A hand gripping mechanism for an intelligent manipulator palletizer

Abstract

The present invention belongs to the field of stacking manipulators, and specifically relates to a hand gripping mechanism of an intelligent manipulator stacker, including a support frame and a connecting block, etc.; a connecting block for connecting to a movable end of an external manipulator arm is arranged on the upper part of the support frame. The present invention realizes that by moving two adjacent pallets on the left and right sides to the left and right parts of the corresponding positions of the articles respectively, three articles are lifted up at one time by all the pallets and support plates, and the top plate is used to limit the position to prevent the articles from sliding to the support frame, and then the lifted articles are stacked again, and the edges of all pallets and all support plates contacting the articles are chamfered to prevent scratching the articles, and the articles are formed into a downwardly curved arch shape, and then the downwardly curved articles are gradually separated from the two pallets, and the articles are gradually contacted with the stacked upwardly curved articles, so that the force of the stacked articles is more stable, so that the stacking process of the articles is more stable.

Description

Technical Field

[0001] The invention belongs to the field of palletizing manipulators, and in particular relates to a hand grasping mechanism of an intelligent manipulator palletizer. Background Art

[0002] Based on the existing technology, when the stacked items are tilted, they need to be re-stackered to ensure the safety of the on-site working environment. The outer packaging of the items is packed in woven bags, and the materials in the woven bags do not fill the woven bags, so that there is a surplus space in the woven bags. Since the existing manipulator grabs the items during palletizing by directly inserting them into the middle area of ​​adjacent items, the items are supported by the manipulator, and then the items are lifted and transferred for re-stacking. However, in this way, when the manipulator is inserted into the middle of the adjacent items, the manipulator will have a large friction with the items and generate a thrust on the items, which can easily cause the stacked items to collapse.

[0003] Moreover, during the restacking process, the robot arm will also have great friction with the objects, which may easily cause the collapse of some of the already stacked objects. In the stacking process, the objects may shift due to unstable stacking, which may lead to collapse, thus affecting the stacking efficiency. The collapse of objects may easily cause damage to the woven bags, resulting in waste of objects and increasing the production costs of the company. If the damaged objects are not picked out, the stacked objects may easily collapse, seriously threatening the personal safety of on-site workers. Summary of the invention

[0004] In order to overcome the disadvantages of existing manipulators that they may generate large friction with objects during the palletizing process, generate thrust on the objects, and cause the stacked objects to collapse, the present invention provides a hand gripping mechanism of an intelligent manipulator palletizer.

[0005] Technical solution: A hand gripping mechanism of an intelligent manipulator palletizer includes a support frame and a connecting block; a connecting block for connecting to the movable end of an external manipulator arm is arranged on the upper part of the support frame; it also includes an adjustment component, a support plate, a support plate, a round rod, an elastic member I and a top plate; the support frame is connected to an adjustment component; a plurality of support plates are connected to the adjustment component, and the adjustment component is used to drive the support plate to move; two support plates are connected to the adjustment component; a round rod is fixedly connected to each support plate and to the two support plates located at the top; a top plate is slidably connected to each round rod, and the top plate on the support plate passes through the support plate, and the top plates on the two top support plates each pass through the topmost support plate; an elastic member I is sleeved on the outside of each round rod, and one end of the elastic member I is fixedly connected to the support plate, and the other end of the elastic member I is fixedly connected to the top plate.

[0006] Further description, the adjustment component includes an electric slide rail I, an electric slider I, a sliding plate, an electric slide rail II and an electric slider II; an electric slide rail I is fixedly connected to the upper part of the support frame; at least two electric sliders I are slidably connected to the electric slide rail I; a sliding plate is fixedly connected to the lower surface of each electric slider I; all sliding plates are slidably connected to the support frame; each sliding plate is fixedly connected to an electric slide rail II; each electric slide rail II is slidably connected to at least three electric sliders II; each electric slider II is fixedly connected to a support plate; each sliding plate is respectively fixedly connected to adjacent support plates.

