CN219362481U

CN219362481U - Composite end effector for carrying cartons and trays

Info

Publication number: CN219362481U
Application number: CN202223543307.5U
Authority: CN
Inventors: 张少龙; 李兰兰; 洪博; 张少虎; 洪立重
Original assignee: Hefei Hante Intelligent Equipment Co ltd
Current assignee: Hefei Hante Intelligent Equipment Co ltd
Priority date: 2022-12-26
Filing date: 2022-12-26
Publication date: 2023-07-18
Anticipated expiration: 2032-12-26

Abstract

The utility model discloses a composite end effector for carrying cartons and trays, which comprises a frame assembly, wherein the frame assembly comprises a main frame and a flange arranged at the upper end of the main frame; the control assembly comprises an electromagnetic valve arranged on the side edge of the flange, and a left cylinder and a right cylinder which are arranged on the two sides of the flange; the clamping assembly comprises a left clamping part arranged at the extending end of the left cylinder, a right clamping part arranged at the extending end of the right cylinder and a sucking disc part arranged at the lower end of the flange. According to the utility model, the frame assembly, the control assembly and the clamping assembly are mutually matched, so that multifunctional carrying of the cartons and the trays is realized, the problems of stacking of the cartons and carrying of the trays can be solved, the work of multiple devices is avoided, the work efficiency is improved, the labor intensity of staff is greatly reduced, and the danger coefficient is reduced.

Description

Composite end effector for carrying cartons and trays

Technical Field

The utility model relates to the technical field of robot actuators, in particular to a composite end effector for carrying cartons and trays.

Background

With rapid development of technology, various industries are rapidly advancing. The robot relates to various industries such as machinery, chemical industry, food and the like, and is a large support column for supporting enterprises. Since there are many different products, different robots and end effectors are required to palletize, handle, etc. objects of a certain character. Therefore, the presence of the robotic end effector is indispensable.

There are various types of end effectors at this stage, including vacuum chucks, jaws, clamping plates, and the like. However, for certain special work requirements, most types of robotic end effectors are not capable of meeting the work requirements, which requires a special compound end effector to perform a particular work. At present, many factories stay at the stage of manual handling and stacking and manually handle heavy trays, so that the degree of automation is seriously insufficient, the labor intensity of staff is greatly increased, and the production efficiency is reduced. In addition, the simple transfer robot is obviously not capable of well completing the operation requirement, and a composite end effector suitable for transferring the cartons and the trays is needed to transfer the cartons and the trays. Not only can reduce personnel's participation, reduce intensity of labour, can also improve work efficiency greatly, reduce the potential safety hazard.

Disclosure of Invention

The present utility model aims to overcome the deficiencies of the prior art and to achieve the above objects, a composite end effector for carton and tray handling is employed to solve the problems set forth in the background art.

A composite end effector for carton and tray handling, comprising:

the frame assembly comprises a main frame and a flange arranged at the upper end of the main frame;

the control assembly comprises an electromagnetic valve arranged on the side edge of the flange, and a left cylinder and a right cylinder which are arranged on the two sides of the flange;

the clamping assembly comprises a left clamping part arranged at the extending end of the left cylinder, a right clamping part arranged at the extending end of the right cylinder and a sucking disc part arranged at the lower end of the flange.

As a further aspect of the utility model: the left cylinder and the right cylinder are fixed on the inner sides of two ends of the main frame through fixing components.

As a further aspect of the utility model: the fixing assembly comprises an air cylinder fixing plate arranged on the main frame, a flange base arranged on the air cylinder fixing plate, and a middle flange arranged on the flange base and used for circumferentially fixing the left air cylinder and the right air cylinder.

As a further aspect of the utility model: the sucker component comprises a bottom sucker and a buffer component arranged at the lower end of the sucker.

As a further aspect of the utility model: the bottom suction cup is connected to the lower end of the flange through a buffer rod.

As a further aspect of the utility model: the sucker component is electrically connected with the electromagnetic valve.

As a further aspect of the utility model: the left clamping component and the right clamping component comprise a turnover shaft arranged on the main frame, crank arms arranged at two ends of the turnover shaft and a tray supporting plate arranged at the extending end of the crank arms.

As a further aspect of the utility model: the overturning shaft of the left clamping component is connected to the telescopic end of the left cylinder, and the crank arm of the left clamping component is connected to the overturning shaft of the left clamping component through the tensioning sleeve.

As a further aspect of the utility model: the overturning shaft of the right clamping component is connected to the telescopic end of the right cylinder, and the crank arm of the right clamping component is connected to the overturning shaft of the right clamping component through the tensioning sleeve.

As a further aspect of the utility model: the turnover shaft is connected to the main frame through a frame bearing seat.

Compared with the prior art, the utility model has the following technical effects:

adopt foretell technical scheme, through setting up frame components, control assembly and clamping assembly mutually support, wherein clamping assembly is including controlling clamping part and sucking disc subassembly to be applicable to the compound end executive function of carton transport and tray transport, and then carry out transport work to carton, tray. Not only reduces personnel's participation, reduces intensity of labour, can stop the work of many equipment, can also improve work efficiency greatly, reduces danger coefficient, solves the potential safety hazard.

Drawings

The following detailed description of specific embodiments of the utility model refers to the accompanying drawings, in which:

FIG. 1 is a perspective view of an oblique schematic of the structure of an embodiment disclosed in the present application;

FIG. 2 is a schematic perspective view of an embodiment of the present disclosure;

fig. 3 is a schematic side view of a perspective structure of an embodiment disclosed herein.

