CN207242944U

CN207242944U - Carton catching robot

Info

Publication number: CN207242944U
Application number: CN201721137087.2U
Authority: CN
Inventors: 李明飞; 王素榕; 万维根
Original assignee: CHENGDU HONGRUI TECHNOLOGY Co Ltd
Current assignee: CHENGDU HONGRUI TECHNOLOGY Co Ltd
Priority date: 2017-09-06
Filing date: 2017-09-06
Publication date: 2018-04-17
Anticipated expiration: 2027-09-06

Abstract

The utility model discloses a kind of carton catching robot, belong to automation equipment field, a kind of carton catching robot that can prevent carton during carton is captured and slide situation is provided, including mechanical arm and the grasping mechanism being installed on mechanical arm, the grasping mechanism includes at least one carton handgrip, each carton handgrip includes the opposite first clamping plate and second clamping plate being arranged in parallel, capture area is formed between first clamping plate and second clamping plate, the first clamping plate can be moved towards relative to the second clamping plate；Each carton handgrip further includes hook pawl, the bottom edge position for hooking pawl pivot ground connection and being arranged at first clamping plate, and can hook and be placed at the correspondence edge placement of capture area bottom after hooking pawl and being rotated along the shaft of articulated section.The utility model is during carton is captured, and using pawl is hooked by a side of carton along catching on, can be effectively prevented from carton occurs during carton capture sliding, it is ensured that to effectively capturing for carton.

Description

Carton catching robot

Technical field

It the utility model is related to automation equipment field, more particularly to a kind of carton catching robot.

Background technology

Carton is conveyed through in journey along pipeline, it is sometimes desirable to is conveyed carton from one by carton catching robot It is transferred on line on an other strip transmission line or carton is stacked.But existing carton catching robot, its is main The two sides of carton or more sides are clamped by chucking power, are then captured by frictional force, such a mode is held Carton is easily caused during crawl since clamping force not enough causes the landing of carton；In addition, existing carton crawl machinery There is the problem of being not easy to adjust in hand, thus be not easy to carry out corresponding adjusting according to the different dimensions of carton, it makes It is subject to larger limitation with scope.

Utility model content

The technical problem that the utility model solves is to provide one kind can prevent carton cunning during carton is captured Fall the carton catching robot of situation.

Technical solution is used by the utility model solves its technical problem：Carton catching robot, including mechanical arm With the grasping mechanism being installed on mechanical arm, the grasping mechanism includes at least one carton handgrip, and each carton handgrip includes The opposite first clamping plate and second clamping plate being arranged in parallel, forms capture area between first clamping plate and second clamping plate, and described the One clamping plate can be moved towards relative to the second clamping plate；Each carton handgrip further includes hook pawl, and the hook pawl pivot ground connection is set In the bottom edge position of first clamping plate, and it can be hooked after hooking pawl and being rotated along the shaft of articulated section and be placed in capture area bottom At corresponding edge placement.

It is further：Each carton handgrip, which further includes, hooks pawl driving mechanism, and the hook pawl driving mechanism is arranged at first On clamping plate, the hook pawl driving mechanism is with hooking pawl drive connection and hook pawl can be driven to rotate.

It is further：Each carton handgrip further includes mounting base, clamps line slideway, clamping drive mechanism and slide, The second clamping plate is fixed at the side of the mounting base, and the clamping line slideway is fixed in mounting base, and And the trend of line slideway is clamped perpendicular to second clamping plate；The slide is arranged on the clamping line slideway, the clamping Driving mechanism is used to drive the slide to move on the clamping line slideway；The first clamping plate is fixedly installed on the cunning On seat.

It is further：Each carton handgrip further includes non-return mechanism, and the non-return mechanism includes non-return ratchet, non-return spine Pawl and non-return driving mechanism, the non-return ratchet are arranged in first clamping plate, and the non-return driving mechanism is arranged in mounting base, The check pawl is arranged on the output terminal of non-return driving mechanism, and can make the check pawl by non-return driving mechanism It is meshed with the non-return ratchet.

It is further：The grasping mechanism further includes adjusting slide, and the carton handgrip can be moved along the adjusting slide It is arranged on dynamicly on the adjusting slide.

