CN213415500U - Turnover box fixture, grabbing robot and storage system - Google Patents
Turnover box fixture, grabbing robot and storage system Download PDFInfo
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- CN213415500U CN213415500U CN202022155473.2U CN202022155473U CN213415500U CN 213415500 U CN213415500 U CN 213415500U CN 202022155473 U CN202022155473 U CN 202022155473U CN 213415500 U CN213415500 U CN 213415500U
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Abstract
The utility model relates to a robot technical field for the storage, concretely relates to turnover case anchor clamps, snatch robot and warehouse system. The turnover box clamp comprises a clamp body and two clamping arms arranged in parallel, wherein the clamping arms are movably arranged on the clamp body, each clamping arm and one side of the contact clamping of the turnover box are respectively provided with at least one copying limiting block which is suitable for being matched with a groove structure on the outer side of the turnover box, the copying limiting blocks can be used for clamping the turnover box and entering the grooves on the outer side of the turnover box, the grooves are preferably handles, the copying limiting blocks play a role in whole limiting, the copying bosses are clamped in the handles of the turnover box, the turnover box can be firmly clamped, the turnover box is prevented from being transmitted to the clamping arms on two sides along with the high-speed rotation of the clamp and the instantaneous impact inertia is stopped, and the clamping arms on the two.
Description
Technical Field
The utility model relates to a robot technical field for the storage, concretely relates to turnover case anchor clamps, snatch robot and warehouse system.
Background
Annular storage robot anchor clamps that adopt on the existing market are of a large variety, and current like anchor clamps mainly adopt fixed promotion formula anchor clamps or fixed end formula anchor clamps that hold in the palm according to the box structure of turnover case more. By adopting the clamp form, the box falling or throwing can be caused, the storage efficiency of the whole system is greatly restricted, and hidden danger can be caused to storage management.
For the fixed lifting type clamp in the market, the clamp arms at two ends are usually fixed, and the upper ends of the clamp arms are in contact with the raised edge of the turnover box and lift the turnover box. The fixture has the disadvantages that if the robot moves too fast, the turnover box is very easy to shift and even throw out, when the robot is placed in a storage position, great deviation can be caused, the next grabbing and positioning is affected, and the fixture has limitation, and only the turnover box of one specification and type can be grabbed. To the fixed end-supporting type anchor clamps that exist in the market, it is fixed for both ends arm lock usually, and the arm lock front end is equipped with stop gear, and the anchor clamps bottom has the collet. When the turnover box is used, the limiting mechanism at the front end of the clamping arm is opened, so that the turnover box can be prevented from moving, and the bottom support supports the turnover box to bear weight. The clamp has the disadvantage that the compatibility of the size of the turnover box is low, and generally, the clamp with one specification can only be matched with the turnover box with one specification. In addition, the clamp occupies a large space, and the bottom supporting structure occupies a large space, so that the total storage amount is influenced, and the input cost of storage is increased.
In addition, if the annular warehouse is divided according to the storage position depth of the annular warehouse, the annular warehouse robot clamp can be divided into a single-depth position, a double-depth position and a triple-depth position, at present, most of common clamps are single-depth position and double-depth position clamps, but the two types of clamps have the defects of low space utilization rate and low storage efficiency; and current three deep position anchor clamps, its arm lock through meeting overlength, can lead to the problem of the not enough and shake of rigidity.
SUMMERY OF THE UTILITY MODEL
Therefore, the to-be-solved technical problem of the utility model lies in overcoming the defect that the turnover case of access in-process shifts, gets rid of the case and fall the case problem among the prior art to for make full use of storage space, promote storage efficiency, thereby provide a turnover case anchor clamps, snatch robot and warehouse system.
In order to solve the technical problem, the utility model discloses a technical scheme as follows:
the utility model provides a turnover case anchor clamps, it includes: a clamp body; the two clamping arms are arranged in parallel and movably arranged on the clamp body; the inner side of each clamping arm is provided with at least one copying limiting block, the copying limiting blocks are suitable for being matched with a groove structure on the outer side of the turnover box, and the inner side refers to the side, clamped by the clamping arms and the turnover box in a contact mode.
In the turnover box clamp, the clamp body is provided with the linear guide rail, and the two parallel clamping arms are respectively in sliding fit with the linear guide rail.
