CN113998230A - Mechanical gripper for grabbing flexible package products and stacking robot - Google Patents
Mechanical gripper for grabbing flexible package products and stacking robot Download PDFInfo
- Publication number
- CN113998230A CN113998230A CN202111276005.3A CN202111276005A CN113998230A CN 113998230 A CN113998230 A CN 113998230A CN 202111276005 A CN202111276005 A CN 202111276005A CN 113998230 A CN113998230 A CN 113998230A
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- Prior art keywords
- assembly
- flexible package
- gripper
- adapter
- rotating shaft
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
- B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
- B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
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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
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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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
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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
Abstract
The invention discloses a mechanical gripper for gripping flexible package products and a stacking robot, and relates to the technical field of stacking robots. The mechanical gripper for gripping the flexible package products comprises a gripper assembly and a driving assembly, wherein the gripper assembly comprises a plurality of supporting claws arranged at intervals, and the supporting claws can support the flexible package products from the bottom of the flexible package products; the driving assembly is fixed on the mounting substrate and connected with the gripper assembly through the connecting assembly so as to drive the gripper assembly to rotate between a feeding state and a discharging state. The connecting assembly comprises a rotating shaft, a middle connecting piece and an adapter, the gripper assembly is fixedly connected with the rotating shaft, and the rotating shaft is rotatably connected with the mounting substrate; be provided with the spacing groove on the mounting substrate, intermediate junction spare one end and axis of rotation fixed connection, the other end passes the spacing groove and is connected with the adapter, the adapter is connected with drive assembly, drive assembly drive adapter is linear motion, the adapter drives the axis of rotation through intermediate junction spare and rotates to realize that flexible package product's stability snatchs and accurate blowing.
Description
Technical Field
The invention relates to the technical field of stacking robots, in particular to a mechanical gripper for gripping flexible package products and a stacking robot.
Background
When powder products are packaged, the dust concentration of a working site is high, the noise is high, the body health of workers is seriously influenced, and the working efficiency is greatly reduced. In order to improve the working efficiency and reduce the harm to the health of workers, an automatic roller conveying line and an automatic stacking system are usually arranged, so that the automatic conveying and stacking of the powder products are realized.
Packaging for powdered products includes flexible packaging products and carton packaging. The flexible packaging products are mainly packaged by PE bags and kraft paper bags. The manipulator of the stacking robot in the prior art is provided with a hook claw mechanism, in the process of grabbing carton packaging products, one side edge of a carton is hooked by the hook claw, and then grabbing operation of the carton packaging products is realized by the hook claw and the clamping action of the carton by matching the first clamping plate and the second clamping plate simultaneously. However, for flexible package products, when the side edge of the flexible package is hooked by the hook claw, the flexible package is easily damaged; and the appearance of soft-packing product is yielding through two splint centre clampings, has the lateral wall that is parallel to each other for first splint and the centre gripping of second splint unlike the carton packing, has the instability, easily causes the blowing in advance.
Disclosure of Invention
The invention aims to provide a mechanical gripper for gripping flexible package products and a stacking robot, which can realize stable gripping and accurate discharging of the flexible package products.
In order to achieve the purpose, the invention adopts the following technical scheme:
a mechanical gripper for gripping flexible packaging products, comprising:
the gripping component comprises a plurality of supporting claws arranged at intervals, and the supporting claws can support the flexible package products from the bottom of the flexible package products;
the driving assembly is fixed on the mounting substrate and connected with the gripper assembly through a connecting assembly so as to drive the gripper assembly to be switched between a feeding state and a discharging state;
the connecting assembly comprises a rotating shaft, a middle connecting piece and an adapter, the gripper assembly is fixedly connected with the rotating shaft, and the rotating shaft is rotatably connected with the mounting substrate; the mounting substrate is provided with a limiting groove, one end of the intermediate connecting piece is fixedly connected with the rotating shaft, the other end of the intermediate connecting piece penetrates through the limiting groove and is connected with the adapter, the adapter is connected with the driving assembly, the driving assembly drives the adapter to do linear motion, and the adapter passes through the intermediate connecting piece to drive the rotating shaft to rotate.
As an alternative of the mechanical gripper for gripping the flexible package product, an oil buffer is arranged on the mounting substrate, and the gripper assembly can abut against the oil buffer in the blanking state.
