CN115520660B

CN115520660B - Palletizing robot gripper with accurate positioning mechanism

Info

Publication number: CN115520660B
Application number: CN202211222937.4A
Authority: CN
Inventors: 刘德友
Original assignee: Guangzhou Topt Light Industry Machinery Co ltd
Current assignee: Guangzhou Topt Light Industry Machinery Co ltd
Priority date: 2022-10-08
Filing date: 2022-10-08
Publication date: 2023-05-23
Anticipated expiration: 2042-10-08
Also published as: CN115520660A

Abstract

The invention provides a palletizing robot gripper with an accurate positioning mechanism, and particularly relates to the technical field of robots. Comprising the following steps: a gripper module, comprising: the fixed seat is provided with a movable cavity; the movable seat is movably connected with the fixed seat, the fixed seat is positioned at one side of the movable cavity, and a positioning block is fixedly connected to the movable seat; the gripper mechanism is positioned on the movable seat and is used for connecting the storage material tray; the adjusting mechanism is positioned between the fixed seat and the movable seat and is positioned in the movable cavity. The adjusting mechanism comprises: the mounting block is fixedly connected to the movable seat; and one end of the telescopic rod is hinged with the mounting block, and the other end of the telescopic rod is hinged with the fixing seat. And a fixing component is further connected between the fixing base and the mounting block and used for fixing the mounting block and the fixing base. The invention can effectively solve the problems that the existing palletizing robot gripper is easy to generate a bumping machine and the gripping precision is low.

Description

Palletizing robot gripper with accurate positioning mechanism

Technical Field

The invention relates to the technical field of robots, in particular to a palletizing robot gripper with an accurate positioning mechanism.

Background

The stacker crane usually grabs and positions the cargoes by a gripper of a robot, and stacks the cargoes into a material rack in sequence and stacks the cargoes.

For material racks, it is common to include a plurality of compartments, with trays disposed within the compartments. Goods are typically placed on pallets and robots are used to pick up materials by clamping the pallets. Wherein, the different compartments on the material rack are corresponding to the respective coordinate values. Thus, the robot may allow the pallet to be grasped by its hand grip according to the corresponding coordinate information.

However, the use precision of the robot is gradually reduced in the long-time use process, so that the robot gripper is easy to collide with the tray in the use process.

Disclosure of Invention

In view of the above drawbacks of the prior art, the present invention aims to provide a palletizing robot gripper with an accurate positioning mechanism, so as to solve the problems that the existing palletizing robot gripper is easy to generate a collision machine and has lower gripping precision.

To achieve the above and other related objects, the present invention provides a palletizing robot hand grip with a precise positioning mechanism, comprising:

the tongs module is connected on palletizing robot, the tongs module includes:

the fixed seat is provided with a movable cavity;

the movable seat is movably connected with the fixed seat, and the fixed seat is positioned at one side of the movable cavity, wherein a positioning block is fixedly connected to the movable seat;

the gripper mechanism is positioned on the movable seat and is used for being connected with a storage tray; and

the adjusting mechanism is located between the fixed seat and the movable seat, and the adjusting mechanism is located in the movable cavity, wherein the adjusting mechanism comprises:

the mounting block is fixedly connected to the movable seat; and

the telescopic rods are hinged with the mounting blocks at one ends, and the fixed seats are hinged with the other ends of the telescopic rods;

the fixing seat is connected with the mounting block, and the fixing assembly is used for fixing the mounting block with the fixing seat.

In an aspect of the present invention, the gripper mechanism includes:

the fixed block is used for being clamped with a limiting hole arranged on the storage tray;

the driving wheel is positioned at one end of the fixed block and is rotationally connected with the fixed block;

the driving block is positioned on the movable seat, one end of the driving block is of an inclined surface structure, and the inclined surface structure is in contact with the driving wheel; and

the cylinder body of the cylinder is fixedly connected to the movable seat, and the cylinder rod of the cylinder is fixedly connected to the driving block;

the movable seat is provided with a cavity, and the driving wheel, the driving block and the fixed block are positioned in the cavity.

In one aspect of the present invention, the device further includes a return spring, the return spring is located between the fixed block and the movable seat, and the return spring makes the fixed block have a movement tendency of retracting inside the cavity.

