A palletizing robot with easily adjustable gripper structure

Abstract

This utility model belongs to the field of palletizing robot technology, specifically disclosing a palletizing robot with an easily adjustable gripper structure. The utility model includes a palletizing manipulator and a fixed frame. The fixed frame contains two sets of gripper assemblies. Each gripper assembly includes a clamping unit and an adjustment unit. Each clamping unit includes a fixed gripper. Each fixed gripper has a first electric push rod on one side, which drives the corresponding fixed gripper to clamp. The gripper assembly allows for flexible and precise adjustment of the gripper's clamping range. The first electric push rod drives the fixed gripper to open and close, meeting basic clamping requirements. Its stable and precise driving force ensures adjustment accuracy. Furthermore, when the fixed gripper's adjustment range is insufficient, a second electric push rod drives the adjusting gripper to move in the opposite direction, further expanding or reducing the clamping range. This significantly improves the palletizing robot's adaptability to different sizes of fertilizer bags and its palletizing efficiency.

Description

Technical Field

[0001] This application relates to the field of palletizing robot technology, and more specifically, to a palletizing robot with an adjustable gripper structure. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs. They provide higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. The palletizing robot system uses patented coordinate robot technology, which allows for flexible and compact installation. It makes the concept of building highly efficient and energy-saving fully automated block molding machine production lines within a relatively small footprint a reality. In the fertilizer production industry, palletizing is a key process in subsequent packaging and warehousing.

[0003] Currently, most fertilizer production companies use traditional palletizing robots to palletize fertilizer bags. However, the gripper structure of existing palletizing robots is mostly fixed, and the gripping range of the gripper structure is limited. When producing fertilizer bags of different specifications, manual replacement of gripper components is required, which not only interrupts the continuous operation of the production line and reduces efficiency, but also easily leads to a decrease in gripper accuracy due to improper operation, and fertilizer bags may fall or break due to unsuitable clamping. Utility Model Content

[0004] To address the aforementioned issues, this application provides a palletizing robot with an easily adjustable gripper structure.

[0005] The palletizing robot with an easily adjustable gripper structure provided in this application adopts the following technical solution:

[0006] A palletizing robot with an adjustable gripper structure includes a palletizing manipulator and a fixed frame. The fixed frame has two sets of gripper assemblies inside, and each set of gripper assemblies includes a clamping unit and an adjustment unit.

[0007] Each clamping unit includes a fixed gripper, and each fixed gripper has a first electric push rod on one side. The first electric push rod is used to drive the corresponding fixed gripper to clamp.

[0008] Each set of adjustment units includes two adjustment grippers. Each fixed gripper has a second electric push rod on one side. Each second electric push rod is used to drive the corresponding two adjustment grippers to move in opposite directions, thereby adjusting the gripping range.

[0009] Furthermore, two first electric push rods are fixedly installed on the inside sides of the fixed frame, and a connecting frame is fixedly installed on one side of each fixed gripper. Support frames are rotatably connected to both sides of the fixed frame, and each connecting frame is fixedly connected to the outer wall of one side of the corresponding support frame.

[0010] Furthermore, the fixed frame has openings on both sides inside, and each support frame passes through the corresponding opening. Each support frame has a limit hole on one side. The output end of the first electric push rod is rotatably connected to a rotating shaft, and each rotating shaft passes through the corresponding limit hole.

[0011] Furthermore, each second electric push rod is fixedly installed on both sides of the fixed frame, and a sliding groove is provided on one side of each fixed gripper. The output end of each second electric push rod is rotatably connected to two connecting rods.

[0012] Furthermore, each adjusting gripper has a mounting rod fixedly connected to one side, and each mounting rod has a slider fixedly connected to its bottom. Each slider is slidably connected to a corresponding groove, and the end of each connecting rod away from the corresponding second electric push rod is rotatably connected to one side of the corresponding mounting rod.

[0013] The above technical solution enables flexible and precise adjustment of the gripper's grasping range through the gripper component.

[0014] Furthermore, each connecting frame has multiple plug blocks fixedly connected to one side, and each fixed gripper has multiple slots on one side. Each plug block is inserted into the corresponding slot with an interference fit.

[0015] Furthermore, each insert has a threaded groove on one side, and each slot has a threaded hole on one side.

[0016] Furthermore, each fixed gripper has multiple bolts on one side, each bolt being threaded through the corresponding threaded hole and then threadedly connected to the corresponding threaded groove.

