CN219729769U - Stacking grabbing device and automatic tray matching equipment - Google Patents
Stacking grabbing device and automatic tray matching equipment Download PDFInfo
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- CN219729769U CN219729769U CN202321324668.2U CN202321324668U CN219729769U CN 219729769 U CN219729769 U CN 219729769U CN 202321324668 U CN202321324668 U CN 202321324668U CN 219729769 U CN219729769 U CN 219729769U
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- 238000000034 method Methods 0.000 description 8
- 238000009434 installation Methods 0.000 description 7
- 235000019504 cigarettes Nutrition 0.000 description 4
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- 239000003086 colorant Substances 0.000 description 1
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Abstract
The utility model discloses a stacking grabbing device and automatic tray matching equipment, comprising a first bracket, a grabbing component and a sucker component; the grabbing assembly comprises a gripper driving mechanism, a first grabbing mechanism and a second grabbing mechanism, wherein the first grabbing mechanism and the second grabbing mechanism are respectively hinged to two opposite ends of the first bracket, and the first grabbing mechanism and the second grabbing mechanism are driven to rotate relative to the first bracket through the gripper driving mechanism, so that the end parts of the first grabbing mechanism and the second grabbing mechanism are mutually close to or separated from each other, and the materials are grabbed or loosened; the sucking disc subassembly set up in first support bottom, sucking disc subassembly include a plurality of sucking discs, the sucking disc sets up in first support bottom, and the sucking disc is used for adsorbing the material. The utility model can meet the requirement of grabbing materials with slightly larger and lighter sizes in a small range, and is suitable for grabbing different types of materials.
Description
Technical Field
The utility model relates to the technical field of production equipment, in particular to a stacking grabbing device and automatic tray distribution equipment.
Background
Currently, a large amount of auxiliary materials of different types are often required in the production process, for example, in the process of producing cigarettes, a large amount of disc-shaped auxiliary materials or box-shaped auxiliary materials such as cigarette paper, tipping paper, packaging film and the like are contained. In order to reduce the occupation of the field, the tray allocation operation of the cigarette auxiliary materials is generally required according to the production plan, and then the cigarette auxiliary materials are placed in an auxiliary material balance warehouse to balance the temperature and the humidity. The tray matching of the auxiliary materials refers to selecting the auxiliary materials of different types on a tray according to a certain number, different varieties and stacking modes.
The automatic tray distributing equipment is full-automatic equipment for distributing, unstacking, stacking and conveying materials such as trays, partition boards and the like for supporting the cargoes. The stacking grabbing device of the automatic tray distribution device is mainly realized by adopting mechanical arms, so that grabbing of various materials or trays is realized, the corresponding mechanical arm size can be selected according to the sizes of the grabbed materials, however, when the stacking grabbing device faces large-size, small-mass and small-range moving requirements such as trays and partition plates, the grabbing requirements cannot be met by adopting too small mechanical arms, the use performance of the mechanical arms and the space of a place can be wasted by selecting too large mechanical arms, and the control accuracy difficulty of the mechanical arms can be increased; secondly, the grabbing part of the stacking grabbing device can only grab single-variety or single-shape materials, and cannot grab multiple types of materials, if the grabbing of multiple types of materials is completed at the same time, multiple mechanical arms are required to be configured, so that a certain cost burden is caused; therefore, a stacking and grabbing device which can meet grabbing requirements of automatic tray matching equipment, can adapt to large-size, small-mass and small-range movement and meet grabbing requirements of various different types of targets is needed.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model aims to provide a stacking grabbing device and automatic tray matching equipment, which can be used for grabbing materials with slightly larger sizes and lighter materials in a small range, are suitable for grabbing different types of materials, solve the inconvenience that a large mechanical arm adopted at present runs in a small range, and a small mechanical arm cannot grab slightly larger cargoes, and can grab various different types of materials for transferring.
The utility model aims at providing a stacking and grabbing device, which is realized by adopting the following technical scheme: comprises a first bracket, a grabbing component and a sucker component;
the grabbing assembly comprises a gripper driving mechanism, a first grabbing mechanism and a second grabbing mechanism, wherein the first grabbing mechanism and the second grabbing mechanism are respectively hinged to two opposite ends of the first bracket, and the first grabbing mechanism and the second grabbing mechanism are driven to rotate relative to the first bracket through the gripper driving mechanism, so that the ends of the first grabbing mechanism and the second grabbing mechanism are mutually close to or separated from each other, and the materials are grabbed or loosened;
the sucking disc subassembly set up in first support bottom, the sucking disc subassembly includes a plurality of sucking discs, the sucking disc set up in first support bottom, the sucking disc is used for adsorbing the material.
