CN220844443U

CN220844443U - Clamp with protection structure for palletizing robot

Info

Publication number: CN220844443U
Application number: CN202322693478.4U
Authority: CN
Inventors: 黄志杰; 黄春晖
Original assignee: Guangdong Heyuan Lizhi Technology Co ltd
Current assignee: Guangdong Heyuan Lizhi Technology Co ltd
Priority date: 2023-10-09
Filing date: 2023-10-09
Publication date: 2024-04-26
Anticipated expiration: 2033-10-09

Abstract

The utility model discloses a clamp for a palletizing robot with a protective structure, which relates to the technical field of robot clamps and comprises a palletizing robot main body, a clamp shell and a movable plate, wherein one end of the palletizing robot main body is fixedly connected with a fixed block, the bottom of the fixed block is rotationally connected with a hollow shaft, the bottom of the hollow shaft is fixedly connected with the top of the clamp shell, the inside of the clamp shell is communicated with the inside of the hollow shaft, the top of the hollow shaft extends to the upper part of the fixed block and is fixedly connected with a rotary joint, and the top of the rotary joint is fixedly connected with a negative pressure pipe. According to the utility model, the protection component is arranged, so that the lower movable frame and the clamping plate can be contacted with the lower movable frame when the clamp contacts the discharging platform downwards in the process of clamping an object by the clamp, and further the reaction force of the platform to the lower movable frame can act on the buffer spring, thereby relieving the impact, reducing the damage of the impact to the clamp in the clamping process, and further prolonging the service life of the clamp.

Description

Clamp with protection structure for palletizing robot

Technical Field

The utility model relates to the technical field of robot clamps, in particular to a clamp with a protection structure for a palletizing robot.

Background

Palletizing robots are robotic devices that stack goods or products on trays, shelves or other storage devices according to specific rules and requirements, generally consisting of the following components: the mechanical arm is used for grabbing, moving and stacking goods; a vision system for detecting and positioning the goods so that the robot can accurately grasp and stack the goods; a control system for controlling and coordinating the movement and operation of the robot; providing a track or moving platform for movement of the robot.

The palletizing robot is usually equipped with a control system for monitoring and controlling the movement, gripping and placing actions of the robot, gripping materials by a clamp equipped on the palletizing robot, and releasing the materials after the gripping is controlled to a target position, and when the gripped materials are small in volume, the bottom of the gripping process needs to be contacted with a platform.

However, when the existing palletizing robot clamps an object and moves downwards, the object is affected by the size and shape of the object, the object needs to be clamped by a clamp close to a platform when being placed on the platform, so that the clamp and the object or a placing platform can collide when clamped, the service life of the clamp is affected, or the clamp is directly damaged, and the clamp protection structure is necessary to be provided.

Disclosure of Invention

The utility model aims to provide a clamp for a palletizing robot with a protection structure, which solves the problems in the background technology.

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

The utility model provides a palletizing robot is with anchor clamps with protective structure, including palletizing robot main part, anchor clamps casing and fly leaf, palletizing robot main part's one end fixedly connected with fixed block, the bottom of fixed block rotates and is connected with the hollow shaft, the bottom of hollow shaft and the top fixed connection of anchor clamps casing, the inside of anchor clamps casing communicates with each other with the inside of hollow shaft, the top of hollow shaft extends to the top and fixedly connected with rotary joint of fixed block, rotary joint's top fixedly connected with negative pressure pipe, the negative pressure pipe is connected with the exhaust tube of the vacuum pump that the outside set up, the outside of fixed block is provided with rotating assembly, rotating assembly is used for controlling the anchor clamps casing and rotates, the inside of anchor clamps casing is provided with clamping assembly, clamping assembly is used for providing the power in opposite directions so that carries out the centre gripping operation, four fly leaf all sets up in the outside of anchor clamps casing through clamping assembly, the bottom of fly leaf is provided with protective assembly, protective assembly is used for reducing the damage that the collision brought in the centre gripping process.

