CN205572457U - Mechanical type hand claw and have transfer robot of this mechanical type hand claw - Google Patents

Abstract

The utility model belongs to the industrial automation field relates to one kind and is used for loading and unloading and the stack mechanical type hand claw of goods and materials in bags, still relates to one kind and has the transfer robot of mechanical type hand claw. This mechanical type hand claw include with the coupling mechanism that is connected of the mechanical arm of transport, fixed connection in coupling mechanism and guide rail (2) of extending along the horizontal direction, fixed connection in guide rail (2) tray (3) and construct along the loader of the extending direction motion of guide rail (2), tray (3) are constructed the component with loader and are held the space of goods and materials in bags. The utility model is used for loading and unloading and stack the mechanical type hand claw of goods and materials have in bags improved handling efficiency, have reduced environmental pollution, make the operation more simple and convenient, realize the mechanization and the automation of means of agricultural production loading and unloading.

Description

A mechanical gripper and a handling robot with the mechanical gripper

technical field

The utility model belongs to the field of industrial automation, and particularly relates to a mechanical gripper for loading, unloading and stacking bagged materials, and also relates to a handling robot with the mechanical gripper.

Background technique

At present, the warehouse handling and loading and unloading methods of bagged materials in my country are mainly carried by shoulders and pulled by trolleys. The loading and unloading workers are not only labor-intensive and low-efficiency, but also work in a dusty environment, which is easy to endanger physical and mental health.

There are two types of equipment widely used for loading and unloading bagged materials at home and abroad: vacuum suction grippers and mechanical grippers. For the vacuum suction gripper, although the operation is simple and quick, it cannot meet the loading and unloading requirements in a small space; for the mechanical gripper, due to the generally bent structure of the gripper, it is impossible to handle densely stacked bagged materials For non-destructive, fast grabbing and loading and unloading.

To sum up, the loading and unloading equipment in the prior art is not suitable for the loading and unloading of densely stacked bagged materials, and cannot quickly grab the bagged materials without damage.

Therefore, there is an urgent need for a mechanical gripper that can satisfy the fast and non-destructive loading and unloading and stacking of bagged materials.

Contents of the invention

The utility model aims at the problems that the existing mechanical claw bending structure requires a large operating space, and the direct grasping method of the claw is easy to damage the packaging bag, and provides a mechanical type for loading, unloading and stacking bagged materials. Hand claws, use the method of pushing and pulling bagged materials for loading, unloading and stacking, which solves the problem that the packaging bags are easily damaged during the grabbing process.

In order to achieve the above object, the utility model is achieved through the following technical solutions:

A mechanical gripper for loading, unloading and stacking bagged materials. The mechanical gripper includes: a connecting mechanism, a guide rail 2, a tray 3, a loading and unloading mechanism and a driving mechanism. The tray 3 and the loading and unloading mechanism constitute a container for bagged materials space, where

The two guide rails 2 are arranged parallel to each other along the horizontal direction, one end is fixedly connected through the guide rail connecting beam 18, and the other end is fixedly connected through the tray connecting beam 12;

The pallet 3 includes a plurality of "L" shaped pallet bars arranged at intervals along the vertical direction and fixedly connected with the pallet connecting beam 12, the "L" shaped pallet bar includes a vertical part and a horizontal part, and the horizontal part Located under rail 2;

The connecting mechanism is fixedly connected between the upper ends of the two guide rails 2;

The loading and unloading mechanism includes a slider 8, a connecting frame 9, a first clamping plate 10 and a second clamping plate 11, wherein the sliding block 8 is slidably connected with the guide rail 2, and the connecting frame 9 is a rectangular frame structure, which includes a first The side 19 of the connecting frame, the side 20 of the second connecting frame and the beams connecting the two ends of the side 19 of the first connecting frame and the two ends of the side 20 of the second connecting frame respectively, the side 19 of the first connecting frame is fixedly connected with the lower end of the slider 8 , and a plurality of first splints 10 are arranged at intervals in the vertical direction, and a plurality of second splints 11 are arranged at intervals along the side of the second connecting frame 20 in the vertical direction, and the first splints 10 are arranged near the vertical side of the tray 3 part, the second splint 11 is arranged on the vertical part away from the tray 3;

