Stacking gripper mechanism
By designing a rotatable and adjustable clamping structure, the problem of having to replace the clamping mechanism when changing materials in a palletizing robot is solved, achieving convenient replacement and efficient clamping, and adapting to the needs of different materials.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGXI SHANGSI HUALIN FOREST IND CO LTD
- Filing Date
- 2025-08-18
- Publication Date
- 2026-06-23
AI Technical Summary
Existing palletizing robots require changing the gripping mechanism when changing to different materials, which is inconvenient and affects work efficiency.
A palletizing clamping mechanism was designed, comprising a mounting plate, a rotating structure, an adjusting structure, and a clamping structure. The rotation and position adjustment of the clamping structure are achieved by driving the rotating shaft and the threaded shaft with a motor, which can adapt to the clamping requirements of different materials.
This technology enables material replacement without changing the robot's gripping mechanism, improving operational convenience and work efficiency, and expanding the applicability of gripping.
Smart Images
Figure CN224394054U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of palletizing technology, specifically to palletizing clamping mechanisms. Background Technology
[0002] The palletizing gripper mechanism is a key component in palletizing robots that comes into direct contact with materials, primarily used for gripping, handling, and stacking them. Its core function is to generate sufficient friction through mechanical structures or pneumatic devices to overcome gravity, ensuring material stability during transport. Using mechanical grippers or suction cups, it accurately grasps materials of different shapes and sizes, achieving automated handling. According to a preset program, it automatically stacks materials into regular pallet shapes, supporting high-speed stacking. On automated production lines, the gripper mechanism can operate continuously without manual intervention, significantly improving packaging efficiency.
[0003] Palletizing robots require different clamping mechanisms when palletizing different materials. Commonly used clamping mechanisms include gripper type and clamping plate type. When changing materials, the clamping mechanism needs to be replaced, which is inconvenient to operate and affects work efficiency.
[0004] Therefore, it is desirable to provide a palletizing clamping mechanism. Utility Model Content
[0005] This embodiment provides a palletizing clamping mechanism, which solves the problem that palletizing robots need to install different clamping mechanisms when palletizing different materials. Commonly used clamping mechanisms include gripper type and clamping plate type. When changing materials, the clamping mechanism needs to be replaced, which is not convenient to operate and affects work efficiency.
[0006] According to one aspect of this application, a palletizing clamping mechanism is provided, including a mounting plate, a mounting head fixed at the top center of the mounting plate, vertical plates fixed at both ends of the bottom of the mounting plate, and a mounting frame fixed at the bottom end of the vertical plates via a rotating structure. The palletizing clamping mechanism further includes:
[0007] An adjustment structure is fixed at the middle position of the mounting frame;
[0008] Clamping structure one and clamping structure two are symmetrically fixed at the top and bottom of the adjusting structure.
[0009] Furthermore, the rotating structure includes a motor, a rotating shaft, and a rotating shaft. The motor is fixed to the bottom side wall of the vertical plate at one end of the mounting plate. The output end of the motor passes through the vertical plate and is fixed to the rotating shaft. The other end of the rotating shaft is fixed to the middle of the side wall of the mounting frame. One end of the rotating shaft is U-shaped.
[0010] Furthermore, a second rotating shaft is fixed to the side wall of the mounting frame corresponding to the first rotating shaft away from the first rotating shaft, and the other end of the second rotating shaft is rotatably connected to the bottom end of the vertical plate away from the first motor.
[0011] Furthermore, the adjustment structure includes a second motor, a threaded shaft, a stop block, a moving plate, and a slot. The second motor is fixed in the middle position of one side wall of the mounting frame, and the output end of the second motor passes through the side wall of the mounting frame and is fixed with a threaded shaft.
[0012] Furthermore, the end of the threaded shaft away from the second motor is rotatably connected to the inner wall of the mounting frame away from the second motor, and a stop block is fixed in the middle of the threaded shaft, with the threads on the threaded shaft on both sides of the stop block being opposite.
[0013] Furthermore, a movable plate is threadedly connected to the threaded shaft on both sides of the stop block. The top and bottom sides of the mounting frame corresponding to the movable plate are horizontally provided with slots. The top and bottom ends of the movable plate pass through the corresponding slots, and the bottom end of the movable plate is set in a U-shape.
