A whole layer barrel body transfer gripper device

Abstract

The utility model discloses a whole layer bucket body transfer tongs device belongs to transportation equipment technical field, solves the tongs of existing technology in the market existing stacker crane equipment, the limited transportation capacity can damage the wine spear cover, the technical problem of restriction capped bucket body stacker unstacking work efficiency. It includes support frame mechanism, push rod device and bottom slide device, and support frame mechanism includes the support frame structure that middle crossbeam connects left and right two sides fence frame, and the bottom of left and right two sides fence frame is equipped with the longitudinal linear slide rail of symmetrical setting, and the both sides of sliding plane trolley can be along longitudinal linear slide rail back and forth sliding through first sliding block, and the first parallel cross bar is connected between left and right two sides fence frame between the top of support frame mechanism, left and right, and the left and right two sides fence frame between still being connected with the vertical baffle that is equipped with between first parallel cross bar below and sliding plane trolley top.

Description

Technical Field

[0001] This utility model relates to the field of transportation equipment technology, specifically to a whole-layer barrel transfer gripper device. Background Technology

[0002] Currently available palletizing machines on the market cannot achieve full-layer transfer operations when palletizing and unpalletizing large wine barrels using commonly used grippers. Furthermore, existing grippers have the drawback of damaging products with wine spout caps.

[0003] Currently, other grippers operate by directly gripping a row of barrels using hooks. This method requires frequent robot movements, and since some barrels have caps on their spouts, the caps may be damaged, deformed, or even removed during the gripping process. These combined issues hinder the continuous and efficient production of capped barrels. Utility Model Content

[0004] This utility model addresses the shortcomings and deficiencies of existing technologies by providing a method for transferring and unloading barrels across an entire layer. The gripper can more efficiently solve the market gap for a gripper device and its usage method for transferring barrels across an entire layer.

[0005] To achieve the above objectives, this utility model provides the following technical solution: the whole-layer transfer gripper device for palletizers and depalletizers provided by this utility model includes a support frame mechanism, a push rod device, and a bottom slide device.

[0006] The supporting frame mechanism includes a supporting frame structure formed by a central crossbeam connecting the left and right side fence frames. The bottom of the left and right side fence frames are equipped with symmetrically arranged longitudinal linear slide rails.

[0007] The bottom slide mechanism includes a sliding flat trolley, whose two sides can slide back and forth along a longitudinal linear slide rail via first sliders.

[0008] The first parallel crossbar is located at the top of the supporting frame structure, connecting the left and right fence frames.

[0009] Vertical baffles are also installed between the left and right side fence frames located below the first parallel crossbar and above the sliding plane trolley.

[0010] The length of the sliding flat trolley is equal to the distance from the vertical baffle to the front end of the fence frame, and less than or equal to the distance from the vertical baffle to the rear end of the fence frame.

[0011] Preferably, a gripper fixing plate is connected to the middle of the first parallel crossbar at the top middle of the support frame mechanism;

[0012] It also has a power mechanism, which includes a drive motor and a sprocket transmission mechanism, which includes a transmission chain and a first drive sprocket.

[0013] A set of sprocket drive mechanisms is installed at the bottom of the left and right fence frames, and two first drive sprockets are installed at the front and rear ends of the fence frames, respectively.

[0014] A drive motor is connected to the rear end of the fence frame at the bottom of the support frame mechanism. The drive motor is connected to the second horizontal shaft through a coupling. The first drive sprockets located on both sides of the rear end of the fence frame are connected through the second horizontal shaft to achieve coaxial rotation.

[0015] The two first drive sprockets on the same side are connected by a transmission chain. A transverse connecting shaft is provided on the outer wall of the lower part of the transmission chain, and the transverse connecting shaft is fixedly connected to the first sliders on both sides of the sliding plane trolley.

[0016] Preferably, the upper part of the transmission chain is higher than the upper end of the vertical baffle and lower than the bottom of the first parallel crossbar;

[0017] The lower part of the transmission chain is below the bottom of the vertical baffle. The rotation of the transmission chain drives the sliders on both sides of the sliding plane trolley to move back and forth along the longitudinal linear slide rail.

