Grabbing and clamping device for stacking barrels

Abstract

The utility model discloses a stacking barrel grabbing and clamping device which comprises a stand column, a first linear moving module is arranged on the stand column in the vertical direction, a mechanical arm is arranged on a sliding block of the first linear moving module, a grabbing and clamping mechanism is arranged at the end of the mechanical arm, the grabbing and clamping mechanism comprises a supporting plate, and four vertically-arranged grabbing and clamping rods are arranged at the lower end of the supporting plate. The four grabbing and clamping rods are evenly distributed in a circumferential mode, fixed first clamping teeth are arranged at the ends of the grabbing and clamping rods, second clamping teeth are arranged in the middles of the grabbing and clamping rods, the first clamping teeth and the second clamping teeth face the inner sides of the grabbing and clamping rods, and the second clamping teeth are fixed to lifting mechanisms of the grabbing and clamping rods. According to the scheme, the barrels at multiple stations can be separated at the same time, the working efficiency is effectively improved, and the separation effect between the barrels is good.

Description

Technical Field

[0001] This utility model relates to the field of production technology, specifically to a gripping device for stacking barrels. Background Technology

[0002] In the production of various containers such as packaging drums and garbage bins, the produced drums are stacked together, typically dozens of drums stacked together. However, during subsequent packaging or separation, the stacked drums need to be separated sequentially. Current technologies mostly rely on manual separation, which is costly, inefficient, and often results in poor separation performance, as separating one drum can easily pull out the next, leading to ineffective separation. Therefore, there is an urgent need to develop a device that can replace manual labor for separating stacked drums. Utility Model Content

[0003] To address the aforementioned shortcomings of existing technologies, this utility model provides a gripping device for stacked buckets, which can replace manual labor in separating stacked buckets and achieves good separation results.

[0004] To achieve the above-mentioned objectives, the technical solution adopted by this utility model is as follows:

[0005] A gripping device for stacking buckets is provided, comprising a column, a first linear motion module vertically arranged on the column, a robotic arm mounted on the slider of the first linear motion module, a gripping mechanism at the end of the robotic arm, the gripping mechanism comprising a support plate, four vertically arranged gripping rods evenly distributed in a circle at the lower end of the support plate, a fixed first clamping tooth at the end of the gripping rod, and a second clamping tooth at the middle of the gripping rod, both the first and second clamping teeth facing the inner side of the gripping rod, the second clamping tooth being fixed to a lifting mechanism of the gripping rod.

[0006] Furthermore, the lifting mechanism is a second linear motion module, and the second clamping teeth are set on the slider of the second linear motion module. The slider of the second linear motion module moves along the length of the gripping rod.

[0007] Furthermore, a slot is provided on the gripping rod, and the second linear motion module is installed in the slot so that the second linear motion module is flush with the surface of the gripping rod.

[0008] Furthermore, both the second clamping tooth and the first clamping tooth include a mounting base, on which an electric telescopic rod is provided, and at the end of the electric telescopic rod is a limit block.

[0009] Furthermore, one of the gripping bars is equipped with an infrared transmitter, and the other gripping bar is equipped with an infrared receiver, with both the infrared receiver and the infrared transmitter mounted above the second gripping tooth.

[0010] Furthermore, the robotic arm includes a first adapter arm, a hinge seat for mounting the first adapter arm is provided on the slider of the first linear motion module, and a first drive motor is provided on the hinge shaft between the first adapter arm and the hinge seat. The first adapter arm is rotatably connected to a second adapter arm, a second drive motor is provided on the rotation shaft between the first adapter arm and the second adapter arm, a first turntable is provided at the end of the second adapter arm, the first turntable is fixed on the rotation shaft of the third drive motor, and a support plate is mounted on the first turntable.

[0011] Furthermore, there are four gripping mechanisms, and the support plates of the four gripping mechanisms are arranged in a clover shape. All four support plates are fixed on the second turntable in the center, and the second turntable is connected to the first turntable.

[0012] The beneficial effects of this invention are as follows: This device is installed on a barrel production line to sequentially separate multiple stacked barrels. After the stacked barrels are transported to the workstation, the first linear motion module drives the gripping mechanism to descend, causing the upper second gripper tooth to clamp the topmost barrel, while the lower first gripper tooth abuts against the upper edge of the second barrel. The first barrel is then fixed in place by the extension of the electric telescopic rod. The second linear motion module then drives the second gripper tooth to move upward. During this process, the second gripper tooth pulls the first barrel out through the upper edge of the barrel. Since the second barrel is held in place by the first gripper tooth, separation is achieved during the removal of the first barrel. The robotic arm and the first linear motion module then move the separated topmost barrel to the next workstation. This solution allows for the simultaneous separation of barrels at multiple workstations, effectively increasing work efficiency and providing excellent barrel separation results. Attached Figure Description

[0013] Figure 1 This is a structural diagram of the gripping device for stacking buckets.

