A tray gripper for palletizing

Abstract

The utility model relates to a material disc clamp jaw for stacking, including the connecting frame, two groups of clamp jaw subassembly, its symmetry sets up in the connecting frame, and each group of clamp jaw subassembly all includes first connecting piece and second connecting piece, and second connecting piece is equipped with a plurality of first guide rod, and first connecting piece is equipped with first guide sleeve, and first guide rod is connected in first guide sleeve along the vertical direction and slides, and second connecting piece is connected with the jaw body, drive subassembly, its setting in the connecting frame and two groups of clamp jaw subassembly are close to each other or away from each other. The utility model reduces the weight and the volume of the clamp jaw, can also buffer the jaw body, effectively reduces the risk that the material disc is pressed and is broken.

Description

Technical Field

[0001] This utility model relates to the technical field of loading and unloading devices, and in particular to a pallet gripper for stacking. Background Technology

[0002] In automated production lines, grippers and trays are key components for achieving precise material transfer. Grippers are used to grasp and transfer trays that carry materials. Traditional grippers usually use an integral connecting frame structure to connect the grippers to the output end of the power unit. When the tray size is large, in order to meet the structural strength required for large-span gripping, the connecting frame of such grippers is often designed to be relatively robust, resulting in a significant increase in its own size and weight. Moreover, traditional grippers generally use a rigid connection method, which can easily lead to excessive clamping force on the tray, causing the tray to be crushed. Summary of the Invention

[0003] Therefore, the technical problem to be solved by this utility model is to overcome the problem that the traditional gripper in the prior art is too heavy and has too much clamping force, which can easily cause overload of the power components and damage to the material tray. In this way, a material tray gripper for stacking is provided, which reduces the weight and volume of the gripper and can also buffer the gripper body, effectively reducing the risk of the material tray being damaged.

[0004] To solve the above-mentioned technical problems, this utility model provides a pallet gripper for stacking, comprising, Connector; Two sets of gripper assemblies are symmetrically arranged on the connecting frame. Each set of gripper assemblies includes a first connector and a second connector. The second connector is provided with a plurality of first guide rods. The first connector is provided with a first guide sleeve. The first guide rods are slidably connected to the first guide sleeve in the vertical direction. The second connector is connected to a gripper body. A drive assembly is disposed on the connecting frame and the two sets of gripper assemblies are close to or far apart from each other.

[0005] In one embodiment of the present invention, the first connector is disposed parallel to the second connector, and the first connector is disposed above the second connector.

[0006] In one embodiment of the present invention, the connecting frame includes a gripper beam, a connecting plate, and a mounting plate. The connecting plate is connected to both ends of the gripper beam, and the mounting plate is connected to the middle of the gripper beam. The connecting plates located at both ends of the gripper beam are movably connected to the first connecting members of the two sets of gripper assemblies.

[0007] In one embodiment of the present invention, the first connector is provided with a second guide rod, the connecting plate is provided with a second guide sleeve, and the second guide rod is slidably connected to the second guide sleeve in the horizontal direction.

[0008] In one embodiment of this utility model, the first connector, the second connector, and the gripper beam are all configured as profiles.

[0009] In one embodiment of the present invention, a pressure plate connected to the second connector is further included, and the pressure plate is positioned higher than the claw body.

[0010] In one embodiment of the present invention, the pressure plate extends to the middle of the material tray held by the claw.

[0011] In one embodiment of this utility model, the pressure plate is provided with a shrinkage portion, and the shrinkage portion is provided with rounded corners.

[0012] In one embodiment of this utility model, the pressure plate is disposed at both ends of the second connecting member.

[0013] In one embodiment of the present invention, the driving component drives the first connecting members of the two sets of gripper assemblies to move closer or further away from each other, or the driving component drives the second connecting members of the two sets of gripper assemblies to move closer or further away from each other.

[0014] In one embodiment of the present invention, the drive assembly includes a first cylinder and a second cylinder, the output end of the first cylinder is connected to a first connecting plate of one of the gripper assemblies, and the output end of the second cylinder is connected to a first connecting plate of another gripper assembly.

