Grabbing mechanism for stacker crane

Abstract

The utility model relates to the field of stackers, and discloses a grabbing mechanism for a stacker, which comprises a stacker support, a grabbing mechanical arm is arranged on the upper surface of the stacker support, a support frame is movably mounted on one side of the grabbing mechanical arm, a plurality of guide chutes are formed in the upper surface of the support frame, and movable parts are movably mounted in the guide chutes. A fixing groove is formed in the middle of one side of the connecting frame, springs are installed on one side of the inner wall of the fixing groove at equal intervals, a movable plate is installed on one sides of the springs in the fixing groove, and one side of the movable plate extends out of the fixing groove to be fixedly connected with a connecting rod; the connecting plate is driven to rotate through the self-locking servo motor of the rotating mechanism, the position of the connecting frame is adjusted by matching with the first connecting rod and the second connecting rod, and multi-directional grabbing is achieved. And the adsorption disc is matched with the spring and the movable plate, the pressure on the articles is reduced through buffering of the spring during grabbing, damage is avoided, and the grabbing safety is improved.

Description

Technical Field

[0001] This application relates to the field of palletizers, and more particularly to a gripping mechanism for palletizers. Background Technology

[0002] Palletizers are core equipment in industrial production automation systems used for stacking and placing goods. They are widely used in food, chemical, logistics and warehousing and other fields. Through automated operation, they efficiently complete the sorting and stacking of goods, greatly reducing the intensity of manual labor and improving production efficiency.

[0003] As a key component of palletizing machines for grasping and handling goods, the performance of the robotic arm gripping device directly determines the quality of the palletizing operation. Currently, most digital palletizing machines rely on mechanical grippers and other structures to grasp items. However, during the palletizing process, excessive gripping pressure from the robotic arm can easily cause crushing damage to the items. For goods such as glass products, precision instruments, or fragile food packaging, excessive gripping pressure can lead to breakage and packaging deformation, resulting in not only scrapped items and increased production costs but also interrupted palletizing operations and impacting production efficiency.

[0004] Regarding the aforementioned technologies, the inventors believe that the robotic arm gripping device has the drawback of causing damage to the items due to excessive gripping force when gripping and stacking them. Therefore, they have proposed a gripping mechanism for palletizing machines to solve the above problems. Utility Model Content

[0005] To address the problem that excessive gripping force can damage items when a robotic arm gripping device is used for palletizing, this application provides a gripping mechanism for a palletizing machine.

[0006] The gripping mechanism for a palletizer provided in this application adopts the following technical solution:

[0007] A gripping mechanism for a palletizer includes a palletizer support. A gripping robotic arm is mounted on the upper surface of the palletizer support. A support frame is movably mounted on one side of the gripping robotic arm. A plurality of guide grooves are formed on the upper surface of the support frame. Movable components are movably mounted inside the guide grooves. The bottom end of the movable component extends to the bottom of the support frame and is fixedly connected to a connecting frame. A fixing groove is formed in the middle of one side of the connecting frame. Springs are equidistantly mounted on one side of the inner wall of the fixing groove. A movable plate is mounted inside the fixing groove on one side of the springs. A connecting rod is fixedly connected to one side of the movable plate extending to the outside of the fixing groove. An adsorption plate is mounted on one side of the connecting rod. A rotating mechanism is also provided below the support frame for adjusting the movement of the multiple connecting frames.

[0008] Preferably, the rotating mechanism includes a self-locking servo motor, which is fixedly installed at the middle of the bottom end of the support frame. A connecting plate is installed at the output end of the bottom surface of the self-locking servo motor. Several first connecting rods are rotatably installed on the bottom edge of the connecting plate. Second connecting rods are hinged to the bottom edge of the first connecting rods. The second connecting rods are rotatably connected to the top of one side of the connecting frame.

[0009] Preferably, the outer diameter of the movable part is smaller than the distance between the two sides of the inner wall of the guide groove, the middle part of one side of the outer surface of the movable part is located inside the guide groove, and the guide groove and the movable part are interlocked.

[0010] Preferably, a plurality of circular holes are provided on one side of the inner wall of the fixing groove, and one side of the outer surface of the connecting rod is located in the circular holes, and the connecting rod and the circular holes are adapted to each other.

