A gripper for grabbing a pallet

Abstract

The utility model relates to the field of grabbing hand claw, disclose a kind of hand claw for grabbing tray, including hand claw bottom plate, and the centring clamping cylinder is fixedly connected in hand claw bottom plate bottom, the output end of centring clamping cylinder left and right sides is all fixedly connected with connecting piece, two groups connecting piece outer wall are all fixedly connected with connecting joint, and the connecting joint outer end is fixedly connected with floating module, and the floating module outer end is fixedly connected with hand claw L plate. In the utility model, through the collaborative design of floating module and positioning pin, flexible buffering is formed when hand claw clamps tray, rigid impact generated by the slight size deviation of tray or clamping force fluctuation can be effectively offset, positioning pin is accurately inserted into tray positioning hole, and real-time monitoring of cooperation detection photoelectric inductor not only prevents tray horizontal sliding, but also can quickly identify empty grab or not firmly grabbed and other abnormal conditions, reduce goods sliding risk, adapt to the grabbing demand of different specifications tray.

Description

Technical Field

[0001] This utility model relates to the field of gripper, and more particularly to a gripper for gripping a tray. Background Technology

[0002] In fields such as industrial automation production, logistics warehousing, port loading and unloading, and e-commerce sorting, pallets serve as the core load-bearing tool connecting the storage, handling, and transportation of goods. Their usage is extremely frequent, almost permeating the entire process from production line completion to final delivery. Whether it's achieving high-level storage and retrieval of goods in automated warehouses, completing material flow and replenishment alongside production lines, or loading and unloading entire pallets of goods within containers at cross-border logistics hubs, all rely on gripper devices to accurately grasp and stably transfer pallets. Therefore, the performance of these grippers directly impacts the operational efficiency of the entire logistics and production system.

[0003] Currently, pallet gripping mainly relies on various types of gripper devices. These gripper devices consist of cylinders, gripper plates, and other connecting components. The cylinders drive the gripper plates to grasp the pallet for transport.

[0004] However, current grippers generally consist of two fingers mounted on a cylinder. These grippers typically have a short stroke and cannot grasp very large products. Alternatively, they may use a cylinder with fingers mounted on one side and fixed on the other, which allows them to grasp larger products. However, these grippers cannot grip in the center and cannot effectively prevent the pallet from sliding horizontally during the gripping process. Therefore, a new gripper for grasping pallets is proposed to solve the above problems. Utility Model Content

[0005] To overcome the above shortcomings, this utility model provides a gripper for grasping trays, which aims to improve the problem that the gripper in the prior art cannot grasp in the center.

[0006] To achieve the above objectives, the present invention adopts the following technical solution: a gripper for grasping a tray, comprising a gripper base plate, a centering clamping cylinder fixedly connected to the bottom of the gripper base plate, connecting parts fixedly connected to the output ends on both sides of the centering clamping cylinder, connecting joints fixedly connected to the outer walls of both sets of connecting parts, a floating module fixedly connected to the outer end of the connecting joint, a gripper L-plate fixedly connected to the outer end of the floating module, a positioning pin fixedly connected to the inner side wall of the bottom of the gripper L-plate, a detection photoelectric sensor fixedly connected to the bottom of the gripper L-plate, and a tray being engaged by the positioning pin.

[0007] As a further description of the above technical solution:

[0008] Both ends of the bottom of the gripper base plate are fixedly connected to linear guide rails, and guide frames are slidably connected to the outer walls of the linear guide rails.

[0009] As a further description of the above technical solution:

[0010] The top of the connector contacts the bottom of the gripper base plate.

[0011] As a further description of the above technical solution:

[0012] The gripper L-plate is T-shaped, with two sets of positioning pins extending outward.

[0013] As a further description of the above technical solution:

[0014] The bottom of the guide frame is fixedly connected to the top of the L-plate of the gripper.

[0015] This utility model has the following beneficial effects:

[0016] 1. In this utility model, through the collaborative design of the floating module and the positioning pin, a flexible buffer is formed when the gripper clamps the pallet, which can effectively offset the rigid impact caused by the slight size deviation of the pallet or the fluctuation of the clamping force. The positioning pin is accurately inserted into the positioning hole of the pallet. With the real-time monitoring of the detection photoelectric sensor, it not only prevents the pallet from sliding horizontally, but also quickly identifies abnormal situations such as empty gripping or not gripping firmly, reducing the risk of goods slipping and adapting to the gripping needs of pallets of different specifications.

