CN113307031A - Operation method of robot composite gripper for gripping luggage - Google Patents
Operation method of robot composite gripper for gripping luggage Download PDFInfo
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- CN113307031A CN113307031A CN202110745721.5A CN202110745721A CN113307031A CN 113307031 A CN113307031 A CN 113307031A CN 202110745721 A CN202110745721 A CN 202110745721A CN 113307031 A CN113307031 A CN 113307031A
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- gripper
- cylinder
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- grabbing
- gripping
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/912—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers provided with drive systems with rectilinear movements only
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
- B65G47/918—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers with at least two picking-up heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0238—Bags
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
An operation method of a robot composite gripper for gripping a case, wherein a gripper connecting plate plays a role in connection; the gripper framework is a gripper main body part; the sucker component is a box sucking device of a gripper, is arranged on a gripper framework, and is opened only when the box is sucked, and the sucker extends downwards out of the box sucking; when the suction box is moved completely, the cylinder is closed, the suction disc retracts, and the gripper enters a bale grabbing and rotating state; the grabbing tooth assembly is connected with the swing rod assembly and moves along with the swing rod assembly; the bale pressing assembly presses the packaging bags downwards when the grippers grab the bales, so that the packaging bags are prevented from being thrown out of the grippers or moving to influence the position of stacking and placing the bales when the grippers swing; the grabbing cylinder assembly is arranged on a bottom plate of the grabbing framework and connected with the swing rod assembly to drive the swing rod assembly to rotate; the upper surface of the swing rod assembly is arranged on the gripper framework, the lower surface of the swing rod assembly is provided with the gripping tooth assembly and is also connected with the gripping cylinder assembly, and the swing rod assembly is driven by the gripping cylinder assembly to rotate, so that the gripping action of the gripper is realized.
Description
Technical Field
The invention relates to robot stacking equipment, in particular to an operation method of a robot composite gripper for gripping a case.
Background
In the existing robot stacking equipment, a mechanical gripper of a robot has a gripper for gripping a package and a gripper for gripping a package, and both the grippers are independent, if only one robot in the equipment needs to grip the package and grip two products, a quick-change device needs to be made, the robot can only be connected with one gripper at a time, so that the robot can grip the two products by alternately using the two grippers, the cost is high, and meanwhile, the quick-change device cannot realize the simultaneous production of the two products and can only produce the two products respectively. In addition, the general mechanical gripper is because the width of material package is different, and the gripper is also different, from this, also needs to use quick change device to realize two kinds and snatch the different grippers of width and switch.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a composite gripper for a robot for gripping a case, which can grip both the case and the bag, so that two original grippers are combined into one gripper. The invention has low cost and high efficiency, and can realize the simultaneous production of two products. The invention can also realize the automatic width adjustment of the gripper and is compatible with material bags with different widths.
The technical scheme adopted by the invention for solving the technical problems is as follows:
an operation method of a robot composite gripper for gripping a case comprises the following steps:
when the grippers grab the bags, firstly, the grabbing width of the grippers is adjusted according to the size of the bag, the composite grippers adjust the width of the long grabbing teeth 503 and the short grabbing teeth 504 through the adjustable air cylinders A301 and B302, after the width is adjusted, the air cylinders of the suckers 406 are in a closed state, the long grabbing teeth 503 and the short grabbing teeth 504 of the composite grippers grab the bags, meanwhile, the air cylinders of the bag pressing assemblies are started, the bag pressing plates press the packaging bags downwards, the grippers complete bag grabbing actions, and bag stacking work is started;
when the box is gripped by the gripper, the long gripping teeth 503 and the short gripping teeth 504 of the gripper are opened to be in a 180-degree state, at the moment, the pressing and packing assembly is also in a contracted state, the suction cup 406 is started, the suction cup 406 extends out, and the box suction work is started.
The invention also has the following additional technical features:
the technical scheme of the invention is further specifically optimized as follows: the compound tongs of robot includes: the gripper comprises a gripper connecting plate 2, a gripper framework 3, a sucker component 4, a gripper tooth component 5, a press packing component 6, a gripping cylinder component 7 and a swing rod component 8. Wherein the content of the first and second substances,
and the gripper connecting plate 2 is arranged between the robot and the gripper framework 3 or between the gripper connecting sleeve 1 and the gripper framework 3, and plays a role in connection.