It is further：The grasping mechanism includes four carton handgrips, and four carton handgrips are arranged side by side, and adjacent Spacing between two carton handgrips is adjustable.

It is further：The grasping mechanism, which further includes, adjusts driving mechanism and connecting rod；Set at the middle part for adjusting slide There is middle fixing plate, connecting rod is respectively arranged with the both sides of middle fixing plate, and one end of connecting rod is fixed on middle fixing plate Center on, the other end of connecting rod is telescopically extendable settings, the adjusting driving mechanism use along the direction for adjusting slide Stretch in adjusting the connecting rod, the carton handgrip is connected with corresponding connecting rod respectively, and can pass through the flexible drive paper of connecting rod Case handgrip is moved along slide is adjusted.

It is further：The grasping mechanism further includes partition plate sucker, strut and strut driving mechanism, the partition plate sucker One end of strut is arranged at, the other end of strut is rotatablely arranged on the grasping mechanism, and the strut driving mechanism is used It can make partition plate sucker in the horizontal direction with vertical direction into row position in driving the strut to rotate, and by the rotation of strut Switching；When the partition plate sucker goes to vertical direction, partition plate sucker is located at the outside of capture area and from the bottom of capture area Protrude in portion.

It is further：The partition plate sucker is provided with four groups, the rectangular distribution on grasping mechanism of four groups of partition plate suckers, The strut driving mechanism is provided with one, and by the strut driving mechanism the corresponding strut of four groups of partition plate suckers can be driven same Step rotates.

It is further：All driving mechanisms are cylinder.

The beneficial effects of the utility model are：The utility model by setting Gou Zhao mechanisms on carton catching robot, A side edge of carton can be caught on using pawl is hooked during carton is captured, and then by hooking pawl and while cooperation first Clamping plate and second clamping plate realize the clamping action of carton the grasping manipulation to carton, can be effectively prevented from the mistake in crawl carton There is a situation where carton slides in journey, it is ensured that effective crawl to carton.In addition, the utility model can also be by adjusting the first folder The spacing between spacing and the two neighboring carton handgrip of adjusting between plate and second clamping plate is, it can be achieved that according to different length and widths The carton of size is adjusted accordingly, therefore can meet the grasping manipulation of the carton to various specifications size.In addition, this practicality Also by setting corresponding partition plate sucker, it can be achieved that " crawl " to partition plate, so may be implemented in multi-layer stacking carton in new When, corresponding partition plate can be captured by partition plate sucker after one layer carton of every stacking and be positioned over above the carton of stacking.

Brief description of the drawings

Fig. 1 is the schematic perspective view of carton catching robot described in the utility model；

Fig. 2 is the schematic perspective view of grasping mechanism；

Fig. 3 is the top view of grasping mechanism；

Fig. 4 is the front view of grasping mechanism；

Fig. 5 is the side view of grasping mechanism；

Fig. 6 is the schematic perspective view of single carton handgrip；

Fig. 7 is the front view of single carton handgrip；

Fig. 8 is the sectional view of Section A-A in Fig. 7；

Fig. 9 is the sectional view of section B-B in Fig. 7；

Figure 10 is the enlarged diagram of regional area C in Fig. 9；

In figure mark for：Mechanical arm 1, grasping mechanism 2, carton handgrip 3, first clamping plate 31, second clamping plate 32, hook pawl 33, Hook pawl driving mechanism 34, mounting base 35, clamp line slideway 36, clamping drive mechanism 37, slide 38, non-return mechanism 39, non-return Ratchet 391, check pawl 392, non-return driving mechanism 393, capture area 4, adjusting slide 5, adjusting driving mechanism 6, partition plate are inhaled Disk 7, strut 8, strut driving mechanism 9, connecting rod 10, middle fixing plate 11, synchronous belt 12, transition wheel 13, strut shaft 14.

Embodiment

The utility model is further illustrated with reference to the accompanying drawings and detailed description.

