Stacking mechanical gripper

Abstract

The utility model belongs to the field of automatic stacking equipment, and relates to a stacking mechanical gripper. The stacking mechanical gripper is characterized by comprising a mounting plate (1); the rodless cylinder (4) is arranged on the mounting plate (1); the paper supporting plate (13) is arranged on a sliding block of the rodless cylinder (4); a paper baffle (10) is further vertically arranged on the mounting plate (1); and the mounting plate (1) is also provided with a pressing component (200) for pressing the paper stack in the moving process of supporting the paper stack (100) by the paper supporting plate (13). The stacking mechanical gripper is simple in structure, light in weight, long in service life, convenient to maintain, capable of reducing the production cost and improving the production efficiency and high in safety and reliability.

Description

Technical Field

[0001] The invention belongs to automatic palletizing equipment and relates to a palletizing mechanical gripper. Background Art

[0002] At present, palletizing robots are widely used in the process of material loading and unloading. Different types of palletizing mechanical grippers are required according to the types of materials being loaded and unloaded. If paper cutting and unloading are done manually, employees are prone to fatigue and production efficiency is low.

[0003] After the printed paper is cut, the stacks are small and bulky, and are difficult to stack. The existing stacking mechanical grippers are complex in structure, large in size, low in versatility, poor in structural stability, low in stacking position accuracy, and low in automation. Summary of the Invention

[0004] In order to solve the problems of the prior art stacking mechanical gripper with complex structure, large volume, low versatility, poor structural stability, complicated maintenance, short service life, poor safety, low stacking placement accuracy and low automation level, the present invention provides a stacking mechanical gripper, which is characterized by comprising: a mounting plate; a rodless cylinder arranged on the mounting plate; a supporting paper board arranged on the rodless cylinder slider; the supporting paper board is driven by the reciprocating motion of the rodless cylinder slider to lift the paper stack and move it; a stopper paper board is also vertically arranged on the mounting plate; the supporting paper board is a fork-shaped structure with an L-shaped cross-section, and the stopper paper board is a fork-shaped structure; the end of the fork structure of the stopper paper board intersects with the fork structure of the supporting paper board, and after the supporting paper board lifts the paper stack and moves it to the specified position, the paper stack is placed at the specified position by moving the supporting paper board relative to the stopper paper board; the mounting plate is also provided with a pressing component for pressing the paper stack during the process of the supporting paper board lifting the paper stack and moving it.

[0005] According to the above-mentioned stacking mechanical gripper, it is characterized in that the pressing component includes: a paper pressing cylinder vertically arranged on the mounting plate; and a paper supporting plate arranged at the end of the paper pressing cylinder to press the paper pressing plate of the paper stack during the process of lifting and moving the paper stack.

[0006] According to the above-mentioned palletizing mechanical gripper, the feature is that the paper pressing cylinder is connected to the outer wall of the paper pressing cylinder via a cylinder fixing seat provided on the mounting plate.

[0007] According to the above-mentioned palletizing mechanical gripper, the feature is that two cylinder mounting seats for fixing the rodless cylinder are provided on the mounting plate, and the rodless cylinder is provided between the two cylinder mounting seats.

[0008] According to the above-mentioned palletizing mechanical gripper, it is characterized in that: a cylinder connecting plate for connecting to the paper support board is provided on the rodless cylinder slider; the cylinder connecting plate is connected to the rodless cylinder slider.

[0009] According to the above-mentioned stacking mechanical gripper, it is characterized in that a guide rail mechanism is further provided between the cylinder connecting plate and the rodless cylinder slider; the guide rail mechanism enables the paper supporting paper board to lift the paper stack and move it smoothly and at a uniform speed.

[0010] According to the above-mentioned palletizing mechanical gripper, it is characterized in that: the guide rail mechanism includes two linear guide rails respectively arranged on both sides of the bottom of the mounting plate; the two linear guide rails are respectively provided with guide rail sliders; the guide rail sliders are provided with slider mounting plates; the slider mounting plates are fixedly connected to the cylinder connecting plate; the rodless cylinder slider drives the cylinder connecting plate to move, and the cylinder connecting plate drives the guide rail slider connected to the cylinder connecting plate to move on the linear guide rail, thereby causing the paper support plate connected to the cylinder connecting plate to reciprocate.