In the turnover box clamp, the turnover box clamp further comprises a driver, the driver is fixed on the clamp body, and the driver is respectively connected with the two clamping arms.
In the turnover box clamp, the driver is a pneumatic clamping jaw, and two ends of the driver are respectively connected with the two clamping arms through pull rods.
In the turnover box clamp, the groove structure on the outer side of the turnover box is a turnover box handle.
In the turnover box clamp, the inner side of each clamping arm is provided with at least one front and rear limiting block, and the front and rear limiting blocks are positioned at the front ends of the profiling limiting blocks.
The turnover box clamp also comprises at least one pair of high-position pressing plates which are respectively arranged on the clamping arms; each high-position pressure plate is protruded above the clamping arm arranged on the high-position pressure plate and extends towards the opposite clamping arm direction. Optionally, the high-position pressing plate is a bent plate-shaped structure, extends above the clamping arm, and is bent toward the clamping arm opposite to the high-position pressing plate.
The turnover box clamp also comprises at least one goods detection sensor which is arranged at the top end of the clamping arm; and the material in-place sensor is arranged on the base part of the clamping arm or the clamp body.
In the turnover box clamp, the turnover box clamp further comprises a connecting rod, and the connecting rod is arranged on one side, opposite to the clamping arms, of the clamp body.
In the turnover box clamp, the connecting rod is a lengthened connecting flange, and the length of the lengthened connecting flange is 0.8-2.0 m.
The utility model also provides a snatch robot, it includes foretell turnover case anchor clamps.
The utility model also provides a warehouse system, it includes three deep-position annular storehouses to and foretell snatch the robot, it is used for placing the turnover case to snatch the robot on the storage position in three deep-position annular storehouses.
The utility model discloses technical scheme has following advantage:
1. the utility model provides a turnover box clamp, which comprises a clamp body; the two clamping arms are arranged in parallel and movably arranged on the clamp body; each arm lock all is equipped with at least one profile modeling stopper that is suitable for with the groove structure looks adaptation in the turnover case outside with that one side of turnover case contact centre gripping, can be when the centre gripping turnover case, get into the recess in the turnover case outside, this recess is preferred the handle, the profile modeling stopper plays whole limiting displacement this moment, its profile modeling boss of card in the turnover case handle can firmly block the turnover case, when avoiding the turnover case to rotate the impact inertia who stops the moment along with anchor clamps high speed and transmit for both sides arm lock, lead to the very big elastic deformation that both sides arm lock produced in the twinkling of an eye and make the turnover case drop. In addition, when the turnover box rotates at a high speed along with the clamp, the generated centrifugal force can enable the turnover box to slide along the rotating diameter direction, and the movement of the turnover box in the direction is limited to a certain extent at the same time of profile modeling limit.
2. The utility model provides a turnover case anchor clamps, each the inboard of arm lock all has at least one front and back stopper, the front and back stopper is located the front end of profile modeling stopper, it can support and lean on in turnover case reinforcing rib plate both sides, plays the effect that prevents to have enough to meet need the case to throw away and shift to with the cooperation of above-mentioned profile modeling stopper, can tackle the power that the turnover case handle can bear on the equidirectional not have the complicated condition of great difference and this local actual atress, with the reliability that improves anchor clamps and the protection to turnover case.
3. The utility model provides a turnover box clamp, which also comprises at least a pair of high-position pressing plates which are respectively arranged on the clamping arms; each high-position pressure plate is protruded above the clamping arm arranged on the high-position pressure plate and extends towards the opposite clamping arm direction. This high-order clamp plate's setting can make anchor clamps still can once only press from both sides and get two turnover casees under the condition that the turnover case is the empty case of piling up from top to bottom, and high-order clamp plate plays the effect of fixed upper turnover case this moment, prevents that upper turnover case from throwing away when the robot rotates, solves the fixed problem of upper turnover case when once only depositing and withdrawing the two-layer turnover case that piles up.
4. The utility model provides a turnover case anchor clamps selects to extend flange, and specifically length sets up to 0.8m-2.0m to the storage position degree of depth of three deep positions in position should not directly extend the arm lock, can greatly solve the shake problem of anchor clamps and turnover case when fast beat moves like this.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the technical solutions in the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
Fig. 1 is the embodiment of the utility model provides a turnover case anchor clamps structure sketch map.
