A material-grabbing and placing robotic arm for a fully automatic loading and unloading machine and its grabbing mechanism

Abstract

The present invention discloses a grasping and discharging robotic arm and its grasping mechanism for a full-automatic loading and unloading machine, including a grasping mechanism, a base, a connecting arm, and a rotating arm. The grasping mechanism includes: a jaw assembly, which includes a first mounting plate, a second mounting plate, a fixing plate, a guard plate, a first connecting plate, a clamping plate, and a first cylinder, and can clamp and release products through displacement; a telescopic assembly includes a belt assembly, a synchronous motor, and a clamping plate, which can increase the friction force on the products and prevent the products from slipping easily; an unpacking assembly includes a second connecting plate, a second cylinder, a support plate, a baffle, and a third cylinder, which can grasp the box body.

Description

Technical Field

[0001] The present invention relates to the mechanical field of packaging objects or materials, and particularly to a pick-and-place robotic arm for a full-automatic case opening and closing machine and its grasping mechanism. Background Art

[0002] A robotic arm is a commonly used grasping device in industrial production. Especially in the case of product packing, it is usually the case that the grasping mechanism on the robotic arm grabs the product to be packed and sends it above the box, and then releases the grasping mechanism to place the product in the box. However, the traditional grasping mechanism grabs by the opening and closing of the clamping plates on both sides. After long-term use, the clamping plates on both sides are likely to become smooth due to friction, resulting in unstable clamping during use and causing the product to slip, endangering production safety.

[0003] For example, the clamping jaw mechanism proposed in CN201510993162.4 includes a device plate, a lifting cylinder module arranged at the upper end of the device plate, a clamping jaw module arranged at the lower end of the device plate and cooperating with the lifting cylinder module, folding cylinder modules respectively arranged on the device plate on the left and right sides of the lifting cylinder module, and a pressing plate module arranged on the device plate and cooperating with the folding cylinder module; the pressing plate module includes a pressing plate rotating shaft seat arranged on the device plate, a pressing plate rotating shaft arranged on the pressing plate rotating shaft seat, a folding pressing plate fixedly arranged on the pressing plate rotating shaft and having one end connected to the folding cylinder module, and a folding pressing block fixedly arranged at the other end of the folding pressing plate. This invention is a clamping jaw mechanism. By setting the clamping jaw module, it is used for clamping and downwardly pressing the middle supporting cardboard; by setting the pressing plate module, it is used for pressing the middle supporting cardboard to form an inner-inclined shape so that the placement of the middle supporting cardboard is more convenient, but the above problems are not solved.

[0004] The present invention can improve the friction force on the product through the provided clamping jaw assembly and telescopic assembly, prevent the product from sliding down, thereby preventing the product from slipping and ensuring production safety. Summary of the Invention

[0005] To solve the above problems, the object of the present invention is to provide a pick-and-place robotic arm for a full-automatic case opening and closing machine and its grasping mechanism. The pick-and-place robotic arm for a full-automatic case opening and closing machine and its grasping mechanism can improve the friction force on the product through the provided clamping jaw assembly and telescopic assembly, prevent the product from sliding down, thereby preventing the product from slipping and ensuring production safety.

[0006] The present invention provides a grasping mechanism, which includes: clamping jaw assemblies arranged on both sides of the grasping mechanism, which can clamp and release the product through displacement; telescopic assemblies arranged outside the clamping jaw assemblies, which can increase the friction force on the product and make the product not easy to slip; and a case opening assembly arranged on one side of the grasping mechanism, which can grasp the box.

[0007] Further, the jaw assembly includes a first mounting plate, a second mounting plate, a fixing plate, a guard plate, a first connecting plate, a clamping plate and a first cylinder. A flange for connecting the rotating arm is provided behind the first mounting plate. The second mounting plate is movably mounted on the side of the first mounting plate through the flange. The first cylinder is fixed inside the first mounting plate. The telescopic rod of the first cylinder is connected to the inside of the second mounting plate. The fixing plates are arranged on both sides of the upper ends inside the first mounting plate and the second mounting plate. The first connecting plates are arranged on both sides of the lower ends inside the first mounting plate and the second mounting plate. The guard plate is arranged at the lower end of the first connecting plate. The clamping plate is slidably mounted on the fixing plates and the guard plate inside the first mounting plate and the second mounting plate through limit blocks. A chute is provided on the clamping plate.

