A clamp for a palletizing robot

Abstract

The present invention discloses a fixture for a palletizing robot in the field of robot technology, comprising: a mounting frame and a suction mechanism provided below the mounting frame. A driving mechanism is provided on the mounting frame, and an output end of the driving mechanism is provided with a side baffle on one side of the mounting frame. A baffle is provided on the other side of the mounting frame. A support plate is provided below the baffle, and a support plate is provided above the support plate. An installation hole is formed in a side wall of the baffle facing the suction mechanism, and a push block is slidably inserted into the installation hole. A limiting plate is provided at an inner end of the push block. A pressing member is hinged to a side wall of the baffle. A linkage mechanism is provided on the support plate. In this application, when the suction of the product by the suction mechanism is unstable, the product presses against the support plate, driving the pressing member to rotate and press the push block, bringing the limiting plate into contact with the side wall of the product. The product is clamped by the cooperation of the limiting plate and the side baffle, so that the product will not immediately fall when the support plate rotates and moves away from below the product.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a fixture for a palletizing robot. Background Art

[0002] In a packaging production line, a palletizing robot is used to disassemble palletized products, take out the products from the palletizing area in sequence, and move them to the next area. The palletizing robot mainly includes a robot and a fixture. During the process of moving the products, the fixture needs to fix the products. Generally, the fixture adsorbs and fixes the products by adsorption. To ensure the stability of the products during the moving process, a supporting member is also installed on the fixture to support the products from below;

[0003] However, during the process of putting down the products, when the adsorption of the fixture is unstable or fails, the adsorption mechanism of the fixture cannot fix the products. When the supporting member moves away from below the products, the products will directly fall. Since there is still a gap between the products and the placement area (the gap is the area for the supporting member to move away), the products will collide with the placement area, which is likely to damage the products. Summary of the Invention

[0004] The purpose of the present invention is to provide a fixture for a palletizing robot to solve the problem that when the adsorption of the fixture is unstable or fails, the supporting member moves away from below the products, and the products will directly fall, resulting in the collision between the products and the placement area as mentioned in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A fixture for a palletizing robot, comprising: a mounting frame and an adsorption mechanism arranged below the mounting frame. A driving mechanism is provided on the mounting frame. The output end of the driving mechanism is provided with a side baffle on one side of the mounting frame. A baffle is provided on the other side of the mounting frame. A supporting plate and a driving member for driving the supporting plate to rotate and support the products are provided below the baffle. The fixture further includes: a supporting plate arranged above the supporting plate and an elastic member for supporting the supporting plate;

[0006] An installation hole is opened on the side wall of the baffle facing the adsorption mechanism. A push block and a return spring connected to the push block are slidably inserted in the installation hole. A limiting plate is provided on the inner end of the push block. A pressing member is hinged on the side wall of the baffle;

[0007] Wherein, a linkage mechanism is provided on the supporting plate below the supporting plate. When the adsorption force of the adsorption mechanism decreases, the products press on the supporting plate, driving the supporting plate to move downward and press the linkage mechanism, so as to push the pressing member to rotate and press the push block, driving the limiting plate to move inward to clamp the products.

[0008] Preferably, the linkage mechanism includes a moving member, a plug block, and a pressing block; a mounting groove is formed in a side wall of the support plate facing the pressing member, the plug block is slidably inserted into the mounting groove, an elastic element is provided between the plug block and the mounting groove, a mounting opening is formed above the support plate and below the support plate, a pressing block and a spring connected to the pressing block are slidably inserted into the mounting opening, an opening is formed above the moving member, and a plug block extending into the inner cavity of the mounting opening and a connecting spring connected to the plug block are slidably inserted into the opening.

[0009] Preferably, a limiting member is provided above the support plate and is in contact with the pressing block.

[0010] Preferably, a pressing block is slidably provided above the baffle, and a pulling rope connected to the pressing block is provided on an output shaft of the driving mechanism to drive the pressing block to move closer to the pressing member and push the pressing member to rotate and reset.