[0017] The above technical solution ensures structural stability and facilitates disassembly and replacement during later maintenance by using inserts and slots.

[0018] In summary, this application includes at least one of the following beneficial technical effects:

[0019] (1) This utility model can achieve flexible and precise adjustment of the gripper's gripping range through the gripper assembly. It can open and close the fixed gripper by driving the first electric push rod to meet the basic gripping requirements. Its stable and precise driving force ensures the adjustment accuracy. The limiting hole, the through hole and the connecting frame ensure the reliability of the adjustment from the aspects of trajectory constraint, activity space and connection stability, respectively. When the adjustment range of the fixed gripper is insufficient, the second electric push rod can drive the adjustment gripper to move in the opposite direction to further expand or reduce the gripping range. The fine drive of the second electric push rod is adapted to fertilizer bags of different sizes. The flexible transmission of the connecting rod, the smooth cooperation of the slider and the groove and the stable connection of the mounting rod together ensure that the adjustment process is smooth and the power transmission is continuous, effectively avoiding manual adjustment errors and component damage, and greatly improving the adaptability of the palletizing robot to fertilizer bags of different specifications and the palletizing efficiency.

[0020] (2) This utility model achieves the initial positioning and connection of the connecting frame and the fixed gripper through the interference fit of the plug and the slot, which can quickly align the installation position and form a pre-fixed position to avoid deviation during assembly. At the same time, the threaded connection of the bolt through the threaded hole and the threaded groove further strengthens the connection strength of the two, ensuring that the fixed gripper will not loosen or fall off due to force during clamping and adjustment, which not only ensures the structural stability, but also facilitates disassembly and replacement during later maintenance. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0022] Figure 2 This is a schematic diagram of the overall structure of the fixing frame of this utility model;

[0023] Figure 3 This is a side view of the overall structure of the fixing frame of this utility model;

[0024] Figure 4 This is a schematic diagram of the overall structure of the fixed gripper and the adjustable gripper of this utility model;

[0025] Figure 5 This is a plan view of the overall structure of the fixed gripper and the adjustable gripper of this utility model;

[0026] Figure 6 This is a schematic diagram of the overall installation structure of the fixed gripper of this utility model;

[0027] Figure 7 This is a schematic diagram of the overall structure of the adjusting grip of this utility model after adjustment.

[0028] Explanation of reference numerals in the attached drawings: 1. Palletizing robot; 2. Fixed frame; 3. Fixed gripper; 4. Connecting frame; 5. First electric push rod; 6. Through port; 7. Limiting hole; 8. Adjusting gripper; 9. Second electric push rod; 10. Connecting rod; 11. Slide groove; 12. Insert block; 13. Slot; 14. Bolt; 15. Threaded groove; 16. Threaded hole; 17. Mounting rod; 18. Slider; 19. Support frame; 20. Rotating shaft. Detailed Implementation

[0029] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the scope of protection of this application.

[0030] Reference Figures 1-7A palletizing robot with an adjustable gripper structure includes a palletizing manipulator 1 and a fixed frame 2. The fixed frame 2 has two sets of gripper assemblies inside, and each set of gripper assemblies includes a clamping unit and an adjustment unit.

[0031] Each clamping unit includes a fixed gripper 3, and each fixed gripper 3 has a first electric push rod 5 on one side. The first electric push rod 5 is used to drive the corresponding fixed gripper 3 to clamp.

[0032] Each set of adjustment units includes two adjustment grippers 8. Each fixed gripper 3 has a second electric push rod 9 on one side. Each second electric push rod 9 is used to drive the corresponding two adjustment grippers 8 to move in opposite directions, thereby adjusting the gripping range.

[0033] Reference Figures 1-7 Two first electric push rods 5 are fixedly installed on the inner sides of the fixed frame 2. A connecting frame 4 is fixedly installed on one side of each fixed gripper 3. Support frames 19 are rotatably connected to both sides of the fixed frame 2. Each connecting frame 4 is fixedly connected to the outer wall of one side of the corresponding support frame 19. Through openings 6 are opened on both sides of the interior of the fixed frame 2. Each support frame 19 passes through the corresponding through opening 6. Limiting holes 7 are opened on one side of each support frame 19. A rotating shaft 20 is rotatably connected to the output end of the first electric push rod 5. Each rotating shaft 20 passes through the corresponding support frame 19. Each second electric push rod 9 is fixedly installed on both sides of the fixed frame 2, and each fixed gripper 3 has a sliding groove 11 on one side. The output end of each second electric push rod 9 is rotatably connected to two connecting rods 10. Each adjusting gripper 8 has a mounting rod 17 fixedly connected to one side. Each mounting rod 17 has a slider 18 fixedly connected to the bottom. Each slider 18 is slidably connected to the corresponding sliding groove 11. The end of each connecting rod 10 away from the corresponding second electric push rod 9 is rotatably connected to one side of the corresponding mounting rod 17.