In an alternative embodiment, the first grabbing mechanism includes a rotating shaft and a gripper, where the two grippers are respectively fixed at two ends of the rotating shaft, and the rotating shaft is rotationally connected with the end of the first support, so that the gripper can rotate relative to the first support.
In an optional implementation manner, the gripper driving mechanism is an air cylinder, one end of the air cylinder is hinged to the first support, the other end of the air cylinder is hinged to a grabbing connecting rod, the other end of the grabbing connecting rod is fixed to the rotating shaft, and the rotating shaft is driven to rotate through extension or retraction of the air cylinder, so that the gripper is driven to rotate.
The second purpose of the utility model is to provide an automatic disk allocation device, which is realized by adopting the following technical scheme: comprises a fixed flange, a mechanical arm and a stacking grabbing device according to any one of the purposes of the utility model; one end of the mechanical arm is connected with the fixed flange, and the other end of the mechanical arm is connected with the stacking grabbing device.
In an alternative embodiment, the mechanical arm comprises a base assembly, a first swing arm assembly, a second swing arm assembly and a third swing arm assembly; the first swing arm assembly is rotationally connected with the base assembly, one end of the second swing arm assembly is hinged with one end, far away from the base assembly, of the first swing arm assembly, and the other end of the second swing arm assembly is hinged with the third swing arm assembly;
the base assembly comprises a base driving mechanism and a base, the base is rotationally connected to the fixing flange, a rotating shaft is formed at the joint of the base and the base, the rotating shaft is vertically arranged, the base driving mechanism is provided with an output shaft, the base driving mechanism output shaft is linked with the base, and power is provided by the base driving mechanism to drive the base to rotate relative to the fixing flange.
In an alternative embodiment, the first swing arm assembly includes first swing arm and first actuating mechanism, first swing arm both ends form first tip and second tip respectively, first tip with the base assembly articulates, and articulated department forms the articulated shaft, the articulated shaft level sets up, first actuating mechanism has the output shaft, first actuating mechanism output shaft with first swing arm linkage, through first actuating mechanism provides power, drives first swing arm is rotatory for the base.
In an alternative embodiment, the first swing arm assembly further comprises a swing arm cylinder; one end of the swing arm cylinder is hinged to the second end, the other end of the swing arm cylinder is hinged to the base assembly, and power is provided through expansion and contraction of the swing arm cylinder to drive the first swing arm to rotate relative to the base.
In an alternative embodiment, the second swing arm assembly includes a second swing arm, a first connecting rod and a second driving mechanism, wherein a third end and a fourth end are formed at two ends of the second swing arm respectively, a supporting part is formed between the third end and the fourth end, the supporting part is hinged with the first swing arm assembly, one end of the first connecting rod is hinged with the third end, and the other end of the first connecting rod is linked with the second driving mechanism; the second driving mechanism provides power, and the first connecting rod drives the second swing arm to rotate around the supporting part relative to the first swing arm assembly.
In an alternative embodiment, the third swing arm assembly includes a third swing arm and link structure; a sixth end part and a seventh end part are respectively formed at two ends of the third swing arm, and the sixth end part is hinged with the second swing arm assembly, so that the third swing arm can rotate relative to the second swing arm assembly; the connecting rod structure comprises a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged, the end part of the second connecting rod is hinged with the base, the third connecting rod is hinged with the second swing arm, and the end part of the fourth connecting rod is hinged with the third swing arm.
In an optional implementation manner, a second mounting flange and a third driving mechanism are arranged at a seventh end of the third swing arm, the second mounting flange is rotationally connected to the seventh end, the second mounting flange is used for mounting the stacking grabbing device, the third driving mechanism is linked with the second mounting flange, and the third driving mechanism drives the second mounting flange to rotate.
Compared with the prior art, the utility model has the beneficial effects that:
1. according to the stacking grabbing device, the second grabbing mechanism and the first grabbing mechanism are arranged, and the sucker assembly is matched for grabbing, so that grabbing of materials with different sizes and weights and different types can be self-adaptive. And by the cooperation of a plurality of tongs and sucking disc, further strengthened and snatched stability, prevent to grab the slip or dropping of holding in-process material, snatch effectually. Meanwhile, the arrangement of the grippers can further help the material to be discharged, and the practicability is high.