[0018] Preferably, a push rod device is located at the front of the support frame mechanism, between the left and right fence frames, and connected by a third horizontal axis. The push rod device is matched with the front position of the sliding plane trolley.

[0019] Preferably, the push rod device includes a limiting frame formed by a swing shaft and a swing arm, the swing shaft is arranged parallel to the third horizontal axis, and its two ends are respectively connected by two swing arms;

[0020] The swing arm is a curved blade-shaped structure that bends towards the front end, and the front end of the swing arm is fixedly connected to the swing shaft, while its rear end is hinged to the third horizontal shaft through a rotating connecting seat.

[0021] The upper part of the rotating connecting seat is also connected to an upwardly inclined connecting collar. A longitudinal cylinder telescopic rod is also connected to the first parallel crossbar. The front end of the longitudinal cylinder telescopic rod is connected to the connecting collar. The telescopic movement of the longitudinal cylinder telescopic rod drives the connecting collar to pull backward and push the swing arm forward, thereby controlling the swing shaft to open and close up and down.

[0022] Preferably, when the swing shaft and the swing arm are in the lowered state, the distance between the swing shaft and the third horizontal axis matches the outer diameter of the barrel.

[0023] Preferably, the bearing surface of the sliding flat trolley is provided with a sliding roller;

[0024] The width of the sliding flat trolley matches the width between the left and right fence frames;

[0025] The front end of the bearing face of the sliding plane trolley has a downwardly inclined transition surface.

[0026] Preferably, multiple sets of second driven sprockets are symmetrically provided on the inner sides of the left and right fence frames, which are connected to the upper surface of the upper chain of the transmission chain for rotational limitation.

[0027] The method of using the above-mentioned whole-layer transfer gripper device for palletizers includes the following steps:

[0028] Loading and capping barrel operation: The controller controls the extension and retraction of the longitudinal cylinder rod, which in turn pulls the connecting collar backward to move the swing arm, controlling the swing axis to open upward. At this time, the limit frame is in the open state.

[0029] The covered barrels that come off the transport platform go directly into the bearing surface of the sliding flat trolley;

[0030] The number of covered buckets placed each time is equal to the bearing surface of the entire sliding plane trolley between the vertical baffle and the limiting frame;

[0031] When the bearing surface of the sliding flat trolley is filled with the covered barrel, the controller controls the extension and retraction of the longitudinal cylinder extension rod to drive the connecting collar forward to push the swing arm, controlling the swing shaft to close downward. At this time, the limit frame is in the closed limit state.

[0032] Transfer operation: The entire stacking and depalletizing machine's whole-layer transfer gripper device, after being fully loaded, is moved onto the shaping frame of the stacking and depalletizing platform by connecting the robotic arm to the gripper's fixed plate.

[0033] Stacking, unloading, and capping barrel operation: After aligning the support frame mechanism with the stacking and unloading platform, the controller controls the drive motor to rotate clockwise. The horizontal connecting shaft on the outer wall of the lower part of the transmission chain drives the first sliders on both sides of the sliding flat trolley to move backward. Under the limiting action of the vertical baffle and the limiting frame, only the sliding flat trolley moves backward and is pulled away, so that the entire layer of capped barrels slides into the shaping frame. Then, through the shaping frame, the entire layer of large barrels is transferred and placed.

[0034] Preferably, the method further includes the following steps: when reloading is required, the robotic arm is connected to the gripper fixed plate to transport the fully loaded floor transfer gripper device to the exit end of the transport platform; at the same time, the controller controls the drive motor to rotate counterclockwise, and the transverse connecting shaft on the outer wall of the lower chain of the transmission chain drives the first sliders on both sides of the sliding plane trolley to move forward, and the sliding plane trolley moves forward and moves back to between the vertical baffle and the limiting frame; at the same time, the limiting frame opens upward, waiting for loading.