Described driving mechanism comprises bidirectional motor 13, ball screw 14, nut 15, coupling 16 and boss 17, wherein, ball screw 14 is arranged between two guide rails 2 and is parallel with guide rail 2, and ball screw 14, one end is fixedly connected with the output end of the bidirectional motor 13 through a coupling 16, and the other end is connected with the bearing seat fixed on the inner side of the guide rail connecting beam 18, and the raised part 17 is fixed on the side 19 of the first connecting frame. The part 17 has a through hole, and the nut 15 is connected to the through hole of the raised part 17 with an interference fit, and the nut 15 is sleeved on the ball screw 14 .

The upper end of the connecting mechanism is detachably connected with the transporting mechanical arm.

The connection mechanism includes a connection part 1 and a support frame 6;

The connecting part 1 is a disk-shaped structure of a disk or a square disk;

The support frame 6 is a frame structure, including a cylinder 7, a horizontal connecting plate 61, a vertical connecting plate 62 and a connecting rib 63, wherein the upper end of the cylinder 7 is fixedly connected with the lower end of the connecting part 1, and the cylinder The lower end of 7 is fixedly connected with the horizontal connecting plate 61, the lower end of the horizontal connecting plate 61 is fixedly connected with the upper end of the vertical connecting plate 62, the lower end of the vertical connecting plate 62 is fixedly connected with the guide rail 2, and the upper end of the horizontal connecting plate 61 is also A connecting rib 63 extending from the cylinder 7 to the edge is fixedly connected.

Bolt connection holes are provided on the outer edge of the connecting part 1, and are detachably connected to the transporting mechanical arm of the robot through bolts.

The connecting part 1 is detachably connected with the transporting arm of the robot through magnetic force.

A through hole 4 is provided at the center of the connecting part 1, a hole is provided at the center of the horizontal connecting plate 61, and the inner hole of the cylinder 7 corresponds to the through hole 4 of the connecting part 1 and the hole on the horizontal connecting plate 61 respectively.

The distance between the first splint 10 and the second splint 11 is greater than or equal to the width of the bagged materials, and greater than or equal to the length of the horizontal part of the tray 3 .

The loading and unloading mechanism is also provided with a position sensor 5 connected to the side 20 of the second connecting frame.

The mechanical gripper also includes a controller, the position sensor 5 and/or the bidirectional motor 13 are electrically connected to the controller, and according to the signal of the position sensor 5, the controller sends a signal to make the bidirectional motor 13 move or stop.

A handling robot with a mechanical gripper for loading, unloading and stacking bagged materials.

The beneficial effects of the utility model are:

The mechanical gripper used for loading, unloading and stacking bagged materials of the utility model adopts straight splints to move vertically and horizontally, so that the space required for the movement of the mechanical gripper is small, there is no other obstacle, and it has the advantages of reliable grasping, moving Flexible and other characteristics; at the same time, using a bidirectional motor, using its forward and reverse, can realize the two steps of loading and unloading bagged materials. It replaces manual handling in agricultural material loading and unloading occasions, reduces the labor intensity of loading and unloading workers, improves loading and unloading efficiency, reduces environmental pollution, makes operation easier, and realizes mechanization and automation of agricultural material loading and unloading.

Description of drawings

Fig. 1 is a structural schematic diagram of a mechanical gripper for loading, unloading and stacking bagged materials of the present invention.