[0007] Further description, it also includes an electric actuator I, a wedge block, a wedge plate and an elastic member II; an electric actuator I is fixedly connected to the middle of each support plate and the middle of the support plate located above each support plate; a wedge block is fixedly connected to the telescopic part of each electric actuator I; two wedge plates distributed up and down are slidably connected to each support plate; another upward wedge plate is slidably connected to an adjacent support plate located above each support plate, and the wedge plate is fixed in the same direction as the wedge plate located above the support plate; two elastic members II are fixedly connected between each support plate and the corresponding wedge plate; another two elastic members II are fixedly connected between an adjacent support plate located above each support plate and the corresponding wedge plate.

[0008] To further explain, two cover plates are fixedly connected to the middle of each support plate, and another cover plate is fixedly connected to the middle of an adjacent support plate above each support plate, so that the electric actuator I is protected by the cover plates.

[0009] To further illustrate, one end of each support plate away from the sliding plate is cut into a triangular shape; and the upper surface and the lower surface of the end of each support plate away from the sliding plate are cut into an inclined shape.

[0010] To further explain, an inclined surface is cut on one end of each support plate away from the corresponding electric slider II, and the inclined surface cut on the uppermost support plate faces downward.

[0011] Further description, it also includes a separation system; each sliding plate is connected to a separation system; the separation system includes a drive assembly, a push plate, an electronic scale, a baffle and a motor; each sliding plate is connected to a drive assembly; each drive assembly is connected to at least two push plates; the drive assembly is used to drive the corresponding push plate to move; an electronic scale is installed on each support plate, and another electronic scale is installed on an adjacent support plate above each support plate and a support plate below each support plate; a baffle is rotatably connected to an adjacent support plate above each support plate and a support plate below each support plate, and a motor is fixedly connected to the corresponding support plate; each motor output shaft is fixedly connected to a baffle.

[0012] Further description, a plurality of anti-slip strips are arranged on the lower surface of each baffle.

[0013] Further description, it also includes airbags and joints; an airbag is fixedly connected to the lower surface of a support plate adjacent to each support plate and the upper surface of the support plate below each support plate; each airbag is connected to a joint connected to the outside.

[0014] Further description: the airbag is configured to be elliptical.

[0015] The advantages and positive effects of the present invention are:

[0016] (1) Move the two adjacent pallets to the left and right of the corresponding articles, that is, move each pallet to a gap, and then lift three articles at a time through all the pallets and support plates, and limit them through the top plate to prevent the articles from sliding toward the support frame, and then stack the lifted articles to the designated position again, and chamfer the edges of all pallets and support plates that contact the articles to prevent scratches on the articles;

[0017] (2) When the two pallets provide support for the articles, the supporting force acts on the left and right parts of the articles, so that the middle area of ​​the articles is suspended. At this time, the middle area of ​​the articles will bend downward due to their own gravity, so that the articles form a downward-bending arch shape, and then the downward-bending articles will gradually separate from the two pallets and gradually contact the stacked upward-bending articles, so that the force on the stacked articles is more stable, thereby making the stacking process of the articles more stable;

[0018] (3) The wedge block is moved to squeeze the wedge plate, so that the wedge plate protrudes from the surface of the corresponding support plate, and squeezes the items supported on the support plate, so that the items are recessed, thereby increasing the friction between the support plate and the items, and making the items more stable during the transfer process, and part of the material in the items moves to the middle area of ​​the items, and to the left and right areas of the items, so that the items are more likely to form a downward curved arch, and the margin space in the left and right areas of the items is reduced, so that the left and right parts of the items are more compact, and the stability of the item transfer is further improved;

[0019] (4) By setting up multiple anti-slip strips, the friction between the baffle and the items can be further increased, making the items more stable during movement. The push plate can be used to push the items to move, so that the items are separated from the support, thereby removing unqualified items and then stacking the intact items, thereby avoiding the collapse of the stacked items due to damaged items, thereby improving the safety of the on-site working environment;