[0011] According to the above-described palletizing mechanical gripper, it is characterized in that: the mounting plate is bolted to the paper plate baffle; the mounting plate is bolted to the cylinder fixing seat; the cylinder fixing seat is bolted to the mounting plate; the mounting plate is bolted to the two linear guide rails; the guide rail slider is bolted to the slider mounting plate; the slider mounting plate is bolted to the paper plate support; the rodless cylinder slider is bolted to the cylinder connecting plate; and the cylinder connecting plate is bolted to the slider mounting plate.

[0012] According to the above-mentioned palletizing mechanical gripper, the feature is that a strip-shaped through hole parallel to the linear guide rail is provided on the mounting plate; the cylinder connecting plate passes through the strip-shaped through hole and reciprocates in the strip-shaped through hole.

[0013] According to the above-mentioned palletizing mechanical gripper, it is characterized in that: a connecting sleeve is provided on the mounting plate, and a connecting shaft is provided on the connecting sleeve; and the connecting shaft is connected to the mechanical arm.

[0014] The advantages of the present invention compared with the prior art are:

[0015] 1. This invention utilizes a rodless cylinder mounted on a mounting plate and a paper support mounted on a slider. The reciprocating motion of the slider drives the paper support to lift and move the paper stack to a designated location. This simple structure allows for easy maintenance.

[0016] 2. A paper stopper is also vertically arranged on the mounting plate of the present invention; the paper support is a fork-shaped structure with an L-shaped cross-section, and the paper stopper is a fork-shaped structure; the end of the fork-shaped structure of the paper stopper intersects with the fork-shaped structure of the paper support, and after the paper support lifts the paper stack and moves it to the designated position, the paper stack is placed at the designated position by moving the paper support relative to the paper stopper, so that the paper stack is placed more neatly, thereby improving the placement efficiency.

[0017] 3. The present invention is provided with a pressing component, including: a paper pressing cylinder vertically mounted on the mounting plate; and a paper supporting plate disposed at the end of the paper pressing cylinder to press the paper stack during the lifting and moving process, thereby improving the safety of the paper stack during transportation.

[0018] 4. The present invention provides a strip-shaped through hole parallel to the linear guide rail on the mounting plate; the cylinder connecting plate passes through the strip-shaped through hole and performs reciprocating motion in cooperation with the guide rail mechanism in the strip-shaped through hole, thereby improving the stability during the transportation of the paper stack and achieving high operating position accuracy.

[0019] 5. The present invention provides a connecting sleeve on the mounting plate, and a connecting shaft on the connecting sleeve; the connecting shaft is connected to the robotic arm, thereby improving the versatility of the palletizing robotic gripper. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic structural diagram of a palletizing mechanical gripper.

[0021] Figure 2 A front view of a schematic diagram of a palletizing robot gripper grabbing a paper stack.

[0022] Figure 3 Front view of a schematic diagram of a palletizing robot gripper unloading a paper stack.

[0023] Figure 4 Right side view of a schematic diagram of a palletizing robot gripper grabbing a paper stack.

[0024] Figure 5 The left view of the structural diagram of a palletizing mechanical gripper.

[0025] In the figure: 1: mounting plate; 2: cylinder mounting seat; 3: cylinder connecting plate; 4: rodless cylinder; 5: connecting shaft; 6: connecting sleeve; 7: cylinder fixing seat; 8: paper pressing cylinder; 9: linear guide rail; 10: paper baffle; 11: slider mounting plate; 12: guide rail slider; 13: paper support board; 21: strip through hole; 100: paper stack; 200: pressing component; 300: guide rail mechanism; 400: paper support. DETAILED DESCRIPTION

[0026] Preferred embodiment 1

[0027] Palletizing mechanical gripper: including, mounting plate 1; rodless cylinder 4 arranged on mounting plate 1; paper support plate 13 arranged on the slider of rodless cylinder 4; the reciprocating motion of the slider of rodless cylinder 4 drives paper support plate 13 to lift and move paper stack 100; paper stopper 10 is also vertically arranged on mounting plate 1; paper support plate 13 is a fork-shaped structure with L-shaped cross section, and paper stopper 10 is a fork-shaped structure; the end of the fork-shaped structure of paper stopper 10 intersects with the fork-shaped structure of paper support plate 13, and after paper support plate 13 lifts and moves paper stack 100 to the designated position, paper stack 100 is placed to the designated position by moving paper support plate 13 relative to paper stopper 10; mounting plate 1 is also provided with a pressing component 200 for pressing the paper stack during the movement of paper support plate 13 lifting and moving paper stack 100.

