阅读说明：本技术 一种旋转钩式夹具及抓取搬运装置 (Rotary hook type clamp and grabbing and carrying device ) 是由 郭晓方 胡家泉 贾玉龙 刘爽 王向红 于 2021-08-10 设计创作，主要内容包括：本发明提供一种旋转钩式夹具及抓取搬运装置,其中旋转钩式夹具包括：安装架,其设有两个侧板,安装架用于与机器人固定连接；可转动地连接于两个侧板之间的一对转轴,每个转轴上固定安装有至少一个抓钩,该对转轴的抓钩一一对应且位置相对,抓钩的末端外径逐渐缩小呈一尖端；驱动装置,其用于驱动该对转轴反向转动,抓钩跟随转轴转动实现抓取或释放工件。该气动旋转式夹具以气缸为动力,配合齿轮齿条的转向将气缸的上下运动转换成一对转轴的反向旋转,通过转轴带动一一对应的抓钩反向旋转,从而实现自动抓取、搬运及释放编织袋。同时该抓钩形似带尖端的鱼钩,通过多对抓钩反向旋转,可稳定抓取和释放编织袋,配合机器人作为载具实现编织袋的搬运。(The invention provides a rotary hook type clamp and a grabbing and carrying device, wherein the rotary hook type clamp comprises: the mounting frame is provided with two side plates and is used for being fixedly connected with the robot; the pair of rotating shafts are rotatably connected between the two side plates, at least one grapple is fixedly arranged on each rotating shaft, the grapples of the pair of rotating shafts are in one-to-one correspondence and opposite in position, and the outer diameters of the tail ends of the grapples are gradually reduced to form a tip; and the driving device is used for driving the pair of rotating shafts to rotate reversely, and the grabbing hook rotates along with the rotating shafts to grab or release the workpiece. The pneumatic rotary fixture takes the cylinder as power, the vertical motion of the cylinder is converted into the reverse rotation of the pair of rotating shafts by matching with the steering of the gear rack, and the rotating shafts drive the one-to-one corresponding grapples to reversely rotate, so that the woven bags are automatically grabbed, carried and released. Meanwhile, the grapple is shaped like a fishhook with a pointed end, and can stably grab and release the woven bag through multiple pairs of grapples rotating in the opposite direction, and the robot is matched to carry the woven bag as a carrier.)

1. A rotary hook clamp, comprising:

the mounting frame is provided with two side plates and is used for being fixedly connected with the robot;

the pair of rotating shafts are rotatably connected between the two side plates, each rotating shaft is fixedly provided with at least one grapple, the grapples of the pair of rotating shafts are in one-to-one correspondence and opposite in position, and the outer diameters of the tail ends of the grapples are gradually reduced to form a tip;

and the driving device is used for driving the pair of rotating shafts to rotate reversely, and the grabbing hook rotates along with the rotating shafts to grab or release the workpiece.

2. The rotating hook clamp of claim 1, wherein the drive means comprises: the linear driving mechanism is arranged on one side plate and is used for driving a double-sided tooth to linearly move;

the pair of rotating shafts are correspondingly meshed with two surfaces of the double-sided rack through gears respectively.

3. The rotating hook clamp of claim 2, wherein the linear drive mechanism comprises: the double-sided rack is characterized by comprising a three-shaft cylinder arranged on the side plate, a piston rod driven by the three-shaft cylinder to stretch, a moving piece fixedly connected to the tail end of the piston rod, and a double-sided rack fixedly connected to the moving piece.

4. The rotating hook clamp of claim 1, wherein the grapple comprises: the connecting part is provided with a shaft hole used for being connected with the rotating shaft; the grabbing part is connected to one end of the connecting part, and the tail end of the grabbing hook is the tail end of the grabbing part.

5. The rotary hook fixture according to claim 4, wherein the connecting portion has a cylindrical shape, and the connecting portion has a screw hole on each of three sides with respect to the grasping portion, and the rotation of the grasping hook with respect to the rotary shaft is restricted by the screw being pushed into the screw hole.

