Gripper assembly compatible with grabbing of various bag types

Abstract

The utility model discloses a gripper assembly compatible with gripping of various bag types, which comprises a base, a connecting center shaft is mounted at the top of the base, a support is rotatably mounted at the top of the connecting center shaft, a gripper mechanism is arranged on the base and the support, and the gripper mechanism can be compatible with gripping of various bag types. A large-stroke air cylinder and a small-stroke air cylinder are arranged on a gripper assembly, the large-stroke air cylinder and the small-stroke air cylinder act successively to drive a gripper to grab bagged products, meanwhile, a servo motor is matched to drive the gripper to rotate, the products are rotated to any set angle, the takt time is shortened, and the production efficiency is improved; and the device is also suitable for grabbing and releasing multi-bag products.

Description

TECHNICAL FIELD

[0001] The utility model relates to packaging snatchs field, concretely is a kind of gripper assembly compatible with multiple bag type snatch. BACKGROUND

[0002] In packaging industry, the snatch of some multiple bag type products is often realized by using a set of air cylinder, a set of air cylinder executes the gripper assembly of package structure, and other rotating mechanism is realized by servo or robot tail movement shaft The rotation of this kind of mechanism is not fast and cannot rotate angle freely, and now, market needs a kind of high-speed multiple variety angle freely settable gripper mechanism to meet the snatch of multiple bag type;

[0003] Therefore, it is necessary to provide a kind of gripper assembly compatible with multiple bag type snatch. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a kind of gripper assembly compatible with multiple bag type snatch to solve the problem raised in the above background technology.

[0005] To achieve the above object, the utility model provides the following technical scheme:

[0006] A kind of gripper assembly compatible with multiple bag type snatch, including base, the top of the base is installed and connected with middle shaft, the top of the connecting middle shaft is rotatably installed support, and gripper mechanism is arranged on base and support, and gripper mechanism can be compatible with multiple bag type snatch;

[0007] Gripper mechanism includes first support shaft and second support shaft, and the first support shaft and second support shaft are rotatably installed at the bottom of base respectively.

[0008] Preferably, the outer wall of the first support shaft and the second support shaft is provided with a first connecting block, and the two side ends of the base are provided with a mounting seat through bolts, and a large-stroke air cylinder is rotatably installed on the inner side of the mounting seat, and the output end of the large-stroke air cylinder is rotatably connected with the other end of the first connecting block.

[0009] Preferably, the outer wall of the first support shaft is provided with a first gear, the outer wall of the second support shaft is provided with a second gear, and the first gear is connected with the second gear.

[0010] Preferably, the two ends of the first support shaft and the second support shaft are provided with a connecting ring, and the side wall of the connecting ring is provided with a support arm.

[0011] Preferably, the two sides of the base are provided with a gripper assembly, the gripper assembly includes a gripper, the outer wall of the gripper is provided with a second connecting block and a third connecting block respectively, and the other end of the support arm is rotatably connected with the third connecting block.

[0012] Preferably, one end of the first supporting shaft is rotatably provided with a small stroke air cylinder, the other end of the second supporting shaft is also rotatably provided with a small stroke air cylinder, and the output end of the small stroke air cylinder is rotatably connected with a second connecting block.

[0013] Preferably, the side wall of the bracket is provided with a motor seat, the top of the motor seat is provided with a servo motor, the output end of the servo motor is provided with a connecting rod, the other end of the connecting rod is provided with a third gear, the outer wall of the connecting shaft is provided with a fourth gear, the fourth gear is connected with the third gear, and the inside of the bracket is also rotatably provided with an air slip ring.

[0014] Preferably, the gripper assembly further comprises a sanding plate and a claw, the sanding plate is mounted on the inner side of the gripper through screws, the claw is slidably mounted on the bottom of the gripper, the inner wall of the claw is uniformly provided with connecting holes, and connecting bolts are threadedly mounted between the gripper and the connecting holes.

[0015] The additional aspects and advantages of the present application will be given in part in the following description, and will become apparent from the following description, or will be learned by practice of the present application.