[0028] The pressing component 200 includes: a paper pressing cylinder 8 vertically arranged on the mounting plate 1; a paper supporting plate 13 arranged at the end of the paper pressing cylinder 8 to press the paper pressing plate 20 of the paper stack 100 during the movement of the paper stack 100.

[0029] The paper pressing cylinder 8 is connected to the outer wall of the paper pressing cylinder 8 via a cylinder fixing seat 7 provided on the mounting plate 1 .

[0030] Two cylinder mounting seats 2 for fixing the rodless cylinder 4 are provided on the mounting plate 1 , and the rodless cylinder 4 is provided between the two cylinder mounting seats 2 .

[0031] The slider of the rodless cylinder 4 is provided with a cylinder connecting plate 3 for connecting to the supporting paper board 13; the cylinder connecting plate 3 is connected to the slider of the rodless cylinder 4.

[0032] A guide rail mechanism 300 is further provided between the cylinder connecting plate 3 and the slider of the rodless cylinder 4; the guide rail mechanism 300 enables the paper supporting paper board 13 to lift the paper stack 100 and move smoothly and at a uniform speed.

[0033] The guide rail mechanism 300 includes two linear guide rails 9 respectively arranged on both sides of the bottom of the mounting plate 1; a guide rail slider 12 is respectively provided on the two linear guide rails 9; a slider mounting plate 11 is provided on the guide rail slider 12; the slider mounting plate 11 is fixedly connected to the cylinder connecting plate 3; the slider of the rodless cylinder 4 drives the cylinder connecting plate 3 to move, and the cylinder connecting plate 3 drives the guide rail slider 12 connected to the cylinder connecting plate 3 to move on the linear guide rail 9, thereby causing the paper support plate 13 connected to the cylinder connecting plate 3 to reciprocate.

[0034] The mounting plate 1 is bolted to the paper baffle 10; the mounting plate 1 is bolted to the cylinder fixing seat 7; the cylinder fixing seat 7 is bolted to the mounting plate 1; the mounting plate 1 is bolted to the two linear guide rails 9; the guide rail slider 12 is bolted to the slider mounting plate 11; the slider mounting plate 11 is bolted to the paper support plate 13; the slider of the rodless cylinder 4 is bolted to the cylinder connecting plate 3; the cylinder connecting plate 3 is bolted to the slider mounting plate 11.

[0035] The mounting plate 1 is provided with a strip-shaped through hole 21 parallel to the linear guide rail 9 ; the cylinder connecting plate 3 passes through the strip-shaped through hole 21 and reciprocates in the strip-shaped through hole 21 .

[0036] The mounting plate 1 is provided with a connecting sleeve 6 , and the connecting sleeve 6 is provided with a connecting shaft 5 ; the connecting shaft 5 is connected to the robotic arm.

[0037] Two cylinder mounting bases 2 are bolted to the mounting plate 1; a rodless cylinder 4 is fixed to the cylinder mounting base 2 with nuts; a cylinder connecting plate 3 is bolted to the slider of the rodless cylinder 4; a connecting sleeve 6 is bolted to the mounting plate 1; a connecting shaft 5 is bolted to the connecting sleeve 6; a paper retainer 10 is bolted to the mounting plate 1; a cylinder fixing base 7 is bolted to the mounting plate 1; and a paper pressing cylinder 8 is bolted to the cylinder fixing base 7 and the mounting plate 1; two linear guide rails 9 are bolted to the mounting plate 1; a guide rail slider 12 is respectively installed on each of the two linear guide rails 9; a slider mounting plate 11 is bolted to the guide rail slider 12; a paper retainer 13 is bolted to the slider mounting plate 11; and a cylinder connecting plate 3 is bolted to the slider of the rodless cylinder 4 and further bolted to the slider mounting plate 11. The connecting shaft 5 is a universal shaft that can be connected to various types of robotic arms, driving the connecting shaft 5 to move up and down along the axial direction of the connecting shaft 5.