In one aspect of the present invention, the telescopic rods include four groups, and the four groups of telescopic rods are arranged in a central symmetry along the center of the mounting block.

In one scheme of the invention, the telescopic rod comprises a sliding sleeve and a sliding rod, wherein the sliding sleeve is connected with the sliding rod in a sliding way, and a spring is connected between the sliding rod and the sliding sleeve.

In one aspect of the present invention, spherical hinges are provided between the telescopic rod and the fixing base, and between the telescopic rod and the mounting block.

In an aspect of the present invention, the fixing component includes a plurality of electromagnets, and the electromagnets are disposed on the fixing base. When the electromagnet is electrified, the electromagnet adsorbs the mounting block.

In one aspect of the present invention, a gap exists between the mounting block and the bottom surface of the fixing base.

In one aspect of the present invention, the end of the positioning block is hemispherical.

In summary, the invention discloses a palletizing robot gripper with an accurate positioning mechanism, which is clamped with a positioning block and a positioning hole, so that the accurate positioning of the grabbing position can be realized within a certain accuracy range.

The hemispherical positioning block can move along the empty surface of the positioning hole, so that the gripper module enters an accurate grabbing position. Through the positioning effect between locating piece and the locating hole for the robot need not too high positioning accuracy, and in the contact range of locating piece and locating hole, can all realize the snatching to the storage charging tray.

Meanwhile, a certain included angle exists between the telescopic rod and the bottom surface of the movable cavity, so that the telescopic rod and the bottom surface of the movable cavity are in a triangular structure. Therefore, stability between the mounting block and the fixing base in the connecting process can be improved, and grabbing precision of the gripper mechanism in the process of grabbing the storage tray is further improved.

Drawings

In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a palletizing robot gripper with a precise positioning mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic view of a gripper module of a palletizing robot gripper with a precise positioning mechanism according to an embodiment of the present invention;

FIG. 3 is a schematic diagram of a second movement module of the palletizing robot gripper with the precise positioning mechanism according to the present invention in an embodiment;

FIG. 4 is a schematic diagram of a storage module of a palletizing robot gripper with a precise positioning mechanism according to an embodiment of the present invention;

FIG. 5 is an enlarged schematic view of the view A of FIG. 4;

FIG. 6 is a schematic structural view of an adjusting mechanism of a palletizing robot gripper with a precise positioning mechanism according to an embodiment of the present invention;

FIG. 7 is a schematic view of a telescopic rod of a palletizing robot gripper with a precise positioning mechanism according to an embodiment of the present invention;

FIG. 8 is a schematic diagram of a palletizing robot gripper with a precise positioning mechanism according to the present invention in a partially cut-away configuration of a gripper module in one embodiment;

fig. 9 is a schematic structural view of a fixing assembly of a palletizing robot gripper with a precise positioning mechanism according to an embodiment of the present invention.

Description of element reference numerals

100. A bottom plate;

110. a storage module; 111. a storage compartment; 112. a partition plate; 113. storing a material tray; 114. a limiting hole; 115. positioning holes;

120. a first mobile module; 121. a mounting base; 122. a guide rod; 123. a lifting motor; 124. lifting the screw rod; 125. a mounting plate; 126. a fixing plate;

130. a second mobile module; 131. traversing the screw rod; 132. a slide block; 133. a traversing motor; 134. a spacing guide rail;

200. a gripper module;

210. a telescopic cylinder;

220. a fixing seat; 221. a telescopic rod; 222. a mounting block; 2210. a sliding sleeve; 2211. a slide bar; 223. an electromagnet; 224. a movable cavity;

230. a movable seat; 231. a positioning block; 232. a fixed block; 233. a cylinder; 234. a driving block; 235. a driving wheel; 236. a return spring; 237. a cavity.

Detailed Description

Other advantages and effects of the present invention will become apparent to those skilled in the art from the following disclosure, which describes the embodiments of the present invention with reference to specific examples. The invention may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present invention.