[0016] Beneficial effects:

[0017] By setting the large stroke air cylinder and the small stroke air cylinder on the gripper assembly, the large stroke air cylinder and the small stroke air cylinder act in succession to drive the gripper to grab the bagged products, and the servo motor is driven to rotate the gripper to rotate the products to a set arbitrary angle, which not only reduces the beat time and improves the production efficiency, but also is suitable for multi-bag product grabbing and placing actions. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is a structure diagram of a gripper assembly compatible with multiple bag types;

[0019] Figure 2 It is a bottom view of the base in the gripper assembly compatible with multiple bag types;

[0020] Figure 3 It is a connection schematic view of the third gear and the fourth gear in the gripper assembly compatible with multiple bag types;

[0021] Figure 4 It is an installation schematic view of the claw in the gripper assembly compatible with multiple bag types.

[0022] In the figure: 1, base; 11, connecting shaft; 12, support; 2, gripper mechanism; 21, mounting seat; 211, large-stroke cylinder; 212, first connecting block; 22, first support shaft; 23, second support shaft; 24, first gear; 241, second gear; 25, connecting ring; 251, support arm; 26, gripper assembly; 261, gripper; 262, second connecting block; 263, third connecting block; 264, sanding plate; 265, insertion claw; 266, connecting hole; 267, connecting bolt; 27, small-stroke cylinder; 28, motor seat; 281, servo motor; 282, connecting rod; 283, third gear; 284, fourth gear; 29, air slip ring. DETAILED DESCRIPTION

[0023] The embodiments of the present application are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0024] Embodiment 1: as Figures 1-3 ;

[0025] A gripper assembly compatible with multiple bag type grabbing, comprising a base 1, the base 1 plays a supporting role for the gripper assembly 26, and drives the gripper assembly 26 to rotate, the top of the base 1 is provided with a connecting shaft 11, the connecting shaft 11 is used for supporting and rotating the base 1, the top of the connecting shaft 11 is rotatably provided with a support 12, the support 12 is used for supporting and installing a motor seat 28 and an air slip ring 29, the base 1 and the support 12 are provided with a gripper mechanism 2, and the gripper mechanism 2 can be compatible with multiple bag type grabbing;

[0026] The gripper mechanism 2 comprises a first supporting shaft 22 and a second supporting shaft 23, which are rotatably installed at the bottom of the base 1 respectively, and are used to drive the corresponding connecting rings 25 to rotate, and the outer walls of the first supporting shaft 22 and the second supporting shaft 23 are both installed with first connecting blocks 212, and the two sides of the base 1 are both installed with mounting seats 21 through bolts, which are used to support and install the large-stroke cylinders 211, and the large-stroke cylinders 211 are rotatably installed at the inner sides of the mounting seats 21, and when the first connecting blocks 212 are pushed by the large-stroke cylinders 211, the large-stroke cylinders 211 are facilitated to rotate, and the corresponding first connecting blocks 212 are used to push and rotate the first supporting shaft 22 and the second supporting shaft 23 respectively, and the two groups of large-stroke cylinders 211 share the same driving oil supply system, and the output ends of the large-stroke cylinders 211 are rotatably connected to the other ends of the first connecting blocks 212, the outer wall of the first supporting shaft 22 is installed with a first gear 24, the outer wall of the second supporting shaft 23 is installed with a second gear 241, the first gear 24 is meshedly connected with the second gear 241, and the first gear 24 and the second gear 241 are simultaneously rotated, and the two ends of the first supporting shaft 22 and the second supporting shaft 23 are both installed with connecting rings 25, and the side walls of the connecting rings 25 are installed with supporting arms 251, and after the connecting rings 25 are rotated, the supporting arms 251 are driven to rotate, and the supporting arms 251 play a supporting role on the gripper assembly 26, so that the gripper assembly 26 is facilitated to rotate and support when being pushed by the small-stroke cylinders 27;