By adopting the technical scheme, through setting up the protection component, can press from both sides at anchor clamps and get the object in-process, when anchor clamps contact blowing platform downwards under movable frame and splint can contact with it earlier, and then make the platform can act on buffer spring to the reaction force of lower movable frame to this is accomplished the cushioning to the impact, has reduced the injury of clamp getting in-process impact to anchor clamps.

The technical scheme of the utility model is further improved as follows: the protection component comprises an upper movable frame, wherein the upper movable frame is fixedly connected to the bottom of the movable plate, two sliding rods are fixedly connected to the bottom of the upper movable frame in a sliding manner, a lower movable frame is fixedly connected between the bottoms of the sliding rods, the tops of the sliding rods are all extended to the upper part of the upper movable frame and fixedly connected with a limiting plate, and a buffer spring is sleeved outside the sliding rods and between the upper movable frame and the lower movable frame.

By adopting the technical scheme, the sliding rod and the buffer spring are utilized to provide a movable space for the lower movable frame, and impact protection can be provided during clamping.

The technical scheme of the utility model is further improved as follows: one side of the lower movable frame, which is close to the lower movable frame, is fixedly connected with a connecting plate, and one side of the connecting plate, which is far away from the lower movable frame, is fixedly connected with a clamping plate.

By adopting the technical scheme, the four clamping plates can be driven to move in opposite directions by utilizing the movement of the four lower movable frames, so as to clamp materials.

The technical scheme of the utility model is further improved as follows: the clamping assembly comprises four piston cylinders, the piston cylinders are respectively and fixedly connected around the inner wall of the clamp shell, one far away side of each piston cylinder extends to the outer side of the clamp shell, through grooves communicated with the outside are formed in the far away side of each piston cylinder, piston plates are slidably connected between the inner walls of the piston cylinders, movable rods are fixedly connected between the outer sides of the piston plates and the movable plates, return springs are fixedly connected between one far away from the movable rods and one side of the inner wall of each piston cylinder, and through holes are formed in the near sides of the piston cylinders.

By adopting the technical scheme, negative pressure in the clamp shell is generated in the piston cylinder through the through hole so as to drive the four piston plates to move towards one side close to each other, and power is provided for clamping.

The technical scheme of the utility model is further improved as follows: the top fixedly connected with pressure release pipe of anchor clamps casing, the inside of pressure release pipe is provided with electric valve.

By adopting the technical scheme, the electric valve inside the pressure relief pipe can be opened to release negative pressure, so that the clamping plate is pushed to reset under the action of the reset spring, and materials are released.

The technical scheme of the utility model is further improved as follows: the rotating assembly comprises a fixed plate, the fixed plate is fixedly connected to the outer side of the fixed block, a motor is fixedly connected to the top of the fixed block, the output end of the motor extends to the lower portion of the fixed plate and is fixedly connected with a driving gear, a driven gear is fixedly connected to the outer side of the hollow shaft, and the driven gear is meshed with the driving gear.

By adopting the technical scheme, the driving gear is driven to rotate through the motor work, and the driven gear is driven to rotate through meshing, so that the rotation of the clamp shell is realized.

The technical scheme of the utility model is further improved as follows: one side of the clamping plate, which is far away from the connecting plate, is fixedly connected with an anti-slip pad, and the outer side of the clamping plate and an outer side component of the connecting plate are fixedly connected with reinforcing plates.

By adopting the technical scheme, the anti-slip pad is made of rubber, can provide larger friction force and can protect materials from damage caused by clamping force.

By adopting the technical scheme, compared with the prior art, the utility model has the following technical progress:

According to the clamp for the palletizing robot with the protection structure, the protection component is arranged, so that when the clamp clamps an object, the clamp contacts the discharging platform downwards, the movable frame and the clamping plate are contacted with the discharging platform firstly, and further the reaction force of the platform to the lower movable frame acts on the buffer spring, so that the buffer spring is relieved, the damage of the impact to the clamp in the clamping process is reduced, the service life of the clamp is prolonged, and practical application is facilitated.

