CN211366173U - Carton stacking gripper and mechanical arm - Google Patents
Carton stacking gripper and mechanical arm Download PDFInfo
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- CN211366173U CN211366173U CN201921476646.1U CN201921476646U CN211366173U CN 211366173 U CN211366173 U CN 211366173U CN 201921476646 U CN201921476646 U CN 201921476646U CN 211366173 U CN211366173 U CN 211366173U
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Abstract
The utility model discloses a carton pile up neatly tongs and arm belongs to mechanical tongs technical field, and wherein, this carton pile up neatly tongs includes that main vacuum inhales an subassembly and vice vacuum inhales an subassembly, and the absorption direction of vice vacuum inhales the main vacuum of absorption direction perpendicular to of an subassembly inhales the absorption direction of an subassembly for main vacuum inhales the top that an subassembly from top to bottom adsorbed the carton, and vice vacuum inhales the lateral wall that an subassembly adsorbed the carton by side. This technical scheme, it can effectively solve among the prior art carton pile up neatly tongs and only carry out the snatching transport operation of carton through the vacuum adsorption mode and appear rocking in handling easily and lead to snatching the technical problem who fails.
Description
Technical Field
The utility model relates to a machinery tongs technical field, in particular to carton pile up neatly tongs and arm.
Background
At present, in the pile up neatly project of robot, carton pile up neatly tongs among the prior art often only carries out the transport operation that snatchs of carton through the vacuum adsorption mode, because the carton size is at 100 ~ 1000mm, and weight is in the scope of 1 ~ 40kg, to the carton that the focus is on the low side like this, often appears rocking easily in handling, leads to vacuum suction tool and box to break away from, finally snatchs the failure.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a carton pile up neatly tongs and arm, its grasping transport operation that aims at solving among the prior art carton pile up neatly tongs and only carry out the carton through the vacuum adsorption mode appears rocking easily in handling and leads to snatching the technical problem of failure.
In order to solve the technical problem, the utility model provides a carton pile up neatly tongs, carton pile up neatly tongs includes that main vacuum inhales an subassembly and vice vacuum inhales an subassembly, vice vacuum inhales the absorption direction perpendicular to of an subassembly main vacuum inhales the absorption direction of an subassembly, makes main vacuum inhales the top that an subassembly from top to bottom adsorbed the carton, vice vacuum inhales an subassembly and is adsorbed by side the lateral wall of carton.
Optionally, the main vacuum chuck assembly comprises a plurality of main vacuum chucks arranged side by side.
Optionally, the primary vacuum chuck comprises a primary chuck mount and a plurality of primary vacuum chucks arranged in an array disposed on a bottom side of the primary chuck mount.
Optionally, the main vacuum suction assembly further comprises two connecting columns, and the two connecting columns are arranged in parallel relatively to connect the main vacuum suction assemblies together.
Optionally, the auxiliary vacuum suction assembly is installed on the top side of the main vacuum suction assembly, and the auxiliary vacuum suction assembly includes an auxiliary vacuum suction device, a double-guide-rod cylinder for driving the auxiliary vacuum suction device to perform telescopic motion, and a turnover mechanism for driving the auxiliary vacuum suction device and the double-guide-rod cylinder to perform ninety-degree turnover.
Optionally, the auxiliary vacuum suction tool comprises an auxiliary suction cup mounting seat and a plurality of auxiliary vacuum suction cups arranged in an array on the auxiliary suction cup mounting seat, and the auxiliary suction cup mounting seat is fastened on a cylinder shaft of the double-guide-rod cylinder so as to drive the auxiliary vacuum suction tool to perform telescopic motion through the double-guide-rod cylinder.
Optionally, the turnover mechanism includes a turnover base, a turnover shaft rotatably mounted on the turnover base, and a power structure for driving the turnover shaft to rotate, and the turnover shaft is fixedly connected to the cylinder main body of the double-guide-rod cylinder.
