Robot palletizer gripper

Abstract

The utility model relates to the technical field of carrying and stacking, in particular to a robot palletizer gripper which comprises a rack, two limiting arms are symmetrically arranged on the left side and the right side of the rack, the upper portions of the limiting arms are rotationally connected with the rack through connecting shafts, the lower portions of the limiting arms are rotationally connected with rotating shafts, and a plurality of gripping fingers are arranged on the rotating shafts at intervals. A first driving mechanism and two second driving mechanisms are further arranged on the rack, and the first driving mechanism is in transmission connection with the two rotating shafts and used for driving the rotating shafts to rotate; the two second driving mechanisms are in transmission connection with the limiting arms on the two sides correspondingly and used for adjusting the distance between the two rotating shafts. The width of the gripper can be adjusted by additionally arranging the second driving mechanism, so that the gripper can be used in different working environments, meanwhile, the included angle between the limiting arm and the gripping fingers can be adjusted through cooperation of the first driving mechanism and the second driving mechanism, multiple working modes are achieved, and the practicability, universality and adjustability of the gripper are enhanced.

Description

Technical Field

[0001] This utility model relates to the field of handling and palletizing technology, specifically a palletizing robot gripper. Background Technology

[0002] The handling of finished bagged cement is unavoidable during cement production and transportation. To improve cement production and transportation efficiency and reduce labor costs, existing cement packaging production lines typically use palletizing robots to replace manual labor for cement handling and palletizing.

[0003] Existing palletizing robot grippers generally employ a drive structure to drive rotating rods, which in turn rotate gripper fingers. This rotation of the gripper fingers enables the handling of finished bagged cement. For example, the gripper for an automatic loading machine (application number CN202220047293.9) includes a mounting base with a fixed frame on its top surface. Two rows of connecting rods are vertically arranged opposite each other on the bottom surface of the mounting base. A rotating rod passes through the bottom of each row of connecting rods, and multiple gripper fingers are spaced apart on the rotating rod. A drive cylinder is mounted on the fixed frame, and a drive arm is hinged to the end of the piston rod of the drive cylinder. A drive shaft is fixed to the other end of the drive arm, parallel to the rotating rod. Both ends of the drive shaft are rotatably mounted on the mounting base via bearings. A drive wheel is mounted on the drive shaft, and a driven wheel is mounted on the rotating rod. The drive wheel and driven wheel are connected by a chain drive. Existing technologies have the following problems in operation: the fixed spacing between the connecting rods results in a narrow working space during loading and boxing operations, preventing the robot from adjusting to the working space and limiting its operational methods. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a palletizing robot gripper that can be used in narrow spaces.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A palletizing robot gripper includes a frame with two limiting arms symmetrically arranged on the left and right sides of the frame. The upper part of the limiting arms is rotatably connected to the frame via a connecting shaft, and the lower part of the limiting arms is rotatably connected to a rotating shaft. Several gripping fingers are spaced apart on the rotating shaft. The frame is also provided with a first drive mechanism and two second drive mechanisms. The first drive mechanism is drivenly connected to the two rotating shafts, and the two second drive mechanisms are drivenly connected to the two limiting arms respectively.

[0007] Compared with the prior art, the outstanding features of this utility model, which adopts the above technical solution, are:

[0008] By adding a second drive mechanism, the gripper width can be adjusted to suit different working environments. At the same time, through the cooperation of the first and second drive mechanisms, the angle between the limit arm and the gripper fingers can be adjusted to achieve multiple working modes, thereby enhancing the practicality, versatility and adjustability of the gripper.