[0011] Preferably, a receiving groove is formed on a side of the pressing block facing the pressing member, an expanding block is slidably inserted into the receiving groove, and a bolt for fixing the expanding block is screwed on the pressing block.

[0012] Preferably, a slot is formed on a side of the support plate facing the baffle, a moving block and a pushing spring connected to the moving block are slidably provided in the slot, and a connecting rope is provided between the moving block and the support plate.

[0013] Preferably, the pushing block includes a connecting block and a movable block; a receiving and releasing groove is formed on a side of the connecting block facing the pressing member, the movable block is slidably inserted into the receiving and releasing groove, a spring member is provided between the receiving and releasing groove and the movable block, a placing groove is formed on a side of the connecting block facing the limiting plate, a hole communicating with the placing groove is formed on a side of the limiting plate facing the product, a movable plate for sealing and partitioning the placing groove is slidably provided in the placing groove, a supporting spring is provided between the placing groove and the movable plate, a moving pulling block having the same moving path as the movable block and located inside the movable block is slidably provided in the receiving and releasing groove, and a linkage rope is provided between the moving pulling block and the movable plate.

[0014] Preferably, a mounting seat is installed on a side wall of the baffle through a fixing bolt, a connecting seat is hinged on the mounting seat, the pressing member is installed on the connecting seat through a connecting member, and the connecting member is detachably connected to the connecting seat.

[0015] Preferably, a pressing plate and a telescopic mechanism for driving the pressing plate to move and clamp the product are provided on the side baffle, and a touch switch is provided on the support plate below the support plate and electrically connected to the telescopic mechanism.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: When the adsorption mechanism in this application adsorbs the product unstably, the product is pressed onto the support plate, causing the support plate to move downward and press the pressing block, pushing the insertion block out of the installation opening, enabling the elastic element to push the moving part to move, driving the pressing part to rotate and press the pushing block, bringing the limiting plate into contact with the side wall of the product, and clamping the product through the cooperation of the limiting plate and the side baffle, so that when the support plate rotates and moves away from below the product, the product will not immediately fall, protecting the product. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the present invention;

[0018] Figure 2 is a schematic structural diagram of the connection between the baffle and the support plate of the present invention;

[0019] Figure 3 is a schematic structural diagram of the connection between the support plate and the support plate of the present invention;

[0020] Figure 4 is an enlarged schematic diagram of the structure at B of the present invention;

[0021] Figure 5 is an enlarged schematic diagram of the structure at C of the present invention;

[0022] Figure 6 is an enlarged schematic diagram of the structure at A of the present invention;

[0023] Figure 7 is a schematic diagram of the structure of the pushing block of the present invention.

[0024] In the figure: 1, mounting frame; 2, adsorption mechanism; 3, driving mechanism; 4, side baffle; 5, pressing plate; 6, telescopic mechanism; 7, baffle; 8, support plate; 9, support plate; 10, pressing part; 11, extrusion block; 111, extension block; 12, pulling rope; 13, limiting plate; 14, pushing block; 141, connecting block; 142, movable block; 143, spring member; 144, placement groove; 145, movable plate; 146, support spring; 147, moving pull block; 148, linkage rope; 15, driving member; 16, elastic member; 17, installation groove; 18, moving part; 19, elastic element; 20, insertion block; 21, pressing block; 22, limiting member; 23, touch switch; 24, connecting rope; 25, mounting seat; 26, connecting member; 27, slotted opening; 28, moving block; 29, connecting seat. DETAILED DESCRIPTION OF THE INVENTION

[0025] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0026] Embodiment 1:

[0027] Please refer to Figure 1 and Figure 2 , a fixture for a palletizing robot, comprising: a mounting frame 1, a suction mechanism 2 (vacuum suction cup) is installed below the mounting frame 1, which contacts the product through the suction cup and uses a cylinder or other device to extract the air inside the suction cup to reduce the air pressure inside the suction cup for adsorbing the product on the suction cup); a driving mechanism 3 (referring to a motor) is provided on the mounting frame 1, a connecting arm is provided at the output end of the driving mechanism 3, a side baffle 4 is provided at the end of the connecting arm away from the driving mechanism 3, the side baffle 4 is on one side of the mounting frame 1 (i.e., the right side of the mounting frame 1), and a baffle 7 is installed on the other side of the mounting frame 1 (located on the left side of the mounting frame 1, opposite to the side baffle 4); a support plate 8 is hinged below the baffle 7, a driving member 15 (the driving member 15 refers to devices such as an electric, hydraulic or pneumatic telescopic rod) is installed on the baffle 7, and the output end of the driving member 15 is connected to the support plate 8 for driving the support plate 8 to rotate below the baffle 7 so that the support plate 8 contacts the lower part of the product.

[0028] Please refer to Figure 1 , Figure 2 , Figure 3 , an elastic member 16 is installed above the support plate 8, and a support plate 9 is installed above the elastic member 16.

[0029] In this embodiment, the solution is further optimized. An opening is provided above the support plate 8, and a guide rod (the guide rod can move up and down) is slidably inserted into the opening, and the upper part of the guide rod is connected to the lower part of the support plate 9.

[0030] Please refer to Figure 1 and Figure 2 , an installation hole is provided on the side wall of the baffle 7 facing the suction mechanism 2, a push block 14 (the push block 14 moves left and right in the installation hole) is slidably inserted into the installation hole, and a return spring is installed between the installation hole and the push block 14; a limit plate 13 is provided at the right end of the push block 14 (the right end refers to the end of the push block 14 facing the product), a pressing member 10 is hinged on the left side wall of the baffle 7, and a linkage mechanism is provided on the support plate 8;

[0031] Among them, as Figure 3As shown, the linkage mechanism includes components such as a moving member 18, a plug 20, and a pressing block 21. On one side wall of the support plate 8 facing the pressing member 10, an installation groove 17 is provided. The plug 20 is slidably inserted into the installation groove 17 (the plug 20 can move left and right within the installation groove 17), and an elastic element 19 is provided between the plug 20 and the installation groove 17. An installation opening is provided above the support plate 8, and the pressing block 21 is slidably inserted into the installation opening. A spring is installed between the installation opening and the pressing block 21 (the pressing block 21 is located below the support plate 9, and the pressing block 21 can move up and down). An opening is provided above the moving member 18, and the plug 20 is slidably inserted into the opening. A connecting spring is installed between the opening and the plug 20. The top end of the plug 20 is inserted into the installation opening and is located below the pressing block 21.

[0032] In this embodiment, as a further optimized solution, as Figure 3 shown, a limiting member 22 that fits with the pressing block 21 is provided above the support plate 8. The limiting member 22 is made of rubber. Due to the frictional force between the limiting member 22 and the pressing block 21 in contact, the pressing block 21 will not easily move downward, reducing the probability of the moving member 18 moving due to accidental triggering.

[0033] Please refer to Figure 1 、 Figure 2 and Figure 5 , an extrusion block 11 is slidably provided above the baffle 7. A pull rope 12 is provided on the output shaft of the driving mechanism 3. One end of the pull rope 12 away from the driving mechanism 3 extends to the mounting bracket 1 and is connected to the extrusion block 11 after passing through (that is, a guide hole is provided on the mounting bracket 1 for the pull rope 12 to pass through; when the driving mechanism 3 works, the pull rope 12 is wound around the output shaft of the driving mechanism 3, and after being guided by the guide hole, the extrusion block 11 will move towards the pressing member 10, used to push the pressing member 10 to rotate and reset, and no longer squeeze the push block 14).