In the figure: 1. a flange; 2. a main frame; 3. an electromagnetic valve; 4. a middle flange; 5. a flange base; 6. a cylinder; 7. a cylinder fixing plate; 8. a Y-type joint; 9. a turnover shaft; 10. a frame bearing seat; 11. a crank arm; 12. a tensioning sleeve; 13. a tray pallet; 14. a buffer member; 15. a bottom suction cup; 16. a buffer rod.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1, in an embodiment of the present utility model, a composite end effector for carton and tray handling, comprises:

the frame assembly comprises a main frame 2 and a flange 1 arranged at the upper end of the main frame 2;

the control assembly comprises an electromagnetic valve 3 arranged on the side edge of the flange 1, and a left cylinder and a right cylinder which are arranged on the two sides of the flange 1;

the clamping assembly comprises a left clamping part arranged at the extending end of the left cylinder, a right clamping part arranged at the extending end of the right cylinder and a sucking disc part arranged at the lower end of the flange 1.

In this embodiment, the left cylinder and the right cylinder are both fixed to the inner sides of the two ends of the main frame 2 through fixing components.

In this embodiment, the fixing assembly includes a cylinder fixing plate 7 provided to the main frame 2, a flange base 5 provided to the cylinder fixing plate 7, and a middle flange 41 provided to the flange base 5 for circumferentially fixing the left and right cylinders.

In this embodiment, the sucking disc component includes a bottom sucking disc 15 and a buffer component 14 disposed at the lower end of the sucking disc, the bottom sucking disc 15 is connected to the lower end of the flange 1 through a buffer rod 16, and the sucking disc component is electrically connected to the electromagnetic valve 3.

In this embodiment, the left clamping member and the right clamping member each include a turnover shaft 9 disposed on the main frame 2, a crank arm 11 disposed at two ends of the turnover shaft 9, and a tray supporting plate 13 disposed at an extending end of the crank arm 11.

In this embodiment, the turning shaft 9 of the left clamping member is connected to the telescopic end of the left cylinder, and the crank arm 11 of the left clamping member is connected to the turning shaft 9 of the left clamping member through a tension sleeve 12.

In this embodiment, the turning shaft 9 of the right clamping member is connected to the telescopic end of the right cylinder, and the crank arm 11 of the right clamping member is connected to the turning shaft 9 of the right clamping member through a tension sleeve 12.

In this embodiment, the overturning shaft 9 is connected to the main frame 2 through a frame bearing seat 10, and the overturning shaft 9 is connected to the telescopic ends of the left cylinder and the right cylinder through Y-shaped joints.

Under the operating condition, the flange 1 of the end effector is fixed below a robot arm, a robot installation program instruction moves to a tray stacking position, the robot arm drives the end effector to move to a tray grabbing point, at the moment, the air cylinder 6 controls blowing air through the vacuum pump to enable the telescopic end to extend out, and then the overturning shaft 9 is pushed to overturn so as to drive the crank arm 11 and the tray supporting plate 13 to overturn, so that the tray bottom reaches the lower side of the tray. After grabbing the tray, the robot moves to a tray placing point, and the vacuum pump controls the gas to be pumped out so that the turnover shaft 9 opens the tray supporting plate 13 to pump out the bottom of the tray. Then the robot returns to the home point, when the carton reaches the grabbing point, the robot arm drives the end effector to move to the position right above the carton, the bottom suction cup 15 is positioned at the middle part of the carton, after the robot moves downwards to contact the carton, the electromagnetic valve 33 supplies electricity, the suction cup sucks the carton, when the robot moves upwards to the transition point, the air cylinder 6 stretches out to enable the turnover shaft 9 to drive the crank arm 11 and the tray supporting plate 13 to turn over to form the carton bottom support protection, the robot moves to move upwards and downwards to retract by the synchronous air cylinder 6, and after the turnover shaft 9 and the crank arm 11 retract, the robot stacks according to the appointed stacking, so that the carton and the tray conveying process is completed.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the spirit and scope of the utility model as defined by the appended claims and their equivalents.

Claims

1. A composite end effector for carton and tray handling, comprising:

the clamping assembly comprises a left clamping part arranged at the extending end of the left cylinder, a right clamping part arranged at the extending end of the right cylinder and a sucking disc part arranged at the lower end of the flange;

the left clamping part and the right clamping part comprise a turnover shaft arranged on the main frame, crank arms arranged at two ends of the turnover shaft and a tray supporting plate arranged at the extending end of the crank arms;

the sucker component comprises a bottom sucker and a buffer component arranged at the lower end of the bottom sucker;

the sucker component is electrically connected with the electromagnetic valve.

2. The composite end effector for carton and tray handling of claim 1, wherein the left and right cylinders are each secured to the inside of both ends of the main frame by a securing assembly.

3. The composite end effector for carton and tray handling of claim 2, wherein the securing assembly comprises a cylinder securing plate disposed on the main frame, a flange mount disposed on the cylinder securing plate, and a middle flange disposed on the flange mount for circumferentially securing the left and right cylinders.

4. The composite end effector for carton and tray handling of claim 1, wherein the bottom suction cup is connected to the lower end of the flange by a buffer rod.

5. The composite end effector for carton and tray handling of claim 1, wherein the left clamp member has a roll-over shaft connected to the telescoping end of the left cylinder, and wherein the left clamp member has a crank arm connected to the roll-over shaft of the left clamp member by a tensioning sleeve.

6. The composite end effector for carton and tray handling of claim 1, wherein the roll-over shaft of the right gripping member is connected to the telescoping end of the right cylinder and the crank arm of the right gripping member is connected to the roll-over shaft of the right gripping member by a tensioning sleeve.

7. The composite end effector for carton and tray handling of claim 1, wherein the roll-over shaft is connected to the main frame by a frame bearing mount.