As an alternative of a mechanical gripper for gripping flexible package products, the gripper assembly further comprises a supporting plate and connecting rods, the supporting claws are uniformly distributed on the supporting plate and are arranged at intervals, two ends of the supporting plate and two ends of the rotating shaft are connected in a one-to-one correspondence mode through the connecting rods, and each connecting rod is correspondingly provided with one oil pressure buffer, so that the connecting rods can be abutted to the oil pressure buffers when the connecting rods rotate to the blanking state.
As an alternative of a mechanical gripper for grabbing flexible package products, the two connecting rods are symmetrically arranged on two sides of the mounting substrate, adapter plates are arranged at two ends of one side, away from the rotating shaft, of the mounting substrate, the adapter plates comprise vertical plates and horizontal plates, non-connecting ends of the vertical plates and the horizontal plates are fixedly connected with the mounting substrate, the horizontal plates protrude out of the edges of the mounting substrate, and the oil pressure buffer is arranged on the horizontal plates.
As an alternative of a mechanical gripper for gripping flexible package products, one end of the connecting rod is provided with a first connecting part which is fixedly connected with the supporting plate, and the other end of the connecting rod is provided with a second connecting part which is fixedly connected with the rotating shaft;
the connecting rod is provided with the one end of second connecting portion still is provided with butt portion, when the tongs subassembly is in the material loading state, butt portion with the plane of mounting substrate place is the setting of predetermineeing the contained angle, when the tongs subassembly is in the unloading state, butt portion with the butt of hydraulic buffer.
As an alternative of the mechanical gripper for gripping the flexible package products, the preset included angle is alpha, and alpha is more than or equal to 60 degrees and less than or equal to 90 degrees.
As an alternative of a mechanical gripper for gripping flexible package products, the rotating shaft is rotatably connected with the mounting base plate through two mounting assemblies, and the two mounting assemblies are symmetrically arranged on two sides of the middle connecting piece.
As an alternative of a mechanical gripper for gripping flexible package products, the mounting assembly comprises a mounting seat and a bearing, the mounting seat is fixed on one side, away from the driving assembly, of the mounting base plate, the bearing is fixed in the mounting seat, and the rotating shaft is fixedly connected with an inner hole of the bearing.
As an alternative of the mechanical gripper for gripping the flexible package products, the limiting groove comprises a first limit position and a second limit position, and when the middle connecting piece is abutted against the first limit position, the gripper assembly is in the feeding state; when the middle connecting piece is abutted to the second limiting position, the hand grip assembly is in the blanking state.
A palletizing robot comprises the mechanical gripper for gripping flexible package products in any scheme.
The invention has the beneficial effects that:
according to the mechanical gripper for gripping the flexible package products, the plurality of supporting claws arranged at intervals of the gripper assembly can extend into the gaps of the jacking supports arranged at the tail end of the conveying line to support the bottom of the flexible package products. Thereby avoided colluding the claw and colluding the damage that the flexible-packing product caused the flexible-packing product from the side edge of flexible-packing product, avoided simultaneously pressing from both sides the problem of dress poor stability of dress from the both sides of flexible-packing product. The driving assembly drives the gripper assembly to switch between a feeding state and a discharging state. Set up the spacing groove on fixed drive assembly's mounting substrate, drive assembly is connected with the adapter, intermediate junction spare one end with be used for driving tongs subassembly pivoted rotation axis connection, the other end passes the spacing groove and is connected with the adapter, drive assembly drive adapter is linear motion, the adapter drives the axis of rotation through intermediate junction spare and rotates, drive assembly and spacing groove cooperation, restriction tongs subassembly is in the gesture of material loading state and unloading state, can guarantee that the stability of tongs subassembly when snatching soft-packing product snatchs and the accurate blowing of tongs subassembly to soft-packing product.
According to the stacking robot, the mechanical gripper for gripping the flexible package products is applied, the flexible package products conveyed on the conveying line can be automatically gripped, the gripped flexible package products are accurately discharged after being moved to the stacking area, the stacking efficiency of the flexible package products is improved, and the flexible package of the flexible package products cannot be damaged.
