CN210361369U

CN210361369U - Sucker gripper of stacking robot

Info

Publication number: CN210361369U
Application number: CN201921360255.3U
Authority: CN
Inventors: 吴晶晶
Original assignee: Weilai Intelligent Technology Dongtai Co Ltd
Current assignee: Weilai Intelligent Technology Dongtai Co Ltd
Priority date: 2019-08-21
Filing date: 2019-08-21
Publication date: 2020-04-21
Anticipated expiration: 2029-08-21

Abstract

The utility model relates to a pile up neatly machine people snatchs technical field, specifically is a pile up neatly machine people sucking disc is held in hand, including the backplate, the shaft coupling has perpendicularly welded in the middle of the up end of backplate, and the lower terminal surface of backplate is provided with nine suction heads of matrix distribution, and the draw-in groove has all been seted up to the terminal surface about the backplate, and both ends are perpendicularly welded and have been connected the fixed plate about the up end of backplate, and the lower extreme of suction head is provided with first sucking disc, and beneficial effect is: the utility model has the advantages that the telescopic side suckers are arranged at the left and right ends of the sucker, so that stress points are increased, the stress is more uniform, the container is prevented from being inclined and overturned, and the grabbing stability is improved; the side suction plate is driven by the support, the rotation of the side suction plate is realized by the matching of the limiting plate and the clamping groove and the gravity of the side suction plate, and the telescopic action of the hydraulic cylinder is matched to further realize the adjustment of the position of the side suction plate.

Description

Sucker gripper of stacking robot

Technical Field

The utility model relates to a pile up neatly machine people snatchs technical field, specifically is a pile up neatly machine people sucking disc is held in hand.

Background

The coordinate type robot of the palletizing robot system adopting the patent technology occupies flexible and compact space. The idea of being able to build efficient energy efficient fully automatic block machine production lines within a small footprint becomes a reality.

When the pile up neatly machine people snatchs the goods, because the size of goods is different, and pile up neatly machine people's sucking disc size is fixed, to less packing box, can realize easily snatching, nevertheless to the packing box great with gravity, the great packing box of appearance volume during very much, the sucking disc is comparatively difficult when snatching, and the packing box stress point is comparatively concentrated, causes the packing box slope easily.

Therefore, the sucker hand grab of the robot palletizer is provided, and the problem of stress concentration in the grabbing process can be solved.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a pile up neatly machine people sucking disc is held in hand to solve the problem that proposes among the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme:

a sucker gripper of a palletizing robot comprises a back plate, a coupler is vertically welded in the middle of the upper end face of the back plate, nine suckers distributed in a matrix are arranged on the lower end face of the back plate, clamping grooves are formed in the left end face and the right end face of the back plate, fixing plates are vertically welded at the left end and the right end of the upper end face of the back plate, the lower end of the suction head is provided with a first sucker, the inner cavity of the clamping groove is provided with a pair of telescopic jacks which are symmetrical front and back, the inner cavity slideway of the clamping groove is inserted with a bracket, a connecting block is arranged in the middle of the upper end surface of the bracket, a rotating shaft is transversely arranged on the lower end surface of the bracket, a telescopic rod corresponding to the telescopic jack is arranged on the right end surface of the bracket, the outer wall of the rotating shaft is rotatably sleeved with a side suction plate, the lower end surface of the side suction plate is provided with a limiting plate, the lower extreme of limiting plate is provided with the three second sucking disc of linear distribution, the right-hand member face of connecting block is connected with the pneumatic cylinder.

Preferably, an open slot is arranged in the middle of the upper end face of the clamping slot, the size of the open slot is matched with the connecting block, and the open slot is correspondingly spliced with the connecting block.

Preferably, one end of the telescopic rod is inserted into the telescopic jack, the other end of the telescopic rod is fixedly installed on the front side and the rear side of the right end face of the support, and the telescopic rod extends to the two sides in parallel.

Preferably, the upper end of the side suction plate is provided with a through hole, the inner wall of the through hole is rotatably sleeved on the outer wall of the rotating shaft, and the lower end face of the lower end limiting plate of the side suction plate is flush with the lower end face of the clamping groove.

Preferably, one end of the hydraulic cylinder is fixedly mounted on the end face of the fixing plate, a hydraulic push rod is arranged at the end of the hydraulic cylinder, the other end of the hydraulic push rod extends towards the left side and the right side in parallel, and the end of the hydraulic push rod is fixedly connected to the end face of the connecting block.

