Single-cylinder synchronous mechanical gripper

Abstract

The utility model provides a single-cylinder synchronous mechanical gripper which comprises a fixed base, a steering base is rotatably connected to the upper portion of the fixed base, a mechanical arm and a steering air cylinder are fixedly connected to the steering base, the top end of the mechanical arm is fixedly connected with a gripping assembly, and the gripping assembly comprises a single-claw synchronous mechanical gripper and a double-claw synchronous mechanical gripper. The single-claw synchronous mechanical gripper and the double-claw synchronous mechanical gripper are each provided with an air cylinder. Compared with the prior art, the synchronous mechanical grippers are arranged, power is conducted through a mechanical structure, the grippers on the two sides are driven through the single air cylinder, synchronous gripping is achieved, the synchronous grippers can provide stable and balanced clamping force, bag falling caused by shaking in the transportation process is avoided, bag stacks can be evenly stressed through synchronous gripping, and the conveying efficiency is improved. The bags are neat during grabbing and placing, formed stacks are neat and flat, warehouse management and inventory are facilitated, time consumed in the grabbing process is shortened, and the stacking speed of the bags is increased.

Description

Technical Field

[0001] This utility model relates to the field of packaging equipment technology, specifically a single-cylinder synchronous mechanical gripper. Background Technology

[0002] In the field of automated warehousing and logistics, mechanical grippers, as core actuators, are widely used in processes such as cargo gripping, handling, and palletizing. They are driven by cylinders to open and close the grippers, thereby completing the gripping and placement of goods.

[0003] A search revealed that application CN201720968365.2 discloses a palletizing gripper, comprising an assembly plate, cylinders, and grippers. The cylinders include a first cylinder, a second cylinder, a third cylinder, and a fourth cylinder. The grippers include a left gripper and a right gripper. A left and right diamond-shaped bearing are mounted on the front side of the assembly plate. The left diamond-shaped bearing is connected to the left support arm via a left gripper bearing. The left support arm is connected to the left gripper. The first cylinder is located on the left side of the assembly plate and connected to the left diamond-shaped bearing. The right diamond-shaped bearing is connected to the right support arm via a right gripper bearing. The right support arm is connected to the right gripper. The third cylinder is located on the right side of the assembly plate and connected to the right diamond-shaped bearing. The second and fourth cylinders are mounted on the upper surface of the assembly plate. The second cylinder is connected to the left gripper via a first connecting rod, and the fourth cylinder is connected to the right gripper via a second connecting rod. This device reduces moving parts and increases palletizing speed.

[0004] However, when the above-mentioned equipment is in use, multiple cylinders, namely the first cylinder, the second cylinder, the third cylinder and the fourth cylinder, are used to drive the gripper. Due to the irregular expansion of the gas and the obstruction of the gas by the pipeline, especially when the gas source is unstable, it is difficult for the cylinders to operate synchronously. This causes the opening and closing of the gripper and the claws on both sides to be asynchronous, which can easily pull the gripped object away from its original landing point, thus affecting the palletizing efficiency. Utility Model Content

[0005] The purpose of this invention is to provide a single-cylinder synchronous mechanical gripper to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A single-cylinder synchronous mechanical gripper includes:

[0008] A fixed base is provided, and a steering base is rotatably connected above the fixed base. A robotic arm and a steering cylinder are fixedly connected to the steering base. A moving link and a moving joint are installed on the robotic arm for moving the robotic arm. A gripping assembly is fixedly connected to the top of the robotic arm. The gripping assembly includes a single-claw synchronous mechanical gripper and a double-claw synchronous mechanical gripper. Both the single-claw synchronous mechanical gripper and the double-claw synchronous mechanical gripper are equipped with cylinders to uniformly control the gripper's claws to synchronously grip goods from the gripping platform.

