Stacking gripping apparatus for disassembling and holding bucket

Abstract

The utility model discloses a palletizing gripping apparatus for disassembling and grabbing barrels, which comprises a frame, a connecting flange is fixedly mounted at the top of the frame, pallet grappling hooks driven by first cylinders are rotatably mounted at two ends of the frame, a plurality of pneumatic suckers are arranged below the frame, a plurality of guide rods are fixedly connected to the tops of the pneumatic suckers, and the pneumatic suckers are connected with the guide rods. The guide rods are fixedly connected with the rack; through the arrangement of the second air cylinder, the connecting plate, the waist groove and the like, after the barrel cover is adsorbed by the starting suction cup, the second air cylinder is started, the barrel grabbing hooks can be driven to rotate on the corresponding hinge seats through the cooperation of the waist groove and the pin shaft, the three barrel grabbing hooks hook a flange at the opening of the packaging barrel, and therefore the packaging barrel and the barrel cover are grabbed at the same time; the barrel cover can be effectively prevented from being separated, a tray is grabbed by arranging a first air cylinder, a rotating shaft, a tray grabbing hook and the like, and therefore the investment of equipment and labor cost is reduced, and the use effect is good.

Description

Technical Field

[0001] The utility model relates to the technical field of packaging logistics, in particular to a pallet-removing, barrel-grabbing and palletizing grabbing device. Background Art

[0002] Packaging barrels are one of the commonly used packaging methods in the food, chemical, pharmaceutical and other industries. Currently, most commonly used packaging barrel grippers use pneumatic suction cups to absorb the barrel lids to grab and stack packaging barrels. However, for some packaging barrels with loose connections between the barrel body and the barrel lid, this gripping method can easily cause the barrel body to separate from the barrel lid when moving the packaging barrel, posing a high risk of falling parts. In addition, existing packaging barrel grippers can only grab packaging barrels and do not have the function of removing and grabbing pallets. When stacking packaging barrels on pallets, another robot or manual labor is required to place the pallets, resulting in high production costs and room for improvement. Utility Model Content

[0003] The purpose of the utility model is to provide a pallet-removing, bucket-grabbing and palletizing gripper to solve the problems raised in the above-mentioned background technology.

[0004] To achieve the above objectives, the present invention provides the following technical solutions:

[0005] A pallet-removing, bucket-grabbing and palletizing gripper comprises a frame, a connecting flange being fixedly mounted on the top of the frame, pallet hooks driven by a first cylinder being rotatably mounted at both ends of the frame, a plurality of pneumatic suction cups being arranged below the frame, a plurality of guide rods being fixedly connected to the tops of the pneumatic suction cups, and the guide rods being fixedly connected to the frame, three bucket hooks being rotatably mounted on the outside of each pneumatic suction cup inside the frame through a hinged seat, and a driving mechanism for driving the bucket hooks being mounted on the inner side of the frame at positions corresponding to each pneumatic suction cup.

[0006] As a further solution of the present invention: the driving mechanism includes a second cylinder fixed in the frame, the second cylinder is located directly above the corresponding pneumatic suction cup, the push rod end of the second cylinder is fixedly connected to a mounting plate, the top of the mounting plate is located on both sides of the corresponding barrel grab hook and is fixedly connected to a connecting plate, the outer wall of the connecting plate is provided with a waist groove, the outer wall of the barrel grab hook and the corresponding waist groove are provided with a pin shaft, and the two ends of the pin shaft are extended from the corresponding waist groove and are fixedly sleeved with a limiting ring.

[0007] As a further solution of the present invention: the mounting plate is provided with through holes adapted to the guide rods, and the guide rods pass through the corresponding through holes, the outer walls of the guide rods are slidably sleeved with sliding sleeves, and the sliding sleeves are fixedly connected to the corresponding mounting plates.

[0008] As a further solution of the present invention: rotating shafts are rotatably installed at both ends of the inner side of the frame, two pallet grabbers are fixedly sleeved on each of the rotating shafts, and the two pallet grabbers located on the same rotating shaft are fixedly connected to each other through a connecting rod.