Drawings
Fig. 1 is a schematic view of a palletizing robot provided by an embodiment of the present invention in a state of grabbing flexible package products from the end of a conveying line;
FIG. 2 is a schematic diagram illustrating a state of the jacking device at the end of the conveying line for jacking the flexible package products according to the embodiment of the present invention;
FIG. 3 is a schematic illustration of a mechanical gripper for gripping flexible packaging products according to an embodiment of the present invention;
FIG. 4 is an exploded view of a mechanical gripper for gripping flexible packaging products according to an embodiment of the present invention;
FIG. 5 is a schematic view of a gripper assembly of a mechanical gripper for gripping flexible packaging products in an on-load state according to an embodiment of the present invention;
fig. 6 is a schematic view of a gripper assembly of a mechanical gripper for gripping flexible packaging products in a blanking state according to an embodiment of the present invention.
In the figure:
100. conveying line, 200, flexible packaging product; 300. a palletizing robot;
101. a drum; 102. a side plate; 103. a jacking device; 301. a mechanical gripper for gripping the flexible package product;
1031. jacking a support;
1. a gripper assembly; 2. a drive assembly; 3. a connecting assembly; 4. a hydraulic shock absorber; 5. a mounting substrate; 6. an adapter plate; 7. mounting the component; 8. installing a side plate; 9. installing a top plate; 10. expanding and tightening the sleeve;
11. supporting claws; 12. a support plate; 13. a connecting rod; 21. a second linear drive; 22. a second solenoid valve; 31. a rotating shaft; 32. an intermediate connecting member; 33. an adapter; 51. a limiting groove; 61. a vertical plate; 62. a horizontal plate; 71. a mounting seat; 72. a bearing;
131. a first connection portion; 132. a second connecting portion; 133. an abutment portion.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the 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, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
In packaging a powdered product, the packaging of the powdered product comprises a soft package. The conveying line that will pack good flexible package product passes through the flexible package product carries to the end of transfer chain, and the transfer chain end is provided with jacking device, and jacking device jacks the flexible package product to the position that is higher than the transfer chain cylinder, and flexible package product's pile up neatly machine people snatchs the flexible package product, moves the flexible package product to pile up neatly district pile up neatly, has realized the automatic pile up neatly of powdered product, has improved the pile up neatly efficiency of the powdered product of flexible package.
As shown in fig. 1 and 2, the present embodiment provides a palletizing robot for palletizing flexible package products 200. The palletizing robot 300 comprises a mechanical gripper 301 for gripping flexible package products, a mechanical wrist and a mechanical arm, wherein the mechanical wrist is a component for connecting the mechanical gripper 301 for gripping the flexible package products and the mechanical arm and is mainly used for determining the working direction and posture of the mechanical gripper 301 for gripping the flexible package products and expanding the action range of the mechanical arm; the robotic arm is used to support a robotic wrist and mechanical gripper 301 for gripping flexible package products, a component that enables a large range of motion.
The palletizing robot 300 further comprises a driving system, a control system, a detection sensing system and an artificial intelligence system, wherein the driving system is used for providing power for the executing elements. The control system is a command system of the robot. The robot palletizer 300 is controlled to move according to a specified program, can memorize various command information (such as action sequence, motion trail, motion speed, time and the like), and sends commands to various execution elements according to the command information. If necessary, the action of the palletizing robot 300 can be monitored, and an alarm signal is sent out when the action is wrong or has a fault. The detection sensing system mainly detects the movement position and state of the execution system of the palletizing robot 300, feeds the actual position of the execution system back to the control system at any time, compares the actual position with the set position, and adjusts the actual position through the control system, so that the execution system reaches the set position state with certain precision. The artificial intelligence system mainly gives the robot palletizer 300 a five-sense function so as to realize automatic identification and adaptive operation of the robot palletizer 300 on workpieces. The robot body of the palletizer robot 300 is used for supporting mechanical arms, and installing a driving system, a control system, a detection sensing system and an artificial intelligence system.
The specific structure and operation principle of the driving system, the control system, the detection sensing system and the artificial intelligence system of the palletizing robot 300 are already the prior art, and are not described herein again.