Optionally, the power structure includes a gear, a rack, and a first cylinder driving the rack to stretch, the turnover seat is fixedly disposed in front of a cylinder main body of the first cylinder, a cylinder shaft of the first cylinder penetrates through the turnover seat to be fixedly connected with the rack so as to drive the rack to stretch, the turnover shaft is fixedly connected with the cylinder main body of the double-guide-rod cylinder through the gear, and the rack is engaged with the gear so as to drive the gear to rotate through the rack, thereby driving the turnover shaft and the cylinder main body of the double-guide-rod cylinder to turn ninety degrees.
Optionally, the auxiliary vacuum suction tool further comprises a translation mechanism for driving the turnover mechanism, the double-guide-rod cylinder and the auxiliary vacuum suction tool to horizontally extend and retract integrally, the translation mechanism comprises a translation mechanism mounting plate fixedly arranged on the top side of the main vacuum suction tool assembly and two second cylinders, cylinder shafts of the two second cylinders are fixedly connected with the translation mechanism mounting plate, the first cylinder is clamped between the two second cylinders, the extending direction of the cylinder shafts of the two second cylinders is opposite to the extending direction of the cylinder shaft of the first cylinder, and a cylinder body of the first cylinder is fixedly connected with a cylinder body of the two second cylinders.
Furthermore, in order to solve the technical problem, the utility model also provides a mechanical arm, the mechanical arm includes arm main part and foretell carton pile up neatly tongs, carton pile up neatly tongs are located the end of arm main part.
The utility model provides a carton pile up neatly tongs and arm, its carton pile up neatly tongs include that the main vacuum inhales an subassembly and vice vacuum inhales an subassembly, and the absorption direction of the main vacuum of the absorption direction perpendicular to of vice vacuum inhales an subassembly inhales the absorption direction of an subassembly for the top of main vacuum inhales an subassembly from top to bottom absorption carton, vice vacuum inhales the lateral wall that an subassembly adsorbed the carton by side. Thus, after the main vacuum suction assembly adsorbs the carton from top to bottom, the auxiliary vacuum suction assembly adsorbs and fixes the side wall of the carton from the side at the same time, so that the cartons with different sizes and different weights are further adsorbed and fixed, and the carton is prevented from shaking in the carrying process. Therefore, the carton stacking gripper and the mechanical arm can effectively solve the technical problem that in the prior art, the carton stacking gripper only performs grabbing and carrying operations of a carton in a vacuum adsorption mode, and shaking is easy to occur in the carrying process to cause grabbing failure.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is the utility model discloses carton pile up neatly tongs's of arm structural schematic diagram.
Fig. 2 is a schematic view of the secondary vacuum chuck assembly of the carton stacking gripper of fig. 1.
Fig. 3 is another structural view of the secondary vacuum chuck assembly of the carton stacking gripper of fig. 1.
Detailed Description
The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.
As shown in fig. 1, the present embodiment provides a robot arm including a robot arm main body (not shown) and a carton stacking gripper 100, the carton stacking gripper 100 being provided at a distal end of the robot arm main body. The carton stacking gripper 100 specifically comprises a main vacuum suction assembly 110 and an auxiliary vacuum suction assembly 120, wherein the suction direction of the auxiliary vacuum suction assembly 120 is perpendicular to the suction direction of the main vacuum suction assembly 110, so that the main vacuum suction assembly 110 sucks the top end of the carton from top to bottom, and the auxiliary vacuum suction assembly 120 sucks the side wall of the carton from the side.
In the present embodiment, as shown in fig. 1 to 3, the main vacuum chuck assembly 110 includes a plurality of main vacuum chucks 111 arranged side by side. The main vacuum chuck 111 includes a main chuck mount 1111 and a plurality of array-arranged main vacuum chucks 1112 mounted on the bottom side of the main chuck mount 1111. Through the structure, the maximum suction force of the single main vacuum suction tool 111 is 50kg, and the carton stacking gripper 100 specifically adopts four main vacuum suction tools 111, and absorbs 200kg of cartons to the maximum. The main vacuum chuck assembly 110 further includes two connecting posts 112, the two connecting posts 112 are disposed in parallel to connect the plurality of main vacuum chucks 111 together. The main vacuum chuck assembly 110 further includes a gripper connecting base 113, and the gripper connecting base 113 is installed and fixed on the two connecting posts 112 to be butted against the end of the robot main body.