[0008] Further, the clamping plate is in a "7" shape, and a tip for easy insertion is provided at the lower end of the clamping plate.

[0009] Further, inclined flanges are provided on one side and the rear of the guard plate.

[0010] Further, for the belt assembly, the synchronous motor and the clamping plate, the belt assembly is arranged on the fixing plate and the guard plate and is controlled to start through an external power supply. The synchronous motor is arranged on the outer sides of the first connecting plate and the second connecting plate. A screw rod is provided on the output shaft of the synchronous motor, and the screw rod is threadedly connected to the clamping plate.

[0011] Further, the belt assembly protrudes from the contact surface between the clamping plate and the product, and the protruding height is 2(x - y), where x is the initial thickness of the belt in the belt assembly, and y is the thickness of the belt in the belt assembly after being in contact with and extruded by the product.

[0012] Further, for the second connecting plate, the second cylinder, the support plate, the baffle plate and the third cylinder, the second cylinder is arranged inside the first mounting plate. The second connecting plate is arranged on the telescopic rod of the second cylinder. The second connecting plate is located outside the first mounting plate. The support plate is arranged below the second connecting plate. The baffle plates are hinged at both ends of the support plate. The length of the support plate fits the size of the box body. The end of the third cylinder is hinged to both sides of the support plate. Convex blocks are provided on the baffle plates, and the ends of the convex blocks are hinged to the ends of the telescopic rods of the third cylinder.

[0013] Further, suction cups are provided on the support plate, and the suction cups are arranged at different heights.

[0014] The present invention also provides a pick-and-place robotic arm for a fully automatic loading and unloading machine, including the above-mentioned grasping mechanism. The pick-and-place robotic arm for the fully automatic loading and unloading machine further includes: a base, a connecting arm and a rotating arm. The base is fixed to the working site. The connecting arm is rotatably mounted on the base. One end of the rotating arm is rotatably mounted on the connecting arm. The other end of the rotating arm is rotatably mounted behind the grasping mechanism through a control motor. Beneficial effects

[0015] 1. The second cylinder is arranged inside the first mounting plate. The second connecting plate is arranged on the telescopic rod of the second cylinder. The second connecting plate is located outside the first mounting plate. The support plate is arranged below the second connecting plate. The baffle is hinged at both ends of the support plate. The length of the support plate fits the size of the box body. The support plate is provided with suction cups, and the suction cups are arranged at different heights. The end of the third cylinder is hinged on both sides of the support plate. The baffle is provided with protrusions, and the protrusions are hinged to the end of the telescopic rod of the third cylinder. The unopened box body can be adsorbed by the suction cups. The suction cups arranged at different heights can prevent the box body from folding, ensuring that the box body can be opened normally. The box body can also be pushed open by the third cylinder pushing the protrusions, so that the baffle pushes the box body open, facilitating subsequent boxing.

[0016] The belt assembly is arranged on the fixed plate and the guard plate, and is controlled to start through an external power supply. The synchronous motor is arranged outside the first connecting plate and the second mounting plate. A screw rod is arranged on the output shaft of the synchronous motor, and the screw rod is threadedly connected with the clamping plate. The belt assembly protrudes from the contact surface between the clamping plate and the product, and the protruding height is 2(x - y), where x is the initial thickness of the belt in the belt assembly, and y is the thickness of the belt in the belt assembly after being in contact with and squeezed by the product. The clamping plate can be driven by the synchronous motor to move up and down, so that the product moves between the belt assemblies, thereby cooperating with the belt assemblies to increase the friction force on the product, making the product not easy to slide off.

[0017] The base is fixed to the working site. The connecting arm is rotatably installed on the base. One end of the rotating arm is rotatably installed on the connecting arm, and the other end of the rotating arm is rotatably installed behind the grasping mechanism through a control motor. The grasping mechanism can be rotated by the rotating arm, so that the box body is tilted, and the shape of the box body is maintained in cooperation with the clamping plate, the support plate and the baffle, facilitating subsequent boxing. Different from the traditional up-and-down straight-drop boxing, the product can slide into the box body obliquely through the clamping plate and the belt assembly, thereby reducing the impact on the product and better protecting the product.

[0018] The realization, functional features and advantages of the present invention will be further described with reference to the embodiments and the accompanying drawings. Brief Description of the Drawings

[0019] Figure 1 is the overall structural schematic diagram of the present invention Figure 1 。

[0020] Figure 2 is the overall structural schematic diagram of the present invention Figure 2 。

[0021] Figure 3 is the exploded view of the present invention.

