Robot stacking gripper

Abstract

The utility model discloses a robot stacking gripper, which belongs to the technical field of stacking equipment and comprises an adjusting component, two limiting shells, two driving components, two folding frames and a plurality of clamping components, each driving component comprises a second motor, and an output shaft of each second motor is connected with a second threaded rod; according to the clamping jaw, the multiple clamping assemblies which control the second motor to rotate forwards and are far away from each other can form clamping structures with different widths, and the multiple clamping assemblies can be adjusted to be different in length, so that the clamping structures can be adjusted according to the size of a clamped product, the clamping jaw can stably clamp the product in the using process, and the clamping efficiency is improved. According to the clamping jaw, the second motor is controlled to rotate reversely, the contracted folding frame can drive the multiple clamping assemblies to be retracted into the limiting shell, the clamping rod can be retracted into the clamping pipe, the size of the clamping jaw can be adjusted to be small, the storage space of the clamping jaw is reduced, and the clamping jaw can be conveniently moved and carried.

Description

Technical Field

[0001] This utility model belongs to the field of palletizing equipment technology, specifically relating to a robotic palletizing gripper. Background Technology

[0002] There are many types of palletizing grippers, mainly used for handling products of various sizes, such as stacking products of different sizes on pallets or production lines.

[0003] However, existing palletizing grippers are generally set to a fixed size. Fixed-size palletizing grippers can only clamp and fix parts of the product. However, when the product is large, the clamped part may become unstable. In addition, fixed-size palletizing grippers occupy a lot of storage space, making it difficult to move or carry them. Therefore, robotic palletizing grippers are needed to solve the above problems. Utility Model Content

[0004] The purpose of this invention is to provide a robotic palletizing gripper to solve the problems mentioned in the background art.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic palletizing gripper, comprising an adjustment component, two limiting shells, two drive components, two folding frames, and several clamping components. The drive components include a second motor, the output shaft of which is connected to a second threaded rod. The second threaded rod is externally threaded with two movable plates, both of which are hinged to two movable ends above the folding frames. The clamping components include clamping tubes, several movable ends at the bottom of the two folding frames are hinged to the clamping tubes, limiting blocks are slidably connected inside the clamping tubes, the bottoms of the limiting blocks are connected to clamping rods, the clamping rods are slidably connected inside the clamping tubes, and limiting grooves are formed on both sides of the clamping tubes. The limiting shells are slidably connected inside the limiting grooves.

[0006] As a preferred embodiment, the adjustment assembly includes a support frame with six through holes. A first motor is connected inside the support frame, and both ends of the first motor are connected to first threaded rods. Both first threaded rods are threadedly connected inside the limiting shell.

[0007] As a preferred embodiment, both first threaded rods are rotatably connected in the middle through hole, and guide rods are connected in the four through holes on both sides, the guide rods being slidably connected in the limiting shell.

[0008] As a preferred embodiment, the two first threaded rods have opposite thread directions, and both first threaded rods are located between the two guide rods.

[0009] As a preferred embodiment, the second threaded rod has two sections of threads with opposite directions, and both movable plates are threadedly connected to the two sections of threads with opposite directions.

[0010] As a preferred embodiment, the cross-sectional dimension of the limiting block is larger than the cross-sectional dimension of the clamping rod.

[0011] Compared with the prior art, the beneficial effects of this utility model are:

[0012] This utility model, by setting up a clamping component, a folding frame, and a driving component, controls the second motor to rotate forward. The unfolded folding frame drives several clamping components below it to move away from each other. The several clamping components moving away from each other can form a clamping structure of different widths, and the clamping rod can drive the limiting block to slide inside the clamping tube, so that the several clamping components can be adjusted to different lengths. This allows the clamping structure to be adjusted according to the size of the product being clamped, so that the gripper can firmly clamp the product during use. Controlling the second motor to rotate in reverse, the retracted folding frame can drive several clamping components to retract into the limiting shell, and the clamping rod can retract into the clamping tube, so that the size of the gripper can be reduced, reducing its storage space and making the gripper easy to move and carry.

[0013] This utility model, by setting a limiting groove and a limiting shell, since the limiting shell is slidably connected in the limiting groove, the limiting shell can limit the clamping tube through the limiting groove, so that the unfolded folding frame can drive the clamping tube to move smoothly in the limiting shell. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural diagram of the present invention from the front view;

[0015] Figure 2 This is a three-dimensional structural diagram of the present invention viewed from below;

[0016] Figure 3 This is a side-view perspective sectional structural diagram of the present invention;

[0017] Figure 4 This is a top-view sectional view of the clamping structure of this utility model;

[0018] Figure 5 This is a cross-sectional structural diagram of the limiting shell of this utility model.

[0019] In the diagram: 1. Adjustment component; 11. Support frame; 12. First motor; 13. First threaded rod; 14. Through hole; 15. Guide rod; 2. Limiting shell; 3. Drive component; 31. Second motor; 32. Second threaded rod; 33. Movable plate; 4. Folding frame; 5. Clamping component; 51. Clamping tube; 52. Limiting block; 53. Clamping rod; 54. Limiting groove. Detailed Implementation

[0020] The present invention will be further described below with reference to the embodiments.

[0021] The following embodiments are used to illustrate the present invention, but should not be used to limit the scope of protection of the present invention. The conditions in the embodiments can be further adjusted according to specific conditions, and simple improvements to the method of the present invention under the premise of the concept of the present invention are all within the scope of protection claimed by the present invention.

