Clamp for loading and unloading robot and loading and unloading robot

Abstract

The invention provides a clamp for a loading and unloading robot and the loading and unloading robot. The clamp comprises a clamp body, and a first guide rail and a second guide rail which extend in the length direction are arranged on the clamp body; the suction cup support is provided with a suction cup array, the suction cup array is used for sucking a target object, and the suction cup support is connected with the first guide rail and the second guide rail through a first sliding block and can slide along the first guide rail and the second guide rail; the driving motor is connected with the suction cup support through a driving transmission mechanism and drives the suction cup support to slide along the first guide rail and the second guide rail. When the suction cup array arranged on the suction cup support sucks a target object, the drive motor drives the suction cup support to move towards the rear end of the clamp body so as to grab the target box body, and then the drive motor drives the suction cup support to move towards the front end of the clamp body so as to push the target object to a target position. Therefore, the box stack can be disassembled in the space-limited environment such as a container.

Description

Technical Field

[0001] The present invention relates to an industrial robot, and in particular to a clamp for loading and unloading a robot and the loading and unloading robot. Background Art

[0002] An industrial robot is an intelligent device equipped with sensors, objective lenses and electronic optical systems that can quickly sort and move goods.

[0003] More and more visual sensors and force sensors will be used in industrial robots, and industrial robots will become more and more intelligent. With the advancement of sensing and recognition systems, artificial intelligence and other technologies, robots are moving from being controlled in one direction to storing and applying data by themselves, and are gradually becoming information-based.

[0004] When an industrial robot is used to sort and carry goods, it is necessary to collect images of the goods through visual sensors, identify the images of the goods to determine their posture, and then the industrial robot picks or carries the goods through the loaded clamps or suction cups. When an industrial robot is used to disassemble goods in a cargo box, due to the limitation of the grabbing direction of the goods, the clamps used in picking scenarios such as palletizing and depalletizing are not only limited in their grabbing range when applied to this scenario, but are also prone to wear and damage. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a clamp for a loading and unloading robot and a loading and unloading robot.

[0006] A fixture for loading and unloading a robot provided by the present invention comprises:

[0007] A clamp body, wherein the clamp body is provided with a first guide rail and a second guide rail extending in a length direction;

[0008] A suction cup bracket, wherein a suction cup array is provided on the suction cup bracket, wherein the suction cup array is used to suck the target object, and wherein the suction cup bracket is connected to the first guide rail and the second guide rail via a first slider, and can slide along the first guide rail and the second guide rail;

[0009] A driving motor is connected to the suction cup bracket via a driving transmission mechanism, and drives the suction cup bracket to slide along the first guide rail and the second guide rail.

[0010] Preferably, after the suction cup bracket absorbs the target object, the driving motor drives the suction cup bracket to move from the front end of the clamp body to the rear end of the clamp body;

[0011] When releasing the target object, the driving motor drives the suction cup bracket to move from the rear end of the clamp body to the front end of the clamp body to push the target object out.

[0012] Preferably, the fixture body comprises a supporting base plate and a mounting riser;

[0013] The mounting vertical plate is connected to the rear end of the supporting bottom plate; the driving motor is arranged on the mounting vertical plate;

[0014] The first guide rail and the second guide rail are respectively arranged at both side ends of the supporting bottom plate;

[0015] A box supporting mechanism is arranged between the first guide rail and the second guide rail.

[0016] Preferably, the drive transmission mechanism comprises: a driving wheel, a driving rod, a first driven wheel, a second driven wheel, a third driven wheel, a fourth driven wheel, a fifth driven wheel, a first transmission belt, a second transmission belt and a third transmission belt;

[0017] The driving wheel is arranged on the output shaft of the driving motor; the driving rod is connected to the supporting base plate through a bearing; the driving rod is provided with a first driven wheel, a second driven wheel and a third driven wheel, and the driving wheel is connected to the first driven wheel through the first transmission belt;

[0018] The fourth driven wheel and the fifth driven wheel are arranged at the front end of the supporting base plate; the second driven wheel is connected to the fourth driven wheel through the second transmission belt, and the third driven wheel is connected to the fifth driven wheel through the third transmission belt; the second transmission belt is connected to the suction cup bracket through the first fixed block, and the third transmission belt is connected to the suction cup bracket through the second fixed block.