[0009] Preferably, the single-claw synchronous mechanical gripper is rotatably connected to the top of the robotic arm via a first connecting block. First connecting strips are fixedly connected to both sides of the lower end face of the first connecting block. A cylinder bracket is fixedly connected between the first connecting strips. A first cylinder is fixedly connected to the cylinder bracket. First rotating rods are rotatably connected to the lower ends of both sides of the first connecting strip.

[0010] Preferably, the output end of the first cylinder is rotatably connected to a first driving member, and the other end of the first driving member is fixedly connected to a first rotating rod on one side of the lower end face of the first connecting bar. Both sides of the first rotating rod connected to the first driving member are fixedly connected to a first double-row sprocket, and both sides of the first rotating rod on the other side are fixedly connected to a second double-row sprocket. A chain is sleeved on the first double-row sprocket and the second double-row sprocket. The first cylinder drives the first rotating rod to rotate, the first rotating rod drives the first double-row sprocket to rotate, and the first double-row sprocket drives the second double-row sprocket to rotate synchronously through the chain.

[0011] Preferably, both ends of the first rotating rod are fixedly connected to a first steering component, the other end of the first steering component is fixedly connected to the rear end face of the first connecting plate, and the front end face of the first connecting plate is fixedly connected to a first claw.

[0012] Preferably, the dual-claw synchronous mechanical gripper is rotatably connected to the top of the robotic arm via a second connecting block. A second connecting strip is fixedly connected to both sides of the lower end face of the second connecting block. A second cylinder is fixedly connected between the second connecting strips via a bracket. A synchronization head is fixedly connected to the output end of the second cylinder.

[0013] Preferably, both sides of the synchronizing head are rotatably connected to synchronizing rods, the other end of the synchronizing rod is rotatably connected to the second driving member, the other end of the second driving member is fixedly connected to the second rotating rod, and the second rotating rod is rotatably connected to both sides of the lower end face of the second connecting strip.

[0014] Preferably, a second steering component is fixedly connected to both sides of the second rotating rod, the other end of the second steering component is fixedly connected to the rear end face of the second connecting plate, and a second claw is fixedly connected to the front end face of the second connecting plate.

[0015] Preferably, the gripping platform is equipped with a motor and a rotating shaft, the rotating shaft is driven to rotate by the motor, and a transmission belt is provided between the rotating shafts.

[0016] Compared with the prior art, the beneficial effects of this utility model are:

[0017] This invention, by setting up synchronous mechanical grippers, compared with the prior art, uses a mechanical structure to transmit power and drives the two claws on both sides with a single cylinder to achieve synchronous gripping. The synchronous grippers can provide stable and balanced clamping force, avoiding the loss of packages due to shaking during transportation. Furthermore, synchronous gripping can make the stack of packages evenly stressed, and the packages are neat and orderly when gripping and placing them, resulting in a clean and flat stack, which is convenient for warehouse management and inventory, reduces the time spent in the gripping process, and speeds up the loading of packages.

[0018] This utility model provides a synchronous mechanical gripper that is available in single-claw and double-claw configurations. Users can freely choose to use either a single-claw or double-claw synchronous mechanical gripper based on their work scenarios and product specifications to adapt to different work environments. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the single-grip robotic arm of this utility model;

[0020] Figure 2 This is a side view of the single-claw synchronous mechanical gripper of this utility model;

[0021] Figure 3 This is a front view of the single-claw synchronous mechanical gripper of this utility model;

[0022] Figure 4 This is a top view of the single-claw synchronous mechanical gripper of this utility model;

[0023] Figure 5 This is a three-dimensional schematic diagram of the single-claw synchronous mechanical gripper of this utility model;

[0024] Figure 6 This is a schematic diagram of the dual-claw robotic arm of this utility model;

[0025] Figure 7 This is a side view of the dual-claw synchronous mechanical gripper of this utility model;

[0026] Figure 8 This is a front view of the dual-claw synchronous mechanical gripper of this utility model;

[0027] Figure 9 This is a top view of the dual-claw synchronous mechanical gripper of this utility model;

[0028] Figure 10 This is a three-dimensional schematic diagram of the dual-claw synchronous mechanical gripper of this utility model.