[0035] This utility model provides a gripper device for transferring an entire layer of barrels. It has the following beneficial effects:

[0036] This utility model discloses a full-layer drum transfer gripper device and its usage method. Compared to traditional grippers with hooks, this device can fill an entire layer before transferring drums during the entire drum stacking and unloading process. This significantly reduces the repetitive transfer actions required by other grippers, resulting in higher transfer efficiency. It is particularly suitable for transferring large drums on an entire layer, offering higher efficiency.

[0037] Secondly, the gripper device of this utility model does not require a gripping hook for locking, which can better protect the cap on the wine spear and avoid a series of problems related to cap damage, thus not damaging the cap of the wine spear.

[0038] It is compatible with various types of palletizing equipment and can handle wine barrels of different sizes, ensuring a sturdy and reliable operation. Attached Figure Description

[0039] Figure 1 This is a schematic diagram of the structure of this utility model;

[0040] Figure 2 for Figure 1 A top view structural diagram;

[0041] Figure 3 for Figure 1 A schematic diagram of the structure of the front view;

[0042] Figure 4 for Figure 1 A top view of the structural schematic diagram of the supporting frame mechanism;

[0043] Figure 5 for Figure 4 A schematic diagram of the structure of a three-dimensional image;

[0044] Figure 6 for Figure 1 Schematic diagram of the push rod device;

[0045] Figure 7 for Figure 1 A schematic diagram of the bottom slide device.

[0046] In the diagram: 1. Side fence frames, 2. Longitudinal linear slide rail, 3. Sliding plane trolley, 4. Slider, 5. First parallel crossbar, 6. Vertical baffle, 7. Drive motor, 8. Transmission chain, 9. First drive sprocket, 10. Second horizontal shaft, 11. Horizontal connecting shaft, 12. Third horizontal shaft, 13. Swing arm, 14. Swing shaft, 15. Rotating connecting seat, 16. Connecting collar, 17. Longitudinal cylinder telescopic rod, 18. Transition surface. Detailed Implementation

[0047] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0048] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; 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; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0049] Please see Figure 1-7 This utility model provides a technical solution:

[0050] The palletizer depalletizer whole-layer transfer gripper device provided by this utility model includes a support frame mechanism, a push rod device and a bottom slide device. The support frame mechanism includes a support frame structure formed by a middle crossbeam connecting the left and right side fence frames 1. The bottom of the left and right side fence frames 1 is provided with symmetrically arranged longitudinal linear slide rails 2. The bottom slide device includes a sliding plane trolley 3. The two sides of the sliding plane trolley 3 can slide back and forth along the longitudinal linear slide rail 2 through the first slider 4.

[0051] A first parallel crossbar 5 is connected between the top of the supporting frame mechanism and the left and right side fence frames 1. A vertical baffle 6 is also connected between the left and right side fence frames 1 below the first parallel crossbar 5 and above the sliding plane trolley 3. The length of the sliding plane trolley 3 is equal to the distance from the vertical baffle 6 to the front end of the fence frame and less than or equal to the distance from the vertical baffle 6 to the rear end of the fence frame. The bottom slide device includes the sliding plane trolley 3 and the guardrail frame. Its main function is to realize the function of placing barrels with the gripper. When the gripper is full of barrels, the bottom slide device connected to the chain is pulled away by the power provided by the drive motor 7 through the chain drive. The large barrel loses the support of the bottom slide part and naturally slides down into the shaping frame. Then, it is shaped by the shaping frame to realize the transfer and placement of a whole layer of large barrels. The overall operation is time-saving and labor-saving, significantly improving work efficiency and meeting the production and processing needs of large batches of lidded barrels.

[0052] A gripper fixing plate is located at the top middle of the support frame mechanism and in the middle of the first parallel crossbar 5, which facilitates an effective and stable connection with the robotic arm.