As shown in Fig. 1 to Figure 10, carton catching robot described in the utility model is to be used to capture carton And the equipment for realizing transfer, it includes mechanical arm 1 and the grasping mechanism 2 being installed on mechanical arm 1, and the grasping mechanism 2 includes At least one carton handgrip 3, each carton handgrip 3 include the opposite first clamping plate 31 and second clamping plate 32 being arranged in parallel, the Capture area 4 is formed between one clamping plate 31 and second clamping plate 32, the first clamping plate 31 can be relative to 32 phase of second clamping plate To movement；Each carton handgrip 3, which further includes, hooks pawl 33, the be arranged at first clamping plate 31 bottom edge position with hooking the pivot joint of pawl 33 Put, and can hook and be placed at the correspondence edge placement of 4 bottom of capture area after hooking pawl 33 and being rotated along the shaft of articulated section.

Wherein, is the mechanism accordingly moved can be achieved in mechanical arm 1, and then realizes the movement for driving grasping mechanism 2.Do not lose one As property, the mechanical arm 1 in the utility model can use conventional Multi-shaft mechanical arm (or referred to as multi-axis robot).

In addition, the hook pawl 33 described in the utility model, its be during carton is captured, when carton to be captured After in capture area 4, by rotating hook pawl 33 and its hook is put the corresponding bottom edge position on carton, with this Realize and provide certain support and stop to the bottom edge of carton, and then effectively prevent carton from being slid from bottom.Do not lose Generality, rotates driving, each carton handgrip 3, which further includes, hooks pawl driving mechanism 34, the hook pawl to be realized to each hook pawl 3 Driving mechanism 34 is arranged in first clamping plate 31, and the hook pawl driving mechanism 34 hooks pawl 33 with hooking the drive connection of pawl 33 and can drive Rotate；Specifically structure shown in attached drawing is can refer to be configured.

In addition, the bottom position put in carton to be captured is hooked for the ease of hooking pawl 33, during actually carton is captured, Corresponding engraved structure can be left below carton to be captured.For example, carton can be conveyed using roll-type pipeline, this Sample can hook the engraved structure that pawl 33 hooks between the two neighboring roller in roll-type pipeline；Or it may also set up It is useful for placing the supporting plate of carton, and the engraved structure for allowing hook pawl 33 to hook into is provided with supporting plate.

More specifically, during carton is captured, first clamping plate 31 and second clamping plate 32 are usually also needed to carton Both sides apply certain clamping force, to ensure effective crawl to carton, and prevent from that carton occurs during carton is captured Rock.For this reason, following setting can be further taken for carton handgrip 3 in the utility model：Each carton handgrip 3 further includes Mounting base 35, clamping line slideway 36, clamping drive mechanism 37 and slide 38, the second clamping plate 32 are fixed at the peace The side of seat 35 is filled, the clamping line slideway 36 is fixed in mounting base 35, and clamps the trend of line slideway 36 Perpendicular to second clamping plate 32；The slide 38 is arranged on the clamping line slideway 36, and the clamping drive mechanism 37 is used for The slide 38 is driven to be moved on the clamping line slideway 36；The first clamping plate 31 is fixedly installed on the slide 38 On.In this way, by clamping drive mechanism 37 slide 38 can be driven to be moved together with first clamping plate 31 in clamping line slideway 36, and then The spacing between adjustment control first clamping plate 31 and second clamping plate 32 can be achieved, the clamping action to carton is realized with this.It is above-mentioned Another advantage of structure is can be adjusted first between first clamping plate 31 and second clamping plate 32 according to the carton of different dimensions Beginning spacing, and then can realize and grasping manipulation is carried out to the carton of different length and width sizes, therefore can meet to various specifications size The grasping manipulation of carton.