[0019] Preferably, the suction cup bracket comprises: a base and a sliding frame;

[0020] The base is connected to the first guide rail and the second guide rail through the first slider, connected to the second transmission belt through the first fixing block, and connected to the third transmission belt through the second fixing block;

[0021] The base is provided with a third guide rail and a fourth guide rail;

[0022] The sliding frame is connected to the third guide rail and the fourth guide rail through a second sliding block and can slide along the third guide rail and the fourth guide rail.

[0023] Preferably, the suction cup array is arranged on the front side of the sliding frame, and the driving cylinder is arranged on the rear side;

[0024] The driving rod of the driving cylinder is connected to the base;

[0025] The driving cylinder is used to drive the sliding frame to slide along the third guide rail and the fourth guide rail.

[0026] Preferably, the suction cup array includes a first suction cup array and a second suction cup array;

[0027] The first suction cup array is located at the top end of the sliding frame, and the second suction cup array is located at the bottom end of the sliding frame.

[0028] Preferably, the box support mechanism comprises a plurality of support rods;

[0029] A plurality of support rods are sequentially arranged between the first guide rail and the second guide rail;

[0030] The upper side surfaces of the plurality of support rods form a support surface; and the front end of the support rod is provided with a chamfer.

[0031] Preferably, the supporting bottom plate comprises a first supporting frame, a second supporting frame and a connecting crossbar; the rear ends of the first supporting frame and the second supporting frame are connected to the mounting vertical plate;

[0032] The first support frame and the second support frame are connected by a plurality of connecting cross bars and connecting cross plates;

[0033] The first support frame is provided with a first guide rail; the second support frame is provided with a second guide rail; the fourth driven wheel and the fifth driven wheel are provided on the connecting transverse plate.

[0034] A plurality of support rods are arranged on the connecting cross rod.

[0035] The loading and unloading robot provided by the present invention comprises the clamp for loading and unloading the robot, and also comprises a mechanical arm and a mobile base;

[0036] The fixture for loading and unloading the robot is arranged at the end of the robot arm;

[0037] The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] In the present invention, the clamp body is provided with a first guide rail and a second guide rail extending in the length direction, and the suction cup bracket is connected to the first guide rail and the second guide rail through a first slider, and can slide along the first guide rail and the second guide rail. When the suction cup array is provided on the suction cup bracket to absorb the target object, the suction cup bracket is driven by a driving motor to move toward the rear end of the clamp body to achieve the grabbing of the target box, and then the suction cup bracket is driven by a driving motor to move toward the front end of the clamp body to push the target object to a target position, so that the box stack can be disassembled in a limited space environment such as a container;

[0040] The suction cup bracket in the present invention includes a base and a sliding frame; a third guide rail and a fourth guide rail are arranged on the base; the sliding frame is connected to the third guide rail and the fourth guide rail through a second slider, and can slide along the third guide rail and the fourth guide rail, so that when sucking a low-position target object, after the suction cup array on the sliding frame sucks the target object, the driving cylinder drives the sliding frame to move upward, so that the target object sucked by the suction cup array moves upward, thereby facilitating the movement of the target object to the fixture body, thereby realizing the suction of the low-position target object. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings in the following descriptions are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without creative work. By reading the detailed description of the non-limiting embodiments with reference to the following drawings, other features, purposes and advantages of the present invention will become more obvious:

[0042] Figure 1 A schematic diagram of a state of a clamp used for loading and unloading a robot in an embodiment of the present invention;

[0043] Figure 2 Schematic diagram of another state of a clamp for loading and unloading a robot in an embodiment of the present invention;

[0044] Figure 3 This is a schematic structural diagram of a suction cup bracket in one direction according to an embodiment of the present invention;

[0045] Figure 4 It is a schematic structural diagram of the suction cup bracket in another direction according to an embodiment of the present invention;

[0046] Figure 5 It is a structural schematic diagram of the clamp body in an embodiment of the present invention;

[0047] Figure 6 Schematic diagram of the driving relationship of the driving motor in an embodiment of the present invention;

[0048] Figure 7 Schematic diagram of the working state of the clamp used for loading and unloading the robot in an embodiment of the present invention;

[0049] Figure 8 Schematic diagram of the structure of the loading and unloading robot in an embodiment of the present invention.