[0053] The palletizer and depalletizer layer transfer gripper device provided by this utility model also includes a power mechanism, which includes a drive motor 7 and a sprocket transmission mechanism. The sprocket transmission mechanism includes a transmission chain 8 and a first drive sprocket 9. A set of sprocket transmission mechanisms is provided at the bottom of the left and right fence frames 1, and two first drive sprockets 9 are provided at the front and rear ends of the fence frames. The drive motor 7 is connected to the rear end of the fence frame at the bottom of the support frame mechanism. The drive motor 7 is connected to the second horizontal shaft 10 through a coupling. The first drive sprockets 9 on both sides of the rear end of the fence frame are connected through the second horizontal shaft 10 to achieve coaxial rotation. The two first drive sprockets 9 on the same side are connected by the transmission chain 8. A transverse connecting shaft 11 is provided on the outer wall of the lower part of the transmission chain 8, and the transverse connecting shaft 11 is fixedly connected to the first sliders 4 on both sides of the sliding flat trolley 3. The sliding flat trolley 3 is driven to move back and forth through the sprocket transmission mechanism, which saves time and effort and is convenient and fast.

[0054] The upper part of the transmission chain 8 is higher than the upper end of the vertical baffle 6 and lower than the bottom of the first parallel crossbar 5; the lower part of the transmission chain 8 is lower than the bottom of the vertical baffle 6. By rotating the transmission chain 8, the sliders 4 on both sides of the sliding plane trolley 3 can be better driven to move back and forth along the longitudinal linear slide rail 2.

[0055] A push rod device is connected between the left and right side fence frames 1 at the front of the supporting frame mechanism via a third horizontal axis 12. The push rod device is matched with the front position of the sliding plane trolley 3. The push rod device includes a limiting frame formed by a swing shaft 14 and a swing arm 13. The swing shaft 14 is parallel to the third horizontal axis 12, and its two ends are connected by two swing arms 13 respectively. The swing arm 13 is a curved blade structure that bends towards the front end. This structure can more effectively lock and limit the lidded bucket. The front end of the swing arm 13 is fixedly connected to the swing shaft 14, and its rear end is hinged to the third horizontal axis 12 via a rotating connecting seat 15. The upper part of the rotating connecting seat 15 is also connected to an upwardly inclined connecting collar 16. A longitudinal cylinder telescopic rod 17 is also connected to the first parallel horizontal bar 5. The front end of the longitudinal cylinder telescopic rod 17 is connected to the connecting collar 16. The extension and retraction of the longitudinal cylinder telescopic rod 17 drives the connecting collar 16 to pull backward and push the swing arm 13 forward, thereby controlling the swing shaft 14 to open and close up and down. Working principle of the push rod: Through the longitudinal cylinder telescopic rod 17, the swing arm 13 is driven to swing along the circumferential direction of the shaft. The main function of this part is that after the bucket inside the gripper is pushed out, the push rod part falls down and works with the guardrail on the side inside the gripper frame to push the bucket neatly, preparing it for subsequent repositioning.

[0056] When the swing shaft 14 and the swing arm 13 are in the lowered state, the distance between the swing shaft 14 and the third horizontal axis 12 matches the outer diameter of the barrel, which can further limit the stability of the first row of covered barrels during the transfer and unloading process.

[0057] In addition, the sliding flat trolley 3 is equipped with sliding rollers on its bearing surface. This structure is beneficial for loading and transporting the barrel, and also facilitates the quick and effective unloading of the barrel during unloading, significantly improving work efficiency.

[0058] The width of the sliding flat trolley 3 matches the width between the left and right fence frames 1. This structural design can maximize its overall carrying capacity and further improve work efficiency.

[0059] The front end of the bearing face of the sliding flat trolley 3 is provided with a downwardly inclined transition surface 18. This structural design further facilitates the transportation operation of the barrel during loading and unloading, and is especially suitable for unloading, reducing the buffer force of the barrel unloading and better meeting the actual use needs.

[0060] On the inner side of the left and right fence frames 1, there are also multiple sets of second driven sprockets that are symmetrically connected to the upper surface of the upper chain of the transmission chain 8 for rotational limitation. This structural design can further ensure the tension of the transmission chain 8, determine the continuous effectiveness of its overall power transmission, and further ensure the route of long-distance transmission chain 8 transportation.