[0015] Compared with the prior art, the above-mentioned technical solution of this utility model has the following beneficial effects: The pallet gripper of this utility model for stacking uses a modular gripper assembly composed of a first connector, a second connector, and multiple first guide rods. This modularity allows the gripper assembly to meet the structural strength requirements for large-span gripping while reducing the size and weight of the gripper. When the gripper touches the pallet below, the second connector rises relative to the first connector, providing a buffer for the pallet and absorbing some of the excessive clamping force, transforming rigid clamping into flexible clamping. This avoids the risk of crushing or damaging the pallet due to excessive clamping force. The first guide rods, in conjunction with the first guide sleeve, provide precise guidance to the gripper, improving its positioning accuracy. Attached Figure Description

[0016] To make the content of this utility model easier to understand, the present utility model will be further described in detail below with reference to specific embodiments and accompanying drawings. Figure 1 This is a schematic diagram of the structure of the pallet gripper used for stacking in a preferred embodiment of the present invention; Figure 2 for Figure 1 A schematic diagram of the pressure plate connected to the robotic arm is shown. Figure 3 for Figure 1 The diagram shows the structure of the material tray gripper connected to the robotic arm.

[0017] Explanation of reference numerals in the accompanying drawings: 1. Pallet gripper for stacking; 11. Connecting frame; 111. Gripper beam; 112. Mounting plate; 113. Second guide sleeve; 114. Connecting plate; 12. Gripper assembly; 12a. First gripper assembly; 12b. Second gripper assembly; 121. First connector; 122. Second connector; 123. First guide rod; 1231. Screw hole; 124. First guide sleeve; 125. Second guide rod; 1251. Screw hole; 126. Pressure plate; 1261. Retraction section; 1262. Rounded corner; 127. Gripper body; 131. First cylinder; 132. Second cylinder; 2. Robotic arm. Detailed Implementation

[0018] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, so that those skilled in the art can better understand and implement the present invention. However, the embodiments are not intended to limit the present invention.

[0019] For reference Figure 1 As shown, in one embodiment of this utility model, a pallet gripper for stacking is disclosed, comprising: Connector 11; Two sets of gripper assemblies 12 are symmetrically arranged on the connecting frame 11. Each set of gripper assemblies 12 includes a first connector 121 and a second connector 122. The second connector 122 is provided with a plurality of first guide rods 123. The first connector 121 is provided with a first guide sleeve 124. The first guide rods 123 are slidably connected to the first guide sleeve 124 in the vertical direction. The second connector 122 is connected to a gripper body 127. A drive assembly is disposed on the connecting frame 11 and the two sets of gripper assemblies 12 are close to or far from each other.

[0020] The pallet gripper for stacking described in this embodiment is composed of a first connector 121, a second connector 122, and multiple first guide rods 123, forming a modular gripper assembly 12. This modularizes the gripper assembly 12, reducing the size and weight of the gripper while meeting the structural strength requirements for large-span gripping. When the gripper body contacts the pallet below, the second connector 122 rises relative to the first connector 121, acting as a buffer for the pallet and absorbing some of the excessive clamping force, transforming rigid clamping into flexible clamping, thereby avoiding the risk of crushing or damaging the pallet due to excessive clamping force. The first guide rods 123 cooperate with the first guide sleeve 124 to precisely guide the gripper body 127, improving the positioning accuracy of the gripper body 127. The gripper body 127 is used to lift the pallet from the bottom and clamp the pallet from the side.

[0021] For reference Figure 1 As shown, in one embodiment of this utility model, each set of gripper assemblies 12 includes two first guide rods 123 and two first guide sleeves 124. The two first guide rods 123 are respectively connected to the two ends of the second connector 122. When the bottom of the gripper body 127 abuts against the material tray, the reaction force of the material tray on the second connector 122 will cause the first guide rods 123 to rise relative to the first guide sleeves 124, thereby avoiding hard contact between the gripper body 127 and the material tray below. Through the guidance of the two first guide rods 123, it is ensured that the two ends of the second connector 122 rise and fall synchronously and smoothly, preventing the second connector 122 from deflecting or jamming.

[0022] For reference Figure 1 As shown, in one embodiment of the present invention, in order to prevent the first guide rod 123 from disengaging from the first guide sleeve 124 and to ensure that the material tray floats within the design range, the upper end of the first guide rod 123 is provided with a screw hole 1231. The first guide rod 123 is connected to a washer (not shown) through the screw hole 1231 and a screw. The washer is used to form a mechanical limit on the upper end of the first guide rod 123.

