CN219116580U

CN219116580U - Snatch structure, robot tongs and bag pile up neatly device

Info

Publication number: CN219116580U
Application number: CN202223420961.7U
Authority: CN
Inventors: 裴超; 陈钰; 贾琰; 秦素忠; 薛龙; 李华华
Original assignee: Xi'an Solid Electric Co ltd
Current assignee: Xi'an Solid Electric Co ltd
Priority date: 2022-12-20
Filing date: 2022-12-20
Publication date: 2023-06-02
Anticipated expiration: 2032-12-20

Abstract

The utility model belongs to a grabbing component, and aims to solve the technical problem that the production efficiency is low in a one-by-one transferring mode when the existing packaging bag or an external package flows on a production and processing line.

Description

Snatch structure, robot tongs and bag pile up neatly device

Technical Field

The utility model belongs to a grabbing component, and particularly relates to a grabbing structure, a robot gripper and a bag stacking device.

Background

When the products are packaged in various fields, the circulation of the packaging bags or external packages on a production and processing line can be involved, and the packaging bags are arranged and pretreated after the products are packaged. At present, on most production processing lines, when wrapping bags or products are transferred among all parts, the wrapping bags or products are mostly transferred one by one, so that the production efficiency is low, the equipment operation time is long, and the further improvement of high-efficiency production is inhibited. By taking a stacking conveyor as an example, the stacking conveyor is used for transferring the packaging bags of loaded materials, and generally, the packaging bags can only be transferred one by one, so that the working frequency of transferring parts is high, and the equipment maintenance and repair rate can not be increased.

Disclosure of Invention

The utility model provides a grabbing structure, a robot gripper and a bag stacking device, which aim to solve the technical problems that when the existing packaging bag or external package is circulated on a production and processing line, the production efficiency is low, the maintenance rate is high and the maintenance rate is high by adopting a one-by-one transfer mode.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the grabbing structure is characterized by comprising a bracket, a first driving assembly, a second driving assembly, a bearing piece, a clamping piece and a blocking piece;

the first driving assembly, the second driving assembly and the baffle are all arranged on the bracket;

the bearing piece is arranged at the output end of the first driving component, and is driven to linearly reciprocate by the first driving component;

the clamping piece is arranged at the output end of the second driving assembly, and is driven to linearly reciprocate by the second driving assembly; the movement direction of the clamping piece is perpendicular to the plane of the bearing surface of the bearing piece; the clamping piece is positioned right above the bearing piece;

the stopper, the first driving assembly and the carrier satisfy the following relationship:

when the first driving component drives the bearing piece to move away from the gripped object, the blocking piece is positioned on the moving path of the bearing piece.

Further, the first driving component and the second driving component are both air cylinders.

Further, the bearing piece comprises a sliding part, a connecting part and a plurality of bearing rods which are arranged in parallel with each other;

the support is provided with a guide rail, and the sliding part is provided with a sliding block matched with the guide rail;

one end of the connecting part is connected with the sliding part, and the other end of the connecting part is connected with one end of each bearing rod;

the planes formed by the bearing rods are parallel to the sliding part, and the clamping piece is positioned right above the planes formed by the bearing rods;

the baffle, the first driving assembly and the bearing rod satisfy the following relation:

when the first driving component drives the bearing piece to move away from the gripped object, the blocking piece is positioned on the moving path of the bearing rod.

Further, the clamping piece is a pressing plate;

the baffle is perpendicular to the bearing surface of the bearing piece.

The utility model also provides a robot gripper, which is characterized by comprising a manipulator, a connecting frame and the grabbing structure;

at least one grabbing structure is arranged on the connecting frame, and the grabbing structures are arranged side by side;

the connecting frame is arranged on the executing end of the manipulator.

In addition, the utility model also provides a bag stacking device, which is characterized by comprising a transfer mechanism, a marshalling conveyor and the robot gripper;

the transfer mechanism, the marshalling conveyor and the robot grippers are sequentially arranged from front to back along the conveying direction, the transfer mechanism is used for adjusting the direction of the bags, and the marshalling conveyor is used for controlling the spacing between adjacent bags and the arrangement quantity of the bags;

the bearing piece of the grabbing structure is driven by the manipulator, and the movement range of the bearing piece covers the conveying part of the marshalling conveyor.

