A type of palletizing gripper

Abstract

This invention discloses a palletizing gripper, comprising a frame, an adsorption mechanism, and a clamping mechanism. The frame is used to connect to a robotic arm. The adsorption mechanism is mounted on the frame for adsorbing partitions. The clamping mechanism is mounted at the bottom of the frame for clamping parts and includes two clamping assemblies. Each clamping assembly includes a clamping rod, a first drive assembly, and a slide rail. The slide rail is laterally positioned at the bottom of the frame, and the clamping rod is slidably connected to the slide rail. The first drive assembly drives the clamping rod to move left and right. The two clamping rods move closer together to grip parts and move further apart to release parts. By detecting the hole positions of different parts and adjusting the distance between the two clamping rods, the clamping rods can perform clamping operations on different parts. This allows a single gripper to handle parts of different sizes and partitions, significantly reducing equipment customization costs and minimizing the labor costs associated with manually clamping partitions.

Description

Technical Field

[0001] This invention relates to the field of intelligent robots, and in particular to a palletizing gripper. 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. Palletizing robots greatly save labor and space. They are flexible, precise, fast, efficient, and highly stable, resulting in high operational efficiency.

[0003] Generally, palletizing robots consist of two parts: a robotic arm and a gripper. The robotic arm is used to adjust the position of the gripper, and the gripper is used to clamp the parts. Grippers on the market are usually custom-width grippers, which can only hold parts of a specified width. They cannot effectively perform palletizing operations when faced with parts of different widths. Furthermore, partitions need to be placed between parts to prevent them from colliding. Ordinary grippers cannot hold partitions, requiring employees to place them manually, which is a significant waste of human resources. Summary of the Invention

[0004] This invention aims to at least solve one of the technical problems existing in the prior art. To this end, this invention proposes a palletizing gripper that can clamp parts of different sizes by adjusting the spacing between the clamping rods through a first driving component, and simultaneously adsorbing partitions and placing them between the parts through an adsorption mechanism, thereby enabling a single gripper to handle parts of different sizes and partitions.

[0005] The technical solution adopted by this invention to solve its technical problem is:

[0006] A palletizing gripper includes a frame, an adsorption mechanism, and a clamping mechanism;

[0007] The frame is used to connect to the robotic arm;

[0008] The adsorption mechanism is mounted on the frame and is used to adsorb the partition plate;

[0009] The clamping mechanism is installed at the bottom of the frame and is used to clamp parts. It includes two clamping assemblies. Each clamping assembly includes a clamping rod, a first drive assembly, and a slide rail. The slide rail is horizontally arranged at the bottom of the frame. The clamping rod is slidably connected to the slide rail. The first drive assembly drives the clamping rod to move left and right. The two clamping rods move closer to each other to clamp the parts, and the two clamping rods move further apart to put the parts down.

[0010] According to an embodiment of the present invention, a palletizing gripper has at least the following beneficial effects: By connecting the frame to a robotic arm, the robotic arm can move the frame, thereby moving the clamping mechanism to clamp or place parts, and can also move the adsorption mechanism to adsorb or place partitions. By installing the adsorption mechanism on both sides of the frame, the adsorption mechanism can be either vacuum adsorption or magnetic adsorption, allowing for the adsorption and placement of partitions before placing parts, thus protecting the parts. By setting up the clamping mechanism, two clamping rods are inserted into the holes of the parts, and then the first driving assembly is driven to move the clamping rods away from each other, causing the clamping rods to press against the sidewalls of the holes, thereby increasing the friction between the clamping rods and the sidewalls of the holes, achieving the purpose of clamping the parts. By detecting the holes of different parts and adjusting the distance between the two clamping rods, the clamping rods can perform clamping operations on different parts, thus enabling one gripper to handle parts of different sizes and partitions, greatly increasing the gripper's versatility and applicability, and reducing the labor cost of manually placing partitions.

[0011] According to some embodiments of the present invention, a leveling plate is provided at the bottom of the frame, the leveling plate is in contact with the surface of the part, the leveling plate is used to fit tightly to the surface of the part, and two clearance holes are also provided on both sides of the leveling plate, the two clearance holes are used to clear the clamping rods, the leveling plate is connected to the frame through a shock absorber, the shock absorber is used to reduce the vibration after the part comes into contact with the leveling plate.

[0012] The advantages are: by setting up a finding plate and driving the finding plate to contact the surface of the part, the gripper and the part are made to be in a parallel state, so that the gripper can be inserted into the hole of the part more accurately for clamping. By setting the shock absorber between the finding plate and the frame, the vibration when the finding plate collides with the part can be reduced, avoiding the risk of the part being damaged and thus protecting the part.