[0034] In this embodiment, as a further optimized solution, as Figure 1 、 Figure 2 and Figure 5 shown, a receiving groove is provided on one side of the extrusion block 11 facing the pressing member 10. An expansion block 111 is slidably inserted into the receiving groove. A bolt is screwed onto the extrusion block 11, and the tightening end of the bolt extends into the receiving groove and fits with the outer wall of the expansion block 111, used to fix the expansion block 111. Loosen the bolt and move the expansion block 111 to change the distance between the extrusion block 11 and the pressing member 10.

[0035] In summary, the method of palletizing is as follows: The robot moves the fixture above the palletizing area, uses the adsorption mechanism 2 to contact the product on the palletizing area, adsorbs the product, and then the robot moves the fixture upward. The driving mechanism 3 operates to rotate the side baffle 4 to the right side of the adsorbed product. At the same time, the driving member 15 operates to drive the pallet 8 to rotate under the adsorbed product and make the support plate 9 contact the lower part of the product. Then the robot moves the fixture and moves the product to the next area. After that, the driving mechanism 3 drives the side baffle 4 to rotate back to its original position, and at the same time, the driving member 15 also drives the pallet 8 to rotate and move away from under the product. Then the adsorption mechanism 2 releases the product, and the product falls to the next area. Then the robot moves the fixture again to repeat the operation and move the remaining products.

[0036] During the process of the fixture moving with the product, when the adsorption force of the adsorption mechanism 2 is unstable and the product is not fixed stably, the product falls and presses on the support plate 9, causing the support plate 9 to move downward and press the pressing block 21, so that the pressing block 21 pushes the inserting block 20 out of the installation port, eliminating the restriction on the moving member 18. Under the action of the elastic element 19, the moving member 18 moves to the left, pushing the pressing member 10 (pushing the lower part of the pressing member 10 to the left), causing the pressing member 10 to rotate and press the pushing block 14 (the upper part of the pressing member 10 presses the pushing block 14 to the right), so that the pushing block 14 drives the limiting plate 13 to move to the right and press on the product. The product is clamped by the contact pressure of the limiting plate 13, the side baffle 4 and the side wall of the product. When the pallet 8 rotates and does not contact the lower part of the product (the pallet 8 will also move closer to the pressing member 10, so that the acting force of the pushing block 14 on the pressing member 10 will not disappear, ensuring that the limiting plate 13 clamps the product), the product will not fall immediately, protecting the product. After the product is placed in or close to the predetermined area, the driving mechanism 3 drives the side baffle 4 to move back to its original position, eliminating the clamping force on the product and releasing the product. At the same time, during the process of the driving mechanism 3 driving the side baffle 4 to rotate, the pull rope 12 will be wound around the output shaft of the driving mechanism 3, driving the extrusion block 11 to move towards the pressing member 10, pushing the pressing member 10 away from the pushing block 14, and eliminating the pressure of the limiting plate 13 on the product. And when the extrusion block 11 pushes the pressing member 10 to rotate in the reverse direction, the lower part of the pressing member 10 will push the moving member 18 into the installation groove 17, aligning the inserting block 20 with the installation port. Under the action of the connecting spring, the inserting block 20 moves upward and is inserted into the installation port again to fix the moving member 18.

[0037] In this embodiment, as a further optimized solution, please refer to Figure 3 and Figure 6, a slot 27 is formed on one side of the pallet 8 facing the baffle 7, a moving block 28 is slidably arranged in the slot 27, a pushing spring is installed between the slot 27 and the moving block 28, and a connecting rope 24 is arranged between the moving block 28 and the support plate 9; when the pallet 8 does not rotate below the product, the moving block 28 does not contact the baffle 7, the pushing spring pushes the moving block 28 towards the outside of the slot 27, pulls the connecting rope 24, and makes the support plate 9 move closer to the pallet 8; when the pallet 8 rotates below the product, the baffle 7 squeezes the moving block 28 into the slot 27, so that the pulling force of the moving block 28 on the connecting rope 24 disappears, and under the action of the elastic member 16, the support plate 9 moves upward to ensure that the support plate 9 can contact the lower part of the product.