2. According to the automatic tray distribution equipment, the equipment is installed and fixed through the arrangement of the base assembly, the first swing arm assembly, the second swing arm assembly and the third swing arm assembly are arranged, the first swing arm assembly is rotationally connected with the base assembly, one end of the second swing arm assembly is hinged with the first swing arm assembly, the other end of the second swing arm assembly is hinged with the third swing arm assembly, the second installation flange is rotationally connected with the third swing arm assembly, and the second installation flange is used for installing the stacking grabbing device, so that all directions of the stacking grabbing device are adjusted and controlled, and material transfer is achieved.
Drawings
Fig. 1 is a schematic structural view of a palletizing gripper according to embodiment 1;
fig. 2 is a schematic structural view of a palletizing gripper according to another angle of embodiment 1;
fig. 3 is a schematic structural diagram of an automatic tray matching apparatus of embodiment 2;
fig. 4 is a schematic diagram of a mechanical arm structure of embodiment 2.
In the figure: 100. a first bracket; 200. a grabbing component; 210. a gripper driving mechanism; 220. a first grasping mechanism; 221. a rotating shaft; 222. a grip; 223. grabbing a connecting rod; 230. a second grasping mechanism; 300. a suction cup assembly; 400. a base assembly; 410. a base driving mechanism; 420. a base; 500. a first swing arm assembly; 510. a first swing arm; 520. a swing arm cylinder; 530. a first driving mechanism; 600. a second swing arm assembly; 610. a second swing arm; 620. a first link; 630. a second driving mechanism; 700. a third swing arm assembly; 710. a third swing arm; 720. a connecting rod structure; 721. a second link; 722. a third link; 723. a fourth link; 810. a second mounting flange; 820. and a third driving mechanism.
Detailed Description
The present utility model will be further described with reference to the accompanying drawings and detailed description, wherein it is to be understood that, on the premise of no conflict, the following embodiments or technical features may be arbitrarily combined to form new embodiments. Materials and equipment used in this example are commercially available, except as specifically noted. Examples of such embodiments are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements throughout or elements having like or similar functionality. The embodiments described below by referring to the drawings are exemplary only for explaining the present utility model and are not to be construed as limiting the present utility model.
In the description of the present utility model, it should be understood that the terms "upper," "lower," "front," "rear," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the present utility model and to simplify the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model. In the description of the present utility model, the meaning of "a plurality" is two or more, unless specifically stated otherwise.
In the description of the present utility model, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected," "connected," and "connected" are to be construed broadly, and may be fixedly connected, or may be connected through an intermediary, or may be connected between two elements or may be an interaction relationship between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1:
referring to fig. 1-2, the present embodiment provides a stacking and grabbing device, which includes a first bracket 100, a grabbing component 200 and a sucker component 300;
the first bracket 100 mainly serves as a connection support for providing an installation space for each component. A first mounting flange is provided at the gravity center point of the first bracket 100 to facilitate mounting the palletizing grabbing device on the automatic tray distribution device.
The grabbing assembly 200 comprises a gripper driving mechanism 210, a first grabbing mechanism 220 and a second grabbing mechanism 230, wherein the first grabbing mechanism 220 and the second grabbing mechanism 230 are respectively connected to two opposite ends of the first support 100 in a rotating mode, and the gripper driving mechanism 210 drives the first grabbing mechanism 220 and the second grabbing mechanism 230 to rotate relative to the first support 100 so that the ends of the first grabbing mechanism 220 and the second grabbing mechanism 230 are close to or separated from each other, and therefore materials are grabbed or loosened.
The sucking disc subassembly 300 sets up in first support 100 bottom, and sucking disc subassembly 300 includes a plurality of sucking discs that equipartition was in first support 100 bottom for adsorb the material.
When a large piece of material needs to be grabbed, the first grabbing mechanism 220 and the second grabbing mechanism 230 are driven to rotate relative to the first bracket 100 through the gripper driving mechanism 210, so that the end parts of the first grabbing mechanism 220 and the second grabbing mechanism 230 are close to each other to grab the material, meanwhile, the sucking disc assembly 300 is used for assisting in grabbing the surface of the material, and the plurality of sucking discs uniformly distributed at the bottom of the first bracket 100 can also limit the large piece of material to slide between the first grabbing mechanism 220 and the second grabbing mechanism 230 to prevent the large piece of material from falling; when the grabbing reaches the designated position, the first grabbing mechanism 220 is driven by the grabbing hand driving mechanism 210 to be separated from the second grabbing mechanism 230, so that the materials are loosened and unloaded, and naturally fall off under the action of gravity; when small light and thin materials need to be grabbed, the sucking disc assembly 300 can be used for sucking and grabbing independently; when the materials are discharged, the small light and thin materials sometimes have too light weight to overcome the adsorption force of the sucker assembly 300 and can not be successfully fallen off, and the first grabbing mechanism 220 and the second grabbing mechanism 230 are driven to reversely rotate, so that the first grabbing mechanism 220 and the second grabbing mechanism 230 are propped against the materials to push the materials from the sucker assembly 300, and the sucker assembly is convenient, quick, simple and practical.
