CN219238532U - Pile up neatly tong - Google Patents

Abstract

The utility model discloses a stacking clamp which comprises a frame, an adsorption mechanism and a clamping mechanism, wherein the adsorption mechanism is arranged on the frame; the rack is used for being connected with the mechanical arm; the adsorption mechanism is arranged on the frame and used for adsorbing the partition plate; the clamping mechanism is arranged at the bottom of the frame and used for clamping the part, the clamping mechanism comprises two clamping assemblies, each clamping assembly comprises a clamping rod, a first driving assembly and a sliding rail, the sliding rails are transversely arranged at the bottom of the frame and are in sliding connection with the sliding rails, the first driving assembly drives the clamping rods to move left and right, the two clamping rods are mutually close to each other and used for clamping the part, and the two clamping rods are mutually far away from each other and used for putting down the part. The distance between the two clamping bars is adjusted by detecting the hole positions of different parts, so that the clamping bars can clamp different parts, and then one clamping hand can be used for clamping parts and the partition plates with different sizes, thereby greatly reducing the equipment customization cost and also reducing the labor cost of staff for manually preventing the partition plates.

Description

Pile up neatly tong

Technical Field

The utility model relates to the field of intelligent robots, in particular to a stacking clamp.

Background

The palletizing robot is the product of combining machinery and computer program organically. Provides higher production efficiency for modern production. Palletizing machines have a considerable application in palletizing industry. The palletizing robot greatly saves labor force and space. The palletizing robot is flexible and accurate in operation, quick, efficient, high in stability and high in operation efficiency.

Generally, the palletizing robot is divided into a mechanical arm and a clamping hand. The arm is used for adjusting the position of tong, and the tong is used for pressing from both sides tight part, and the tong on the market is general for the tong of customization width, can only centre gripping prescribed width's part, can't effectively carry out pile up neatly operation when facing the part of different width to need place the baffle between part and the part and prevent to bump between the part, general tong can't clamp the baffle, needs the staff to manually place the baffle, has wasted manpower resources greatly.

Disclosure of Invention

The present utility model aims to solve at least one of the technical problems existing in the prior art. Therefore, the stacking clamp provided by the utility model can be used for adjusting the spacing of the clamping rods by arranging the first driving assembly so as to clamp parts with different sizes, and meanwhile, the adsorption mechanism is arranged so as to adsorb the partition plate and place the partition plate between the parts, so that one clamp can be used for clamping the parts with different sizes and the partition plate.

The technical scheme adopted for solving the technical problems is as follows:

a stacking clamp comprises a frame, an adsorption mechanism and a clamping mechanism;

the rack is used for being connected with the mechanical arm;

the adsorption mechanism is arranged on the frame and used for adsorbing the partition plate;

the clamping mechanism is arranged at the bottom of the frame and used for clamping the part, the clamping mechanism comprises two clamping assemblies, each clamping assembly comprises a clamping rod, a first driving assembly and a sliding rail, the sliding rails are transversely arranged at the bottom of the frame and are in sliding connection with the sliding rails, the first driving assembly drives the clamping rods to move left and right, the two clamping rods are mutually close to each other and used for clamping the part, and the two clamping rods are mutually far away from each other and used for putting down the part.

According to the embodiment of the utility model, the stacking clamp has at least the following beneficial effects: through setting up the frame and being connected with the arm for the arm can remove the frame, and then removes clamping mechanism and press from both sides tight part or place the part, also can remove adsorption equipment and adsorb the baffle or place the baffle, install in the frame both sides through setting up adsorption equipment, adsorption equipment can be vacuum adsorption also can be the magnetism and inhale the absorption, can adsorb in advance before placing the part and place the baffle, played the effect of protection part. Through setting up clamping mechanism, in two clamping bars insert the hole site of part, then drive first drive assembly will clamp the pole mutually adopt the mode that the clamping bar kept away from each other for the clamping bar extrudees the lateral wall of the hole site of part, and then increases the frictional force of clamping bar and part hole site lateral wall, has played the purpose of clamping the part, through detecting the hole site of different parts, adjusts the distance of two clamping bars and makes the clamping bar carry out the clamp operation to different parts, and then can realize that a tong satisfies the clamp of not unidimensional part and baffle and get, greatly increased the commonality and the suitability of tong, also can reduce the manual human cost of placing the baffle of staff.