[0013] According to some embodiments of the present invention, a photoelectric sensor is provided on the flat plate, which is used to detect whether parts and partitions have fallen off.

[0014] The advantage is that by setting up photoelectric sensors, it is possible to detect whether the gripper will detach when it is gripping parts and partitions. When the photoelectric sensor detects that a part or partition has detached, the gripper outputs an electrical signal to stop the operation of the robotic arm and issues an alarm, prompting employees to maintain the gripper. This avoids the robotic arm and gripper from colliding with parts and partitions, which could cause damage to the equipment.

[0015] According to some embodiments of the present invention, a visual imaging component is provided on one side of the frame, which distinguishes and positions parts and partitions.

[0016] The advantage is that by setting up a vision imaging component, the camera can be driven to take pictures of the parts, thereby identifying the part type and hole position. At the same time, the spacing of the clamping rods can be intelligently adjusted so that the clamping rods can be smoothly inserted into the set hole position of the part to clamp the part.

[0017] According to some embodiments of the present invention, the surface of the clamping rod is provided with a plurality of anti-slip particles, which are in contact with the part and are used to increase the friction between the clamping rod and the part.

[0018] The advantage is that by setting several anti-slip particles on the surface of the clamping rod, the friction between the clamping rod and the hole wall of the part is increased, thus avoiding the risk of the part falling off during the clamping process.

[0019] According to some embodiments of the present invention, the adsorption mechanism includes two adsorption components, which are respectively mounted on both sides of the frame. Each adsorption component includes a second drive assembly, two suction heads, and a vacuum pump. The two suction heads are respectively mounted on the output shaft of the second drive assembly, which drives the suction heads to move up and down. The vacuum pump is connected to the suction heads and is used to evacuate the suction heads and adsorb the partition. A contact block is provided between the two suction heads, and the contact block is elastically connected to the second drive assembly. The contact block is used to detect whether the suction head is in contact with the partition.

[0020] The advantages are: by installing adsorption components on both sides of the frame, the gripper is more stable when adsorbing larger partitions, and problems such as partition bending and deformation due to insufficient support points are avoided. By connecting the vacuum pump to the suction head, a negative pressure can be created at the suction head position to adsorb the partition. When adsorbing a partition, the second drive component drives the suction head to move downward to adsorb the partition; when adsorbing a partition, the second drive component drives the suction head to move upward and store it on both sides of the frame, preventing the adsorption components from colliding with parts. By setting contact blocks, when the suction head moves to the partition, the contact blocks can pre-contact the partition, thereby sending a signal to start the vacuum pump to adsorb the partition, avoiding direct contact between the suction head and the partition, and reducing the risk of the suction head damaging the partition.

[0021] According to some embodiments of the present invention, a laser sensor is provided on the outside of the frame, and the laser sensor is used to detect the distance between two partitions.

[0022] The advantage is that by setting up a laser sensor, the distance between the frame and the partition can be determined by shining a laser on the partition, thus avoiding collisions with parts when the adsorption mechanism extends and places the partition.

[0023] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0024] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0025] Figure 1 This is a schematic diagram of the structure of an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A schematic diagram of the adsorption mechanism is shown;

[0027] Figure 3 This is a schematic diagram of the clamping parts according to an embodiment of the invention;

[0028] Figure 4 This is a schematic diagram of the adsorption separator in an embodiment of the invention.

[0029] Reference numerals: Frame 100, partition 110, part 120, clamping assembly 130, clamping rod 140, first drive assembly 150, slide rail 160, finding plate 170, clearance hole 180, shock absorber 190, photoelectric sensor 200, vision imaging assembly 210, anti-slip particles 220, adsorption assembly 230, second drive assembly 240, suction head 250, vacuum pump 260, contact block 270, laser sensor 280. Detailed Implementation

[0030] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0031] In the description of this invention, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., are based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limiting this invention.

[0032] In the description of this invention, "several" means one or more, "more than" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0033] In the description of this invention, unless otherwise explicitly defined, terms such as "set up," "install," and "connect" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this invention in conjunction with the specific content of the technical solution.

[0034] The following is for reference. Figures 1-4 A palletizing gripper is described in detail with reference to a specific embodiment. It is to be understood that the following description is merely illustrative and not a specific limitation of the invention.