[0050] In the figure:

[0051] 1 is the fixture body; 101 is the mounting vertical plate; 102 is the supporting bottom plate; 1021 is the first side frame; 1022 is the cross bar; 1023 is the connecting cross plate; 1024 is the first triangular connecting member; 1025 is the first supporting plate; 103 is the first guide rail; 104 is the second guide rail; 105 is the box support mechanism; 2 is the suction cup bracket; 201 is the base; 202 is the sliding frame; 203 is the first suction cup array; 204 is the second suction cup array; 205 is the driving Cylinder; 206 is the third guide rail; 207 is the second slider; 3 is the driving motor; 401 is the first transmission belt; 402 is the driving wheel; 403 is the driving rod; 404 is the first driven wheel; 405 is the second driven wheel; 406 is the third driven wheel; 407 is the fifth driven wheel; 408 is the fourth driven wheel; 409 is the second transmission belt; 410 is the third transmission belt; 100 is a fixture for loading and unloading robots; 200 is a robotic arm; 300 is a mobile base. DETAILED DESCRIPTION

[0052] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several variations and improvements may be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0053] The terms "first", "second", "third", "fourth", etc. (if any) in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein, for example, can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0054] The technical solution of the present invention is described in detail with specific embodiments below. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0055] The following specific embodiments are used to describe in detail the technical solutions of the present invention and how the technical solutions of the present application solve the above-mentioned technical problems. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments. The embodiments of the present invention will be described below in conjunction with the accompanying drawings.

[0056] Figure 1 FIG. 1 is a schematic diagram of a state of a clamp for a loading and unloading robot in an embodiment of the present invention, such as Figure 1 As shown, the clamp for loading and unloading a robot provided by the present invention comprises:

[0057] A clamp body 1, wherein the clamp body 1 is provided with a first guide rail 103 and a second guide rail 104 extending in a length direction;

[0058] A suction cup bracket 2, on which a suction cup array is provided, the suction cup array is used to suck the target object, and the suction cup bracket 2 is connected to the first guide rail 103 and the second guide rail 104 through a first slider, and can slide along the first guide rail 103 and the second guide rail 104;

[0059] The driving motor 3 is connected to the suction cup bracket 2 via a driving transmission mechanism, and drives the suction cup bracket 2 to slide along the first guide rail 103 and the second guide rail 104 .

[0060] Figure 2 FIG. 1 is another schematic diagram of a clamp for loading and unloading a robot in an embodiment of the present invention. Figure 1 As shown, in the initial state, the suction cup bracket 2 is located at the front end of the clamp body 1. At this time, the suction cup array on the suction cup bracket 2 can absorb the target object, and then the suction cup bracket 2 slides along the first guide rail 103 and the second guide rail 104 to move the target object to the clamp body 1. Figure 2 shown.

[0061] Figure 3 FIG. 1 is a schematic diagram of the structure of the suction cup bracket in one direction according to an embodiment of the present invention. Figure 3 As shown, the suction cup bracket 2 includes: a base 201 and a sliding frame 202;

[0062] The base 201 is connected to the first guide rail 103 and the second guide rail 104 through the first slider, connected to the second transmission belt 409 through the first fixing block, and connected to the third transmission belt 410 through the second fixing block;

[0063] The base 201 is provided with a third guide rail 206 and a fourth guide rail;

[0064] The sliding frame 202 is connected to the third guide rail 206 and the fourth guide rail via the second sliding block 207 and can slide along the third guide rail 206 and the fourth guide rail.

[0065] In the embodiment of the present invention, the first slider may be a whole slider connected to the first guide rail 103 and the second guide rail 104 at the same time, or may be configured as two sub-sliders respectively matched with the first guide rail 103 and the second guide rail 104 .

[0066] The second slider 207 may be a whole slider connected to the third guide rail 206 and the fourth guide rail at the same time, or may be configured as two sub-sliders respectively matched with the third guide rail 206 and the fourth guide rail.

[0067] The third guide rail 206 and the fourth guide rail are vertically arranged on the base 201 , and the third guide rail 206 and the fourth guide rail are parallel to each other.

[0068] Figure 4 FIG. 2 is a schematic diagram of the structure of the suction cup bracket in another direction according to an embodiment of the present invention. Figure 4 As shown, the front side of the sliding frame 202 is provided with the suction cup array, and the rear side is provided with a driving cylinder 205;

[0069] The driving rod 403 of the driving cylinder 205 is connected to the base 201;

[0070] The driving cylinder 205 is used to drive the sliding frame 202 to slide along the third guide rail 206 and the fourth guide rail.

[0071] The suction cup array includes a first suction cup array 203 and a second suction cup array 204;

[0072] The first suction cup array 203 is located at the top end of the sliding frame 202 , and the second suction cup array 204 is located at the bottom end of the sliding frame 202 .

