CN217102158U

CN217102158U - Robot clamping tool for stacking and carrying

Info

Publication number: CN217102158U
Application number: CN202220977852.6U
Authority: CN
Inventors: 王建东; 姜庆明; 王建平
Original assignee: Suzhou Demac Electric Co ltd; Shandong Weida Machinery Co Ltd
Current assignee: Suzhou Demac Electric Co ltd; Shandong Weida Machinery Co Ltd
Priority date: 2022-04-26
Filing date: 2022-04-26
Publication date: 2022-08-02
Anticipated expiration: 2032-04-26

Abstract

The utility model discloses a robot clamping tool for stacking and carrying, which comprises a grabbing mechanism for grabbing a carton from feeding to discharging, wherein the grabbing mechanism comprises a mechanical arm and a grabbing component movably connected with the mechanical arm, and the grabbing component comprises a first grabbing component and a second grabbing component; the first grabbing component comprises a base and a plurality of suction nozzles elastically connected to the base; the second grabbing component comprises a clamp movably connected to the base, and the clamp is located on the periphery of the base; the mechanical arm drives the base to move to the position above the paper box, so that the suction nozzle adsorbs the paper box, and the periphery of the paper box is clamped and fixed through the clamp, so that the paper box is conveyed. The utility model provides a technical problem that artifical handling efficiency of article is low.

Description

Robot clamping tool for stacking and carrying

Technical Field

The utility model relates to a centre gripping frock field, concretely relates to robot centre gripping frock for pile up neatly transport.

Background

The stacker crane is used for stacking cartons loaded into containers on trays and pallets (wood and plastic) according to a certain arrangement, automatically stacking the cartons, stacking the cartons into multiple layers, and pushing the cartons out so as to facilitate the cartons to be transported to a warehouse for storage by a forklift.

In a production workshop, various parts or articles are basically packaged through cartons, so a stacker crane is often used, a large number of trays are obviously needed in the stacking process, the cartons filled with the parts or articles need to be transported or moved to the trays, manual transportation is time-consuming and labor-consuming, and the cartons are easy to fall off or damage, so that equipment capable of transporting or moving the articles to the trays needs to be provided.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides a robot centre gripping frock for pile up neatly transport adopts this frock can be quick to carry the material, has improved the efficiency of shipment or receipts goods.

The technical scheme of the utility model is that: a robot clamping tool for stacking and carrying comprises a grabbing mechanism for grabbing a carton from feeding to discharging, wherein the grabbing mechanism comprises a mechanical arm and a grabbing component movably connected to the mechanical arm, and the grabbing component comprises a first grabbing component and a second grabbing component;

the first grabbing component comprises a base and a plurality of suction nozzles elastically connected to the base; the second grabbing component comprises a clamp movably connected to the base, and the clamp is located on the periphery of the base; the mechanical arm drives the base to move to the position above the paper box, so that the suction nozzle adsorbs the paper box, and the periphery of the paper box is clamped and fixed through the clamp, so that the paper box is conveyed.

Furthermore, a plurality of the suction nozzles are arranged at the bottom of the base in an array manner.

Furthermore, the base is provided with a plurality of vacuum control valves, and the plurality of vacuum control valves are respectively connected with the plurality of suction nozzle air pipes.

Furthermore, a rack is arranged on the base, the top of the rack is fixedly connected with the mechanical arm, and the opposite side of the rack is movably connected with the clamp through a pneumatic element.

Further, anchor clamps are equipped with two sets ofly and include left anchor clamps and right anchor clamps, just the structure of left side anchor clamps with the structure of right anchor clamps is the same, left side anchor clamps and right anchor clamps symmetrical formula set up in the base.

Furthermore, the right clamp comprises a right auxiliary support fixed on the base and a right clamping arm rotatably connected to the right auxiliary support, and the pneumatic element can drive the right clamping arm to be rotatably connected relative to the right auxiliary support so as to fix or unfix the carton.

Furthermore, a connecting rod is arranged between the left clamping arm of the left clamp and the right clamping arm, and the right clamping arm can drive the connecting rod to drive the left clamping arm of the left clamp to rotate relative to the left auxiliary support of the left clamp.

Furthermore, the right auxiliary support is connected with a visual guide device.

Furthermore, the base is further provided with a limiting device, the limiting device comprises two limiting blocks arranged on the opposite sides of the base and a limiting column elastically connected to the base, and an induction device located on the base is arranged on one side of the limiting column.