Furthermore, it is contemplated that during carton is captured, for the carton of heavier-weight, as being equipped with corresponding product in carton In the case of, larger reaction force may be produced to first clamping plate 31, and then be easy to cause first clamping plate 31 and occur " after Move back " situation.For this reason, the utility model further takes following setting：Each carton handgrip 3 further includes non-return mechanism 39, institute Stating non-return mechanism 39 includes non-return ratchet 391, check pawl 392 and non-return driving mechanism 393, and the non-return ratchet 391 is set In first clamping plate 31, the non-return driving mechanism 393 is arranged in mounting base 35, and the check pawl 392 is arranged at non-return On the output terminal of driving mechanism 393, and the check pawl 392 and the non-return spine can be made by non-return driving mechanism 393 Tooth 391 is meshed.The purpose of above-mentioned non-return mechanism 39 is when check pawl 392 is meshed with non-return ratchet 391, only allows to slide 38 and first grip block 31 of seat is moved towards 32 one direction of the second grip block, to prevent its " retrogressing "；Certainly, check pawl is worked as 392 with non-return ratchet 391 when being disengaged relation, then allows 38 and first grip block 31 of slide towards 32 negative side of the second grip block To movement, i.e., allow the first grip block 31 " retrogressing " at this time.As for non-return ratchet 391, check pawl 392 and non-return driving mechanism 393 concrete structure and operation principle, can refer to shown in attached drawing 10：Its non-return ratchet 391 is arranged to unidirectional rack, its rack Side be slope, opposite side is vertical plane；Correspondingly, check pawl 392 is unidirectional to be engaged with non-return ratchet 391 Rack structure；And check pawl 392 to be mounted directly on the output terminal of non-return driving mechanism 393, while it is located at non-return ratchet 391 tops, drive moving up and down for check pawl 392 by non-return driving mechanism 393, realize check pawl 392 and non-return spine Engagement and de- meshing relation between tooth 391；Also, when check pawl 392 and non-return ratchet 391 are meshing relation, when the One grip block 31 towards 32 direction of the second grip block move when, can be by the slope of 392 inner rack of non-return ratchet 391 and check pawl Face produces oblique thrust with merging, and can push up check pawl 392 by the oblique thrust, allows for the first clamping Plate 31 is moved towards 32 direction of the second grip block.

In addition, in the utility model, grasping mechanism 2 may include there are multiple carton handgrips 3 in theory, each carton handgrip 3 can correspond to one carton of crawl respectively；Referring for example in the specific example shown in attached drawing, grasping mechanism 2 includes four paper Case handgrip 3, and four carton handgrips 3 are arranged side by side.

In addition, when grasping mechanism 2 includes multiple carton handgrips 3, in order to adapt to the carton of different specification size, this reality It is adjustable structure with the new spacing further set between two neighboring carton handgrip 3.Carton is grabbed specifically, realizing The regulative mode of hand 3 can use following specific setting：The grasping mechanism 2, which further includes, adjusts slide 5, and the carton handgrip 3 can It is movably arranged at along the adjusting slide 5 on the adjusting slide 5；More specifically, slide 5 is being adjusted for carton handgrip 3 On mobile adjusting, in theory can be manually adjust, or automatic adjustment.For realize automatically adjust, the utility model into One step is additionally provided with grasping mechanism 2 adjusts driving mechanism 6, i.e., is realized by adjusting driving mechanism 6 and carton handgrip 3 is being adjusted The mobile adjusting on slide 5 is saved, and then realizes the spacing adjusted between two neighboring carton handgrip 3.

More specifically, in order to realize the adjusting to spacing between each carton handgrip 3, referring to the drawings shown in 3, further set Put grasping mechanism 2 and further include adjusting driving mechanism 6 and connecting rod 10；The middle part for adjusting slide 5 is provided with middle fixing plate 11, The both sides of middle fixing plate 11 are respectively arranged with connecting rod 10, and one end of connecting rod 10 is fixed on the centre bit of middle fixing plate 11 Put, the other end of connecting rod 10 is telescopically extendable setting along the direction for adjusting slide 5, and the adjusting driving mechanism 6 is used to adjust It is flexible to save the connecting rod 10, the carton handgrip 3 is connected with corresponding connecting rod 10 respectively, and can pass through the flexible drive of connecting rod 10 Carton handgrip 3 is moved along slide 5 is adjusted.