The hand grip framework 3 is a hand grip main body part.
Sucking disc subassembly 4, sucking disc subassembly 4 are the case device of inhaling of tongs, install on tongs skeleton 3, and the cylinder just opens when only inhaling the case, and the sucking disc stretches out downwards and inhales the case. When the suction box is moved completely, the cylinder is closed, the suction disc retracts, and the gripper enters a bale grabbing rotating state.
The grabbing tooth assembly 5 and the grabbing tooth assembly 5 are connected with the swing rod assembly 8 and move along with the swing rod assembly 8.
And the pressing package assembly 6 presses the packaging bag downwards when the gripper grabs the package, so that the packaging bag is prevented from being thrown out of the gripper or moving to influence the position of placing the stacked package when the gripper swings.
And the grabbing cylinder assembly 7 is arranged on the bottom plate of the grabbing framework 3, is connected with the swing rod assembly 8 and drives the swing rod assembly 8 to rotate.
The swing rod assembly 8 is arranged on the gripper framework 3 above the swing rod assembly 8, the grabbing tooth assembly 5 is arranged below the swing rod assembly 8, and meanwhile the swing rod assembly is connected with the grabbing cylinder assembly 7 and rotates under the driving of the grabbing cylinder assembly 7, so that the gripper grabs a package.
The technical scheme of the invention is further specifically optimized as follows: the robot gripper connecting device further comprises a gripper connecting sleeve 1, wherein the gripper connecting sleeve 1 is a transition assembly for connecting the robot and the gripper, and not only is the connecting function realized, but also the effect of lengthening the downward gripping space of the robot gripper can be realized.
The technical scheme of the invention is further specifically optimized as follows: the hand grab framework 3 comprises an adjustable air cylinder A301, an adjustable air cylinder B302, a bottom plate 303, an upper plate 304, a linear sliding block 305, a limiting plate 306, an aluminum profile 307, a fixing block 308 and an air cylinder fixing seat 309. Wherein the content of the first and second substances,
the adjustable air cylinder A301 is arranged on the bottom plate 303, the adjustable air cylinder B302 is arranged on the upper plate 304, the adjustable air cylinder A301 and the adjustable air cylinder B302 are in butt joint on the same straight line, and the width adjustment of the hand grip is realized along with the telescopic movement of the air cylinders.
The linear slider 305 is mounted on the bottom plate 303 to slide back and forth.
The upper plate 304 is mounted on the aluminum profile 307 on the top and the linear slide 305 on the bottom.
The linear slider 305 is installed between the upper plate 304 and the bottom plate 303, and drives the bottom plate 303 to slide left and right.
When the bottom plate 303 slides to the outermost side, the stopper plate 306 is stopped by the stopper plate 306.
The aluminum profile 307 is an aluminum profile with a special-shaped section of 30mm by 60 mm.
The fixing block 308 serves to fix the robot arm connecting plate.
The cylinder fixing base 309 is used for fixing the cylinder on the upper plate 304.
The technical scheme of the invention is further specifically optimized as follows: the suction cup assembly 4 comprises a suction cup cylinder 401, a cylinder fixing plate 402, a connecting block 403, a suction cup fixing plate 404, a floating joint 405 and a suction cup 406. Wherein, the bottom of sucking disc fixed plate 404 is fixed with a plurality of sucking discs 406, and connecting block 403 is installed to top one side of sucking disc fixed plate 404, and sucking disc cylinder 401 is installed to the top of connecting block 403, and the side of sucking disc cylinder 401 is provided with cylinder fixed plate 402. The other side of the top of the sucker fixing plate 404 is provided with a floating joint 405, the top of the floating joint 405 is provided with a sucker cylinder 401, and the side surface of the sucker cylinder 401 is provided with a cylinder fixing plate 402.