[0061] The method of using the whole-layer transfer gripper device for palletizers and depalletizers of this utility model includes the following steps:

[0062] Loading and covering barrel operation: The controller controls the extension and retraction of the longitudinal cylinder extension rod 17 to drive the connecting collar 16 to pull the swing arm 13 backward, and controls the swing shaft 14 to open upward. At this time, the limit frame is in the open state, and the covered barrel coming out of the transport platform directly enters the bearing surface of the sliding plane trolley 3.

[0063] Each time, the number of covered buckets placed is equal to the bearing surface of the entire sliding plane trolley 3 between the vertical baffle 6 and the limiting frame;

[0064] When the bearing surface of the sliding flat trolley 3 is filled with the covered barrel, the controller controls the extension and retraction of the longitudinal cylinder telescopic rod 17 to drive the connecting collar 16 to push the swing arm 13 forward, and controls the swing shaft 14 to close downward. At this time, the limit frame is in the closed limit state.

[0065] Transfer operation: The entire stacking and depalletizing machine's whole-layer transfer gripper device, after being fully loaded, is moved onto the shaping frame of the stacking and depalletizing platform by connecting the robotic arm to the gripper's fixed plate.

[0066] Stacking, unloading, and capping barrel operation: After aligning the support frame mechanism with the stacking and unloading platform, the controller controls the drive motor 7 to rotate clockwise. The transverse connecting shaft 11 on the outer side wall of the lower chain of the transmission chain 8 drives the first sliders 4 on both sides of the sliding flat trolley 3 to move backward. Under the limiting action of the vertical baffle 6 and the limiting frame, only the sliding flat trolley 3 moves backward and is pulled away, so that the entire layer of capped barrels slides into the shaping frame. Then, through the shaping frame, the entire layer of large barrels is transferred and placed.

[0067] When reloading is required, the robotic arm connects to the fixed plate of the gripper, and the fully loaded transfer gripper device is moved to the exit end of the transport platform. At the same time, the controller controls the drive motor 7 to rotate counterclockwise, and the transverse connecting shaft 11 on the outer wall of the lower chain of the transmission chain 8 drives the first sliders 4 on both sides of the sliding flat trolley 3 to move forward. The sliding flat trolley 3 moves forward and moves back to the vertical baffle 6 and the limiting frame. At the same time, the limiting frame opens upward, waiting for loading.

[0068] The present invention relates to a whole-layer barrel transfer gripper device. The connecting plate can be used to connect with various robots and other types of stacking and unloading machines. The supporting frame mechanism is a welded frame, which is the basic frame of the gripper and is used to connect other tensioning wheels and cylinder components. The drive motor 7 drives the sprocket and chain through the motor shaft to achieve transmission.

[0069] In summary, this utility model's full-layer barrel transfer gripper device features an ingenious structural design. Compared to traditional grippers with hooks, it can fill an entire layer before transferring barrels during the entire barrel stacking and unloading process, achieving higher transfer efficiency. It is particularly suitable for transferring larger barrels. It eliminates the need for hook locking, better protecting the caps on the barrel racks and preventing issues related to cap damage. It is applicable to various types of palletizing equipment, handling barrels of different sizes with robust and reliable operation.

[0070] The above description is only a preferred embodiment of the present utility model, but the protection scope of the present utility model is not limited thereto. Any equivalent substitutions or changes made by those skilled in the art within the technical scope disclosed in the present utility model, based on the technical solution and the inventive concept of the present utility model, should be included within the protection scope of the present utility model.

Claims

1. A gripper device for transferring an entire layer of barrels, characterized in that, It includes a support frame mechanism, a push rod device and a bottom slide device. The support frame mechanism includes a support frame structure formed by connecting the left and right fence frames (1) with a middle cross beam. The left and right fence frames (1) are provided with symmetrically arranged longitudinal linear slide rails (2) at the bottom. The bottom slide device includes a sliding plane trolley (3). The two sides of the sliding plane trolley (3) can slide back and forth along the longitudinal linear slide rail (2) through the first slider (4). A first parallel crossbar (5) is connected between the top of the support frame mechanism and the left and right fence frames (1). A vertical baffle (6) is also connected between the left and right fence frames (1) below the first parallel crossbar (5) and above the sliding plane trolley (3). The length of the sliding flat trolley (3) is equal to the distance from the vertical baffle (6) to the front end of the fence frame, and less than or equal to the distance from the vertical baffle (6) to the rear end of the fence frame.