[0017] 2. In this utility model, through the cooperative structure of linear guide rail and guide frame, the weight of the pallet is transferred to the linear guide rail through the gripper L plate and guide frame, and finally borne by the gripper base plate. This allows the centering clamping cylinder to only be responsible for driving the clamping arm to open or close, completely avoiding the problem of increased wear of the cylinder due to load, and significantly extending the service life of the cylinder. Attached Figure Description

[0018] Figure 1 This is a three-dimensional schematic diagram of a gripper for grasping a tray according to the present invention.

[0019] Figure 2 This is a three-dimensional schematic diagram of the L-plate of the gripper for grasping a tray, as proposed in this utility model.

[0020] Figure 3 This is a three-dimensional schematic diagram of a centering clamping cylinder for a gripper used to grasp a pallet, as proposed in this utility model.

[0021] Figure 4 This is a three-dimensional schematic diagram of a linear guide rail for a gripper used to grasp a tray, as proposed in this utility model.

[0022] Legend:

[0023] 1. Gripper base plate; 2. Centering clamping cylinder; 3. Connector; 4. Connecting joint; 5. Floating module; 6. Gripper L-plate; 7. Positioning pin; 8. Detection photoelectric sensor; 9. Linear guide rail; 10. Guide frame; 11. Pallet. Detailed Implementation

[0024] 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.

[0025] Reference Figures 1-3 This utility model provides an embodiment of a gripper for grasping a pallet, comprising a gripper base plate 1. The gripper base plate 1 is the core bearing and mounting foundation of the entire gripper, used to fix and support other key components, ensuring the stability of the overall gripper structure. A centering clamping cylinder 2 is fixedly connected to the bottom of the gripper base plate 1. The centering clamping cylinder 2 provides clamping power, and its left and right output ends can move synchronously in opposite directions, driving the components on both sides to achieve centering clamping, ensuring that the pallet 11 is in the center position when grasped, avoiding displacement. Connecting parts 3 are fixedly connected to the left and right output ends of the centering clamping cylinder 2. The outer end of the connecting part 3 is a flat structure for connecting subsequent components, ensuring uniform force distribution during power transmission. Connecting joints 4 are fixedly connected to the outer walls of both sets of connecting parts 3. The connecting joints 4 serve as transitional connecting parts between the guide plate 3 and the floating module 5, providing a stable interface for the installation of the floating module 5. The floating module 5 is fixedly connected to the outer end of the connecting joint 4. The fixed connections at both ends of the floating module 5 must take into account both stability and... A certain amount of movement margin is provided so that the floating module 5 can play a buffering role and ensure the flexibility of the gripper. The outer end of the floating module 5 is fixedly connected to the gripper L-plate 6. The gripper L-plate 6 is T-shaped to balance installation space and gripping stability. The outward extension of the T-shaped structure provides installation space for the positioning pin 7. The positioning pin 7 is fixedly connected to the inner side wall of the bottom of the gripper L-plate 6. The positioning pin 7 can accurately align with the positioning hole on the tray 11 to achieve mechanical positioning and prevent the tray 11 from sliding horizontally during the gripping process. The bottom of the gripper L-plate 6 is fixedly connected to the detection photoelectric sensor 8. The detection photoelectric sensor 8 can detect in real time whether the tray 11 is successfully locked in place. When the sensor detects the tray 11, it will send a signal to the control system to confirm that the gripping is completed and avoid the situation of "empty gripping" or "not gripping firmly". The positioning pin 7 is locked to the tray 11. The tray 11 is existing technology and will not be described in detail. The top of the connector 3 is in contact with the bottom of the gripper base plate 1. The gripper L-plate 6 is T-shaped and extends outward with two sets of positioning pins 7.

[0026] Reference Figures 2-4 Linear guide rails 9 are fixedly connected to both ends of the bottom of the gripper base plate 1, which can make the sliding trajectory of the gripper L plate 6 more precise and form a "dual guide" with the drive of the centering clamping cylinder 2, further ensuring the stability of the clamping action. A guide frame 10 is slidably connected to the outer wall of the linear guide rail 9. The guide frame 10 cooperates with the linear guide rail 9 to transfer the weight of the tray 11 to the linear guide rail 9, so that the centering clamping cylinder 2 only plays the opening and closing function, greatly improving the service life of the cylinder. The bottom of the guide frame 10 is fixedly connected to the top of the gripper L plate 6.