[0035] like Figure 1 , Figure 2 , Figure 3 , Figure 4 As shown, a palletizing gripper includes a frame 100, an adsorption mechanism, and a clamping mechanism;

[0036] The frame 100 is used for connection with the robotic arm;

[0037] The adsorption mechanism is mounted on the frame 100 and is used to adsorb the partition 110;

[0038] The clamping mechanism is installed at the bottom of the frame 100 and is used to clamp the part 120. It includes two clamping assemblies 130. Each clamping assembly 130 includes a clamping rod 140, a first drive assembly 150, and a slide rail 160. The slide rail 160 is arranged laterally at the bottom of the frame 100. The clamping rod 140 is slidably connected to the slide rail 160. The first drive assembly 150 drives the clamping rod 140 to move left and right. The two clamping rods 140 move closer to each other to clamp the part 120, and the two clamping rods 140 move further apart to put the part 120 down.

[0039] In some specific embodiments of the present invention, by setting the frame 100 to be connected to the robotic arm, the robotic arm can move the frame 100, thereby moving the clamping mechanism to clamp or place the product, and can also move the adsorption mechanism to adsorb or place the partition 110. By setting the adsorption mechanism to be installed on both sides of the frame 100, the adsorption mechanism can be vacuum adsorption or magnetic adsorption, which can adsorb and place the partition 110 before placing the product, thus playing a role in protecting the product. By setting up a clamping mechanism, two clamping rods 140 are inserted into the holes of part 120. Then, the first drive assembly 150 is driven to move the clamping rods 140 away from each other, so that the clamping rods 140 press against the side wall of the hole of part 120, thereby increasing the friction between the clamping rods 140 and the side wall of the hole of part 120, thus achieving the purpose of clamping part 120. By detecting the hole position of different products and adjusting the distance between the two clamping rods 140, the clamping rods 140 can perform clamping operations on different products. This allows a single clamp to meet the clamping needs of parts 120 and partitions 110 of different sizes, greatly increasing the versatility and applicability of the clamp, and also reducing the labor cost of manually placing partitions 110.

[0040] Specifically, a leveling plate 170 is provided at the bottom of the frame 100. The leveling plate 170 contacts the surface of the part 120 and is used to flatten the surface of the part 120. Two clearance holes 180 are also provided on both sides of the leveling plate 170. The two clearance holes 180 are used to clear the clamping rod 140. The leveling plate 170 is connected to the frame 100 through a shock absorber 190. The shock absorber 190 is used to reduce the vibration of the product after it comes into contact with the leveling plate 170.

[0041] In some specific embodiments of the present invention, by setting up a finding plate 170 and driving the finding plate 170 to contact the product plane, the clamping mechanism and the product are made to reach a parallel state, so that the clamping mechanism can be inserted into the hole of the product more accurately for clamping operation. By setting the shock absorber 190 between the finding plate 170 and the frame 100, the vibration when the finding plate 170 collides with the product can be reduced, avoiding the risk of product damage and achieving the purpose of protecting the product.

[0042] Preferably, a photoelectric sensor 200 is provided on the flat plate 170, which is used to detect whether the product and the partition 110 have fallen off.

[0043] In some preferred embodiments of the present invention, by setting a photoelectric sensor 200, it is possible to detect whether the gripper falls off when gripping the product and the partition 110. When the photoelectric sensor 200 detects that the product or the partition 110 has fallen off, the gripper outputs an electrical signal to stop the operation of the robotic arm and issues an alarm, prompting the employee to maintain the gripper, thereby avoiding the robotic arm and gripper from colliding with the product and the partition 110, which could cause damage to the equipment.

[0044] In addition, a visual imaging component 210 is provided on one side of the rack 100, which distinguishes and positions the parts 120 and the partition 110.

[0045] In some specific embodiments of the present invention, by setting the visual imaging component 210, the camera can be driven to take pictures of the product, thereby identifying the product type and hole position, and at the same time, the spacing of the clamping rod 140 is intelligently adjusted so that the clamping rod 140 can be smoothly inserted into the product's set hole position to perform clamping operation.

[0046] Preferably, the surface of the clamping rod 140 is provided with a plurality of anti-slip particles 220, which are in contact with the part 120 and are used to increase the friction between the clamping rod 140 and the part 120.

[0047] In some preferred embodiments of the present invention, by providing a plurality of anti-slip particles 220 on the surface of the clamping rod 140, the frictional force between the clamping rod 140 and the hole wall of the part 120 is increased, thereby avoiding the risk of the part 120 falling off during the clamping process.