As shown in fig. 1 and 2, the sub-vacuum chuck assembly 120 is installed on the top side of the main vacuum chuck assembly 110, and the sub-vacuum chuck assembly 120 includes a sub-vacuum chuck 121, a double guide rod cylinder 122 for driving the sub-vacuum chuck 121 to perform a telescopic motion, and a turnover mechanism 123 for driving the sub-vacuum chuck 121 and the double guide rod cylinder 122 to perform a ninety degree turnover. Specifically, the secondary vacuum suction tool 121 includes a secondary suction cup mounting seat 1211 and a plurality of secondary vacuum suction cups 1212 arranged in an array and mounted on the secondary suction cup mounting seat 1211, wherein the secondary suction cup mounting seat 1211 is fastened on the cylinder shaft 1221 of the double-guide-rod cylinder 122 so as to drive the secondary vacuum suction tool 121 to perform telescopic motion through the double-guide-rod cylinder 122. The turnover mechanism 123 includes a turnover base 1231, a turnover shaft (not shown) rotatably installed on the turnover base 1231, and a power structure 1232 for driving the turnover shaft to rotate, wherein the turnover shaft is fixedly connected to the cylinder main body 1222 of the dual-guide-rod cylinder 122. The power structure 1232 comprises a gear, a rack and a first cylinder driving the rack to stretch, the overturning seat 1231 is fixedly arranged in front of the cylinder body of the first cylinder, a cylinder shaft of the first cylinder penetrates through the overturning seat 1231 to be fixedly connected with the rack, so as to drive the rack to stretch, the overturning shaft is fixedly connected with the cylinder body 1222 of the double-guide-rod cylinder 122 through the gear, the rack is connected with a gear in a meshing manner, so as to drive the gear to rotate through the rack, and further the cylinder body 1222 driving the overturning shaft and the double-guide-rod cylinder 122 to overturn by ninety degrees. As shown in fig. 2 and 3, when the rack extends forward, the gear rotates clockwise to drive the sub vacuum chuck 121 and the dual link cylinder 122 from the state shown in fig. 3 to the state shown in fig. 2, and when the rack retracts backward, the gear rotates counterclockwise to drive the sub vacuum chuck 121 and the dual link cylinder 122 from the state shown in fig. 2 to the state shown in fig. 3.
In addition, as shown in fig. 2 and 3, the auxiliary vacuum chuck 120 further includes a driving tilting mechanism 123, a dual-guide rod cylinder 122 and a translation mechanism 124 for horizontally extending and retracting the whole auxiliary vacuum chuck 121, the translation mechanism 124 includes a translation mechanism mounting plate 1241 and two second cylinders 1242 fixedly disposed on the top side of the main vacuum chuck assembly 110, cylinder shafts of the two second cylinders 1242 are both fastened and connected to the translation mechanism mounting plate 1241, the first cylinder is sandwiched between the two second cylinders 1242, the extending and retracting directions of the cylinder shafts of the two second cylinders 1242 are opposite to the extending and retracting direction of the cylinder shaft of the first cylinder, and a cylinder body of the first cylinder is fastened and connected to cylinder bodies of the two second cylinders 1242. Thus, when the cylinder shafts of the two second cylinders 1242 extend forward, the cylinder shafts of the two second cylinders 1242 are fixed on the translation mechanism mounting plate 1241, so that the cylinder bodies of the two second cylinders 1242 extend backward (i.e., in the left direction shown in fig. 2), and further the cylinder body of the first cylinder (together with the turnover mechanism 123, the double-guide-rod cylinder 122 and the auxiliary vacuum suction tool 121 as a whole) is driven to move backward for a certain distance, so as to meet the adsorption requirement of the large-sized carton.
During operation, as shown in fig. 1, the main body of the mechanical arm drives the carton stacking gripper 100 to come to a position right above a carton to be gripped, the vacuum suction tool assembly 110 starts to operate, the carton is sucked by the bottom side of the vacuum suction tool assembly, then the sub-vacuum suction tool assembly 120 starts to operate, the turnover mechanism 123 drives the sub-vacuum suction tool 121 and the double-guide-rod cylinder 122 to perform ninety-degree turnover, meanwhile, the double-guide-rod cylinder 122 drives the sub-vacuum suction tool 121 to perform stretching movement so as to stretch the sub-vacuum suction tool 121 to a proper position, and finally, as shown in fig. 2, at this time, the sub-vacuum suction tool 121 adsorbs and fixes the side wall of the carton from the side to further adsorb and fix the cartons with different sizes and different weights, so as to prevent the cartons from shaking during the transportation process.