Furthermore, the length of the limit column extending out of the bottom of the base is less than or equal to the length of the suction nozzle.

The utility model has the beneficial technical effects that:

1. the bottom array of base is equipped with a plurality of suction nozzles, adsorbs the surface of article through a plurality of suction nozzles to the absorption transport to article has been accomplished.

2. The opposite side of base is equipped with the stopper, through the setting of stopper for the suction nozzle can not lead to the suction nozzle to damage because excessive pushing down.

3. The base elastic connection has spacing post, and the length that spacing post stretches out the base bottom is less than or equal to the length of suction nozzle, has guaranteed the stroke that the suction nozzle pushed down, has further guaranteed that the suction nozzle can not lead to damaging owing to excessively pushing down.

4. Pneumatic component drive right arm lock rotates along right auxiliary stand to accomplish the centre gripping to article, simultaneously, use through arm lock and suction nozzle cooperation, thereby can carry different article.

5. A connecting rod is connected between the left clamping arm and the right clamping arm, and the right clamping arm drives the left clamping arm to rotate along the left auxiliary support through the connecting rod, so that the object is clamped and fixed.

6. The right auxiliary support is connected with a vision guiding device, so that accurate positioning of the suction nozzle and the clamp to the article is guaranteed through the vision guiding device.

The above description is only an overview of the technical solution of the present invention, and in order to make the technical means of the present invention clearer and can be implemented according to the content of the description, the following detailed description is made with reference to the preferred embodiments of the present invention and accompanying drawings.

Drawings

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

fig. 2 is a schematic structural view of the gripping mechanism of the present invention;

fig. 3 is a schematic structural view of the grasping assembly of the present invention;

figure 4 is a top view of the dwelling assembly of the present invention;

fig. 5 is a schematic structural view of the limiting device of the present invention.

The reference signs are:

1. feeding and chopping; 2. discharging and chopping; 3. a grabbing mechanism; 31. a mechanical arm; 32. a grasping assembly; 321. a base; 322. a vacuum control valve; 323. a right clamp; 3231. a right auxiliary support; 3232. a right clamp arm; 324. a visual guide device; 325. a frame; 326. a pneumatic element; 327. a suction nozzle; 328. a limiting device; 3281. a limiting block; 3282. a limiting post; 3283. an induction device; 329. a left clamp; 3291. a left auxiliary support; 3292. a left clamp arm; 330. a connecting rod.

Detailed Description

In order to make the technical means of the present invention clearer and to implement the present invention according to the content of the specification, the following detailed description of the embodiments of the present invention is provided with reference to the accompanying drawings and examples, which are used for illustrating the present invention and are not intended to limit the scope of the present invention.

It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the application described herein may be used.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or position relationship described based on the embodiments and shown in the drawings, or the orientation or position relationship that the products of the present invention are usually placed when using, which is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

As shown in fig. 1, fig. 2 and fig. 3, the utility model particularly relates to a robot clamping tool for palletizing and transporting, which comprises a grabbing mechanism 3 for grabbing a carton from an inlet chop 1 to an outlet chop 2, wherein the grabbing mechanism 3 comprises a mechanical arm 31 and a grabbing component 32 movably connected to the mechanical arm 31, and the grabbing component 32 comprises a first grabbing component 32 and a second grabbing component 32;

the first grasping assembly 32 includes a base 321 and a plurality of suction nozzles 327 elastically connected to the base 321; the second grabbing component 32 comprises a clamp movably connected to the base 321, and the clamp is located around the base 321; the mechanical arm 31 drives the base 321 to move to the upper side of the carton, so that the suction nozzle 327 sucks the carton, and clamps and fixes the periphery of the carton through the clamp, thereby completing the carrying of the carton.

It should be noted that, the first grabbing component 32 and the second grabbing component 32 are both connected to the base 321, and the first grabbing component 32 and the second grabbing component 32 are used in cooperation, so that the objects with different specifications are transported.

Moreover, the anchor clamps are located all around of suction nozzle 327, and when suction nozzle 327 adsorbs the article, the rethread anchor clamps carry out the centre gripping to article to guaranteed that article can not take place to drop in handling.

The plurality of suction nozzles 327 are arranged at the bottom of the base 321 in an array manner, and the arrangement of the plurality of suction nozzles 327 increases the suction capacity of the article.

The base 321 is provided with a plurality of vacuum control valves 322, and the plurality of vacuum control valves 322 are respectively connected with a plurality of air pipes of the suction nozzle 327.