According to some embodiments of the utility model, a leveling plate is arranged at the bottom of the machine frame and is in contact with the surface of the part, the leveling plate is used for being tightly attached to the surface of the part, two clearance holes are also formed in two sides of the leveling plate, the two clearance holes are respectively used for avoiding the clearance clamping rods, the leveling plate is connected with the machine frame through a shock absorber, and the shock absorber is used for reducing shock after the part is in contact with the leveling plate.

The beneficial effects are that: through setting up the screed, through drive screed and part plane contact for tong reaches parallel state with the part, and then the tong can more accurately insert the hole site inside of part and press from both sides tight operation, through setting up the bumper shock absorber between screed and frame, can reduce the vibrations when screed and part collide, avoided risk such as part to hit, played the purpose of protecting the part.

According to some embodiments of the utility model, the leveling plate is provided with a photoelectric sensor for detecting whether the parts and the partition plate fall off.

The beneficial effects are that: through setting up photoelectric sensor, can detect the tong and whether appear the phenomenon that drops when pressing from both sides and getting part and baffle, detect part or baffle when photoelectric sensor and drop, the operation of tong output signal of telecommunication stop arm and send out the alarm, the suggestion staff is maintained the tong, has avoided arm and tong to collide part and baffle, and then causes equipment to damage.

According to some embodiments of the utility model, a visual photographing assembly is provided on one side of the frame, which distinguishes and positions the parts and the partition.

The beneficial effects are that: through setting up the vision subassembly of shooing, can drive the camera and shoot the part, and then discernment part type hole site has been carried out intelligent regulation to the interval of clamp lever simultaneously for the clamp lever can insert the inside operation of pressing from both sides of clamp lever to the part of the hole site that the part set for smoothly.

According to some embodiments of the utility model, the surface of the clamping bar is provided with a plurality of anti-slip particles, which are in contact with the part, the anti-slip particles being used to increase the direct friction of the clamping bar with the part.

The beneficial effects are that: through being provided with a plurality of anti-skidding grains at the surface of clamping lever for the frictional force increase of clamping lever and the pore wall contact of part has avoided the risk that the part drops in the centre gripping in-process.

According to some embodiments of the utility model, the adsorption mechanism comprises two adsorption assemblies, and the two adsorption assemblies are respectively arranged at two sides of the frame. The adsorption component comprises a second driving component, two suction heads and a vacuum pump, wherein the two suction heads are respectively arranged on an output shaft of the second driving component, the second driving component is used for driving the suction heads to move up and down, the vacuum pump is communicated with the suction heads, the vacuum pump is used for vacuumizing the suction heads and adsorbing the partition plate, a contact block is arranged between the two suction heads, the contact block is elastically connected with the second driving component, and the contact block is used for detecting whether the suction heads are in contact with the partition plate.

The beneficial effects are that: through set up the adsorption component respectively in the frame both sides for the tong can be more stable when adsorbing great baffle, also can avoid simultaneously because the too little baffle bending deformation scheduling problem that leads to of strong point, through setting up vacuum pump and suction head intercommunication, can form the negative pressure to the suction head position, and then adsorb the baffle, second drive assembly drive suction head downwardly moving adsorbs the baffle when needs adsorb the baffle, and second drive assembly drive suction head upwardly moving is accomodate to the frame both sides when not needing to adsorb the baffle, prevents that the subassembly from colliding the part. Through setting up the contact block, when the suction head removes baffle department, the contact block can contact the baffle in advance, and then sends the signal and open the vacuum pump and adsorb the operation to the baffle, has avoided suction head direct contact baffle, has reduced the risk that the suction head stabs the baffle.