[0073] In the embodiment of the present invention, the first suction cup array 203 and the second suction cup array 204 each include two columns of a plurality of suction cups arranged in sequence, each column of a plurality of suction cups arranged in sequence are arranged alternately, and the number of suction cups in each column is six;

[0074] When the clamp for a loading and unloading robot provided by the present invention sucks a low target object, after the suction cup array sucks the target object, the driving cylinder 205 drives the sliding frame 202 to move upward, so that the target object sucked by the suction cup array moves upward, thereby facilitating the movement of the target object onto the clamp body 1.

[0075] Figure 5 FIG. 1 is a schematic diagram of the structure of the clamp body in an embodiment of the present invention. Figure 5 As shown, the fixture body 1 includes a supporting base plate 102 and a mounting vertical plate 101;

[0076] The mounting vertical plate 101 is connected to the rear end of the supporting bottom plate 102; the driving motor 3 is arranged on the mounting vertical plate 101;

[0077] The first guide rail 103 and the second guide rail 104 are respectively disposed at both side ends of the support bottom plate 102;

[0078] A box supporting mechanism 105 is disposed between the first guide rail 103 and the second guide rail 104 .

[0079] In the embodiment of the present invention, Figure 5 As shown, the drive transmission mechanism includes: a driving wheel 402, a driving rod 403, a first driven wheel 404, a second driven wheel 405, a third driven wheel 406, a fourth driven wheel 408, a fifth driven wheel 407, a first transmission belt 401, a second transmission belt 409 and a third transmission belt 410;

[0080] The driving wheel 402 is arranged on the output shaft of the driving motor 3; the driving rod 403 is connected to the supporting base plate 102 through a bearing; the driving rod 403 is provided with a first driven wheel 404, a second driven wheel 405 and a third driven wheel 406, and the driving wheel 402 is connected to the first driven wheel 404 through the first transmission belt 401;

[0081] The fourth driven wheel 408 and the fifth driven wheel 407 are arranged at the front end of the supporting base plate 102; the second driven wheel 405 is connected to the fourth driven wheel 408 through the second transmission belt 409, and the third driven wheel 406 is connected to the fifth driven wheel 407 through the third transmission belt 410; the second transmission belt 409 is connected to the suction cup bracket 2 through the first fixed block, and the third transmission belt 410 is connected to the suction cup bracket 2 through the second fixed block.

[0082] In the embodiment of the present invention, the mounting vertical plate 101 is provided with a first bearing, and the two side ends of the supporting bottom plate 102 are respectively provided with a second bearing and a third bearing, and the driving rod 403 is fixed in the inner rings of the first bearing, the second bearing and the third bearing;

[0083] Figure 6 FIG. 1 is a schematic diagram of the driving relationship of the driving motor in an embodiment of the present invention. Figure 5 , Figure 6 As shown, the fixture body 1 includes a supporting base plate 102 and a mounting vertical plate 101;

[0084] The mounting vertical plate 101 is connected to the rear end of the supporting bottom plate 102; the driving motor 3 is arranged on the mounting vertical plate 101;

[0085] The first guide rail 103 and the second guide rail 104 are respectively disposed at both side ends of the support bottom plate 102;

[0086] A box supporting mechanism 105 is disposed between the first guide rail 103 and the second guide rail 104 .

[0087] In the embodiment of the present invention, a fixed end cover is provided at the front end of the driving motor 3, and the fixed end cover is L-shaped. One side of the fixed end cover is connected to the driving motor 3, and the other side is connected to the mounting vertical plate 101, so as to fix the driving motor 3 on the mounting vertical plate 101.

[0088] The supporting base plate 102 and the suction cup bracket 2 are both vertically connected to the mounting vertical plate 101 .

[0089] Figure 7 FIG. 1 is a schematic diagram of the working state of the clamp used for loading and unloading the robot in an embodiment of the present invention. Figure 7 As shown, the box support mechanism 105 includes a plurality of support rods;

[0090] A plurality of support rods are sequentially arranged between the first guide rail 103 and the second guide rail 104;

[0091] The upper side surfaces of the plurality of support rods form a support surface; and the front end of the support rod is provided with a chamfer.

[0092] In the embodiment of the present invention, the number of the support rods is three, and the support surfaces of the three support rods form support for the target box.

[0093] The support rod is made of plastic material to increase the friction between the support surface and the target box;

[0094] The support rod, the first guide rail 103, the second guide rail 104, the second conveyor belt 409 and the third conveyor belt 410 are arranged in parallel;

[0095] The multiple support rods are specifically a first support rod, a second support rod and a third support rod; therefore, the arrangement order is the first guide rail 103, the first support rod, the second conveyor belt 409, the second support rod, the third conveyor belt 410, the third support rod and the second guide rail 104.