Please refer to fig. 1 to 9. It should be understood that the structures, proportions, sizes, etc. shown in the drawings are for illustration purposes only and should not be construed as limiting the invention to the extent that it can be practiced, since modifications, changes in the proportions, or adjustments of the sizes, which are otherwise, used in the practice of the invention, are included in the spirit and scope of the invention which is otherwise, without departing from the spirit or scope thereof.

Referring to fig. 1, the invention provides a palletizing robot gripper with an accurate positioning mechanism, which can be used for solving the problems that the existing palletizing robot gripper is easy to generate a collision machine and has lower grabbing precision. Wherein, the palletizing robot gripper with accurate positioning can comprise a gripper module 200, and the gripper module 200 is connected to the palletizing robot. Thus, the palletizing robot drives the gripper module 200 for position adjustment, and the gripper module 200 grips the material. It should be noted that for the gripper module 200, a positioning assembly is also connected. Thus, it is possible to allow the gripper module 200 to maintain good gripping accuracy during gripping of the storage tray 113 by the positioning assembly.

Referring to fig. 1 and 3, in an embodiment, the palletizing robot may include a robot arm with multiple degrees of freedom, for example, a six-degree-of-freedom or four-degree-of-freedom robot arm, or the palletizing robot may allow a bidirectional moving platform, which is not limited thereto. In this embodiment, a palletizer is taken as an example of a bidirectional moving platform, and explanation are made.

Specifically, in an embodiment, the palletizing robot may include a first moving module 120 and a second moving module 130, and the gripper module 200 may be connected to the first moving module 120. Thus, movement of the gripper module 200 in one direction is achieved by the first movement module 120, and movement of the gripper module 200 in the other direction is achieved by the second movement module 130. The moving directions of the first moving module 120 and the second moving module 130 may be allowed to be perpendicular to each other.

Referring to fig. 1, in an embodiment, the first transport module may include a mounting base 121, a guide rod 122, a lifting motor 123, a lifting screw 124, a mounting plate 125, and a fixing plate 126. Wherein, the mounting seat 121 and the fixing plate 126 are in parallel, and the guide rod 122 is located between the mounting seat 121 and the fixing plate 126. The guide rods 122 may be provided with multiple sets, and the multiple sets of guide rods 122 may be parallel to each other. One end of the guide rod 122 is fixedly connected with the mounting seat 121, and the other end of the guide rod 122 is fixedly connected with the fixing plate 126. The axis of the lifting screw 124 is parallel to the axis of the guide rod 122, and the lifting screw 124 is located between the mounting seat 121 and the fixing plate 126. One end of the lifting screw 124 is rotatably connected to the mounting seat 121, the other end of the lifting screw 124 is rotatably connected to the fixing plate 126, and the lifting motor 123 is in transmission connection with the lifting screw 124. Thus, the lift screw 124 can be driven to rotate by the lift motor 123.

Referring to FIG. 2, in one embodiment, the mounting plate 125 is slidably coupled to the guide rod 122, and the mounting plate 125 is in driving connection with the lift screw 124. Thus, the mounting plate 125 can be driven to move along the axial direction of the lift screw 124 by the rotation of the lift screw 124. Meanwhile, a telescopic cylinder 210 is further connected to the mounting plate 125, and the gripper module 200 is connected to the telescopic cylinder 210, so that the gripper module 200 is driven to move along the axial direction of the telescopic cylinder 210 by the telescopic cylinder 210.

Referring to fig. 3, in an embodiment, the second transport module may include a traversing screw 131, a slider 132, a traversing motor 133, and a limit rail 134. The traverse screw 131 is located on the base plate 100, and the sliding block 132 is in transmission connection with the screw, and the sliding block 132 is in fixed connection with the mounting seat 121. The curb rail 134 is positioned between the floor 100 and the mount 121 to improve stability of the mount 121 during sliding movement relative to the floor 100 via the curb rail 134. The traversing motor 133 is fixedly connected to the base plate 100, and the traversing motor 133 is in transmission connection with the traversing screw rod 131. Accordingly, the traversing screw 131 is driven to rotate by the traversing motor 133, and the mount 121 is driven to move along the circumferential direction of the traversing screw 131 by the rotation of the traversing screw 131.