[0027] Further, the two sides of the base 1 are both provided with the gripper assembly 26, which comprises a gripper 261, and the outer wall of the gripper 261 is respectively installed with a second connecting block 262 and a third connecting block 263, the second connecting block 262 is used to rotatably connect the gripper 261 and the small-stroke cylinders 27, so that the gripper 261 can be adjusted in angle when being pushed, the other end of the supporting arm 251 is rotatably connected with the third connecting block 263, the third connecting block 263 is used to rotatably connect the gripper 261 and the supporting arm 251, and assists the gripper 261 to rotate and adjust the angle, one end of the first supporting shaft 22 is rotatably installed with a small-stroke cylinder 27, and the other end of the second supporting shaft 23 is also rotatably installed with a small-stroke cylinder 27, and the output end of the small-stroke cylinder 27 is rotatably connected with the second connecting block 262, and the small-stroke cylinder 27 is used to push the inclined second connecting block 262, Figure 1 after the second connecting block 262 is pushed, the gripper 261 is driven to rotate, and the bottom of the gripper 261 moves inward;

[0028] Further, the side wall of the support 12 is provided with a motor seat 28, which is used for supporting and installing a servo motor 281. The top of the motor seat 28 is provided with the servo motor 281, which is used for driving the rotation of a connecting rod 282 and a third gear 283. The output end of the servo motor 281 is provided with the connecting rod 282, which is used for supporting and rotating the third gear 283. The other end of the connecting rod 282 is provided with the third gear 283. The outer wall of the connecting shaft 11 is provided with a fourth gear 284, which is engaged with the third gear 283. When the third gear 283 rotates, the fourth gear 284 is driven to rotate, so as to drive the rotation of the base 1 and the gripper assembly 26 to adjust the angle. The inside of the support 12 is also rotatably provided with an air slide ring 29. The equipment pipeline in the gripper assembly 2 can pass through the air slide ring 29, without affecting the normal rotation and use of the gripper assembly 2.

[0029] Embodiment 2: as Figure 4 ;

[0030] The gripper assembly is compatible with multiple bag types. The gripper assembly 2 further comprises a sanding plate 264 and a claw 265. The sanding plate 264 is installed on the inner side of the gripper 261 through screws. The sanding plate 264 is used to increase the slip resistance of the gripper 261, so that the gripper 261 is more convenient for grabbing multiple bags. The claw 265 is slidingly installed at the bottom of the gripper 261. The position of the claw 265 can be slidingly adjusted. The inner wall of the claw 265 is uniformly provided with connecting holes 266. Connecting bolts 267 are screw-connected between the gripper 261 and the connecting holes 266. After the position of the claw 265 is slidingly adjusted, the connecting bolts 267 are fixed to the bottom of the gripper 261. The claw 265 is inserted into the bottom of a thin bag, so as to facilitate the grabbing of the thin bag.

[0031] The working principle of the utility model is: bagged products are conveyed to a bag grabbing position, the large-stroke cylinder 211 and the small-stroke cylinder 27 of the grab hand work successively, the large-stroke cylinder 211 pushes the first connecting block 212 with an inclination, the first connecting block 212 will drive the corresponding first support shaft 22 and the second support shaft 23 to push and rotate, the first support shaft 22 and the second support shaft 23 drive the corresponding connecting ring 25 to rotate respectively, the connecting ring 25 drives the support arm 251 and the grab hand 261 to rotate and bend, the small-stroke cylinder 27 pushes the second connecting block 262 with an inclination, the second connecting block 262 will drive the grab hand 261 to rotate, the bottom of the grab hand 261 will bend and move to the inside, and a grabbing action is performed on the bagged products, after the grabbing action is completed, the coordinate mechanism can make the grab hand move to the set placement position, in the process of moving of the grab hand, the servo motor 281 drives the base 1 and the grab hand assembly 26 to move synchronously, and the product is rotated to a set arbitrary angle, at this time, the product rotating action is associated with the coordinate servo to realize efficient cooperation of the beat, when the grab hand moves to the set angle and the set position, the large-stroke cylinder 211 and the small-stroke cylinder 27 move to open the grab hand 261, the product is placed in the specified position, and then the grab hand returns through the coordinate mechanism, in the returning process, the small-stroke cylinder 27 opens and closes the grab hand 261 more, and at the same time, the base 1 rotates the grab hand 261 to the angle of grabbing, moves to the grabbing position, and thus one cycle of the grab hand 261 is completed, after the grab hand 261 is in the grabbing position, if there is no product in the grabbing position, the large-stroke cylinder 211 moves first to retract the clamping jaw, thereby saving the beat, at this time, the grab hand 261 can wait for the product in the grabbing position, when the product arrives at the grabbing position, the small-stroke cylinder 27 moves to grab the product, and the grabbing action is recycled, thereby reducing the beat time and improving the production efficiency, and the grabbing structure can be applied to grabbing and discharging of multiple bags, through the angle adjustment of the base 1, the arbitrary rotation conduction of the gas circuit and the circuit, the grab hand 261 can realize arbitrary rotation angle of the product.