Description of reference numerals:
1-clamping arm, 2-high-position pressing plate, 3-linear guide rail, 4-clamp body, 5-profiling limiting block, 6-front and rear limiting blocks, 7-goods detecting sensor, 8-material in-place sensor, 9-pull rod, 10-pneumatic clamping jaw 11-protective cover and 12-lengthened connecting flange.
Detailed Description
The technical solution of the present invention will be described clearly and completely with reference to the accompanying drawings, and obviously, the described embodiments are some, but not all embodiments of the present invention. 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.
Furthermore, the technical features mentioned in the different embodiments of the invention described below can be combined with each other as long as they do not conflict with each other.
Example 1
As shown in fig. 1, the present embodiment provides a turnover box fixture, which includes an elongated connecting flange 12 as a connecting rod, the elongated connecting flange 12 is connected to the fixture body 4, and a protective cover 11 is further disposed on one side of the fixture body 4; the two parallel clamping arms 1 are movably arranged on the clamp body 4 and are arranged on two sides of the clamp body together with the lengthened flange 12; specifically, a linear guide rail 3 is arranged on the clamp body 4, and two parallel clamping arms 1 are respectively in sliding fit with the linear guide rail 3; the pneumatic clamping jaw is fixed on the clamp body 4 and is connected with the two clamping arms 1 through a pull rod 9; the inboard of each arm lock all is equipped with at least one profile modeling stopper 5, profile modeling stopper 5 is suitable for the groove structure looks adaptation with the turnover case outside, wherein, inboard refers to arm lock 1 and the contact centre gripping of turnover case that one side. The turnover case anchor clamps that this embodiment provided, its profile modeling stopper can be when the centre gripping turnover case, in getting into the recess in the turnover case outside, and this recess is preferred to be the handle, and the profile modeling stopper plays whole limiting displacement this moment, and its profile modeling boss of card in the turnover case handle can firmly block the turnover case, avoids the turnover case when the impact inertia that stops in the twinkling of an eye along with the high-speed rotation of anchor clamps transmits for both sides arm lock, leads to the very big elastic deformation of both sides arm lock production in the twinkling of an eye and makes the. In addition, when the turnover box rotates at a high speed along with the clamp, the generated centrifugal force can enable the turnover box to slide along the rotating diameter direction, and the movement of the turnover box in the direction is limited to a certain extent at the same time of profile modeling limit.
Optionally, in the above container clamp, each of the clamping arms has at least one front and rear limiting block 6 at the inner side thereof, and the front and rear limiting blocks 6 are located at the front end of the profiling limiting block 5. The turnover box handle can abut against the two sides of the turnover box reinforcing rib plates to play a role in preventing the turnover box from being thrown out and shifted, and can be matched with the profiling limiting block 5 to cope with the situation that the force which can be borne by the turnover box handle in different directions has large difference and the local actual stress is complex, so that the reliability of the clamp is improved, and the turnover box is protected.
Optionally, the turnover box fixture further comprises at least one pair of high-position pressing plates 2, which are respectively arranged on the clamping arms 1; each high-position pressure plate 2 protrudes above the clamping arm 1 arranged on the high-position pressure plate and extends towards the direction of the clamping arm 1 opposite to the high-position pressure plate. Optionally, the high-level pressure plate 2 is a bent plate-shaped structure, and extends upward from the clamp arm and is bent toward the opposite clamp arm. This high-order clamp plate 2's setting can make anchor clamps still can once only press from both sides and get two turnover casees under the condition that the turnover case is the empty case of piling up from top to bottom, and high-order clamp plate plays the effect of fixed upper turnover case this moment, prevents that upper turnover case from throwing away when the robot rotates, solves the fixed problem of upper turnover case when once only depositing and withdrawing the two-layer turnover case that piles up.
Optionally, in the above container clamp, the length of the lengthened connecting flange 12 is 0.8m-2.0m, and the connecting flange is lengthened to correspond to the storage depth of three deep positions instead of directly lengthening the clamping arms, so that the problem of shaking of the clamp and the container during fast-beat operation can be greatly solved.