[0020] (5) The inflation of the airbag squeezes the items, thereby confining the items between the corresponding pallets and between the corresponding pallets and the support plates, thereby preventing the items from shaking significantly during the transfer process, thereby further improving the stability and safety of the item transfer. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a three-dimensional structural schematic diagram of the hand gripping mechanism of the intelligent manipulator palletizer of the present invention;

[0022] Figure 2 It is a three-dimensional structural diagram of the installation position of the hand gripping mechanism support plate and the support plate of the intelligent manipulator palletizer of the present invention;

[0023] Figure 3 A schematic diagram of the stacking state of items in the hand gripping mechanism of the intelligent manipulator palletizer of the present invention;

[0024] Figure 4 It is a three-dimensional structural schematic diagram of the hand gripping mechanism adjustment assembly of the intelligent manipulator palletizer of the present invention;

[0025] Figure 5 It is a schematic diagram of the three-dimensional structure of the combined round rod, elastic member I, top plate and cover plate of the hand gripping mechanism of the intelligent manipulator palletizer of the present invention;

[0026] Figure 6 It is a schematic diagram of the combined three-dimensional structure of the electric actuator I, the wedge block, the wedge plate and the elastic member II of the hand gripping mechanism of the intelligent manipulator palletizer of the present invention;

[0027] Figure 7 It is a three-dimensional structural schematic diagram of the hand-gripping mechanism separation system of the intelligent manipulator palletizer of the present invention;

[0028] Figure 8 A schematic diagram of the installation position of the hand-gripping mechanism baffle and the motor of the intelligent manipulator palletizer of the present invention;

[0029] Fig. 9 This is a schematic diagram of the installation position of the airbag and joint of the hand gripping mechanism of the intelligent manipulator palletizer of the present invention.

[0030] In the above drawings: 1-support frame, 2-connecting block, 3-object, 31-gap, 201-electric slide rail I, 202-electric slider I, 203-sliding plate, 204-electric slide rail II, 205-electric slider II, 206-support plate, 207-support plate, 208-round rod, 209-elastic part I, 210-top plate, 211-cover plate, 212-electric actuator I, 213-wedge block, 214-wedge plate, 215-elastic part II, 301-electric slide rail III, 302-electric slider III, 303-electric actuator II, 304-push plate, 305-electronic scale, 306-baffle, 3061-anti-slip strip, 307-motor, 401-airbag, 402-connector. DETAILED DESCRIPTION

[0031] Although the present invention may be described with respect to a particular application or industry, those skilled in the art will recognize the broader applicability of the present invention. Those of ordinary skill in the art will recognize that terms such as above, below, upward, downward, etc. are used to describe the drawings and do not represent limitations on the scope of the present invention as defined by the appended claims. Any numerical designations such as first or second are merely exemplary and are not intended to limit the scope of the present invention in any way.

[0032] Embodiment 1:

[0033] An intelligent manipulator palletizer hand gripping mechanism, based on Figure 1-6 As shown, it includes a support frame 1 and a connecting block 2; the upper part of the support frame 1 is provided with a connecting block 2 for connecting with the movable end of the external mechanical arm;

[0034] It also includes an adjustment component, a support plate 206, a support plate 207, a round rod 208, an elastic member I 209 and a top plate 210; an adjustment component is connected to the support frame 1; a plurality of support plates 206 are connected to the adjustment component, and the adjustment component is used to drive the support plates 206 to move; two support plates 207 are connected to the adjustment component; a round rod 208 is fixedly connected to each support plate 207 and the two support plates 206 at the top; a top plate 210 is slidably connected to each round rod 208, and the top plate 210 on the support plate 207 passes through the support plate 207, and the top plates 210 on the two top support plates 206 each pass through the top support plate 206; an elastic member I 209 is sleeved on the outside of each round rod 208, and one end of the elastic member I 209 is fixedly connected to the support plate 207, and the other end of the elastic member I 209 is fixedly connected to the top plate 210.

