Tray grabbing mechanism

Abstract

The utility model discloses a tray grabbing mechanism, which belongs to the technical field of tray grabbing and comprises a mechanical arm mounted on equipment, a gripper is mounted on the mechanical arm and comprises a mounting fixing plate mounted on the mechanical arm, and two groups of vertical plates are arranged on the front side of the mounting fixing plate. A bidirectional air cylinder is installed on the installation fixing plate, the bidirectional air cylinder drives the vertical plate to slide on the installation fixing plate, and an installation plate is arranged on the outer side of the vertical plate. Through cooperation of the mechanical arm, the linear distance of a tray on a complex transfer path can be shortened, meanwhile, the transfer time can be shortened, and the tray transfer device is faster and more convenient to use; the problems that a traditional linear transfer structure is complex and occupies a large space are avoided, meanwhile, the pneumatic claw is moved in two directions, a tray is clamped conveniently, then the occupied space of the claw is reduced, and the tray grabbing mechanism is more flexible.

Description

Technical Field

[0001] The utility model relates to the technical field of pallet grabbing, in particular to a pallet grabbing mechanism. Background Art

[0002] Pallets are the medium that transforms static cargo into dynamic cargo. They are a loading platform, a movable platform, or, in other words, a movable surface. Even cargo that would otherwise lose its mobility when placed on the ground becomes mobile once loaded onto a pallet. This is because cargo on a pallet is always ready for movement. This dynamic loading and unloading method, using pallets as a fundamental tool, is called pallet handling.

[0003] In the prior art, Chinese utility model publication number CN212892760U discloses a pallet loading and unloading structure comprising a base plate, a conveying mechanism, a loading mechanism, and a unloading mechanism. The conveying mechanism is disposed below the loading and unloading mechanisms. Both the loading and unloading mechanisms include a pallet module and a lifting module. The pallet module comprises a frame disposed on the base plate and a plurality of cylinders surrounding the frame. The lifting module is disposed below the frame. The output ends of the cylinders are provided with load-bearing protrusions that mate with grooves on the pallet. This utility model is applicable to the field of automated production.

[0004] The pallet module in the above technical solution needs to cooperate with the loading mechanism and the unloading mechanism to transfer the pallet. At the same time, a conveying mechanism needs to be set between the loading mechanism and the unloading mechanism to transfer the pallet between the loading mechanism and the unloading mechanism. This structure occupies a large space and the transfer path is long, resulting in low pallet transfer efficiency. Utility Model Content

[0005] The purpose of the present utility model is to provide a pallet grasping mechanism, which realizes multi-angle rotation and up and down telescopic movement through the setting of a mechanical arm, so as to facilitate the rapid transfer of the pallet and directly transfer the pallet. Then, the structural setting of the claw simplifies the clamping structure of the pallet, facilitates the reduction of the overall volume of the grasping mechanism, and facilitates the transfer of the pallet, so as to solve the problems raised in the above-mentioned background technology.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a pallet grasping mechanism, comprising a robotic arm mounted on a device, a gripper mounted on the robotic arm, the gripper comprising a mounting plate mounted on the robotic arm, two groups of vertical plates being provided on the front of the mounting plate, a bidirectional cylinder being provided on the mounting plate, the bidirectional cylinder driving the vertical plate to slide on the mounting plate, a mounting plate being provided on the outer side of the vertical plate, an air gripper being mounted on the mounting plate, a driving cylinder for driving the air gripper being mounted on the mounting plate, and the moving direction of the air gripper being perpendicular to the moving direction of the vertical plate.

[0007] Preferably, two sets of transverse slide rails are installed on the front of the mounting plate, and the back of the vertical plate is slidably arranged on the transverse slide rails.

[0008] Preferably, a support plate is fixed to the top of the vertical plate, a pneumatic push rod is installed on the top of the support plate, and a piston rod of the pneumatic push rod is fixedly connected to the top of the mounting plate.

[0009] Preferably, a vertical slide rail is fixed on the surface of the vertical plate, and the side of the mounting plate away from the driving cylinder is slidably engaged with the outer side of the vertical slide rail.

[0010] Preferably, buffers are installed on both sides of the mounting plate, and buffer blocks that are in contact with the buffers are provided on the vertical plate.

