CN103802101A - Pneumatic adjustable clamping plate type mechanical gripper for stacking robot - Google Patents

Abstract

The invention discloses a pneumatically adjustable splint-type mechanical gripper for a palletizing robot, which comprises a connecting frame, a mounting plate is arranged on the connecting frame, a linear slide rail is provided on the mounting plate, and the linear slide rail A first slider is provided on the first slider, a clamping plate is provided on the first slider, a fixing plate parallel to the clamping plate is provided on the mounting plate, and a first The first cylinder drives the clamping plate to move along the linear slide rail, and the clamping plate and/or the fixing plate is provided with a mechanical claw device. The invention adopts the slide rail adjustment method, which can flexibly adjust the position of the fixing plate and the clamping plate to meet the needs of grabbing products of different sizes; it can not only realize grabbing multiple boxes at the same time, but also grab the weight in a large length size at one time. Products, so that the product transfer speed is doubled, and the transfer efficiency is significantly improved.

Description

Pneumatically adjustable splint gripper for palletizing robots

technical field

The invention relates to the technical field of packaging and transshipment, in particular to a splint-type manipulator claw that can adjust the size of the package, specifically, by clamping and releasing the package, it cooperates with the stacking mechanical arm to realize the transshipment and stacking of packages of different sizes. Palletizing robot manipulator claw device with stacking function.

Background technique

In recent years, as the production automation of enterprises has become higher and higher, the application of palletizing robots has become more and more common, and the supporting palletizing robot claws have also developed rapidly, forming a variety of models. However, most of the existing box-grabbing splint-type manipulators are single-splint type, and a normal-sized box can only be transferred one at a time, which can no longer meet the high-efficiency transfer that is increasingly emphasized today. obvious.

In addition, the traditional splint-type manipulator claws are mostly clamped by motor-driven splints, and the clamping action is relatively slow. It takes more time to complete the same action. At the same time, the motor also increases the weight of the entire gripper. Under the circumstances, the weight of the box that the claws can grasp is limited.

In addition, the existing splint-type manipulator claws are rigidly impacted at the end of the clamping action, and no buffer device is installed, which is easy to impact the grasped object and has poor reliability.

In view of the above-mentioned shortcomings of the splint-type gripper, the existing splint-type gripper cannot meet the requirements of high-speed transfer, and the gripping weight is limited and the reliability is low.

Contents of the invention

(1) Technical problems to be solved

The technical problem to be solved by the present invention is to provide a pneumatically adjustable splint-type mechanical gripper for palletizing robots, which has the advantages of high transfer efficiency, reasonable structure, durability, convenient installation and adjustment, strong versatility, and low cost.

(2) Technical solution

In order to solve the problems of the technologies described above, the technical scheme adopted in the present invention is as follows:

A pneumatically adjustable splint-type mechanical gripper for palletizing robots, including a connecting frame, a mounting plate is provided on the connecting frame, a linear slide rail is provided on the mounting plate, and a first A slider, the first slider is provided with a clamping plate, the mounting plate is provided with a fixed plate parallel to the clamping plate, the mounting plate is also provided with a first cylinder, the The first cylinder drives the clamping plate to move along the linear slide rail, and the clamping plate and/or the fixing plate is provided with a mechanical claw device.

Wherein, the manipulator claw device includes a claw, a rotating plate, and a rotating seat, the claw is installed on the rotating plate, the rotating plate is connected to the rotating seat through a rotating pair, and the rotating seat is fixed on On the clamping plate and/or the fixed plate, one end of the second cylinder is fixed on the clamping plate and/or the fixed plate, and the other end is hinged on the joint, and the joint seat is fixed on the rotating plate, so The other end of the joint is hinged on the joint seat.

Wherein, the fixing plate is installed on the linear slide rail through the second slider, the side of the mounting plate is provided with an adjustment hole, the second slider is provided with an adjustment block, and the adjustment block is provided with a The adjustment hole corresponds to the installation hole.

Wherein, a limit buffer device is also included, and the limit buffer device includes a limit seat, a hydraulic buffer and a rigid column installed on the limit seat, and the limit seat is fixed on the installation plate.

Wherein, the clamping plate or the fixing plate is also provided with a distance sensor.

Wherein, a rubber plate is provided inside the clamping plate and/or the fixing plate.