Fig. 2 is a structural schematic diagram of another angle of the mechanical gripper for loading, unloading and stacking bagged materials of the present invention.

reference sign

1 Connection part 2 Guide rail

3 tray 4 through hole

5 Position sensor 6 Support bracket

61 Horizontal connecting plate 62 Vertical connecting plate

63 Connecting ribs

7 Cylinder 8 Slider

9 Connecting frame 10 First splint

11 Second clamping plate 12 Pallet connecting beam

13 Bi-directional motor 14 Ball screw

15 Nut 16 Coupling

17 Boss 18 Rail connecting beam

19 Side of the first connecting frame 20 Side of the second connecting frame

detailed description

Below in conjunction with accompanying drawing, the specific embodiment of the present utility model is described in further detail.

As shown in Figure 1-2, the mechanical gripper for loading, unloading and stacking bagged materials of the present utility model includes: a connecting mechanism, a guide rail 2, a tray 3, a loading and unloading mechanism and a driving mechanism. Wherein, the tray 3 and the loading and unloading mechanism form a space for accommodating bagged materials.

The two guide rails 2 are arranged parallel to each other along the horizontal direction, one end is fixedly connected through the guide rail connecting beam 18 , and the other end is fixedly connected through the tray connecting beam 12 .

The pallet 3 includes a plurality of "L" shaped pallet bars arranged at intervals along the vertical direction and fixedly connected with the pallet connecting beam 12. The "L" shaped pallet bar includes a vertical part and a horizontal part, and the horizontal part is located on the guide rail 2 below. The method of arranging multiple pallet strips at intervals instead of the whole pallet can effectively reduce the weight of the manipulator claw and reduce power consumption.

The connecting mechanism is fixedly connected between the upper ends of the two guide rails 2 , and the upper end of the connecting mechanism is detachably connected to the handling mechanical arm. The connecting mechanism includes a connecting part 1 and a supporting frame 6 . The connecting part 1 is preferably a disk-shaped structure of a disk or a square disk, and a through hole 4 is provided in the center. Bolt connection holes are preferably provided on the outer edge of the connecting part 1, and are detachably connected to the transporting mechanical arm of the robot through bolts. Optionally, the connecting part 1 may also be detachably connected to the handling arm of the robot through magnetic force. The support frame 6 is a frame structure, including a cylinder 7, a horizontal connecting plate 61, a vertical connecting plate 62 and a connecting rib 63, wherein the upper end of the cylinder 7 is fixedly connected with the lower end of the connecting part 1, and the The lower end is fixedly connected with the horizontal connecting plate 61, and the center of the horizontal connecting plate 61 is provided with a hole, and the inner holes of the cylinder 7 correspond to the through holes 4 of the connecting part 1 and the holes on the horizontal connecting plate 61 respectively, so as to be convenient for connecting The wiring harness passes through to make the overall structure more compact, and the setting of through holes can reduce the overall weight. The lower end of the horizontal connecting plate 61 is fixedly connected with the upper end of the vertical connecting plate 62 , and the lower end of the vertical connecting plate 62 is fixedly connected with the guide rail 2 . The upper end of the horizontal connecting plate 61 is also fixedly connected with a connecting rib 63 extending from the cylinder 7 to the edge, so as to improve the overall structural strength of the connecting mechanism.

The loading and unloading mechanism includes a slider 8 , a connecting frame 9 , a first clamping plate 10 and a second clamping plate 11 . Wherein, the slider 8 is slidably connected with the guide rail 2 so that the slider 8 can slide along the extending direction of the guide rail 2 . The connecting frame 9 is a rectangular frame structure, which includes a first connecting frame side 19, a second connecting frame side 20, and cross beams connecting the first connecting frame side 19 and the second connecting frame side 20 respectively. A connecting frame side 19 is fixedly connected to the lower end of the slider 8, and a plurality of first splints 10 are arranged at intervals along the vertical direction, and a plurality of second splints 11 are arranged at intervals along the vertical direction on the second connecting frame side 20 , and the first splint 10 is arranged on the vertical part close to the tray 3, the second splint 11 is arranged on the vertical part away from the tray 3, and the distance between the first splint 10 and the second splint 11 is greater than or equal to the bagged materials The width is greater than or equal to the length of the horizontal part of the tray 3.