Optionally, the turnover box fixture further comprises two goods detection sensors 7 respectively arranged at the top ends 7 of the clamping arms 1, so that the accident that the robot mistakenly hits an upright post due to rotation deviation of the fixture or the accident that the upper computer software mistakenly judges and guides the fixture to place the turnover box on a storage position where the turnover box is stored, so that the container is hit and the like can be prevented; and at least one material in-place sensor 8 can be arranged and arranged on the base part of the clamping arm or the clamp body, the material in-place sensor 8 can be used for detecting a turnover box on the clamp, if the clamp clamps the turnover box in the lifting process or the robot rotates, the material in-place sensor 8 cannot detect the turnover box and provides alarm information for an upper computer, and therefore the abnormal box falling and losing situation is handled.
Example 2
The embodiment provides a snatch robot, its include embodiment 1 the turnover case anchor clamps, its clamp of turnover case that is applicable to three deep level annular storage gets, its process of getting the turnover case as follows:
when stocking the ring magazine, the pneumatic gripper 10 is opened and the gripper arms 1 at both ends are opened to both sides along the linear guide 3 by means of the pull rod 9. The clamp moves along a pre-planned track, so that the clamping arms 1 stay at two sides of the turnover box.
After the clamp is in place, the pneumatic clamping jaws 10 are closed, and the clamping arms 1 at the two ends are closed inwards along the linear guide rails 3 through the pull rods 9. After the clamping arms 1 are closed, the materials start to work at the position sensor 8, then the clamp integrally translates upwards, the profiling limiting blocks 5 enter the handle of the turnover box, the turnover box is simultaneously supported by the front limiting blocks 6 and the rear limiting blocks 6 in cooperation, and the front limiting blocks and the rear limiting blocks 6 stop at two sides of the reinforcement rib plate of the turnover box. If the clamp clamps and gets the in-process turnover case that promotes or the robot pivoted and drops, then the material can not detect the turnover case at position sensor 8 and provide alarm information for the host computer to this unusual case losing case condition that falls of processing. If the turnover box is an empty box stacked up and down, the clamp can still be used for clamping at one time, and the high-position pressing plate 2 plays a role in fixing the upper-layer turnover box, so that the upper-layer turnover box is prevented from being thrown out along with the rotation of the robot.
After the turnover box is supported by the clamp, the robot moves and rotates according to the position needing to be stored and taken. At the moment, the profiling limiting block 5 plays a role in limiting the whole body, the profiling limiting block is clamped on the profiling boss in the handle of the turnover box, the turnover box can be firmly clamped, and the phenomenon that the turnover box drops due to the fact that the turnover box is subjected to very large elastic deformation generated in the moment when the instantaneous impact inertia is transmitted to the clamping arms 1 at the two sides along with the high-speed rotation and stop of the robot is avoided. The front and rear limiting blocks 6 play a role in preventing the turnover box from being thrown out and shifted, when the turnover box rotates at a high speed along with the robot, the generated centrifugal force is enough to enable the turnover box to slide along the rotating diameter direction, although the copying limiting blocks 5 also limit the movement of the turnover box in the direction, the situation that the force which can be borne by the handle of the turnover box in different directions is greatly different and the local actual stress condition is complex is considered, and the front and rear limiting blocks 6 are arranged at the corresponding positions of the clamping arms 1 and the reinforcement rib plates of the turnover box for ensuring the reliability of the clamp and protecting the turnover box.
After the robot rotates and targets in place, the clamp horizontally moves along the depth direction of the annular storage position, the goods detection sensor 7 starts to work at the moment, the clamp is used for preventing the robot from mistakenly colliding the stand column due to rotation deviation, or the upper computer software judges mistakenly, the turnover box is placed on the storage position where the turnover box is stored by the mistakenly-guided clamp, and accidents such as box collision are caused.
In order to meet the requirement of the three-deep goods shelf on the length and depth, the clamp selects to lengthen the connecting flange 12 to meet the storage depth of the three deep goods shelf instead of directly lengthening the clamping arm 1. Therefore, the problem of shaking of the clamp and the turnover box during fast-beat operation can be solved greatly.
When taking goods from the annular bin, the reverse steps are performed following the same logic described above.