The conveying line 100 for the flexible package products 200 includes a plurality of rollers 101 disposed at intervals and side plates 102 disposed at both sides of the rollers 101, and the rollers 101 are driven to rotate to convey the flexible package products 200 disposed thereon. The jacking device 103 is disposed at the end of the conveying line 100 and is used for jacking the flexible package products 200 conveyed to the end, so that the palletizing robot 300 can grab the flexible package products 200 and transfer the flexible package products 200 to the palletizing area for palletizing.
The sensor is arranged at the tail end of the conveying line 100, when the sensor detects that the flexible package products 200 are conveyed to the sensor, the sensor sends signals to the control system of the conveying line 100, the jacking device 103 is electrically connected with the control system of the conveying line 100, and the control system of the conveying line 100 receives the signals and then controls the jacking device 103 to jack the flexible package products 200.
The jacking device 103 comprises a jacking mechanism and a driving mechanism, the jacking mechanism comprises a plurality of jacking brackets 1031 arranged at intervals, and each jacking bracket 1031 can stretch out from the gap between two adjacent rollers 101 so as to jack up the flexible package product 200 on the conveying line 100. The driving mechanism is connected with the jacking mechanism and used for driving the jacking mechanism to ascend or descend.
The jacking mechanism further comprises a jacking plate, the jacking bracket 1031 is fixed on the jacking plate, and the driving mechanism is connected with the jacking plate and used for driving the jacking plate to ascend or descend. The jacking supports 1031 arranged at intervals are fixed on the jacking plate, the driving mechanism is fixedly connected with the jacking plate, the driving mechanism drives the jacking plate to ascend, the plurality of jacking supports 1031 are driven to extend out of the conveying plane of the conveying line 100 from the gap of the roller 101, and products placed on the roller 101 are jacked to a high position, so that the mechanical gripper 301, which is used for grabbing flexible package products, of the palletizing robot 300 can grab the flexible package products 200 from the bottom of the flexible package products 200 inserted into the gap of the two adjacent jacking supports 1031.
When the jacking mechanism jacks up the products on the conveying line 100, the jacking brackets 1031 protrude from the gap between two adjacent rollers 101, and the flexible package products 200 are supported from the bottom of the flexible package products 200 and move upwards to the highest point to stop. The mechanical gripper 301 of the palletizing robot 300 for gripping the flexible package product is inserted into the bottom of the flexible package product 200 from the gap between two adjacent jacking brackets 1031, so as to facilitate gripping the flexible package product 200.
The driving mechanism comprises a first linear driving piece and a mounting plate, wherein the fixed end of the first linear driving piece is mounted on the mounting plate, the driving end of the linear driving piece is fixedly connected with the jacking plate, and the mounting plate is fixed on the side plate 102 of the conveying line 100.
The first linear driving piece comprises an air cylinder and a first electromagnetic valve, the first electromagnetic valve is electrically connected with a control system of the conveying line 100, the control system controls the first electromagnetic valve to be electrified, and a cylinder rod of the air cylinder extends to drive the jacking plate to ascend; the control system controls the first electromagnetic valve to be powered off, and the cylinder rod of the air cylinder contracts to drive the jacking plate to descend. It should be noted that, the connection mode and the operation principle of the first electromagnetic valve and the cylinder are already the prior art, and are not described herein again.
The driving mechanism further comprises a guide shaft, the top end of the guide shaft is fixedly connected with the jacking plate, a linear bearing is arranged on the mounting plate, and the guide shaft penetrates through an inner hole of the linear bearing. When the cylinder rod of the air cylinder extends or contracts, the guide shaft is matched with the linear bearing and moves along the vertical direction. The guide shaft plays a role in guiding the lifting of the jacking plate, and the lifting stability is ensured.
As shown in fig. 3 and 4, the present embodiment further provides a mechanical gripper for gripping flexible package products, which is applied to the palletizing robot 300, the mechanical gripper 301 for gripping flexible package products comprises a gripper assembly 1 and a driving assembly 2, the gripper assembly 1 comprises a plurality of spaced-apart supporting claws 11, and the supporting claws 11 can support the flexible package products 200 from the bottom of the flexible package products 200; the driving assembly 2 is fixed on the mounting substrate 5 and connected with the gripper assembly 1 through the connecting assembly 3 so as to drive the gripper assembly 1 to switch between a feeding state and a discharging state. The connecting assembly 3 comprises a rotating shaft 31, a middle connecting piece 32 and an adapter 33, the gripper assembly 1 is fixedly connected with the rotating shaft 31, and the rotating shaft 31 is rotatably connected with the mounting substrate 5; be provided with spacing groove 51 on mounting substrate 5, intermediate junction spare 32 one end and axis of rotation 31 fixed connection, the other end passes spacing groove 51 and is connected with adapter 33, and adapter 33 is connected with drive assembly 2, and drive assembly 2 drive adapter 33 is linear motion, and adapter 33 drives axis of rotation 31 through intermediate junction spare 32 and rotates.