The driving mechanism includes a bidirectional motor 13 , a ball screw 14 , a nut 15 with a flange edge, a shaft coupling 16 and a raised portion 17 . Wherein, the ball screw 14 is arranged between the two guide rails 2 and is parallel to the guide rails 2. One end of the ball screw 14 is fixedly connected to the output end of the bidirectional motor 13 through a coupling 16, and the other end is connected to the inner side of the crossbeam 18 fixed on the guide rails. The bearing seat fits the connection. The raised portion 17 is fixed on the side 19 of the first connecting frame, the raised portion 17 has a through hole, the nut 15 is connected to the through hole of the raised portion 17 with an interference fit, and the nut 15 is sleeved on the ball On the lead screw 14, the loading and unloading device is driven to move along the guide rail 2 by a bidirectional motor 13. When the bidirectional motor 13 drives the ball screw 14 to rotate, the nut 15 drives the loading and unloading mechanism away from or close to the bidirectional motor 13 .

The loading and unloading mechanism is also provided with a position sensor 5. The position sensor 5 is connected to the side 20 of the second connecting frame, and can also be located at different positions of the loading and unloading mechanism according to specific occasions. It is mainly used for sensing and measuring the loading and unloading mechanism and the bagged The relative position of the item.

The mechanical claw also includes a controller, the position sensor 5 and/or the bidirectional motor 13 are electrically connected to the controller, and according to the signal of the position sensor 5, the controller sends a signal to make the bidirectional motor 13 move or stop, so as to realize automatic loading and unloading.

The utility model also provides a handling robot, which includes the above-mentioned mechanical claw.

The working process of the mechanical gripper for loading and unloading bagged materials of the present utility model is as follows:

The mechanical gripper for loading and unloading bagged materials of the present invention is connected to the mechanical arm of the handling robot through the connecting part 1 .

When working, the bidirectional motor 13 drives the ball screw 14 to rotate, and the nut 15 and the raised portion 17 move along the extension direction of the guide rail 2, thereby further driving the loading and unloading mechanism to move outward along the guide rail 2 to the farthest end;

Then the handling robot drives the mechanical claws to move. After the position sensor 5 finds the gap in the vertical direction between the bagged materials, the second splint 11 of the handling robot drives the mechanical claws to move to the top of the gap, and then drives The second splint 11 moves downward, so that the second splint 11 is inserted into the gap;

After descending to a suitable depth, the bidirectional motor 13 reverses, and the second splint 11 moves back along the guide rail 2 under the drive of the driving force, thereby pulling the bagged materials and moving them to the pallet 3 .

The handling mechanical arm of the robot moves the mechanical gripper with the bagged materials. When it reaches the stacking position, the first splint 10 pushes the bagged materials away from the tray 3 under the action of the driving force of the bidirectional motor 13, thereby realizing Loading, unloading and stacking of bagged materials.

Claims (10)