[0029] In the diagram: 1-Fixed base; 2-Steering base; 3-Steering cylinder; 4-Mechanical arm; 401-Moving link; 402-Moving joint; 5-Single-claw synchronous mechanical gripper; 501-First connecting bar; 502-First cylinder; 503-Cylinder bracket; 504-First drive component; 505-First rotating rod; 506-First double-row sprocket; 507-Second double-row sprocket; 508-Chain; 509-First steering component; 510-First connecting plate; 511-First claw; 6-Double-claw synchronous mechanical gripper; 601-Second connecting bar; 602-Second cylinder; 603-Synchronizing head; 604-Synchronizing link; 605-Second rotating rod; 606-Second drive component; 607-Second steering component; 608-Second connecting plate; 609-Second claw; 7-Gripping platform; 8-First connecting block; 9-Second connecting block. Detailed Implementation

[0030] 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.

[0031] Example 1:

[0032] Please see Figures 1 to 5 This utility model provides a technical solution:

[0033] A single-cylinder synchronous mechanical gripper includes:

[0034] A fixed base 1 is provided, and a steering base 2 is rotatably connected above the fixed base 1. A robotic arm 4 and a steering cylinder 3 are fixedly connected to the steering base 2. A moving link 401 and a moving joint 402 are installed on the robotic arm 4 for moving the robotic arm 4. A gripping assembly is fixedly connected to the top of the robotic arm 4. The gripping assembly includes a single-claw synchronous mechanical gripper 5. The single-claw synchronous mechanical gripper 5 is equipped with a cylinder to uniformly control the gripper's claw to synchronously grip goods from the gripping platform 7.

[0035] In this embodiment, the single-cylinder synchronous mechanical gripper is controlled by a programmable logic controller (PLC). The movement of the mechanical gripper can be precisely controlled by writing a program. It can receive various input signals, such as object position information detected by sensors, operation button instructions, etc., and output control signals according to the preset logic program to drive actuators such as the mechanical gripper to realize the opening, closing, lifting, and rotation of the mechanical gripper. Alternatively, the operator can manually operate it through a series of buttons set on the control box or operation panel.

[0036] Specifically, the single-claw synchronous mechanical gripper 5 is rotatably connected to the top of the mechanical arm 4 via the first connecting block 8. The lower end face of the first connecting block 8 is fixedly connected to both sides of the first connecting strip 501. The cylinder bracket 503 is fixedly connected between the first connecting strips 501. The cylinder bracket 503 is fixedly connected to the first cylinder 502. The lower ends of both sides of the first connecting strip 501 are rotatably connected to the first rotating rod 505.

[0037] Specifically, the output end of the first cylinder 502 is rotatably connected to a first driving member 504. The other end of the first driving member 504 is fixedly connected to a first rotating rod 505 on one side of the lower end face of the first connecting bar 501. Both sides of the first rotating rod 505 connected to the first driving member 504 are fixedly connected to a first double-row sprocket 506, and both sides of the first rotating rod 505 on the other side are fixedly connected to a second double-row sprocket 507. A chain 508 is sleeved on the first double-row sprocket 506 and the second double-row sprocket 507. The first cylinder 502 drives the first rotating rod 505 to rotate, the first rotating rod 505 drives the first double-row sprocket 506 to rotate, and the first double-row sprocket 506 drives the second double-row sprocket 507 to rotate synchronously through the chain 508.

[0038] Specifically, both ends of the first rotating rod 505 are fixedly connected to a first steering component 509, the other end of the first steering component 509 is fixedly connected to the rear end face of the first connecting plate 510, and the front end face of the first connecting plate 510 is fixedly connected to a first claw 511.

