Box-entering robot gripper, robot, and gripping method

Abstract

The box-entry robot gripper, robot, and gripping method described in the present invention propose an improved gripping mechanism capable of gripping and automatic box-entry. The gripping mechanism also has the performance of rack depalletizing and stacking operations, correspondingly improving the level of production line automation and maximizing the handling capacity of conveying equipment such as AGVs, thereby effectively improving the efficiency and accuracy of the gripping mechanism and the robot box-entry operation using this type of gripping mechanism, optimizing the refinement of the continuous operation control of handling, gripping, and box-entry, and intelligentizing process control. The box-entry robot gripper includes an upper frame assembly, on which are respectively provided a group of thrust assemblies and a front blocking assembly vertically cross-distributed in the horizontal direction, and a group of left gripper assemblies and right gripper assemblies; the thrust assemblies and the front blocking assemblies clamp and position the specified product from both sides in a linear direction, and the left gripper assemblies and the right gripper assemblies clamp and transfer the specified product from both sides in a linear direction.

Description

Technical Field

[0001] The present invention relates to a box-entering robot gripper for intelligent operations of clamping products into boxes and rack depalletizing and stacking, a robot, and a clamping method using such a robot, belonging to the field of logistics transportation and automatic control. Background Art

[0002] Various automated packaging and conveying equipment are currently used at packaging and delivery sites in the e-commerce and express delivery industries to assist operators in the operations of boxing, depalletizing, and centralized dispatching of small items. The processing volume and operational efficiency of bulk goods are both high, and the resulting operating pressure on the operating robots or manipulators is significantly increased.

[0003] Currently, the boxing process of new energy storage battery pack production lines still relies on manually operated forklifts. This is not only inefficient but also has high operating costs, which is not conducive to improving the level of production line automation. The assembly process needs to gradually shift to a semi-automatic production line with a mechanical gripper operation mode. In this technical context, existing mechanical grippers are difficult to adapt to the requirements of use, especially in the process of grasping and automatically boxing the battery packs. It is difficult to achieve refined operation and also lacks the ability to handle the depalletizing and stacking of material racks. During batch boxing operations, it is difficult to accurately adjust the gripping force, which can easily cause damage to the box body. In addition, the positioning accuracy of the box is not high.

[0004] In view of this, this patent application is hereby filed. Summary of the Invention

[0005] The robot gripper, robot and gripping method for box entry described in the present invention aim to solve the problems existing in the above-mentioned prior art and propose an improved gripping mechanism that can realize gripping and automatic box entry. The gripping mechanism also has the performance of material rack disassembly and stacking operations, which correspondingly improves the level of production line automation and maximizes the use of the handling capacity of conveying equipment such as AGV, thereby effectively improving the efficiency and accuracy of the gripping mechanism and the robot box entry operation using this type of gripping mechanism, optimizing the refinement of continuous operation control of handling, gripping and box entry, and intelligentizing process control.

[0006] In order to achieve the above-mentioned design purpose, the box-entering robot gripper includes an upper frame assembly, on which are respectively provided a group of thrust assemblies and front blocking assemblies vertically cross-distributed along the horizontal direction, and a group of left gripper assemblies and right gripper assemblies; the thrust assemblies and front blocking assemblies clamp and position the products from both sides along the linear direction, and the left gripper assembly and right gripper assembly clamp and transfer the designated products from both sides along the linear direction; the left gripper assembly and the right gripper assembly have the same structure and are symmetrically distributed along both sides of the upper frame assembly; the left gripper assembly includes a gripper bracket, a second slider for sliding connection to the upper frame assembly is provided on the top of the gripper bracket, and a group of guide wheel assemblies, roller bars and floating joints for connecting to the drive device on the upper frame assembly are respectively connected to the sides of the gripper bracket.

[0007] Furthermore, the clamping jaw bracket is connected to the material rack grabbing assembly through a leg extending outward, and the material rack grabbing assembly includes a second cylinder, the output end of the second cylinder is driven and connected to one end of the second clamping arm, and the other end of the second clamping arm is provided with a pad made of soft material.

[0008] Furthermore, the guide wheel assembly has an array of guide wheel groups arranged in sequence along a straight line, and each guide wheel group is connected to the side of the clamping bracket through at least one set of second guide shafts and second linear bearings.

[0009] Furthermore, the roller bar has an array of roller groups arranged in sequence along a straight line, and the contact surface of each roller is distributed vertically upward.