Further, the automatic stacking machine further comprises a tray bin, a double-chain conveyor, a to-be-stacked conveyor, a marshalling conveyor, a re-inspection conveyor, a rejection conveyor, a square roller conveyor, a buffering and stopping bag pressing mechanism, a stacking position conveyor, a full stack position conveyor and an unpowered conveyor, wherein the re-inspection conveyor, the rejection conveyor, the square roller conveyor and the buffering and stopping bag pressing mechanism are sequentially arranged from front to back along the conveying direction;

the conveyor to be coded is positioned between the grouping conveyor and the robot gripper, and the bearing piece of the gripping structure is driven by the manipulator to cover the conveying part of the conveyor to be coded and the conveying part of the stacking position conveyor in the movement range;

the tray bin and the double-chain conveyor are adjacently arranged, and the double-chain conveyor is positioned at the front side of the stacking position conveyor.

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

1. the utility model provides a grabbing structure, which can drive a bearing piece to stretch and retract through a first driving component, can drive a clamping piece to stretch and retract along a bearing plane perpendicular to the bearing piece through a second driving component, can pick up a bag package through the bearing piece, can fix the bag package through the cooperation of the bearing piece and the clamping piece, realizes grabbing of a stable bag package through a simple mechanical structure, can scoop the bag package from the bottom of the bag package through the bearing piece, can extend into the bag package from a bag package opening, is suitable for the bag package in different states, is also suitable for different processing scenes, and has wide application prospects.

2. The baffle is perpendicular to the bearing surface of the bearing piece, and when the bag is required to be detached from the grabbing structure, the baffle contacts the bag along with the shrinkage of the bearing piece, so that the bag is pushed down from the bearing piece, and the working reliability of the grabbing structure is ensured.

3. The utility model further provides the robot gripper, the grabbing structure is arranged on the execution end of the robot gripper, the robot gripper not only has the advantages of the grabbing structure, but also can grab in any direction by matching with the robot gripper. In addition, when snatching the structure and setting up two and more, the robot tongs can snatch the bag package of corresponding quantity simultaneously, has effectively improved and has snatched efficiency.

4. The utility model further provides a bag stacking device, the robot gripper is used in bag stacking, a group of grouped bags can be simultaneously gripped and stacked from the conveyor to be stacked at one time, and the working efficiency of the bag stacking device is effectively improved. In addition, according to the requirements of stacking stack types, in the bag conveying process, the bag can be subjected to forward and reverse 90-degree turning or 180-degree turning through a turning mechanism, the direction of the bag in the conveying process is adjusted, the bag is conveyed to a conveyor to be stacked after being grouped and arranged through a grouping conveyor, and a robot gripper grabs from the conveyor to be stacked, so that the bag stacking device can be suitable for more application scenes, has lower requirements on the bag serving as a transport object, and is more convenient to popularize and apply.

5. The bag stacking device can be matched with a re-inspection conveyor, a rejection conveyor and a square roller conveyor to perform weight inspection and reject the bags which do not meet the requirements and shape the bags. In addition, by arranging the tray bin and the double-chain conveyor, when the bag stacking device is used for transporting bags and the trays are needed, the trays can be supplied to the stacking position conveyor, and the applicability of the bag stacking device is further improved.

Drawings

FIG. 1 is a schematic view of a robotic gripper according to an embodiment of the present utility model;

FIG. 2 is a schematic view of three gripping structures in a robotic gripper embodiment of the present utility model;

FIG. 3 is a schematic view of a grabbing structure according to an embodiment of the present utility model; (the stopper is not shown)

Fig. 4 is a schematic structural view of an embodiment of a bag stacking apparatus according to the present utility model.

The device comprises a 1-bracket, a 2-first driving component, a 3-second driving component, a 4-bearing piece, a 401-sliding part, a 402-connecting part, a 403-bearing rod, a 5-clamping piece, a 6-blocking piece, a 7-rechecking conveyor, an 8-guide rail, a 9-sliding block, a 10-manipulator, an 11-connecting frame, a 12-grabbing structure, a 13-transfer mechanism, a 14-marshalling conveyor, a 15-to-be-coded conveyor, a 16-stacking position conveyor, a 17-robot gripper, an 18-rejecting conveyor, a 19-square roller conveyor, a 20-slow stop-pressing and packing mechanism, a 21-full stack position conveyor, a 22-unpowered conveyor, a 23-tray bin and a 24-double-chain conveyor.