[0011] Preferably, the connecting plate has a hexagonal star cross-section, and the corners of the connecting plate are aligned with the guide groove. The connecting plate is located inside the support frame and near the top of the connecting frame.

[0012] In summary, this application includes the following beneficial technical effects:

[0013] The self-locking servo motor of the rotating mechanism drives the connecting plate to rotate, which, in conjunction with the first and second connecting rods, adjusts the position of the connecting frame to achieve multi-directional gripping. The suction cup, together with springs and a movable plate, uses spring cushioning during gripping to reduce pressure on the object, prevent damage, and improve gripping safety. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of the overall structure of the application embodiment;

[0015] Figure 2 This is a schematic diagram of the support frame in the embodiment of the application;

[0016] Figure 3 This is a schematic diagram of the connecting plate in the embodiment of the application;

[0017] Explanation of reference numerals in the attached drawings: 1. Palletizer support; 2. Grabbing robotic arm; 3. Support frame; 4. Guide chute; 5. Moving part; 6. Connecting frame; 7. Fixing groove; 8. Spring; 9. Movable plate; 10. Connecting rod; 11. Adsorption plate; 12. Self-locking servo motor; 13. Connecting plate; 14. Link 1; 15. Link 2. Detailed Implementation

[0018] The following is in conjunction with the appendix Figure 1-3 This application will be described in further detail.

[0019] This application discloses a gripping mechanism for a palletizing machine. (Refer to...) Figure 1-3A gripping mechanism for a palletizer includes a palletizer support 1. A gripping robotic arm 2 is mounted on the upper surface of the palletizer support 1. A support frame 3 is movably mounted on one side of the gripping robotic arm 2. Several guide grooves 4 are formed on the upper surface of the support frame 3. Movable parts 5 are movably mounted inside the guide grooves 4. The outer diameter of the movable parts 5 is smaller than the distance between the two sides of the inner wall of the guide groove 4. The middle part of one side of the outer surface of the movable parts 5 is located inside the guide groove 4. The guide grooves 4 and the movable parts 5 are interlocked. The bottom end of the movable parts 5 extends to the bottom of the support frame 3 and is fixedly connected to a... The connecting frame 6 has a fixing groove 7 in the middle of one side. Springs 8 are installed at equal intervals on one side of the inner wall of the fixing groove 7. A movable plate 9 is installed inside the fixing groove 7 on one side of the springs 8. A connecting rod 10 is fixed to the outside of the fixing groove 7 on one side of the movable plate 9. Several round holes are opened on one side of the inner wall of the fixing groove 7. One side of the outer surface of the connecting rod 10 is located in the round hole. The connecting rod 10 and the round hole are compatible with each other. An adsorption plate 11 is installed on one side of the connecting rod 10. A rotating mechanism is also provided below the support frame 3 to adjust the movement of multiple connecting frames 6.

[0020] By moving the movable part 5 within the guide groove 4, the position of the suction plate 11 is adjusted to align with the item. When the suction plate 11 contacts the item, the connecting rod 10 is stressed, and the movable plate 9 compresses the spring 8 within the fixed groove 7. The elasticity of the spring 8 reduces the pressure on the item during gripping, preventing damage to the item due to excessive pressure.

[0021] Reference Figure 2 and Figure 3 The rotating mechanism includes a self-locking servo motor 12, which is fixedly installed at the bottom center of the support frame 3. A connecting plate 13 is installed at the output end of the bottom surface of the self-locking servo motor 12. Several first connecting rods 14 are rotatably installed on the bottom edge of the connecting plate 13. Second connecting rods 15 are hinged to the bottom edge of the first connecting rods 14. The second connecting rods 15 are rotatably connected to the top of one side of the connecting frame 6. The cross-section of the connecting plate 13 is a hexagonal star structure. The corners of the connecting plate 13 are aligned with the guide groove 4. The connecting plate 13 is located inside the support frame 3 and close to the top of the connecting frame 6.