Wherein, the clamping plate and the fixing plate are respectively fixed on the first slider and the second slider through an L-shaped welded connection plate, and reinforcing ribs are provided on the L-shaped welded connection plate.

Wherein, the connecting frame is provided with at least two mounting plates in parallel.

(3) Beneficial effects

Compared with the prior art, the present invention has the following beneficial effects:

1. High transfer efficiency. The splint-type robotic gripper adopts the form of multiple splints placed side by side, which can grab multiple boxes at the same time, and the transfer efficiency is greatly improved.

2. Strong versatility. The splint-type manipulator has a slide rail adjustment mechanism, which can adapt to grabbing boxes of different sizes by adjusting the position of the slide block, and has strong versatility.

3. High reliability. The splint-type mechanical gripper adopts cylinder drive mode, and the design structural material is steel structure, and the surface is post-treated, which is wear-resistant and corrosion-resistant; the clamping plate clamping action has cushioning, compact structure, and high reliability.

Description of drawings

Fig. 1 is a schematic structural view of a pneumatically adjustable splint-type manipulator used for a palletizing robot according to an embodiment of the present invention.

Fig. 2 is a structural schematic view of another perspective of the pneumatically adjustable splint-type manipulator used for the palletizing robot according to the embodiment of the present invention.

Fig. 3 is a front view of a pneumatically adjustable splint-type manipulator used for a palletizing robot according to an embodiment of the present invention.

Fig. 4 is a side view of a pneumatically adjustable splint-type manipulator used for a palletizing robot according to an embodiment of the present invention.

Fig. 5 is a top view of a pneumatically adjustable splint-type manipulator used for a palletizing robot according to an embodiment of the present invention.

Detailed ways

The specific implementation manners of the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

As shown in Figures 1 to 3, a pneumatically adjustable splint-type mechanical gripper for palletizing robots includes a connecting frame 1-7, and the connecting frame 1-7 is connected to the madow through a connecting flange 1-8. connected to the robot, the connecting frame 1-7 is provided with at least one set of mounting plates 1-6, the mounting plate 1-6 is provided with a linear slide rail 2-7, and the linear slide rail 2-7 is provided with The first slider 2-10, the first slider 2-10 is provided with a clamping plate 1-4, and the mounting plate 1-6 is provided with a fixing plate parallel to the clamping plate 1-4. plate 1-5, the first cylinder is also provided on the mounting plate 1-6, the first cylinder 3-1 drives the clamping plate 1-4 to move along the linear slide rail 2-7, the A mechanical claw device is provided on the clamping plate 1-4 and/or the fixing plate 1-5.

As shown in Figures 1 to 4, the mechanical claw device includes a claw 4-1, a rotating plate 4-2, and a rotating seat 4-3. The claw 4-1 has a finger-like structure with a certain slope, and is evenly installed On the rotating plate 4-2, the quantity can be changed according to the weight of the object to be grasped, and the rotating plate 4-2 is connected to the rotating seat 4-3 through a rotating pair 4-7, and the rotating seat 4 -3 is fixed on the clamping plate 1-4 and/or the fixing plate 1-5, and one end of the second cylinder 3-8 is fixed on the clamping plate 1-4 and/or the fixing plate 1-5 , the other end is hinged on the joint 3-9, the joint seat 3-10 is fixed on the rotating plate 4-2, and the other end of the joint 3-9 is hinged on the joint seat 3-10.

As shown in Figures 1 and 2, the fixing plate 1-5 is installed on the linear slide rail 2-7 through the second slider 2-9, and the side of the mounting plate 1-6 is provided with an adjustment hole, The second slider 2-9 is provided with an adjustment block 2-8, and the adjustment block 2-8 is provided with a mounting hole corresponding to the adjustment hole, and is installed with a bolt in the installation hole and the adjustment hole, The adjusting block 2-8 can lock the position of the second sliding block 2-9, thereby fixing the position of the fixing plate 1-5. By adjusting the adjustment block 2-8 to change the position of the fixed plate 1-5, the clamping size can be adjusted within a certain range.

As shown in Figures 1 and 2, the present invention also includes a limit buffer device, which includes a limit seat 2-3 and a hydraulic buffer 2-3 mounted on the limit seat 2-3 1 and a rigid column 2-2, the limit seat 2-3 is fixed on the mounting plate 1-6. The rigid column 2-2 acts as a limiter when the clamping plate is clamped and produces a rigid impact, so the hydraulic buffer 2-1 is required to provide a buffering effect.