The technical scheme of the invention is further specifically optimized as follows: the grabbing tooth assembly 5 comprises an upper connecting beam 501, a lower connecting beam 502, a long grabbing tooth 503 and a short grabbing tooth 504. The upper connecting beam 501 and the lower connecting beam 502 are arranged in parallel, and a plurality of long grabbing teeth 503 and short grabbing teeth 504 which are arranged at intervals are arranged between the upper connecting beam 501 and the lower connecting beam 502.
The technical scheme of the invention is further specifically optimized as follows: the long gripping teeth 503 and the short gripping teeth 504 are made of nylon material, aluminum material or stainless steel. The long gripping teeth 503 and the short gripping teeth 504 are alternately arranged in a long-short mode, and after the long gripping teeth 503 and the short gripping teeth 504 are installed, the gripping teeth are staggered together, so that the purpose that the gripping width of the gripping hand is small, and gripping of small packages is achieved.
The technical scheme of the invention is further specifically optimized as follows: the press packing assembly 6 comprises a cylinder fixing plate 601, a cylinder 602 and a press packing plate 603; the cylinder fixing plate 601 is arranged at the rear part of the cylinder 602, and the press packing plate 603 is arranged at the bottom of the cylinder 602; the bag pressing component 6 is a bag pressing mechanism of the gripper, is arranged on an upper plate of the manipulator framework, presses the packaging bag when the gripper grips the packaging bag, prevents the bag from being thrown along with the rapid movement of the gripper of the robot, and keeps the shape of the bag unchanged;
the technical scheme of the invention is further specifically optimized as follows: the grabbing cylinder assembly 7 comprises a grabbing cylinder 701 and a Y-shaped joint 702, and the Y-shaped joint 702 is mounted at the tail end of a telescopic shaft of the grabbing cylinder 701; the grabbing cylinder assembly 7 is a driving grabbing tooth assembly, realizes the function of grabbing the tooth to grab the bag, and is fixed on a bottom plate of the grabbing skeleton.
The technical scheme of the invention is further specifically optimized as follows: the swing rod assembly 8 comprises a swing rod 801, a tension sleeve 802, a bushing 803, a fixed shaft sleeve 804, a swing rod shaft 805 and a bearing 806; two swing rods 801 are arranged, and a fixed shaft sleeve 804 and a swing rod shaft 805 are arranged at the top of each swing rod 801 through a tensioning sleeve 802, a bushing 803 and a bearing 806; the swing rod assembly 8 is a connecting part of the grabbing tooth assembly 5, is fixed on a bottom plate of the grabbing skeleton and is driven by the grabbing cylinder assembly.
Compared with the prior art, the invention has the advantages that:
the method has the advantages that: the working principle of the invention is as follows: the composite gripper adjusts the width of the long gripping teeth 503 and the short gripping teeth 504 through the adjustable cylinders A301 and the adjustable cylinders B302, the number of the adjustable cylinders A301 and the number of the adjustable cylinders B302 are 4, the adjustable cylinders A301 and the adjustable cylinders B302 are distributed on the left side and the right side respectively, the two adjustable cylinders A301 and the adjustable cylinders B302 are connected in a butt joint mode to form a butt-pushing structure, control is conducted according to different strokes of the four cylinders, and adjustment of the width of the gripping teeth of 1-4 types can be achieved. The box grabbing of the hand grab is realized through the middle sucking disc 406, the grabbing tooth of the hand grab is opened firstly, then the cylinder for loading the sucking disc is opened, the sucking disc 406 extends downwards out of the sucking box and then carries out stacking, the sucking disc cylinder is closed after the box stacking is completed, the sucking disc 406 retracts, the bag grabbing and stacking are continued, and the reciprocating operation is carried out, so that the bag grabbing operation and the box grabbing operation can be realized very conveniently.
The method has the advantages that: the box grabbing and stacking device can grab and stack packaging bags with different widths, is convenient to adjust and compatible with multiple packaging bag widths, can grab and stack boxes at the same time, and meets the requirement of stacking production of packaging bags and boxed products at the same time.
