CN218057428U

CN218057428U - Self-adaptive turnover box mechanical gripper

Info

Publication number: CN218057428U
Application number: CN202222548713.4U
Authority: CN
Inventors: 王德钊; 李维钧
Original assignee: Shanghai Shengshi Weisheng Technology Co ltd
Current assignee: Shanghai Shengshi Weisheng Technology Co ltd
Priority date: 2022-09-26
Filing date: 2022-09-26
Publication date: 2022-12-16
Anticipated expiration: 2032-09-26

Abstract

The utility model belongs to the technical field of turnover box logistics automation, in particular to a self-adaptive turnover box mechanical gripper, which comprises a top plate, wherein a long-edge gripping mechanism is longitudinally arranged at the bottom central axis of the top plate, a front slide rail and a front rack are fixedly connected to the bottom of the front side of the top plate, a left slide rail and a left rack are fixedly connected to the bottom of the left side of the top plate, a right slide rail is fixedly connected to the bottom of the right side of the top plate, and independent grippers are respectively connected to the front slide rail and the left slide rail in a sliding manner; the long-edge grabbing mechanism comprises a bottom plate, the tops of the two sides of the bottom plate are respectively in sliding connection with a left sliding rail and a right sliding rail, a first long-edge gripper is fixedly connected to the bottom of the left side of the bottom plate, a strip-shaped through groove is formed in the bottom plate along the length direction of the bottom plate, a linear guide rail and a linear rack are fixedly connected to the bottom of the bottom plate on the two sides of the strip-shaped through groove respectively, a second long-edge gripper is connected to the linear guide rail in a sliding mode, and the independent gripper, the first long-edge gripper and the second long-edge gripper are identical in structure.

Description

Self-adaptive turnover box mechanical gripper

Technical Field

The utility model relates to a turnover case logistics automation technical field specifically is a self-adaptation turnover case mechanical tongs.

Background

For some closely-stacked turnover box stack types, the mechanical gripper cannot go deep into the interior of the turnover box to clamp, so that the traditional opposite-side gripper cannot be used for gripping. To this kind of comparatively inseparable buttress type among the prior art, snatch by traditional opposite side and change into adjacent side and snatch, and adjacent side snatchs and can realize snatching to no-load turnover case, but to heavy load turnover case, can't guarantee the stability of turnover case when snatching.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a self-adaptation turnover case mechanical tongs to solve the problem that proposes in the above-mentioned background art.

In order to achieve the above object, the utility model provides a following technical scheme: a self-adaptive mechanical turnover box gripper comprises a top plate, wherein a long-edge gripping mechanism is longitudinally arranged on the central axis of the bottom of the top plate, a front slide rail and a front rack are fixedly connected to the bottom of the front side of the top plate, a left slide rail and a left rack are fixedly connected to the bottom of the left side of the top plate, a right slide rail is fixedly connected to the bottom of the right side of the top plate, and independent grippers are slidably connected to the front slide rail and the left slide rail; the long-edge grabbing mechanism comprises a bottom plate, the tops of the two sides of the bottom plate are respectively connected with a left sliding rail and a right sliding rail in a sliding mode, the bottom of the left side of the bottom plate is fixedly connected with a first long-edge gripper, a strip-shaped through groove is formed in the bottom plate along the length direction of the bottom plate, the bottom of the bottom plate is fixedly connected with a linear guide rail and a linear rack on the two sides of the strip-shaped through groove, the linear guide rail is connected with a second long-edge gripper in a sliding mode, and the independent gripper, the first long-edge gripper and the second long-edge gripper are identical in structure; and a detection mechanism is arranged in the left front of the bottom of the top plate.

Preferably, the independent claw, the first long-side gripper and the second long-side gripper comprise connecting plates, a gear is arranged above one side of each connecting plate, a servo motor is fixedly mounted at the bottom of one side of each connecting plate, and an output shaft of each servo motor is fixedly connected with the center of the gear; the bottom of the other side of the connecting plate is fixedly connected with a fixed support, one side of the fixed support, facing the servo motor, is fixedly provided with an air cylinder, the piston end of the air cylinder is fixedly connected with a movable plate, one side of the movable plate, far away from the servo motor, is hinged with a support plate, the bottom side of the support plate is hinged with a support plate, the top of the support plate is fixedly connected with a guide shaft support, and the top end of the guide shaft support is hinged with the bottom of the fixed support.

