A pneumatic adjustable splint-type manipulator gripper for palletizing robots

Abstract

The present invention belongs to the technical field of palletizing robots, and discloses a pneumatic adjustable clamping plate type mechanical gripper for a palletizing robot, including an adjusting rail, fixed ear plates are fixedly installed at both ends of the adjusting rail, a main power component is fixedly installed in the middle of the top of the adjusting rail, an adjusting component is fixedly installed at the top of the main power component, and slots are provided on both sides of the adjusting rail. The present invention utilizes compressed air, inputs compressed air, and cooperates with the main power component and the adjusting component to quickly realize the rapid clamping process of goods, and can also utilize the rapid release of compressed gas to realize the rapid release of the clamping state, and can also realize the buffering operation during the release through the action of the adjusting component, thereby avoiding the problem of the long time of the entire clamping limit process and the limit release process of the traditional device, and quickly realizing the loading and unloading process, and improving the loading and unloading efficiency.

Description

Technical Field

[0001] The invention belongs to the technical field of palletizing robots, and in particular relates to a pneumatic adjustable clamping plate type mechanical gripper for a palletizing robot. Background Art

[0002] A palletizing robot is an industrial robot whose main function is to stack items such as boxes or bags containing products to a predetermined position on a pallet. It is widely used in many industries such as food, beverage, chemical, pharmaceutical, and logistics, realizing the automation of pallet loading, greatly improving production efficiency and reducing labor costs. In the working process of the palletizing robot, the mechanical gripper it uses is an important component.

[0003] Conventional robotic grippers are mainly composed of cylinders and clamps, in which the clamps and guide rails are clamped together, and the relative displacement of the clamps is controlled by the action of the cylinder. The clamping process is achieved by the relative proximity of the two clamps. This clamping method generally relies on the friction between the clamps and the goods to achieve the clamping process, but due to the different heights of the goods, the conventional clamping plate structure can only clamp the side of the goods close to the top, resulting in limited clamping force and the risk of the goods falling.

[0004] At the same time, due to the limitations of the working principle of the mechanical gripper, when clamping goods, it mainly relies on the clamping force of the splint to clamp the side of the goods. This clamping method relies heavily on friction and lacks support at the bottom. When the clamping force is too large, although it can prevent the goods from falling, excessive friction can easily cause damage to the side of the goods. If the clamping force is too small, it will cause the goods to fall, which urgently needs to be improved. Summary of the invention

[0005] The object of the present invention is to provide a pneumatic adjustable clamping plate type mechanical gripper for a palletizing robot to solve the problems raised in the above background technology.

[0006] In order to achieve the above-mentioned purpose, the present invention provides the following technical scheme: a pneumatically adjustable splint-type manipulator gripper for a palletizing robot comprises an adjusting guide rail, wherein both left and right ends of the adjusting guide rail are fixedly installed with fixed ear plates, a main power component is fixedly installed in the middle of the top end of the adjusting guide rail, an adjusting component is fixedly installed on the top end of the main power component, a clamping groove is provided on the left and right sides of the adjusting guide rail, a longitudinal adjustment component is installed on the left and right sides of the bottom end of the adjusting component, a clamping plate is installed on the bottom end of the longitudinal adjustment component, a first transverse guide rail is fixedly installed in the middle of the bottom end of the clamping plate, a second transverse guide rail is provided at the bottom end of the first transverse guide rail, a clamping block is fixedly installed on the top end of the second transverse guide rail, the first transverse guide rail and the clamping block are movably clamped, the clamping block is displaced left and right relative to the first transverse guide rail, and an end of the clamping block away from the main power component is fixedly connected to a clamping block located in the first transverse guide rail. The cam is connected to the second end of the support frame by a spring, and the cam is connected to the first end of the support frame by a spring.

[0007] Before the device is put into operation, it is necessary to use the fixing ear plates at both ends of the adjusting guide rail to fix it to the palletizer, and connect the external air pump to the main power component. At the same time, ensure that there is no high-pressure gas inside the main power component, completely release the gas inside the device, restore the device to its initial state, and wait for the clamping process of the goods.

[0008] As a further technical solution of the present invention, the main power component includes a five-way valve, the top end of the five-way valve is connected to the middle part of the bottom end of the adjusting guide rail, the bottom end of the five-way valve is fixedly connected to an intake valve, and the intake valve is connected to an external air pump. The main power component also includes an adjusting tube, the bottom end of the adjusting tube is connected to the middle part of the top end of the adjusting guide rail.

[0009] As a further technical solution of the present invention, the front and rear sides of the five-way valve are fixedly connected with air ducts, the other end of the air ducts is connected to the left and right sides of the regulating tube near the bottom, and the internal movable sleeve of the regulating tube is connected with a piston plate.

[0010] As a further technical solution of the present invention, the top end of the piston plate is fixedly connected to a piston rod, the top end of the piston rod passes through the top end of the adjusting tube and is connected to the adjusting assembly, and the outer side surface of the piston rod is movably sleeved with a first limit spring, and the upper and lower ends of the first limit spring are respectively connected to the top end of the inner cavity of the adjusting tube and the top end of the piston plate.