[0035] The adjustment assembly includes an electric slide rail Ⅰ201, an electric slider Ⅰ202, a sliding plate 203, an electric slide rail Ⅱ204 and an electric slider Ⅱ205; an electric slide rail Ⅰ201 is fixedly connected to the upper part of the support frame 1; two electric sliders Ⅰ202 are slidably connected to the electric slide rail Ⅰ201; a sliding plate 203 is fixedly connected to the lower surface of each electric slider Ⅰ202; all sliding plates 203 are slidably connected to the support frame 1; an electric slide rail Ⅱ204 is fixedly connected to each sliding plate 203; three electric sliders Ⅱ205 are slidably connected to each electric slide rail Ⅱ204; each electric slider Ⅱ205 is fixedly connected to a support plate 206; each sliding plate 203 is respectively fixedly connected to an adjacent support plate 207.

[0036] It also includes an electric actuator I212, a wedge block 213, a wedge plate 214 and an elastic member II215; an electric actuator I212 is fixedly connected to the middle of each support plate 207 and the middle of the support plate 206 located above each support plate 207; a wedge block 213 is fixedly connected to the telescopic part of each electric actuator I212; two wedge plates 214 distributed up and down are slidably connected to each support plate 207; another upward wedge plate 214 is slidably connected to an adjacent support plate 206 located above each support plate 207, and the wedge plate 214 is fixed in the same direction as the wedge plate 214 located above the support plate 207; two elastic members II215 are fixedly connected between each support plate 207 and the corresponding wedge plate 214; another two elastic members II215 are fixedly connected between an adjacent support plate 206 located above each support plate 207 and the corresponding wedge plate 214.

[0037] Two cover plates 211 are fixedly connected to the middle of each support plate 207 , and another cover plate 211 is fixedly connected to the middle of an adjacent support plate 206 above each support plate 207 . The cover plates 211 protect the electric actuator I 212 to prevent the object 3 from squeezing the electric actuator I 212 .

[0038] One end of each support plate 207 away from the sliding plate 203 is cut into a triangular shape for insertion into the stacked objects 3; and the upper and lower surfaces of the end of each support plate 207 away from the sliding plate 203 are cut into an inclined shape to facilitate the detachment of the objects 3.

[0039] An inclined surface is cut on one end of each support plate 206 away from the corresponding electric slider II 205, and the inclined surface cut on the uppermost support plate 206 faces downward to facilitate the detachment of the object 3.

[0040] When stacking items 3: the movable end of the external robot arm is connected to the connecting block 2 in advance, and the outer packaging of the items 3 is packed in a woven bag. When multiple stacked items 3 need to be transferred and re-stacked, after the multiple items 3 are stacked, due to their own gravity and the shape and packaging method of the woven bag, except for the bottom item 3 that does not deform, both ends of all the other items 3 will be bent, such as Figure 3As shown, a gap 31 is formed between each two adjacent items 3, and the existing robot grasping method is to directly insert it into the middle area of ​​the adjacent items 3, so that the items 3 are supported by the robot, and then the items 3 are lifted up and transferred for re-stacking. However, in this method, when the robot is inserted into the middle of the items 3, the robot will have a large friction with the items 3 and generate a thrust on the items 3, which may easily lead to the possibility of secondary collapse of the stacked items 3. In addition, when the existing robot is inserted between the items 3, the claws of the robot are likely to damage the woven bag packaging of the items 3, causing the woven bag of the items 3 to rupture, etc., and in the process of re-stacking, the robot will also have a large friction with the items 3, which may easily lead to Some of the items 3 that have been palletized may collapse, and during the palletizing process, the items 3 may be displaced due to the unstable stacking, which may cause collapse, thereby affecting the palletizing efficiency. To solve the above problems, all the electric sliders II 205 are controlled to start moving along the corresponding electric slide rails II 204. The movement of all the electric sliders II 205 drives each a pallet 206 to move, and the distance between the pallets 206 in the upper and lower directions is adjusted based on the front side of the support frame 1. Then, the two electric sliders I 202 are controlled to move along the electric slide rail I 201. The movement of the two electric sliders I 202 drives each a sliding plate 203 to move, thereby driving all the connected components to move, and then driving all the pallets 206 and all the support plates 207 to move. Then adjust the left-right spacing between the corresponding pallets 206 and the left-right spacing between the two support plates 207, and then control the external robot arm to start driving the support frame 1 to move through the connecting block 2, thereby driving all the connected components to move, and then driving all the pallets 206 and support plates 207 to move, so that each left and right adjacent two pallets 206 are respectively moved to the left and right parts of the corresponding positions of the article 3, that is, each pallet 206 is moved to a gap 31, and then control the two electric sliders I 202 to move toward each other along the electric slide rails I 201 according to the same working principle as above, adjust the left-right spacing between the corresponding pallets 206 and the left-right spacing between the two support plates 207, so that each left and right adjacent two pallets 20 6 respectively hold up one object 3, and two support plates 207 hold up another object 3, and then all the support plates 206 and support plates 207 can hold up three objects 3 at a time and support the objects 3, and when the external mechanical arm continuously drives the support frame 1 to move, the movement of the support frame 1 drives all the connected parts to move, and then drives the support plates 206 and support plates 207 to continue to move, during this process, the support plates 206 and support plates 207 will gradually insert into the object 3 until the entire object 3 is held up, because all the support plates 206 and all the support plates 207 are set to be inclined, and then the object 3 moves along the surface of the corresponding support plates 206 and the corresponding support plates 207 toward the direction of the support frame 1, and squeezes the top plate 210 at the corresponding position,The corresponding elastic member I 209 is compressed, and the corresponding top plate 210 is used to limit the position of the item 3 to prevent the item 3 from sliding toward the support frame 1. The lifted item 3 is then re-stacked to the designated position. After stacking, the top plate 210 is reset by the rebound force generated by the corresponding elastic member I 209, and the edges of all the support plates 206 and all the support plates 207 that contact the item 3 are chamfered to prevent the item 3 from being scratched.