According to some embodiments of the utility model, a laser sensor is arranged outside the frame, the laser sensor being used for detecting the distance between the two partitions.

The beneficial effects are that: through setting up laser sensor, through beating laser on the baffle, and then confirm the distance of frame to the baffle, avoided adsorption equipment to stretch out and collision part when placing the baffle.

Additional aspects and advantages of the utility model will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the utility model.

Drawings

The foregoing and/or additional aspects and advantages of the utility model will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

FIG. 1 is a schematic diagram of an embodiment of the present utility model;

fig. 2 is a schematic structural view of the adsorption mechanism shown in fig. 1;

FIG. 3 is a schematic view of a clamping part according to an embodiment of the utility model;

FIG. 4 is a schematic diagram of an adsorption separator according to an embodiment of the utility model.

Reference numerals: the device comprises a frame 100, a partition plate 110, a part 120, a clamping assembly 130, a clamping rod 140, a first driving assembly 150, a sliding rail 160, a leveling plate 170, a clearance hole 180, a shock absorber 190, a photoelectric sensor 200, a visual photographing assembly 210, an anti-skid particle 220, an adsorption assembly 230, a second driving assembly 240, a suction head 250, a vacuum pump 260, a contact block 270 and a laser sensor 280.

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the utility model.

In the description of the present utility model, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present utility model and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present utility model.

In the description of the present utility model, a number means one or more, a number means two or more, and greater than, less than, exceeding, etc. are understood to not include the present number, and above, below, within, etc. are understood to include the present number. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present utility model, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present utility model can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

A palletizing gripper is described in detail below in a specific embodiment with reference to fig. 1-4. It is to be understood that the following description is exemplary only and is not intended to limit the utility model in any way.

As shown in fig. 1, 2, 3 and 4, a stacking gripper comprises a frame 100, an adsorption mechanism and a clamping mechanism;

the frame 100 is used for being connected with a mechanical arm;

the adsorption mechanism is installed on the frame 100 and used for adsorbing the partition plate 110;

the clamping mechanism is installed at the bottom of the machine frame 100 and is used for clamping the part 120, and comprises two clamping assemblies 130, wherein each clamping assembly 130 comprises a clamping rod 140, a first driving assembly 150 and a sliding rail 160, the sliding rail 160 is transversely arranged at the bottom of the machine frame 100, the clamping rods 140 are slidably connected with the sliding rail 160, the first driving assembly 150 drives the clamping rods 140 to move left and right, the two clamping rods 140 are mutually close to each other and used for clamping the part 120, and the two clamping rods 140 are mutually far away from each other and used for putting down the part 120.

In some embodiments of the present utility model, the frame 100 is connected to the mechanical arm, so that the mechanical arm can move the frame 100, further move the clamping mechanism to clamp the product or place the product, and also can move the adsorption mechanism to adsorb the partition 110 or place the partition 110. Through setting up clamping mechanism, two clamp levers 140 insert in the hole site of part 120, then drive first drive assembly 150 with clamp lever 140 mutually adopt clamp lever 140 mode of keeping away from each other for clamp lever 140 extrudees the lateral wall of the hole site of part 120, and then increase clamp lever 140 and the frictional force of part 120 hole site lateral wall, the purpose of clamping part 120 has been played, the distance of two clamp levers 140 is adjusted through the hole site that detects different products makes clamp lever 140 carry out the clamp operation to different products, and then can realize that a clamp hand satisfies the clamp of not unidimensional part 120 and baffle 110 and get, greatly increased the commonality and the suitability of clamp hand, also can reduce the manual human cost of placing baffle 110 of staff.