[0010] Furthermore, the upper frame assembly includes a group of welded frames formed by splicing profiles, a flange for connecting to the end of the six-axis robot operating part is fixedly installed on the top of the welded frame, and a first linear guide and a second linear guide are arranged vertically and cross-arranged with each other; two groups of side thrust cylinders, servo motors and reducers that respectively drive the left clamping jaw assembly and the right clamping jaw assembly are connected to the side of the welded frame, as well as a screw rod connected axially by the servo motor and the reducer through a coupling.

[0011] Furthermore, a Y-type connector 52 is connected between the driving air circuits of the two sets of side thrust cylinders 12 that respectively drive the left clamping jaw assembly 9 and the right clamping jaw assembly 10, and the two driving air circuits are connected to the same pneumatic pipeline.

[0012] Furthermore, the thrust assembly is arranged at both ends of the first linear guide rail along the X-axis or Y-axis of the upper frame assembly and the front blocking assembly, and includes a push plate support, a first slider slidably connected to the first linear guide rail is installed on the top of the push plate support, and a screw nut axially sleeved on the screw rod.

[0013] Furthermore, the front blocking assembly includes a first cylinder mounted on the upper frame assembly, the output end of the first cylinder is drive-connected to one end of the first clamping arm, and the other end of the first clamping arm is provided with a pad made of soft material.

[0014] Based on the structural design of the above-mentioned box-entering robot gripper, the present application also proposes the following new robot, which includes a six-axis robot operating part sliding on a ground rail, and a box-entering robot gripper with the above-mentioned structural design is connected to the end of the six-axis robot operating part, and an air source component is provided on one side of the ground rail for connection and for providing pneumatic conveying to the box-entering robot gripper.

[0015] Based on the structural design of the above-mentioned box-entering robot gripper and robot, the present application also proposes the following robot gripping method: the six-axis robot operating part transports the box-entering robot gripper along the ground rail to the vertical upper side of the to-be-gripped station of the material-retrieving station;

[0016] The second barcode scanner located on the upper frame assembly scans and identifies the barcode on the surface of the specified product. If the identification is successful, the subsequent operation is performed. If the identification is unsuccessful, an alarm is issued and manual intervention is required.

[0017] Two sets of side push cylinders drive the left and right clamping jaw assemblies to clamp the designated product in place along both sides toward the middle;

[0018] The six-axis robot operating unit lifts the robot gripper vertically until the rollers of the left and right gripper assemblies contact the bottom of the designated product.

[0019] Driven by the servo motor, the thrust assembly pushes the designated product from the front, sliding it linearly on the roller strip until it contacts the pad of the front blocking assembly;

[0020] During the process of gripping and subsequent boxing operations, the specified product is always blocked and limited by the thrust assembly and the front blocking assembly in the front-to-back direction, and is clamped and driven by the left and right clamping jaw assemblies in the left-to-right direction;

[0021] The box-entering robot's gripper grabs the designated product to complete the box-entering operation.

[0022] In summary, the advantages of the box-entering robot gripper, robot, and gripping method are:

[0023] 1. This application is applicable to a variety of material delivery methods, including AGV delivery. The gripper can accurately and quickly carry out the grabbing and boxing operations of small packaging boxes, as well as realize the depalletizing and stacking functions for the incoming material racks, thereby maximizing the use of existing conveying capacity and significantly improving the one-time incoming material box packaging operation, with high overall operating efficiency and low production costs. 2. The gripper proposed in this application has a grabbing visual guidance setting. The 2D camera can quickly capture the incoming posture of small packaging boxes, thereby having the performance of randomly adjusting the gripper posture and quickly and accurately grabbing, which is conducive to improving the gripping efficiency and protecting the packaging boxes from damage.

[0024] 3. The gripper proposed in this application has a cluster rack visual guidance setting, which can quickly take pictures through a 3D camera to locate the placement coordinate points of each layer of the cluster rack, thereby achieving more accurate positioning of small packaging boxes into boxes, with a high one-time box placement success rate, and meeting the requirements of fully automated intelligent operation.

[0025] 4. The gripper proposed in this application has the function of depalletizing and stacking incoming material racks, which is beneficial to improving the conveying capacity of handling equipment such as AGV and effectively improving the overall conveying efficiency of the packaging production line. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] The present invention will now be further described with reference to the following drawings.