The method has the advantages that: the invention has low cost and high efficiency, and can realize the simultaneous production of two products.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIGS. 1-3 are schematic diagrams of the overall structure of the composite robot gripper for gripping bags and suitcases according to the invention;
FIG. 4 is a schematic structural view of the gripper frame 3 according to the present invention;
FIG. 5 is a schematic view of the structure of the chuck assembly 4 of the present invention;
figure 6 is a schematic view of the construction of the gripper assembly 5 according to the invention;
FIG. 7 is a schematic view of the construction of the press pack assembly 6 of the present invention;
FIG. 8 is a schematic structural diagram of the rocker arm assembly 8 of the present invention;
FIGS. 9-11 are schematic perspective views of the present invention;
12-16 are schematic views of the open configuration of the grip of the present invention;
FIGS. 17-19 are schematic views of the hand-pushing closing structure of the present invention;
fig. 20 is a schematic structural view of the gripper connecting plate 2 of the present invention;
fig. 21 is a schematic view of the construction of the gripping cylinder assembly 7 of the present invention.
Description of reference numerals: the gripper connecting sleeve 1; a gripper connecting plate 2; a gripper framework 3; a sucker component 4; a grabbing tooth assembly 5; a press pack assembly 6; a gripping cylinder assembly 7; a swing link assembly 8; an adjustable cylinder A301; an adjustable cylinder B302; a base plate 303; an upper plate 304; a linear slider 305; a limiting plate 306; an aluminum profile 307; a fixed block 308; a cylinder fixing seat 309; a chuck cylinder 401; a cylinder fixing plate 402; a connection block 403; a suction cup fixing plate 404; a floating joint 405; a suction cup 406; an upper connecting beam 501; a lower connecting beam 502; a long gripping tooth 503; short gripping teeth 504.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings, in order that the present disclosure may be more fully understood and fully conveyed to those skilled in the art. While the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the invention is not limited to the embodiments set forth herein.
An operation method of a robot composite gripper for gripping a case comprises the following steps:
when the grippers grab the bags, firstly, the grabbing width of the grippers is adjusted according to the size of the bag, the composite grippers adjust the width of the long grabbing teeth 503 and the short grabbing teeth 504 through the adjustable air cylinders A301 and B302, after the width is adjusted, the air cylinders of the suckers 406 are in a closed state, the long grabbing teeth 503 and the short grabbing teeth 504 of the composite grippers grab the bags, meanwhile, the air cylinders of the bag pressing assemblies are started, the bag pressing plates press the packaging bags downwards, the grippers complete bag grabbing actions, and bag stacking work is started;
when the box is gripped by the gripper, the long gripping teeth 503 and the short gripping teeth 504 of the gripper are opened to be in a 180-degree state, at the moment, the pressing and packing assembly is also in a contracted state, the suction cup 406 is started, the suction cup 406 extends out, and the box suction work is started.
The robot composite gripper is shown in figures 1-3 and 8-11 and comprises a gripper connecting plate 2, a gripper framework 3, a sucker assembly 4, a gripper assembly 5, a bale pressing assembly 6, a gripping cylinder assembly 7 and a swing rod assembly 8.
And the gripper connecting plate 2 is arranged between the robot and the gripper framework 3 or between the gripper connecting sleeve 1 and the gripper framework 3, and plays a role in connection. When the gripper connecting sleeve 1 is not arranged, the gripper connecting sleeve can be directly connected with a robot.
The hand grip framework 3 is a hand grip main body part. The adjustable air cylinder A301, the adjustable air cylinder B302, the bottom plate 303, the upper plate 304, the linear sliding block 305, the limiting plate 306, the aluminum profile 307, the fixing block 308 and the air cylinder fixing seat 309 are integrally mounted on the gripper framework 3.
Sucking disc subassembly 4, sucking disc subassembly 4 are the case device of inhaling of tongs, install on tongs skeleton 3, and the cylinder just opens when only inhaling the case, and the sucking disc stretches out downwards and inhales the case. When the suction box is moved completely, the cylinder is closed, the suction disc retracts, and the gripper enters a bale grabbing rotating state.
The grabbing tooth assembly 5 and the grabbing tooth assembly 5 are connected with the swing rod assembly 8 and move along with the swing rod assembly 8.