6. The rotating hook clamp of claim 4, wherein the gripping portion is a semi-circular hook.

7. The rotary hook clamp of claim 6, wherein said side plate is mounted with a shroud that forms a receiving space therebetween for enclosing said gear and said double sided rack gear therein.

8. The rotary hook clamp according to claim 1, wherein the rotation shaft is sleeved with a locking ring for limiting the slip of the grapple at both sides of the grapple.

9. The rotating hook clamp of claim 1, wherein both ends of the rotation shaft are rotatably connected between the pair of side plates through bearing blocks.

10. A gripping and carrying device comprising a robot, and further comprising the rotating hook clamp according to any one of claims 1 to 9, wherein a top plate is connected to the corresponding top ends of the pair of side plates, the top plate is provided with a flange, and a manipulator of the robot is fixedly connected with the flange;

when the robot senses the woven bag, the robot controls the linear driving device to drive the grabbing hook to grab the woven bag, the robot is conveyed to a specified position by the mechanical hand, and the grabbing hook is controlled by the robot to release the woven bag.

Technical Field

The invention belongs to the technical field of packaging bag clamps, and particularly relates to a rotary hook type clamp and a grabbing and carrying device which are particularly suitable for woven bags.

Background

In the existing industry, a woven bag is widely used in each link of industrial production as one of packaging bags. However, because the manufacturing material of braided bag is thin and yielding, lead to the unable braided bag of absorbing of sucking disc carrier commonly used, and general traditional anchor clamps, it then produces easily when pressing from both sides and rocks the braided bag thereby influences the transport. Therefore, the woven bags in the field of industrial production are generally carried by people at present, and materials for manufacturing the woven bags are generally heavier, so that the labor intensity of manually carrying the woven bags is high, and the efficiency is low.

In conclusion, the existing clamp is easy to deform when absorbing the woven bag, easy to shake when clamping the woven bag, high in labor intensity and low in efficiency when manually carrying the woven bag, and the technical problems to be solved urgently in the field are solved.

Disclosure of Invention

The invention provides a rotary hook type clamp and a grabbing and carrying device which are particularly suitable for woven bags, and aims to solve the technical problems that the existing clamp is easy to deform when absorbing the woven bags, easy to shake when clamping the woven bags, high in labor intensity and low in efficiency when manually carrying the woven bags.

In order to solve the problems, the invention adopts the technical scheme that: there is provided a rotary hook clamp comprising:

the mounting frame is provided with two side plates and is used for being fixedly connected with the robot;

the pair of rotating shafts are rotatably connected between the two side plates, at least one grapple is fixedly arranged on each rotating shaft, the grapples of the pair of rotating shafts are in one-to-one correspondence and opposite in position, and the outer diameters of the tail ends of the grapples are gradually reduced to form a tip;

and the driving device is used for driving the pair of rotating shafts to rotate reversely, and the grabbing hook rotates along with the rotating shafts to grab or release the workpiece.

Further, the driving device includes: the linear driving mechanism is arranged on one side plate and is used for driving a double-sided tooth to linearly move;

the pair of rotating shafts are correspondingly meshed with two surfaces of the double-sided rack through gears respectively.

Preferably, the linear drive mechanism comprises: the double-sided rack type hydraulic cylinder comprises a three-shaft cylinder arranged on a side plate, a piston rod driven by the three-shaft cylinder to stretch, a moving piece fixedly connected to the tail end of the piston rod, and a double-sided rack fixedly connected to the moving piece.

Preferably, the grapple comprises: the connecting part is provided with a shaft hole used for being connected with the rotating shaft; the grabbing part is connected to one end of the connecting part, and the tail end of the grabbing hook is the tail end of the grabbing part.

Preferably, the connecting part is cylindrical, the connecting part is provided with jackscrew holes on three sides of the relative grabbing part respectively, and the rotation of the grab hook relative to the rotating shaft is limited by jacking the jackscrew into the jackscrew holes.

Preferably, the gripping portion is a semi-circular hook.

Further, the side plate is provided with a shield, and a containing space for wrapping the gear and the double-sided rack is formed between the shield and the side plate.