Preferably, a reinforcing rib plate is connected between the top of one side of the fixing support facing the servo motor and the bottom of the connecting plate through a bolt.

Preferably, strip-shaped mounting grooves which are mutually communicated are formed in two sides of the fixed support, and the movable plate movably penetrates through the strip-shaped mounting grooves.

Preferably, the front side independent cleft hand interval sets up two, and the front side connecting plate top in the independent cleft hand passes through slider and preceding slide rail sliding connection, and the front side gear in the independent cleft hand and preceding rack toothing are connected.

Preferably, the left side independent cleft hand is equipped with one, and the left side connecting plate in the independent cleft hand passes through slider and left slide rail sliding connection, and the gear in the independent cleft hand in left side is connected with left rack toothing.

Preferably, the connecting plate in the first long-edge gripper is fixedly connected with the lower surface of the bottom plate, and the gear in the first long-edge gripper is meshed and connected with the left rack through the strip-shaped through groove.

Preferably, the connecting plate in the second long-edge gripper is connected with the linear guide rail in a sliding mode through a sliding block, and the gear in the second long-edge gripper is connected with the linear rack in a meshed mode.

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

1. the utility model discloses during the use, earlier form the adjacent limit by three independent cleft hand and the cooperation of first long limit tongs and snatch, the adjacent limit snatchs the turnover case and moves the certain distance after, the long limit tongs of rethread second snatchs, forms the mode that the opposite side is fixed and stabilizes, has not only solved the turnover case and has closely become to pile up the problem that can't snatch, has solved the adjacent limit again and has snatched the turnover case and lead to unstable problem.

2. The utility model discloses distance between two independent clevises of well front side, the distance between independent clevises in left side and the first long limit tongs and the distance between the long limit tongs of first long limit tongs and second all can be adjusted according to the specification of turnover case to make the turnover case of mechanical clevises can the different specification sizes of adaptation.

Drawings

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

fig. 2 is a rear structure diagram of the present invention;

FIG. 3 is a schematic bottom view of the structure of FIG. 2;

fig. 4 is a schematic bottom view of the present invention;

fig. 5 is a schematic structural view of the middle independent gripper, the first long-edge gripper, and the second long-edge gripper of the present invention.

In the figure: 1. a top plate; 2. a long edge grabbing mechanism; 201. a base plate; 202. a first long-side gripper; 203. a strip-shaped through groove; 204. a linear guide rail; 205. a linear rack; 206. a second long-side gripper; 3. a front slide rail; 4. a front rack; 5. a left slide rail; 6. a left rack; 7. a right slide rail; 8. an independent paw; 9. a connecting plate; 10. a gear; 11. a servo motor; 12. a fixed bracket; 13. a cylinder; 14. moving the plate; 15. a support plate; 16. a support plate; 17. a guide shaft support; 18. reinforcing rib plates; 19. a strip-shaped mounting groove; 20. and a detection mechanism.

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.

