Packaging product grabbing mechanical claw

Abstract

The utility model belongs to the technical field of product packaging, producing and stacking, and particularly relates to a packaged product grabbing mechanical claw which comprises an air cylinder, a fixing frame and an isolation plate, the fixing frame is arranged at the front end of the air cylinder, and the isolation plate is arranged on the periphery of the fixing frame. By arranging the integrated connecting plate, the limiting ring, the linkage expansion clamping jaw, the inclined connecting rod, the connecting block and the partition drawing rod, the air cylinder drives the push rod to control the push rod to stretch out and draw back. When the push rod moves towards the outer side, the three sets of partition drawing rods are jacked through connection of the limiting rings, the partition drawing rods push the connecting blocks, and the linkage expansion clamping jaws are pushed to expand towards the outer side through connection of the inclined connecting rods and fixation of the positioning frame till the push rod moves to the tail end of the stroke. The circle center position of a limiting ring is aligned with the middle of the package and then gets close to the package, an air cylinder controls a push rod to retract, the push rod pulls the limiting ring and three sets of partition pull rods to move reversely, and linkage expansion clamping jaws are pulled by inclined connecting rods to be gathered towards the middle.

Description

Technical Field

[0001] This utility model relates to the field of product packaging production and stacking technology, specifically a mechanical gripper for grasping packaged products. Background Technology

[0002] Packaging product gripper robots are core devices developed in the field of industrial automation to meet the needs of modern logistics and intelligent manufacturing. They are mainly used to efficiently and accurately complete the tasks of gripping, handling, and stacking packaged products. Compatible with packaging materials of different materials, shapes, and weights, they significantly reduce manual labor intensity and product loss rates, while improving the continuous operation capability of production lines. They are particularly important in coping with large-scale order fluctuations and ensuring production safety and stability. Their application not only drives the packaging industry towards intelligent and unmanned operation but also provides key technological support for enterprises to optimize supply chain efficiency and achieve cost reduction and efficiency improvement.

[0003] The existing technology has the following shortcomings: In the "bag packaging robot" published in CN205472561U, "a base frame is included, and gripping claws are rotatably connected to both sides of the bottom of the base frame. The gripping claws on both sides are arranged in an alternating manner. A horizontal pressure bar is provided at the bottom of the base frame between the gripping claws on both sides. The horizontal pressure bar is parallel to the length direction of the gripping claws. The gripping claws are connected to the base frame through a bearing seat."

[0004] The aforementioned structure, through the action of horizontal pressure bars, ensures uniform force distribution across the bottom and top of the bag packaging during gripping and stacking. However, this structure still employs a traditional double-end clamping mechanism, which has poor centering capability. By contacting the workpiece only at two points, uneven force distribution can easily lead to workpiece swaying or slipping, significantly reducing stability, especially when handling large or irregularly shaped objects. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a mechanical gripper for grasping packaged products, which solves the problem of poor centering ability that easily leads to uneven force distribution.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a packaging product gripping mechanical claw, comprising a cylinder, a fixing frame, and a partition plate, wherein the fixing frame is disposed at the front end of the cylinder, and the partition plate is disposed around the fixing frame.

[0007] An integrated connecting plate is provided in front of the fixed frame, and a linkage expansion gripper is provided in front of the integrated connecting plate.

[0008] The integrated connecting plate also includes a limiting ring and a push rod. The limiting ring is sleeved on the end of the push rod, and the push rod is inserted into the cylinder.

[0009] As a preferred technical solution of this utility model, the end of the fixing frame that contacts the cylinder has a rectangular structure, while two sets of trapezoidal protrusions are provided on the side facing the limiting ring.

[0010] As a preferred technical solution of this utility model, the linkage expansion gripper further includes a positioning frame, an inclined connecting rod, a connecting block, and a partitioned pull rod. The positioning frame is fixedly connected to the side end of the integrated connecting plate, and the inclined connecting rod is movably connected to the connecting block and the side end of the linkage expansion gripper.

[0011] As a preferred embodiment of this utility model, the connecting block is movably connected to the end of the inclined connecting rod, the partition pull rod is fixedly connected to the side end of the limiting ring, and the other end is fixedly connected to the connecting block.