[0022] Figure 4 is the exploded view of the jaw assembly of the present invention.

[0023] Figure 5 is the overall structural schematic diagram of the box-opening assembly of the present inventionFigure 1 .

[0024] Figure 6 It is an exploded view of the unpacking component of the present invention.

[0025] Figure 7 It is a schematic diagram of the overall structure of the guard plate of the present invention.

[0026] Figure 8 It is a schematic diagram of the overall structure of the unpacking component of the present invention Figure 2 .

[0027] Reference numerals: base 1; connecting arm 2; rotating arm 3; first mounting plate 4; second mounting plate 5; fixing plate 6; guard plate 7; first connecting plate 8; belt assembly 9; clamping plate 10; synchronous motor 11; screw 12; first cylinder 13; limiting block 14; connecting disk 15; second connecting plate 16; second cylinder 17; support plate 18; suction cup 19; baffle 20; convex block 21; third cylinder 22. Embodiment

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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. In order to simplify the disclosure of the present invention, the components and settings of specific examples are described below. Of course, they are only examples and are not intended to limit the present invention.

[0029] Next, a pick-and-place manipulator and its grasping mechanism for a fully automatic unpacking and packing machine according to an embodiment of the present invention will be described with reference to the accompanying drawings, as Figure 1 - Figure 8 shown. The pick-and-place manipulator for the fully automatic unpacking and packing machine includes a grasping mechanism, a base 1, a connecting arm 2, and a connecting arm 3. The base 1 is fixed to the working site. The connecting arm 2 is rotatably mounted on the base 1. One end of the connecting arm 3 is rotatably mounted on the connecting arm 2. The other end of the connecting arm 3 is rotatably mounted behind the grasping mechanism through a control motor. The grasping mechanism includes: clamping jaw assemblies provided on both sides of the grasping mechanism, which can clamp and release the product through displacement; telescopic assemblies provided outside the clamping jaw assemblies, which can increase the friction force on the product to prevent the product from slipping; and an unpacking component provided on one side of the grasping mechanism, which can grasp the box body.

[0030] As Figure 3 , Figure 4 and Figure 7As shown, the gripping and releasing robotic arm for a full-automatic case opening and closing machine and its gripping mechanism include a jaw assembly. The jaw assembly includes a first mounting plate 4, a second mounting plate 5, a fixing plate 6, a guard plate 7, a first connecting plate 8, a clamping plate 10, and a first cylinder 13. A connecting disk 15 for connecting the connecting arm 3 is provided behind the first mounting plate 4. The second mounting plate 5 is movably mounted on the side of the first mounting plate 4 through the connecting disk 15. The first cylinder 13 is fixed inside the first mounting plate 4, and the telescopic rod of the first cylinder 13 is connected to the inside of the second mounting plate 5. The fixing plate 6 is provided on both sides of the upper ends inside the first mounting plate 4 and the second mounting plate 5. The first connecting plate 8 is provided on both sides of the lower ends inside the first mounting plate 4 and the second mounting plate 5. The guard plate 7 is provided at the lower end of the first connecting plate 8. The clamping plate 10 is slidably mounted on the fixing plate 6 and the guard plate 7 inside the first mounting plate 4 and the second mounting plate 5 through a limiting block 14. A chute is provided on the clamping plate 10. The clamping plate 10 is in the shape of "7", and a tip for easy insertion is provided at the lower end of the clamping plate 10. Flanges are provided on one side and the rear of the guard plate 7.

[0031] In a specific embodiment: The rotation of the base 1, the connecting arm 2, and the connecting arm 3 is controlled by an external control device, so that the jaw assembly moves above the product. Then, the jaw assembly is controlled to descend, so that the tips of the clamping plate 10 are located on both sides of the product. Then, the first cylinder 13 is controlled to retract the telescopic rod, so that the second mounting plate 5 moves, thereby clamping the product with the clamping plate 10, and then transporting it to the packing position.