In the description of the present invention, it should be noted that the terms "vertical", "upper", "lower", "horizontal", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1-5, the present invention provides a technical solution: a self-adaptive mechanical turnover box gripper comprises a top plate 1, wherein a long-edge gripping mechanism 2 is longitudinally arranged at the central axis of the bottom of the top plate 1, a front slide rail 3 and a front rack 4 are fixedly connected to the bottom of the front side of the top plate 1, a left slide rail 5 and a left rack 6 are fixedly connected to the bottom of the left side of the top plate 1, a right slide rail 7 is fixedly connected to the bottom of the right side of the top plate 1, and independent grippers 8 are respectively connected to the front slide rail 3 and the left slide rail 5 in a sliding manner; the long-edge grabbing mechanism 2 comprises a bottom plate 201, the tops of two sides of the bottom plate 201 are respectively connected with a left sliding rail 5 and a right sliding rail 7 in a sliding manner, the bottom of the left side of the bottom plate 201 is fixedly connected with a first long-edge gripper 202, a strip-shaped through groove 203 is formed in the bottom plate 201 along the length direction of the bottom plate 201, the bottom of the bottom plate 201 is fixedly connected with a linear guide rail 204 and a linear rack 205 on two sides of the strip-shaped through groove 203, a second long-edge gripper 206 is connected onto the linear guide rail 204 in a sliding manner, and the independent gripper 8, the first long-edge gripper 202 and the second long-edge gripper 206 are identical in structure; a detection mechanism 20 is arranged at the left front part of the bottom of the top plate 1, the detection mechanism 20 comprises an L-shaped fixed plate, a transverse plate of the L-shaped fixed plate is penetrated with a guide sliding sleeve, a sliding rod is penetrated in the guide sliding sleeve, and the bottom end of the sliding rod is fixedly connected with a pressing plate; a groove is formed in the inner wall of the guide sliding sleeve, a spring is arranged in the groove, the bottom end of the spring is fixedly connected with the inner bottom wall of the groove, the top end of the spring is fixedly connected with the sliding rod, and the spring is movably sleeved outside the sliding rod; the detection mechanism 20 further comprises a photoelectric sensing switch and a pressure sensor, when the manipulator reaches a proper position, a signal is sent to the robot control cabinet, when the pressure sensor is arranged on the top wall in the groove, pressure is generated on the pressure sensor when the spring is stressed to stretch upwards, when the pressure reaches a set value, the fact that the independent gripper 8, the first long-edge gripper 202 and the second long-edge gripper 206 move to specified positions is indicated, and at the moment, the robot does not control the manipulator to move downwards any more.

Further, the independent claw 8, the first long-side gripper 202 and the second long-side gripper 206 all comprise a connecting plate 9, a gear 10 is arranged above one side of the connecting plate 9, a servo motor 11 is fixedly mounted at the bottom of one side of the connecting plate 9, and an output shaft of the servo motor 11 is fixedly connected with the center of the gear 10; a fixed support 12 is fixedly connected to the bottom of the other side of the connecting plate 9, an air cylinder 13 is fixedly mounted on one side, facing the servo motor 11, of the fixed support 12, a moving plate 14 is fixedly connected to a piston end of the air cylinder 13, a supporting plate 15 is hinged to one side, far away from the servo motor 11, of the moving plate 14, a supporting plate 16 is hinged to the bottom side of the supporting plate 15, a guide shaft support 17 is fixedly connected to the top of the supporting plate 16, and the top end of the guide shaft support 17 is hinged to the bottom of the fixed support 12; when the turnover box is grabbed, the cylinder 13 is started, the piston end of the cylinder 13 drives the moving plate 14 to move downwards, and when the moving plate 14 moves downwards, the inclination angle of the support plate 15 is reduced, so that the support plate 16 is turned over, and the grabbing of the turnover box is completed after the turnover.

Furthermore, a reinforcing rib plate 18 is connected between the top of one side of the fixing support 12 facing the servo motor 11 and the bottom of the connecting plate 9 through a bolt.

Further, strip-shaped mounting grooves 19 which are mutually communicated are formed in two sides of the fixed support 12, and the moving plate 14 is movably arranged to penetrate through the strip-shaped mounting grooves 19.

Furthermore, two independent claws 8 are arranged at intervals on the front side, the top of a connecting plate 9 in the independent claw 8 on the front side is connected with the front slide rail 3 in a sliding manner through a sliding block, and a gear 10 in the independent claw 8 on the front side is connected with the front rack 4 in a meshing manner; when the front independent gripper 8 needs to be moved, the servo motor 11 in the front independent gripper 8 is started, the servo motor 11 runs to drive the gear 10 in the front independent gripper 8 to rotate, and the gear 10 drives the front independent gripper 8 to slide along the front sliding rail 3 to a specified position under the action of the front rack 4 when rotating.

Furthermore, one independent claw 8 is arranged on the left side, a connecting plate 9 in the independent claw 8 on the left side is connected with the left sliding rail 5 in a sliding mode through a sliding block, and a gear 10 in the independent claw 8 on the left side is connected with the left rack 6 in a meshing mode; when the left independent claw 8 needs to be moved, the servo motor 11 in the left independent claw 8 is started, the servo motor 11 runs to drive the gear 10 in the left independent claw 8 to rotate, and the gear 10 drives the left independent claw 8 to slide along the front sliding rail 3 to a specified position under the action of the left rack 6 when rotating.

