Hoop multifunctional gripping apparatus

Abstract

The utility model discloses a multifunctional gripping apparatus for a hoop, which comprises a rack, a mechanical arm connecting shaft is arranged on the rack, two clamping frames I and two clamping frames II are clamped on the rack in a sliding manner, the two clamping frames I and the two clamping frames II are symmetrically arranged, the clamping frames I and the clamping frames II are arranged in a vertically staggered manner, and a rack I is arranged on each clamping frame I. A first gear and a second gear respectively drive a first clamping frame and a second clamping frame to move in opposite directions, so that the first clamping frame and the second clamping frame can drive a fixing frame to move, an arc-shaped edge on the fixing frame can clamp and transport hoops, and a right-angle edge on the fixing frame can clamp and transport laminates and bottom edges. Therefore, manpower is saved, and multifunctional transportation is achieved. The first rotary driving device and the second rotary driving device drive the first clamping frames and the second clamping frames to move correspondingly, the effects of saving resources and transporting laminates of different shapes and specifications are achieved, and multifunctional transportation is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of hoop multifunctional grab, especially a hoop multifunctional grab. BACKGROUND

[0002] Bottled material transportation is applied in various aspects, such as in the pharmaceutical and biological product industry, there are many solutions that need to be stored in sterile conditions, and their containers are mostly glass bottles or plastic bags for loading and transportation, and in the gas transportation industry, there are special gas cylinders.

[0003] In the prior art, when the bottled material is transported, the hoop and the layer plate need to be installed and then the box is transported, but the hoop and the layer plate are too heavy, and at present, they are manually carried, at least two people can work, the labor cost is high, the repetitive work is more, and the efficiency is low, therefore, a hoop multifunctional grab needs to be designed. UTILITY MODEL CONTENTS

[0004] Therefore, it is necessary to provide a hoop multifunctional grab aiming at the above technical problems.

[0005] In order to achieve the above purpose, the utility model provides a hoop multifunctional grab, which comprises a rack, a mechanical arm connecting shaft is installed on the rack, two clamping frames one and two clamping frames two are slidingly connected to the rack, the two clamping frames one and two clamping frames two are symmetrically arranged, the clamping frame one and the clamping frame two are arranged in an upper and lower staggered manner, a rack one is installed on the clamping frame one, a rack two is installed on the clamping frame two, a rotary drive device one and a rotary drive device two are installed on the rack, a gear one is installed on the output end of the rotary drive device one, a gear two is installed on the output end of the rotary drive device two, the gear one is connected with the two rack ones in a meshing manner, the gear two is connected with the two rack twos in a meshing manner, a fixing frame is installed on the two ends of the clamping frame one and the clamping frame two, an arc-shaped edge suitable for the hoop is arranged on the fixing frame, and a fixing mechanism is installed on the fixing frame.

[0006] Preferably, the arc-shaped edge and the straight edge on the fixing frame are both chamfered.

[0007] Preferably, the fixing mechanism comprises a linear actuator and a pressing block, the linear actuator is installed on the fixing frame, the output end of the linear actuator is provided with the pressing block, and the pressing block is slidingly connected with the fixing frame.

[0008] Preferably, the pressing block is provided with an arc-shaped edge which is symmetrical to the fixing frame.

[0009] Preferably, a driven gear one and a driven gear two are installed on the rack, the driven gear one and the gear one are drivingly connected through a belt transmission assembly, the driven gear one and the gear one are respectively connected with a rack one in a meshing manner, the driven gear two and the gear two are drivingly connected through a belt transmission assembly, and the driven gear two and the gear two are respectively connected with a rack two in a meshing manner.

[0010] Preferably, the clamping frame one and the clamping frame two are provided with sliding rails, and the machine frame is provided with a fixing seat, and the sliding rails are slidably connected with the fixing seat.

[0011] Compared with the prior art, the technical scheme has at least one of the following beneficial effects:

[0012] 1. The gear one and the gear two drive the clamping frame one and the clamping frame two to move oppositely, so that the clamping frame one and the clamping frame two can drive the fixing frame to move, the arc-shaped edge of the fixing frame can clamp and transport the hoop, and the right-angle edge of the fixing frame can clamp and transport the layer plate and the bottom edge, thereby saving manpower and realizing multifunctional transportation.

[0013] 2. The rotating driving device one and the rotating driving device two drive the two clamping frames one and the two clamping frames two to move, which saves resources and can transport layer plates of different shapes and specifications, and realizes multifunctional transportation. BRIEF DESCRIPTION OF DRAWINGS

[0014] Fig. 1 It is a perspective view of an embodiment of the utility model;

[0015] Fig. 2 It is a top view of an embodiment of the utility model;

[0016] Fig. 3 It is a schematic view of a fixing frame of an embodiment of the utility model;

[0017] Fig. 4 It is a schematic view of the gear one and the gear two of an embodiment of the utility model;

[0018] In the figure, 1, machine frame; 2, mechanical arm connecting shaft; 3, clamping frame one; 4, clamping frame two; 5, rack one; 6, rack two; 7, rotating driving device one; 8, rotating driving device two; 9, gear one; 10, gear two; 11, fixing frame; 12, linear actuator; 13, pressing block; 14, driven gear one; 15, driven gear two; 16, sliding rail; 17, fixing seat. DETAILED DESCRIPTION

[0019] In order to make the above-mentioned purposes, features and advantages of the utility model more apparent and easy to understand, the specific embodiments of the utility model are described in detail below with reference to the drawings. In the following description, a lot of specific details are set forth in order to fully understand the utility model. However, the utility model can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the utility model, so the utility model is not limited by the following disclosed specific embodiments.