[0032] Although the utility model has been described above with reference to the embodiments, various improvements can be made and equivalent parts can be replaced without departing from the scope of the utility model. In particular, as long as there is no structural conflict, the features in the embodiments disclosed by the utility model can be combined in any way, and the combinations are not described in the specification only for the purpose of saving space and resources. Therefore, the utility model is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A gripper assembly compatible with multiple bag type grabbing, comprising a base (1), a connecting shaft (11) mounted on the top of the base (1), and a support frame (12) rotatably mounted on the top of the connecting shaft (11), characterized in that: a gripper mechanism (2) is arranged on the base (1) and the support frame (12), and the gripper mechanism (2) is compatible with multiple bag type grabbing; the gripper mechanism (2) comprises a first support shaft (22) and a second support shaft (23) rotatably mounted on the bottom of the base (1) respectively; 2. The gripper assembly of claim 1, wherein: first connecting blocks (212) are mounted on the outer walls of the first support shaft (22) and the second support shaft (23), mounting seats (21) are mounted on both sides of the base (1) by bolts, large-stroke air cylinders (211) are rotatably mounted on the inner sides of the mounting seats (21), and the output ends of the large-stroke air cylinders (211) are rotatably connected to the other ends of the first connecting blocks (212); 3. The gripper assembly of claim 1, wherein: a first gear (24) is mounted on the outer wall of the first support shaft (22), a second gear (241) is mounted on the outer wall of the second support shaft (23), and the first gear (24) is meshingly connected to the second gear (241); 4. The gripper assembly of claim 1, wherein: connecting rings (25) are mounted on both ends of the first support shaft (22) and the second support shaft (23), and support arms (251) are mounted on the side walls of the connecting rings (25); 5. The gripper assembly of claim 4, wherein: gripper assemblies (26) are arranged on both sides of the base (1), each of the gripper assemblies (26) comprises a gripper (261), second connecting blocks (262) and third connecting blocks (263) are mounted on the outer wall of the gripper (261) respectively, and the other ends of the support arms (251) are rotatably connected to the third connecting blocks (263); 6. The gripper assembly of claim 5, wherein: small-stroke air cylinders (27) are rotatably mounted on one end of the first support shaft (22) and the other end of the second support shaft (23), and the output ends of the small-stroke air cylinders (27) are rotatably connected to the second connecting blocks (262); 7. The gripper assembly of claim 1, wherein: a motor seat (28) is mounted on the side wall of the support frame (12), a servo motor (281) is mounted on the top of the motor seat (28), a connecting rod (282) is mounted on the output end of the servo motor (281), a third gear (283) is mounted on the other end of the connecting rod (282), a fourth gear (284) is mounted on the outer wall of the connecting shaft (11), the fourth gear (284) is meshingly connected to the third gear (283), and an air slip ring (29) is also rotatably mounted in the support frame (12); 8. The gripper assembly of claim 1, wherein: the gripper mechanism (2) further comprises a sanding plate (264) and a claw (265), the sanding plate (264) is mounted on the inner side of the gripper (261) by screws, the claw (265) is slidably mounted on the bottom of the gripper (261), connecting holes (266) are uniformly formed in the inner walls of the claw (265), and connecting bolts (267) are threadedly mounted between the gripper (261) and the connecting holes (266).

Images