Above-mentioned connecting rod 10 should be retractable structure, specifically can refer to shown in attached drawing 3, and the connecting rod 10 is mutual by more piece Hinged crossing rod piece composition, and it can be Telescopic rod structure to adjust driving mechanism 6, and by the both ends of adjusting driving mechanism 6 across Crossbar after more piece crossbar with corresponding section is fixedly linked, and so can drive stretching for crossbar by the flexible of telescopic rod Contracting, and then realize and the position of carton handgrip 3 is adjusted；And can be only by setting adjusting driving mechanism 6 to can be achieved to four The position of carton handgrip 3 is adjusted.It is furthermore preferred that it is provided with referring to the drawings shown in 3 when positioned at the side of middle fixing plate 11 During two carton handgrips 3, installation site of two carton handgrips 3 on connecting rod 10 arrives the center of middle fixing plate 11 respectively Ratio of distances constant be arranged to 1:3；So may be such that adjust driving mechanism 6 before and after adjusting, its two adjacent carton handgrip 3 it Between can ensure identical spacing, can also be further ensured that capture different size carton when, carton handgrip 3 can be enable Enough capture the centre position of carton.

Furthermore, it is contemplated that in a practical situation, the carton captured by carton catching robot may need ranked and stacked pile, and And in stacking process, generally require to place a partition plate between adjacent two layers carton；And in order to realize by grasping mechanism 2 to every Automatic " crawl " of plate, further takes following setting in the utility model：The grasping mechanism 2 further includes partition plate sucker 7, branch Bar 8 and strut driving mechanism 9, the partition plate sucker 7 are arranged at one end of strut 8, and the other end of strut 8 is rotatablely arranged at On the grasping mechanism 2, the strut driving mechanism 9 is used to drive the strut 8 to rotate；And can by the rotation of strut 8 Partition plate sucker 7 is set to switch in the horizontal direction with vertical direction into row position；When the partition plate sucker 7 goes to vertical direction, every Plate sucker 7 is located at the outside of capture area 4 and is protruded from the bottom of capture area 4.In this way, when needing to capture partition plate, can be by Strut driving mechanism 9 drives strut 8 to turn to vertical state, and partition plate sucker 7 is by positioned at the lower section of capture area 4 at this time, then Partition plate can be held by partition plate sucker 7, then carry out position transfer, the stacking to partition plate is realized with this.Without loss of generality, it is Realize the steady crawl to partition plate, referring to the drawings shown in 3, the partition plate sucker 7 can be set to have four groups, and four groups of partition plate suckers The 7 rectangular distributions on grasping mechanism 2, wherein every group of partition plate sucker 7 may be provided with two suckers.Certainly, be provided with it is multigroup During partition plate sucker 7, multigroup partition plate sucker 7 can be installed by corresponding strut 8 respectively, and every strut 8 can be set respectively It is equipped with corresponding strut driving mechanism 9 and carries out rotation driving, or a strut driving mechanism 9 also can be only set, and by the branch Bar driving mechanism 9 drives the corresponding strut 8 of four groups of partition plate suckers 7 to rotate synchronously.Such as can refer to shown in attached drawing 3, it is set Four groups of partition plate suckers 7 corresponding to four struts 8 can in pairs, and each pair strut 8 can be separately mounted to same root branch On the both ends of bar shaft 14, while Synchronous Transmission can be realized by synchronous belt 12 between two strut shafts 14；More specifically, also Can be further with the supporting setting ovdersteering wheel 13 of synchronous belt 12 so that the rotation direction of above-mentioned two strut shafts 14 be opposite.

In addition, the various driving mechanisms employed in above-mentioned the utility model, such as hook pawl driving mechanism 34, clamp driving machine Structure 37, non-return driving mechanism 393, adjusting driving mechanism 6 and strut driving mechanism 9 etc. can be used according to actual condition respectively Cylinder, the hydraulic telescopic rod either form such as motor, wherein being preferably provided with all driving mechanisms uses cylinder form.

Claims

1. carton catching robot, including mechanical arm (1) and the grasping mechanism (2) that is installed on mechanical arm (1), its feature exist In：The grasping mechanism (2) includes at least one carton handgrip (3), each carton handgrip (3) include it is opposite be arranged in parallel the One clamping plate (31) and second clamping plate (32), capture area (4) are formed between first clamping plate (31) and second clamping plate (32), described First clamping plate (31) can be moved towards relative to the second clamping plate (32)；Each carton handgrip (3), which further includes, hooks pawl (33), institute Be arranged at first clamping plate (31) bottom edge position with hooking pawl (33) pivot joint is stated, and when shaft of the hook pawl (33) along articulated section It can hook and be placed at the correspondence edge placement of capture area (4) bottom after rotation.