[0023] For reference Figure 1 As shown, in one embodiment of this utility model, the claw body 127 is configured as an "L" shape, which facilitates lifting the material tray from the bottom and clamping it from the side.

[0024] For reference Figure 1 As shown, in one embodiment of the present invention, the first connector 121 is arranged parallel to the second connector 122, and the first connector 121 is arranged above the second connector 122. The purpose is to ensure that the second connector 122 can float smoothly in the vertical direction, reducing the risk of jamming.

[0025] For reference Figure 1As shown, in one embodiment of this utility model, the second connector 122 is provided with two claws 127, which are used to lift the two sides of the material tray respectively, thereby improving the clamping stability.

[0026] For reference Figure 1 and Figure 3 As shown, in one embodiment of this utility model, the connecting frame 11 includes a gripper beam 111, two connecting plates 114, and a mounting plate 112. The two connecting plates 114 are respectively connected to both ends of the gripper beam 111, and the two connecting plates 114 are respectively movably connected to the first connecting member 121 of the two sets of gripper assemblies 12. The mounting plate 112 is connected to the middle part of the gripper beam 111. The material tray gripper 1 is integrally connected to the robotic arm 2 through the mounting plate 112, and the material tray is transferred and stacked by the robotic arm 2.

[0027] For reference Figure 1 As shown, in one embodiment of this utility model, the first connecting member 121 is provided with a second guide rod 125, the second guide rod 125 is fixedly connected to the first connecting member 121, and the connecting plate 114 is fixedly connected with a second guide sleeve 113. The second guide rod 125 is slidably connected to the second guide sleeve 113 in the horizontal direction. Through the cooperation of the second guide rod 125 and the second guide sleeve 113, the sliding of the claw body 127 in the horizontal direction is precisely guided. Furthermore, the first connecting member 121 is provided with a second guide rod 125 at both ends, and the connecting plate 114 is also provided with two second guide sleeves 113 at both ends. Through the guiding effect of the two second guide rods 125, the two ends of the first connecting member 121 are ensured to move smoothly and synchronously.

[0028] For reference Figure 1 As shown, in one embodiment of this utility model, the first connector 121, the second connector 122, and the gripper beam 111 are all made of profiles. The profiles can reduce the weight of the grippers while ensuring structural strength.

[0029] For reference Figure 1 As shown, in one embodiment of the present invention, a pressure plate 126 connected to the second connector 122 is also included, and the pressure plate 126 is set higher than the claw body 127. When the claw body 127 clamps the material tray, the pressure plate 126 is located directly above the material tray, and the pressure plate 126 is used to press down the material tray that is shaking up and down.

[0030] For reference Figure 1 As shown, in one embodiment of the present invention, the pressure plate 126 extends to the middle of the material tray held by the claw body 127, and the coverage area of ​​the pressure plate 126 extends from the edge of the material tray to the center area of ​​the material tray, further constraining the shaking of the material in the material tray.

[0031] For reference Figure 2 As shown, in one embodiment of the present invention, the pressure plate 126 is provided with a shrinkage portion 1261 to achieve gradual contact between the material in the tray and the pressure plate 126, thereby reducing impact; the shrinkage portion 1261 is provided with a rounded corner 1262 to reduce damage to the material.

[0032] For reference Figure 1 As shown, in one embodiment of this utility model, the two pressure plates 126 are respectively disposed at both ends of the second connecting member 122 to ensure that the material tray is subjected to balanced force and enhance the stability effect on the large material tray.

[0033] For reference Figure 1 As shown, in one embodiment of the present invention, the driving component drives the first connecting member 121 of the two sets of gripper assemblies 12 to move closer or further away from each other. In another embodiment, the driving component drives the second connecting member 122 of the two sets of gripper assemblies 12 to move closer or further away from each other.

[0034] For reference Figure 1 As shown, in one embodiment of the present invention, the two gripper assemblies 12 are a first gripper assembly 12a and a second gripper assembly 12b, respectively. The drive assembly includes a first cylinder 131 and a second cylinder 132. The output end of the first cylinder 131 is connected to the first connector 121 of the first gripper assembly 12a, and the output end of the second cylinder 132 is connected to the first connector 121 of the second gripper assembly 12b.