Specifically, the first grabbing mechanism 220 includes a rotating shaft 221 and a gripper 222, the two grippers 222 are respectively fixed at two ends of the rotating shaft 221, and the rotating shaft 221 is rotatably connected to an end of the first bracket 100, so that the gripper 222 can rotate relative to the first bracket 100.
In this embodiment, the gripper driving mechanism 210 is an air cylinder, one end of the air cylinder is hinged to the first bracket 100, the other end of the air cylinder is hinged to the grabbing connecting rod 223, the other end of the grabbing connecting rod 223 is fixed to the middle of the rotating shaft 221, and the rotating shaft 221 is driven to rotate forward or backward through extension or retraction of the air cylinder, so that grippers 222 connected to two ends of the rotating shaft 221 are driven to rotate, and grabbing and loosening of materials are achieved.
The second grasping mechanism 230 is identical in structure to the first grasping mechanism 220 and will not be described again here.
The stacking grabbing device of this embodiment is capable of adapting to grabbing materials of different sizes and weights and different types by arranging the second grabbing mechanism 230 and the first grabbing mechanism 220 and simultaneously matching with the sucker assembly 300 to grab materials. And by the cooperation of a plurality of tongs 222 and sucking disc, further strengthened and snatched stability, prevent to grab the slip or dropping of in-process material, snatch effectually. Meanwhile, the arrangement of the grippers 222 can further help the material discharging, so that the practicability is high.
Example 2:
referring to fig. 3-4, the present embodiment provides an automatic tray matching device based on embodiment 1, which includes a fixing flange, a mechanical arm, and a stacking and grabbing device as described in embodiment 1.
Specifically, the fixing flange provides support and installation positioning functions for equipment, the automatic tray matching equipment is usually required to cooperate with other equipment to form a whole system, the automatic tray matching equipment can be arranged in the system through the fixing flange, and the installation support can also be arranged for auxiliary installation, so that the automatic tray matching equipment is implemented according to actual requirements by a person skilled in the art.
The mechanical arm comprises a base assembly 400, a first swing arm assembly 500, a second swing arm assembly 600 and a third swing arm assembly 700;
the base assembly 400 comprises a base driving mechanism 410 and a base 420, the base 420 is rotationally connected to a fixed flange, a rotating shaft is formed at the connecting position, the base driving mechanism 410 is provided with an output shaft, the output shaft of the base driving mechanism 410 is linked with the base 420, and the base 420 is driven to rotate relative to the fixed flange by providing power through the base driving mechanism 410, so that the angular position of the stacking grabbing device is adjusted.
The first swing arm assembly 500 comprises a first swing arm 510, a swing arm cylinder 520 and a first driving mechanism 530, wherein two ends of the first swing arm 510 respectively form a first end part and a second end part, the first end part is hinged with the base assembly 400, a hinge shaft is formed at the hinge position, and the hinge shaft is mutually perpendicular to the rotating shaft; the first driving mechanism 530 has an output shaft, and the output shaft of the first driving mechanism 530 is linked with the first swing arm 510, and the first swing arm 510 is driven to rotate relative to the base 420 by the power provided by the first driving mechanism 530, so as to adjust the horizontal position of the gripping device. The swing arm cylinder 520 is arranged on the side surface of the first swing arm 510, one end of the swing arm cylinder 520 is hinged with the second end, the other end of the swing arm cylinder 520 is hinged with the base 420 assembly, the first swing arm 510 is driven to rotate relative to the base 420 by providing power through the expansion and contraction of the swing arm cylinder 520, and the first swing arm 510 further plays a role in positioning and assisting in the horizontal position adjustment of the stacking grabbing device; the first driving mechanism 530 and the swing arm cylinder 520 jointly act on the first swing arm 510, so that more accurate adjustment is realized.