Referring to fig. 1, 4 and 5, in one embodiment, the palletizing robot is connected to the base plate 100, and one side of the base plate 100 is allowed to be connected with the storage module 110. Wherein the storage tray 113 is located in the storage module 110, so that the storage tray 113 is transported into the storage module 110 by the palletizing robot. In particular, the storage module 110 may be constructed of a plurality of partitions 112 that are parallel to one another, and the storage compartments 111 are opened between adjacent partitions 112. Wherein the storage tray 113 is located in the compartment and the material is located in the storage tray 113. Thus, the gripper module 200 allows for palletizing and reclaiming of materials by gripping the storage tray 113.

Referring to fig. 2-8, in one embodiment, the gripper module 200 may include a fixed base 220, a movable base 230, a gripper mechanism, and an adjustment mechanism. The fixed seat 220 may be allowed to have a movable cavity 224, and the adjusting structure is located in the movable cavity 224. Specifically, the movable seat 230 is fixedly connected to the fixed seat 220, and the movable seat 230 is located at one side of the movable cavity 224, and the fixed seat 220 and the movable seat 230 are connected by an adjusting mechanism. Specifically, the adjusting structure may include a mounting block 222 and a plurality of telescopic rods 221, wherein the mounting block 222 is fixedly connected with the movable base 230, and the telescopic rods 221 are connected between the mounting block 222 and the fixed base 220. One end of the telescopic rod 221 is hinged to the mounting block 222, and the other end of the telescopic rod 221 is hinged to the fixing base 220. Thus, the mounting block 222 may allow for multi-directional movement within the active cavity 224 by means of the telescoping rod 221 disposed at the periphery of the mounting block 222. For the telescopic rod 221, an elastic structure may be allowed. By setting the telescopic rod 221 to be of an elastic structure, the telescopic rod 221 can be timely restored to the initial state under the action of no external force.

Specifically, the telescopic bars 221 may be allowed to be provided with four groups, and the four groups of telescopic bars 221 are arranged in central symmetry along the central position of the mounting block 222. In one embodiment, the telescoping rod 221 may include a slide 2210 and a slide 2211, with a sliding connection between the slide 2210 and the slide 2211. It should be noted that a spring may be allowed between the slide 2210 and the slide 2211 to allow for multiple adjustments of the mounting block 222 within the movable cavity 224 by providing the slide 2211 and the slide 2210 in a resilient configuration. Since the movable base 230 is connected to the mounting base 121, the movable base 230 and the mounting base 121 can be allowed to move synchronously. It should be noted that, the telescopic rod 221 is connected to the fixing base 220 and the telescopic rod 221 is connected to the mounting block 222 by a spherical hinge. At the same time, there is a gap between the mounting block 222 and the bottom surface of the movable cavity 224.

The movable seat 230 is further connected to a positioning block 231, and the partition 112 of the storage module 110 is provided with a positioning hole 115. Wherein, the positioning hole 115 is adapted to the end structure of the positioning block 231, and the end of the positioning block 231 is hemispherical. Therefore, when the gripper module 200 grips the storage tray 113, the positioning block 231 may be first engaged with the positioning hole 115. Since the positioning block 231 is located on the movable base 230, and the movable base 230 is movably connected with the fixed base 220. Thus, the gripper module 200 may be allowed to be positioned by the positioning block 231 within a certain accuracy range. The hemispherical positioning block 231 may be moved along the empty face of the positioning hole 115 so that the gripper module 200 enters a precise gripping position. Meanwhile, through the positioning function between the positioning block 231 and the positioning hole 115, the robot can grasp the storage tray 113 without excessively high positioning precision and within the contact range of the positioning block 231 and the positioning hole 115.

Referring to fig. 8, in one embodiment, the gripper mechanism is located on the movable base 230, and is used to grip the storage tray 113. Specifically, the gripper mechanism may include a fixed block 232, a driving wheel 235, a driving block 234, and a cylinder 233, wherein the fixed block 232 is provided with at least one group. In an embodiment, the fixing blocks 232 are provided with two groups, and the storage tray 113 is correspondingly provided with two groups of limiting holes 114. Therefore, the fixing block 232 is clamped with the limiting hole 114 on the storage tray 113, so that the storage tray 113 is grabbed.