The plurality of supporting claws 11 arranged at intervals of the gripping unit 1 can extend into the gaps of the jacking supports 1031 arranged at the tail end of the conveying line 100 to support the bottom of the flexible package product 200. Thereby avoiding the damage of the flexible package caused by the hook claw hooking the flexible package product 200 from the side edge of the flexible package product 200 and simultaneously avoiding the problem of poor stability of clamping from the two sides of the flexible package product 200. Switch between material loading state and unloading state through drive assembly 2 drive tongs subassembly 1, set up spacing groove 51 on the mounting substrate 5 of fixed drive assembly 2, drive assembly 2 is connected with adapter 33, middle connecting piece 32 one end is connected with the axis of rotation 31 that is used for driving tongs subassembly 1 pivoted, the other end passes spacing groove 51 and is connected with adapter 33, drive assembly 2 drive adapter 33 linear motion, adapter 33 drives axis of rotation 31 through middle connecting piece 32 and rotates, drive assembly 2 and spacing groove 51 cooperation, restriction tongs subassembly 1 is in the gesture of material loading state and unloading state, can guarantee stable the grabbing of tongs subassembly 1 when snatching flexible package product 200 and the accurate blowing of tongs subassembly 1 to flexible package product 200.
The driving assembly 2 includes a second linear actuator 21 and a supporting base, and the second linear actuator 21 is fixed on the mounting substrate 5 through the supporting base. In this embodiment, the second linear actuator 21 is also a cylinder, and the driving end of the cylinder is connected to the adapter 33. Of course, in other embodiments, the second linear actuator 21 may be another linear actuator such as a hydraulic cylinder or a linear motor.
In this embodiment, the driving assembly 2 further includes a second electromagnetic valve 22, the second electromagnetic valve 22 is used for connecting the second linear driving member 21 with the control system of the palletizing robot 300, and the control system of the palletizing robot 300 drives the second linear driving member 21 to drive the gripper assembly 1 to switch between the feeding state and the discharging state by controlling the second electromagnetic valve 22 to be powered on and powered off.
Mounting side plates 8 are arranged on two sides of the mounting base plate 5, one ends, far away from the mounting base plate 5, of the two mounting side plates 8 are connected with a mounting top plate 9, and the mounting top plate 9 is fixedly connected with the mechanical wrist.
The cross section of the adapter 33 is U-shaped, the bottom of the adapter 33 with the U-shaped cross section is fixedly connected with the driving end of the second linear driving piece 21, and connecting holes are correspondingly formed in two side walls of the adapter 33 with the U-shaped cross section. The two ends of the middle connecting piece 32 are provided with fixing holes, wherein the fixing hole at one end is fixedly connected with the rotating shaft 31, the fixing hole at the other end is fixedly connected with the connecting shaft, and the two ends of the connecting shaft are rotatably connected with connecting holes on two side walls of the adapter 33 with the U-shaped cross section. The cylinder rod of the cylinder as the second linear driving member 21 makes a reciprocating linear motion, the adapter 33 drives the intermediate connecting member 32 to move in the limiting groove 51 along the length direction of the limiting groove 51, and the intermediate connecting member 32 moves to drive the rotating shaft 31 to rotate, so as to drive the gripper assembly 1 to switch between the feeding state and the discharging state. It should be noted that the thickness of the middle connecting member 32 is slightly smaller than the width of the limiting groove 51, so that the middle connecting member 32 can only move along the length direction of the limiting groove 51.