2. carton catching robot as claimed in claim 1, it is characterised in that：Each carton handgrip (3), which further includes, hooks pawl drive Motivation structure (34), the hook pawl driving mechanism (34) are arranged in first clamping plate (31), and the hook pawl driving mechanism (34) is with hooking Pawl (33), which is sequentially connected and can drive, hooks pawl (33) rotation.

3. carton catching robot as claimed in claim 1, it is characterised in that：Each carton handgrip (3) further includes mounting base (35), line slideway (36), clamping drive mechanism (37) and slide (38), the second clamping plate (32) are clamped and is fixed at institute The side of mounting base (35) is stated, the clamping line slideway (36) is fixed in mounting base (35), and is clamped straight line and led The trend of rail (36) is perpendicular to second clamping plate (32)；The slide (38) is arranged on the clamping line slideway (36), described Clamping drive mechanism (37) is used to drive the slide (38) to move on the clamping line slideway (36)；The first clamping plate (31) it is fixedly installed on the slide (38).

4. carton catching robot as claimed in claim 3, it is characterised in that：Each carton handgrip (3) further includes non-return machine Structure (39), the non-return mechanism (39) include non-return ratchet (391), check pawl (392) and non-return driving mechanism (393), institute Non-return ratchet (391) to be stated to be arranged in first clamping plate (31), the non-return driving mechanism (393) is arranged in mounting base (35), The check pawl (392) is arranged on the output terminal of non-return driving mechanism (393), and passes through non-return driving mechanism (393) The check pawl (392) can be made to be meshed with the non-return ratchet (391).

5. carton catching robot as claimed in claim 1, it is characterised in that：The grasping mechanism (2) further includes adjusting and slides Rail (5), the carton handgrip (3) can be movably arranged on the adjusting slide (5) along the adjusting slide (5).

6. carton catching robot as claimed in claim 5, it is characterised in that：The grasping mechanism (2) includes four cartons Handgrip (3), four carton handgrips (3) are arranged side by side, and the spacing between two neighboring carton handgrip (3) is adjustable.

7. carton catching robot as claimed in claim 5, it is characterised in that：The grasping mechanism (2) further includes adjusting and drives Motivation structure (6) and connecting rod (10)；Middle fixing plate (11) is provided with the middle part of slide (5) adjusting, in middle fixing plate (11) Both sides be respectively arranged with connecting rod (10), and one end of connecting rod (10) is fixed on the center of middle fixing plate (11), The other end of connecting rod (10) is telescopically extendable setting along the direction for adjusting slide (5), and the adjusting driving mechanism (6) is used to adjust It is flexible to save the connecting rod (10), the carton handgrip (3) is connected with corresponding connecting rod (10) respectively, and can pass through connecting rod (10) It is flexible to drive carton handgrip (3) mobile along slide (5) is adjusted.

8. carton catching robot as claimed in claim 1, it is characterised in that：The grasping mechanism (2) further includes partition plate suction Disk (7), strut (8) and strut driving mechanism (9), the partition plate sucker (7) are arranged at one end of strut (8), strut (8) it is another One end is rotatablely arranged on the grasping mechanism (2), and the strut driving mechanism (9) is used to drive the strut (8) to turn It is dynamic, and by the rotation of strut (8) partition plate sucker (7) can be made to switch in the horizontal direction with vertical direction into row position；Work as institute When stating partition plate sucker (7) and going to vertical direction, partition plate sucker (7) is located at the outside of capture area (4) and from capture area (4) Protrude bottom.

9. carton catching robot as claimed in claim 8, it is characterised in that：The partition plate sucker (7) is provided with four groups, and four Group partition plate sucker (7) rectangular distribution on grasping mechanism (2), the strut driving mechanism (9) are provided with one, and by this Strut driving mechanism (9) can drive the corresponding strut (8) of four groups of partition plate suckers (7) to rotate synchronously.

10. carton catching robot as in one of claimed in any of claims 1 to 9, it is characterised in that：All driving mechanisms It is cylinder.