The utility model provides a clamp for a palletizing robot with a protective structure, which is characterized in that negative pressure is generated in a clamp shell to be used as the drive of the clamp, and a hollow shaft is used for providing negative pressure for the clamp shell and simultaneously being used as a rotating shaft, so that vacuum provided by a vacuum pump can provide negative pressure at the central position of the rotating shaft, and the connecting part is switched by a rotary joint, thereby replacing the use of a hose to directly connect the clamp for air supply, reducing the loss of the hose when the hose is matched with the rotation of the clamp for movement, and prolonging the service life of the clamp.

Drawings

FIG. 1 is a schematic diagram of a front left-view structure of the present utility model;

FIG. 2 is a schematic diagram of a front right-view structure of the present utility model;

FIG. 3 is a schematic view of the internal structure of the present utility model;

FIG. 4 is a schematic view of the structure of the clamping assembly and the buffer assembly of the present utility model;

Fig. 5 is an enlarged view of fig. 2a in accordance with the present utility model.

In the figure: 1. a palletizing robot body; 2. a fixed block; 3. a hollow shaft; 4. a clamp housing; 5. a piston cylinder; 6. a piston plate; 7. a return spring; 8. a through hole; 9. a rotary joint; 10. a negative pressure pipe; 11. a movable rod; 12. a movable plate; 13. a movable frame is arranged on the upper part; 14. a slide bar; 15. a lower movable frame; 16. a limiting plate; 17. a buffer spring; 18. a connecting plate; 19. a clamping plate; 20. an anti-slip pad; 21. a reinforcing plate; 22. a pressure relief tube; 23. a fixing plate; 24. a motor; 25. a drive gear; 26. a driven gear.

Description of the embodiments

The utility model is further illustrated by the following examples:

Examples

As shown in fig. 1 and 3, the utility model provides a palletizing robot fixture with a protection structure, which comprises a palletizing robot main body 1, a fixture housing 4 and a movable plate 12, wherein one end of the palletizing robot main body 1 is fixedly connected with a fixed block 2, the bottom of the fixed block 2 is rotatably connected with a hollow shaft 3, the bottom of the hollow shaft 3 is fixedly connected with the top of the fixture housing 4, the inside of the fixture housing 4 is communicated with the inside of the hollow shaft 3, the top of the hollow shaft 3 extends to the upper side of the fixed block 2 and is fixedly connected with a rotary joint 9, the top of the rotary joint 9 is fixedly connected with a negative pressure pipe 10, the negative pressure pipe 10 is connected with an exhaust pipe of a vacuum pump arranged outside, the outer side of the fixed block 2 is provided with a rotary component, the rotary component is used for controlling the fixture housing 4 to rotate, the inside of the fixture housing 4 is provided with a clamping component, the clamping component is used for providing opposite force so as to perform clamping operation, the movable plate 12 is provided with four, the four movable plates 12 are all arranged on the outer side of the fixture housing 4 through the clamping component, the bottom of the movable plate 12 is provided with a protection component, and the protection component is used for reducing damage caused by collision in the clamping process.

In this embodiment, through setting up the protection component, can press from both sides at the anchor clamps and get the object in-process, when anchor clamps contact blowing platform downwards under movable frame 15 and splint 19 can contact with it earlier, and then make the platform to the reaction force of lower movable frame 15 can act on buffer spring 17 to this is accomplished the cushioning to the impact, has reduced the injury of clamp to the anchor clamps of pressing from both sides the in-process impact.

Examples

As shown in fig. 4, on the basis of embodiment 1, the present utility model provides a technical solution: preferably, the protection component comprises an upper movable frame 13, the upper movable frame 13 is fixedly connected to the bottom of the movable plate 12, two sliding rods 14 are fixedly connected to the bottom of the upper movable frame 13 in a sliding manner, a lower movable frame 15 is fixedly connected between the bottoms of the sliding rods 14, the top of the sliding rods 14 extends to the upper side of the upper movable frame 13 and is fixedly connected with a limiting plate 16, and a buffer spring 17 is sleeved outside the sliding rods 14 and between the upper movable frame 13 and the lower movable frame 15.

In the present embodiment, the slide bar 14 and the buffer spring 17 are utilized to provide a movable space for the lower movable frame 15, so that impact protection can be provided at the time of clamping.