Further, the rotating shaft is sleeved with locking rings used for limiting the sliding of the grapple on two sides of the grapple.

Preferably, both ends of the rotating shaft are rotatably connected between the pair of side plates through bearing housings.

The invention also provides a grabbing and carrying device which comprises a robot and the rotary hook type clamp, wherein the corresponding top ends of the pair of side plates are connected with a top plate, the top plate is provided with a flange plate, and a manipulator of the robot is fixedly connected with the flange plate;

when the robot senses the woven bag, the robot controls the linear driving device to drive the grapple to grab the woven bag, and the robot controls the grapple to release the woven bag when the robot is conveyed to a specified position by a mechanical hand.

Compared with the prior art, the rotary hook type clamp and the grabbing and carrying device provided by the invention have the following beneficial effects: according to the pneumatic rotary clamp provided by the invention, the air cylinder is used as power, the vertical motion of the air cylinder is converted into the reverse rotation motion of the pair of rotating shafts under the steering action of the gear rack, and the rotating shafts drive the grabbing hooks which are respectively arranged in one-to-one correspondence to rotate in the reverse direction, so that the functions of automatically grabbing, carrying and releasing woven bags are realized. Meanwhile, the grapple is a fishhook with a bent shape and a pointed end, the woven bags can be stably grabbed and released by matching a plurality of pairs of grapples with a pair of rotating shafts to rotate reversely, and the grapple is matched with a robot to be used as a carrier to grab and carry the woven bags.

Drawings

FIG. 1 is a first schematic view of an overall assembly structure of an embodiment of a rotating hook clamp according to the present invention;

FIG. 2 is a second non-shrouded structural schematic of an embodiment of the rotating hook clamp of the present invention;

FIG. 3 is a third schematic view of an overall assembly structure of an embodiment of the rotating hook clamp according to the present invention;

FIG. 4 is a top plan view of an overall assembly structure of one embodiment of a rotating hook clamp provided in accordance with the present invention;

fig. 5 is a schematic structural view of a grapple of an embodiment of a rotary hook clamp according to the present invention.

Wherein, the main reference numbers in the figures are as follows:

1-a mounting frame; 11-side plate; 111-a shield; 12-a top plate; 121-flange plate; 2-a rotating shaft; 3-grappling; 31-a connecting portion; 311-shaft hole; 312-jackscrew hole; 32-a grasping portion; 321-a tip; 4-double-sided rack; 5-a gear; 6-a three-axis cylinder; 61-a piston rod; 7-a moving part; 8-locking ring; 9-bearing seat.

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to fig. 1 to 5 and the embodiments.

Referring to fig. 1-5, the present invention provides a rotating hook clamp, including:

the mounting bracket 1, this mounting bracket 1 is equipped with two relative curb plates 11, and this mounting bracket 1 is used for with robot fixed connection. As an embodiment, a top plate 12 is connected to the top ends of the side plates 11, the top plate 12 is provided with a flange 121, and the mounting frame 1 is fixedly connected to the corresponding connecting structure of the manipulator of the robot through the flange 121.

In this embodiment, the pair of rotating shafts 2 rotatably connected between the two side plates 11 is further included, wherein at least one grapple 3 is fixedly mounted on each rotating shaft 2, the grapples 3 of the pair of rotating shafts 2 correspond to each other one by one and are mounted at opposite positions, and the outer diameter of the end of each grapple 3 is gradually reduced to form a tip 321. As an example, the grapple 3 includes: a connecting portion 31, the connecting portion 31 being provided with a shaft hole 311 for connecting with the rotating shaft 2; and a grasping portion 32 connected to an end of the connecting portion 31 remote from the shaft hole 311, a distal end of the grasping portion 32 being a distal end of the grapple 3. In a preferred embodiment, the connecting portion 31 is cylindrical, and the central axis of the cylindrical shape is the central axis of the shaft hole 311; the connecting portion 31 is provided with a jackscrew hole 312 on three sides of the relative grasping portion 32 (namely three sides of the relative connecting surface with the grasping portion 32), and the jackscrew hole 312 is pushed into through the jackscrew, so that the rotation of the grapple 3 around the axis of the rotating shaft 2 relative to the rotating shaft 2 is limited, and the stability of the grapple 3 when the rotating shaft 2 drives the grapple 3 to rotate is ensured. In a more preferred embodiment, the grasping portions 32 are formed as half-arc hooks, and when each pair of grasping portions 32 are engaged, the grasping portions can slide into and accommodate the deformed portion of the woven bag, which is gripped and grasped, more smoothly.

