CN217478452U

CN217478452U - A end effector of robot for bag pile up neatly

Info

Publication number: CN217478452U
Application number: CN202220316333.5U
Authority: CN
Inventors: 张少龙; 李兰兰; 洪立重; 邹亮
Original assignee: Hefei Hante Intelligent Equipment Co ltd
Current assignee: Hefei Hante Intelligent Equipment Co ltd
Priority date: 2022-02-16
Filing date: 2022-02-16
Publication date: 2022-09-23
Anticipated expiration: 2032-02-16

Abstract

The utility model relates to the technical field of robot end effectors, and discloses a robot end effector for bag stacking, which is arranged at the end of a robot arm and comprises a connecting frame fixedly connected with the robot arm, clamping jaws symmetrically arranged below two ends of the connecting frame and rotatably connected with the connecting frame, telescopic cylinders fixedly arranged at two ends of the connecting frame and used for pushing the clamping jaws to rotate relative to the connecting frame, and a nylon pressing plate which is positioned above the clamping jaws and can perform lifting motion; the stacking machine solves the problems that part of end effectors cannot bear heavy load, are stressed unevenly, easily slide in the material carrying process and the like, stacking efficiency is improved, labor intensity of workers is reduced, and production risk is reduced.

Description

A end effector of robot for bag pile up neatly

Technical Field

The utility model relates to an end effector technical field of robot, concretely relates to end effector of robot for bag pile up neatly.

Background

With the vigorous development of society, the development of many enterprises is becoming more and more popular nowadays. The pile up neatly transport is indispensable in product production, especially the great product of quantity, wastes time and energy through simple personnel's pile up neatly, moreover to the great, the heavier product of quality of size, the manual work can not the direct operation. Accordingly, the palletizing robot plays an important role in the palletizing operation.

At present, some problems exist in the current research situation of stack carrying of bagged materials, and because the bagged materials are generally heavier in weight, the bagged materials need larger bearing capacity in the carrying process. Secondly, the end effectors of many palletizing and transporting robots are stressed unevenly, so that the packaging bags are damaged and lost. Also when the robot arm is moving, there is usually a certain speed, which may cause the material to slip if the end effector is not firmly fixed to the material.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model provides an end effector of robot for bag pile up neatly has solved the problem that part end effector can not heavily bear, atress is uneven, the material handling process easily landing.

In order to solve the technical problem, the utility model adopts the following technical scheme:

the utility model provides an end effector of robot for bag pile up neatly installs at the robot arm end, include with robot arm fixed connection's connecting frame, symmetry set up connecting frame both ends below and with connecting frame rotate the clamping jaw of being connected, fixed mounting just is used for promoting the clamping jaw relatively and connects frame pivoted telescopic cylinder at the connecting frame both ends to and be located the clamping jaw top and can carry out elevating movement's nylon clamp plate.

Further, the clamping device comprises a pressing cylinder which is fixedly connected with the connecting frame and is vertically arranged above the clamping jaw; the nylon pressing plate is fixedly connected with the moving end of the pressing cylinder.

Further, the crank comprises a rotating shaft rotationally connected with the connecting frame, a crank fixedly arranged on the rotating shaft and a bent arm fixedly connected with the rotating shaft; one end of the crank, which is far away from the rotating shaft, is hinged with the moving end of the telescopic cylinder; and one end of the bent arm, which is far away from the rotating shaft, is fixedly connected with the clamping jaw.

Furthermore, the connecting frame comprises a flange connected with the tail end of the robot arm, a section bar which is fixedly connected with the flange and arranged along the transverse direction, and fixing plates fixed at two ends of the section bar; the telescopic cylinder is fixedly installed on the fixed plate, and the rotating shaft is rotatably connected with the fixed plate.

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

the upper flange is arranged on a robot arm, when a bag starts to be grabbed, the telescopic cylinders are controlled by a vacuum pump to pump air out of the telescopic cylinders on the two sides, the moving end is simultaneously ejected out to drive the crank shaft to rotate, and the bent arms on the two ends drive the clamping jaws to turn over to be in a horizontal state, so that the whole bag is grabbed; because the claw teeth are uniformly distributed, the bag is stressed uniformly in the grabbing process and can bear larger load. Meanwhile, a lower air cylinder arranged on the inner side of the fixing plate blows in air through a vacuum pump, so that the moving end of the lower air cylinder moves, and the wrapping bag is tightly pressed through a nylon pressing plate connected to the lower portion of the lower air cylinder, so that the wrapping bag is prevented from sliding and falling off; then the robot arm moves to a stacking position under the instruction of a program, a vacuum pump controls air of all cylinders to be pumped out, a pressing cylinder contracts and a telescopic cylinder contracts to drive a clamping jaw to turn and expand, and a bag automatically falls to an accurate stacking position to complete stacking work; the stacking machine solves the problems that part of end effectors cannot bear heavy load, are stressed unevenly, easily slide in the material carrying process and the like, stacking efficiency is improved, labor intensity of workers is reduced, and production risk is reduced.

Drawings

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

fig. 2 is a front view of the present invention;

fig. 3 is a schematic view of the whole structure of the present invention.