[0011] Preferably, the robotic arm includes a fixed seat, a first rotating cylinder is installed on the top of the fixed seat, the piston rod of the first rotating cylinder is fixed to a support arm, a mounting seat is provided on the side of the support arm away from the fixed seat, a second rotating cylinder is fixed on the top of the mounting seat, the piston rod of the second rotating cylinder passes through the mounting seat and is fixedly connected to the support arm, a telescopic cylinder is installed on the side of the mounting seat away from the second rotating cylinder, the piston rod of the telescopic cylinder passes through the mounting seat and is connected to a connecting rod, and the bottom of the connecting rod is fixed to the mounting plate.

[0012] Compared with the prior art, the beneficial effects of the present invention are:

[0013] 1. The utility model can reduce the linear distance of the pallet on the complex transfer path through the cooperation of the robotic arm, and at the same time shorten the transfer time, making it faster and more convenient, avoiding the complexity of the traditional linear transfer structure and the large space occupied. At the same time, the air claw can move in both directions to facilitate the clamping of the pallet, thereby reducing the space occupied by the claw and making the pallet grasping mechanism more flexible.

[0014] 2. The utility model facilitates the positioning of the vertical plate and limits the sliding distance of the vertical plate on the mounting plate through the cooperation of the buffer and the buffer block, while achieving the purpose of buffering and deceleration to ensure the stable operation of the device. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0016] Figure 2 This is a schematic diagram of the three-dimensional structure of the air gripper of the utility model;

[0017] Figure 3 It is a schematic diagram of the three-dimensional structure of the robotic arm of the present invention.

[0018] Numbers in the figure: 1. Robotic arm; 101. Fixed seat; 102. First rotary cylinder; 103. Support arm; 104. Mounting seat; 105. Second rotary cylinder; 106. Telescopic cylinder; 107. Connecting rod; 2. Gripper; 3. Mounting plate; 4. Vertical plate; 5. Bidirectional cylinder; 6. Mounting plate; 7. Air gripper; 8. Driving cylinder; 9. Horizontal slide rail; 10. Support plate; 11. Pneumatic push rod; 12. Vertical slide rail; 13. Buffer; 14. Buffer block. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] The utility model provides Figures 1 to 3 The pallet grabbing mechanism shown includes a robotic arm 1 mounted on the equipment, with a gripper 2 mounted on the robotic arm 1. The gripper 2 includes a mounting plate 3 mounted on the robotic arm 1, two sets of vertical plates 4 provided on the front of the mounting plate 3, and a bidirectional cylinder 5 mounted on the mounting plate 3. The bidirectional cylinder 5 drives the vertical plates 4 to slide on the mounting plate 3. A mounting plate 6 is provided on the outside of the vertical plates 4, and an air gripper 7 is mounted on the mounting plate 6. A driving cylinder 8 for driving the air gripper 7 is mounted on the mounting plate 6. The moving direction of the air gripper 7 is perpendicular to the moving direction of the vertical plates 4.

[0021] Through the cooperation of the robot arm 1, the linear distance of the pallet on the complex transfer path can be shortened, and the transfer time can be shortened, which is faster and more convenient, avoiding the complexity of the traditional linear transfer structure and the large space occupied. At the same time, the air claw 7 can be moved in both directions to facilitate the clamping of the pallet, and then the space occupied by the hand claw 2 is reduced, making the pallet grasping mechanism more flexible.

[0022] Two sets of transverse slide rails 9 are installed on the front of the fixed plate 3, and the back of the vertical plate 4 is slidably set on the transverse slide rails 9. The setting of the transverse slide rails 9 is convenient for limiting the vertical plate 4, ensuring that the vertical plate 4 can move horizontally stably on one side of the fixed plate 3 to avoid different positions of the air claws 7 on both sides.

[0023] A support plate 10 is fixed to the top of the vertical plate 4, and a pneumatic push rod 11 is installed on the top of the support plate 10. The piston rod of the pneumatic push rod 11 is fixedly connected to the top of the mounting plate 6. By starting the push rod, the mounting plate 6 is driven to move up and down, and the height of the mounting plate 6 is adjusted to facilitate the clamping of the pallet by the air claw 7.

[0024] A vertical slide rail 12 is fixed to the surface of the vertical plate 4, and the side of the mounting plate 6 away from the driving cylinder 8 slides and is clamped on the outer side of the vertical slide rail 12. The setting of the vertical slide rail 12 facilitates the limiting of the mounting plate 6 to prevent the mounting plate 6 from shaking, which causes the air gripper 7 to shake and is not conducive to the clamping and fixing of the pallet by the air gripper 7.

[0025] Buffers 13 are installed on both sides of the mounting plate 3, and buffer blocks 14 are provided on the vertical plate 4 to contact the buffers 13. Through the cooperation between the buffers 13 and the buffer blocks 14, the vertical plate 4 can be limited, and the sliding distance of the vertical plate 4 on the mounting plate 3 can be limited. At the same time, it plays the purpose of buffering and deceleration to ensure the stable operation of the device.

