904 to move in the opposite direction along the trajectory of the inner cavity of the stroke through hole 1004, and pushes the concave pushing member 904 to move in the opposite direction. The concave pushing member 904 drives the control column 1002 and the control switch 1001 to move in the opposite direction and reset synchronously, thereby fixing the clamping jaw 4 and completing the adjustment.

[0042] To sum up: the adjustable bag-grabbing manipulator, by setting up a fixed plate 6, an adjustment slot 7, a fixing device 9 and a control device 10 for coordinated use, solves the problem that when using the existing bag-grabbing manipulator, the thickness that the grippers usually used to grab items can grasp is mostly fixed, and items of different thicknesses cannot be grasped, which affects the adaptability of the manipulator.

[0043] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0044] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An adjustable bag-grabbing manipulator, comprising a manipulator body (1) and a grabbing member (2), wherein the grabbing member (2) is arranged on the left side of the manipulator body (1), and is characterized in that: The front and rear sides of the grabbing member (2) are both provided with support plates (3), the bottom of the support plate (3) is provided with a clamping claw (4), the top of the clamping claw (4) is fixedly connected to a limiting plate (5), the front side of the clamping claw (4) is provided with a fixing plate (6), the left and right sides of the fixing plate (6) are both provided with a plurality of adjustment slots (7), the front side of the fixing plate (6) is provided with a concave fixed shell (8), the bottom of the inner cavity of the concave fixed shell (8) is provided with a fixing device (9) used in conjunction with the adjustment slot (7), and the top of the inner cavity of the concave fixed shell (8) is provided with a control device (10) used in conjunction with the fixing device (9).

2. The adjustable bag-grabbing manipulator according to claim 1, characterized in that: A limiting through hole (11) is provided at the bottom of the support plate (3), and the tops of the clamping jaws (4) and the fixing plate (6) pass through the limiting through hole (11) and extend to the outside of the limiting through hole (11), and the sides of the clamping jaws (4) and the fixing plate (6) close to the inner wall of the limiting through hole (11) are in contact with the inner wall of the limiting through hole (11).

3. The adjustable bag-grabbing robot according to claim 1, characterized in that: The side of the fixing plate (6) close to the clamping jaw (4) is fixedly connected to the clamping jaw (4), the adjustment slots (7) are evenly distributed on the left and right sides of the fixing plate (6), and the bottom of the concave fixing housing (8) is fixedly connected to the support plate (3).

4. The adjustable bag-grabbing robot according to claim 1, characterized in that: The fixing device (9) comprises two limiting columns (901), and return springs (902) are provided on the left and right sides of the curved surface of the limiting columns (901). A fixing member (903) is provided on the opposite side of the two return springs (902), and a pushing member (904) is provided on the top of the fixing member (903).

5. The adjustable bag-grabbing robot according to claim 1, characterized in that: The control device (10) comprises a control switch (1001), a control column (1002) is provided on the rear side of the control switch (1001), a concave push plate (1003) is provided on the rear side of the control column (1002), and travel through holes (1004) are provided on the left and right sides of the bottom of the concave push plate (1003).

6. The adjustable bag-grabbing robot according to claim 4, characterized in that: The left and right sides of the limiting column (901) are fixedly connected to the inner wall of the concave fixed shell (8), and the left and right sides of the return spring (902) are fixedly connected to the inner wall of the concave fixed shell (8) and the fixing member (903) respectively. The fixing member (903) is sleeved on the surface of the limiting column (901). The side of the fixing member (903) close to the fixing plate (6) passes through the concave fixed shell (8) and extends to the inner cavity of the adjustment groove (7) and contacts the inner wall of the adjustment groove (7). The bottom of the pushing member (904) is fixedly connected to the fixing member (903), and the top of the pushing member (904) passes through the travel through hole (1004) and extends to the outside of the travel through hole (1004).

7. The adjustable bag-grabbing robot according to claim 5, characterized in that: The front side of the control column (1002) is fixedly connected to the control switch (1001), and the rear side of the control column (1002) passes through the concave fixed housing (8) and extends to the inner cavity of the concave fixed housing (8) to be fixedly connected to the concave push plate (1003).

Images