Limit space upper cover grabbing mechanism

Abstract

The utility model discloses a limit space upper cover grabbing mechanism, which belongs to the technical field of logistics equipment, and comprises an SCARA robot, a suction cup, a laser distance measuring sensor, an optical fiber sensor and a parallel clamping jaw, the laser distance measuring sensor is arranged above the SCARA robot, the suction cup is arranged on the SCARA robot, and the optical fiber sensor is arranged on the suction cup. The optical fiber sensor is arranged on the parallel clamping jaws, when the SCARA robot moves to the position above the feeding position, the laser distance measuring sensor detects the distance between the suction cup and a cover, the SCARA robot moves to the adsorption position according to the distance, the suction cup sucks the cover, and the SCARA robot moves to the discharging position. The field space utilization rate is high; when the cover is uneven, a special sucker is used for sucking the cover; and the equipment is good in use effect, stable in operation and free of obvious noise and vibration.

Description

Technical Field

[0001] The utility model belongs to the technical field of logistics equipment, and in particular relates to a limit space upper cover grabbing mechanism. Background Art

[0002] The existing pallet depalletizing and palletizing solution for 30-layer pallets and one layer of lids has the following parameters: dimensions L265mm*W265mm*H232mm; status: pallet depalletizing and palletizing. The requirement: A 30-layer pallet with one layer of lids on top was loosely packed. The lids needed to be moved from one logistics line to the other and stacked in 15 layers on the unloading roller conveyor. Previously, the lids were fed directly into the process equipment, which increased the process equipment's retrieving cycle time. Utility Model Content

[0003] To achieve the above-mentioned purpose, the technical solution of the utility model is as follows: a limit space upper cover grasping mechanism, the mechanism includes a SCARA robot, a suction cup, a laser ranging sensor, an optical fiber sensor, and a parallel clamp. The laser ranging sensor is arranged above the SCARA robot, the suction cup is arranged on the SCARA robot, and the optical fiber sensor is arranged on the parallel clamp. When the SCARA robot moves to above the loading position, the laser ranging sensor detects the distance from the suction cup to the cover, and the SCARA robot moves to the adsorption position according to this distance. The suction cup absorbs the cover, and the SCARA robot moves to the unloading position.

[0004] As an improvement of the present invention, the mechanism includes a floating mechanism, the floating mechanism is arranged on the SCARA robot, and the suction cup is arranged on the floating mechanism.

[0005] As an improvement of the present invention, the mechanism includes a rodless cylinder, the rodless cylinder is arranged on the logistics line, and the parallel clamping claws are arranged on the rodless cylinder.

[0006] As an improvement of the present invention, the mechanism includes a stop component and a centering component, and the stop component and the centering component are arranged on the logistics line.

[0007] As an improvement of the present invention, the logistics line transports the pallet to the loading position, the stopping assembly and the centering assembly align the loose pallets, the SCARA robot moves above the loading position, the laser ranging sensor detects the distance from the suction cup to the lid, the SCARA robot moves to the adsorption position according to this distance, the suction cup absorbs the lid, the SCARA robot moves to the unloading position, places the lid on the clamp, repeats this action, and stacks 15 layers of lids in the unloading area.

[0008] As an improvement of the present invention, when the optical fiber sensor detects 15 layers of lids, the SCARA robot cannot unload the lids at the unloading position, the rodless cylinder moves downward, the parallel grippers open, and the 15 layers of lids are placed on the logistics line.

[0009] As an improvement of the present invention, the suction cup is a sponge suction cup.

[0010] Compared with the prior art, the beneficial effects of the present invention are:

[0011] 1) Save material retrieving time and increase equipment output;

[0012] 2) High utilization rate of on-site space;

[0013] 3) If the lid is uneven, use a special suction cup to absorb the lid;

[0014] 4) The equipment works well, runs smoothly, and has no obvious noise or vibration;

[0015] 5) The cover removal mechanism of the utility model can save material removal time and greatly increase equipment output. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the overall structure of the grabbing mechanism of this embodiment;

[0017] Figure 2 This is a schematic diagram of the SCARA robot structure of the gripping mechanism of this embodiment;

[0018] Figure 3 This is a schematic diagram of the parallel clamping jaw structure of this embodiment;

[0019] Figure 4 This is a schematic diagram of the logistics line structure of this embodiment.