[0009] As a preferred embodiment, a further technical solution of this utility model is:

[0010] Preferably, the first drive mechanism includes a first drive cylinder, a first connecting rod, a drive gear, a drive sprocket, a double-row transition sprocket, a transmission sprocket, a first chain, and a second chain. A first cylinder mounting base and a gear mounting base are provided on the frame. Two bearing seats are provided on the gear mounting base, and a rotating shaft is rotatably connected to each bearing seat. Two drive gears and two drive sprockets are provided. Each rotating shaft has one drive gear and one drive sprocket fitted onto it, and the two drive gears mesh with each other. The first drive cylinder is rotatably connected to the first cylinder mounting base. The output shaft of the first drive cylinder is provided with a first cylinder connector. One end of the first connecting rod is hinged to the first cylinder connector, and the other end is fixedly connected to any rotating shaft. A sliding bearing is provided on the connecting shaft. The double-row transition sprocket is fixed to the sliding bearing, and the transmission sprocket is fixed to the rotating shaft. A first chain is installed on one of the sprockets of the double-row transition sprocket on the same side as the drive sprocket, and a second chain is installed on the other sprocket of the double-row transition sprocket on the same side as the transmission sprocket.

[0011] Preferably, the second drive mechanism includes a second drive cylinder and a second connecting rod; two second drive cylinders are provided, corresponding to the left and right connecting shafts respectively; a second cylinder mounting seat is provided on the frame, the second drive cylinder is rotatably connected to the second cylinder mounting seat, a second cylinder connector is provided at the end of the piston rod, one end of the second connecting rod is hinged to the second cylinder connector, and the other end is fixedly connected to the corresponding connecting shaft; when the piston rod of the second drive cylinder moves, the second connecting rod rotates, driving the connecting shaft to rotate, and then driving the limit arm to rotate, thereby adjusting the distance between the rotating shafts and the overall width of the gripper, which is suitable for operation in narrow spaces.

[0012] Preferably, the frame is also equipped with a clamping mechanism, which includes a vertically arranged clamping cylinder with a pressure plate at the end of the piston rod of the clamping cylinder; the material is clamped down during the handling process to prevent the material from being thrown out when the gripper rotates during the handling process.

[0013] Preferably, there are two clamping cylinders, which are respectively located on the front and rear sides of the frame, and the pressure plate is horizontally set, with the two pressure plates extending to opposite sides; so that they can fully contact the material to be transported. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the structure of the palletizing robot gripper in this embodiment of the utility model;

[0015] Figure 2 This is another structural schematic diagram of the palletizing robot gripper in this embodiment of the utility model;

[0016] Figure 3 This is another structural schematic diagram of the palletizing robot gripper in this utility model embodiment;

[0017] Figure 4 This is another structural schematic diagram of the palletizing robot gripper in this utility model embodiment.

[0018] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Limiting arm; 3. Connecting shaft; 4. Rotating shaft; 5. Gripper finger; 6. First drive cylinder; 7. First connecting rod; 8. Drive gear; 10. Drive sprocket; 11. Double row transition sprocket; 13. Transmission sprocket; 14. First chain; 15. Second chain; 16. First cylinder mounting base; 1601. Weight reduction hole; 17. Bearing seat; 18. Second drive cylinder; 19. Second connecting rod; 20. Clamping cylinder; 21. Pressure plate; 22. First cylinder connector; 23. Second cylinder connector. Detailed Implementation

[0019] The present invention will be further described below with reference to specific embodiments. The purpose of this description is only to better understand the content of the present invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0020] like Figure 1 to Figure 4 As shown, this embodiment provides a palletizing robot gripper, including a frame 1. Two limiting arms 2 are symmetrically arranged on the left and right sides of the frame 1. The upper part of the limiting arms 2 is rotatably connected to the frame 1 through a connecting shaft 3, and the lower part of the limiting arms 2 is rotatably connected to a rotating shaft 4. A plurality of gripping fingers 5 are arranged at intervals on the rotating shaft 4. The frame 1 is also provided with a first driving mechanism and a second driving mechanism. The first driving mechanism is driven to the two rotating shafts 4 to drive the rotating shafts 4 to rotate, thereby causing the gripping fingers 5 on the left and right sides to open or close. There are two second driving mechanisms, which are respectively driven to the connecting shafts 3 of the two limiting arms 2 to adjust the distance between the two rotating shafts 4, thereby driving the limiting arms 2 to rotate. After the limiting arms 2 rotate, the distance between the two rotating shafts 4 at the bottom can be adjusted, thereby adjusting the working mode of the gripper.