[0014] Figure 2 This is a schematic diagram showing the distribution of the four gripping mechanisms.

[0015] Figure 3 This is a schematic diagram of the installation of the second linear motion module.

[0016] Figure 4 This is a structural diagram of the second clamping tooth and the first clamping tooth.

[0017] Among them, 1. Column, 2. First linear movement module, 3. First adapter arm, 4. Hinge seat, 5. Limiting block, 6. Second adapter arm, 7. Mounting ring, 8. Support plate, 9. Grip bar, 10. Infrared transmitter, 11. Second gripper tooth, 12. First gripper tooth, 13. Strip groove, 14. Second linear movement module, 15. Electric telescopic rod, 16. Mounting seat, 17. Second turntable, 18. First turntable. Detailed Implementation

[0018] The specific embodiments of this utility model are described below to enable those skilled in the art to understand this utility model. However, it should be understood that this utility model is not limited to the scope of the specific embodiments. For those skilled in the art, as long as various changes are within the spirit and scope of this utility model as defined and determined by the appended claims, these changes are obvious. All utility model creations utilizing the concept of this utility model are within the scope of protection.

[0019] like Figure 1 As shown, a gripping device for stacked buckets includes a column 1, a first linear motion module 2 vertically arranged on the column 1, a robotic arm arranged on the slider of the first linear motion module 2, a gripping mechanism at the end of the robotic arm, the gripping mechanism including a support plate 8, four vertically arranged gripping rods 9 arranged at the lower end of the support plate 8, the four gripping rods 9 being evenly distributed in a circle, a fixed first clamping tooth 12 at the end of the gripping rod 9, a second clamping tooth 11 arranged in the middle of the gripping rod 9, the first clamping tooth 12 and the second clamping tooth 11 both facing the inner side of the gripping rod 9, and the second clamping tooth 11 being fixed on the lifting mechanism of the gripping rod 9.

[0020] In this embodiment, as Figure 2 As shown, the lifting mechanism is a second linear motion module 14. The second gripper 11 is mounted on the slider of the second linear motion module 14, and the slider moves along the length of the gripping rod 9. The second linear motion module 14 drives the second gripper 11 to lift, facilitating the separation of the two barrels. A slot 13 is provided on the gripping rod 9, and the second linear motion module 14 is installed within the slot 13, making the second linear motion module 14 flush with the surface of the gripping rod 9. This reduces the space occupied by the second linear motion module 14 in the gripping mechanism, making the overall structure more compact.

[0021] In this embodiment, as Figure 4 As shown, both the second clamping tooth 11 and the first clamping tooth 12 include a mounting base 19, on which an electric telescopic rod 20 is provided. A limit block 5 is provided at the end of the electric telescopic rod 20. When the second clamping tooth 11 and the first clamping tooth 12 are in position, the electric telescopic rod 20 drives the limit block 5 to clamp the outer wall of the barrel. After the second clamping tooth 11 has risen, the first clamping tooth 12 releases the second barrel, while the second clamping tooth 11 continues to hold it, facilitating the movement of the first barrel to the next workstation, while the second barrel remains in its original position.

[0022] In this embodiment, one gripping rod 9 is equipped with an infrared transmitter 10, and the other gripping rod 9 is equipped with an infrared receiver. Both the infrared receiver and the infrared transmitter 10 are mounted above the second gripping tooth 11. The infrared receiver and the infrared transmitter 10 are diagonally distributed to sense whether the second gripping tooth 11 has moved to the position below the upper edge of the barrel. When it moves into position, the infrared light path is blocked, the infrared transmitter triggers a change in signal reception, and the descent stops.

[0023] In this embodiment, the ranging sensor 10 can be an infrared ranging sensor or a laser ranging sensor to detect the height of the gripping mechanism as it descends. The ranging sensor 10 measures the distance from the bottom of the first bucket. After the gripping mechanism descends to its position, the second gripping tooth 11 clamps onto the outer wall of the first bucket, and the first gripping tooth 12 clamps onto the outer wall of the second bucket.