As shown in fig. 4, preferably, the sides of the lower movable frame 15 close to each other are fixedly connected with a connecting plate 18, and the sides of the connecting plates 18 far away from the lower movable frame 15 are fixedly connected with clamping plates 19.

In this embodiment, the four lower movable frames 15 can be utilized to move to drive the four clamping plates 19 to move in opposite directions, so as to clamp the material.

As shown in fig. 4, preferably, the clamping assembly comprises four piston cylinders 5, the piston cylinders 5 are respectively and fixedly connected around the inner wall of the clamp shell 4, the far sides of the piston cylinders 5 are all extended to the outer side of the clamp shell 4, through grooves communicated with the outside are formed in the far sides of the piston cylinders 5, piston plates 6 are slidably connected between the inner walls of the piston cylinders 5, movable rods 11 are fixedly connected between the outer sides of the piston plates 6 and the movable plates 12, return springs 7 are fixedly connected between the far sides of the piston plates 6, far from the movable rods 11, and the inner walls of the piston cylinders 5, and through holes 8 are formed in the near sides of the piston cylinders 5.

In this embodiment, the negative pressure in the fixture housing 4 makes the piston cylinder 5 generate negative pressure through the through hole 8 to drive the four piston plates 6 to move to the side close to each other, and the movable rod 11 is driven to move while the return spring 7 is pressed.

As shown in fig. 1 and 2, preferably, the top of the fixture housing 4 is fixedly connected with a pressure release tube 22, and an electric valve is arranged inside the pressure release tube 22.

In this embodiment, the electric valve inside the pressure release pipe 22 can be opened to release the negative pressure when releasing the material, so that the clamping plate 19 is pushed to reset under the action of the reset spring 7 (at this time, the vacuum pump stops providing the negative pressure and can be controlled by setting the valve).

As shown in fig. 1 and 3, preferably, the rotating assembly comprises a fixed plate 23, the fixed plate 23 is fixedly connected to the outer side of the fixed block 2, a motor 24 is fixedly connected to the top of the fixed block 2, an output end of the motor 24 extends to the lower side of the fixed plate 23 and is fixedly connected with a driving gear 25, a driven gear 26 is fixedly connected to the outer side of the hollow shaft 3, and the driven gear 26 is meshed with the driving gear 25.

In the present embodiment, the driving gear 25 is driven to rotate by the operation of the motor 24, and the driven gear 26 is driven to rotate by engagement, so that the rotation of the jig housing 4 is achieved.

As shown in fig. 4 and 5, preferably, a non-slip mat 20 is fixedly connected to a side of the clamping plate 19 away from the connecting plate 18, and reinforcing plates 21 are fixedly connected to outer side components of the clamping plate 19 and outer side components of the connecting plate 18.

In this embodiment, the anti-slip pad 20 is made of rubber, so that the material can be protected from damage of clamping force while providing greater friction force, and the reinforcing plate 21 can provide structural reinforcement for the clamping plate 19.

The working principle of the clamp for the palletizing robot with the protective structure is specifically described below.

The palletizing robot body 1 is operated to move the clamp to a position where the clamp needs to clamp materials, the clamp descends and the lower movable frame 15 is contacted with the discharging platform, when the clamp contacts with the discharging platform, the reaction force of the platform to the lower movable frame 15 can enable the reset spring 7 to be extruded to provide buffering, the movable frame 15 pushes the slide rod 14 to move upwards in the impact process to provide a movable space, a vacuum pump is utilized to provide negative pressure to the clamp shell 4, the negative pressure pipe 10, the rotary joint 9 and the hollow shaft 3 are utilized to provide negative pressure, the piston cylinder 5 is further enabled to generate negative pressure through the through hole 8, so that the four piston plates 6 are driven to move towards one side close to each other, the reset spring 7 is extruded, meanwhile, the movable rod 11 is driven to move, the movable plate 12 is driven to move towards one side close to each other through the upper movable frame 13, the slide rod 14, the lower movable frame 15 and the connecting plate 18, the clamping plate 19 is driven to clamp materials, after the materials are clamped to the target position, the electric valve in the control pressure release pipe 22 is controlled to open, the negative pressure in the clamp shell 4 is enabled, the piston plates 6 are pushed to move towards the direction far away from each other through the through hole 8, and the rebound spring 19 is driven towards the direction away from each other.