Fig. 7 is a schematic view of the construction of the press pack assembly 6 of the present invention. And the pressing package assembly 6 presses the packaging bag downwards when the gripper grabs the package, so that the packaging bag is prevented from being thrown out of the gripper or moving to influence the position of placing the stacked package when the gripper swings.
And the grabbing cylinder assembly 7 is arranged on the bottom plate of the grabbing framework 3, is connected with the swing rod assembly 8 and drives the swing rod assembly 8 to rotate.
Fig. 8 is a schematic structural diagram of the rocker arm assembly 8 of the present invention. The swing rod assembly 8 is arranged on the gripper framework 3 above the swing rod assembly 8, the grabbing tooth assembly 5 is arranged below the swing rod assembly 8, and meanwhile the swing rod assembly is connected with the grabbing cylinder assembly 7 and rotates under the driving of the grabbing cylinder assembly 7, so that the gripper grabs a package.
The robot gripper connecting sleeve comprises a gripper connecting sleeve 1, wherein the gripper connecting sleeve 1 is a transition assembly for connecting a robot and a gripper, and not only can the connection function be realized, but also the effect of lengthening the downward gripping space of the robot gripper can be realized.
Fig. 20 is a schematic structural view of the gripper connecting plate 2 of the present invention; the grip connecting plate 2 fixes the connecting sleeve and the grip framework 3.
Fig. 4 is a schematic structural view of the gripper frame 3 according to the present invention. The hand grab framework 3 comprises an adjustable air cylinder A301, an adjustable air cylinder B302, a bottom plate 303, an upper plate 304, a linear sliding block 305, a limiting plate 306, an aluminum profile 307, a fixing block 308 and an air cylinder fixing seat 309.
The adjustable air cylinder A301 is arranged on the bottom plate 303, the adjustable air cylinder B302 is arranged on the upper plate 304, the adjustable air cylinder A301 and the adjustable air cylinder B302 are in butt joint on a straight line, and the width adjustment of the hand grip is realized along with the telescopic movement of the adjustable air cylinder A301 and the adjustable air cylinder B302.
The base plate 303 is provided with a linear slide 305 for sliding back and forth, so that the base plate is movable.
The upper plate 304 is mounted on the aluminum profile 307 on the upper side, and the linear slider 305 is mounted on the lower side, and the upper plate 304 is fixed.
The linear slider 305 is installed between the upper plate 304 and the bottom plate 303, and drives the bottom plate 303 to slide left and right.
When the bottom plate 303 slides to the outermost side, the position of the position limiting plate 306 is limited by the position limiting plate 306, and a buffering effect is achieved.
The aluminum profile 307 is an aluminum profile with a special-shaped section of 30mm by 60mm, and plays a role in bearing and fixing.
The fixing block 308 serves to fix the robot arm connecting plate.
The cylinder fixing base 309 is used for fixing the cylinder on the upper plate 304.
FIG. 5 is a schematic view of the structure of the chuck assembly 4 of the present invention. The suction cup assembly 4 comprises a suction cup cylinder 401, a cylinder fixing plate 402, a connecting block 403, a suction cup fixing plate 404, a floating joint 405 and a suction cup 406. Wherein, the bottom of sucking disc fixed plate 404 is fixed with a plurality of sucking discs 406, and connecting block 403 is installed to top one side of sucking disc fixed plate 404, and sucking disc cylinder 401 is installed to the top of connecting block 403, and the side of sucking disc cylinder 401 is provided with cylinder fixed plate 402. The other side of the top of the sucker fixing plate 404 is provided with a floating joint 405, the top of the floating joint 405 is provided with a sucker cylinder 401, and the side surface of the sucker cylinder 401 is provided with a cylinder fixing plate 402.
Figure 6 is a schematic view of the construction of the inventive gripper assembly 5. The grabbing tooth assembly 5 comprises an upper connecting beam 501, a lower connecting beam 502, a long grabbing tooth 503 and a short grabbing tooth 504. The upper connecting beam 501 and the lower connecting beam 502 are arranged in parallel, and a plurality of long grabbing teeth 503 and short grabbing teeth 504 which are arranged at intervals are arranged between the upper connecting beam 501 and the lower connecting beam 502.