[0041] During the restacking process, all the electric sliders II 205 are controlled to start moving along the corresponding electric slide rails II 204. The movement of all the electric sliders II 205 drives a pallet 206 to move, and the front side of the support frame 1 is used as a reference to adjust the distance between the pallets 206 in the upper and lower directions, and then adjust the distance between the three objects 3. In the following, an object 3 is taken as an example. When two pallets 206 lift an object 3, the supporting force acts on the left and right parts of the object 3 when the two pallets 206 provide support for the object 3, so that the middle area of ​​the object 3 is in a suspended state. At this time, the object 3 is supported by itself. The middle area will bend downward due to the influence of gravity, so that the item 3 forms a downward curved arch shape, and then when the item 3 is restacked, the downward curved item 3 contacts the stacked upward curved item 3, and then the two electric sliders Ⅰ202 are controlled to move oppositely along the electric slide rails Ⅰ201, at this time, the downward curved item 3 will gradually break away from the two supporting plates 206, and make the item 3 gradually contact the stacked upward curved item 3, and then stack the item 3 on top of the already stacked part of the item 3, so that the force on the stacked item 3 is more stable, so that the stacking process of the item 3 is smoother.

[0042] In order to increase the stability of the object 3 during the transfer process and increase the friction between the support plate 206, the support plate 207 and the object 3, the wedge plate 214 on the support plate 207 is taken as an example below, and the corresponding electric actuator I 212 is controlled to start and drive the wedge block 213 to move. The movement of the wedge block 213 causes compression on the wedge plate 214, so that the wedge plate 214 protrudes from the surface of the corresponding support plate 207, and compresses the object 3 supported on the support plate 207, so that the object 3 is concave, thereby increasing the friction between the support plate 207 and the object 3, and making the object 3 more stable during the transfer process, and at the same time, the wedge plate 214 causes compression on the object 3. Part of the material in the item 3 is moved to the middle area of ​​the item 3, and to the left and right areas of the item 3, so that the item 3 is easier to form a downward curved arch, and the margin space in the left and right areas of the item 3 is reduced, so that the left and right parts of the item 3 are more compact, and the stability of the transfer of the item 3 is further improved. Compared with the prior art, by changing the way the manipulator inserts the item 3, the friction between the manipulator and the item 3 and the thrust caused by the manipulator to the item 3 are reduced, thereby reducing the possibility of the stacked items 3 collapsing. In addition, the downward curved arch shape formed by the items 3 makes the items 3 more stable during the stacking process.