The embodiment of the utility model provides a carton pile up neatly tongs and arm, its carton pile up neatly tongs include that main vacuum inhales an subassembly and vice vacuum inhales an subassembly, and the absorption direction of the main vacuum of the absorption direction perpendicular to of vice vacuum inhales an subassembly inhales the absorption direction of an subassembly for main vacuum inhales the top that an subassembly from top to bottom adsorbed the carton, and vice vacuum inhales the lateral wall that an subassembly adsorbed the carton by side. Thus, after the main vacuum suction assembly adsorbs the carton from top to bottom, the auxiliary vacuum suction assembly adsorbs and fixes the side wall of the carton from the side at the same time, so that the cartons with different sizes and different weights are further adsorbed and fixed, and the carton is prevented from shaking in the carrying process. Therefore, the carton stacking gripper and the mechanical arm can effectively solve the technical problem that in the prior art, the carton stacking gripper only performs grabbing and carrying operations of a carton in a vacuum adsorption mode, and shaking is easy to occur in the carrying process to cause grabbing failure.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.
Claims (10)
1. The carton stacking gripper is characterized by comprising a main vacuum suction assembly and an auxiliary vacuum suction assembly, wherein the suction direction of the auxiliary vacuum suction assembly is perpendicular to the suction direction of the main vacuum suction assembly, so that the main vacuum suction assembly sucks the top end of a carton from top to bottom, and the auxiliary vacuum suction assembly sucks the side wall of the carton from the side.
2. A carton stacking gripper as claimed in claim 1, wherein said primary vacuum gripper assembly comprises a plurality of primary vacuum grippers arranged side by side.
3. The carton stacking gripper of claim 2, wherein the primary vacuum chuck includes a primary chuck mount and a plurality of arrays of primary vacuum chucks disposed on an underside of the primary chuck mount.
4. The carton stacking gripper of claim 2, wherein the primary vacuum gripper assembly further comprises two connecting columns disposed in opposing parallel relation to connect a plurality of the primary vacuum grippers together.
5. The carton stacking gripper of claim 1, wherein the secondary vacuum gripper assembly is mounted on a top side of the primary vacuum gripper assembly, the secondary vacuum gripper assembly including a secondary vacuum gripper, a dual guide rod cylinder that drives the secondary vacuum gripper for telescoping movement, and a flipping mechanism that drives the secondary vacuum gripper and the dual guide rod cylinder for a ninety degree flip.
6. A carton stacking gripper as claimed in claim 5, wherein said secondary vacuum chuck comprises a secondary suction cup mounting seat and a plurality of secondary vacuum suction cups arranged in an array mounted on said secondary suction cup mounting seat, said secondary suction cup mounting seat being fastened to the cylinder shaft of said double-guide-rod cylinder to drive said secondary vacuum chuck in a telescopic movement by said double-guide-rod cylinder.
7. The carton stacking gripper as claimed in claim 5, wherein the overturning mechanism comprises an overturning base, an overturning shaft rotatably mounted on the overturning base, and a power structure for driving the overturning shaft to rotate, wherein the overturning shaft is fixedly connected with the cylinder body of the double-guide-rod cylinder.
8. The carton stacking gripper as claimed in claim 7, wherein the power structure comprises a gear, a rack and a first cylinder driving the rack to extend and retract, the flipping base is fixedly arranged in front of a cylinder body of the first cylinder, a cylinder shaft of the first cylinder penetrates through the flipping base to be fixedly connected with the rack so as to drive the rack to extend and retract, the flipping shaft is fixedly connected with the cylinder body of the double-guide-rod cylinder through the gear, and the rack is in meshed connection with the gear so as to drive the gear to rotate through the rack, so that the flipping shaft and the cylinder body of the double-guide-rod cylinder are driven to turn ninety degrees.