[0021] When the limiting arm 2 is in a vertical position, its angle is 0°. The limiting arm 2 can rotate -45° to 45° around the axis of the connecting shaft 3. When the gripper finger 5 is in a vertical position, its angle is 0°. The gripper finger 5 can rotate -90° to 90° around the axis of the rotation shaft 4. Through the cooperation of the first drive mechanism and the second drive mechanism, the palletizing robot gripper in this embodiment can have at least two working modes. The first mode is: the angle between the limiting arm 2 and the gripper finger 5 is 90°, the first drive mechanism is locked, and the second drive mechanism drives the limiting arm 2 to grip the package. The second mode is: the limiting arm 2 is in a vertical position and does not move, the second drive mechanism is locked, and the first drive mechanism drives the gripper finger 5 to grip the package. When there is no restriction on the handling space, the first working mode can be selected, and the contact area between the package and the gripper finger 5 and the limiting arm 2 is larger, and the gripping is more stable. When the handling space is relatively narrow, the second working mode can be selected. In the second working mode, the width of the gripper is narrower, which is beneficial for operation in narrow spaces.

[0022] The first drive mechanism includes a first drive cylinder 6, a first connecting rod 7, a drive gear 8, a drive sprocket 10, a double-row transition sprocket 11, a transmission sprocket 13, a first chain 14, and a second chain 15. A first cylinder mounting seat 16 and a gear mounting seat are provided on the frame 1. The first cylinder mounting seat 16 has several longitudinally spaced weight-reducing holes 1601. Two bearing seats 17 are provided on the gear mounting seat, located on the same horizontal plane, and a rotating shaft is rotatably connected to each bearing seat 17. Two drive gears 8 and two drive sprockets 10 are provided, with one drive gear 8 and one drive sprocket 10 correspondingly fitted onto each rotating shaft. The two drive gears 8 are mutually... Engagement; the first drive cylinder 6 is hinged to any weight reduction hole 1601 of the first cylinder mounting seat 16, the output shaft of the first drive cylinder 6 is provided with a first cylinder connector 22, the upper end of the first connecting rod 7 is hinged to the first cylinder connector 22, and the lower end is fixedly connected to any rotating shaft; a sliding bearing is provided on the connecting shaft 3, the double row transition sprocket 11 is rotatably connected to the connecting shaft through the sliding bearing, the transmission sprocket 13 is connected to the rotating shaft 4 through a key, the drive sprocket 10 is connected to one of the sprockets of the double row transition sprocket 11 on the same side through a first chain 14, and the transmission sprocket 12 is connected to the other sprocket of the double row transition sprocket 13 on the same side through a second chain 15.

[0023] The driving process of the first driving mechanism is as follows: the first driving cylinder 6 drives the first connecting rod 7 to rotate, the first connecting rod 7 drives the shaft connected to it to rotate, the shaft drives the driving gear 8 and the driving sprocket 10 sleeved on the shaft to rotate. Since the two driving gears 8 mesh with each other, at the same time, the other driving gear 8 rotates synchronously, thereby synchronously driving the driving sprocket 10 on the other side to rotate. The driving sprockets 10 on both sides drive the double-row transition sprockets 11 on both sides to rotate through the first chain 14. The double-row transition sprockets 11 drive the transmission sprocket 13 to rotate through the second chain 15, thereby realizing the rotation of the rotating shaft 4 and the gripping finger 5.

[0024] The second drive mechanism includes a second drive cylinder 18 and a second connecting rod 19; there are two second drive cylinders 18, which correspond to the connecting shafts 3 on the left and right sides respectively; a second cylinder mounting seat is provided on the frame 1, the second drive cylinder 18 is rotatably connected to the second cylinder mounting seat, a second cylinder connector 23 is provided at the end of the piston rod, the upper end of the second connecting rod 19 is hinged to the second cylinder connector 23, and the lower end is fixedly connected to the corresponding connecting shaft 3.