[0012] As a preferred technical solution of this utility model, the inclined connecting rod is composed of two sets of parallel strip structures, and the two sets of parallel strip structures are respectively attached to the two sides of the linkage expansion claw and the connecting block.

[0013] As a preferred technical solution of this utility model, the inclined connecting rod, the linkage expansion claw, the connecting block and the positioning frame are all provided with shaft structures passing through them at the positions where they are connected to each other.

[0014] As a preferred technical solution of this utility model, the linkage expansion claw is provided in three sets, and the linkage expansion claw has a "C" shaped structure, with a rubber pad provided at the end on the side away from the cylinder.

[0015] Compared with the prior art, this utility model provides a mechanical gripper for grasping packaged products, which has the following beneficial effects:

[0016] A packaging product gripping mechanism comprises an integrated connecting plate, a limiting ring, a linkage expansion gripper, an inclined connecting rod, a connecting block, and partitioned pull rods. In use, this structure is mounted on a shifting mechanism as a gripping mechanism, with a cylinder connected to an external control unit. The cylinder controls the extension and retraction of a push rod. When the push rod moves outward, it actuates the three partitioned pull rods via the limiting ring. The partitioned pull rods push the connecting block, and through the inclined connecting rod and the fixing frame, push the linkage expansion gripper outward until the push rod stops at the end of its stroke. At this point, the packaging can be gripped. The center of the limiting ring is aligned with the center of the packaging, and then the cylinder controls the push rod to retract. The push rod pulls the limiting ring and the three partitioned pull rods in the opposite direction. The linkage expansion gripper is pulled towards the center by the inclined connecting rod until the three sets of linkage expansion grippers contact and grip the packaging.

[0017] Through the above settings and processes, this gripping structure, compared to existing packaging product gripping mechanical claws, integrates the expansion and retraction actions of three sets of gripper structures by forming a linkage component through the cooperation of tilting links, connecting blocks, partition telescopic rods and positioning frames. This provides a more stable gripping operation than double-end gripping, and has a strong centering ability, making it less prone to deviation during the gripping process. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a schematic diagram of the side end structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the connection position structure of the linkage expansion gripper and integrated connecting plate of this utility model;

[0021] Figure 4 This is a schematic diagram showing the connection position of the inclined connecting rod and connecting block of this utility model.

[0022] In the diagram: 1. Cylinder; 2. Fixing frame; 3. Isolation plate; 4. Integrated connecting plate; 401. Limiting ring; 402. Push rod; 5. Linkage expansion gripper; 501. Positioning frame; 502. Inclined connecting rod; 503. Connecting block; 504. Partitioned pull rod. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] In this embodiment: a packaging product gripping mechanical claw includes a cylinder 1, a fixing frame 2, and a partition plate 3. The fixing frame 2 is disposed at the front end of the cylinder 1, and the partition plate 3 is disposed around the fixing frame 2.

[0025] An integrated connecting plate 4 is provided in front of the fixed frame 2, and a linkage expansion gripper 5 is provided in front of the integrated connecting plate 4.

[0026] The integrated connecting plate 4 also includes a limiting ring 401 and a push rod 402. The limiting ring 401 is sleeved on the end of the push rod 402, and the push rod 402 is inserted into the cylinder 1.

[0027] In this embodiment, the end of the fixed frame 2 that contacts the cylinder 1 has a rectangular structure, and two sets of trapezoidal protrusions are provided on the side facing the limiting ring 401; the linkage expansion gripper 5 also includes a positioning frame 501, an inclined connecting rod 502, a connecting block 503 and a partitioned pull rod 504. The positioning frame 501 is fixedly connected to the side end of the integrated connecting plate 4, and the inclined connecting rod 502 is movably connected to the connecting block 503 and the side end of the linkage expansion gripper 5.

[0028] Specifically, such as Figure 1 and Figure 3 As shown, the two sets of trapezoidal protrusions on the side of the fixing frame 2 facing the limiting ring 401 can be used to position and install the integrated connecting plate 4 at the upper and lower ends to ensure the stability of the partition pull rod 504 when it moves.

[0029] In this embodiment, the connecting block 503 is movably connected to the end of the inclined connecting rod 502, the partition pull rod 504 is fixedly connected to the side end of the limiting ring 401, and the other end is fixedly connected to the connecting block 503; the inclined connecting rod 502 is composed of two sets of parallel strip structures, and the two sets of parallel strip structures are respectively close to the two sides of the linkage expansion claw 5 and the connecting block 503.