The long gripping teeth 503 and the short gripping teeth 504 are made of nylon material, aluminum material or stainless steel. The long gripping teeth 503 and the short gripping teeth 504 are alternately arranged in a long-short mode, and after the long gripping teeth 503 and the short gripping teeth 504 are installed, the gripping teeth are staggered together, so that the purpose that the gripping width of the gripping hand is small, and gripping of small packages is achieved.
FIG. 7 is a schematic view of the construction of the press pack assembly 6 of the present invention; the press packing assembly 6 comprises a cylinder fixing plate 601, a cylinder 602 and a press packing plate 603; the cylinder fixing plate 601 is arranged at the rear part of the cylinder 602, and the press packing plate 603 is arranged at the bottom of the cylinder 602; the bag pressing component 6 is a bag pressing mechanism of the gripper, is arranged on an upper plate of the manipulator framework, presses the packaging bag when the gripper grips the packaging bag, prevents the bag from being thrown along with the rapid movement of the gripper of the robot, and keeps the shape of the bag unchanged;
fig. 21 is a schematic view of the construction of the gripping cylinder assembly 7 of the present invention. The grabbing cylinder assembly 7 comprises a grabbing cylinder 701 and a Y-shaped joint 702, and the Y-shaped joint 702 is mounted at the tail end of a telescopic shaft of the grabbing cylinder 701; the grabbing cylinder assembly 7 is a driving grabbing tooth assembly, realizes the function of grabbing the tooth to grab the bag, and is fixed on a bottom plate of the grabbing skeleton.
FIG. 8 is a schematic structural diagram of the rocker arm assembly 8 of the present invention; the swing rod assembly 8 comprises a swing rod 801, a tension sleeve 802, a bushing 803, a fixed shaft sleeve 804, a swing rod shaft 805 and a bearing 806; two swing rods 801 are arranged, and a fixed shaft sleeve 804 and a swing rod shaft 805 are arranged at the top of each swing rod 801 through a tensioning sleeve 802, a bushing 803 and a bearing 806; the swing rod assembly 8 is a connecting part of the grabbing tooth assembly 5, is fixed on a bottom plate of the grabbing skeleton and is driven by the grabbing cylinder assembly.
Fig. 12-16 are schematic views of the open configuration of the grip of the present invention. In this state, the suction cup sucks the box and then stacks the box.
Fig. 17-19 are schematic views of the hand-pushing closing structure of the present invention. The state is that the suction cups are retracted, the grippers grab the packs and then the packs are stacked. The tongs are two tongs structures, can grab 2 purses simultaneously, also can grab 1 big package once, when grabbing 2 purses, can grab singly putting of two grabs, both snatch two bags simultaneously, and one bag puts down. 1 big bag is grabbed simultaneously and is put simultaneously, and both two sets of grabbing teeth grab the bag simultaneously, open simultaneously and put down the wrapping bag, like single tongs. The gripping width of the gripper can be adjusted, and the gripping teeth on the two sides are arranged in a staggered mode due to the length and the length of the gripping teeth at the minimum width.