Wherein, a plurality of vacuum control valve 322 are separately controlled respectively, and simultaneously, a vacuum control valve 322 is respectively trachea connection with a plurality of suction nozzles 327, has guaranteed when a certain vacuum control valve 322 damages, can not lead to all suction nozzles 327 to accomplish the absorption action.

Furthermore, the plurality of vacuum control valves 322 are respectively connected with a barometer, and whether the vacuum control valves 322 or the suction nozzles 327 are damaged or not can be accurately judged by observing the barometer.

A frame 325 is arranged on the base 321, the top of the frame 325 is fixedly connected with the mechanical arm 31, and the opposite side of the frame 325 is movably connected with the clamp through a pneumatic element 326.

The frame 325 is fixed at the middle position of the base 321, meanwhile, the top of the frame 325 is fixedly connected with the mechanical arm 31, the opposite side of the frame 325 is movably connected with a pneumatic element 326, and the clamp is driven by the pneumatic element 326 to complete the clamping action.

The clamp is provided with two groups and comprises a left clamp 329 and a right clamp 323, the structure of the left clamp 329 is the same as that of the right clamp 323, and the left clamp 329 and the right clamp 323 are symmetrically arranged on the base 321.

As shown in fig. 3 and 4, the right clamp 323 includes a right auxiliary support 3231 fixed to the base 321 and a right clamping arm 3232 rotatably connected to the right auxiliary support 3231, and the pneumatic element 326 can drive the right clamping arm 3232 to rotatably connect with respect to the right auxiliary support 3231 to complete the fixing or the releasing of the carton.

It should be noted that, among them, the right clamping arm 3232 is connected to the opposite side of the right auxiliary support 3231, and the right clamping arm 3232 can rotate relative to the right auxiliary support 3231; meanwhile, the right clip arm 3232 is fixed to the base 321 by a right auxiliary bracket 3231.

One end of the right arm 3232 is movably connected to the pneumatic element 326, and the pneumatic element 326 drives the right arm 3232 to rotate relative to the right auxiliary support 3231, so as to fix or release the article.

Similarly, the left clamp 329 also includes the same structure

A connecting rod 330 is arranged between the left clamping arm 3292 of the left clamp 329 and the right clamping arm 3232 of the right clamp 323, and the right clamping arm 3232 of the right clamp 323 can drive the connecting rod 330 to drive the left clamping arm 3292 of the left clamp 329 to rotate relative to the left auxiliary support 3291 of the left clamp 329.

It should be noted that, when the pneumatic element 326 drives the right clamping arm 3232 of the right clamp 323 to rotate relative to the right auxiliary support 3231, the right clamping arm 3232 of the right clamp 323 drives the left clamping arm 3292 of the left clamp 329 to synchronously move relative to the left auxiliary support 3291 through the connecting rod 330, and the left clamping arm 3292 of the left clamp 329 and the right clamping arm 3232 of the right clamp 323 are used in cooperation, so that the object is clamped around.

The right auxiliary support 3231 is connected to a visual guide device 324, and the visual guide device 324 can ensure that the suction nozzle 327 and the clamp can accurately position the article, so that the article can be accurately conveyed.

As shown in fig. 5, a limiting device 328 is further provided, the limiting device 328 includes two limiting blocks 3281 disposed on opposite sides of the base 321 and a limiting column 3282 elastically connected to the base 321, and a sensing device 3283 located on the base 321 is disposed on one side of the limiting column 3282.

It should be noted that the limiting block 3281 is fixed at the opposite side of the base 321, and the length of the limiting block 3281 extending out of the bottom of the base 321 is smaller than the length of the suction nozzle 327, when the base 321 is pressed down and the suction nozzle 327 sucks an article, the limiting block 3281 limits and protects the suction nozzle 327, so that the suction nozzle 327 is not damaged in the pressing down process, and meanwhile, the bottom of the base 321 is prevented from being in hard contact with the article.

Furthermore, the limiting column 3282 penetrates through the surface of the base 321 and extends out of the bottom of the base 321, meanwhile, the limiting column 3282 can vertically move up and down relative to the base 321, and the limiting column 3282 and the sensing device 3283 are used in a matched mode, so that the suction nozzle 327 is ensured to be sucked in a default mode after descending for a distance, and further the next action can be continued.

The length of the limiting column 3282 extending out of the bottom of the base 321 is less than or equal to the length of the suction nozzle 327.