[0039] In this embodiment, the single-claw synchronous mechanical gripper 5 is connected to the lower top of the robotic arm 4 via the first connecting block 8. The single-claw synchronous mechanical gripper 5 is moved above the gripping platform 7 via the steering cylinder 3 and multiple sets of moving linkages 401 and moving joints 402 on the robotic arm 4. The gripping platform 7 is connected to the rotating shaft and motor via a transmission belt for automatic feeding. The first cylinder 502 is activated, extending its output end to move one end of the first driving member 504. The other end of the first driving member 504 is fixedly connected to the first rotating rod 505, causing the first rotating rod 505 to rotate. The rotation of the first rotating rod 505 causes the first double-row sprockets 506 on both sides of the first rotating rod 505 to rotate. Second double-row sprockets are fixedly connected to both sides of the first rotating rod 505 below the other side of the first connecting bar 501. 507. The first double-row sprocket 506 and the second double-row sprocket 507 are connected by a chain 508 to achieve synchronous reverse rotation. That is, the first rotating rods 505 on both sides of the connecting bar also rotate synchronously in the opposite direction, so that the first steering parts 509 fixedly connected to the first rotating rods 505 on both sides also rotate synchronously in the opposite direction. The first steering parts 509 on both sides drive the first connecting plates 510 on both sides to rotate synchronously in the opposite direction, thereby realizing the opening and closing action of the first claws 511 installed on the inner side of the first connecting plates 510 on both sides, achieving synchronous gripping. The synchronous grippers can provide stable and balanced clamping force, avoiding the loss of packages due to shaking during transportation. Furthermore, synchronous gripping can make the stack of packages evenly stressed, and the packages are neat and orderly when gripping and placing, forming a clean and flat stack shape, which is convenient for warehouse management and inventory, reduces the time spent in the gripping process, and speeds up the loading speed of the stack.

[0040] Example 2:

[0041] Please see Figures 6 to 10 This utility model provides a technical solution that is basically the same as that of Embodiment 1, with slight differences:

[0042] Specifically, the gripping component includes a dual-claw synchronous mechanical gripper 6, each equipped with a cylinder to uniformly control the gripper's claws to synchronously grip goods from the gripping platform 7.

[0043] In this embodiment, the dual-jaw synchronous mechanical gripper 6 is connected to the lower top of the robotic arm 4 via the second connecting block 9. The gripper 6 is moved above the gripping platform 7 via the steering cylinder 3 and multiple sets of moving links 401 and moving joints 402 on the robotic arm 4. The gripping platform 7 is connected to a rotating shaft and a motor via a transmission belt for automatic feeding. Activating the second cylinder 602 causes its output end to move upward, driving the synchronous head 603 connected to its output end to move upward. The synchronous head 603 is rotatably connected to two synchronous connecting rods 604 on both sides. These connecting rods 604 rotate in opposite directions at the same angle as the synchronous head 603 moves, respectively driving the second driving members 606 connected to the two synchronous connecting rods 604 to move in the opposite direction. This, in turn, drives the second rotating rods 605 fixedly connected to the other ends of the two second driving members 606 to move synchronously. The reverse rotation of the second rotating rods 605 on both sides drives the second steering component 607 and the second connecting plate 608 and the second claw 609 fixedly connected to the second steering component 607 to rotate in the same reverse direction, completing the opening and closing action and realizing synchronous gripping. The synchronous gripper can provide a stable and balanced clamping force, avoiding the loss of packages due to shaking during transportation. Synchronous gripping can also make the stack of packages evenly stressed, and the packages are neat and tidy when gripping and placing, forming a neat and flat stack, which is convenient for warehouse management and inventory, reduces the time spent in the gripping process, and speeds up the loading speed of the stack. For small workpieces, a single claw can meet the gripping requirements, while for large workpieces, double claws can provide a more stable gripping force. Users can freely choose to use a single-claw synchronous mechanical gripper 5 or a double-claw synchronous mechanical gripper 6 according to the work scenario and product specifications to adapt to different work scenarios.