Detailed Description

The technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, and it is apparent that the described embodiments do not limit the present utility model.

The utility model mainly aims to solve the technical problem that the whole production efficiency is low because only one bag can be transported at a time in the transportation process of the bags, and provides the robot gripper which can transport one or more bags at a time according to actual needs, has a certain wide applicability and can be used for grabbing the bags in any scene, even grabbing other objects, and is particularly suitable for grabbing flexible objects.

The following is a specific embodiment of a robotic gripper and gripping structure 12 of the present utility model for illustrating its structure and principles of operation:

as shown in fig. 1, a robot hand grip includes a manipulator 10, a link 11, and three gripping structures 12. Three snatch structure 12 install side by side on link 11, link 11 installs on the execution end of manipulator 10, drives link 11 through manipulator 10 and removes along arbitrary direction, and then drives three and snatches structure 12 and remove along arbitrary direction simultaneously. As shown in fig. 2 and 3, each of the gripping structures 12 is identical in structure, and the gripping structures 12 include a bracket 1, a first driving assembly 2, a second driving assembly 3, a carrier 4, a grip 5, and a stopper 6.

In the present embodiment, the carrier 4 includes a sliding portion 401, a connecting portion 402, and a plurality of carrier bars 403 disposed in parallel to each other. The support 1 is provided with a guide rail 8, the sliding part 401 is provided with a sliding block 9 matched with the guide rail 8, the first driving assembly 2 adopts an air cylinder, the sliding part 401 is arranged at the output end of the first driving assembly 2, the sliding part 401 is driven by the first driving assembly 2 to move along the guide rail 8, one end of the connecting part is connected with the sliding part 401, the other end of the connecting part is connected with one end of each bearing rod 403, the planes formed by the plurality of bearing rods 403 are mutually parallel with the sliding part 401, and then each bearing rod 403 is driven by the first driving assembly 2 to stretch out when a bag needs to be grabbed, and each bearing rod 403 is driven by the first driving assembly 2 to stretch out so that each bearing rod 403 stretches into the bottom of the bag or the opening of the bag. The second driving component 3 can also adopt an air cylinder, the clamping piece 5 adopts a pressing plate, the clamping piece 5 and the second driving component 3 are both provided with two clamping pieces, the clamping piece 5 is arranged on the output end of the second driving component 3, the clamping piece 5 is positioned right above each bearing rod 403, and the specific position can be adjusted according to the condition of bag grabbing and rotation. When the bag is required to be grabbed, after each carrier bar 403 extends into the bottom of the bag or the opening of the bag, the second driving assembly 3 drives the clamping piece 5 to move towards the carrier bar 403 until the bag is clamped between the carrier bar 403 and the pressing plate, so that the bag can be grabbed. The grabbing structure 12 is driven to move through the manipulator 10, so that the bag is transported to the target position, the clamping piece 5 is driven to move in the direction away from the bearing rod 403 through the second driving component 3, the bearing rod 403 is driven to shrink through the first driving component 2, the blocking piece 6 is arranged on the support 1, when the first driving component 2 drives the bearing rod 403 to move in the direction away from the grabbed object, the blocking piece 6 is positioned on the moving path of the bearing rod 403, the bag is intercepted by the blocking piece 6, and the bag is pushed down from the bearing rod 403 along with the continuous shrinkage of the bearing rod 403, so that the bag is transported to the target position. In addition, along with the movement of the manipulator 10, the opening direction of the bag can be adjusted, so that the subsequent process is convenient.

In other embodiments of the present utility model, the first driving assembly 2 and the second driving assembly 3 may employ not only the air cylinders in the above embodiments, but also other driving forms, such as electric cylinders, etc.

Fig. 4 is a specific example of a bag stacking device, which includes a rechecking conveyor 25, a rejecting conveyor 18, a square roller conveyor 19, a slow stop pressing mechanism 20, a transfer mechanism 13, a grouping conveyor 14, a stacking conveyor 15, a stacking position conveyor 16, a full stack position conveyor 21 and an unpowered conveyor 22, which are sequentially arranged along the process direction, wherein the robot gripper 17 is positioned at the tail end of the conveying direction of the stacking conveyor 15, and the conveying direction of the stacking position conveyor 16 and the conveying direction of the stacking conveyor 15 are parallel to each other. The stacking position conveyor 16, the to-be-stacked conveyor 15, the transfer mechanism 13 and the buffering bag pressing mechanism 20, and the robot gripper 17 are main components of the bag stacking device, and the bags can be grouped and arranged through the transfer mechanism 13, so that the bags positioned in the same direction on the to-be-stacked conveyor 15 can be grabbed and placed at one time by the robot gripper 17, and the flexibility and the efficiency of bag transportation are greatly improved.