The second swing arm assembly 600 includes a second swing arm 610, a first link 620 and a second driving mechanism 630, wherein two ends of the second swing arm 610 form a third end and a fourth end respectively, a supporting portion is arranged between the third end and the fourth end and close to the third end, the supporting portion is hinged to the second end, so that the second swing arm 610 can rotate relative to the first swing arm 510, one end of the first link 620 is hinged to the third end, the other end is linked with the second driving mechanism 630, the second driving mechanism 630 provides power, and the first link 620 drives the second swing arm 610 to rotate relative to the first swing arm 510 around the supporting portion, so that the height position of the stacking grabbing device is adjusted.
The third swing arm assembly 700 includes a third swing arm 710, a link structure 720; the third swing arm 710 is formed at both ends thereof with a sixth end portion hinged to the fourth end portion so that the third swing arm 710 can rotate with respect to the second swing arm 610. The link structure 720 comprises a second link 721, a third link 722 and a fourth link 723 which are hinged in sequence, wherein the end part of the second link 721 is hinged with the base 420, the middle part of the third link 722 is hinged with the second swing arm 610, and the end part of the fourth link 723 is hinged with the third swing arm 710; through the arrangement of the connecting rod structure 720, compensation is made for the relative rotation angle of the second swing arm 610 or the first swing arm 510 received by the third swing arm 710, so that the third swing arm 710 can always keep the same angle in the process of adjusting the grabbing position of the first swing arm assembly 500 and the second swing arm assembly 600, and the grabbing plane always keeps a vertically downward state.
Further, a seventh end of the third swing arm 710 is provided with a second mounting flange 810 and a third driving mechanism 820, the second mounting flange 810 is rotatably connected to the seventh end, the second mounting flange 810 is used for mounting the stacking grabbing device, the stacking grabbing device is mounted to the seventh end by connecting the first mounting flange with the second mounting flange 810, the third driving mechanism 820 is linked with the second mounting flange 810, and the third driving mechanism 820 drives the second mounting flange 810 to rotate, so that the stacking grabbing device rotates relative to the third swing arm 710, and the rotation angle of the stacking grabbing device is adjusted.
The automatic tray matching equipment of this embodiment is fixed with equipment installation through setting up base subassembly 400, through setting up first swing arm assembly 500, second swing arm assembly 600 and third swing arm assembly 700, first swing arm assembly 500 rotates with base subassembly 400 to be connected, second swing arm assembly 600 one end is articulated with first swing arm assembly 500, the other end is articulated with third swing arm assembly 700, rotate on the third swing arm assembly 700 and connect second mounting flange 810, second mounting flange 810 is used for installing pile up neatly grabbing device, so carry out regulation and control to pile up neatly grabbing device's individual position, realize the transfer of material.
The automatic tray distribution equipment of this embodiment can transport bigger lighter article in the small scale for prior art, compares in small-size arm, can snatch bigger article, compares in large-scale arm, and the convenience of transporting article in the small scale is higher, and program control is simpler, and then has realized the purpose that reduces customer use cost, and occupation space is little, and maintenance cost is lower, and compatible snatch goods kind is more.
Although only certain elements and embodiments of the present utility model have been illustrated and described, many modifications and changes (e.g., variations in size, dimensions, structure, shape and proportions of the various elements, mounting arrangements, use of materials, colors, orientations, etc.) may be made by those skilled in the art without materially departing from the scope and spirit of the utility model in the claims.
Finally, it should be noted that: the above embodiments are only preferred embodiments of the present utility model, and should not be construed as limiting the scope of the present utility model, and any insubstantial changes and substitutions made by those skilled in the art on the basis of the present utility model are intended to be within the scope of the present utility model as claimed.
Claims (10)
1. The stacking grabbing device is characterized by comprising a first bracket, a grabbing component and a sucker component;
the grabbing assembly comprises a gripper driving mechanism, a first grabbing mechanism and a second grabbing mechanism, wherein the first grabbing mechanism and the second grabbing mechanism are respectively hinged to two opposite ends of the first bracket, and the first grabbing mechanism and the second grabbing mechanism are driven to rotate relative to the first bracket through the gripper driving mechanism, so that the ends of the first grabbing mechanism and the second grabbing mechanism are mutually close to or separated from each other, and the materials are grabbed or loosened;
the sucking disc subassembly set up in first support bottom, the sucking disc subassembly includes a plurality of sucking discs, the sucking disc set up in first support bottom, the sucking disc is used for adsorbing the material.