[0025] The driving process of the second driving mechanism is as follows: when the piston rod of the second driving cylinder 18 moves, it drives the second connecting rod 19 to rotate, the second connecting rod 19 drives the connecting shaft 3 to rotate, and then drives the limit arm 2 to rotate to a suitable angle.

[0026] Since rotation is often involved in the handling process, a clamping mechanism is also provided on the frame 1 to prevent the package from being thrown out when the gripper rotates. The clamping mechanism includes two vertically arranged clamping cylinders 20, which are respectively located on the front and rear sides of the frame 1. The piston rod of the clamping cylinder 20 has a pressure plate 21 at its end. The pressure plate 21 is horizontally arranged and the two pressure plates 21 extend to opposite sides. When the gripper grabs the package, the piston rod of the clamping cylinder 20 outputs, and the pressure plate 21 presses down to clamp the package. Together with the gripper finger 5 and the limiting arm 2, it clamps the package to prevent the material from being thrown out when the gripper rotates during the handling process.

[0027] The above description is merely a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent changes made based on the content of the present utility model specification and its drawings are included within the scope of the present utility model.

Claims

1. A palletizing robot gripper, characterized in that: The device includes a frame with two symmetrically arranged limit arms on the left and right sides. The upper part of the limit arms is rotatably connected to the frame via a connecting shaft, and the lower part of the limit arms is rotatably connected to a rotating shaft with several gripping fingers spaced apart on the rotating shaft. The frame is also equipped with a first drive mechanism and two second drive mechanisms. The first drive mechanism is drivenly connected to the two rotating shafts, and the two second drive mechanisms are drivenly connected to the limit arms on both sides respectively.

2. The palletizing robot gripper according to claim 1, characterized in that: The first drive mechanism includes a first drive cylinder, a first connecting rod, a drive gear, a drive sprocket, a double-row transition sprocket, a transmission sprocket, a first chain, and a second chain; The frame is equipped with a first cylinder mounting seat and a gear mounting seat. The gear mounting seat is equipped with two bearing seats, and a rotating shaft is rotatably connected in the bearing seats. There are two drive gears and two drive sprockets. Each shaft is fitted with a drive gear and a drive sprocket, and the two drive gears mesh with each other. The first drive cylinder is rotatably connected to the first cylinder mounting base. The output shaft of the first drive cylinder is provided with a first cylinder connector. One end of the first connecting rod is hinged to the first cylinder connector, and the other end is fixedly connected to any rotating shaft. A sliding bearing is provided on the connecting shaft, and the double-row transition sprockets are fixed on the sliding bearings. The transmission sprocket is fixed on the rotating shaft. A first chain is installed on one of the sprockets of the drive sprocket and the double-row transition sprockets on the same side, and a second chain is installed on the other sprocket of the transmission sprocket and the double-row transition sprockets on the same side.

3. The palletizing robot gripper according to claim 1, characterized in that: The second drive mechanism includes a second drive cylinder and a second connecting rod; there are two second drive cylinders, which correspond to the left and right connecting shafts respectively; a second cylinder mounting seat is provided on the frame, the second drive cylinder is rotatably connected to the second cylinder mounting seat, the piston rod end of the second drive cylinder is provided with a second cylinder connector, one end of the second connecting rod is hinged to the second cylinder connector, and the other end is fixedly connected to the corresponding connecting shaft.

4. A palletizing robot gripper according to claim 1, characterized in that: The frame is also equipped with a clamping mechanism, which includes a vertically arranged clamping cylinder with a pressure plate at the end of the piston rod of the clamping cylinder.

5. A palletizing robot gripper according to claim 4, characterized in that: There are two clamping cylinders, which are located on the front and rear sides of the frame respectively. The pressure plate is set horizontally, and the two pressure plates extend to opposite sides respectively.

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