Specifically, a leveling plate 170 is arranged at the bottom of the machine frame 100, the leveling plate 170 is in surface contact with the part 120, the leveling plate 170 is used for pasting the surface of the part 120, two clearance holes 180 are further formed in two sides of the leveling plate 170, the two clearance holes 180 are respectively used for avoiding the clearance clamping rods 140, the leveling plate 170 is connected with the machine frame 100 through a shock absorber 190, and the shock absorber 190 is used for reducing shock after a product is contacted with the leveling plate 170.

In some embodiments of the present utility model, by arranging the leveling plate 170, the clamping mechanism and the product reach a parallel state by driving the leveling plate 170 to be in plane contact with the product, and then the clamping mechanism can be more accurately inserted into a hole site of the product to perform clamping operation, and by arranging the shock absorber 190 between the leveling plate 170 and the frame 100, the shock generated when the leveling plate 170 collides with the product can be reduced, risks such as product bruise and the like are avoided, and the purpose of protecting the product is achieved.

Preferably, the leveling plate 170 is provided with a photoelectric sensor 200, and the photoelectric sensor 200 is used to detect whether the product and the partition 110 are detached.

In some preferred embodiments of the present utility model, by providing the photoelectric sensor 200, it is able to detect whether the gripper falls off when gripping the product and the partition 110, and when the photoelectric sensor 200 detects that the product or the partition 110 falls off, the gripper outputs an electrical signal to stop the operation of the mechanical arm and send out an alarm, so as to prompt the staff to maintain the gripper, thereby avoiding the collision between the mechanical arm and the gripper to the product and the partition 110 and further causing damage to the equipment.

In addition, a visual photographing assembly 210 is provided at one side of the frame 100, and the visual photographing assembly 210 distinguishes and positions the parts 120 and the partition 110.

In some embodiments of the present utility model, by providing the visual photographing assembly 210, the camera can be driven to photograph the product, so as to identify the type of the product, and at the same time, the distance between the clamping bars 140 is intelligently adjusted, so that the clamping bars 140 can be smoothly inserted into the hole sites set by the product to clamp the product.

Preferably, the surface of clamping bar 140 is provided with a plurality of anti-slip particles 220, anti-slip particles 220 being in contact with part 120, anti-slip particles 220 being used to increase the direct friction of clamping bar 140 with part 120.

In some preferred embodiments of the present utility model, by providing skid-resistant particles 220 on the surface of clamping bar 140, the friction of clamping bar 140 against the bore wall of part 120 is increased, avoiding the risk of part 120 falling out during clamping.

As shown in fig. 3, the adsorption mechanism includes two adsorption assemblies 230, and the two adsorption assemblies 230 are respectively installed at two sides of the frame 100. The adsorption assembly 230 comprises a second driving assembly 240, two suction heads 250 and a vacuum pump 260, wherein the two suction heads 250 are respectively installed on an output shaft of the second driving assembly 240, the second driving assembly 240 is used for driving the suction heads 250 to move up and down, the vacuum pump 260 is communicated with the suction heads 250, the vacuum pump 260 is used for carrying out vacuumizing operation on the suction heads 250 and adsorbing the partition 110, a contact block 270 is arranged between the two suction heads 250, the contact block 270 is elastically connected with the second driving assembly 240, and the contact block 270 is used for detecting whether the suction heads 250 are in contact with the partition 110.

In some embodiments of the present utility model, the suction assemblies 230 are respectively disposed at two sides of the rack 100, so that the gripper can be more stable when sucking the larger partition 110, and meanwhile, the problem of bending deformation of the partition 110 caused by too small supporting points can be avoided, and by disposing the vacuum pump 260 and communicating with the suction head 250, a negative pressure can be formed at the position of the suction head 250, so as to suck the partition 110, and when the suction of the partition 110 is required, the second driving assembly 240 drives the suction head 250 to move downwards to suck the partition 110, and when the suction of the partition 110 is not required, the second driving assembly 240 drives the suction head 250 to move upwards to be stored at two sides of the rack 100, so as to prevent the suction assemblies 230 from colliding with products. By arranging the contact block 270, when the suction head 250 moves to the partition plate 110, the contact block 270 can be in contact with the partition plate 110 in advance, and then a signal is sent to start the vacuum pump 260 to perform adsorption operation on the partition plate 110, so that the suction head 250 is prevented from directly contacting the partition plate 110, and the risk of the suction head 250 damaging the partition plate 110 is reduced.