As an alternative to the mechanical gripper for gripping the flexible package product, the rotating shaft 31 is rotatably connected to the mounting substrate 5 through two mounting assemblies 7, and the two mounting assemblies 7 are symmetrically arranged on two sides of the middle connecting member 32. Through setting up two installation component 7, guarantee to hold in the palm 11 pivoted stability of claw, avoid appearing a plurality of circumstances of holding in the palm the contained angle inconsistency of claw 11 and mounting substrate 5.
Specifically, the mounting assembly 7 includes a mounting seat 71 and a bearing 72, the mounting seat 71 is fixed on a side of the mounting substrate 5 facing away from the driving assembly 2, the bearing 72 is fixed in the mounting seat 71, and the rotating shaft 31 is fixedly connected with an inner hole of the bearing 72. The rotating shaft 31 is rotatably coupled to the mounting substrate 5 by a bearing 72 to ensure smooth rotation of the rotating shaft 31.
As an alternative to a mechanical gripper for gripping flexible packaging products, the limiting groove 51 comprises a first limiting position and a second limiting position, and when the intermediate connecting member 32 abuts against the first limiting position, the gripper assembly 1 is in a loading state; when the middle connecting piece 32 is abutted to the second limit position, the gripper assembly 1 is in a blanking state.
In this embodiment, the holding claw 11 is L-shaped. The long arm of the L-shaped holding claw 11 is used to hold the bottom of the flexible package product 200 when it is in a position parallel to the mounting substrate 5. At this time, the intermediate link 32 abuts against the first limit position of the stopper groove 51. The width of the supporting claws 11 is smaller than the gap between two adjacent jacking supports 1031, the gap between two adjacent supporting claws 11 is larger than the width of the jacking supports 1031, so that the supporting claws 11 arranged at intervals are correspondingly inserted into the gaps of the jacking supports 1031 arranged at intervals to support the bottom of the flexible package product 200, and the palletizing robot 300 controls the mechanical gripper 301 for gripping the flexible package product to ascend, so that the flexible package product 200 leaves the jacking supports 1031 and moves to a palletizing area.
As an alternative of the mechanical gripper for gripping the flexible package products, the gripper assembly 1 further comprises a support plate 12 and a connecting rod 13, a plurality of supporting claws 11 arranged at intervals are uniformly distributed on the support plate 12, and two ends of the support plate 12 and two ends of the rotating shaft 31 are connected in a one-to-one correspondence manner through the connecting rod 13. In this embodiment, the short arm of the L-shaped holding claw 11 is fixedly connected to the support plate 12 by a fastening bolt. Two ends of the supporting plate 12 are respectively provided with a connecting rod 13, one end of the connecting rod 13 is connected with the supporting plate 12, and the other end is fixedly connected with the rotating shaft 31.
Specifically, one end of the connecting rod 13 is provided with a first connecting portion 131, the first connecting portion 131 is fixedly connected with the support plate 12, the other end of the connecting rod 13 is provided with a second connecting portion 132, and the second connecting portion 132 is fixedly connected with the rotating shaft 31. First connecting portion 131 is provided with the constant head tank, is provided with the screw hole in the constant head tank, and backup pad 12 sets up in the constant head tank of two connecting rods 13, is provided with the through-hole in backup pad 12, and fastening bolt passes through-hole and screw hole spiro union in backup pad 12. The surfaces of the first connecting portion 131 and the second connecting portion 132 are adjacent two side surfaces of the connecting rod 13. The second connecting portion 132 is provided with a mounting hole, and the mounting hole is fixedly connected with the rotating shaft 31 through the expansion sleeve 10.
As an alternative of a mechanical gripper for gripping flexible package products, an oil buffer 4 is arranged on the mounting substrate 5, and the gripper assembly 1 can abut against the oil buffer 4 in a discharging state so as to realize slow discharging. The hydraulic buffer 4 comprises a body, an axle center, a bearing, an inner tube, a piston, a hydraulic shaft, a spring and the like, wherein the axle center is impacted by external force to drive the piston to extrude hydraulic oil in the inner tube, the hydraulic oil is discharged from oil discharge holes of the inner tube one by one after being compressed, and meanwhile, the hydraulic oil discharged from the inner tube also flows back to the inner tube through an oil return hole of the inner tube. When the external force disappears, the spring rebounds the piston to the initial point to wait for the next action. In this way, the hydraulic shock absorber 4 will effectively stop the moving object in balance.