[0034] The gripper assembly allows for adjustment of the gripping range. Specifically, when the gripping range needs to be adjusted using the gripper assembly, the first electric push rod 5, which is fixed on both sides inside the fixed frame 2 in the two sets of clamping units, is activated. The output end of the first electric push rod 5 drives the rotating shaft 20, which is rotatably connected to it, to move. Since the rotating shaft 20 passes through the limiting hole 7 of the support frame 19, and the support frame 19 is rotatably connected to both sides of the fixed frame 2 and passes through the opening 6 of the fixed frame 2, and the support frame 19 is also connected to the connecting frame 4 fixed on one side of the fixed gripper 3, when the first electric push rod 5 extends and retracts to drive the rotating shaft 20 to move within the limiting hole 7, it will drive the support frame 19 to rotate around the fixed frame 2 within the space provided by the opening 6, thereby driving the fixed gripper 3 to open and close through the connecting frame 4.

[0035] During this process, the first electric push rod 5 provides a stable and precise driving force, avoiding errors from manual adjustment and ensuring the adjustment accuracy of the fixed gripper 3; the limiting hole 7 can constrain the movement trajectory of the rotating shaft 20, preventing the fixed gripper 3 from deviating during adjustment and ensuring accurate adjustment direction; the through port 6 provides sufficient space for the rotation of the support frame 19, avoiding mutual obstruction when the components move; and the connecting frame 4 can enhance the connection stability between the fixed gripper 3 and the support frame 19, preventing the components from falling off during adjustment.

[0036] If the adjustment range of the fixed gripper 3 still cannot meet the requirements, the second electric push rod 9, which is fixed on both sides of the fixed frame 2 in the two sets of adjustment units, is activated. The output end of the second electric push rod 9 will drive the two connecting rods 10 rotatably connected to it to move. Since the end of the connecting rod 10 away from the second electric push rod 9 is rotatably connected to the mounting rod 17 fixed on one side of the adjustment gripper 8, and the slider 18 at the bottom of the mounting rod 17 is slidably engaged with the slide groove 11 of the fixed gripper 3, when the second electric push rod 9 extends or retracts, it will push or pull the mounting rod 17 through the connecting rod 10, so that the slider 18 slides smoothly along the slide groove 11, thereby driving the two adjustment grippers 8. The reverse movement further adjusts the overall gripping range of the gripper. The second electric push rod 9 enables precise movement of the gripper 8 to meet the adaptation needs of fertilizer bags of different sizes. Since the connecting rod 10 adopts a rotating connection method, it can flexibly transmit power and avoid jamming during the adjustment process. In addition, the sliding cooperation between the slider 18 and the slide groove 11 can reduce the friction between the parts, ensuring that the adjustment gripper 8 moves smoothly and preventing damage to the parts due to excessive friction. The mounting rod 17 effectively connects the adjustment gripper 8 and the connecting rod 10, ensuring the continuity of power transmission, and ultimately achieving flexible and precise adjustment of the gripper's gripping range.

[0037] For example, when handling small fertilizer bags with a length of 40cm, the fixed gripper 3 can be adjusted slightly by driving the first electric push rod 5. The guide hole 7 constrains the trajectory of the rotating shaft 20, ensuring that the fixed gripper 3 is accurately clamped at both ends of the fertilizer bag. If a large fertilizer bag with a length of 80cm is encountered, after the fixed gripper 3 is adjusted to the maximum opening range, the second electric push rod 9 is activated. The connecting rod 10 pushes the mounting rod 17, causing the slider 18 to slide along the slide groove 11. This drives the two adjusting grippers 8 to move outwards in opposite directions, extending the overall gripper's working length. At this time, the fixed gripper 3 and the adjusting gripper 8 work together to ensure stable clamping of long fertilizer bags without causing structural shaking due to excessive adjustment. This perfectly adapts to the stacking requirements of fertilizer bags of different lengths, and the operation mode can be quickly switched without replacing the gripper components.