2. The whole-layer barrel transfer gripper device according to claim 1, characterized in that, A gripper fixing plate is connected to the middle of the first parallel crossbar (5) at the top middle of the support frame mechanism. It is also equipped with a power mechanism, which includes a drive motor (7) and a sprocket transmission mechanism, which includes a transmission chain (8) and a first drive sprocket (9). A set of sprocket drive mechanisms is provided at the bottom of the left and right fence frames (1), and two first drive sprockets (9) are provided at the front and rear ends of the fence frames. A drive motor (7) is connected to the rear end of the bottom fence frame of the support frame mechanism. The drive motor (7) is connected to the second horizontal shaft (10) through a coupling. The first drive sprockets (9) located on both sides of the rear end of the fence frame are connected through the second horizontal shaft (10) to achieve coaxial rotation. The two first drive sprockets (9) on the same side are connected by a transmission chain (8). A transverse connecting shaft (11) is provided on the outer side wall of the lower part of the transmission chain (8), and the transverse connecting shaft (11) is fixedly connected to the first sliders (4) on both sides of the sliding plane trolley (3).

3. The whole-layer barrel transfer gripper device according to claim 2, characterized in that, The upper part of the transmission chain (8) is higher than the upper end of the vertical baffle (6) and lower than the bottom of the first parallel crossbar (5); The lower part of the transmission chain (8) is lower than the bottom of the vertical baffle (6). By rotating the transmission chain (8), the sliders (4) on both sides of the sliding flat trolley (3) move back and forth along the longitudinal linear slide rail (2).

4. The whole-layer barrel transfer gripper device according to claim 3, characterized in that, The push rod device is located between the front of the support frame mechanism and the left and right fence frames (1) via a third horizontal axis (12). The push rod device is matched with the front position of the sliding flat trolley (3).

5. The whole-layer barrel transfer gripper device according to claim 4, characterized in that, The push rod device includes a limiting frame formed by a swing shaft (14) and a swing arm (13). The swing shaft (14) is arranged parallel to the third horizontal axis (12), and its two ends are respectively connected by two swing arms (13). The swing arm (13) is a curved blade-shaped structure that bends towards the front end, and the front end of the swing arm (13) is fixedly connected to the swing shaft (14), and its rear end is hinged to the third horizontal shaft (12) through a rotating connecting seat (15). The upper part of the rotating connecting seat (15) is also connected to an upwardly inclined connecting collar (16), and a longitudinal cylinder telescopic rod (17) is also connected on the first parallel crossbar (5). The front end of the longitudinal cylinder telescopic rod (17) is connected to the connecting collar (16). The telescopic movement of the longitudinal cylinder telescopic rod (17) drives the connecting collar (16) to pull backward and push forward the swing arm (13), thereby controlling the swing shaft (14) to open and close up and down.

6. The whole-layer barrel transfer gripper device according to claim 5, characterized in that, When the swing shaft (14) and the swing arm (13) are in the lowered state, the distance between the swing shaft (14) and the third horizontal axis (12) matches the outer diameter of the barrel.

7. A whole-layer barrel transfer gripper device according to claim 5, characterized in that, The sliding flat trolley (3) is equipped with a sliding roller on its bearing surface; The width of the sliding flat trolley (3) matches the width between the left and right fence frames (1); The front end of the bearing face of the sliding plane trolley (3) is provided with a downwardly inclined transition surface (18).

8. The whole-layer barrel transfer gripper device according to claim 2, characterized in that, On the inner side of the left and right fence frames (1), there are also multiple sets of second driven sprockets that are symmetrically connected to the upper surface of the upper chain of the transmission chain (8) for rotational limitation.

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