2. A palletizing gripper according to claim 1, wherein the first gripper mechanism comprises a shaft and a gripper, the two grippers are respectively fixed at two ends of the shaft, and the shaft is rotatably connected with the end of the first bracket, so that the gripper can rotate relative to the first bracket.
3. A stacking and grabbing device according to claim 2, wherein the gripper driving mechanism is an air cylinder, one end of the air cylinder is hinged to the first support, the other end of the air cylinder is hinged to a grabbing connecting rod, the other end of the grabbing connecting rod is fixed to the rotating shaft, and the rotating shaft is driven to rotate through extending or retracting of the air cylinder, so that the gripper is driven to rotate.
4. An automatic tray matching device, which is characterized by comprising a fixed flange, a mechanical arm and a stacking grabbing device as claimed in any one of claims 1-3; one end of the mechanical arm is connected with the fixed flange, and the other end of the mechanical arm is connected with the stacking grabbing device.
5. The automatic tray distribution device according to claim 4, wherein the mechanical arm comprises a base assembly, a first swing arm assembly, a second swing arm assembly and a third swing arm assembly; the first swing arm assembly is rotationally connected with the base assembly, one end of the second swing arm assembly is hinged with one end, far away from the base assembly, of the first swing arm assembly, and the other end of the second swing arm assembly is hinged with the third swing arm assembly;
the base assembly comprises a base driving mechanism and a base, the base is rotationally connected to the fixing flange, a rotating shaft is formed at the joint of the base and the base, the rotating shaft is vertically arranged, the base driving mechanism is provided with an output shaft, the base driving mechanism output shaft is linked with the base, and power is provided by the base driving mechanism to drive the base to rotate relative to the fixing flange.
6. The automatic tray matching device according to claim 5, wherein the first swing arm assembly comprises a first swing arm and a first driving mechanism, two ends of the first swing arm respectively form a first end part and a second end part, the first end part is hinged with the base assembly, a hinge shaft is formed at the hinge position, the hinge shaft is horizontally arranged, the first driving mechanism is provided with an output shaft, the output shaft of the first driving mechanism is linked with the first swing arm, and the first swing arm is driven to rotate relative to the base by providing power through the first driving mechanism.
7. The automatic tray distribution apparatus of claim 6, wherein the first swing arm assembly further comprises a swing arm cylinder; one end of the swing arm cylinder is hinged to the second end, the other end of the swing arm cylinder is hinged to the base assembly, and power is provided through expansion and contraction of the swing arm cylinder to drive the first swing arm to rotate relative to the base.
8. The automatic tray matching device according to claim 5, wherein the second swing arm assembly comprises a second swing arm, a first connecting rod and a second driving mechanism, a third end part and a fourth end part are respectively formed at two ends of the second swing arm, a supporting part is formed between the third end part and the fourth end part, the supporting part is hinged with the first swing arm assembly, one end of the first connecting rod is hinged with the third end part, and the other end of the first connecting rod is linked with the second driving mechanism; the second driving mechanism provides power, and the first connecting rod drives the second swing arm to rotate around the supporting part relative to the first swing arm assembly.
9. The automatic tray distribution device according to claim 5, wherein the third swing arm assembly comprises a third swing arm and link structure; a sixth end part and a seventh end part are respectively formed at two ends of the third swing arm, and the sixth end part is hinged with the second swing arm assembly, so that the third swing arm can rotate relative to the second swing arm assembly; the connecting rod structure comprises a second connecting rod, a third connecting rod and a fourth connecting rod which are sequentially hinged, the end part of the second connecting rod is hinged with the base, the third connecting rod is hinged with the second swing arm, and the end part of the fourth connecting rod is hinged with the third swing arm.
10. The automatic tray matching device according to claim 9, wherein a seventh end of the third swing arm is provided with a second mounting flange and a third driving mechanism, the second mounting flange is rotatably connected to the seventh end, the second mounting flange is used for mounting a stacking grabbing device, the third driving mechanism is linked with the second mounting flange, and the third driving mechanism drives the second mounting flange to rotate.
Priority Applications (1)
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CN202321324668.2U CN219729769U (en) | 2023-05-27 | 2023-05-27 | Stacking grabbing device and automatic tray matching equipment |
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CN202321324668.2U CN219729769U (en) | 2023-05-27 | 2023-05-27 | Stacking grabbing device and automatic tray matching equipment |
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CN202321324668.2U Active CN219729769U (en) | 2023-05-27 | 2023-05-27 | Stacking grabbing device and automatic tray matching equipment |
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