[0024] In this embodiment, the robotic arm includes a first adapter arm 3. A hinge seat 4 for mounting the first adapter arm 3 is provided on the slider of the first linear motion module 2. A first drive motor is mounted on the hinge shaft between the first adapter arm 3 and the hinge seat 4. The first adapter arm 3 is rotatably connected to a second adapter arm 6. A second drive motor is mounted on the rotation shaft between the first adapter arm 3 and the second adapter arm 6. A first turntable 18 is provided at the end of the second adapter arm 6. The first turntable 18 is fixed on the rotation shaft of a third drive motor. A support plate 8 is mounted on the first turntable 18. Mounting rings 7 for mounting the first drive motor, the second drive motor, the third drive motor, and related transmission mechanisms are provided at both ends of the second adapter arm 6 and the first adapter arm 3. By driving the second adapter arm 6 and the first adapter arm 3 to rotate respectively, the separated bucket is brought to the next workstation, exhibiting good flexibility and a wide range of motion for the robotic arm.

[0025] In this embodiment, as Figure 3 As shown, there are four gripping mechanisms, with the support plates 8 of the four gripping mechanisms arranged in a clover shape. All four support plates 8 are fixed on the central second turntable 17, which is connected to the first turntable 18. The third drive motor can drive the second turntable 17 and the first turntable 18 to rotate, facilitating the adjustment of the relative positions of the four gripping mechanisms and the buckets below, ensuring that all four buckets can be gripped.

[0026] This device is installed on a barrel production line to sequentially separate multiple stacked barrels. After the stacked barrels are transported to the workstation, the first linear motion module 2 drives the gripping mechanism to descend, causing the upper second gripper 11 to clamp the topmost barrel, while the lower first gripper 12 abuts against the upper edge of the second barrel. The first barrel is then secured by the extension of the electric telescopic rod 20. The second linear motion module 14 then drives the second gripper 11 upwards. During this process, the second gripper 11 pulls the first barrel out through the upper edge of the barrel, while the second barrel, held in place by the first gripper 12, is thus separated from the first barrel. The robotic arm and the first linear motion module 2 then move the separated topmost barrel to the next workstation. This solution allows for simultaneous separation of barrels at multiple workstations, effectively increasing work efficiency and providing excellent barrel separation results.

Claims

1. A gripping device for stacked buckets, characterized in that, The device includes a column, on which a first linear motion module is vertically mounted. A robotic arm is mounted on the slider of the first linear motion module. A gripping mechanism is mounted at the end of the robotic arm. The gripping mechanism includes a support plate. Four vertically mounted gripping rods are mounted at the lower end of the support plate. The four gripping rods are evenly distributed in a circle. A fixed first gripping tooth is mounted at the end of each gripping rod. A second gripping tooth is mounted in the middle of each gripping rod. Both the first and second gripping teeth face inward towards the gripping rod. The second gripping tooth is fixed to a lifting mechanism of the gripping rod.

2. The gripping device for stacking barrels according to claim 1, characterized in that, The lifting mechanism is a second linear motion module, and the second clamping teeth are disposed on the slider of the second linear motion module. The slider of the second linear motion module moves along the length of the gripping rod.

3. The gripping device for stacking barrels according to claim 2, characterized in that, The gripping rod has a slot, and the second linear motion module is installed in the slot so that the second linear motion module is flush with the surface of the gripping rod.

4. The gripping device for stacking barrels according to claim 3, characterized in that, Both the second clamping tooth and the first clamping tooth include a mounting base, on which an electric telescopic rod is provided, and at the end of the electric telescopic rod is a limit block.

5. The gripping device for stacking barrels according to claim 1, characterized in that, One of the gripping rods is equipped with an infrared transmitter, and the other gripping rod is equipped with an infrared receiver. Both the infrared receiver and the infrared transmitter are mounted above the second gripping tooth.

6. The gripping device for stacking barrels according to claim 1, characterized in that, The robotic arm includes a first adapter arm. A hinge seat for mounting the first adapter arm is provided on the slider of the first linear motion module. A first drive motor is provided on the hinge shaft between the first adapter arm and the hinge seat. The first adapter arm is rotatably connected to a second adapter arm. A second drive motor is provided on the rotation shaft between the first adapter arm and the second adapter arm. A first turntable is provided at the end of the second adapter arm. The first turntable is fixed on the rotation shaft of a third drive motor. The support plate is mounted on the first turntable.

7. The gripping device for stacking barrels according to claim 6, characterized in that, The gripping mechanism is provided in four parts, and the support plates of the four gripping mechanisms are arranged in a four-leaf clover pattern. All four support plates are fixed on the second turntable in the center, and the second turntable is connected to the first turntable.

Images