[0027] Figure 1 This is a schematic diagram of a robot using the box-entering robot gripper described in this application;

[0028] Figure 2-1 Schematic diagram of the top view of the box-entering robot gripper described in this application;

[0029] Figure 2-2 It is an isometric view of the box-entering robot gripper;

[0030] Figure 2-3 This is a side view of the box-entering robot's gripper;

[0031] Figure 3-1 1 is a top view schematic diagram of the upper frame assembly;

[0032] Figure 3-2 It is an isometric view of the upper frame assembly;

[0033] Figure 4-1 is a side view of the thrust assembly;

[0034] Figure 4-2 is a top view of the thrust assembly;

[0035] Figure 5-1 is the main view of the front barrier assembly;

[0036] Figure 5-2 is a side view of the front barrier assembly;

[0037] Figure 6-1 It is the front view of the left gripper assembly;

[0038] Figure 6-2 is a side view of the left jaw assembly;

[0039] Figure 7-1 This is the main view of the rack grab assembly;

[0040] Figure 7-2 It is a side view of the rack grab assembly;

[0041] Figure 8-1 is a top view of the guide wheel assembly;

[0042] Figure 8-2 It is the main view of the guide wheel assembly;

[0043] Figure 9-1 It is the front view of the right gripper assembly;

[0044] Figure 9-2 is a side view of the right jaw assembly;

[0045] Figure 10-1 This is a forward schematic diagram of a retrieving station component that uses the robot described in this application to perform grasping and boxing operations;

[0046] Figure 10-2 Yes Figure 10-1 A schematic top view of the structure shown;

[0047] Figure 11-1 It is a side view of the left guide mechanism of the reclaiming station assembly;

[0048] Figure 11-2 Yes Figure 11-1 a front view of the structure shown;

[0049] In the above figures, 1-ground rail, 2-six-axis robot operating part, 3-boxing robot gripper, 4-base, 5-air source assembly;

[0050] 6-upper frame assembly, 7-thrust assembly, 8-front blocking assembly, 9-left clamping jaw assembly, 10-right clamping jaw assembly;

[0051] 11-welding frame, 12-side thrust cylinder, 13-reducer mounting plate, 14-servo motor, 15-reducer, 16-2D camera, 17-2D camera mounting plate, 18-3D camera, 19-coupling, 20-first barcode scanner, 21-flange, 22-screw, 23-first linear guide, 24-second linear guide, 25-screw support, 26-first slider, 27-push plate support, 28-pressure sensor, 29-first guide shaft, 30-push plate, 31-first linear bearing, 32-screw nut, 33-Cylinder mounting base, 34-First cylinder, 35-Buffer pad, 34-1-First clamping arm, 36-Gripper bracket, 37-Second slider, 38-Guide wheel assembly, 39-Rack grabbing assembly, 40-Roller bar, 41-Support leg, 42-Second guide shaft, 43-Guide wheel assembly, 44-Second linear bearing, 45-Silicone pad, 46-Second cylinder, 46-1-Second clamping arm, 47-Floating joint, 48-Distance sensor, 49-Block, 50-Second barcode scanner, 51-Fixed shaft, 52-Y-type joint;

[0052] 53-left guide assembly of the reclaiming station, 54-right guide assembly of the reclaiming station, 55-battery pack, 56-material rack, 57-AGV trolley, 58-welding bracket, 59-roller, 60-mounting base. DETAILED DESCRIPTION

[0053] Example 1, as Figures 1 to 9-2 As shown, the present application proposes a new type of robot that can be applied to the boxing operation process of the new energy storage battery pack production line. The robot includes a six-axis robot operating part 2 that slides on the ground rail 1 through a base 4, and a boxing robot gripper 3 for battery pack grabbing and boxing operations is connected to the end of the six-axis robot operating part 2. An air source component 5 is provided on one side of the ground rail 1 for connection and for providing pneumatic conveying to the boxing robot gripper 3.

[0054] To achieve the purpose of the invention of this application, the box-entering robot gripper 3 includes an upper frame assembly 6 for connecting to the six-axis robot operating part 2, and a set of thrust assemblies 7 and front blocking assemblies 8, a set of left gripper assemblies 9 and right gripper assemblies 10 are symmetrically connected to the upper frame assembly 6;

[0055] Specifically, the upper frame assembly 6 is the main load-bearing part of the box-entering robot gripper 3, which includes a set of welded frames 11 formed by splicing profiles. A flange 21 for connecting to the end of the six-axis robot operating part 2 is fixedly installed on the top of the welded frame 11. At the bottom of the welded frame 11, a first linear guide rail 23 and a second linear guide rail 24 are arranged vertically and perpendicularly to each other.