Further, a connecting plate 9 in the first long-side hand grip 202 is fixedly connected with the lower surface of the bottom plate 201, and a gear 10 in the first long-side hand grip 202 passes through a strip-shaped through groove 203 and is meshed with the left rack 6; when the first long-edge gripper 202 needs to be moved, the servo motor 11 in the first long-edge gripper 202 is started, the servo motor 11 drives the gear 10 in the first long-edge gripper 202 to rotate, and the gear 10 drives the bottom plate 201 to move along the left slide rail 5 and the right slide rail 7 under the action of the left rack 6, so that the first long-edge gripper 202 can be driven to move.

Further, the connecting plate 9 in the second long-side hand grip 206 is connected with the linear guide rail 204 in a sliding manner through a sliding block, and the gear 10 in the second long-side hand grip 206 is connected with the linear rack 205 in a meshing manner; when the second long-edge gripper 206 needs to be moved, the servo motor 11 in the second long-edge gripper 206 is started, the servo motor 11 runs to drive the gear 10 in the second long-edge gripper 206 to rotate, and the gear 10 slides along the linear guide rail 204 under the action of the linear rack 205; in addition, when the first long-side hand grip 202 is moved, the second long-side hand grip 206 is moved synchronously, which ensures that the first long-side hand grip 202 and the second long-side hand grip 206 are arranged opposite to each other to complete the opposite-side gripping.

The working principle is as follows: during specific use, mechanical claw hand and the terminal fixed connection of the arm of robot, before unstacking to the turnover case, the robot can carry out the analysis to the buttress type through 3D vision camera, find out the turnover case that is most suitable for snatching simultaneously, after 3D vision camera analysis finishes, can feed back the robot with the concrete position information of turnover case, the robot carries out the analysis through the data that the feedback obtained, through coordinate transformation, confirm the concrete position of snatching the terminal stop of manipulator on next step, can confirm the concrete size specification of turnover case after the camera carries out the analysis, because the error of 3D camera can guarantee at present within 5mm, so the influence to the turnover case is smaller. After the specific specification of the size is fed back to the robot, the robot control cabinet feeds back specific information to the control system of the servo motor 11, and then feeds back the specific stroke to be moved to the servo motor 11, the three independent claws 8 and the first long-edge gripper 202 can be moved to appropriate positions, and the three independent claws 8, the first long-edge gripper 202 and the second long-edge gripper 206 can be moved, so that the mechanical claws can be adapted to containers with different specifications and sizes. After the entire position is determined, the intersection point of two adjacent edges of the turnover box needs to be determined, and the detection mechanism 20 in the mechanical gripper is moved to the corresponding position. The sensing mechanism 20 generates sufficient pressure to ensure that the box does not change position due to external forces during the gripping process. The detection mechanism 20 is provided with a photoelectric sensing switch and a pressure sensor, and when the mechanical gripper reaches a proper position, a signal is sent to the robot control cabinet. After the robot receives the in-place signal, the signal is transmitted to a control system of the air cylinder 13, the air cylinder 13 starts to operate, a piston end of the air cylinder 13 pushes the moving plate 14 to move in the extending process, when the moving plate 14 moves, the support plate 15 rotates, and when the support plate 15 rotates, the support plate 16 is driven to rotate, so that the support plate 16 can complete 90-degree turnover, the edge of the turnover box can be grabbed after turnover, and the three independent claws 8 and the servo motor 11 in the first long-edge claw 202 act simultaneously, and the box is slowly lifted up in a mode of grabbing at the adjacent edge. After a certain distance (which is determined by actual conditions) from the horizontal plane, the second long-side gripper 206 starts to move and then clamps the other side of the turnover box, so that the whole turnover box grips three sides, and the problem that the turnover box cannot be gripped when being tightly piled is solved, and the problem that the turnover box cannot be gripped by an adjacent side is solved.