9. The carton stacking gripper as claimed in claim 8, wherein the secondary vacuum chuck further comprises a translation mechanism for driving the turning mechanism, the double-guide-rod cylinder and the secondary vacuum chuck to horizontally extend and retract integrally, the translation mechanism comprises a translation mechanism mounting plate fixedly arranged on the top side of the primary vacuum chuck assembly and two second cylinders, cylinder shafts of the two second cylinders are fixedly connected with the translation mechanism mounting plate, the first cylinder clamp is arranged between the two second cylinders, the extending and retracting directions of the cylinder shafts of the two second cylinders are opposite to the extending and retracting direction of the cylinder shaft of the first cylinder, and a cylinder body of the first cylinder is fixedly connected with a cylinder body of the two second cylinders.
10. A robot arm, characterised in that the robot arm comprises a robot arm body and a carton stacking gripper as claimed in any one of claims 1 to 9, which carton stacking gripper is provided at the end of the robot arm body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921476646.1U CN211366173U (en) | 2019-09-05 | 2019-09-05 | Carton stacking gripper and mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921476646.1U CN211366173U (en) | 2019-09-05 | 2019-09-05 | Carton stacking gripper and mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211366173U true CN211366173U (en) | 2020-08-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921476646.1U Active CN211366173U (en) | 2019-09-05 | 2019-09-05 | Carton stacking gripper and mechanical arm |
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| CN (1) | CN211366173U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114249133A (en) * | 2021-12-02 | 2022-03-29 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
| CN114834910A (en) * | 2022-07-01 | 2022-08-02 | 湖南世容纸塑包装有限公司 | Stacker crane for cartons |
| CN115504240A (en) * | 2022-10-20 | 2022-12-23 | 大连理工大学 | Container carton packed goods unloading tail end grabbing mechanism and method |
| CN115557262A (en) * | 2022-10-20 | 2023-01-03 | 大连理工大学 | Visual guide control system and method for intelligent unloading, sterilizing and stacking production line of container boxed goods |
| CN115583498A (en) * | 2022-10-20 | 2023-01-10 | 大连理工大学 | Autonomous-advancing type automatic grabbing and unloading device and method for boxed goods of container and storage medium |
| CN115593940A (en) * | 2022-10-20 | 2023-01-13 | 大连理工大学（Cn） | Automatic grabbing, unloading, disinfecting and stacking operation line and method for goods in container |
-
2019
- 2019-09-05 CN CN201921476646.1U patent/CN211366173U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114249133A (en) * | 2021-12-02 | 2022-03-29 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
| CN114249133B (en) * | 2021-12-02 | 2024-04-19 | 东莞市至美环保包装科技有限公司 | Carton stacking manipulator with overturning assembly |
| CN114834910A (en) * | 2022-07-01 | 2022-08-02 | 湖南世容纸塑包装有限公司 | Stacker crane for cartons |
| CN114834910B (en) * | 2022-07-01 | 2022-09-20 | 湖南世容纸塑包装有限公司 | Stacker crane for carton |
| CN115504240A (en) * | 2022-10-20 | 2022-12-23 | 大连理工大学 | Container carton packed goods unloading tail end grabbing mechanism and method |
| CN115557262A (en) * | 2022-10-20 | 2023-01-03 | 大连理工大学 | Visual guide control system and method for intelligent unloading, sterilizing and stacking production line of container boxed goods |
| CN115583498A (en) * | 2022-10-20 | 2023-01-10 | 大连理工大学 | Autonomous-advancing type automatic grabbing and unloading device and method for boxed goods of container and storage medium |
| CN115593940A (en) * | 2022-10-20 | 2023-01-13 | 大连理工大学（Cn） | Automatic grabbing, unloading, disinfecting and stacking operation line and method for goods in container |
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Address after: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee after: Shenzhen Lan pangzi machine intelligence Co., Ltd Address before: B701-702, industrialization building, Shenzhen Virtual University Park, No.2, Yuexing Third Road, Nanshan District, Shenzhen, Guangdong Province Patentee before: SHENZHEN DORABOT ROBOTICS Co.,Ltd. |
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| CP01 | Change in the name or title of a patent holder |