[0026] The robotic arm 1 includes a fixed base 101, a first rotating cylinder 102 is installed on the top of the fixed base 101, the piston rod of the first rotating cylinder 102 is fixed to the support arm 103, a mounting base 104 is provided on the side of the support arm 103 away from the fixed base 101, a second rotating cylinder 105 is fixed on the top of the mounting base 104, the piston rod of the second rotating cylinder 105 passes through the mounting base 104 and is fixedly connected to the support arm 103, a telescopic cylinder 106 is installed on the side of the mounting base 104 away from the second rotating cylinder 105, the piston rod of the telescopic cylinder 106 passes through the mounting base 104 and is connected to a connecting rod 107, the bottom of the connecting rod 107 is fixed on the mounting plate 3, through the setting of the structure of the robotic arm 1, it is convenient to cooperate with the first rotating cylinder 102 and the second rotating cylinder 105, so as to facilitate the multi-directional and multi-angle transfer of the hand claw 2, thereby improving the flexibility of the device.

[0027] During specific use, the first rotating cylinder 102 and the second rotating cylinder 105 respectively drive the support arm 103 and the mounting seat 104 to rotate, so that the gripper 2 is transferred in multiple directions. After the gripper 2 is moved above the pallet, the telescopic cylinder 106 drives the connecting rod 107 to move downward, and then the bidirectional cylinder 5 drives the vertical plate 4 to slide on the mounting fixed plate 3, and then drives the cylinder 8 to drive the claw 7 to open, and then the pneumatic push rod 11 drives the mounting plate 6 to move downward on the surface of the vertical plate 4, and the pallet is clamped by the claw 7, and then the pallet is transferred by the first rotating cylinder 102 and the second rotating cylinder 105.

[0028] 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. A pallet grabbing mechanism, comprising a robotic arm (1) mounted on a device, characterized in that: The robot arm (1) is provided with a gripper (2), the gripper (2) comprising a mounting plate (3) mounted on the robot arm (1), two groups of vertical plates (4) being provided on the front of the mounting plate (3), a bidirectional cylinder (5) being provided on the mounting plate (3), the bidirectional cylinder (5) driving the vertical plates (4) to slide on the mounting plate (3), a mounting plate (6) being provided on the outer side of the vertical plates (4), an air gripper (7) being provided on the mounting plate (6), a driving cylinder (8) for driving the air gripper (7) being provided on the mounting plate (6), and the moving direction of the air gripper (7) being perpendicular to the moving direction of the vertical plates (4).

2. A pallet grabbing mechanism according to claim 1, characterized in that: Two groups of transverse slide rails (9) are installed on the front of the mounting plate (3), and the back of the vertical plate (4) is slidably arranged on the transverse slide rails (9).

3. The tray grabbing mechanism according to claim 1, characterized in that: A support plate (10) is fixed to the top of the vertical plate (4), a pneumatic push rod (11) is installed on the top of the support plate (10), and the piston rod of the pneumatic push rod (11) is fixedly connected to the top of the mounting plate (6).

4. The tray grabbing mechanism according to claim 1, characterized in that: A vertical slide rail (12) is fixed on the surface of the vertical plate (4), and the side of the mounting plate (6) away from the driving cylinder (8) is slidably engaged with the outer side of the vertical slide rail (12).

5. The tray grabbing mechanism according to claim 1, characterized in that: Buffers (13) are installed on both sides of the mounting fixing plate (3), and buffer blocks (14) are provided on the vertical plate (4) and are in contact with the buffers (13).

6. The tray grabbing mechanism according to claim 1, characterized in that: The mechanical arm (1) comprises a fixed seat (101), a first rotary cylinder (102) is mounted on the top of the fixed seat (101), a piston rod of the first rotary cylinder (102) is fixed to a support arm (103), a mounting seat (104) is provided on a side of the support arm (103) away from the fixed seat (101), a second rotary cylinder (105) is fixed on the top of the mounting seat (104), a piston rod of the second rotary cylinder (105) passes through the mounting seat (104) and is fixedly connected to the support arm (103), a telescopic cylinder (106) is mounted on a side of the mounting seat (104) away from the second rotary cylinder (105), a piston rod of the telescopic cylinder (106) passes through the mounting seat (104) and is connected to a connecting rod (107), and the bottom of the connecting rod (107) is fixed to the mounting plate (3).

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