[0032] As Figure 3 、 Figure 4 and Figure 8 shown, the gripping and releasing robotic arm for a full-automatic case opening and closing machine and its gripping mechanism include a telescopic assembly. The telescopic assembly includes a belt assembly 9, a synchronous motor 11, and a clamping plate 10. The belt assembly 9 is provided on the fixing plate 6 and the guard plate 7 and is controlled to start by an external power supply. The synchronous motor 11 is provided outside the first connecting plate 8 and the second mounting plate 5. A screw rod 12 is provided on the output shaft of the synchronous motor 11. The screw rod 12 is threadedly connected to the clamping plate 10. The belt assembly 9 protrudes from the contact surface of the clamping plate 10 with the product, and the protruding height is 2(x - y), where x is the initial thickness of the belt in the belt assembly 9, and y is the thickness of the belt in the belt assembly 9 after being in contact with and extruded by the product.

[0033] In a specific embodiment: After the clamping plate 10 clamps the product, the synchronous motor 11 is controlled to rotate by an external power supply, so that the screw rod 12 rotates, thereby moving the clamping plate 10 upward, thereby driving the product upward. Then, the belt assembly 9 rotates through an external power supply, so that the belt assembly 9 and the clamping plate 10 clamp the product.

[0034] As Figure 6 and Figure 8As shown in the figure, the pick-and-place robotic arm for a fully automatic case-opening and case-packing machine and its grasping mechanism include a case-opening component. The case-opening component includes a second connecting plate 16, a second cylinder 17, a support plate 18, a baffle 20, and a third cylinder 22. The second cylinder 17 is arranged inside the first mounting plate 4. The second connecting plate 16 is arranged on the telescopic rod of the second cylinder 17. The second connecting plate 16 is located outside the first mounting plate 4. The support plate 18 is arranged below the second connecting plate 16. The baffle 20 is hinged at both ends of the support plate 18. The length of the support plate 18 matches the size of the box. The support plate 18 is provided with suction cups 19, and the suction cups 19 are arranged at different heights. The end of the third cylinder 22 is hinged on both sides of the support plate 18. The baffle 20 is provided with a convex block 21, and the convex block 21 is hinged to the end of the telescopic rod of the third cylinder 22.

[0035] In a specific embodiment: When picking up the product, the second cylinder 17 is used to move the second connecting plate 16 away from the first mounting plate 4 for avoidance.

[0036] When packing the box, the suction cups 19 on the support plate 18 adsorb the unopened box. The suction cups 19 arranged at different heights can prevent the box from folding and ensure that the box can be opened normally. Then the third cylinder 22 pushes the convex block 21 to make the baffle 20 rotate, thereby pushing the side plate of the box to open the box. At the same time, the second cylinder 17 contracts to make the box located below the product to be clamped. Then the synchronous motor 11 rotates in the reverse direction to make the clamping plate 10 move downward, so that the clamping plate 10 extends into the box. Then the grasping mechanism as a whole rotates through the connecting arm 3, and the box is tilted. The support plate 18 located obliquely below the box after rotation drags the box, and the clamping plate 10 inside the box and the baffle 20 on the side of the box maintain the shape of the box. Then the belt assembly 9 rotates in the reverse direction to drive the product to slide into the box along the inclined clamping plate 10. Then the grasping mechanism is reset through the connecting arm 3 to make the box return to the upright position. The second cylinder 17 is used to move the support plate 18 away from the box, and the grasping mechanism as a whole moves upward through the rotation of the base 1, the connecting arm 2, and the connecting arm 3, so that the clamping plate 10 is withdrawn from the box to complete the packing.

[0037] When the clamping plate 10 extends into the box, the guard plate 7 will push open the covers on the four sides above the box to avoid blocking the product from being packed.

[0038] Working principle: When picking up a product, the second connecting plate 16 is moved away from the first mounting plate 4 by the second cylinder 17 for avoidance. Then, the rotation of the base 1, the connecting arm 2, and the connecting arm 3 is controlled by an external control device to move the jaw assembly above the product. Then, the jaw assembly is controlled to descend so that the tips of the clamping plates 10 are located on both sides of the product. Then, the first cylinder 13 is controlled to retract the telescopic rod to move the second mounting plate 5, so that the clamping plates 10 clamp the product and transport it to the packing position. Then, the unopened box is adsorbed by the suction cup 19 on the support plate 18. Then, the third cylinder 22 pushes the convex block 21 to rotate the baffle 20, thereby pushing the side plate of the box to open the box. At the same time, the second cylinder 17 contracts to place the box under the clamped product. Then, the synchronous motor 11 rotates in the reverse direction to move the clamping plates 10 downward, so that the clamping plates 10 extend into the box. Then, the grasping mechanism as a whole is rotated by the connecting arm 3 to tilt the box, and the support plate 18 located obliquely below the box after rotation drags the box, while the clamping plates 10 inside the box and the baffle 20 on the side of the box keep the shape of the box. Then, the belt assembly 9 rotates in the reverse direction to drive the product to slide along the inclined clamping plates 10 into the box. Then, the grasping mechanism is reset by the connecting arm 3 to make the box return to the upright position, and the support plate 18 is moved away from the box by the second cylinder 17. The grasping mechanism as a whole is moved upward by the rotation of the base 1, the connecting arm 2, and the connecting arm 3, so that the clamping plates 10 are withdrawn from the box to complete the packing.