The working principle of the robot composite gripper for gripping the luggage is as follows: the composite gripper adjusts the width of the long gripping teeth 503 and the short gripping teeth 504 through the adjustable cylinders A301 and the adjustable cylinders B302, the number of the adjustable cylinders A301 and the number of the adjustable cylinders B302 are 4, the adjustable cylinders A301 and the adjustable cylinders B302 are distributed on the left side and the right side respectively, the two adjustable cylinders A301 and the adjustable cylinders B302 are connected in a butt joint mode to form a butt-pushing structure, control is conducted according to different strokes of the four cylinders, and adjustment of the width of the gripping teeth of 1-4 types can be achieved. The box grabbing of the hand grab is realized through the middle sucking disc 406, the grabbing tooth of the hand grab is opened firstly, then the cylinder for loading the sucking disc is opened, the sucking disc 406 extends downwards out of the sucking box and then carries out stacking, the sucking disc cylinder is closed after the box stacking is completed, the sucking disc 406 retracts, the bag grabbing and stacking are continued, and the reciprocating operation is carried out, so that the bag grabbing operation and the box grabbing operation can be realized very conveniently.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described above with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. The components of embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the above detailed description of the embodiments of the invention presented in the drawings is not intended to limit the scope of the invention as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or the orientations or positional relationships that the products of the present invention are conventionally placed in use, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected. Either mechanically or electrically. They may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Claims (10)
1. An operation method of a robot composite gripper for gripping a case is characterized in that:
when the grippers grab the bags, firstly, the grabbing width of the grippers is adjusted according to the size of the bag, the composite grippers adjust the width of the long grabbing teeth (503) and the short grabbing teeth (504) through the adjustable air cylinders A (301) and B (302), after the width is adjusted, the air cylinders of the suckers (406) are in a closed state, the long grabbing teeth (503) and the short grabbing teeth (504) of the composite grippers grab the bags, meanwhile, the air cylinders of the bag pressing assemblies are started, the bag pressing plates press the packaging bags downwards, the grippers complete bag grabbing actions, and bag stacking work is started;
when the box is grabbed by the grab hand, the long grabbing teeth (503) and the short grabbing teeth (504) of the grab hand are opened to be in a 180-degree state, at the moment, the pressing and packing assembly is also in a contraction state, the suction cup (406) is started to extend out of the suction cup (406), and the box sucking work is started.
2. A method of operating a robotic composite gripper for gripping a bag according to claim 1, wherein: the compound tongs of robot includes: the gripper comprises a gripper connecting plate (2), a gripper framework (3), a sucker assembly (4), a gripper tooth assembly (5), a press packing assembly (6), a gripping cylinder assembly (7) and a swing rod assembly (8); wherein the content of the first and second substances,
the gripper connecting plate (2) is arranged between the robot and the gripper framework (3) or between the gripper connecting sleeve (1) and the gripper framework (3);
the hand grip framework (3), wherein the hand grip framework (3) is a hand grip main body part;
the sucker component (4) is a box suction device of the gripper, and is arranged on the gripper framework (3);
the grabbing tooth assembly (5) is connected with the swing rod assembly (8) and moves along with the swing rod assembly (8);
the bale pressing component (6) presses the packaging bag downwards when the bale pressing component (6) grabs the package by the gripper;
the grabbing cylinder assembly (7) is mounted on a bottom plate of the grabbing framework (3) and connected with the swing rod assembly (8) to drive the swing rod assembly (8) to rotate;
the upper surface of the swing rod component (8) is arranged on the gripper framework (3), the lower surface of the swing rod component (8) is provided with the gripping tooth component (5), and meanwhile, the swing rod component is connected with the gripping air cylinder component (7) and rotates under the driving of the gripping air cylinder component (7).
3. A method of operating a robotic composite gripper for gripping a bag according to claim 2, wherein: the robot hand grip is characterized by further comprising a hand grip connecting sleeve (1), wherein the hand grip connecting sleeve (1) is a transition assembly for connecting the robot and the hand grip.
4. A robotic composite gripper for gripping a luggage as claimed in claim 2, wherein: the connecting sleeve and the gripper framework (3) are fixed by the gripper connecting plate (2).
5. A method of operating a robotic composite gripper for gripping a bag according to claim 2, wherein: the gripper framework (3) comprises an adjustable cylinder A (301), an adjustable cylinder B (302), a bottom plate (303), an upper plate (304), a linear sliding block (305), a limiting plate (306), an aluminum profile (307), a fixing block (308) and a cylinder fixing seat (309); wherein the content of the first and second substances,
the adjustable air cylinder A (301) is arranged on the bottom plate (303), the adjustable air cylinder B (302) is arranged on the upper plate (304), and the adjustable air cylinder A (301) and the adjustable air cylinder B (302) are butted on a straight line;
a linear sliding block (305) is arranged on the bottom plate (303) to realize back-and-forth sliding;
the upper surface of the upper plate (304) is arranged on an aluminum section bar (307), and the lower surface is provided with a linear sliding block (305;)
The linear sliding block (305) is arranged between the upper plate (304) and the bottom plate (303) and drives the bottom plate (303) to slide left and right;
when the bottom plate (303) slides to the outermost side, the limiting plate (306) is used for limiting;
the aluminum profile (307) is an aluminum profile with a special-shaped section of 30mm by 60 mm;
the fixing block (308) plays a role in fixing a connecting plate of the manipulator;
the air cylinder fixing seat (309) is used for fixing an air cylinder on the upper plate (304).
