An automatic packing robot suitable for narrow space

Abstract

The present invention belongs to the field of gripping devices, and specifically is an automatic packing robot adapted to narrow spaces, comprising a base plate and a rotary clamping assembly. The rotary clamping assembly comprises two rotating shafts, one end of each rotating shaft is rotatably mounted on the base plate, and the other end is connected to a clamping finger. The two clamping fingers connected to the two rotating shafts of the same group of rotary clamping assemblies clamp and support the target object from both sides of the target object. The two rotating shafts of the same group of rotary clamping assemblies are driven by a driving mechanism, and the connected clamping fingers are driven to rotate into place at the same time. The present invention adopts a rotary transmission robot structure by setting a rotary clamping assembly, thereby effectively solving the problem of insufficient working space in the current common opening and closing robots during operation. By setting the limiting structures at various locations, it can play a guiding and limiting role for each part in the rotary clamping assembly, so that the overall device will not exceed the predetermined position when the rotation adjusts the position.

Description

Technical Field

[0001] The invention belongs to the field of grabbing devices, in particular to an automatic box packing manipulator suitable for narrow spaces. Background Art

[0002] At present, the gripping robots commonly used in production are all open-and-close robots, and the required working space is generally larger. However, for the grasping of ammunition or other similar types of products and packaging boxes, the gap left between the target objects in the working space is generally very small, which places more stringent requirements on the working space of the gripping robot. Common open-and-close robots are difficult to complete the intended tasks in a given limited working space. Summary of the invention

[0003] In view of the problem that an open-and-close robot is difficult to complete a predetermined task when the gap between the grasped target objects is very small, the object of the present invention is to provide an automatic box packing robot that can adapt to a narrow space.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] An automatic packing robot adapted to a narrow space, comprising a base plate and at least one set of rotating clamping components, wherein the rotating clamping components comprise two parallel rotating shafts, one end of each rotating shaft is rotatably mounted on the base plate, and the other end is connected to a clamping finger, and two clamping fingers connected to the two rotating shafts of the same set of rotating clamping components each clamp and support the target object from both sides of the target object;

[0006] The two rotating shafts of the rotating clamping assembly in the same group are driven by a driving mechanism and simultaneously drive the connected clamping fingers to rotate into place.

[0007] The axial center lines of the rotating shafts of each set of rotating clamping assemblies are perpendicular to the horizontal plane.

[0008] Each of the clamping fingers is located below the base plate. An external mobile device connecting piece is fixedly connected to the top of the base plate. A connecting flange portion is provided on the external mobile device connecting piece.

[0009] A protective cover for protecting each group of the rotating clamping components is installed on the base plate, and each clamping finger passes through the protective cover respectively.

[0010] Support seats are respectively arranged on the base plate at positions corresponding to the arrangement positions of the rotating shafts, and bearing seats are respectively arranged on each of the support seats. Each of the bearing seats is provided with a bearing connected to a corresponding one of the rotating shafts.

[0011] Each of the clamping fingers is divided into a connecting rod portion and a clamping block portion that are connected together, one end of the connecting rod portion is connected to the other end of the rotating shaft, and the clamping block portion is fixedly connected to the other end of the connecting rod portion.

[0012] Each of the rotating shafts is provided with a driving gear; the driving mechanism comprises a driving cylinder, a sliding plate and a rack, the cylinder body of the driving cylinder is connected to one of the sliding plates, the piston rod of the driving cylinder is connected to another of the sliding plates, each of the sliding plates is provided with a rack, and each of the racks is respectively meshed with a corresponding driving gear;

[0013] The driving cylinder is extended and retracted to drive the two connected sliding plates to move in opposite directions or toward each other, thereby driving the two rotating shafts of the same group of rotating clamping assemblies to rotate together with the connected driving gears, and the two rotating shafts of the same group of rotating clamping assemblies rotate in opposite directions.

[0014] A guide rail is installed on the base plate, and each sliding plate is provided with a sliding block slidably connected to the adjacent guide rail.

[0015] A guide groove for limiting and guiding the corresponding rotating shaft is formed on each of the sliding plates, and each rotating shaft passes through the corresponding guide groove respectively.

[0016] The base plates are respectively provided with limit stop bars A for blocking the sliding plates, and the sliding plates are provided with limit stop blocks A at positions adjacent to the limit stop bars.

[0017] The advantages and positive effects of the present invention are:

[0018] The present invention adopts a rotary transmission manipulator structure by setting a rotary clamping assembly, thereby effectively solving the problem of insufficient working space in the current common opening and closing manipulators. By setting the limiting structures at various locations, it can play a guiding and limiting role for each part in the rotary clamping assembly, so that the overall device will not exceed the predetermined position when rotating and adjusting the position. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention after removing the protective cover;

[0021] Figure 3 This is a schematic diagram of the main structure of the present invention after removing the protective cover;

[0022] Figure 4 This is a schematic diagram of the structure of the present invention when the protective cover is removed;

[0023] Figure 5 This is a schematic diagram of the cross-sectional structure of the present invention after the protective cover is removed;

[0024] Figure 6 for Figure 1 A magnified image of point A;

[0025] Figure 7 for Figure 5 Enlarged view of point B.