Preferably, the upper ends of the first sucker and the second sucker are communicated with the air pump through a back plate, and a plurality of negative pressure holes distributed in a circumferential array mode are formed in the lower end faces of the first sucker and the second sucker.

Compared with the prior art, the beneficial effects of the utility model are that:

1. the utility model has the advantages that the telescopic side suckers are arranged at the left and right ends of the sucker, so that stress points are increased, the stress is more uniform, the container is prevented from being inclined and overturned, and the grabbing stability is improved;

2. the utility model discloses a set up the support and drive the side suction plate, utilize the cooperation of limiting plate and draw-in groove and the rotation that the gravity of side suction plate self realized the side suction plate, the telescopic action of cooperation pneumatic cylinder and then realize the regulation of offside suction plate position.

Drawings

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic view of the side suction plate of the present invention showing a three-dimensional shrinking structure;

FIG. 3 is a schematic view of the three-dimensional structure of the bracket of the present invention;

fig. 4 is a schematic view of the back plate structure of the present invention.

In the figure: the device comprises a back plate 1, a suction head 2, a first suction cup 3, a coupler 4, a fixed plate 5, a hydraulic cylinder 6, a support 7, a connecting block 8, a side suction plate 9, a clamping groove 10, an expansion rod 11, a telescopic jack 12, a limiting plate 13, a second suction cup 14, a rotating shaft 15, an open groove 16 and a hydraulic push rod 17.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1 to 4, the present invention provides a technical solution:

the utility model provides a pile up neatly machine people sucking disc is held in hand, includes backplate 1, and the perpendicular welding has shaft coupling 4 in the middle of the up end of backplate 1, utilizes shaft coupling 4 to connect six pile up neatly machines people, realizes the removal transportation of goods.

Nine suction heads 2 distributed in a matrix are arranged on the lower end face of the back plate 1, a first suction disc 3 is arranged at the lower end of each suction head 2, and the first suction discs 3 distributed in the matrix are used for realizing the forced grabbing of the main stress points.

Draw-in groove 10 has all been seted up to terminal surface about backplate 1, a pair of flexible jack 12 of symmetry around the inner chamber of draw-in groove 10 is provided with, the inner chamber slide of draw-in groove 10 is pegged graft and is had support 7, the right-hand member face of support 7 is installed and is stretched out and drawn back jack 12 corresponding telescopic link 11, the one end of telescopic link 11 is pegged graft in flexible jack 12, the other end fixed mounting of telescopic link 11 is both sides around the right-hand member face of support 7, the telescopic link 11 is parallel to extend to both sides, utilize telescopic link 11 to realize the side-to-side.

Support 7's up end intermediate position is provided with connecting block 8, connecting block 8's right-hand member face is connected with pneumatic cylinder 6, both ends vertical welding has fixed plate 5 about backplate 1's the up end, the one end fixed mounting of pneumatic cylinder 6 is on the terminal surface of fixed plate 5, and pneumatic cylinder 6's tip is provided with hydraulic push rod 17, hydraulic push rod 17's the other end is to controlling both sides parallel extension, hydraulic push rod 17's tip fixed connection is on connecting block 8's terminal surface, utilize connecting block 8 to realize pneumatic cylinder 6's fixed position installation, utilize hydraulic push rod 17 on the pneumatic cylinder 6 to realize being connected with connecting block 8, and then utilize pneumatic cylinder 6 to provide the power that removes about support 7.

An open groove 16 is formed in the middle of the upper end face of the clamping groove 10, the size of the open groove 16 is matched with that of the connecting block 8, and the open groove 16 is correspondingly spliced with the connecting block 8.

The lower terminal surface of support 7 transversely is provided with pivot 15, the outer wall of pivot 15 rotates and has cup jointed side suction plate 9, the upper end of side suction plate 9 is provided with the through hole, the through hole inner wall rotates and cup joints the outer wall at pivot 15, and the lower terminal surface of the lower extreme limiting plate 13 of side suction plate 9 flushes with the lower terminal surface of draw-in groove 10, utilize pivot 15 to realize the rotation installation of side suction plate 9, utilize the cooperation of limiting plate 13 and draw-in groove 10, make the limiting plate 13 slide get into the inner chamber of draw-in groove 10, and the mounting panel of limiting plate 13 lower extreme extrudees with the preceding terminal surface outer wall of draw-in groove 10, make side suction plate 19 rotate 90 degrees, it.