[0043] Embodiment 2:

[0044] Based on the first embodiment, Figure 7-9 As shown, it also includes a separation system; each sliding plate 203 is connected to a separation system; the separation system includes a drive assembly, a push plate 304, an electronic scale 305, a baffle 306 and a motor 307; each sliding plate 203 is connected to a drive assembly; each drive assembly is connected to two push plates 304; the drive assembly is used to drive the corresponding push plate 304 to move; each support plate 207 is installed with an electronic scale 305, and a support plate 206 adjacent to each support plate 207 above and a support plate 206 located below each support plate 207 are installed with another electronic scale 305; a support plate 206 adjacent to each support plate 207 above and a support plate 206 located below each support plate 207 are rotatably connected to a baffle 306, and a motor 307 is fixed to the corresponding support plate 206; each motor 307 output shaft is fixed to a baffle 306.

[0045] Each driving component includes an electric slide rail III301, an electric slider III302 and an electric actuator II303; each sliding plate 203 is fixedly connected to two electric slide rails III301; each electric slide rail III301 is slidably connected to an electric slider III302; each electric slider III302 is fixedly connected to an electric actuator II303; each electric actuator II303 output shaft is fixedly connected to a push plate 304.

[0046] A plurality of anti-slip strips 3061 are provided on the lower surface of each baffle 306 to increase the friction between the baffle 306 and the object 3 .

[0047] It also includes an airbag 401 and a joint 402; an airbag 401 is fixedly connected to the lower surface of a support plate 206 adjacent to each support plate 207 and the upper surface of the support plate 206 below each support plate 207; each airbag 401 is fixedly connected and communicated with a joint 402 connected to the outside.

[0048] The airbag 401 is configured to be elliptical in shape and is used to limit the position of the object 3 .

[0049] The elastic member I 209 and the elastic member II 215 are springs; the electric actuator I 212 and the electric actuator II 303 are electric push rods.

[0050] When separating the items 3: Since the items 3 are easily handled improperly during transportation and the outer packaging of the items 3 is not firm during packaging, the items 3 are easily damaged. If the damaged items 3 are not picked out, the stacked items 3 are easily caused to collapse, which seriously threatens the personal safety of the on-site workers. When the pallet 206 and the support plate 207 hold up the items 3, all the electric sliders II 205 are controlled to start moving along the corresponding electric slide rails II 204. The movement of all the electric sliders II 205 drives each pallet 206 to move, thereby adjusting the distance between the pallets 206 in the upper and lower directions, and then adjusting the three items. 3, so that the three objects 3 do not touch each other, and then the corresponding motor 307 is controlled to start, and the output shaft of the motor 307 rotates to drive the baffle 306 to rotate, and then the baffle 306 rotates to block the front side of the object 3 to prevent the object 3 from slipping off the corresponding support plate 206 and the corresponding support plate 207. At this time, all the top plates 210 still limit the object 3, so that the baffle 306 and the top plate 210 cooperate to limit the object 3, and through the provision of multiple anti-slip strips 3061, the friction between the baffle 306 and the object 3 can be further increased, so that the object 3 is more stable during the movement, and at the same time all the electronic scales 305 automatically start to weigh the object 3 The robot arm is controlled to start and drive all connected parts to move, thereby driving the object 3 to move to the designated area, where a collection box is provided for collecting the leaked materials in the object 3, and then the robot arm is controlled to make the object 3 tilt on the corresponding support plate 206 and the support plate 207. At this time, all the top plates 210 and all the baffles 306 are used to block the object 3 to prevent the object 3 from sliding down when tilting. If the material in the object 3 leaks during the gradual tilting process, it means that the woven bag of the object 3 is damaged, and the leaked materials in the object 3 will flow downward into the collection box of the peripheral device to avoid the waste of materials. When the electronic scale 305 is used to obtain the weight of the object 3, the object 3 is weighed. When it is known that the weight of item 3 is lower than the standard value, that is, the weight of item 3 is outside the tolerance range of the standard weight, the corresponding electric slider III 302 is controlled to move along an electric slide rail III 301, thereby driving all connected components to move, so that the push plate 304 moves close to the leaking item 3, and then the corresponding electric actuator II 303 is controlled to start and drive the push plate 304 to move forward, and then the push plate 304 moves the item 3 to move, so that the item 3 is separated from the support, thereby removing the unqualified item 3, and then stacking the intact items 3, thereby avoiding the collapse of the stacked items 3 due to damage of the items 3, thereby improving the safety of the on-site working environment.