[0096] The support base plate 102 includes a first support frame, a second support frame and a connecting crossbar 1022; the rear ends of the first support frame and the second support frame are connected to the mounting vertical plate 101;

[0097] The first support frame and the second support frame are connected via a plurality of connecting cross bars 1022 and connecting cross plates 1023;

[0098] The first support frame is provided with a first guide rail 103 ; the second support frame is provided with a second guide rail 104 ; the fourth driven wheel 408 and the fifth driven wheel 407 are provided on the connecting transverse plate 1022 .

[0099] A plurality of the support rods are arranged on the connecting cross bar 1022;

[0100] The first support frame includes a first side frame 1021, a first triangular connector 1024, and a first support plate 1025. The inner side surface of the first side frame 1021 is provided with a plurality of first triangular connectors 1024 arranged in sequence. The first support plate 1025 is provided on the first triangular connector 1024 and is connected to the first side frame 1021. The inner end of the first side frame 1021 is in a triangular structure, connected to the inner side surface of the mounting vertical plate 101, and the height of the first side frame 1021 is the same as the height of the mounting vertical plate 101.

[0101] The second support frame includes a second side frame, a second triangular connector and a second support plate. The inner side surface of the second side frame is provided with a plurality of second triangular connectors arranged in sequence. The second support plate is provided on the second triangular connector and connected to the second side frame at the same time. The inner end of the second side frame is in a triangular structure and connected to the inner side surface of the mounting vertical plate 101. The height of the second side frame is the same as that of the mounting vertical plate 101.

[0102] The first side frame 1021 and the second side frame are parallel to each other and vertically connected to the mounting vertical plate 101 .

[0103] Figure 8 FIG. 1 is a schematic diagram of the structure of a loading and unloading robot in an embodiment of the present invention. Figure 8 As shown, the loading and unloading robot provided by the present invention includes the fixture 100 for loading and unloading the robot, and also includes a mechanical arm 200 and a mobile base 300;

[0104] The fixture 100 for loading and unloading the robot is arranged at the end of the robot arm 200;

[0105] The mechanical arm 200 is disposed on the mobile base 300 , and the mobile base 300 is used to drive the mechanical arm to move.

[0106] When the loading and unloading robot provided by the present invention is used to unload the target box, the following steps are included:

[0107] Step S1: Control the suction cup bracket 2 to move to the front end of the clamp body 1 to suck a side surface of the target box;

[0108] Step S2: controlling the suction cup bracket 2 to move toward the rear end of the clamp body 1 to pull the target box onto the clamp body 1;

[0109] Step S3: Control the suction cup bracket 2 to move toward the front end of the clamp body 1 to push the target box to slide along the clamp body 1, so as to push the target box to a target position.

[0110] In an embodiment of the present invention, a first guide rail and a second guide rail extending in a length direction are provided on the fixture body in the present invention, and a suction cup bracket is connected to the first guide rail and the second guide rail through a first slider, and can slide along the first guide rail and the second guide rail. When a suction cup array is provided on the suction cup bracket to absorb a target object, the suction cup bracket is driven by a driving motor to move toward the rear end of the fixture body to achieve the grabbing of the target box, and then the suction cup bracket is driven by a driving motor to move toward the front end of the fixture body to push the target object to a target position, so that the box stack can be disassembled in a limited space environment such as a container; the suction cup bracket includes a base and a sliding frame; a third guide rail and a fourth guide rail are provided on the base; the sliding frame is connected to the third guide rail and the fourth guide rail through a second slider, and can slide along the third guide rail and the fourth guide rail, so that when a low-position target object is absorbed, when the suction cup array on the sliding frame absorbs the target object, the driving cylinder drives the sliding frame to move upward, so that the target object absorbed by the suction cup array moves upward, so that the target object is moved to the fixture body, so as to achieve the absorption of the low-position target object.

[0111] In this specification, each embodiment is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same and similar parts between the embodiments can be referred to each other. The above description of the disclosed embodiments enables professionals and technicians in this field to implement or use the present invention. Various modifications to these embodiments will be obvious to professionals and technicians in this field, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to these embodiments shown in this article, but will comply with the widest range consistent with the principles and novel features disclosed herein.

[0112] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art may make various modifications or variations within the scope of the claims, which do not affect the essence of the present invention.