[0038] In this embodiment, as a further optimized solution, please refer to Figure 2 and Figure 4 , a mounting seat 25 is installed on the side wall of the baffle 7 through a fixing bolt, a connecting seat 29 is hinged on the mounting seat 25, the pressing member 10 is installed on the connecting seat 29 through a connecting member 26, and the connecting member 26 is detachably connected to the connecting seat 29 (by screwing, clamping or other connection methods, the connecting member 26 is detachably connected to the connecting seat 29); by changing the installation position of the mounting seat 25 and the connection part between the connecting seat 29 and the pressing member 10, the moving member 18 pushes the pressing member 10 to rotate, and the rotation amplitude above the pressing member 10 changes (equivalent to changing the fulcrum of the lever).

[0039] Embodiment 2:

[0040] Please refer to Figure 7, the pushing block 14 includes a connecting block 141 and a movable block 142; the connecting block 141 is slidably inserted into the mounting hole, the side of the connecting block 141 away from the pressing member 10 is connected to the limiting plate 13, a receiving and releasing groove is formed on the side of the connecting block 141 facing the pressing member 10, the movable block 142 is slidably inserted into the receiving and releasing groove, and a spring member 143 is provided between the receiving and releasing groove and the movable block 142; an accommodating groove 144 is formed on the side of the connecting block 141 facing the limiting plate 13, a hole communicating with the accommodating groove 144 is formed on the side of the limiting plate 13 facing the product, a movable plate 145 is slidably arranged in the accommodating groove 144, the accommodating groove 144 and the movable plate 145 are sealed, and a supporting spring 146 is provided between the accommodating groove 144 and the movable plate 145; a moving pulling block 147 is slidably arranged in the receiving and releasing groove, the moving pulling block 147 is located inside the movable block 142, and a linkage rope 148 is provided between the moving pulling block 147 and the movable plate 145; during the process of the pressing member 10 pressing the pushing block 14, the pushing block 14 will make the limiting plate 13 fit with the product. When the pressing member 10 continues to press the pushing block 14 and the limiting plate 13 does not move, the movable block 142 moves into the receiving and releasing groove, contacts the moving pulling block 147, and pushes the moving pulling block 147 to move, pulling the linkage rope 148, so that the movable plate 145 moves into the accommodating groove 144, to increase the space on the side of the accommodating groove 144 close to the limiting plate 13 (i.e., the space on the right side of the movable plate 145), reduce the air pressure in the hole to form a negative pressure, fix the product, and make the fixing of the product by the limiting plate 13 and the side baffle 4 stable.

[0041] Embodiment 3:

[0042] Please refer to Figure 1 、 Figure 2 and Figure 3 , a pressing plate 5 is provided on the side of the side baffle 4 facing the product, a telescopic mechanism 6 (the telescopic mechanism 6 refers to devices such as electric, hydraulic or pneumatic telescopic rods) connected to the pressing plate 5 is provided on the side baffle 4, a touch switch 23 is provided on the support plate 8, the touch switch 23 is located below the support plate 9, and the touch switch 23 is electrically connected to the telescopic mechanism 6 through a wire; when the product is completely pressed on the support plate 9, the support plate 9 will press the touch switch 23, so that the telescopic mechanism 6 is powered on to work, driving the pressing plate 5 to move to press the product, ensuring that the pressing plate 5 and the limiting plate 13 clamp the product.