In this embodiment, each connecting rod 13 is disposed corresponding to one of the hydraulic buffers 4, so that the connecting rod 13 can abut against the hydraulic buffer 4 when rotating to the blanking state. By utilizing the working principle of the hydraulic buffer 4, the connecting rod 13 extrudes the axis of the hydraulic buffer 4, and the axis drives the piston to extrude the hydraulic oil in the inner pipe, so that the rotating speed of the connecting rod 13 is reduced, and the discharging is more stable.
As an alternative of the mechanical gripper for gripping the flexible package product, two connecting rods 13 are symmetrically arranged on two sides of the mounting substrate 5, adapter plates 6 are arranged at two ends of one side of the mounting substrate 5 away from the rotating shaft 31, each adapter plate 6 comprises a vertical plate 61 and a horizontal plate 62, the non-connecting ends of the vertical plate 61 and the horizontal plate 62 are fixedly connected with the mounting substrate 5, the horizontal plate 62 protrudes out of the edge of the mounting substrate 5, and the oil buffer 4 is arranged on the horizontal plate 62. In order to allow the connecting rod 13 to abut against the hydraulic shock absorber 4, the hydraulic shock absorber 4 is fixed to the mounting substrate 5 by the adapter plate 6.
The connecting rod 13 is provided with a butting part 133 at one end of the second connecting part 132, when the gripper assembly 1 is in the loading state, the butting part 133 and the plane of the mounting substrate 5 are arranged at a preset included angle, and when the gripper assembly 1 is in the unloading state, the butting part 133 and the oil buffer 4 are butted. In the present embodiment, the abutting portion 133 is a side surface of the connecting rod 13 adjacent to the surface of the second connecting portion 132.
As an alternative of a mechanical gripper for gripping flexible package products, the preset included angle is alpha, and alpha is more than or equal to 60 degrees and less than or equal to 90 degrees. In this embodiment, when the middle connection member 32 abuts against the second limit position of the limit groove 51, the gripper assembly 1 is in the blanking state, and at this time, the rotation angle of the connection rod 13 is 60 °, that is, the preset included angle is also 60 °. Of course, in other embodiments, the preset angle is not limited to 60 °, and may be set as desired.
As shown in fig. 5 and 6, the operation process of the mechanical gripper for gripping flexible packaging products provided by the present embodiment is as follows:
the feeding state of the gripper assembly 1 is as follows: the long arm of the L-shaped supporting claw 11 is parallel to the mounting substrate 5, after receiving a signal that the jacking device 103 jacks up the flexible package product 200, the palletizing robot 300 controls the mechanical gripper 301 for gripping the flexible package product to move to the end of the conveying line 100, controls the supporting claw 11 to support the flexible package product 200 from the bottom of the flexible package product 200 through a gap between the jacking supports 1031, controls the mechanical gripper 301 for gripping the flexible package product to ascend to a set position, controls the arm to rotate mechanically, so that the mechanical gripper 301 for gripping the flexible package product moves the flexible package product 200 to a palletizing area, controls the palletizing robot 300 to discharge the mechanical gripper 301 for gripping the flexible package product, controls the second linear driving member 21 to move, drives the adapter 33 to perform linear motion, and drives the intermediate connecting member 32 to move from the first limit position to the second limit position of the limit groove 51, thereby driving the connecting rod 13 to rotate, the supporting claw 11 rotates 60 degrees to reach a blanking state, so that the material is discharged. When the connecting rod 13 rotates to the abutting part 133 to abut against the hydraulic buffer 4, the discharging speed of the supporting claw 11 can be reduced, the flexible package product 200 is prevented from leaving the supporting claw 11 due to impact, and the discharging is more accurate.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (10)
1. A mechanical gripper for gripping flexible packaging products, comprising:
the hand grip assembly (1) comprises a plurality of supporting claws (11) arranged at intervals, and the supporting claws (11) can support the flexible package products (200) from the bottom of the flexible package products (200);
the driving assembly (2) is fixed on a mounting substrate (5) and connected with the gripper assembly (1) through a connecting assembly (3) so as to drive the gripper assembly (1) to be switched between a feeding state and a discharging state;
the connecting assembly (3) comprises a rotating shaft (31), a middle connecting piece (32) and an adapter (33), the gripper assembly (1) is fixedly connected with the rotating shaft (31), and the rotating shaft (31) is rotatably connected with the mounting substrate (5); be provided with spacing groove (51) on mounting substrate (5), intermediate junction spare (32) one end with axis of rotation (31) fixed connection, the other end passes spacing groove (51) with adapter (33) are connected, adapter (33) with drive assembly (2) are connected, drive assembly (2) drive linear motion is made in adapter (33), adapter (33) pass through intermediate junction spare (32) drive axis of rotation (31) rotate.