[0051] When protecting the item 3: pre-connect the external pump to all the joints 402, to further improve the stability and safety of the transfer of the item 3, when the pallet 206 and the support plate 207 lift the item 3, control the external pump to start inflating the corresponding airbag 401 through the joint 402, so that the airbag 401 expands, and the expanded airbag 401 squeezes the item 3, so that the item 3 can be confined between the corresponding pallets 206 and between the corresponding pallet 206 and the support plate 207, thereby avoiding a large shaking of the item 3 during the transfer process, thereby further improving the stability and safety of the transfer of the item 3.

[0052] Furthermore, when the external mechanical arm fails and the object 3 is stuck, in order to prevent the object 3 from being parked on the support plate 206 and the support plate 207 for a long time, thereby causing a safety hazard, the external pump is controlled to operate to evacuate the airbag 401 through the joint 402, thereby flattening the airbag 401, thereby increasing the activity space of the object 3, and controlling the corresponding motor 307 to start, so that the output shaft of the motor 307 rotates to drive the baffle 306 to rotate, so that the baffle 306 is retracted, and then the electric slider III 302 is controlled to move along the electric slide rail III 301, thereby driving the connected All the connected parts move, so that the push plate 304 moves close to the bottom object 3, and then the corresponding electric actuator II 303 is controlled to start and drive the push plate 304 to move forward, and then the push plate 304 moves the bottom object 3 to move, so that the bottom object 3 is separated from the pallet 206 and the support plate 207, and then the remaining objects 3 are taken out from bottom to top in turn according to the above working principle, so as to avoid the problem of object 3 being parked on the pallet 206 and the support plate 207 for a long time due to a malfunction of the robot arm, which causes a safety hazard.

[0053] It should be noted that when the airbag 401 expands and squeezes the article 3, so that the article 3 is confined between the corresponding support plates 206 and between the corresponding support plates 206 and the support plates 207, taking the wedge plate 214 on a support plate 207 as an example, the electric actuator I 212 is started to drive the wedge block 213 to move, and the movement of the wedge block 213 squeezes the wedge plate 214, thereby making the wedge plate 214 protrude from the surface of the corresponding support plate 207 and squeeze the article 3 supported on the support plate 207, thereby reducing the remaining space in the article 3, thereby facilitating the detection of whether the article 3 is leaking.

[0054] While the present invention has been described with reference to exemplary embodiments, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.The scope of the following claims is to be accorded the broadest interpretation so as to encompass all such modifications and equivalent structures and functions.