[0038] Preferred embodiment 2

[0039] Palletizing mechanical gripper: including, mounting plate 1; rodless cylinder 4 arranged on mounting plate 1; paper support plate 13 arranged on the slider of rodless cylinder 4; the reciprocating motion of the slider of rodless cylinder 4 drives paper support plate 13 to lift and move paper stack 100; paper stopper 10 is also vertically arranged on mounting plate 1; paper support plate 13 is a fork-shaped structure with L-shaped cross section, and paper stopper 10 is a fork-shaped structure; the end of the fork-shaped structure of paper stopper 10 intersects with the fork-shaped structure of paper support plate 13, and after paper support plate 13 lifts and moves paper stack 100 to the designated position, paper stack 100 is placed to the designated position by moving paper support plate 13 relative to paper stopper 10; mounting plate 1 is also provided with a pressing component 200 for pressing the paper stack during the movement of paper support plate 13 lifting and moving paper stack 100.

[0040] The pressing component 200 includes: a paper pressing cylinder 8 vertically arranged on the mounting plate 1; a paper supporting plate 13 arranged at the end of the paper pressing cylinder 8 to press the paper pressing plate 20 of the paper stack 100 during the movement of the paper stack 100.

[0041] The paper pressing cylinder 8 is connected to the outer wall of the paper pressing cylinder 8 via a cylinder fixing seat 7 provided on the mounting plate 1 .

[0042] Two cylinder mounting seats 2 for fixing the rodless cylinder 4 are provided on the mounting plate 1 , and the rodless cylinder 4 is provided between the two cylinder mounting seats 2 .

[0043] The slider of the rodless cylinder 4 is provided with a cylinder connecting plate 3 for connecting to the supporting paper board 13; the cylinder connecting plate 3 is connected to the slider of the rodless cylinder 4.

[0044] A guide rail mechanism 300 is further provided between the cylinder connecting plate 3 and the slider of the rodless cylinder 4; the guide rail mechanism 300 enables the paper supporting paper board 13 to lift the paper stack 100 and move smoothly and at a uniform speed.

[0045] The guide rail mechanism 300 includes two linear guide rails 9 respectively arranged on both sides of the bottom of the mounting plate 1; a guide rail slider 12 is respectively provided on the two linear guide rails 9; a slider mounting plate 11 is provided on the guide rail slider 12; the slider mounting plate 11 is fixedly connected to the cylinder connecting plate 3; the slider of the rodless cylinder 4 drives the cylinder connecting plate 3 to move, and the cylinder connecting plate 3 drives the guide rail slider 12 connected to the cylinder connecting plate 3 to move on the linear guide rail 9, thereby causing the paper support plate 13 connected to the cylinder connecting plate 3 to reciprocate.

[0046] The mounting plate 1 is bolted to the paper baffle 10; the mounting plate 1 is bolted to the cylinder fixing seat 7; the cylinder fixing seat 7 is bolted to the mounting plate 1; the mounting plate 1 is bolted to the two linear guide rails 9; the guide rail slider 12 is bolted to the slider mounting plate 11; the slider mounting plate 11 is bolted to the paper support plate 13; the slider of the rodless cylinder 4 is bolted to the cylinder connecting plate 3; the cylinder connecting plate 3 is bolted to the slider mounting plate 11.

[0047] The mounting plate 1 is provided with a strip-shaped through hole 21 parallel to the linear guide rail 9 ; the cylinder connecting plate 3 passes through the strip-shaped through hole 21 and reciprocates in the strip-shaped through hole 21 .

[0048] The mounting plate 1 is provided with a connecting sleeve 6 , and the connecting sleeve 6 is provided with a connecting shaft 5 ; the connecting shaft 5 is connected to the robotic arm.

[0049] Movement process and its working principle:

[0050] like Figure 2 As shown, first, the rodless cylinder 4 moves the paper supporting board 13 to pick up the paper stack 100, and the piston rod of the paper pressing cylinder 8 is in an extended state during the movement to press the paper stack 100.

[0051] like Figure 3 As shown, the stacking robot gripper moves to the specified position, first the piston rod of the paper pressing cylinder 8 is retracted to release the pressed paper stack, then the rodless cylinder 4 drives the paper support 13 to move to the left position, the paper stop 10 removes the paper stack 100, and places the paper stack 100 on the paper support 400.