[0009] As a further solution of the present invention: there are two first cylinders, and the two first cylinders are rotatably mounted on the frame, and the push rod ends of the first cylinders are rotatably connected to the corresponding pallet grab hooks through joints.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] The utility model provides a second cylinder, a connecting plate, a waist groove, etc., and after the barrel cover is adsorbed by a starting suction cup, the second cylinder is started, and the cooperation of the waist groove and the pin shaft can be used to drive the barrel grab hook to rotate on the corresponding hinged seat, so that the three barrel grab hooks hook the flange at the opening of the packaging barrel, thereby grabbing the packaging barrel and the barrel cover at the same time, which can effectively prevent the barrel cover from detaching. By providing the first cylinder, the rotating shaft, the pallet grab hook, etc., the pallet is grabbed, thereby reducing the investment in equipment and labor costs, and the use effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a structural diagram of a pallet-removing, bucket-grabbing and palletizing grabber.

[0013] Figure 2 for Figure 1 Enlarged view of point A in the middle.

[0014] Figure 3 This is a schematic diagram of the structure of the bucket gripper in a pallet removal and pallet stacking gripper.

[0015] Among them, the frame 1, connecting flange 2, rotating shaft 3, pallet grab hook 4, first cylinder 5, guide rod 6, pneumatic suction cup 7, mounting plate 8, sliding sleeve 9, second cylinder 10, connecting plate 11, waist groove 12, hinged seat 13, barrel grab hook 14, pin shaft 15, limiting ring 16, packaging barrel 17, and barrel cover 18. DETAILED DESCRIPTION

[0016] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention will be further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0017] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0018] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation as described in the specification. Therefore, it should not be understood as a limitation on the present invention.

[0019] Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the technical features being referred to. Thus, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features.

[0020] See also Figures 1 to 3 In an embodiment of the utility model, a pallet-removing, bucket-grabbing and palletizing gripper comprises a frame 1, a connecting flange 2 for connecting to an industrial robot is fixedly mounted on the top of the frame 1, pallet grabbers 4 driven by a first cylinder 5 are rotatably mounted at both ends of the frame 1, a plurality of pneumatic suction cups 7 are arranged under the frame 1, a plurality of guide rods 6 are fixedly connected to the top of the pneumatic suction cups 7, and the guide rods 6 are fixedly connected to the frame 1, and three bucket grabbers 14 are rotatably mounted on the outside of each pneumatic suction cup 7 inside the frame 1 through a hinge seat 13, and a driving mechanism for driving the bucket grabber 14 is installed at the inner side of the frame 1 and at the corresponding positions of each pneumatic suction cup 7.

[0021] The utility model adopts the above-mentioned solution, after the gripper is connected to the industrial robot, the empty pallet is placed at a preset position, the industrial robot can move the frame 1 to the top of the empty pallet, and then start the first cylinder 5 to drive the pallet claw hook 4 to rotate on the frame 1, so that the pallet claw hook 4 located at both ends of the frame 1 can be used to clamp the empty pallet, and then the industrial robot can be used to move the empty pallet to the palletizing station and release the pallet;

[0022] When grabbing the packaging barrel 17, the industrial robot moves the frame 1 to the top of the packaging barrel 17, and after aligning the pneumatic suction cup 7 and the barrel cover 18 in the vertical direction, the frame 1 is driven downward until the pneumatic suction cup 7 and the barrel cover 18 are in contact, and then the suction cup 7 is started to adsorb the barrel cover 18. The corresponding barrel claw hook 14 is driven to rotate by the driving mechanism, so that the three barrel grabbers 14 can hook the flange at the opening of the packaging barrel 17, thereby grabbing the packaging barrel 17 and the barrel cover 18 at the same time, and moving them to the pallet for stacking, which can effectively prevent the barrel cover 18 from detaching and has a good use effect.

[0023] Specific combination Figure 2 、 Figure 3 In one embodiment of the present utility model, the driving mechanism includes a second cylinder 10 fixed in the frame 1, and the second cylinder 10 is located directly above the corresponding pneumatic suction cup 7. The push rod end of the second cylinder 10 is fixedly connected to the mounting plate 8. The top of the mounting plate 8 is located on both sides of the corresponding barrel grab 14 and is fixedly connected to a connecting plate 11. The outer wall of the connecting plate 11 is provided with a waist groove 12, and the outer wall of the barrel grab 14 and the corresponding waist groove 12 are both provided with a pin shaft 15, and the two ends of the pin shaft 15 are extended from the corresponding waist groove 12 and are fixedly sleeved with a limit ring 16.