[0044] Specifically, the dual-claw synchronous mechanical gripper 6 is rotatably connected to the top of the mechanical arm 4 via the second connecting block 9. The lower end face of the second connecting block 9 is fixedly connected to both sides of the second connecting strip 601. The second connecting strip 601 is fixedly connected to the second cylinder 602 via a bracket. The output end of the second cylinder 602 is fixedly connected to the synchronization head 603.

[0045] Specifically, both sides of the synchronizing head 603 are rotatably connected to synchronizing rods 604. The other end of the synchronizing rod 604 is rotatably connected to the second driving member 606. The other end of the second driving member 606 is fixedly connected to the second rotating rod 605. The second rotating rod 605 is rotatably connected to both sides of the lower end face of the second connecting bar 601.

[0046] Specifically, the second rotating rod 605 is fixedly connected to both sides of the second steering component 607, the other end of the second steering component 607 is fixedly connected to the rear end face of the second connecting plate 608, and the front end face of the second connecting plate 608 is fixedly connected to the second claw 609.

[0047] Specifically, the gripping platform 7 is equipped with a motor and a rotating shaft. The motor drives the rotating shaft to rotate, and a transmission belt is installed between the rotating shafts.

[0048] In use, the single-claw synchronous mechanical gripper 5 is connected to the lower top of the robotic arm 4 via the first connecting block 8. The single-claw synchronous mechanical gripper 5 is moved above the gripping platform 7 via the steering cylinder 3 and multiple sets of moving linkages 401 and moving joints 402 on the robotic arm 4. The gripping platform 7 is connected to the rotating shaft and motor via a transmission belt for automatic feeding. Activating the first cylinder 502 extends its output end, moving one end of the first driving member 504. The other end of the first driving member 504 is fixedly connected to the first rotating rod 505, causing the first rotating rod 505 to rotate. The rotation of the first rotating rod 505 drives the first rotating rod... The first double-row sprockets 506 on both sides of 505 rotate, and the first rotating rod 505 on the other side of the first connecting bar 501 is fixedly connected to the second double-row sprockets 507 on both sides. The first double-row sprockets 506 and the second double-row sprockets 507 are connected by a chain 508 to achieve synchronous reverse rotation. That is, the first rotating rods 505 on both sides of the connecting bar also rotate synchronously in the opposite direction, so that the first steering components 509 fixedly connected to the first rotating rods 505 on both sides also rotate synchronously in the opposite direction. The first steering components 509 on both sides drive the first connecting plates 510 on both sides to rotate synchronously in the opposite direction, thereby realizing the opening and closing action of the first claws 511 installed on the inner side of the first connecting plates 510 on both sides, and achieving synchronous gripping.

[0049] The dual-claw synchronous mechanical gripper 6 is connected to the lower top of the robotic arm 4 via the second connecting block 9. The gripper 6 is moved above the gripping platform 7 via the steering cylinder 3 and multiple sets of moving links 401 and moving joints 402 on the robotic arm 4. The gripping platform 7 is connected to the rotating shaft and motor via a transmission belt for automatic feeding. The second cylinder 602 is activated, causing its output end to move upwards, driving the synchronous head 603 connected to its output end to move upwards. The synchronous head 603 is rotatably connected to the synchronous connecting rods 604 on both sides. The synchronous connecting rods 604 rotate in the opposite direction at the same angle as the synchronous head 603 moves, respectively driving the second driving components 606 connected to the synchronous connecting rods 604 on both sides to move in the opposite direction. This causes the second rotating rods 605, fixedly connected to the other ends of the second driving components 606 on both sides, to rotate synchronously in the opposite direction. The synchronous rotation of the second rotating rods 605 on both sides drives the second steering component 607 and the second connecting plate 608 and second claw 609 fixedly connected to the second steering component 607 to rotate synchronously in the opposite direction, completing the opening and closing action and achieving synchronous gripping.

[0050] All other parts of this utility model not described herein are the same as existing technologies, or are known technologies, or can be implemented using existing technologies, and will not be described in detail here.