[0043] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fixture for a palletizing and depalletizing robot, comprising: Mounting bracket (1) and adsorption mechanism (2) provided below the mounting bracket (1). A driving mechanism (3) is provided on the mounting bracket (1). A side baffle (4) is provided at the output end of the driving mechanism (3) on one side of the mounting bracket (1). A baffle (7) is provided on the other side of the mounting bracket (1). A support plate (8) and a driving member (15) for driving the support plate (8) to rotate and hold the product are provided below the baffle (7). It is characterized in that: The fixture further includes: A support plate (9) provided above the support plate (8) and an elastic member (16) for supporting the support plate (9); An installation hole is formed on the side wall of the baffle (7) facing the adsorption mechanism (2). A push block (14) and a return spring connected to the push block (14) are slidably inserted in the installation hole. A limiting plate (13) is provided at the inner end of the push block (14). A pressing member (10) is hinged on the side wall of the baffle (7); Among them, a linkage mechanism is provided on the support plate (8) below the support plate (9). When the adsorption force of the adsorption mechanism (2) decreases, the product presses on the support plate (9), driving the support plate (9) to move downward and press the linkage mechanism, so as to push the pressing member (10) to rotate and press the push block (14), driving the limiting plate (13) to move inward to clamp the product; The linkage mechanism includes a moving member (18), an inserting block (20) and a pressing block (21); An installation groove (17) is formed on the side wall of the support plate (8) facing the pressing member (10). The inserting block (20) is slidably inserted in the installation groove (17). An elastic element (19) is provided between the inserting block (20) and the installation groove (17). An installation opening is formed above the support plate (8) below the support plate (9). A pressing block (21) and a spring connected to the pressing block (21) are slidably inserted in the installation opening. An opening is formed above the moving member (18). The inserting block (20) extending into the inner cavity of the installation opening and a connecting spring connected to the inserting block (20) are slidably inserted in the opening; A limiting member (22) fitting with the pressing block (21) is provided above the support plate (8); A slot (27) is formed on the side of the support plate (8) facing the baffle (7). A moving block (28) and a pushing spring connected to the moving block (28) are slidably arranged in the slot (27). A connecting rope (24) is provided between the moving block (28) and the support plate (9); The pushing block (14) includes a connecting block (141) and a movable block (142); on one side of the connecting block (141) facing the pressing member (10), there is a receiving and releasing groove, the movable block (142) is slidably inserted into the receiving and releasing groove, a spring member (143) is provided between the receiving and releasing groove and the movable block (142), on one side of the connecting block (141) facing the limiting plate (13), there is an accommodating groove (144), on one side of the limiting plate (13) facing the product, there is a hole communicating with the accommodating groove (144), a movable plate (145) for sealing and partitioning the inside of the accommodating groove (144) is slidably provided in the accommodating groove (144), a support spring (146) is provided between the accommodating groove (144) and the movable plate (145), a moving pulling block (147) which has the same moving path as the movable block (142) and is inside the movable block (142) is slidably provided in the receiving and releasing groove, and a linkage rope (148) is provided between the moving pulling block (147) and the movable plate (145); An installation seat (25) is installed on the side wall of the baffle (7) through a fixing bolt, a connecting seat (29) is hinged on the installation seat (25), the pressing member (10) is installed on the connecting seat (29) through a connecting member (26), and the connecting member (26) is detachably connected to the connecting seat (29); A pressing plate (5) and a telescopic mechanism (6) for driving the pressing plate (5) to move and clamp the product are provided on the side baffle (4), and a touch switch (23) which is below the support plate (9) and electrically connected to the telescopic mechanism (6) is provided on the support plate (8).

2. The fixture for a palletizing and depalletizing robot according to claim 1, wherein: An extrusion block (11) is slidably provided above the baffle (7), a pulling rope (12) connected to the extrusion block (11) is provided on the output shaft of the driving mechanism (3) to drive the extrusion block (11) to approach the pressing member (10) and push the pressing member (10) to rotate and reset.

3. The jig for a palletizing robot according to claim 2, characterized in that: A receiving groove is provided on one side of the extrusion block (11) facing the pressing member (10), an extension block (111) is slidably inserted into the receiving groove, and a bolt for fixing the extension block (111) is screwed on the extrusion block (11).

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