[0038] The gripper assembly enables flexible and precise adjustment of the gripper's clamping range. The first electric push rod 5 drives the fixed gripper 3 to open and close, meeting basic clamping requirements. Its stable and precise driving force ensures adjustment accuracy. The limiting hole 7, the through-hole 6, and the connecting frame 4 ensure reliable adjustment in terms of trajectory constraints, activity space, and connection stability, respectively. Furthermore, when the fixed gripper 3's adjustment range is insufficient, the second electric push rod 9 drives the adjusting gripper 8 to move in the opposite direction, further expanding or shrinking the clamping range. The precise drive of the second electric push rod 9 adapts to fertilizer bags of different sizes. The flexible transmission of the connecting rod 10, the smooth cooperation between the slider 18 and the slide groove 11, and the stable connection of the mounting rod 17 together ensure a smooth and stable adjustment process and continuous power transmission, effectively avoiding manual adjustment errors and component damage. This significantly improves the palletizing robot's adaptability to different specifications of fertilizer bags and its palletizing efficiency.

[0039] Reference Figure 6 Each connecting frame 4 has multiple plug blocks 12 fixedly connected to one side, and each fixed gripper 3 has multiple slots 13 on one side. Each plug block 12 is inserted into the corresponding slot 13 with an interference fit. Each plug block 12 has a threaded groove 15 on one side, and each slot 13 has a threaded hole 16 on one side. Each fixed gripper 3 has multiple bolts 14 on one side. Each bolt 14 is threaded through the corresponding threaded hole 16 and then threadedly connected to the corresponding threaded groove 15.

[0040] During installation, first align the multiple inserts 12 on one side of the connecting bracket 4 with the corresponding slots 13 on the side of the fixed gripper 3, apply appropriate pressure to make the inserts 12 and slots 13 form an interference fit, and complete the initial fixation; then pass the bolts 14 through the threaded holes 16 on the fixed gripper 3, align them with the threaded grooves 15 on the inserts 12 and tighten them, and firmly fix the two through the threaded connection; during disassembly, simply loosen the bolts 14 in the reverse direction and remove them, and then apply external force to separate the inserts 12 from the slots 13. The operation is simple and efficient.

[0041] The interference fit between the insert 12 and the slot 13 enables the initial positioning and connection of the connecting frame 4 and the fixed gripper 3, which can quickly align the installation position and form a pre-fixed position to avoid misalignment during assembly. At the same time, the threaded connection between the threaded hole 16 and the threaded groove 15 through the bolt 14 further strengthens the connection strength between the two, ensuring that the fixed gripper 3 will not loosen or fall off due to force during clamping and adjustment. This not only ensures structural stability but also facilitates disassembly and replacement during later maintenance.

[0042] Working principle: When it is necessary to adjust the gripping range through the gripper assembly, the first electric push rod 5 fixed inside the fixed frame 2 on both sides of the two sets of gripping units is activated first. The output end of the first electric push rod 5 will drive the rotating shaft 20 connected to it to move. Since the rotating shaft 20 passes through the limiting hole 7 of the support frame 19, and the support frame 19 is rotatably connected to both sides of the fixed frame 2 and passes through the through 6 of the fixed frame 2, and the support frame 19 is also connected to the connecting frame 4 fixed on one side of the fixed gripper 3, when the first electric push rod 5 extends and retracts to drive the rotating shaft 20 to move in the limiting hole 7, it will drive the support frame 19 to rotate around the fixed frame 2 in the space provided by the through 6, and then drive the fixed gripper 3 to open and close through the connecting frame 4.

[0043] During this process, the first electric push rod 5 provides a stable and precise driving force, avoiding errors from manual adjustment and ensuring the adjustment accuracy of the fixed gripper 3; the limiting hole 7 can constrain the movement trajectory of the rotating shaft 20, preventing the fixed gripper 3 from deviating during adjustment and ensuring accurate adjustment direction; the through port 6 provides sufficient space for the rotation of the support frame 19, avoiding mutual obstruction when the components move; and the connecting frame 4 can enhance the connection stability between the fixed gripper 3 and the support frame 19, preventing the components from falling off during adjustment.