Claims

1. A fixture for loading and unloading robots, It is characterized in that include: A clamp body, wherein the clamp body is provided with a first guide rail and a second guide rail extending in a length direction; A suction cup bracket, wherein a suction cup array is provided on the suction cup bracket, wherein the suction cup array is used to suck the target object, and wherein the suction cup bracket is connected to the first guide rail and the second guide rail via a first slider, and can slide along the first guide rail and the second guide rail; A driving motor is connected to the suction cup bracket via a driving transmission mechanism, and drives the suction cup bracket to slide along the first guide rail and the second guide rail.

2. The clamp for loading and unloading a robot according to claim 1, It is characterized in that After the suction cup bracket absorbs the target object, the driving motor drives the suction cup bracket to move from the front end of the clamp body to the rear end of the clamp body; When releasing the target object, the driving motor drives the suction cup bracket to move from the rear end of the clamp body to the front end of the clamp body to push the target object out.

3. The clamp for loading and unloading a robot according to claim 1, It is characterized in that The fixture body includes a supporting base plate and a mounting vertical plate; The mounting vertical plate is connected to the rear end of the supporting bottom plate; the driving motor is arranged on the mounting vertical plate; The first guide rail and the second guide rail are respectively arranged at both side ends of the supporting bottom plate; A box supporting mechanism is arranged between the first guide rail and the second guide rail.

4. The clamp for loading and unloading a robot according to claim 3, It is characterized in that The drive transmission mechanism comprises: a driving wheel, a driving rod, a first driven wheel, a second driven wheel, a third driven wheel, a fourth driven wheel, a fifth driven wheel, a first transmission belt, a second transmission belt and a third transmission belt; The driving wheel is arranged on the output shaft of the driving motor; the driving rod is connected to the supporting base plate through a bearing; the driving rod is provided with a first driven wheel, a second driven wheel and a third driven wheel, and the driving wheel is connected to the first driven wheel through the first transmission belt; The fourth driven wheel and the fifth driven wheel are arranged at the front end of the supporting base plate; the second driven wheel is connected to the fourth driven wheel through the second transmission belt, and the third driven wheel is connected to the fifth driven wheel through the third transmission belt; the second transmission belt is connected to the suction cup bracket through the first fixed block, and the third transmission belt is connected to the suction cup bracket through the second fixed block.

5. The clamp for loading and unloading a robot according to claim 4, It is characterized in that The suction cup bracket comprises: a base and a sliding frame; The base is connected to the first guide rail and the second guide rail through the first slider, connected to the second transmission belt through the first fixing block, and connected to the third transmission belt through the second fixing block; The base is provided with a third guide rail and a fourth guide rail; The sliding frame is connected to the third guide rail and the fourth guide rail through a second sliding block and can slide along the third guide rail and the fourth guide rail.

6. The clamp for loading and unloading a robot according to claim 5, It is characterized in that The front side of the sliding frame is provided with the suction cup array, and the rear side is provided with a driving cylinder; The driving rod of the driving cylinder is connected to the base; The driving cylinder is used to drive the sliding frame to slide along the third guide rail and the fourth guide rail.

7. The clamp for loading and unloading a robot according to claim 6, It is characterized in that The suction cup array includes a first suction cup array and a second suction cup array; The first suction cup array is located at the top end of the sliding frame, and the second suction cup array is located at the bottom end of the sliding frame.

8. The clamp for loading and unloading a robot according to claim 4, It is characterized in that The box support mechanism includes a plurality of support rods; A plurality of support rods are sequentially arranged between the first guide rail and the second guide rail; The upper side surfaces of the plurality of support rods form a support surface; and the front end of the support rod is provided with a chamfer.

9. The clamp for loading and unloading a robot according to claim 8, It is characterized in that The supporting bottom plate includes a first supporting frame, a second supporting frame and a connecting crossbar; the rear ends of the first supporting frame and the second supporting frame are connected to the mounting vertical plate; The first support frame and the second support frame are connected by a plurality of connecting cross bars and connecting cross plates; The first support frame is provided with a first guide rail; the second support frame is provided with a second guide rail; the fourth driven wheel and the fifth driven wheel are provided on the connecting transverse plate; A plurality of support rods are arranged on the connecting cross rod.

10. A loading and unloading robot, It is characterized in that A fixture for loading and unloading a robot according to any one of claims 1 to 9, further comprising a mechanical arm and a mobile base; The fixture for loading and unloading the robot is arranged at the end of the robot arm; The mechanical arm is arranged on the mobile base, and the mobile base is used for driving the mechanical arm to move.

Images