[0020] Please refer toFigs. 1 to 4 The embodiment of the application provides a multifunctional clamp gripper, which comprises a rack 1, a mechanical arm connecting shaft 2 is installed on the rack 1, two clamping frames one 3 and two clamping frames two 4 are slidingly connected to the rack 1, the two clamping frames one 3 and the two clamping frames two 4 are symmetrically arranged, the clamping frame one 3 and the clamping frame two 4 are arranged in an upper and lower staggered mode, a rack one 5 is installed on the clamping frame one 3, a rack two 6 is installed on the clamping frame two 4, a rotary driving device one 7 and a rotary driving device two 8 are installed on the rack 1, the rotary driving device one 7 and the rotary driving device two 8 can be servo motors or stepping motors, a gear one 9 is installed at the output end of the rotary driving device one 7, a gear two 10 is installed at the output end of the rotary driving device two 8, the gear one 9 is in meshing connection with the two rack ones 5, the gear two 10 is in meshing connection with the two rack twos 6, fixed frames 11 are installed at two ends of the clamping frame one 3 and the clamping frame two 4, arc-shaped edges suitable for the clamp are arranged on the fixed frames 11, and fixing mechanisms are installed on the fixed frames 11.

[0021] In the embodiment, when the bottom edge or the layer plate is clamped, the gear one 9 is driven to rotate by the rotary driving device one 7, so that the gear one 9 can drive the two symmetrically arranged clamping frames one 3 to move oppositely through the meshing of the gear one 9 and the rack one 5 on the clamping frame one 3, and the gear two 10 is driven to rotate by the rotary driving device two 8, so that the gear two 10 can drive the two clamping frames two 4 to move oppositely through the meshing of the gear two 10 and the rack two 6 on the clamping frame two 4, so that the clamping frame one 3 and the clamping frame two 4 can be controlled to move appropriate distances according to different shapes of the layer plate, the layer plate is clamped through the straight edges on the fixed frames 11, after clamping, the layer plate is moved and placed by the mechanical arm connecting shaft 2 driven by the mechanical arm, after the layer plate is placed, the bottled materials can be placed on the layer plate, then the fixed frames 11 are moved by the clamping frame one 3 and the clamping frame two 4, the arc-shaped edges on the fixed frames 11 are suitable for the arc-shaped edges of the clamp, so that the clamp can be clamped, thereby realizing the clamping and transportation of the clamp, when the thicker clamp and the layer plate are clamped, the thicker clamp and the layer plate can be located above the bottom edge of the fixed frame 11 and abut against the vertical edge of the L-shaped fixed frame 11 through the arrangement of the L-shaped structure of the fixed frame 11, and the fixing structure on the fixed frame 11 is lowered after clamping, so that the thicker clamp and the layer plate can be clamped and fixed again, thereby improving the stability during transportation, and the upper and lower staggered arrangement of the clamping frame one 3 and the clamping frame two 4 improves the space utilization rate of the gripper.

[0022] In some embodiments, in order to facilitate the thicker layer plate and the clamp to slide through the bottom edge of the fixed frame 11 so as to be clamped and fixed by the bottom edge side of the L-shaped fixed frame 11, the arc-shaped edges and the straight edges on the fixed frame 11 are all provided with chamfers.

[0023] In some embodiments, in order to further improve the fixing effect of the hoop and the layer plate, a fixing mechanism is arranged, which comprises a linear actuator 12 and a pressing block 13, the linear actuator 12 can be an electric cylinder, the linear actuator 12 is installed on the fixing frame 11, the output end of the linear actuator 12 is provided with the pressing block 13, and the pressing block 13 is in sliding connection with the fixing frame 11. After the fixing frame 11 is clamped, the linear actuator 12 drives the pressing block 13 to descend and cooperate with the fixing frame 11 to clamp and fix the hoop and the layer plate.

[0024] In some embodiments, in order to facilitate the pressing block 13 to clamp the hoop, the pressing block 13 is provided with an arc-shaped edge which is symmetrical to the fixing frame 11. Thus, when clamping a relatively thick hoop, the arc-shaped edge on the pressing block 13 can clamp the hoop; since the clamping of the pressing block 13 is mostly used for clamping a relatively thick hoop and layer plate, and the relatively thick hoop and layer plate will slide a certain distance on the fixing frame 11 along the chamfer, the arc-shaped edge and the straight edge on the pressing block 13 will be more outward relative to the fixing frame 11; for a relatively thin hoop and layer plate, it is still clamped and fixed by the part of the fixing frame 11 which is not provided with the chamfer.