[0044] If the adjustment range of the fixed gripper 3 still cannot meet the requirements, the second electric push rod 9, which is fixed on both sides of the fixed frame 2 in the two sets of adjustment units, is activated. The output end of the second electric push rod 9 will drive the two connecting rods 10 rotatably connected to it to move. Since the end of the connecting rod 10 away from the second electric push rod 9 is rotatably connected to the mounting rod 17 fixed on one side of the adjustment gripper 8, and the slider 18 at the bottom of the mounting rod 17 is slidably engaged with the slide groove 11 of the fixed gripper 3, when the second electric push rod 9 extends or retracts, it will push or pull the mounting rod 17 through the connecting rod 10, so that the slider 18 slides smoothly along the slide groove 11, thereby driving the two adjustment grippers 8. The reverse movement further adjusts the overall gripping range of the gripper. The second electric push rod 9 enables precise movement of the gripper 8 to meet the adaptation needs of fertilizer bags of different sizes. Since the connecting rod 10 adopts a rotating connection method, it can flexibly transmit power and avoid jamming during the adjustment process. In addition, the sliding cooperation between the slider 18 and the slide groove 11 can reduce the friction between the parts, ensuring that the adjustment gripper 8 moves smoothly and preventing damage to the parts due to excessive friction. The mounting rod 17 effectively connects the adjustment gripper 8 and the connecting rod 10, ensuring the continuity of power transmission, and ultimately achieving flexible and precise adjustment of the gripper's gripping range.

[0045] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A palletizing robot with an easily adjustable gripper structure, comprising a palletizing manipulator (1) and a fixed frame (2), characterized in that, The fixed frame (2) is provided with two sets of gripper assemblies inside, and each set of gripper assemblies includes a clamping unit and an adjustment unit; Each clamping unit includes a fixed gripper (3), and each fixed gripper (3) has a first electric push rod (5) on one side. The first electric push rod (5) is used to drive the corresponding fixed gripper (3) to clamp. Each set of adjustment units includes two adjustment grippers (8), and each fixed gripper (3) is provided with a second electric push rod (9) on one side. Each second electric push rod (9) is used to drive the corresponding two adjustment grippers (8) to move in opposite directions, thereby adjusting the gripping range.

2. The palletizing robot with an easily adjustable gripper structure according to claim 1, characterized in that: Two first electric push rods (5) are fixedly installed on the inside sides of the fixed frame (2), and a connecting frame (4) is fixedly installed on one side of each fixed gripper (3). Support frames (19) are rotatably connected to both sides of the fixed frame (2), and each connecting frame (4) is fixedly connected to the outer wall of one side of the corresponding support frame (19).

3. A palletizing robot with an easily adjustable gripper structure according to claim 2, characterized in that: The fixed frame (2) has openings (6) on both sides inside, and each support frame (19) passes through the corresponding opening (6). Each support frame (19) has a limit hole (7) on one side. The output end of the first electric push rod (5) is rotatably connected to a rotating shaft (20), and each rotating shaft (20) passes through the corresponding limit hole (7).

4. A palletizing robot with an easily adjustable gripper structure according to claim 3, characterized in that: Each of the second electric push rods (9) is fixedly installed on both sides of the fixed frame (2), and each of the fixed grippers (3) has a groove (11) on one side. The output end of each of the second electric push rods (9) is rotatably connected to two connecting rods (10).

5. A palletizing robot with an easily adjustable gripper structure according to claim 4, characterized in that: Each of the adjusting grippers (8) is fixedly connected to one side of an mounting rod (17), and each of the mounting rods (17) is fixedly connected to a slider (18) at the bottom. Each slider (18) is slidably connected to a corresponding slide groove (11), and the end of each connecting rod (10) away from the corresponding second electric push rod (9) is rotatably connected to one side of the corresponding mounting rod (17).

6. A palletizing robot with an easily adjustable gripper structure according to claim 2, characterized in that: Each of the connecting frames (4) has multiple plugs (12) fixedly connected to one side, and each of the fixed grippers (3) has multiple slots (13) on one side. Each plug (12) is inserted into the corresponding slot (13) and has an interference fit.

7. A palletizing robot with an easily adjustable gripper structure according to claim 6, characterized in that: Each of the inserts (12) has a threaded groove (15) on one side, and each of the slots (13) has a threaded hole (16) on one side.

8. A palletizing robot with an easily adjustable gripper structure according to claim 7, characterized in that: Each of the fixed grippers (3) has multiple bolts (14) on one side, and each bolt (14) is threaded through the corresponding threaded hole (16) and then threadedly connected to the corresponding threaded groove (15).

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