[0014] Furthermore, the clamping structure includes a motor, a fixed plate, a rotating shaft, and a gripper. The motor is fixed to one side wall at the bottom of the moving plate, and the output end of the motor passes through the side wall at the bottom of the moving plate and is fixed to the fixed plate.
[0015] Furthermore, a rotating shaft is fixed to one end of the fixed plate away from the motor, and the other end of the rotating shaft is rotatably connected to the bottom side wall of the moving plate away from the motor. Multiple sets of grippers are fixed to the bottom of the fixed plate, and the grippers are configured in an L-shape.
[0016] Furthermore, the second clamping structure includes an L-shaped plate, an electric push rod, a clamping plate, a slider, and a sliding groove. The L-shaped plate is fixed to the top of the movable plate, and an electric push rod is fixed in the middle of the inner side wall of the L-shaped plate. The other end of the electric push rod is fixed to the clamping plate.
[0017] Furthermore, a slider is fixed in the middle of the bottom of the clamping plate, and the bottom end of the slider is slidably connected in a groove, which is horizontally arranged on the top of the L-shaped plate.
[0018] The advantages of this application are:
[0019] 1. The mounting frame is fixed to the bottom of the vertical plate at the bottom of the mounting plate via a rotating structure. Clamping structures one and two are symmetrically fixed at the top and bottom of the adjusting structure in the middle of the mounting frame. Clamping structure one is a gripper type, and clamping structure two is a clamping plate type. Motor one in the rotating structure drives rotating shaft one to rotate, thereby rotating the mounting frame and rotating shaft two. When changing different materials, clamping structures one and two can be rotated to the top and bottom of the mounting frame respectively, without needing to replace the clamping mechanism on the robot, making it convenient to use and improving work efficiency. Motor two in the adjusting structure drives the threaded axis to rotate in different directions, causing the moving plate to move left and right along the threaded axis. This allows adjustment of the distance between the grippers and the clamping plate according to different material sizes, increasing the applicability of the clamping mechanism. Attached Figure Description
[0020] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0021] Figure 1 This is a schematic diagram of the overall structure of one embodiment of this application;
[0022] Figure 2 This is a front view structural diagram of one embodiment of this application;
[0023] Figure 3 This is a side view of one embodiment of the present application.
[0024] Figure 4 This is a schematic diagram of the overall structure of the movable plate and clamping structure according to an embodiment of this application.
[0025] In the diagram: 1. Mounting plate; 2. Mounting head; 3. Vertical plate; 4. Rotating structure; 401. Motor 1; 402. Rotating shaft 1; 403. Rotating shaft 2; 5. Mounting frame; 6. Adjustment structure; 601. Motor 2; 602. Threaded shaft; 603. Stop block; 604. Moving plate; 605. Slot; 7. Clamping structure 1; 701. Motor 3; 702. Fixed plate; 703. Rotating shaft 3; 704. Grip clamp; 8. Clamping structure 2; 801. L-shaped plate; 802. Electric push rod; 803. Clamping plate; 804. Slider; 805. Slide groove. Detailed Implementation
[0026] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present application, and not all embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present application.
[0027] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate for the embodiments of this application described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0028] In this application, the terms "upper," "lower," "left," "right," "front," "rear," "top," "bottom," "inner," "outer," "middle," "vertical," "horizontal," "lateral," and "longitudinal" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments, and are not intended to limit the indicated device, element, or component to having a specific orientation, or to be constructed and operated in a specific orientation.
[0029] Furthermore, in addition to indicating location or positional relationship, some of the aforementioned terms may also have other meanings. For example, the term "above" may also be used in some cases to indicate a certain dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0030] Furthermore, the terms "installation," "setup," "equipped with," "connection," "linking," and "socketing" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral structure; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, components, or parts. Those skilled in the art can understand the specific meaning of these terms in this application based on the specific circumstances.
[0031] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.
[0032] Please see Figure 1-4 As shown, the palletizing clamping mechanism includes a mounting plate 1, with a mounting head 2 fixed at the top center of the mounting plate 1, and vertical plates 3 fixed at both ends of the bottom of the mounting plate 1. A mounting frame 5 is fixed to the bottom end of the vertical plates 3 via a rotating structure 4. The palletizing clamping mechanism also includes:
[0033] Adjustment structure 6, which is fixed in the middle position of mounting frame 5;
[0034] Clamping structure 7 and clamping structure 8 are symmetrically fixed to the top and bottom of the adjusting structure 6.