Specifically, a laser sensor 280 is disposed outside the frame 100, and the laser sensor 280 is used to detect the distance between the two separators 110.

In some embodiments of the present utility model, by providing the laser sensor 280, by striking a laser on the spacer 110, and thereby determining the distance of the frame 100 from the spacer 110, collision of the product when the suction mechanism extends out of and positions the spacer 110 is avoided.

The embodiments of the present utility model have been described in detail with reference to the accompanying drawings, but the present utility model is not limited to the above embodiments, and various changes can be made within the knowledge of one of ordinary skill in the art without departing from the spirit of the present utility model.

Claims (10)

1. A palletizing gripper, comprising:

a frame (100) for connection with a robotic arm;

the adsorption mechanism is arranged on the frame (100) and is used for adsorbing the partition plate (110);

clamping mechanism install in frame (100) bottom for press from both sides tight part (120), including two clamping components (130), clamping components (130) are including clamp bar (140), first drive assembly (150) and slide rail (160), slide rail (160) transversely set up in frame (100) bottom, clamp bar (140) with slide rail (160) sliding connection, first drive assembly (150) drive clamp bar (140) are moved about, two clamp bar (140) are close to each other and are used for clamping part (120), two clamp bar (140) are kept away from each other and are used for putting down part (120).

2. A palletizing gripper according to claim 1, characterized in that a leveling plate (170) is arranged at the bottom of the frame (100), the leveling plate (170) is in surface contact with the part (120), the leveling plate (170) is used for leveling the surface of the part (120), two clearance holes (180) are further arranged at two sides of the leveling plate (170), and the two clearance holes (180) are respectively used for avoiding the clamping rod (140).

3. A palletizing gripper according to claim 2, wherein the screed plate (170) is connected to the frame (100) by means of a shock absorber (190), the shock absorber (190) being adapted to reduce the shock of the product after contact with the screed plate (170).

4. A palletizing gripper according to claim 2, characterized in that the leveling plate (170) is provided with a photoelectric sensor (200), the photoelectric sensor (200) being used for detecting whether the product and the partition (110) are detached.

5. A palletizing gripper according to claim 1, characterized in that a visual photographing assembly (210) is provided on one side of the frame (100), the visual photographing assembly (210) distinguishing and positioning the parts (120) and the partition (110).

6. A palletizing gripper according to claim 1, characterized in that the surface of the gripper bar (140) is provided with a plurality of anti-slip particles (220), the anti-slip particles (220) being in contact with the part (120), the anti-slip particles (220) being used to increase the direct friction of the gripper bar (140) with the part (120).

7. A palletizing gripper according to claim 1, wherein the suction means comprise two suction assemblies (230), the two suction assemblies (230) being mounted on the two sides of the frame (100) respectively.

8. A palletizing gripper according to claim 7, wherein the suction assembly (230) comprises a second driving assembly (240), two suction heads (250) and a vacuum pump (260), the two suction heads (250) are respectively mounted on the output shafts of the second driving assembly (240), the second driving assembly (240) is used for driving the suction heads (250) to move up and down, the vacuum pump (260) is communicated with the suction heads (250), and the vacuum pump (260) is used for vacuumizing the suction heads (250) and sucking the partition plates (110).

9. A palletizing jaw according to claim 8, characterized in that a contact block (270) is provided between two of the suction heads (250), the contact block (270) being elastically connected to the second driving assembly (240), the contact block (270) being adapted to detect whether the suction heads (250) are in contact with the partition (110).

10. A palletizing gripper according to claim 1, characterized in that a laser sensor (280) is arranged outside the frame (100), the laser sensor (280) being used for detecting the distance between the frame (100) and the partition (110).

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