[0056] Connected to the side of the welding frame 11 are two groups of side thrust cylinders 12 that respectively drive the left clamping jaw assembly 9 and the right clamping jaw assembly 10, a group of 3D cameras 18, a first barcode scanner 20, a second barcode scanner 50, and a servo motor 14 and a reducer 15 fixedly connected through a reducer mounting plate 13, and a screw 22 suspended radially through a screw support 25. The output shaft of the reducer 15 is axially driven and connected to the screw 22 through a coupling 19.

[0057] Furthermore, in order to improve the movement consistency of the two groups of side thrust cylinders 12 that respectively drive the left clamping jaw assembly 9 and the right clamping jaw assembly 10 during the clamping and grasping process, a Y-type connector 52 is connected between the driving air circuits of the two groups of side thrust cylinders 12, so that the two driving air circuits are connected to the same pneumatic pipeline; under the premise that the air source assembly 5 provides the same internal environmental pressure, the movement direction and working stroke of the left and right groups of side thrust cylinders 12 are coordinated by adjusting the cylinder speed regulating valve at the same time.

[0058] Furthermore, in order to ensure the consistency of the travel distance of the left clamping jaw assembly 9 and the right clamping jaw assembly 10 on both sides for clamping and grasping the battery pack 55, two sets of blocks 49 are symmetrically installed at the bottom of the upper frame assembly 6 to limit, block and buffer the left clamping jaw assembly 9 and the right clamping jaw assembly 10 respectively.

[0059] The thrust assembly 7 is arranged at both ends of the first linear guide 23 along the X-axis or Y-axis of the welding frame 11 and the front blocking assembly 8, and includes a push plate support 27. A first slider 26 slidably connected to the first linear guide 23 and a screw nut 32 axially sleeved on the screw 22 are installed on the top of the push plate support 27. Therefore, under the drive of the servo motor 14 and the reducer 15, the thrust assembly 7 as a whole reciprocates along the linear direction of the welding frame 11 through the push plate support 27 to push the battery pack 55 into the box. At the same time, the first slider 2 slides with the first linear guide 23 to provide auxiliary guidance for the thrust assembly 7 in linear motion.

[0060] Furthermore, to optimize the pushing force on the battery pack 55, a push plate 30 is sleeved and connected to the front end of the push plate support 27 via at least one set of first guide shafts 29 and first linear bearings 31. This increases and evens out the contact area with the battery pack 55 and the thrust distribution.

[0061] Furthermore, in order to prevent the thrust assembly 7 from getting stuck or even getting stuck in the process of pushing the battery pack 55, a pressure sensor 28 is connected between the push plate support 27 and the push plate 30; thereby, the thrust value transmitted in the reverse direction from the battery pack 55 can be detected in real time through the pressure sensor 28. When the thrust exceeds the pressure safety range, the servo motor 14 will immediately stop working and alarm to prevent the battery pack 55 from being crushed.

[0062] The front blocking assembly 8 is used to clamp and position the battery pack 55 from the opposite side of the thrust assembly 7 to prevent the battery pack 55 from jumping back and forth due to inertia after being grasped and during movement; the front blocking assembly 8 includes a first cylinder 34 mounted on the welding frame 11 through a cylinder mounting seat 33, the output end of the first cylinder 34 is driven and connected to one end of the first clamping arm 34-1, and the other end of the first clamping arm 34-1 is provided with a buffer pad 35; thus, when the battery pack 55 is clamped and grasped by the left clamping jaw assembly 9 and the right clamping jaw assembly 10, the first cylinder 34 is driven and connected to one end of the first clamping arm 34-1, and the other end of the first clamping arm 34-1 is provided with a buffer pad 35; thus, when the battery pack 55 is clamped and grasped by the left clamping jaw assembly 9 and the right clamping jaw assembly 10, the first cylinder 34 is driven and connected to the output end of the first cylinder 34 Compressed air is released to drive the first clamping arm 34-1 to rotate 90°, so as to flip the buffer pad 35 originally at the bottom upward to the highest point, and the surface of the buffer pad 35 can be relatively parallel to the push plate 30 on the opposite side; then, the thrust assembly 7 is driven by the servo motor 14 to push the battery pack 55 from one side until the battery pack 55 contacts and limits the buffer pad 35. The two ends of the battery pack 55 are respectively subjected to the pressure of the thrust assembly 7 and the resistance of the front blocking assembly 8. During the process of the battery pack 55 being grasped and moved, it can maintain a relatively stable state without jumping or slipping.