Example 3
The embodiment provides a warehousing system, it includes three deep-position annular storehouses, and embodiment 2 the grabbing robot, the grabbing robot is used for placing the turnover case on the storage position of three deep-position annular storehouses. It can greatly improve the storage efficiency in robot annular storehouse, and anchor clamps can be with the stable and reliable access turnover case of very fast beat in the annular space of three deep levels, can not take place to fall the case, get rid of the case and the turnover case aversion scheduling problem. And the warehousing system that this embodiment provided, it has improved the utilization ratio of storage space, has reduced the input of robot quantity in certain space. The clamp without a bottom support compresses the spacing of the goods positions and increases the number of the storage positions; the storage form of three deep positions is changed into the improvement of a larger storage number by increasing a minimum space, so that a single robot can store more turnover boxes, namely the investment of the number of the robots in a certain space is reduced.
It should be understood that the above examples are only for clarity of illustration and are not intended to limit the embodiments. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. And obvious variations or modifications can be made without departing from the scope of the invention.
Claims (12)
1. A turnover case clamp, comprising:
a clamp body;
the two clamping arms are arranged in parallel and movably arranged on the clamp body;
the inboard of each arm lock all is equipped with at least one profile modeling stopper, the profile modeling stopper is suitable for the groove structure looks adaptation with the turnover case outside.
2. The turnover box clamp of claim 1, wherein the clamp body is provided with a linear guide rail, and the two parallel clamping arms are respectively in sliding fit with the linear guide rail.
3. The turnover clamp of claim 2, further comprising a driver secured to the clamp body, the driver being connected to the two clamp arms, respectively.
4. The tote chuck of claim 3, wherein the actuator is a pneumatic gripper with two ends connected to the two clamp arms by respective tie rods.
5. The tote clamp of claim 1, wherein the groove structure outside of the tote is a tote grip.
6. The turnover box clamp of any one of claims 1 to 5, wherein each of the clamp arms has at least one front and rear stopper on an inner side thereof, the front and rear stoppers being located at a front end of the profiling stopper.
7. The turnover clamp of any one of claims 1-5, further comprising at least one pair of high-position pressing plates respectively disposed on the clamping arms; each high-position pressure plate is protruded above the clamping arm arranged on the high-position pressure plate and extends towards the opposite clamping arm direction.
8. The tote clamp of claim 1, further comprising at least one stock sensor disposed at a top end of the clamp arm; and the material in-place sensor is arranged on the base part of the clamping arm or the clamp body.
9. The turnover clamp of claim 1, further comprising a connecting rod disposed on a side of the clamp body opposite the clamp arm.
10. The turnover clamp of claim 9, wherein the connecting rods are elongate connecting flanges having a length of 0.8m to 2.0 m.
11. A gripping robot, characterized in that it comprises a magazine clamp according to any one of claims 1 to 10.
12. A warehousing system characterized by comprising a three-deep ring bin, and a gripping robot according to claim 11 for placing turnaround cases on the storage positions of said three-deep ring bin.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022155473.2U CN213415500U (en) | 2020-09-27 | 2020-09-27 | Turnover box fixture, grabbing robot and storage system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202022155473.2U CN213415500U (en) | 2020-09-27 | 2020-09-27 | Turnover box fixture, grabbing robot and storage system |
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| CN213415500U true CN213415500U (en) | 2021-06-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113493118A (en) * | 2021-07-30 | 2021-10-12 | 因格(苏州)智能技术有限公司 | Material box unstacking and stacking system |
| WO2022022382A1 (en) * | 2020-07-30 | 2022-02-03 | 深圳市海柔创新科技有限公司 | Goods pick-up mechanism and transport device |
| CN115092669A (en) * | 2022-02-22 | 2022-09-23 | 国网江苏省电力有限公司营销服务中心 | Electric energy meter turnover device and using method thereof |
-
2020
- 2020-09-27 CN CN202022155473.2U patent/CN213415500U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022022382A1 (en) * | 2020-07-30 | 2022-02-03 | 深圳市海柔创新科技有限公司 | Goods pick-up mechanism and transport device |
| CN113493118A (en) * | 2021-07-30 | 2021-10-12 | 因格(苏州)智能技术有限公司 | Material box unstacking and stacking system |
| CN115092669A (en) * | 2022-02-22 | 2022-09-23 | 国网江苏省电力有限公司营销服务中心 | Electric energy meter turnover device and using method thereof |
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