1. A mechanical gripper, characterized in that: The mechanical gripper includes: a connection mechanism, a guide rail (2), a tray (3), a loading and unloading mechanism and a driving mechanism, and the tray (3) and the loading and unloading mechanism form a space for containing bagged materials, wherein, The two guide rails (2) are arranged parallel to each other along the horizontal direction, one end is fixedly connected through the guide rail connecting beam (18), and the other end is fixedly connected through the pallet connecting beam (12); The pallet (3) includes a plurality of "L" shaped pallet bars arranged at intervals along the vertical direction and fixedly connected to the pallet connecting beam (12), the "L" shaped pallet bars include a vertical part and a horizontal part, The horizontal part is located below the guide rail (2); The connecting mechanism is fixedly connected between the upper ends of the two guide rails (2); The loading and unloading mechanism includes a slider (8), a connecting frame (9), a first clamping plate (10) and a second clamping plate (11), wherein the slider (8) is slidably connected with the guide rail (2), and the The connecting frame (9) is a rectangular frame structure, which includes the first connecting frame side (19), the second connecting frame side (20) and the first connecting frame side (19) and the second connecting frame side respectively (20) The beam at both ends, the first connecting frame side (19) is fixedly connected with the lower end of the slider (8), and a plurality of first splints (10) are arranged at intervals along the vertical direction, and the second connecting frame side (20) A plurality of second splints (11) are arranged at intervals along the vertical direction, and the first splint (10) is arranged near the vertical portion of the tray (3), and the second splint (11) is arranged far away from the tray (3). ) vertical part; The drive mechanism includes a bidirectional motor (13), a ball screw (14), a nut (15), a shaft coupling (16) and a boss (17), wherein the ball screw (14) is arranged on two guide rails Between (2) and parallel to the guide rail (2), one end of the ball screw (14) is fixedly connected to the output end of the bidirectional motor (13) through a coupling (16), and the other end is connected to the beam (18) fixed on the guide rail. The inner bearing seat is mated and connected, and the raised part (17) is fixed on the side edge (19) of the first connecting frame, the raised part (17) has a through hole, and the nut (15) is connected to the said nut (15) with an interference fit. In the through hole of the boss (17), the nut (15) is sleeved on the ball screw (14). 2. The mechanical gripper according to claim 1, characterized in that: The upper end of the connecting mechanism is detachably connected with the transporting mechanical arm. 3. The mechanical gripper according to claim 1, characterized in that: The connection mechanism includes a connection part (1) and a support frame (6); The connecting part (1) is a disk-shaped structure of a disk or a square disk; Described support frame (6) is frame structure, comprises cylinder (7), horizontal connecting plate (61), vertical connecting plate (62) and connecting rib (63), wherein, the upper end of cylinder (7) and The lower end of the connecting part (1) is fixedly connected, the lower end of the cylinder (7) is fixedly connected to the horizontal connecting plate (61), and the lower end of the horizontal connecting plate (61) is fixedly connected to the upper end of the vertical connecting plate (62), The lower end of the vertical connecting plate (62) is fixedly connected with the guide rail (2), and the upper end of the horizontal connecting plate (61) is also fixedly connected with a connecting rib (63) extending from the cylinder (7) to the edge. 4. The mechanical gripper according to claim 3, characterized in that: The outer edge of the connecting part (1) is provided with a bolt connection hole, and is detachably connected with the handling mechanical arm of the robot through the bolt. 5. The mechanical gripper according to claim 3, characterized in that: The connecting part (1) is detachably connected with the transporting mechanical arm of the robot through magnetic force. 6. The mechanical gripper according to claim 3, characterized in that: The center of the connecting part (1) is provided with a through hole (4), the center of the horizontal connecting plate (61) is provided with a hole, and the inner hole of the cylinder (7) is respectively connected with the through hole (4) of the connecting part (1) and the horizontal The holes on the connecting plate (61) are corresponding. 7. The mechanical gripper according to claim 1, characterized in that: The distance between the first splint (10) and the second splint (11) is greater than or equal to the width of the bagged goods, and greater than or equal to the length of the horizontal part of the tray (3). 8. The mechanical gripper according to claim 1, characterized in that: The loading and unloading mechanism is also provided with a position sensor (5), and the position sensor (5) is connected to the side (20) of the second connecting frame. 9. The mechanical gripper according to claim 8, characterized in that: Described mechanical claw also comprises controller, and position sensor (5) and/or two-way motor (13) are electrically connected to controller, and according to the signal of position sensor (5), controller sends the signal that makes two-way motor (13) move or stop. Signal. 10. A handling robot, characterized in that the handling robot has a mechanical gripper according to any one of claims 1-9.