Specifically, a cavity 237 may be allowed to be formed in the movable seat 230, and the driving wheel 235, the driving block 234, and the fixed block 232 may be allowed to be located in the cavity 237. The cylinder 233 is fixedly connected to the movable base 230, and the cylinder 233 is used for driving the driving block 234 to move in a specific direction. For the drive block 234, the end may be allowed to adopt a ramp configuration, and the ramp configuration acts on the drive wheel 235. The drive wheel 235 is rotatably coupled to the fixed block 232 such that when the drive block 234 is moved, a ramp structure on the drive block 234 allows the drive wheel 235 to act upon and further drive the fixed block 232. It should be noted that a return spring 236 is also connected between the driving block 234 and the movable seat 230, and the return spring 236 is used to provide the fixed block 232 with a movement tendency into the cavity 237. Thus, when the drive block 234 and the drive wheel 235 are released, the return spring 236 may urge the fixed block 232 into the cavity 237.

Therefore, in the actual working process, the gripper mechanism is first positioned by the clamping connection between the positioning block 231 and the positioning hole 115, and the fixing block 232 is located in the cavity 237. After the clamping between the positioning block 231 and the positioning hole 115 is completed, the driving block 234 can be driven to move by the air cylinder 233, and the positioning block 231 can drive the fixing block 232 and the limiting hole 114 to be clamped by the driving wheel 235 in the moving process, so that the storage tray 113 is grabbed.

Referring to fig. 9, in one embodiment, a fixing component may be allowed to be connected between the fixing base 220 and the mounting block 222, where the fixing component is used to achieve a relatively fixed state between the fixing base 220 and the mounting block 222. Therefore, when the gripper mechanism is in the clamped state with the storage tray 113, the movable seat 230 and the fixed seat 220 are required to be in a relatively fixed state, so as to avoid the shake phenomenon of the robot during the storage or material taking process of the storage tray 113. Specifically, the fixing component may include a plurality of electromagnets 223, and the electromagnets 223 are located inside the fixing base 220. The mounting block 222 is made of a magnetic material, so that when the electromagnet 223 acquires a trigger instruction, the electromagnet 223 adsorbs the mounting block 222, and the mounting block 222 is tightly connected to the bottom surface of the movable cavity 224.

It should be noted that when the mounting block 222 is tightly connected to the bottom surface of the movable cavity 224, a certain angle exists between the plurality of telescopic rods 221 located on the mounting block 222. Therefore, the adsorption between the electromagnet 223 and the mounting block 222 can ensure that the mounting block 222 and the fixing base 220 are in a relatively fixed state. Meanwhile, a certain included angle exists between the telescopic rod 221 and the bottom surface of the movable cavity 224, so that a triangle structure is formed between the telescopic rod 221 and the bottom surface of the movable cavity 224. Therefore, stability between the mounting block 222 and the fixing base 220 in the connecting process can be improved, so that grabbing precision of the gripper mechanism in the process of grabbing the storage tray 113 can be improved.

In summary, the invention discloses a palletizing robot gripper with an accurate positioning mechanism, which is clamped with a positioning hole 115 through a positioning block 231, so that accurate positioning of a grabbing position can be realized within a certain accuracy range. The hemispherical positioning block 231 may be moved along the empty face of the positioning hole 115 so that the gripper module 200 enters a precise gripping position. Meanwhile, through the positioning function between the positioning block 231 and the positioning hole 115, the robot can grasp the storage tray 113 without excessively high positioning precision and within the contact range of the positioning block 231 and the positioning hole 115.

Meanwhile, a certain included angle exists between the telescopic rod 221 and the bottom surface of the movable cavity 224, so that the telescopic rod 221 and the bottom surface of the movable cavity 224 are in a triangular structure. Therefore, stability between the mounting block 222 and the fixing base 220 in the connecting process can be improved, and grabbing precision of the gripper mechanism in the process of grabbing the storage tray 113 can be further improved.

Therefore, the invention effectively overcomes some practical problems in the prior art, thereby having high utilization value and use significance.