[0063] The left and right gripper assemblies 9, 10 have the same structural design and are symmetrically distributed along the two sides of the upper frame assembly 6. Taking the left gripper assembly 9 as an example, it includes a gripper bracket 36. A second slider 37 is provided at the top of the gripper bracket 36 for sliding connection to the second linear guide rail 24 to drive the left gripper assembly 9 to move linearly from one side of the upper frame assembly 6 to the other side. A group of material rack grabbing assemblies 39, guide wheel assemblies 38, roller strips 40, and floating joints 47 are respectively connected to the sides of the gripper bracket 36.

[0064] The clamping jaw bracket 36 is connected to the material rack grabbing assembly 39 via a leg 41 extending outward. The material rack grabbing assembly 39 includes a second cylinder 46. The output end of the second cylinder 46 is driven and connected to one end of a second clamping arm 46-1. The other end of the second clamping arm 46-1 is provided with a silicone pad 45.

[0065] The guide wheel assembly 38 comprises a plurality of guide wheel groups 43 arranged in a straight line. Each guide wheel group 43 is connected to the side of the gripper bracket 36 via two sets of second guide shafts 42 and second linear bearings 44. As a result, when the battery pack 55 is grasped and moved, the guide wheel assembly 38 can reduce friction between the two and provide a linear motion guide.

[0066] The roller bar 40 has an array of roller groups arranged in a straight line, and the contact surface of each group of rollers is distributed vertically upward; when the battery pack 55 is grabbed and moved, the roller bar 40 can reduce the contact area between the two accordingly and convert sliding friction into rolling friction to reduce the friction between them.

[0067] The floating joint 47 is connected to the output end of the side thrust cylinder 12 on the upper frame assembly 6. Driven by the side thrust cylinder 12, the left clamping jaw assembly 9 reciprocates between the original position and the working position to realize the clamping, grasping or releasing operation of the battery pack 55; the driving principle of the right clamping jaw assembly 10 is the same as this and will not be repeated.

[0068] Based on the structural design of the above robot and the box-entering robot gripper 3, as shown Figure 10-1 and Figure 10-2 As shown, this application implements the following clamping method:

[0069] The six-axis robot operating part 2 transports the box-entering robot gripper 3 along the ground rail 1 to the vertical upper side of the waiting position of the material-retrieving station;

[0070] The second barcode scanner 50 located on the upper frame assembly 6 scans and identifies the barcode on the surface of the battery pack 55. If the identification is successful, the subsequent operation is performed. If the identification is unsuccessful, an alarm is sounded and manual intervention is required.

[0071] The two sets of side thrust cylinders 12 each drive the left clamping jaw assembly 9 and the right clamping jaw assembly 10 to clamp the battery pack 55 in place along both sides toward the middle. Specifically, the guide wheel assemblies 43 on the left clamping jaw assembly 9 and the right clamping jaw assembly 10 maintain a 1mm gap with both sides of the battery pack 55 to ensure that the battery pack 55 moves in a nearly straight line during the process of being pushed out by the thrust assembly 7, thereby effectively preventing it from tilting, getting stuck, or getting stuck.

[0072] The six-axis robot operating unit 2 vertically lifts the box-entering robot gripper 3 until the roller bars 40 of the left gripper assembly 9 and the right gripper assembly 10 contact the bottom of the battery pack 55;

[0073] Driven by the servo motor 14 , the thrust assembly 7 pushes the battery pack 55 from the front, sliding it linearly on the roller strip 40 until it contacts the buffer pad 35 of the front blocking assembly 8 ;

[0074] During the process of gripping and subsequently placing the battery pack 55 into the box, it is always blocked and limited by the thrust assembly 7 and the front blocking assembly 8 in the front-to-back direction, and clamped and driven by the left clamping jaw assembly 9 and the right clamping jaw assembly 10 in the left-to-right direction. Thus, during the entire process of moving and placing the battery pack into the box, the battery pack 55 can be effectively prevented from jumping or slipping due to inertia.