6. A method of operating a robotic composite gripper for gripping a bag according to claim 2, wherein: the sucker component (4) comprises a sucker cylinder (401), a cylinder fixing plate (402), a connecting block (403), a sucker fixing plate (404), a floating joint (405) and a sucker (406); the suction cup fixing device comprises a suction cup fixing plate (404), a plurality of suction cups (406), a connecting block (403) is installed on one side of the top of the suction cup fixing plate (404), a suction cup cylinder (401) is installed on the top of the connecting block (403), and a cylinder fixing plate (402) is arranged on the side surface of the suction cup cylinder (401); the other side of the top of the sucker fixing plate (404) is provided with a floating joint (405), the top of the floating joint (405) is provided with a sucker cylinder (401), and the side surface of the sucker cylinder (401) is provided with a cylinder fixing plate (402).
7. A method of operating a robotic composite gripper for gripping a luggage according to claim 2, wherein the gripper assembly (5) comprises an upper connecting beam (501), a lower connecting beam (502), a long gripper (503) and a short gripper (504); the upper connecting beam (501) and the lower connecting beam (502) are arranged in parallel, and a plurality of long grabbing teeth (503) and short grabbing teeth (504) which are arranged at intervals are arranged between the upper connecting beam (501) and the lower connecting beam (502);
the long grabbing teeth (503) and the short grabbing teeth (504) are made of nylon materials, aluminum materials or stainless steel; the long grabbing teeth (503) and the short grabbing teeth (504) are alternately arranged in a long-short mode.
8. A method of operating a robotic composite gripper for gripping a bag according to claim 2, wherein: the press packing assembly (6) comprises a cylinder fixing plate (601), a cylinder (602) and a press packing plate (603); the cylinder fixing plate (601) is arranged at the rear part of the cylinder (602), and the press packing plate (603) is arranged at the bottom of the cylinder (602).
9. A method of operating a robotic composite gripper for gripping a bag according to claim 2, wherein: the grabbing cylinder assembly (7) comprises a grabbing cylinder (701) and a Y-shaped joint (702), and the Y-shaped joint (702) is installed at the tail end of a telescopic shaft of the grabbing cylinder (701).
10. A method of operating a robotic composite gripper for gripping a bag according to claim 2, wherein: the swing rod assembly (8) comprises a swing rod (801), a tension sleeve (802), a bushing (803), a fixed shaft sleeve (804), a swing rod shaft (805) and a bearing (806); the two swing rods (801) are arranged, and the top of each swing rod (801) is provided with a fixed shaft sleeve (804) and a swing rod shaft (805) through a tensioning sleeve (802), a bushing (803) and a bearing (806).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110745721.5A CN113307031A (en) | 2021-07-01 | 2021-07-01 | Operation method of robot composite gripper for gripping luggage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110745721.5A CN113307031A (en) | 2021-07-01 | 2021-07-01 | Operation method of robot composite gripper for gripping luggage |
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| Publication Number | Publication Date |
|---|---|
| CN113307031A true CN113307031A (en) | 2021-08-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110745721.5A Withdrawn CN113307031A (en) | 2021-07-01 | 2021-07-01 | Operation method of robot composite gripper for gripping luggage |
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| Country | Link |
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| CN (1) | CN113307031A (en) |
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| CN116277093A (en) * | 2023-05-15 | 2023-06-23 | 甘肃昆仑生化有限责任公司 | Electromechanical device grabs bagging apparatus |
| WO2023126803A1 (en) * | 2021-12-29 | 2023-07-06 | R.A Jones & Co. | Manipulator for packages and related process for moving packages |
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Application publication date: 20210827 |