The rechecking conveyor 25 is used to re-weigh the conveyed bags. The reject conveyor 18 rejects bags from the conveyor belt that are not qualified for weighing by the recheck conveyor 25. The square roller conveyor 19 is used for shaping and conveying, and the bags and materials in the bags are overturned through square tubes, so that the materials are uniform in the bags, the rear parts of the bags are prevented from swelling, and the front parts of the bags are empty, so that the bag gripping device is more suitable for a manipulator to grip the bags. The slow stop pressing mechanism 20 is used for pressing and scattering the caking materials in the materials and also plays a role in flattening. The bag opening direction of the bag can be rotated by 90 degrees when the bag opening direction of the bag is required to be adjusted due to the transfer requirement, specifically, the bag can be rotated by 90 degrees positively or 90 degrees negatively, and in other embodiments of the utility model, positive rotation and negative rotation of any angle of the bag can be realized, and the specific rotation angle can be specifically set according to working conditions. The specific structure of the transfer mechanism 13 may be a structure of a transfer mechanism in a conventional package conveying device. The grouping conveyor 14 is used for suspending materials on the conveyor, so that the time for grabbing the bags by the manipulator can be properly shortened, the spacing and the arrangement quantity of the grabbed bags are further controlled, preparation is made for grabbing by the manipulator after entering the stacking conveyor 15, and the bag spacing and the stacking effect of stacking stacks are ensured. The to-be-coded conveyor 15 is a special conveyor matched with the stacking position conveyor 16, the robot gripper 17 grabs and transfers bags from the to-be-coded conveyor 15 to the stacking position conveyor 16, stacking is completed on the stacking position conveyor 16, and the robot gripper 17 provided by the utility model can grab bags in different directions on the to-be-coded conveyor 15 at the same time and grab multiple bags at the same time, so that the time for grabbing bags in the same quantity from the to-be-coded conveyor 15 is saved, and the working efficiency is greatly improved. The empty tray is placed on the stacking position conveyor 16 at a designated position, the bag is stacked on the empty tray through the robot gripper 17, after stacking is completed, the tray is conveyed to the full stack position conveyor 21, and the bag is conveyed to the unpowered conveyor 22 through the full stack position conveyor 21, and materials are taken away in a forklift, a manual mode and the like. The bag stacking device can realize shaping conveying, flattening conveying, transfer conveying, grouping conveying, waiting for stacking conveying and the like, and is provided with a plurality of preferential parts which enable the bag stacking device to have more abundant functions, so that the bag stacking device can work efficiently and accurately and has better application prospect.

The robot gripper 17 of the utility model works in a drawer type, and can control the pushing-out and shrinking positions during working by a corresponding control program provided by the bag stacking device. The number of joints of the manipulator 10 can be adjusted according to the field use requirements, and is generally equal to or greater than four axes.

In addition, the bag stacking device of the utility model can be provided with a tray bin 23 and a double-chain conveyor 24, wherein the double-chain conveyor 24 is positioned at the front side of the stacking position conveyor 16 and is used for storing and automatically distributing empty trays, the current position of a full-load tray can be replaced by the next empty tray in the tray bin after one stacking operation is finished, and the double-chain conveyor 24 is used for conveying the empty tray to the proper position of the stacking position conveyor 16 through the double-chain conveyor 24 after one stacking operation is finished.

It should be noted that, the core components of the bag stacking device provided by the utility model comprise the transfer mechanism 13, the grouping conveyor 14 and the robot gripper 17, and the three components are adopted to realize the distance and arrangement control of the bags, the direction control of the bags and the grabbing and stacking of the bags, and other components in the preferred embodiment of the bag stacking device are all optimized for the bag stacking device, so that the bag stacking device has more abundant and complete functions.

In other embodiments of the present utility model, the number and arrangement of the grabbing structures installed on the robot gripper 17 may be adjusted, and the bag stacking device may also be adjusted according to the actual use requirement.