[0030] Specifically, such as Figure 2 and Figure 4 As shown, the inclined connecting rod 502, composed of parallel strip structures, can fix the linkage expansion claw 5 and the connecting block 503 from both sides, further improving the stability of the linkage expansion claw 5.

[0031] In this embodiment, the inclined connecting rod 502, the linkage expansion claw 5, the connecting block 503 and the positioning frame 501 are all provided with shaft structures passing through them at the positions where they are connected to each other; the linkage expansion claw 5 is provided in three sets, and the linkage expansion claw 5 is in the shape of a "C" and a rubber pad is provided at the end away from the cylinder 1.

[0032] The working principle and usage process of this utility model are as follows: When using this structure, it is installed on the shifting mechanism as a gripping mechanism, and the cylinder 1 is connected to the external control unit. The cylinder 1 controls the extension and retraction of the push rod 402 by driving it. When the push rod 402 moves outward, it pushes the three-part partitioned pull rod 504 through the connection of the limiting ring 401. The partitioned pull rod 504 pushes the connecting block 503, and through the connection of the inclined connecting rod 502 and the fixation of the positioning frame 501, it pushes the linkage expansion gripper 5 to expand outward until the push rod 402 stops at the end of its stroke. At this time, the packaging can be gripped. The center position of the limiting ring 401 is aligned with the middle of the packaging, and then it is brought closer. The cylinder 1 controls the push rod 402 to retract. The push rod 402 pulls the limiting ring 401 and the three-part partitioned pull rod 504 to move in the opposite direction. The linkage expansion gripper 5 is pulled towards the middle by the inclined connecting rod 502 until the three sets of linkage expansion grippers 5 contact the packaging and grip it.

[0033] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model. Although the utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the protection scope of this utility model.

Claims

1. A packaging product grabbing mechanical claw, comprising a cylinder (1), a fixed frame (2) and a partition plate (3), the fixed frame (2) is arranged at the front end of the cylinder (1), and the partition plate (3) is arranged at the periphery of the fixed frame (2), characterized in that: an integrated connecting plate (4) is arranged in front of the fixed frame (2), and a linkage expansion clamp jaw (5) is arranged in front of the integrated connecting plate (4); the integrated connecting plate (4) further comprises a limiting ring (401) and a push rod (402), the limiting ring (401) is sleeved at the end of the push rod (402), and the push rod (402) is inserted into the inside of the cylinder (1).

2. A product gripping mechanism according to claim 1, wherein: The end of the fixed frame (2) in contact with the cylinder (1) is in a rectangular structure, and two groups of trapezoidal protrusions are arranged on the side towards the limiting ring (401).

3. A product gripping mechanism according to claim 1, wherein: The linkage expansion clamp jaw (5) further comprises a positioning frame (501), an inclined connecting rod (502), a connecting block (503) and a partitioned pull rod (504), the positioning frame (501) is fixedly connected to the side end of the integrated connecting plate (4), and the inclined connecting rod (502) is movably connected to the connecting block (503) and the side end of the linkage expansion clamp jaw (5).

4. A product gripping mechanism according to claim 3, wherein: The connecting block (503) is movably connected to the end of the inclined connecting rod (502), the partitioned pull rod (504) is fixedly connected to the side end of the limiting ring (401), and the other end is fixedly connected to the connecting block (503).

5. A product gripping mechanism according to claim 3, wherein: The inclined connecting rod (502) is composed of two groups of parallel strip structures, and the two groups of parallel strip structures are respectively close to the two sides of the linkage expansion clamp jaw (5) and the connecting block (503).

6. A product gripping mechanism according to claim 3, wherein: The inclined connecting rod (502), the linkage expansion clamp jaw (5), the connecting block (503) and the positioning frame (501) are all provided with shaft body structures penetrating therein at the positions of mutual connection.

7. A product gripping mechanism according to claim 1, wherein: The linkage expansion clamp jaw (5) is provided with three groups, and the linkage expansion clamp jaw (5) is in a "C" shape structure, and a rubber pad is arranged at the end away from the cylinder (1).

Images