In the figure: 1. a flange; 2. a section bar; 3. a telescopic cylinder; 4. a crank shaft; 5. a fixing plate; 6. bending the arm; 7. a cylinder connecting piece; 8. pressing down the air cylinder; 9. a nylon pressing plate; 10. a clamping jaw.

Detailed Description

A preferred embodiment of the present invention will be described in detail below with reference to the accompanying drawings.

As shown in fig. 1 to 3, the robot end effector of the present invention includes a flange 1, a section bar 2, a telescopic cylinder 3, a crank shaft 4, a fixing plate 5, a bent arm 6, a cylinder connecting piece 7, a pressing cylinder 8, a nylon pressing plate 9, and a clamping jaw 10.

Wherein the flange 1, the section bar 2 and the fixing plate 5 form a connecting frame; one side of the flange 1 is fixedly connected with a robot arm, and the other side of the flange is fixedly connected with the section bar 2; the section bar 2 is transversely arranged, and two fixing plates 5 are arranged at two ends of the section bar 2.

The utility model provides a horizontal extension direction of section bar 2 promptly.

The crank shaft 4 is composed of a crank and a rotating shaft, and may be an integral piece or a structural piece.

Telescopic cylinder 3 includes stiff end and removal end, and two telescopic cylinder 3's stiff end is followed transverse mounting respectively on two fixed plates 5, and it is articulated with the crank on the crank axle 4 to remove the end. When the cylinder moves to extend or retract, the crank and the rotating shaft are driven to rotate.

One end of the bent arm 6 is fixedly connected with the rotating shaft of the crank shaft 4, and the other end is fixedly connected with the clamping jaw 10. The clamping jaws 10 are two in total, and when the crank shaft 4 rotates, the clamping jaws 10 can be driven to rotate around the rotating shaft. The telescopic cylinder and the crank shaft matched structure can bear larger load, and the claw teeth of the clamping jaw are uniformly distributed to uniformly distribute the load on the clamping jaw, so that the clamping jaw is also favorable for bearing.

The number of the lower air cylinders 8 is two, the lower air cylinders are fixedly arranged on the fixed plate 5 through air cylinder connecting pieces 7, and the moving ends of the lower air cylinders 8 are fixedly connected with the nylon pressing plate 9 and can drive the nylon pressing plate 9 to move up and down; the nylon pressing plate 9 is horizontally arranged.

When the bag packaging robot works, the flange 1 of the end effector is fixed on a robot arm, when a bag is conveyed to a designated position through a conveying line, the robot reaches a grabbing position under a program instruction, and the end effector starts to act. Firstly, clamping jaw 10 is the state of opening initially, and the telescopic cylinder 3 at both ends passes through the vacuum pump and takes out the cylinder gas, and the cylinder removes the end shrink and drives crank shaft 4 and curved boom 6 rotatory, and clamping jaw 10 is fixed on curved boom 6 to make clamping jaw 10 overturn and snatch the bag to the horizontality, this kind of structure can adapt to the heavy load well and snatch. Simultaneously, the air cylinder 8 is installed on fixed plate 5 through cylinder connecting piece 7 down, and the air cylinder 8 makes the cylinder blow in gas through the vacuum pump and will remove the end and stretch out, and then compresses tightly the bag with nylon pressing plate 9, guarantees that the bag is difficult for the landing in handling, increase stability. Then, the robot conveys the bags to a stacking position through instructions, and the vacuum pump controls the telescopic cylinder 3 to blow in gas, so that the clamping jaws 10 are opened; the vacuum pump controls the pressing cylinder 8 to pump out air, so that the nylon pressing plate 9 rises, the bag automatically falls into a stacking position, and the stacking work requirement is met.

The utility model provides an each cylinder is sharp cylinder, carry out linear motion's removal end including stiff end and stiff end relatively.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein, and any reference signs in the claims are not intended to be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides an end effector of robot for bag pile up neatly installs at the robot arm end, its characterized in that, include with robot arm fixed connection's connecting frame, symmetry set up connecting frame both ends below and with connecting frame rotate the clamping jaw of being connected, fixed mounting just is used for promoting the clamping jaw and connects frame pivoted telescopic cylinder relatively at the connecting frame both ends to and be located the clamping jaw top and can carry out elevating movement's nylon clamp plate.

2. A robotic end effector for palletizing bags according to claim 1, characterised by comprising a hold-down cylinder fixedly connected to the connecting frame and vertically arranged above the gripping jaws; the nylon pressing plate is fixedly connected with the moving end of the pressing cylinder.

3. The robot end effector for bag palletizing according to claim 1, which comprises a rotating shaft rotatably connected with the connecting frame, a crank fixedly arranged on the rotating shaft, and a bent arm fixedly connected with the rotating shaft; one end of the crank, which is far away from the rotating shaft, is hinged with the moving end of the telescopic cylinder; and one end of the bent arm, which is far away from the rotating shaft, is fixedly connected with the clamping jaw.

4. The robot end effector for bag palletizing according to claim 3, wherein the connecting frame comprises a flange connected with the end of the robot arm, a section bar which is fixedly connected with the flange and is arranged along the transverse direction, and fixing plates fixed at two ends of the section bar; the telescopic cylinder is fixedly arranged on the fixed plate, and the rotating shaft is rotatably connected with the fixed plate.