Claims

1. A grasping mechanism, characterized in that, The grasping mechanism includes: jaw assemblies provided on both sides of the grasping mechanism, which can clamp and release the product through displacement; telescopic assemblies provided outside the jaw assemblies, which can increase the friction force on the product to prevent the product from slipping; and box-opening assemblies provided on one side of the grasping mechanism, which can grasp the box body. The jaw assembly includes a first mounting plate (4), a second mounting plate (5), a fixing plate (6), a guard plate (7), a first connecting plate (8), a clamping plate (10), and a first cylinder (13). A connecting disk (15) for connecting the rotating arm (3) is provided behind the first mounting plate (4). The second mounting plate (5) is movably mounted on the side of the first mounting plate (4) through the connecting disk (15). The first cylinder (13) is fixed inside the first mounting plate (4). The telescopic rod of the first cylinder (13) is connected to the inside of the second mounting plate (5). The fixing plates (6) are provided on both sides of the upper ends inside the first mounting plate (4) and the second mounting plate (5). The first connecting plates (8) are provided on both sides of the lower ends inside the first mounting plate (4) and the second mounting plate (5). The guard plate (7) is provided at the lower end of the first connecting plate (8). The clamping plate (10) is slidably mounted on the fixing plates (6) and the guard plate (7) inside the first mounting plate (4) and the second mounting plate (5) through a limiting block (14). The clamping plate (10) is provided with a chute. The clamping plate (10) is in the shape of "7", and the lower end of the clamping plate (10) is provided with a tip for easy insertion. One side and the rear of the guard plate (7) are provided with inclined flanges. The telescopic assembly includes a belt assembly (9), a synchronous motor (11), and a clamping plate (10). The belt assembly (9) is provided on the fixing plate (6) and the guard plate (7) and is controlled to start through an external power supply. The synchronous motor (11) is provided outside the first connecting plate (8) and the second mounting plate (5). A screw rod (12) is provided on the output shaft of the synchronous motor (11). The screw rod (12) is threadedly connected to the clamping plate (10).

2. The grasping mechanism according to claim 1, wherein The belt assembly (9) protrudes from the contact surface between the clamping plate (10) and the product, and the protruding height is 2(x - y), where x is the initial thickness of the belt in the belt assembly (9), and y is the thickness of the belt in the belt assembly (9) after being in contact with and extruded by the product.

3. The grasping mechanism according to claim 2, wherein The box-opening assembly includes a second connecting plate (16), a second cylinder (17), a support plate (18), a baffle (20), and a third cylinder (22). The second cylinder (17) is provided inside the first mounting plate (4). The second connecting plate (16) is provided on the telescopic rod of the second cylinder (17). The second connecting plate (16) is located outside the first mounting plate (4). The support plate (18) is provided below the second connecting plate (16). The baffle (20) is hinged at both ends of the support plate (18). The length of the support plate (18) fits the size of the box body. The end of the third cylinder (22) is hinged to both sides of the support plate (18). The baffle (20) is provided with a convex block (21), and the convex block (21) is hinged to the end of the telescopic rod of the third cylinder (22).

4. The grasping mechanism according to claim 3, wherein, The support plate (18) is provided with suction cups (19), and the suction cups (19) are arranged at different heights.

5. A pick-and-place robotic arm for a fully automatic loading and unloading machine, comprising the grasping mechanism described in claims 1 to 4 above, characterized in that, The pick-and-place robotic arm for the fully automatic loading and unloading machine further includes: a base (1), a connecting arm (2), and a rotating arm (3). The base (1) is fixed to the working site. The connecting arm (2) is rotatably installed on the base (1). One end of the rotating arm (3) is rotatably installed on the connecting arm (2), and the other end of the rotating arm (3) is rotatably installed behind the grasping mechanism by a control motor.

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