[0027] Working principle: When the pallet 11 needs to be grasped, the control system sends a start signal to the centering clamping cylinder 2. The centering clamping cylinder 2, as the power source, starts to work, and its left and right output ends move outward synchronously. Power is transmitted through the connector 3, which is fixedly connected to the output ends. At this time, the connecting joint 4, which is fixed to the outer wall of the connecting joint 3, moves together with the connecting joint 3, thereby driving the floating module 5, which is fixed to the outer end of the connecting joint 4, and the gripper L-plate 6, which is fixed to the outer end of the floating module 5, to unfold outward synchronously, reserving enough space for the pallet 11 to enter. After the pallet 11 moves to the preset position under the gripper, the control system adjusts the gripper height so that the positioning pin 7, which is fixed to the inner side wall of the bottom of the gripper L-plate 6, aligns with the positioning hole on the pallet 11. After positioning is completed, centering is achieved. The clamping cylinder 2 receives a reverse signal, and its left and right output ends retract inward synchronously. Through the connector 3 and the connecting joint 4, it drives the floating module 5 and the gripper L-plate 6 to move inward. During this process, the positioning pin 7 gradually inserts into the positioning hole of the tray 11, realizing the mechanical positioning of the tray 11 and preventing the tray 11 from sliding in the horizontal direction. At the same time, the floating module 5, with its connection characteristics that balance stability and allowance for movement, plays a flexible buffering role during the clamping of the tray 11 by the gripper L-plate 6, avoiding damage to components due to excessive clamping force or slight dimensional deviations of the tray 11, and ensuring the gripper's flexible grasping ability. After the gripper L-plate 6 fully clamps the tray 11, the detection photoelectric sensor 8 fixed at the bottom of the gripper L-plate 6 detects in real time whether the tray 11 has been successfully clamped in place. If the detection photoelectric sensor 8 detects the tray 11, it immediately sends a "grip in place" signal to the control system to confirm that the gripping is complete and avoid "empty gripping" or "not gripped firmly". If the tray 11 is not detected, the control system will issue an alarm signal to prompt readjustment of the gripping position.

[0028] Throughout the gripping process, the guide frame 10 and linear guide rail 9, in addition to their guiding function, also bear the weight. After the pallet 11 is clamped, its weight is transferred to the guide frame 10 via the gripper L-plate 6, then transferred from the guide frame 10 to the linear guide rail 9, and finally supported by the gripper base plate 1. This ensures that the centering clamping cylinder 2 only drives the gripper to open and close, without bearing the weight of the pallet 11, significantly extending its service life. Subsequently, the pallet 11 can be transferred by moving the entire gripper. After the transfer is completed, the centering clamping cylinder 2 unfolds outward again, releasing the pallet 11 and completing one full gripping cycle.

[0029] Finally, it should be noted that the above description is only a preferred embodiment of the present utility model and is not intended to limit the present utility model. Although the present utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments or make equivalent substitutions for some of the technical features. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present utility model should be included within the protection scope of the present utility model.

Claims

1. A gripper for grasping a tray, comprising a gripper base plate (1), characterized in that: The bottom of the gripper base plate (1) is fixedly connected to a centering clamping cylinder (2). The output ends of the centering clamping cylinder (2) on both sides are fixedly connected to connectors (3). The outer walls of the two sets of connectors (3) are fixedly connected to connectors (4). The outer end of the connectors (4) is fixedly connected to a floating module (5). The outer end of the floating module (5) is fixedly connected to a gripper L plate (6). The inner side wall of the bottom of the gripper L plate (6) is fixedly connected to a positioning pin (7). The bottom of the gripper L plate (6) is fixedly connected to a detection photoelectric sensor (8). The positioning pin (7) is engaged with a tray (11).

2. A gripper for grasping a tray according to claim 1, characterized in that: The bottom ends of the claw base plate (1) are fixedly connected to linear guide rails (9), and the outer wall of the linear guide rails (9) is slidably connected to a guide frame (10).

3. A gripper for grasping a tray according to claim 1, characterized in that: The top of the connector (3) is in contact with the bottom of the claw base plate (1).

4. A gripper for grasping a tray according to claim 1, characterized in that: The gripper L plate (6) is T-shaped, with two sets of positioning pins (7) extending outward.

5. A gripper for grasping a tray according to claim 2, characterized in that: The bottom of the guide frame (10) is fixedly connected to the top of the gripper L plate (6).

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