[0024] By starting the second cylinder 10, the mounting plate 8 can be pushed up and down to a certain extent, so that the waist groove 12 and the pin shaft 15 can cooperate to drive the barrel hook 14 to rotate on the corresponding hinge seat 13, thereby achieving the grabbing or releasing of the packaging barrel 17.

[0025] Specific combination Figure 3 In one embodiment of the present invention, the mounting plate 8 is provided with a through-hole adapted to the guide rod 6, and the guide rod 6 passes through the corresponding through-hole. The outer wall of the guide rod 6 is slidably sleeved with a sliding sleeve 9, and the sliding sleeve 9 is fixedly connected to the corresponding mounting plate 8. Through the cooperation between the sliding sleeve 9 and the guide rod 6, the stability of the mounting plate 8 sliding up and down can be effectively improved.

[0026] Specific combination Figure 1 、 Figure 2 In one embodiment of the present utility model, a rotating shaft 3 is rotatably installed at both ends of the inner side of the frame 1, and two pallet grab hooks 4 are fixedly sleeved on each of the rotating shafts 3, and the two pallet grab hooks 4 located on the same rotating shaft 3 are fixedly connected to each other through a connecting rod; there are two first cylinders 5, and the two first cylinders 5 are rotatably installed on the frame 1, and the push rod end of the first cylinder 5 is rotatably connected to the corresponding pallet grab hook 4 through a joint.

[0027] By starting the first cylinder 5 , the corresponding pallet grabbing hook 4 and the rotating shaft 3 can be driven to rotate relative to the frame 1 , thereby achieving the grabbing of the pallet.

[0028] Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments, or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A pallet grabbing and stacking grabber, characterized by: The invention comprises a frame (1), a connecting flange (2) is fixedly installed on the top of the frame (1), pallet grab hooks (4) driven by a first cylinder (5) are rotatably installed at both ends of the frame (1), a plurality of pneumatic suction cups (7) are arranged below the frame (1), a plurality of guide rods (6) are fixedly connected to the top of the pneumatic suction cups (7), and the guide rods (6) are fixedly connected to the frame (1), three bucket grab hooks (14) are rotatably installed on the outside of each pneumatic suction cup (7) inside the frame (1) through a hinge seat (13), and a device for driving the bucket grab hook (14) is installed on the inner side of the frame (1) and at the corresponding position of each pneumatic suction cup (7). The driving mechanism comprises a second cylinder (10) fixed in the frame (1), the second cylinder (10) is located just above the corresponding pneumatic suction cup (7), the push rod end of the second cylinder (10) is fixedly connected to a mounting plate (8), the top of the mounting plate (8) is located on both sides of the corresponding barrel grab (14) and is fixedly connected to a connecting plate (11), the outer wall of the connecting plate (11) is provided with a waist groove (12), the outer wall of the barrel grab (14) and the waist groove (12) are respectively provided with a pin shaft (15), and both ends of the pin shaft (15) are extended from the corresponding waist groove (12) and fixedly sleeved with a limit ring (16).

2. The pallet removal and stacking grabber according to claim 1, characterized in that: The mounting plate (8) is provided with a through-hole adapted to the guide rod (6), and the guide rod (6) passes through the corresponding through-hole. The outer wall of the guide rod (6) is slidably sleeved with a sliding sleeve (9), and the sliding sleeve (9) is fixedly connected to the corresponding mounting plate (8).

3. The pallet removal and palletizing grabbing device according to claim 1, characterized in that: Rotating shafts (3) are rotatably mounted at both ends of the inner side of the frame (1), and two pallet grab hooks (4) are fixedly sleeved on each rotating shaft (3), and the two pallet grab hooks (4) located on the same rotating shaft (3) are fixedly connected to each other via a connecting rod.

4. The pallet removal and palletizing grabbing device according to claim 3, characterized in that: There are two first cylinders (5), and both first cylinders (5) are rotatably mounted on the frame (1). The push rod ends of the first cylinders (5) are rotatably connected to the corresponding pallet grab hooks (4) through joints.

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