[0051] 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 single-cylinder synchronous mechanical gripper, characterized by, The utility model relates to a kind of mechanical arm, including: Fixed base (1), steering base (2) is rotatably connected above the fixed base (1), mechanical arm (4) and steering cylinder (3) are fixedly connected on the steering base (2), moving connecting rod (401) and moving joint (402) are installed on the mechanical arm (4), for moving mechanical arm (4), the top end of the mechanical arm (4) is fixedly connected with grabbing assembly, the grabbing assembly includes single claw synchronous mechanical gripper (5) and double claw synchronous mechanical gripper (6), the single claw synchronous mechanical gripper (5) and double claw synchronous mechanical gripper (6) are provided with cylinder, and the claw of gripper is synchronously grabbed from grabbing platform (7) by unified control.

2. A single cylinder synchronous mechanical gripper as claimed in claim 1, wherein: The single claw synchronous mechanical gripper (5) is rotatably connected at the top end of the mechanical arm (4) by the first connecting block (8), the first connecting block (8) is fixedly connected with the first connecting strip (501) on both sides of the lower end surface, the first connecting strip (501) is fixedly connected with the cylinder support (503) between, the first cylinder (502) is fixedly connected on the cylinder support (503), the lower end of both sides of the first connecting strip (501) is rotatably connected with the first rotating rod (505).

3. A single cylinder synchronous mechanical gripper as claimed in claim 2, wherein: The first cylinder (502) is rotatably connected with the first driving part (504) on the output end, the other end of the first driving part (504) is fixedly connected on the first rotating rod (505) of the one side of the lower end surface of the first connecting strip (501), the first rotating rod (505) of the first driving part (504) is fixedly connected with the first double-row sprocket (506) on both sides, the first rotating rod (505) of the other side is fixedly connected with the second double-row sprocket (507) on both sides, the first double-row sprocket (506) and the second double-row sprocket (507) are provided with chain (508), the first cylinder (502) drives the first rotating rod (505) to rotate, the first rotating rod (505) drives the first double-row sprocket (506) to rotate, the first double-row sprocket (506) drives the second double-row sprocket (507) to rotate synchronously through the chain (508).

4. A single cylinder synchronous mechanical gripper as claimed in claim 3, wherein: The first rotating rod (505) is fixedly connected with the first steering part (509) on both ends, the other end of the first steering part (509) is fixedly connected on the rear end surface of the first connecting plate (510), the front end surface of the first connecting plate (510) is fixedly connected with the first claw (511).

5. A single cylinder synchronous mechanical gripper as claimed in claim 1, wherein: The double claw synchronous mechanical gripper (6) is rotatably connected at the top end of the mechanical arm (4) by the second connecting block (9), the second connecting block (9) is fixedly connected with the second connecting strip (601) on both sides of the lower end surface, the second connecting strip (601) is fixedly connected with the second cylinder (602) through support between, the output end of the second cylinder (602) is fixedly connected with the synchronous head (603).

6. A single cylinder synchronous mechanical gripper as claimed in claim 5, wherein: Both sides of the synchronization head (603) are rotatably connected with a synchronization connecting rod (604), one end of the synchronization connecting rod (604) is rotatably connected with a second driving member (606), the other end of the second driving member (606) is fixedly connected with a second rotating rod (605), and both sides of the lower end surface of the second rotating rod (605) are rotatably connected with the second connecting strip (601).

7. A single cylinder synchronous mechanical gripper as claimed in claim 6, wherein: Both sides of the second rotating rod (605) are fixedly connected with a second turning member (607), the other end of the second turning member (607) is fixedly connected with the rear end surface of a second connecting plate (608), and the front end surface of the second connecting plate (608) is fixedly connected with a second claw (609).

8. A single cylinder synchronous mechanical gripper as claimed in claim 1, wherein: A motor and a rotating shaft are arranged on the grabbing platform (7), the rotating shaft is driven to rotate by the motor, and transmission belts are arranged between the rotating shafts.

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