[0025] In some embodiments, in order to reduce the weight of the grabber, a driven gear one 14 and a driven gear two 15 are installed on the rack 1, the driven gear one 14 and the gear one 9 are in transmission connection through a belt transmission assembly, the driven gear one 14 and the gear one 9 are respectively in meshing connection with a rack one 5, the driven gear two 15 and the gear two 10 are in transmission connection through a belt transmission assembly, and the driven gear two 15 and the gear two 10 are respectively in meshing connection with a rack two 6. Thus, one of the rack one 5 and the rack two 6 which is far away from the gear does not need to be arranged to be relatively long to ensure meshing.

[0026] In some embodiments, in order to further improve the stability of the clamping frame one 3 and the clamping frame two 4 when moving oppositely, a sliding rail 16 is installed on the clamping frame one 3 and the clamping frame two 4, a fixing seat 17 is installed on the rack 1, and the sliding rail 16 and the fixing seat 17 are in sliding clamping.

[0027] The technical features of the above embodiments can be combined arbitrarily, in order to make the description simple, not all possible combinations of the technical features in the above embodiments are described, however, as long as the combinations of the technical features do not exist contradictory, they should be considered as the scope of the description.

[0028] The above embodiments only express several implementation manners of the utility model, the description is relatively specific and detailed, but it cannot be understood as the limitation of the scope of the utility model patent. It should be pointed out that for ordinary skilled persons in the art, on the premise of not departing from the concept of the utility model, a number of modifications and improvements can be made, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent should be subject to the appended claims.

[0029] In the description of the utility model, need understanding is, the term "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and so on indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawing, just for the convenience of describing the utility model and simplifying the description, and not indicate or imply that the device or element indicated must have a particular orientation, be constructed and operated in a particular orientation, therefore can not be understood as the limitation of the utility model.

[0030] In addition, the terms "first", "second" are only for the purpose of description, and can not be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Therefore, the features defined with "first", "second" can explicitly or implicitly include at least one of the features. In the description of the utility model, the meaning of "multiple" is at least two, for example, two, three, etc., unless otherwise specifically limited.

[0031] In the utility model, unless otherwise specifically defined and limited, the terms "installation", "connection", "connection", "fixing" and other terms should be understood broadly, for example, can be fixed connection, can also be detachable connection, or integrated; can be mechanical connection, can also be electrical connection; can be directly connected, can also be indirectly connected through intermediate medium, can be the communication or interaction relationship between two elements, unless otherwise specifically limited. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

Claims

1. A multi-functional gripper, comprising a frame (1), on which a robotic arm connecting shaft (2) is mounted, characterized in that, The frame (1) is slidably connected to two clamping frames one (3) and two clamping frames two (4). The two clamping frames one (3) and two clamping frames two (4) are symmetrically arranged, and the clamping frames one (3) and two clamping frames two (4) are staggered vertically. A rack one (5) is installed on the clamping frame one (3), and a rack two (6) is installed on the clamping frame two (4). A rotary drive device one (7) and a rotary drive device two (8) are installed on the frame (1). Gear 1 (9) is installed at the output end of the first (7), and gear 2 (10) is installed at the output end of the second (8) rotary drive device. Gear 1 (9) is meshed with both racks 1 (5), and gear 2 (10) is meshed with both racks 2 (6). Fixing frames (11) are installed at both ends of clamping frame 1 (3) and clamping frame 2 (4). The fixing frame (11) is provided with an arc-shaped edge adapted to the clamp, and a fixing mechanism is installed on the fixing frame (11).

2. The multi-functional clamp grabber according to claim 1, characterized in that, Both the arc-shaped and straight edges of the fixed frame (11) are chamfered.

3. The multi-functional clamp grabber according to claim 1, characterized in that, The fixing mechanism includes a linear actuator (12) and a pressure block (13). The linear actuator (12) is mounted on the fixing frame (11). The output end of the linear actuator (12) is equipped with a pressure block (13), and the pressure block (13) is slidably connected to the fixing frame (11).

4. The multi-functional clamp gripper according to claim 3, characterized in that, The pressure block (13) has an arc-shaped edge that is symmetrical to the fixing frame (11).

5. The multi-functional clamp grabber according to claim 1, characterized in that, The frame (1) is equipped with driven gear one (14) and driven gear two (15). Driven gear one (14) and gear one (9) are connected by a belt drive assembly. Driven gear one (14) and gear one (9) are respectively connected to a rack one (5). Driven gear two (15) and gear two (10) are connected by a belt drive assembly. Driven gear two (15) and gear two (10) are respectively connected to a rack two (6).

6. The multi-functional clamp grabber according to claim 1, characterized in that, Both the clamping frame one (3) and the clamping frame two (4) are equipped with slide rails (16), and the frame (1) is equipped with a fixed seat (17). The slide rails (16) and the fixed seat (17) are slidably engaged.

Images