The above embodiments are merely illustrative of the principles of the present invention and its effectiveness, and are not intended to limit the invention. Modifications and variations may be made to the above-described embodiments by those skilled in the art without departing from the spirit and scope of the invention. Accordingly, it is intended that all equivalent modifications and variations of the invention be covered by the claims, which are within the ordinary skill of the art, be within the spirit and scope of the present disclosure.

Also, when numerical ranges are given in the examples, it is to be understood that unless otherwise indicated herein, both ends of each numerical range and any number between the two ends are optional. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs and to which this invention belongs, and any method, apparatus, or material of the prior art similar or equivalent to the methods, apparatus, or materials described in the examples of this invention may be used to practice the invention.

Claims

1. Palletizing robot gripper with accurate positioning mechanism, its characterized in that includes:

a gripper module (200) connected to a palletizing robot, the gripper module (200) comprising:

the fixed seat (220) is provided with a movable cavity (224);

the movable seat (230) is movably connected with the fixed seat (220), and the fixed seat (220) is positioned at one side of the movable cavity (224), wherein a positioning block (231) is fixedly connected to the movable seat (230);

the gripper mechanism is positioned on the movable seat (230) and is used for being connected with the storage material tray (113); wherein, the tongs mechanism includes:

the fixed block (232) is used for being clamped with a limiting hole (114) arranged on the storage tray (113);

a driving wheel (235) which is positioned at one end of the fixed block (232), and the driving wheel (235) is rotationally connected with the fixed block (232);

the driving block (234) is positioned on the movable seat (230), wherein one end of the driving block (234) is of an inclined surface structure, and the inclined surface structure is contacted with the driving wheel (235); and

the cylinder body of the cylinder (233) is fixedly connected to the movable seat (230), and the cylinder rod of the cylinder (233) is fixedly connected to the driving block (234);

wherein, a cavity (237) is arranged on the movable seat (230), and the driving wheel (235), the driving block (234) and the fixed block (232) are positioned in the cavity (237); the method comprises the steps of,

the adjusting mechanism is located between the fixed seat (220) and the movable seat (230), and the adjusting mechanism is located in the movable cavity (224), wherein the adjusting mechanism comprises:

the mounting block (222) is fixedly connected to the movable seat (230); the method comprises the steps of,

a plurality of telescopic rods (221), wherein one end of each telescopic rod (221) is hinged with the corresponding mounting block (222), and the other end of each telescopic rod (221) is hinged with the corresponding fixing seat (220);

wherein, a fixing component is also connected between the fixing seat (220) and the mounting block (222), and the fixing component is used for realizing the relative fixation between the mounting block (222) and the fixing seat (220); the fixed assembly comprises a plurality of electromagnets (223), and the electromagnets (223) are arranged on the fixed seat (220); wherein, when the electromagnet (223) is electrified, the electromagnet (223) adsorbs the mounting block (222).

2. The palletizing robot gripper with the precise positioning mechanism according to claim 1, further comprising a return spring (236), wherein the return spring (236) is located between the fixed block (232) and the movable seat (230), and the return spring (236) enables the fixed block (232) to have a movement tendency to retract inside the cavity (237).

3. Palletizing robot gripper with a precise positioning mechanism according to claim 1, characterized in that the telescopic rods (221) comprise four groups, and that the four groups of telescopic rods (221) are arranged centrally symmetrically along the centre of the mounting block (222).

4. A palletizing robot gripper with a precision positioning mechanism according to claim 3, characterized in that the telescopic rod (221) comprises a sliding sleeve (2210) and a sliding rod (2211);

wherein, sliding sleeve (2210) and sliding rod (2211) are connected in a sliding way, and a spring is connected between sliding rod (2211) and sliding sleeve (2210).

5. The palletizing robot gripper with the precise positioning mechanism according to claim 4, wherein the telescopic rod (221) is in ball joint with the fixed seat (220), and the telescopic rod (221) is in ball joint with the mounting block (222).

6. The palletizing robot gripper with the precise positioning mechanism according to claim 1, wherein a gap exists between the mounting block (222) and the bottom surface of the fixing base (220).

7. Palletizing robot gripper with a precise positioning mechanism according to claim 1, characterized in that the end of the positioning block (231) is hemispherical.