Claims

1. A palletizing mechanical gripper, characterized in that: The invention comprises a mounting plate (1); a rodless cylinder (4) arranged on the mounting plate (1); a supporting paperboard (13) arranged on a slider of the rodless cylinder (4); the supporting paperboard (13) is driven by the reciprocating motion of the slider of the rodless cylinder (4) to lift and move the paper stack (100); a stopper paperboard (10) is also vertically arranged on the mounting plate (1); the supporting paperboard (13) is a fork-shaped structure with an L-shaped cross section, and the stopper paperboard (10) is a fork-shaped structure; the end of the fork-shaped structure of the stopper paperboard (10) and the fork-shaped structure of the supporting paperboard (13) intersect with each other, and after the supporting paperboard (13) lifts and moves the paper stack (100) to a designated position, the supporting paperboard (13) moves relative to the stopper paperboard (10) to place the paper stack (100) at the designated position; and a pressing component (200) is also provided on the mounting plate (1) for pressing the paper stack during the movement of the supporting paperboard (13) lifting and moving the paper stack (100).

2. The palletizing mechanical gripper according to claim 1, characterized in that: The pressing component (200) comprises: a paper pressing cylinder (8) vertically arranged on the mounting plate (1); and a paper supporting plate (13) arranged at the end of the paper pressing cylinder (8) for pressing the paper stack (100) during the movement of the paper stack (100).

3. The palletizing mechanical gripper according to claim 2, characterized in that: The paper pressing cylinder (8) is connected to the outer wall of the paper pressing cylinder (8) via a cylinder fixing seat (7) arranged on the mounting plate (1).

4. The palletizing mechanical gripper according to claim 1, characterized in that: Two cylinder mounting seats (2) for fixing the rodless cylinder (4) are arranged on the mounting plate (1), and the rodless cylinder (4) is arranged between the two cylinder mounting seats (2).

5. The palletizing mechanical gripper according to claim 3, characterized in that: A cylinder connecting plate (3) for connecting to a supporting paper board (13) is provided on the slider of the rodless cylinder (4); the cylinder connecting plate (3) is connected to the slider of the rodless cylinder (4).

6. The palletizing mechanical gripper according to claim 5, characterized in that: A guide rail mechanism (300) is also provided between the cylinder connecting plate (3) and the slider of the rodless cylinder (4); the guide rail mechanism (300) enables the paper supporting board (13) to lift the paper stack (100) and move it smoothly and at a uniform speed.

7. The palletizing mechanical gripper according to claim 6, characterized in that: The guide rail mechanism (300) comprises two linear guide rails (9) respectively arranged on both sides of the bottom of the mounting plate (1); a guide rail slider (12) is respectively arranged on the two linear guide rails (9); a slider mounting plate (11) is arranged on the guide rail slider (12); the slider mounting plate (11) is fixedly connected to the cylinder connecting plate (3); the slider of the rodless cylinder (4) drives the cylinder connecting plate (3) to move, and the cylinder connecting plate (3) drives the guide rail slider (12) connected to the cylinder connecting plate (3) to move on the linear guide rail (9), thereby causing the paper support plate (13) connected to the cylinder connecting plate (3) to reciprocate.

8. The palletizing mechanical gripper according to claim 7, characterized in that: The mounting plate (1) is bolted to the paper baffle (10); the mounting plate (1) is bolted to the cylinder fixing seat (7); the cylinder fixing seat (7) is bolted to the mounting plate (1); the mounting plate (1) is bolted to the two linear guide rails (9); the guide rail slider (12) is bolted to the slider mounting plate (11); the slider mounting plate (11) is bolted to the paper support plate (13); the rodless cylinder (4) slider is bolted to the cylinder connecting plate (3); and the cylinder connecting plate (3) is bolted to the slider mounting plate (11).

9. The palletizing mechanical gripper according to claim 8, characterized in that: A strip-shaped through hole (21) parallel to the linear guide rail (9) is provided on the mounting plate (1); the cylinder connecting plate (3) passes through the strip-shaped through hole (21) and reciprocates in the strip-shaped through hole (21).

10. The palletizing mechanical gripper according to claim 9, characterized in that: A connecting sleeve (6) is provided on the mounting plate (1), and a connecting shaft (5) is provided on the connecting sleeve (6); the connecting shaft (5) is connected to the mechanical arm.

Images