The utility model discloses a work flow is:

1. the robot 31 drives the base 321 to move, scans the article through the visual guide device 324 provided on the auxiliary stand, and secures the position of the article, and after the position information is fed back, the robot 31 drives the base 321 to move to the position right above the article and drives the base 321 to press down.

2. The suction nozzle 327 at the bottom of the base 321 contacts the surface of the article and sucks the surface of the article.

3. At this time, the position-limiting column 3282 located at the bottom of the base 321 moves vertically upward, and the sensing device 3283 senses the position-limiting column 3282, and at the same time, the pneumatic element 326 operates.

4. The pneumatic element 326 drives the right clamping arm 3232 to rotate relative to the right auxiliary support 3231, the right clamping arm 3232 drives the left clamping arm 3292 to synchronously rotate relative to the left auxiliary support 3291 through the connecting rod 330, and the left clamping arm 3292 and the right clamping arm 3232 are used in a matched mode, so that the object is clamped and fixed.

5. After the fixing is completed, the robot arm 31 drives the base 321 to move, thereby completing the conveyance of the article.

The above embodiments are only specific embodiments of the present invention, and are not intended to limit the technical solution of the present invention, and the protection scope of the present invention is not limited thereto, although the present invention is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: those skilled in the art can still modify or easily conceive of changes in the technical solutions described in the foregoing embodiments or make equivalent substitutions for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.

Claims

1. A robot clamping tool for palletizing and carrying comprises a grabbing mechanism (3) for grabbing a carton from an inlet chopping block (1) to an outlet chopping block (2), and is characterized in that the grabbing mechanism (3) comprises a mechanical arm (31) and a grabbing component (32) movably connected to the mechanical arm (31), and the grabbing component (32) comprises a first grabbing component (32) and a second grabbing component (32);

the first grabbing component (32) comprises a base (321) and a plurality of suction nozzles (327) elastically connected to the base (321); the second grabbing component (32) comprises a clamp movably connected to the base (321), and the clamp is positioned on the periphery of the base (321); the mechanical arm (31) drives the base (321) to move to the upper side of the carton, so that the suction nozzle (327) adsorbs the carton, and the periphery of the carton is clamped and fixed through the clamp, so that the carton is conveyed.

2. The robot clamping tool for palletizing according to claim 1, wherein a plurality of the suction nozzles (327) are arranged in an array at the bottom of the base (321).

3. Robot clamping tool for palletizing according to claim 2, characterized in that the base (321) is provided with a plurality of vacuum control valves (322), the plurality of vacuum control valves (322) being respectively connected with a plurality of suction nozzles (327) air pipes.

4. Robot clamping tool for palletization according to claim 1, characterized in that a frame (325) is provided on the base (321), the top of the frame (325) is fixedly connected to the robot arm (31), and the opposite side of the frame (325) is movably connected to the gripper by means of a pneumatic element (326).

5. Robot clamping tool for palletizing according to claim 4, characterized in that the clamps are provided in two sets and comprise a left clamp (329) and a right clamp (323), the structure of the left clamp (329) is the same as that of the right clamp (323), and the left clamp (329) and the right clamp (323) are symmetrically arranged on the base (321).

6. The robot clamping tool for palletizing according to claim 5, wherein the right clamp (323) comprises a right auxiliary bracket (3231) fixed to a base (321) and a right clamping arm (3232) rotatably connected to the right auxiliary bracket (3231), and the pneumatic element (326) can drive the right clamping arm (3232) to be rotatably connected relative to the right auxiliary bracket (3231) so as to complete the fixation or the de-fixation of the carton.

7. The robot clamping tool for palletizing according to claim 6, wherein a connecting rod (330) is arranged between a left clamping arm (3292) of the left clamp (329) and the right clamping arm (3232), and the right clamping arm (3232) can drive the connecting rod (330) to drive the left clamping arm (3292) of the left clamp (329) to rotate relative to a left auxiliary bracket (3291) of the left clamp (329).

8. Robot clamping tool for palletization according to claim 6, characterized in that a visual guide (324) is connected to said right auxiliary support (3231).

9. The robot clamping tool for palletizing according to claim 1, wherein a limiting device (328) is further arranged, the limiting device (328) comprises two limiting blocks (3281) arranged on opposite sides of a base (321) and a limiting column (3282) elastically connected to the base (321), and a sensing device (3283) located on the base (321) is arranged on one side of the limiting column (3282).

10. The robot clamping tool for palletizing according to claim 9, wherein the length of the limiting column (3282) extending out of the bottom of the base (321) is less than or equal to the length of the suction nozzle (327).