In this embodiment, the device further comprises a driving device for driving the pair of rotating shafts 2 to rotate in opposite directions, so that the plurality of pairs of grapples 3 correspondingly arranged on the pair of rotating shafts 2 rotate in opposite directions along with the rotating shafts 2, so as to realize the action of grabbing or releasing the workpiece. As a preferred embodiment, the driving means comprises: the linear driving mechanism is arranged on one side plate 11 and is used for driving a double-sided rack 4 to linearly move; the pair of rotating shafts 2 are correspondingly engaged with two sides of a double-sided rack 4 through gears 5 arranged at various tail ends respectively. As an embodiment, the linear driving mechanism includes: the double-sided rack type hydraulic cylinder comprises a three-shaft cylinder 6 arranged on a side plate 11, a piston rod 61 driven by the three-shaft cylinder 6 to stretch, a moving part 7 (preferably a mounting plate) fixedly connected to the tail end of the piston rod 61, and a double-sided rack 4 fixedly connected to the moving part 7. As another embodiment, the driving unit of the linear driving mechanism may drive the piston rod 61 to drive the moving member 7 by a double-shaft air cylinder or a single-shaft air cylinder. As another embodiment, the linear driving mechanism may also use a motor to drive a driving wheel, the driving wheel drives the gear 5 of one of the rotating shafts 2 to rotate forward, and then the gear 5 drives the gear 5 of the other rotating shaft 2 to rotate backward. As another embodiment, the linear driving mechanism may also drive the gears 5 of the pair of rotating shafts 2 to rotate in a synchronous reverse direction through the respective gears 5 of the two motors rotating in a synchronous reverse direction.

As a preferred embodiment, a shield 111 is installed on the side plate 11, and an accommodating space for enclosing the gear 5 and the double-sided rack 4 is formed between the shield 111 and the side plate 11, so as to prevent moisture or dust from the external environment from affecting the rack transmission of the gear 5 and the service life of parts. As a more preferable embodiment, the rotating shaft 2 is sleeved with locking rings 8 for restricting the sliding of the grapple 3 in the axial direction of the rotating shaft 2 at both sides of the grapple 3, and both ends of the rotating shaft 2 are rotatably coupled between a pair of side plates 11 through bearing seats 9. As a preferred embodiment, the bearing seat 9 is a ball bearing seat 9.

The invention also provides a grabbing and carrying device which comprises a robot and the rotary hook type clamp, wherein a manipulator of the robot is fixedly connected with the flange plate 121. When the sensor of robot senses the braided bag, sensor feedback information gives the control system of robot, and the robot ventilates through control system control linear drive device to drive grapple 3 snatchs the braided bag, controls grapple 3 release braided bag by the manipulator transport to appointed position robot.

When snatching the braided bag, 2 antiport of a pair of pivot of the linear drive device of rotatory hook anchor clamps to drive the action of grabbing the braided bag to grapple 3, every sharp-pointed 321 looks lock that grapple 3 is the crotch form portion of grabbing 32, thereby press from both sides the braided bag tight and grab between the portion 32 of grabbing of many pairs of grapple 3. Utilize the interval to set up many to snatch the most advanced 321 one-to-one ground looks lock that the portion 32 is terminal, realize the tight and transport after pressing from both sides tight to the wrapping bag to overcome the braided bag yielding, the sucking disc is difficult to absorb and the traditional anchor clamps are difficult to the problem of centre gripping fastening, avoid manpower transport to produce intensity of labour, improve production efficiency, reduction in production cost.

The present invention is not limited to the above preferred embodiments, and any modifications, equivalent substitutions and improvements made within the spirit and principle of the present invention should be included in the protection scope of the present invention.