[0048] like Figure 3 As shown, the adsorption mechanism includes two adsorption components 230, which are respectively installed on both sides of the frame 100. Each adsorption component 230 includes a second drive component 240, two suction heads 250, and a vacuum pump 260. The two suction heads 250 are respectively installed on the output shaft of the second drive component 240, which drives the suction heads 250 to move up and down. The vacuum pump 260 is connected to the suction heads 250 and is used to evacuate the suction heads 250 and adsorb the partition plate 110. A contact block 270 is provided between the two suction heads 250, and the contact block 270 is elastically connected to the second drive component 240. The contact block 270 is used to detect whether the suction head 250 is in contact with the partition plate 110.

[0049] In some specific embodiments of the present invention, by setting adsorption components 230 on both sides of the frame 100, the gripper can be more stable when adsorbing a larger partition 110, and the problem of bending and deformation of the partition 110 due to the support point being too small can also be avoided. By setting a vacuum pump 260 connected to the suction head 250, a negative pressure can be formed at the position of the suction head 250, thereby adsorbing the partition 110. When it is necessary to adsorb the partition 110, the second driving component 240 drives the suction head 250 to move downward to adsorb the partition 110. When it is not necessary to adsorb the partition 110, the second driving component 240 drives the suction head 250 to move upward and store it on both sides of the frame 100 to prevent the adsorption components 230 from colliding with the product. By setting the contact block 270, when the suction head 250 moves to the partition 110, the contact block 270 can make contact with the partition 110 in advance, thereby sending a signal to start the vacuum pump 260 to perform adsorption operation on the partition 110, avoiding direct contact between the suction head 250 and the partition 110, and reducing the risk of the suction head 250 hitting and damaging the partition 110.

[0050] Specifically, a laser sensor 280 is installed on the outside of the frame 100. The laser sensor 280 is used to detect the distance between the two partitions 110.

[0051] In some specific embodiments of the present invention, by setting a laser sensor 280, the distance between the frame 100 and the partition 110 is determined by shining a laser on the partition 110, thereby avoiding collisions with the product when the adsorption mechanism extends and places the partition 110.

[0052] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of the present invention.

Claims

1. A palletizing gripper, characterized in that, include: Frame (100) for connection to robotic arm; An adsorption mechanism is installed on the frame (100) and is used to adsorb the partition (110). A clamping mechanism, installed at the bottom of the frame (100), is used to clamp parts (120). It includes two clamping assemblies (130). Each clamping assembly (130) includes a clamping rod (140), a first drive assembly (150), and a slide rail (160). The slide rail (160) is laterally arranged at the bottom of the frame (100). The clamping rod (140) is slidably connected to the slide rail (160). The first drive assembly (150) drives the clamping rod (140) to move left and right. The two clamping rods (140) are close to each other to clamp parts (120), and the two clamping rods (140) are far apart to put down parts (120). The bottom of the frame (100) is provided with a leveling plate (170), which is in contact with the surface of the part (120). The leveling plate (170) is used to flatten the surface of the part (120). Two clearance holes (180) are also provided on both sides of the leveling plate (170). The two clearance holes (180) are used to clear the clamping rod (140) respectively. The platen (170) and the frame (100) are connected by a shock absorber (190), which is used to reduce the vibration of the product after it comes into contact with the platen (170); The plate (170) is equipped with a photoelectric sensor (200), which is used to detect whether the product and the partition (110) have fallen off.

2. A palletizing gripper according to claim 1, characterized in that, A visual imaging component (210) is provided on one side of the frame (100), which distinguishes and positions the parts (120) and the partition (110).

3. A palletizing gripper according to claim 1, characterized in that, The surface of the clamping rod (140) is provided with a plurality of anti-slip particles (220), which are in contact with the part (120) and are used to increase the friction between the clamping rod (140) and the part (120).

4. A palletizing gripper according to claim 1, characterized in that, The adsorption mechanism includes two adsorption components (230), which are respectively installed on both sides of the frame (100).

5. A palletizing gripper according to claim 4, characterized in that, The adsorption assembly (230) includes a second drive assembly (240), two suction heads (250) and a vacuum pump (260). The two suction heads (250) are respectively mounted on the output shaft of the second drive assembly (240). The second drive assembly (240) is used to drive the suction heads (250) to move up and down. The vacuum pump (260) is connected to the suction heads (250) and is used to perform vacuuming operation on the suction heads (250) and adsorb the partition plate (110).

6. A palletizing gripper according to claim 5, characterized in that, A contact block (270) is provided between the two suction heads (250), and the contact block (270) is elastically connected to the second drive assembly (240). The contact block (270) is used to detect whether the suction head (250) is in contact with the partition (110).

7. A palletizing gripper according to claim 1, characterized in that, A laser sensor (280) is provided on the outside of the frame (100), and the laser sensor (280) is used to detect the distance between the frame (100) and the partition (110).

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