[0035] In one embodiment of this utility model, the pressure plate 126 is inclined to ensure that the pressure plate 126 presses on the material tray gradually.

[0036] For reference Figure 1 As shown, in one embodiment of the present invention, in order to prevent the second guide rod 125 from disengaging from the second guide sleeve 113, the end face of the second guide rod 125 is provided with a screw hole 1251. The end of the second guide rod 125 is fixedly connected to a washer (not shown) through the screw hole 1251 and a screw. The washer forms a mechanical limiting structure for the second guide rod 125, which can constrain the sliding range of the second guide rod 125 and the second connecting member 122.

[0037] The working principle of the pallet gripper for stacking described in this utility model is as follows: Taking the placement of a pallet in a stack as an example, before gripping the pallet, the drive assembly drives the two gripper assemblies 12 to move away from each other to a position where they can grip the pallet. Then, the robotic arm moves the two gripper assemblies 12 to the sides of the pallet. Next, the drive assembly drives the two gripper assemblies 12 to move closer together, so that the claw body 127 extends into the bottom of the pallet, and the pressure plate 126 presses on the pallet, completing the clamping of the pallet. Finally, the robotic arm 2 moves the pallet gripper 1 to the top of the stack and lowers the gripped pallet until the pallet is stacked on the top pallet of the stack, and the claw body 127 separates from the bottom of the pallet. When the claw body 127 descends, it abuts against the pallet below. The first guide rod 123 rises relative to the first guide sleeve 124, and the claw body 127 stops descending to avoid crushing the pallet below. Then, the drive assembly drives the two gripper assemblies 12 to move away from each other, completing the pallet stacking.

[0038] Obviously, the above embodiments are merely illustrative examples for clear explanation and are not intended to limit the implementation. Those skilled in the art will recognize that other variations or modifications can be made based on the above description. It is neither necessary nor possible to exhaustively list all possible implementations here. However, obvious variations or modifications derived therefrom are still within the protection scope of this invention.

Claims

1. A pallet gripper for stacking, characterized in that, include, Connector; Two sets of gripper assemblies are symmetrically arranged on the connecting frame. Each set of gripper assemblies includes a first connector and a second connector. The second connector is provided with a plurality of first guide rods. The first connector is provided with a first guide sleeve. The first guide rods are slidably connected to the first guide sleeve in the vertical direction. The second connector is connected to a gripper body. A drive assembly is disposed on the connecting frame and the two sets of gripper assemblies are close to or far apart from each other.

2. A pallet gripper for stacking according to claim 1, characterized in that, The first connector is arranged parallel to the second connector, and the first connector is positioned above the second connector.

3. A pallet gripper for stacking according to claim 1, characterized in that, The connecting frame includes a gripper beam, a connecting plate, and a mounting plate. The connecting plate is connected to both ends of the gripper beam, and the mounting plate is connected to the middle of the gripper beam. The connecting plates located at both ends of the gripper beam are movably connected to the first connecting members of the two sets of gripper assemblies.

4. A pallet gripper for stacking according to claim 3, characterized in that, The first connector is provided with a second guide rod, and the connecting plate is provided with a second guide sleeve. The second guide rod is slidably connected to the second guide sleeve in the horizontal direction.

5. A pallet gripper for stacking according to claim 3, characterized in that, The first connector, the second connector, and the gripper beam are all made of profiles.

6. A pallet gripper for stacking according to claim 1, characterized in that, It also includes a pressure plate connected to the second connector, and the pressure plate is positioned higher than the claw body.

7. A pallet gripper for stacking according to claim 6, characterized in that, The pressure plate extends to the middle of the material tray held by the claw.

8. A pallet gripper for stacking according to claim 6, characterized in that, The pressure plate has a contraction section, and the contraction section has rounded corners.

9. A pallet gripper for stacking according to claim 6, characterized in that, The pressure plates are disposed at both ends of the second connector.

10. A pallet gripper for stacking according to claim 1, characterized in that, The driving component drives the first connecting members of the two sets of gripper assemblies to move closer or further apart from each other, or the driving component drives the second connecting members of the two sets of gripper assemblies to move closer or further apart from each other.

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