[0026] In the figure: 1 is a base plate, 2 is a rotating shaft, 3 is a clamping finger, 4 is an external moving device connector, 5 is a protective cover, 6 is a supporting seat, 7 is a bearing seat, 8 is a driving gear, 9 is a driving cylinder, 10 is a sliding plate, 11 is a rack, 12 is a guide rail, 13 is a slider, 14 is a limit stop rod A, 15 is a limit stop block A, 16 is a cylinder mounting head seat, 17 is a cylinder mounting tail seat, 18 is a limit stop rod mounting seat, 19 is a limit stop rod B, and 20 is a limit stop block B. DETAILED DESCRIPTION

[0027] The following is combined with Figure 1-7 The present invention is further described in detail.

[0028] An automatic packing robot suitable for small spaces, such as Figure 1-7 As shown, this embodiment includes a base plate 1 and two groups of rotating clamping assemblies, each group of rotating clamping assemblies includes two parallel rotating shafts 2, one end of each rotating shaft 2 is rotatably mounted on the base plate 1, and the other end is connected to a clamping finger 3, and the two clamping fingers 3 connected to the two rotating shafts 2 of the same group of rotating clamping assemblies clamp and support the target object from both sides of the target object. The two rotating shafts 2 of the same group of rotating clamping assemblies are driven by a driving mechanism and simultaneously drive the connected clamping fingers 3 to rotate into place.

[0029] Specifically, the axial centerline of the rotating shaft 2 of each set of rotating clamping assemblies in this embodiment is perpendicular to the horizontal plane. Each clamping finger 3 is located below the base plate 1. The top of the base plate 1 is fixedly connected with an external mobile device connector 4, and the external mobile device connector 4 is provided with a connecting flange for directly connecting to the external mobile device. The external mobile device connector 4 is connected to the external mobile device, such as a robot arm, to drive the robot arm to move as a whole.

[0030] Specifically, if Figure 1 As shown, in this embodiment, a protective cover 5 for protecting each group of rotating clamping components is installed on the base plate 1, and each clamping finger 3 passes through the protective cover 5 respectively.

[0031] Specifically, if Figure 1 and Figure 2As shown, in this embodiment, support seats 6 are respectively provided on the base plate 1 at positions corresponding to the positions of the rotating shafts 2, and bearing seats 7 are respectively provided on each support seat 6. Each bearing seat 7 is provided with a bearing connected to a corresponding rotating shaft 2. The setting structures of the support seat 6 and the bearing seat 7 are both prior arts, and the support seat 6 supports the bearing seat 7. The bearing seat 7 provided with the bearing can make the rotating shaft 2 rotate stably.

[0032] Specifically, if Figure 1-5 As shown, in this embodiment, each clamping finger 3 is L-shaped and is divided into a connecting rod portion and a clamping block portion connected together, with a simple structure and suitable for use in a narrow space. One end of the connecting rod portion is connected to the other end of the rotating shaft 2, and the clamping block portion is fixed to the other end of the connecting rod portion.

[0033] Specifically, if Figure 1-5 As shown, in this embodiment, each rotating shaft 2 is provided with a driving gear 8 and connected by a key; the driving mechanism includes a driving cylinder 9, a sliding plate 10 and a rack 11, the cylinder body of the driving cylinder 9 is connected to a sliding plate 10 through a cylinder mounting tailstock 17, and the piston rod of the driving cylinder 9 is connected to another sliding plate 10 through a cylinder mounting headstock 16, and each sliding plate 10 is provided with a rack 11, and each rack 11 is respectively engaged with a corresponding driving gear 8. The driving cylinder 9 is retracted and drives the two connected sliding plates 10 to move in the opposite direction or towards each other, thereby driving the two rotating shafts 2 of the same group of rotating clamping assemblies to rotate together with the connected driving gear 8, and the two rotating shafts 2 of the same group of rotating clamping assemblies rotate in opposite directions. A guide rail 12 is installed on the base plate 1, and each sliding plate 10 is respectively provided with a slider 13 that is slidably connected to the adjacent guide rail 12. The arrangement structure of the guide rail 12 and the slider 13 is the existing technology, which can make the sliding plate 10 slide stably. The sliding plates 10 are provided with guide grooves for limiting and guiding the corresponding rotating shafts 2, and each rotating shaft 2 passes through the corresponding guide grooves. In this embodiment, the driving cylinder 9 is a commercially available product, and its action is controlled by an external controller.