[0022] Please see Figure 1-5 This utility model provides a robotic palletizing gripper, including an adjustment component 1, two limiting shells 2, two drive components 3, two folding frames 4, and several clamping components 5. The drive components 3 include a second motor 31, the output shaft of which is connected to a second threaded rod 32. The second threaded rod 32 has two movable plates 33 externally threadedly connected to it. Both movable plates 33 are hinged to two movable ends above the folding frames 4. The clamping components 5 include clamping tubes 51. Several movable ends at the bottom of the two folding frames 4 are hinged to the clamping tubes 51. Limiting blocks 52 are slidably connected inside the clamping tubes 51. The bottoms of the limiting blocks 52 are connected to clamping rods 53, and the clamping rods 53 are slidably connected inside the clamping tubes 51. Both sides of the clamping tube 51 are provided with limiting grooves 54. The limiting shell 2 is slidably connected in the limiting grooves 54. The adjusting component 1 includes a support frame 11. The support frame 11 is provided with six through holes 14. A first motor 12 is connected in the support frame 11. Both ends of the first motor 12 are connected to the first threaded rods 13. The two first threaded rods 13 are threadedly connected in the limiting shell 2. The two first threaded rods 13 are rotatably connected in the middle through hole 14. The four through holes 14 on both sides are connected with guide rods 15. The guide rods 15 are slidably connected in the limiting shell 2. By setting the guide rods 15, the guide rods 15 can limit the movement of the limiting shell 2, so that the limiting shell 2 is not easy to shake during the movement.

[0023] The two first threaded rods 13 have opposite thread directions and are both located between the two guide rods 15. By setting the first threaded rods 13, the two rotating first threaded rods 13 can drive the two limiting shells 2 to move closer to each other or further away from each other.

[0024] The second threaded rod 32 has two threads with opposite directions. By setting the second threaded rod 32, the rotation of the second threaded rod 32 can drive the two movable plates 33 to move closer or further apart.

[0025] Both movable plates 33 are threadedly connected to the outside of two threads with opposite directions. The cross-sectional dimension of the limiting block 52 is larger than that of the clamping rod 53. By setting the limiting block 52 and the clamping tube 51, since the limiting block 52 is slidably connected inside the clamping tube 51, the clamping tube 51 can limit the clamping rod 53 through the limiting block 52, so that the clamping rod 53 will not fall off from the bottom of the clamping tube 51.

[0026] The working principle and usage process of this utility model are as follows: When the gripper needs to be used, the second motor 31 is controlled to rotate forward. The forward-rotating second motor 31 drives the second threaded rod 32 to rotate. The rotating second threaded rod 32 can drive the two movable plates 33 to move away from each other. The two movable plates 33 that move away from each other drive the folding frame 4 to unfold. The unfolded folding frame 4 drives the several clamping components 5 below it to move away from each other. The several clamping components 5 that move away from each other can form a clamping structure of different widths. The clamping rod 53 can drive the limiting block 52 to slide within the clamping tube 51, so that the several clamping components 5 can be adjusted to different lengths, so that the clamping structure can be adjusted according to the size of the product being clamped. Then the gripper is moved. Outside the product, the first motor 12 is controlled to rotate forward. The forward-rotating first motor 12 drives the two first threaded rods 13 to rotate. The rotating two first threaded rods 13 drive the two limiting shells 2 to move closer to each other. The two limiting shells 2, which move closer to each other, drive several clamping components 5 to contact the sides of the product through the drive component 3 and the folding frame 4. This allows the gripper to firmly clamp the product. After the gripper is used, the second motor 31 is controlled to rotate in reverse. The retracted folding frame 4 can drive several clamping components 5 to retract into the limiting shells 2, and the clamping rods 53 can retract into the clamping tubes 51. This allows the size of the gripper to be reduced, reducing its storage space and making the gripper easy to move and carry.

[0027] Although 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 alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic palletizing gripper, comprising an adjustment assembly (1), two limiting shells (2), two drive assemblies (3), two folding frames (4), and several clamping assemblies (5), characterized in that: The drive assembly (3) includes a second motor (31), the output shaft of which is connected to a second threaded rod (32). The second threaded rod (32) is externally threaded to two movable plates (33). Both movable plates (33) are hinged to two movable ends above the folding frame (4). The clamping assembly (5) includes a clamping tube (51). Several movable ends at the bottom of the two folding frames (4) are hinged to the clamping tube (51). Limiting blocks (52) are slidably connected inside the clamping tube (51). The bottom of several limiting blocks (52) is connected to clamping rods (53). Several clamping rods (53) are slidably connected inside the clamping tube (51). Limiting grooves (54) are opened on both sides of several clamping tubes (51). The limiting shell (2) is slidably connected inside the limiting grooves (54).

2. The robotic palletizing gripper according to claim 1, characterized in that: The adjustment component (1) includes a support frame (11), which has six through holes (14) and a first motor (12) connected inside the support frame (11). Both ends of the first motor (12) are connected to the first threaded rod (13), and both first threaded rods (13) are threadedly connected inside the limiting shell (2).

3. The robotic palletizing gripper according to claim 1, characterized in that: Both first threaded rods (13) are rotatably connected in the middle through hole (14), and guide rods (15) are connected in the four through holes (14) on both sides. The guide rods (15) are slidably connected in the limiting shell (2).

4. The robotic palletizing gripper according to claim 1, characterized in that: The two first threaded rods (13) have opposite thread directions and are both located between the two guide rods (15).

5. The robotic palletizing gripper according to claim 1, characterized in that: The second threaded rod (32) has two threads with opposite directions on its outer surface, and the two movable plates (33) are threadedly connected to the two threads with opposite directions on their outer surfaces.

6. The robotic palletizing gripper according to claim 1, characterized in that: The cross-sectional dimension of the limiting block (52) is larger than that of the clamping rod (53).

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