Claims

1. A hand gripping mechanism of an intelligent manipulator palletizer, comprising a support frame (1) and a connecting block (2); the upper part of the support frame (1) is provided with a connecting block (2) for connecting to a movable end of an external manipulator arm; the characteristics are: The invention also comprises an adjustment component, a support plate (206), a support plate (207), a round rod (208), an elastic member I (209) and a top plate (210); the support frame (1) is connected with an adjustment component; a plurality of support plates (206) are connected with the adjustment component, and the adjustment component is used to drive the support plates (206) to move; two support plates (207) are connected with the adjustment component; a round rod (208) is fixedly connected to each support plate (207) and the two support plates (206) located at the top; a top plate (210) is slidably connected to each round rod (208), and the top plate (210) on the support plate (207) passes through the support plate (207), and the top plates (210) on the two support plates (206) at the top respectively pass through the top support plate (206); an elastic member I is sleeved on the outside of each round rod (208); (209), and one end of the elastic member I (209) is fixedly connected to the support plate (207), and the elastic member I The other end of (209) is fixedly connected to the top plate (210); The adjustment component comprises an electric slide rail I (201), an electric slider I (202), a sliding plate (203), an electric slide rail II (204) and an electric slider II (205); the upper part of the support frame (1) is fixedly connected with the electric slide rail I (201); at least two electric sliders I (202) are slidably connected to the electric slide rail I (201); a sliding plate (203) is fixedly connected to the lower surface of each electric slider I (202); all sliding plates (203) are slidably connected to the support frame (1); each sliding plate (203) is fixedly connected with an electric slide rail II (204); each electric slide rail II (204) is slidably connected with at least three electric sliders II (205); each electric slider II (205) is fixedly connected to a support plate (206); each sliding plate (203) is fixedly connected to an adjacent support plate (207); The invention also includes a separation system; each sliding plate (203) is connected to a separation system; the separation system includes a drive assembly, a push plate (304), an electronic scale (305), a baffle (306) and a motor (307); each sliding plate (203) is connected to a drive assembly; each drive assembly is connected to at least two push plates (304); the drive assembly is used to drive the corresponding push plate (304) to move; each support plate (207) is equipped with an electronic scale (305), and each support plate (207) is provided with a plurality of electronic scales (305). Another electronic scale (305) is installed on a support plate (206) adjacent to the support plate (207) above the support plate (207) and a support plate (206) located below each support plate (207); a baffle (306) is rotatably connected to a support plate (206) adjacent to the support plate (207) above each support plate (207) and a support plate (206) located below each support plate (207), and a motor (307) is fixedly connected to the corresponding support plate (206); the output shaft of each motor (307) is fixedly connected to a baffle (306); A plurality of anti-slip strips (3061) are provided on the lower surface of each baffle (306); It also includes an airbag (401) and a joint (402); an airbag (401) is fixedly connected to the lower surface of a support plate (206) adjacent to each support plate (207) and the upper surface of the support plate (206) below each support plate (207); and each airbag (401) is connected to a joint (402) that communicates with the outside.

2. According to the hand gripping mechanism of the intelligent manipulator palletizer according to claim 1, it is characterized by: The invention also comprises an electric actuator I (212), a wedge block (213), a wedge plate (214) and an elastic member II (215); an electric actuator I is fixedly connected to the middle of each support plate (207) and the middle of a support plate (206) located above each support plate (207). (212); each electric actuator I (212) telescopic part is fixedly connected to a wedge block (213); each support plate (207) is slidably connected to two wedge plates (214) distributed up and down; an adjacent support plate (206) located above each support plate (207) is slidably connected to another upward wedge plate (214), and the wedge plate (214) and the wedge plate (214) located above the support plate (207) are fixed in the same direction; two elastic members II (215) are fixedly connected between each support plate (207) and the corresponding wedge plate (214); another two elastic members II (215) are fixedly connected between an adjacent support plate (206) located above each support plate (207) and the corresponding wedge plate (214).

3. According to the hand gripping mechanism of the intelligent manipulator palletizer according to claim 2, it is characterized by: Two cover plates (211) are fixedly connected to the middle of each support plate (207), and another cover plate (211) is fixedly connected to the middle of an adjacent support plate (206) located above each support plate (207).

4. The hand gripping mechanism of the intelligent manipulator palletizer according to claim 3 is characterized by: One end of each support plate (207) away from the sliding plate (203) is cut into a triangular shape; and the upper surface and the lower surface of the end of each support plate (207) away from the sliding plate (203) are cut into an inclined shape.

5. According to the hand gripping mechanism of the intelligent manipulator palletizer according to claim 4, it is characterized in that: An end of each support plate (206) away from the corresponding electric slider II (205) is cut with an inclined surface, and the inclined surface of the support plate (206) located at the top faces downward.

6. The hand gripping mechanism of the intelligent manipulator palletizer according to claim 1 is characterized in that: The airbag (401) is configured to be elliptical.

Images