The lower terminal surface of side suction plate 9 is provided with limiting plate 13, the lower extreme of limiting plate 13 is provided with three second sucking disc 14 of linear distribution, the upper end of first sucking disc 3 and second sucking disc 14 all communicates the air pump through backplate 1, the lower terminal surface of first sucking disc 3 and second sucking disc 14 is provided with a plurality of negative pressure holes of circumference array distribution, utilize third sucking disc 14 to realize having increased the stress point, make the atress more even, prevent that the packing box from causing the slope to overturn, the stability of snatching has been improved.

The working principle is as follows: firstly, a coupler 4 is used for connecting a six-shaft stacking robot, moving and transporting goods are realized, the first suction cups 3 distributed in a matrix manner are used for realizing stress grabbing of main stress points, the telescopic rods 11 are used for realizing left-right movement of a support 7 outside a clamping groove 10, the connecting blocks 8 are used for realizing fixed position installation of a hydraulic cylinder 6, the hydraulic push rods 17 on the hydraulic cylinder 6 are used for realizing connection with the connecting blocks 8, further the hydraulic cylinder 6 is used for providing power for left-right movement of the support 7, the rotating installation of a side suction plate 9 is realized by a rotating shaft 15, a limiting plate 13 is matched with the clamping groove 10, a sliding way of the limiting plate 13 enters an inner cavity of the clamping groove 10, a mounting plate at the lower end of the limiting plate 13 is extruded with the outer wall of the front end face of the clamping groove 10, the side suction plate 19 is rotated by 90 degrees, the recycling and fixing, prevent that the packing box from causing the slope to overturn, improved the stability of snatching.

The hydraulic cylinder 6 adopts the following models: MOB series of lightweight standard hydraulic cylinders.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a pile up neatly machine people sucking disc is held in hand, includes backplate (1), its characterized in that: the middle of the upper end face of the back plate (1) is vertically welded with a coupler (4), the lower end face of the back plate (1) is provided with nine suction heads (2) distributed in a matrix manner, the left end face and the right end face of the back plate (1) are respectively provided with a clamping groove (10), the left end face and the right end face of the upper end face of the back plate (1) are vertically welded with a fixing plate (5), the lower end of each suction head (2) is provided with a first suction disc (3), the inner cavity of each clamping groove (10) is provided with a pair of telescopic insertion holes (12) which are symmetrical in the front and back, an inner cavity slideway of each clamping groove (10) is inserted with a support (7), a connecting block (8) is arranged in the middle position of the upper end face of each support (7), the lower end face of each support (7) is transversely provided with a rotating shaft (15), the right, the lower terminal surface of side suction plate (9) is provided with limiting plate (13), the lower extreme of limiting plate (13) is provided with three second sucking disc (14) of linear distribution, the right-hand member face of connecting block (8) is connected with pneumatic cylinder (6).

2. The robot palletizer sucker gripper as in claim 1, wherein: an opening groove (16) is formed in the middle of the upper end face of the clamping groove (10), the size of the opening groove (16) is matched with the connecting block (8), and the opening groove (16) is correspondingly connected with the connecting block (8) in an inserting mode.

3. The robot palletizer sucker gripper as in claim 1, wherein: one end of the telescopic rod (11) is inserted into the telescopic insertion hole (12), the other end of the telescopic rod (11) is fixedly installed on the front side and the rear side of the right end face of the support (7), and the telescopic rod (11) extends to the two sides in parallel.

4. The robot palletizer sucker gripper as in claim 1, wherein: the upper end of the side suction plate (9) is provided with a through hole, the inner wall of the through hole is rotatably sleeved on the outer wall of the rotating shaft (15), and the lower end face of the lower end limiting plate (13) of the side suction plate (9) is flush with the lower end face of the clamping groove (10).

5. The robot palletizer sucker gripper as in claim 1, wherein: one end fixed mounting of pneumatic cylinder (6) is on the terminal surface of fixed plate (5), and the tip of pneumatic cylinder (6) is provided with hydraulic push rod (17), the other end of hydraulic push rod (17) is to the parallel extension of left and right sides, and the tip fixed connection of hydraulic push rod (17) is on the terminal surface of connecting block (8).

6. The robot palletizer sucker gripper as in claim 1, wherein: the upper ends of the first sucker (3) and the second sucker (14) are communicated with an air pump through a back plate (1), and a plurality of negative pressure holes distributed in a circumferential array mode are formed in the lower end faces of the first sucker (3) and the second sucker (14).