[0035] The rotating structure 4 includes a motor 401, a rotating shaft 402, and a rotating shaft 403. The motor 401 is fixed to the bottom side wall of the vertical plate 3 at one bottom end of the mounting plate 1. The output end of the motor 401 passes through the vertical plate 3 and is fixed to the rotating shaft 402. The other end of the rotating shaft 402 is fixed to the middle of the side wall of the mounting frame 5. One end of the rotating shaft 402 is U-shaped.
[0036] A second rotating shaft 403 is fixed to the side wall of the mounting frame 5 corresponding to the first rotating shaft 402 away from the first rotating shaft 402. The other end of the second rotating shaft 403 is rotatably connected to the bottom end of the vertical plate 3 on the side away from the motor 401.
[0037] The adjustment structure 6 includes a second motor 601, a threaded shaft 602, a stop block 603, a moving plate 604, and a slot 605. The second motor 601 is fixed in the middle of one side wall of the mounting frame 5, and the output end of the second motor 601 passes through the side wall of the mounting frame 5 and is fixed with the threaded shaft 602.
[0038] The end of the threaded shaft 602 away from the motor 601 is rotatably connected to the inner wall of the mounting frame 5 away from the motor 601. A stop block 603 is fixed in the middle of the threaded shaft 602, and the threads on the threaded shaft 602 on both sides of the stop block 603 are opposite.
[0039] The threaded shafts 602 on both sides of the stop block 603 are threadedly connected to the movable plate 604. The mounting frame 5 corresponding to the movable plate 604 has horizontal slots 605 on the top and bottom sides. The top and bottom ends of the movable plate 604 pass through the corresponding slots 605. The bottom end of the movable plate 604 is U-shaped.
[0040] The clamping structure 7 includes a motor 701, a fixing plate 702, a rotating shaft 703, and a gripper 704. The motor 701 is fixed on one side wall at the bottom of the moving plate 604, and the output end of the motor 701 passes through the side wall at the bottom of the moving plate 604 and is fixed to the fixing plate 702.
[0041] The fixed plate 702 has a rotating shaft 703 fixed at one end away from the motor 701. The other end of the rotating shaft 703 is rotatably connected to the bottom side wall of the moving plate 604 on the side away from the motor 701. The bottom of the fixed plate 702 has multiple sets of grippers 704 fixed, and the grippers 704 are arranged in an L-shape.
[0042] The clamping structure 8 includes an L-shaped plate 801, an electric push rod 802, a clamping plate 803, a slider 804, and a sliding groove 805. The L-shaped plate 801 is fixed to the top of the movable plate 604. An electric push rod 802 is fixed in the middle of the inner side wall of the L-shaped plate 801, and a clamping plate 803 is fixed to the other end of the electric push rod 802.
[0043] A slider 804 is fixed in the middle of the bottom of the clamping plate 803. The bottom end of the slider 804 is slidably connected in the slide groove 805. The slide groove 805 is horizontally arranged on the top of the L-shaped plate 801.
[0044] Working principle and usage method: When the electrical components appearing in this application are used, they are all connected to an external power supply and control device. First, the clamping mechanism is fixed to the robot through the mounting head 2. The motor 401 in the rotating structure 4 drives the rotating shaft 402 to rotate, thereby driving the mounting frame 5 and the rotating shaft 403 to rotate. When changing different materials, the clamping structure 7 and the clamping structure 8 can be rotated to the top and bottom of the mounting frame 5 respectively. There is no need to replace the clamping mechanism on the robot, which is convenient to use and improves work efficiency.
[0045] When the gripper 704 clamping structure is used at the bottom of the mounting frame 5, the motor 701 drives the fixing plate 702 to rotate, thereby driving the gripper 704 to rotate, so that the gripper 704 clamps the material on both sides of the bottom of the mounting frame 5; when the clamping plate 803 clamping structure is used at the bottom of the mounting frame 5, the electric push rod 802 pushes the clamping plate 803 to move, so that the clamping plate 803 moves towards the material side, so that the clamping plate 803 clamps the material, which is convenient for stacking the material;
[0046] By adjusting the motor 601 in structure 6 to drive the threaded shaft 602 to rotate in different directions, the moving plate 604 moves left and right along the threaded shaft 602. This allows the distance between the grippers 704 and the clamping plate 803 to be adjusted according to materials of different sizes, thereby improving the applicability of the clamping mechanism.