[0034] Specifically, if Figure 4-7As shown, in this embodiment, the base plate 1 is provided with a limit stopper rod A14 for blocking the sliding plate 10 through the limit stopper rod mounting seat 18, and a limit stopper block A15 is provided on the sliding plate 10 near the adjacent limit stopper rod 14. The cooperation of the limit stopper rod A14 and the limit stopper block A15 is used to limit and stop the two sliding plates 10 sliding in opposite directions when the driving cylinder 9 is extended. In this embodiment, a limit stopper rod B19 is also provided on one of the sliding plates 10 connected to the same driving cylinder 9, and a limit stopper block B20 is also provided on the other sliding plate 10. The cooperation of the limit stopper rod B19 and the limit stopper block B20 is used to limit and stop the two sliding plates 10 sliding in opposite directions when the driving cylinder 9 is retracted. The limit stopper block A15 and the limit stopper rod B19 are both studs. By setting the above-mentioned limiting structures at various locations, it can play a guiding and limiting role for the parts in the rotating clamping assembly, so that the overall device will not exceed the predetermined position when the position is rotated and adjusted.

[0035] Working principle:

[0036] When in use, it is first connected to the external moving device connector 4 through an external moving device, and the base plate 1 is moved to the target position. Then, the two sliding plates 10 are slid by controlling the action of the driving cylinder 9, driving the rack 11 to move linearly, and at the same time, the driving gear 8 drives the rotating shaft 2 and the clamping fingers 3 to rotate while rotating on itself, so that the clamping fingers 3 are rotated into place and clamp and support the target object from both sides of the target object, so as to realize the automatic packing process in a small space.

Claims

1. An automatic packing robot adapted to narrow spaces, characterized by: The invention comprises a base plate (1) and at least one set of rotating clamping components, wherein the rotating clamping components comprise two parallel rotating shafts (2), one end of each rotating shaft (2) is rotatably mounted on the base plate (1), and the other end is connected to a clamping finger (3), and the two clamping fingers (3) connected to the two rotating shafts (2) of the same set of rotating clamping components each clamp and support the target object from both sides of the target object; The two rotating shafts (2) of the same group of rotating clamping assemblies are driven by a driving mechanism and simultaneously drive the connected clamping fingers (3) to rotate into position; Each of the rotating shafts (2) is provided with a driving gear (8); the driving mechanism comprises a driving cylinder (9), a sliding plate (10) and a rack (11); the cylinder body of the driving cylinder (9) is connected to one of the sliding plates (10); the piston rod of the driving cylinder (9) is connected to another of the sliding plates (10); each of the sliding plates (10) is provided with a rack (11); each of the racks (11) is respectively meshed with a corresponding driving gear (8); The driving cylinder (9) is extended and retracted to drive the two connected sliding plates (10) to move in opposite directions or towards each other, thereby driving the two rotating shafts (2) of the same group of rotating clamping assemblies and the connected driving gears (8) to rotate together, and the two rotating shafts (2) of the same group of rotating clamping assemblies rotate in opposite directions.

2. According to claim 1, the automatic packing robot adapted to narrow space is characterized by: The axial center lines of the rotating shafts (2) of each group of rotating clamping components are perpendicular to the horizontal plane.

3. According to claim 1, the automatic packing robot adapted to a narrow space is characterized by: Each of the clamping fingers (3) is located below the base plate (1); an external mobile device connector (4) is fixedly connected to the top of the base plate (1); and a connecting flange is provided on the external mobile device connector (4).

4. According to claim 1, the automatic packing robot adapted to a narrow space is characterized by: A protective cover (5) for protecting each group of the rotating clamping components is installed on the base plate (1), and each of the clamping fingers (3) passes through the protective cover (5).

5. According to claim 1, the automatic packing robot adapted to a narrow space is characterized by: Support seats (6) are respectively provided on the base plate (1) at locations corresponding to the locations where the rotating shafts (2) are arranged, and bearing seats (7) are respectively provided on each of the support seats (6), and each of the bearing seats (7) is provided with a bearing connected to a corresponding one of the rotating shafts (2).

6. The automatic packing robot adapted to a narrow space according to claim 1, characterized in that: Each of the clamping fingers (3) is divided into a connecting rod portion and a clamping block portion which are connected together, one end of the connecting rod portion is connected to the other end of the rotating shaft (2), and the clamping block portion is fixedly connected to the other end of the connecting rod portion.

7. The automatic packing robot adapted to a narrow space according to claim 1 is characterized by: A guide rail (12) is installed on the base plate (1), and each sliding plate (10) is provided with a sliding block (13) which is slidably connected to the adjacent guide rail (12).

8. The automatic packing robot adapted to narrow space according to claim 1 is characterized by: Each of the sliding plates (10) is provided with a guide groove for limiting and guiding the corresponding rotating shaft (2), and each rotating shaft (2) passes through the corresponding guide groove.

9. The automatic packing robot adapted to narrow space according to claim 1, characterized in that: The base plate (1) is provided with a limit stopper rod A (14) for blocking the sliding plate (10), and the sliding plate (10) is provided with a limit stopper block A (15) at a position close to the adjacent limit stopper rod (14).

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