[0020] List of accompanying drawings: 1- SCARA robot, 2- pallet, 3- suction cup, 4- laser ranging sensor, 5- floating mechanism, 6- rodless cylinder, 7- fiber optic sensor, 8- gripper, 9- parallel gripper, 10- stop assembly, 11- centering assembly, 12- logistics line. DETAILED DESCRIPTION

[0021] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0022] Example: Figures 1 to 4As shown, a mechanism for grasping a cover in an extreme space is provided, which includes a SCARA robot 1, a suction cup 3, a laser ranging sensor 4, a fiber optic sensor 7, and a parallel clamp 9. The laser ranging sensor 4 is arranged above the SCARA robot 1, the suction cup 3 is arranged on the SCARA robot 1, and the fiber optic sensor 7 is arranged on the parallel clamp 9. When the SCARA robot 1 moves above the loading position, the laser ranging sensor 4 detects the distance from the suction cup to the cover, and the SCARA robot 1 moves to the adsorption position according to the distance. The suction cup 3 absorbs the cover, and the SCARA robot 1 moves to the unloading position.

[0023] Furthermore, the mechanism includes a floating mechanism 5 , which is provided on the SCARA robot 1 , and the suction cup 3 is provided on the floating mechanism 5 .

[0024] Furthermore, the mechanism includes a rodless cylinder 6 , which is arranged on the logistics line 12 , and the parallel clamping jaws 9 are arranged on the rodless cylinder 6 .

[0025] Furthermore, the mechanism includes a stop component 10 and a centering component 11 , and the stop component 10 and the centering component 11 are arranged on a logistics line 12 .

[0026] Furthermore, the logistics line 12 transports the pallet to the loading position, the stopping component 10 and the centering component 11 align the loose pallets, the SCARA robot moves above the loading position, the laser ranging sensor 4 detects the distance from the suction cup to the lid, the SCARA robot moves to the adsorption position according to this distance, the suction cup 3 sucks the lid, the SCARA robot moves to the unloading position, places the lid on the clamp 8, repeats this action, and stacks 15 layers of lids in the unloading area.

[0027] Furthermore, when the optical fiber sensor detects 15 layers of lids, the SCARA robot cannot unload the lids at the unloading position, the rodless cylinder 6 descends to its position, the parallel clamps 9 open, and the 15 layers of lids are placed on the logistics line.

[0028] Furthermore, the suction cup is a sponge suction cup.

[0029] It should be noted that the above content only illustrates the technical idea of ​​the utility model and cannot be used to limit the protection scope of the utility model. For ordinary technicians in this technical field, they can make several improvements and modifications without departing from the principles of the utility model. These improvements and modifications all fall within the protection scope of the claims of the utility model.

Claims

1. A limit space upper cover grabbing mechanism, characterized in that: The mechanism includes a SCARA robot (1), a suction cup (3), a laser distance sensor (4), an optical fiber sensor (7), and a parallel clamp (9). The laser distance sensor (4) is arranged above the SCARA robot (1), the suction cup (3) is arranged on the SCARA robot (1), and the optical fiber sensor (7) is arranged on the parallel clamp (9). When the SCARA robot (1) moves to above the loading position, the laser distance sensor (4) detects the distance from the suction cup to the cover, and the SCARA robot (1) moves to the adsorption position according to the distance. The suction cup (3) absorbs the cover, and the SCARA robot (1) moves to the unloading position.

2. The limit space upper cover grabbing mechanism according to claim 1, characterized in that: The mechanism includes a floating mechanism (5), the floating mechanism (5) is arranged on the SCARA robot (1), and the suction cup (3) is arranged on the floating mechanism (5).

3. The limit space upper cover grabbing mechanism according to claim 1, characterized in that: The mechanism comprises a rodless cylinder (6), the rodless cylinder (6) is arranged on a logistics line (12), and a parallel clamping claw (9) is arranged on the rodless cylinder (6).

4. The limit space upper cover grabbing mechanism according to claim 1, characterized in that: The mechanism comprises a stop assembly (10) and a centering assembly (11), and the stop assembly (10) and the centering assembly (11) are arranged on a logistics line (12).

5. The limit space upper cover grabbing mechanism according to claim 4, characterized in that: The logistics line (12) transports the pallets to the loading position, the stop assembly (10) and the centering assembly (11) align the loose pallets, the SCARA robot moves to the loading position, the laser distance sensor (4) detects the distance from the suction cup to the lid, the SCARA robot moves to the adsorption position according to the distance, the suction cup (3) absorbs the lid, the SCARA robot moves to the unloading position, places the lid on the clamp (8), repeats this action, and stacks 15 layers of lids in the unloading area.

6. The limit space upper cover grabbing mechanism according to claim 1, characterized in that: When the optical fiber sensor detects 15 layers of lids, the SCARA robot cannot unload the lids at the unloading position, the rodless cylinder (6) moves down to its position, and the parallel grippers (9) open, placing the 15 layers of lids on the logistics line.

7. The limit space upper cover grabbing mechanism according to claim 1, characterized in that: The suction cup is a sponge suction cup.

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