[0022] By starting the self-locking servo motor 12, the connecting plate 13 is driven to rotate. Since the connecting plate 13 is rotatably connected to the first connecting rod 14, the first connecting rod 14 drives the second connecting rod 15 to move, and the second connecting rod 15 pushes the connecting frame 6 to move synchronously.

[0023] The implementation principle of a gripping mechanism for a palletizer according to an embodiment of this application is as follows: By activating the self-locking servo motor 12, whose power input is electrically connected to the output of an external power supply, the connecting plate 13 is driven to rotate. Since the connecting plate 13 is rotatably connected to the first connecting rod 14, the first connecting rod 14 drives the second connecting rod 15 to move. The second connecting rod 15 pushes the connecting frame 6 to move synchronously, causing the movable part 5 to move within the guide groove 4, adjusting the position of the suction plate 11 to align with the item. When the suction plate 11 contacts the item, the connecting rod 10 is stressed, and the movable plate 9 compresses the spring 8 within the fixed groove 7. The elastic buffering of the spring 8 reduces the pressure on the item during gripping, preventing damage due to excessive pressure. The entire process, through precise adjustment of the gripping position via the rotating mechanism and the buffering structure of the spring 8, achieves safe gripping of the item, solving the problem of damage caused by excessive pressure in traditional gripping mechanisms and improving the stability and reliability of the palletizer's gripping operation.

[0024] Finally, the following points should be noted: First, in the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection", and "linkage" should be interpreted broadly, and can be mechanical or electrical connections, or internal connections between two components, or direct connections. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may change.

[0025] Secondly: The accompanying drawings of the embodiments disclosed in this utility model only involve the structures involved in the embodiments disclosed in this utility model. Other structures can refer to the general design. In the absence of conflict, the same embodiment and different embodiments of this utility model can be combined with each other.

[0026] Finally: The above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

[0027] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gripping mechanism for a palletizer, comprising a palletizer support (1), wherein a gripping robotic arm (2) is disposed on the upper surface of the palletizer support (1), characterized in that: A support frame (3) is movably installed on one side of the gripping robotic arm (2). Several guide grooves (4) are provided on the upper surface of the support frame (3). Movable parts (5) are movably installed inside the guide grooves (4). The bottom end of the movable parts (5) extends to the bottom of the support frame (3) and is fixedly connected to a connecting frame (6). A fixing groove (7) is provided in the middle of one side of the connecting frame (6). Springs (8) are installed at equal intervals on one side of the inner wall of the fixing groove (7). A movable plate (9) is installed inside the fixing groove (7) on one side of the springs (8). A connecting rod (10) is fixedly connected to the outside of the fixing groove (7) on one side of the movable plate (9). An adsorption plate (11) is installed on one side of the connecting rod (10). A rotating mechanism is also provided below the support frame (3) for adjusting the multiple connecting frames (6) to move.

2. The gripping mechanism for a palletizer according to claim 1, characterized in that: The rotating mechanism includes a self-locking servo motor (12), which is fixedly installed at the middle of the bottom of the support frame (3). A connecting plate (13) is installed at the output end of the bottom surface of the self-locking servo motor (12). Several first connecting rods (14) are rotatably installed on the bottom edge of the connecting plate (13). Second connecting rods (15) are hinged to the bottom edge of the first connecting rods (14). The second connecting rods (15) are rotatably connected to the top of one side of the connecting frame (6).

3. The gripping mechanism for a palletizer according to claim 1, characterized in that: The outer diameter of the movable part (5) is smaller than the distance between the two sides of the inner wall of the guide groove (4). The middle part of one side of the outer surface of the movable part (5) is located inside the guide groove (4). The guide groove (4) and the movable part (5) are interlocked.

4. The gripping mechanism for a palletizer according to claim 1, characterized in that: The inner wall of the fixing groove (7) has several round holes on one side, and the outer surface of the connecting rod (10) is located in one of the round holes. The connecting rod (10) and the round holes are compatible with each other.

5. A gripping mechanism for a palletizer according to claim 2, characterized in that: The connecting plate (13) has a hexagonal star structure in cross-section. The corners of the connecting plate (13) are aligned with the guide groove (4). The connecting plate (13) is located inside the support frame (3) and close to the top of the connecting frame (6).

Images