The foregoing utility model has been generally described in great detail, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, it is intended to cover modifications or improvements within the spirit of the inventive concepts.

Claims

1. The utility model provides a palletizing robot anchor clamps with protective structure, includes palletizing robot main part (1), anchor clamps casing (4) and fly leaf (12), its characterized in that: the utility model discloses a palletizing robot, including pile up neatly robot main part (1), one end fixedly connected with fixed block (2), the bottom of fixed block (2) rotates and is connected with hollow shaft (3), the bottom of hollow shaft (3) and the top fixed connection of anchor clamps casing (4), the inside of anchor clamps casing (4) communicates with each other with the inside of hollow shaft (3), the top of hollow shaft (3) extends to the top and fixedly connected with rotary joint (9) of fixed block (2), the top fixedly connected with negative pressure pipe (10) of rotary joint (9), negative pressure pipe (10) are connected with the exhaust tube of the vacuum pump that the outside set up, the outside of fixed block (2) is provided with rotary component, rotary component is used for controlling anchor clamps casing (4) and rotates, the inside of anchor clamps casing (4) is provided with clamping component, clamping component is used for providing the power in opposite directions in order to carry out the centre gripping operation, fly leaf (12) are provided with four fly leaf (12) all through clamping component setting up in the outside of anchor clamps casing (4), the bottom of fly leaf (12) is provided with the protection subassembly, the protection subassembly is used for bringing in the collision.

2. The palletizing robot fixture with the protective structure according to claim 1, wherein: the protection assembly comprises an upper movable frame (13), the upper movable frame (13) is fixedly connected to the bottom of a movable plate (12), two sliding rods (14) are fixedly connected to the bottom of the upper movable frame (13), a lower movable frame (15) is fixedly connected between the bottoms of the sliding rods (14), the tops of the sliding rods (14) are all extended to the upper side of the upper movable frame (13) and fixedly connected with a limiting plate (16), and a buffer spring (17) is sleeved between the outer side of the sliding rod (14) and the lower movable frame (15).

3. A palletizing robot fixture having a protective structure as claimed in claim 2, wherein: the connecting plates (18) are fixedly connected to one sides, close to the lower movable frame (15), of the lower movable frame (15), and clamping plates (19) are fixedly connected to one sides, far away from the lower movable frame (15), of the connecting plates (18).

4. The palletizing robot fixture with the protective structure according to claim 1, wherein: the clamping assembly comprises four piston cylinders (5), the piston cylinders (5) are respectively fixedly connected around the inner wall of the clamp shell (4), one far away side of each piston cylinder (5) extends to the outer side of the clamp shell (4), through grooves communicated with the outside are formed in the far away side of each piston cylinder (5), piston plates (6) are slidably connected between the inner walls of the piston cylinders (5), movable rods (11) are fixedly connected between the outer sides of the piston plates (6) and the movable plates (12), return springs (7) are fixedly connected between one far away from the movable rods (11) and one near the inner wall of each piston cylinder (5), and through holes (8) are formed in the near sides of the piston cylinders (5).

5. The palletizing robot fixture with the protective structure according to claim 1, wherein: the top fixedly connected with pressure release pipe (22) of anchor clamps casing (4), the inside of pressure release pipe (22) is provided with electric valve.

6. The palletizing robot fixture with the protective structure according to claim 1, wherein: the rotary assembly comprises a fixed plate (23), the fixed plate (23) is fixedly connected to the outer side of the fixed block (2), a motor (24) is fixedly connected to the top of the fixed block (2), the output end of the motor (24) extends to the lower portion of the fixed plate (23) and is fixedly connected with a driving gear (25), a driven gear (26) is fixedly connected to the outer side of the hollow shaft (3), and the driven gear (26) is meshed with the driving gear (25).

7. A palletizing robot fixture having a protective structure as claimed in claim 3, wherein: one side of splint (19) keep away from connecting plate (18) fixedly connected with slipmat (20), the outside of splint (19) and the outside subassembly of connecting plate (18) all fixedly connected with reinforcing plate (21).