[0075] The boxing robot gripper 3 grips the battery pack 55 to complete the boxing operation.

[0076] Furthermore, when the thrust assembly 7 and the front blocking assembly 8 block the battery pack 55 in the front-to-rear direction, the pressure sensor 28 detects the thrust value transmitted in the reverse direction from the battery pack 55 in real time. When the thrust exceeds the pressure safety range, the servo motor 14 stops working and alarms to prevent the battery pack 55 from being crushed.

[0077] like Figures 10-1 to 11-2 As shown, the retrieving station for implementing the boxing operation has a retrieving station left guide assembly 53 and a retrieving station right guide assembly 54 with the same structure symmetrically arranged at its bottom;

[0078] Taking the left guide assembly 53 of the reclaiming station as an example, it includes a welding bracket 58 constituting the main structural frame and fixed to the ground through a mounting base 60. An array of rollers 59 arranged in a straight line are provided on the inner side of the welding bracket 58.

[0079] Furthermore, before the robot gripper 3 grips the battery pack, the AGV trolley 57 transports the array material rack 56 carrying the battery pack 55 to the side of the material retrieving station;

[0080] Under the positioning guidance provided from both sides by the left guide assembly 53 and the right guide assembly 54 of the material picking station, the AGV trolley 57 enters the waiting position of the material picking station; specifically, the left guide assembly 53 and the right guide assembly 54 of the material picking station are predetermined and installed to maintain a relatively precise spacing. When the AGV trolley 57 enters the material picking workstation, the left guide assembly 53 and the right guide assembly 54 of the material picking station are both within 10 mm from the material rack 56 to prevent the positioning error of the incoming materials transported by the AGV trolley 57 from being too large, such as causing the following 2D camera 16 to exceed the field of view of the photo positioning battery pack 55.

[0081] Furthermore, a distance measuring sensor 48 is provided on the upper frame assembly 6;

[0082] Before the robot gripper 3 grips the battery pack, the distance sensor 48 detects the vertical distance between it and the top of the battery pack 55;

[0083] If the vertical distance between the two exceeds the preset height range, the six-axis robot operating unit 2 adjusts the vertical position of the entire robot gripper 3;

[0084] When the vertical distance between the two is within a preset height range, the two sets of 2D cameras 16 each take a picture of the top of the battery pack 55; the two pictures are superimposed and compared to determine two characteristic points of the top contour of the battery pack 55; for example, the characteristic points may preferably be the end corners of the top contour of the battery pack 55;

[0085] By comparing the two feature points captured by the two sets of 2D cameras 16, the horizontal coordinates of the center of the same battery pack 55 and the rotation angle Az between its contour edge and the horizontal centerline are determined from both sides. In this way, the gripping coordinate points of the left and right gripper assemblies 9 and 10 along the horizontal X and Y axes are determined.

[0086] At the same time, the Z-axis coordinate point of the top of the current battery pack 55 along the vertical direction is obtained through the distance measuring sensor 48;

[0087] The gripping coordinate points of the X-axis, Y-axis and Z-axis are uploaded to the six-axis robot operating unit 2, and the box-entering robot gripper 3 moves to the gripping position corresponding to the three-axis coordinate points.

[0088] Furthermore, after the above-mentioned box-entering robot gripper 3 has grasped the battery pack 55 and completed the box-entering operation, the six-axis robot operating unit 2 drives the robot gripper 3 to move to the side of the material rack 56;

[0089] The two sets of 2D cameras 16 are used to jointly identify and determine the coordinates of the center point of the same rack 56 on the horizontal X-axis and Y-axis;

[0090] Obtain the Z-axis coordinate point of the top of the current material rack 56 along the vertical direction through the distance measuring sensor 48;

[0091] The three-axis coordinates of the rack 56 are uploaded to the six-axis robot operating unit 2, and the box-entering robot gripper 3 moves to the corresponding gripping position;

[0092] The rack grabbing assembly 39 of the left gripper assembly 9 and the right gripper assembly 10 jointly grip the rack 56 from both sides and place it in the designated cache position; this process is repeated many times until all the racks 56 are depalletized and stacked, and the AGV trolley 57 transfers the re-stacking empty racks 56 from the cache position.

[0093] In summary, the embodiments provided in conjunction with the accompanying drawings are only preferred solutions. Those skilled in the art can be inspired by this and directly deduce other alternative structures that are consistent with the design concept of the present invention, which should also fall within the scope of the solutions described in the present invention.