2. Mechanical gripper for gripping flexible packaging products according to claim 1, characterized in that said mounting base plate (5) is provided with a hydraulic buffer (4), said gripper assembly (1) being able to abut against said hydraulic buffer (4) in said blanking state.
3. The mechanical gripper for gripping flexible package products as claimed in claim 2, wherein said gripper assembly (1) further comprises a support plate (12) and a connecting rod (13), a plurality of said supporting grippers (11) arranged at intervals are uniformly distributed on said support plate (12), two ends of said support plate (12) and two ends of said rotating shaft (31) are correspondingly connected through said connecting rod (13), each of said connecting rods (13) is correspondingly provided with one said oil buffer (4), so that said connecting rod (13) can abut against said oil buffer (4) when rotating to said blanking state.
4. The mechanical gripper for gripping flexible package products as claimed in claim 3, wherein two connecting rods (13) are symmetrically arranged on two sides of the mounting substrate (5), two ends of one side of the mounting substrate (5) far away from the rotating shaft (31) are respectively provided with an adapter plate (6), the adapter plates (6) comprise a vertical plate (61) and a horizontal plate (62), the non-connecting ends of the vertical plate (61) and the horizontal plate (62) are fixedly connected with the mounting substrate (5), the horizontal plate (62) protrudes out of the edge of the mounting substrate (5), and the hydraulic buffer (4) is arranged on the horizontal plate (62).
5. The mechanical gripper for gripping flexible packaging products as claimed in claim 4, characterized in that one end of the connecting bar (13) is provided with a first connecting portion (131), said first connecting portion (131) is fixedly connected with the support plate (12), the other end of the connecting bar (13) is provided with a second connecting portion (132), said second connecting portion (132) is fixedly connected with the rotating shaft (31);
the connecting rod (13) is provided with one end of the second connecting portion (132) and is further provided with an abutting portion (133), when the hand grip assembly (1) is in the feeding state, the abutting portion (133) and the plane where the mounting substrate (5) is located are arranged at a preset included angle, and when the hand grip assembly (1) is in the discharging state, the abutting portion (133) and the oil pressure buffer (4) are abutted.
6. The mechanical gripper of claim 5, wherein said predetermined included angle is α, α is 60 ° or more and 90 ° or less.
7. Mechanical gripper for gripping flexible packaging products according to claim 1, characterized in that said rotating shaft (31) is rotatably connected to said mounting base plate (5) by means of two mounting assemblies (7), said two mounting assemblies (7) being symmetrically arranged on both sides of said intermediate connecting member (32).
8. Mechanical gripper for gripping flexible packaging products according to claim 7, characterized in that said mounting assembly (7) comprises a mounting seat (71) and a bearing (72), said mounting seat (71) being fixed to a side of said mounting base plate (5) facing away from said driving assembly (2), said bearing (72) being fixed in said mounting seat (71), said rotating shaft (31) being fixedly connected to an inner bore of said bearing (72).
9. Mechanical gripper for gripping flexible packaging products according to claim 1, characterized in that said retaining groove (51) comprises a first extreme position and a second extreme position, said gripper assembly (1) being in said loading condition when said intermediate connector (32) abuts against said first extreme position; when the middle connecting piece (32) is abutted to the second limiting position, the gripper assembly (1) is in a blanking state.
10. A palletizing robot comprising a mechanical gripper for gripping flexible package products as claimed in any one of claims 1 to 9.
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| CN202111276005.3A CN113998230A (en) | 2021-10-29 | 2021-10-29 | Mechanical gripper for grabbing flexible package products and stacking robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111276005.3A CN113998230A (en) | 2021-10-29 | 2021-10-29 | Mechanical gripper for grabbing flexible package products and stacking robot |
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