[0047] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.
Claims
1. A palletizing clamping mechanism, comprising a mounting plate (1), wherein a mounting head (2) is fixedly fixed at the top center of the mounting plate (1), and vertical plates (3) are fixed at both ends of the bottom of the mounting plate (1), and a mounting frame (5) is fixed at the bottom end of the vertical plates (3) via a rotating structure (4), characterized in that, The palletizing clamping mechanism also includes: Adjustment structure (6), which is fixed in the middle position of the mounting frame (5); Clamping structure one (7) and clamping structure two (8) are symmetrically fixed on the top and bottom of the adjusting structure (6).
2. The palletizing clamping mechanism according to claim 1, characterized in that: The rotating structure (4) includes a motor (401), a rotating shaft (402) and a rotating shaft (403). The motor (401) is fixed on the bottom side wall of the vertical plate (3) at one bottom end of the mounting plate (1). The output end of the motor (401) passes through the vertical plate (3) and is fixed with the rotating shaft (402). The other end of the rotating shaft (402) is fixed to the middle of the side wall of the mounting frame (5). One end of the rotating shaft (402) is set in a U-shape.
3. The palletizing clamping mechanism according to claim 2, characterized in that: The mounting frame (5) corresponding to the first rotating shaft (402) has a second rotating shaft (403) fixed on the side wall away from the first rotating shaft (402). The other end of the second rotating shaft (403) is rotatably connected to the bottom end of the vertical plate (3) away from the motor (401).
4. The palletizing clamping mechanism according to claim 1, characterized in that: The adjustment structure (6) includes a second motor (601), a threaded shaft (602), a stop block (603), a moving plate (604), and a slot (605). The second motor (601) is fixed in the middle of one side wall of the mounting frame (5), and the output end of the second motor (601) is fixed with the threaded shaft (602) through the side wall of the mounting frame (5).
5. The palletizing clamping mechanism according to claim 4, characterized in that: The end of the threaded shaft (602) away from the second motor (601) is rotatably connected to the inner wall of the mounting frame (5) away from the second motor (601). A stop block (603) is fixed in the middle of the threaded shaft (602), and the threads on the threaded shaft (602) on both sides of the stop block (603) are opposite.
6. The palletizing clamping mechanism according to claim 5, characterized in that: The threaded shafts (602) on both sides of the stop block (603) are threaded with movable plates (604). The mounting frame (5) corresponding to the movable plate (604) has horizontal slots (605) on the top and bottom sides. The top and bottom ends of the movable plate (604) pass through the corresponding slots (605), and the bottom end of the movable plate (604) is U-shaped.
7. The palletizing clamping mechanism according to claim 1, characterized in that: The clamping structure 1 (7) includes a motor 3 (701), a fixing plate (702), a rotating shaft 3 (703) and a gripper (704). The motor 3 (701) is fixed on the bottom side wall of the moving plate (604), and the output end of the motor 3 (701) passes through the bottom side wall of the moving plate (604) and is fixed to the fixing plate (702).
8. The palletizing clamping mechanism according to claim 7, characterized in that: The fixed plate (702) has a rotating shaft (703) fixed at one end away from the motor (701). The other end of the rotating shaft (703) is rotatably connected to the bottom side wall of the moving plate (604) on the side away from the motor (701). The fixed plate (702) has multiple sets of grippers (704) fixed at the bottom. The grippers (704) are arranged in an L-shape.
9. The palletizing clamping mechanism according to claim 1, characterized in that: The clamping structure 2 (8) includes an L-shaped plate (801), an electric push rod (802), a clamping plate (803), a slider (804), and a groove (805). The L-shaped plate (801) is fixed to the top of the movable plate (604). An electric push rod (802) is fixed in the middle of the inner side wall of the L-shaped plate (801), and a clamping plate (803) is fixed at the other end of the electric push rod (802).
10. The palletizing clamping mechanism according to claim 9, characterized in that: A slider (804) is fixed in the middle of the bottom of the clamping plate (803). The bottom end of the slider (804) is slidably connected in the groove (805). The groove (805) is horizontally arranged on the top of the L-shaped plate (801).