It is worth noting that: the whole device realizes control over the device through the master control button, and because the equipment matched with the control button is common equipment, the device belongs to the prior mature technology, and the electrical connection relation and the specific circuit structure of the device are not described any more.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various 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 self-adaptive mechanical turnover box gripper is characterized by comprising a top plate (1), wherein a long-edge gripping mechanism (2) is longitudinally arranged at the central axis of the bottom of the top plate (1), a front slide rail (3) and a front rack (4) are fixedly connected to the bottom of the front side of the top plate (1), a left slide rail (5) and a left rack (6) are fixedly connected to the bottom of the left side of the top plate (1), a right slide rail (7) is fixedly connected to the bottom of the right side of the top plate (1), and independent grippers (8) are slidably connected to the front slide rail (3) and the left slide rail (5); the long-edge grabbing mechanism (2) comprises a bottom plate (201), the tops of the two sides of the bottom plate (201) are respectively connected with a left sliding rail (5) and a right sliding rail (7) in a sliding mode, the bottom of the left side of the bottom plate (201) is fixedly connected with a first long-edge gripper (202), a strip-shaped through groove (203) is formed in the bottom plate (201) along the length direction of the bottom plate (201), a linear guide rail (204) and a linear rack (205) are fixedly connected to the two sides of the strip-shaped through groove (203) at the bottom of the bottom plate (201) respectively, a second long-edge gripper (206) is connected to the linear guide rail (204) in a sliding mode, and the structures of the independent gripper (8), the first long-edge gripper (202) and the second long-edge gripper (206) are the same; a detection mechanism (20) is arranged at the left front part of the bottom of the top plate (1).

2. An adaptive tote mechanical gripper as claimed in claim 1, characterised in that: the independent claw (8), the first long-edge gripper (202) and the second long-edge gripper (206) comprise connecting plates (9), gears (10) are arranged above one sides of the connecting plates (9), servo motors (11) are fixedly installed at the bottoms of one sides of the connecting plates (9), and output shafts of the servo motors (11) are fixedly connected with the centers of the gears (10); the utility model discloses a servo motor, including connecting plate (9), servo motor (11), fixed bolster (12), piston end rigid coupling have a movable plate (14), one side that servo motor (11) was kept away from to movable plate (14) is articulated to one side fixed mounting of fixed bolster (12) cylinder (13), the piston end rigid coupling of cylinder (13) has a support plate (15), the bottom side of support plate (15) is articulated to have a layer board (16), the top rigid coupling of layer board (16) has guiding axle support (17), and the top of guiding axle support (17) is articulated with the bottom of fixed bolster (12).

3. An adaptive tote mechanical gripper as claimed in claim 2, characterised in that: and a reinforcing rib plate (18) is connected between the top of one side, facing the servo motor (11), of the fixed support (12) and the bottom of the connecting plate (9) through bolts.

4. An adaptive tote mechanical gripper as claimed in claim 2, characterised in that: strip-shaped mounting grooves (19) which are mutually communicated are formed in two sides of the fixed support (12), and the moving plate (14) movably penetrates through the strip-shaped mounting grooves (19).

5. An adaptive tote mechanical gripper as claimed in claim 1, characterised in that: front side independent cleft hand (8) interval sets up two, and front side connecting plate (9) top in independent cleft hand (8) is through slider and preceding slide rail (3) sliding connection, and front side gear (10) in independent cleft hand (8) are connected with preceding rack (4) meshing.

6. The adaptive mechanical tote gripper of claim 1, wherein: the left side independent cleft hand (8) is equipped with one, and the left side connecting plate (9) in independent cleft hand (8) are through slider and left slide rail (5) sliding connection, and gear (10) in the independent cleft hand in left side (8) are connected with left rack (6) meshing.

7. An adaptive tote mechanical gripper as claimed in claim 1, characterised in that: a connecting plate (9) in the first long-side hand grab (202) is fixedly connected with the lower surface of the bottom plate (201), and a gear (10) in the first long-side hand grab (202) is meshed and connected with the left rack (6) through a strip through groove (203).

8. The adaptive mechanical tote gripper of claim 1, wherein: and a connecting plate (9) in the second long-edge hand grip (206) is in sliding connection with the linear guide rail (204) through a sliding block, and a gear (10) in the second long-edge hand grip (206) is in meshed connection with the linear rack (205).