Claims

1. A box-entering robot gripper, characterized by: Including upper frame assembly, respectively set on the upper frame assembly There is a set of thrust components and front blocking components, and a set of left clamping jaw components and right clamping jaw components vertically cross-distributed along the horizontal direction; The thrust assembly and the front blocking assembly clamp and position the product from both sides along the linear direction, and the left clamping jaw assembly and the right clamping jaw assembly clamp and transfer the designated product from both sides along the linear direction; The left clamping jaw assembly and the right clamping jaw assembly have the same structure and are symmetrically distributed along both sides of the upper frame assembly; The left clamping jaw assembly includes a clamping jaw bracket, a second slider disposed on the top of the clamping jaw bracket for sliding connection to the upper frame assembly, and a set of guide wheel assemblies, roller strips, and a floating joint for connecting to a drive device on the upper frame assembly connected to the side of the clamping jaw bracket. The clamping jaw bracket is connected to the material rack grabbing assembly through a leg extending outward. The material rack grabbing assembly includes a second cylinder. The output end of the second cylinder is driven and connected to one end of the second clamping arm. The other end of the second clamping arm is provided with a pad made of soft material. The guide wheel assembly comprises a plurality of guide wheel groups arranged in a straight line, each guide wheel group having at least one The second guide shaft and the second linear bearing are sleeved and connected to the side of the clamping jaw bracket; The roller strip comprises an array of roller groups which are sequentially arranged along a straight line, and the contact surface of each roller is vertically distributed upward.

2. The box-entering robot gripper according to claim 1, characterized in that: The upper frame assembly comprises a set of welded frames formed by splicing profiles, a flange for connecting to the end of the six-axis robot operating part is fixedly installed on the top of the welded frame, and a first linear guide rail and a second linear guide rail are arranged vertically and perpendicularly to each other at the bottom of the welded frame; Two sets of side thrust cylinders, servo motors and reducers that drive the left and right clamping jaw assemblies are connected to the sides of the welding frame, as well as a screw rod that is axially driven by the servo motor and the reducer through a coupling.

3. The box-entering robot gripper according to claim 2, characterized in that: A Y-shaped joint is connected between the driving air circuits of the two sets of side thrust cylinders that respectively drive the left clamping jaw assembly and the right clamping jaw assembly, and the two driving air circuits are communicated with the same pneumatic pipeline.

4. The box-entering robot gripper according to claim 1, characterized in that: The thrust assembly is arranged at both ends of the first linear guide along the X-axis or Y-axis of the upper frame assembly and the front blocking assembly, and includes a push plate support, a first slider slidably connected to the first linear guide installed on the top of the push plate support, and a screw nut axially sleeved on the screw.

5. The box-entering robot gripper according to claim 4, characterized in that: The front blocking assembly includes a first cylinder mounted on the upper frame assembly. The output end of the first cylinder is driven and connected to one end of a first clamping arm. The other end of the first clamping arm is provided with a pad made of soft material.

6. A robot, characterized in that: It includes a six-axis robot operating part that slides on the ground rail, at the end of which is connected a box-entering robot gripper as described in any one of claims 1 to 5, and on one side of the ground rail is provided an air source component that is connected and used to provide pneumatic conveying to the box-entering robot gripper.

7. A robot gripping method for the robot according to claim 6, characterized in that: The six-axis robot operating unit transports the box-entering robot gripper along the ground rail to the vertical upper side of the waiting position of the material-retrieving station; The second barcode scanner located on the upper frame assembly scans and identifies the barcode on the surface of the specified product. If the identification is successful, the subsequent operation is performed. If the identification is unsuccessful, an alarm is issued and manual intervention is required. Two sets of side push cylinders drive the left and right clamping jaw assemblies to clamp the designated product in place along both sides toward the middle; The six-axis robot operating unit lifts the robot gripper vertically until the rollers of the left and right gripper assemblies contact the bottom of the designated product. Driven by the servo motor, the thrust assembly pushes the designated product from the front, sliding it linearly on the roller strip until it contacts the pad of the front blocking assembly; During the process of gripping and subsequent boxing operations, the specified product is always blocked and limited by the thrust assembly and the front blocking assembly in the front-to-back direction, and is clamped and driven by the left and right clamping jaw assemblies in the left-to-right direction; The box-entering robot's gripper grabs the designated product to complete the box-entering operation.

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