The foregoing description is only illustrative of the present utility model and is not intended to limit the scope of the utility model, and all equivalent structural changes made by the present utility model and the accompanying drawings, or direct or indirect application in other related technical fields, are included in the scope of the present utility model.

Claims

1. A snatch structure, its characterized in that: comprises a bracket (1), a first driving component (2), a second driving component (3), a bearing piece (4), a clamping piece (5) and a blocking piece (6);

the first driving assembly (2), the second driving assembly (3) and the baffle (6) are all arranged on the bracket (1);

the bearing piece (4) is arranged at the output end of the first driving component (2), and the bearing piece (4) is driven to linearly reciprocate through the first driving component (2);

the clamping piece (5) is arranged at the output end of the second driving assembly (3), and the clamping piece (5) is driven to linearly reciprocate through the second driving assembly (3); the moving direction of the clamping piece (5) is perpendicular to the plane of the bearing surface of the bearing piece (4);

the clamping piece (5) is positioned right above the bearing piece (4);

the stop (6), the first drive assembly (2) and the carrier (4) satisfy the following relationship:

when the first driving component (2) drives the bearing piece (4) to move away from the gripped object, the blocking piece (6) is positioned on the moving path of the bearing piece (4).

2. A gripping structure according to claim 1, characterized in that: the first driving assembly (2) and the second driving assembly (3) are both air cylinders.

3. A gripping structure according to claim 1 or 2, characterized in that: the bearing piece (4) comprises a sliding part (401), a connecting part (402) and a plurality of bearing rods (403) which are arranged in parallel;

a guide rail (8) is arranged on the bracket (1), and a sliding block (9) matched with the guide rail (8) is arranged on the sliding part (401);

one end of the connecting part is connected with the sliding part (401), and the other end of the connecting part is connected with one end of each bearing rod (403);

the plane formed by the bearing rods (403) is parallel to the sliding part (401), and the clamping piece (5) is positioned right above the plane formed by the bearing rods (403);

the stop (6), the first drive assembly (2) and the carrier bar (403) satisfy the following relation:

when the first driving assembly (2) drives the bearing piece (4) to move away from the gripped object, the blocking piece (6) is positioned on the moving path of the bearing rod (403).

4. A gripping structure according to claim 3, characterized in that:

the clamping piece (5) is a pressing plate;

the baffle (6) is a baffle perpendicular to the bearing surface of the bearing piece (4).

5. The utility model provides a robot tongs which characterized in that: comprising a manipulator (10), a connecting frame (11) and at least one gripping structure (12) according to any one of claims 1 to 4;

at least one grabbing structure (12) is arranged on the connecting frame (11), and each grabbing structure (12) is arranged side by side;

the connecting frame (11) is arranged on the executing end of the manipulator (10).

6. The utility model provides a bag pile up neatly device which characterized in that: comprising a subcontracting mechanism (13), a marshalling conveyor (14), a robotic gripper (17) as claimed in claim 5;

the transfer mechanism (13), the grouping conveyor (14) and the robot grippers (17) are sequentially arranged from front to back along the conveying direction, the transfer mechanism (13) is used for adjusting the direction of the bags, and the grouping conveyor (14) is used for controlling the spacing between adjacent bags and the arrangement quantity of the bags;

the movement range of the bearing piece (4) of the grabbing structure (12) covers the conveying part of the grouping conveyor (14) under the drive of the manipulator (10).

7. A bag palletizing apparatus as in claim 6, wherein: the automatic stacking machine further comprises a tray bin (23), a double-chain conveyor (24), a to-be-stacked conveyor (15) and a grouping conveyor (14), a re-inspection conveyor (25), a rejecting conveyor (18), a square roller conveyor (19) and a buffering and pressing mechanism (20) which are sequentially arranged from front to back along the conveying direction, and a stacking position conveyor (16), a full stack position conveyor (21) and an unpowered conveyor (22) which are sequentially arranged along the conveying direction;

the conveyor to be coded (15) is positioned between the grouping conveyor (14) and the robot gripper (17), and the movement range of the bearing piece (4) of the grabbing structure (12) covers the conveying part of the conveyor to be coded (15) and the conveying part of the stacking position conveyor (16) under the driving of the manipulator (10);

the tray bin (23) and the double-chain conveyor (24) are adjacently arranged, and the double-chain conveyor (24) is positioned at the front side of the stacking position conveyor (16).