The clamping plate 1-4 or the fixing plate 1-5 is also provided with a distance sensor 4-4, by emitting rays, to detect whether the mechanical claw has grasped the product and judge whether the product is in a suitable clamped position.

The inner side of the clamping plate 1-4 and/or the fixing plate 1-5 is provided with a rubber plate 2-5, which improves the stability of the claws when grasping.

The clamping plate 1-4 and the fixing plate 1-5 are respectively fixed on the first slider 2-10 and the second slider 2-9 through an L-shaped welding connecting plate 3-2, and the L-shaped welding The connecting plate 3-2 is provided with reinforcing ribs 3-3. The welded connecting plate 3-2 is welded with the welded reinforcing rib 3-3 to improve structural rigidity.

The whole cylinder driving device is controlled by the electromagnetic valve 5-2 installed on the valve guide 4-6, and the valve guide 4-6 is installed on the connecting frame 1-7 through the valve guide mounting plate 5-3.

When the pneumatically adjustable splint-type manipulator of the present invention is working, the second slider 2-9 is adjusted by adjusting the position of the adjusting seat 2-8 and the position of the rigid column 2-2 in the limit device according to the size of the object to be gripped. and the distance between the first slider 2-10, and then change the distance between the clamping plate 1-4 and the fixed plate 1-5; then the clamping plate 1-4 moves downward under the action of the first cylinder 3-1 Move away from the fixed plate, and at the same time, the mechanical claw device is deployed under the action of the second cylinder 3-8; then the claw moves downward, so that the workpiece is located between the clamping plate and the fixed plate, and controls the first cylinder 3-1 The contraction drives the clamping plate 1-4 to clamp, and the workpiece is just clamped under the limit action of the rigid column 2-2, and then the second cylinder 3-8 is driven to make the mechanical claw device turn downwards, lift the workpiece, and move the hand When the claw reaches the designated position, the grabbing work is completed. After reaching the designated position, release the mechanical claw device, the first cylinder 3-1 drives the clamping plate 1-4 to relax, and then the workpiece can be put down.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. Retouching should also be regarded as the protection scope of the present invention.

Claims (8)

1. the pneumatic adjustable splint type mechanical paw for robot palletizer, it is characterized in that: comprise connecting frame, described connecting frame is provided with installing plate, described installing plate is provided with line slide rail, described line slide rail is provided with the first slide block, described the first slide block is provided with clamping plate, described installing plate is provided with the fixed head be arrangeding in parallel with described clamping plate, on described installing plate, be also provided with the first cylinder, described in described the first air cylinder driven, clamping plate moves along described line slide rail, and described clamping plate and/or fixed head are provided with mechanical paw device.

2. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 1, it is characterized in that: described mechanical paw device comprises hook pawl, rotor plate, rotation seat, described hook pawl is installed on described rotor plate, described rotor plate is connected on described rotation seat by revolute pair, described rotation seat is fixed on described clamping plate and/or fixed head, described second cylinder one end is fixed on described clamping plate and/or fixed head, the other end cuts with scissors on joint, on described rotor plate, be fixed with plinth, the described joint other end is articulated with on described plinth.

3. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 2, it is characterized in that: described fixed head is installed on described line slide rail by the second slide block, described installing plate side is provided with adjustment hole, described the second slide block is provided with regulating block, and described regulating block is provided with the installing hole corresponding with described adjustment hole.

4. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 3, it is characterized in that: also comprise limit damper, described limit damper comprises limit base and is installed on hydraulic bjuffer and the rigid post on described limit base, and described limit base is fixed on described installing plate.

5. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 3, is characterized in that: on described clamping plate or fixed head, be also provided with range sensor.

6. according to the pneumatic adjustable splint type mechanical paw for robot palletizer described in claim 4 or 5, it is characterized in that: described clamping plate and/or fixed head inner side are provided with rubber slab.

7. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 6, it is characterized in that: described clamping plate and fixed head are welded to connect plate by L-type and are individually fixed on described the first slide block and the second slide block, and described L-type is welded to connect plate and is provided with reinforcement.

8. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 7, is characterized in that: described connecting frame is arranged with at least 2 installing plates in parallel.

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