[0011] When it is necessary to clamp the goods, the device can be moved to the top of the goods through the external palletizer, and by turning on the external air pump, high-pressure gas can be output to the inside of the air inlet valve. At this time, the high-pressure gas can enter the inside of the five-way valve. At this time, the valves at the front and rear ends of the five-way valve can be opened to introduce the high-pressure air into the inside of the regulating tube through the air guide pipe. With the injection of high-pressure air, the piston plate is displaced upward by pressure, and drives the piston rod to move upward. At this time, the first limit spring can be compressed, and finally the power is transmitted to the regulating component.

[0012] As a further technical solution of the present invention, the adjustment assembly includes an adjustment plate, the middle part of the bottom end of the adjustment plate is connected to the top end of the piston rod, and a first fixed seat is fixedly installed on the left and right sides of the bottom end of the adjustment plate, and the end of the first fixed seat away from the adjustment plate is movably connected to the first connecting rod through a rotating shaft, and the end of the first connecting rod away from the first fixed seat is movably connected to the second fixed seat through a rotating shaft.

[0013] As a further technical solution of the present invention, an adjustment block is fixedly installed on the bottom end of the second fixed seat, and the adjustment block is movably connected to the slot. The adjustment block is displaced left and right relative to the slot. Rollers are movably installed on both the front and rear ends of the adjustment block, and the outer side surface of the roller is in contact with the inner side surface of the slot. Elastic buffer columns are installed on the relatively far ends of the two adjustment blocks.

[0014] When the piston rod moves upward, the adjustment plate moves upward accordingly, and the distance between the adjustment plate and the adjustment guide rail increases accordingly. At this time, the first connecting rod deflects toward the middle and applies a pulling force to the second fixing seat. At this time, the two adjustment blocks move relative to the card slot, that is, the two adjustment blocks are relatively close to each other, and drive the two longitudinal adjustment components to be relatively close to each other, and finally drive the two clamping plates to be relatively close to each other, until the clamping plates contact the side of the goods, and the initial clamping process is completed;

[0015] When the clamping needs to be released, the compressed gas inside the adjusting tube can be released. At this time, the main power component automatically resets, and the adjusting component automatically resets, that is, the two adjusting blocks move away from each other, releasing the clamping process of the goods. At the same time, the elastic buffer column can contact one end of the slot to complete the buffering process of the adjusting block.

[0016] By utilizing compressed air, through the input of compressed air and through the coordinated action of the main power component and the adjusting component, the rapid clamping process of the goods can be quickly realized, and the rapid release of compressed gas can be utilized to realize the rapid release of the clamping state. At the same time, the buffering operation during the release can be realized through the action of the adjusting component, thereby avoiding the problem of the long time of the entire clamping limit process and the limit release process of the traditional device, quickly realizing the loading and unloading process, and improving the loading and unloading efficiency.

[0017] As a further technical solution of the present invention, the longitudinal adjustment component includes an air storage pipe, the top end of the air storage pipe is connected to the bottom end of the adjustment block, the outer side of the air storage pipe is fixedly connected to a first air supply pipe at one end close to the main power component, the first air supply pipe is connected to the left and right ends of the five-way valve, the outer side of the air storage pipe is fixedly connected to a second air supply pipe at one end away from the main power component, the other end of the second air supply pipe is connected to a fixed pipe, the inner part of the air storage pipe is movably sleeved with a limit plate, the bottom end of the limit plate is fixedly connected with an adjustment rod, the bottom end of the adjustment rod passes through the bottom end of the air storage pipe and is connected to the top end of the splint, the outer side of the adjustment rod is movably sleeved with a second limit spring, the upper and lower ends of the second limit spring are respectively connected to the bottom end of the limit plate and the bottom end of the inner cavity of the air storage pipe.

[0018] When the height of the cargo is relatively high and the splint can only clamp the side of the cargo near the top, the valves at the left and right ends of the five-way valve can be opened. At this time, high-pressure gas can be injected into the interior of the gas storage pipe through the first gas pipe, and a certain pressure will be applied to the limit plate. At this time, the second limit spring will be compressed, and the adjusting rod will be driven to move downward, and a downward force will be applied to the splint. At this time, the splint will move along the side of the cargo toward the bottom of the cargo to clamp the bottom of the cargo, and at the same time, the first transverse guide rail and the second transverse guide rail can be synchronously driven to move downward until the top end of the second transverse guide rail moves to the bottom end of the cargo, thereby completing the adaptive adjustment process of the higher cargo.

[0019] By utilizing the effect of compressed air again and applying the pressure of compressed air to the inside of the longitudinal adjustment component, the clamping plate can be automatically lowered and moved to a position close to the bottom of the goods to stably clamp goods of different heights. This allows the device to adapt to the clamping needs of goods of different heights, avoiding the problem of traditional devices only clamping the top of the goods and easily causing insufficient clamping force when encountering higher goods, thereby significantly improving the clamping stability.

[0020] As a further technical solution of the present invention, the bottom support assembly includes a transverse guide block, which is movably connected to the second transverse guide rail. The transverse guide block is displaced forward and backward relative to the second transverse guide rail. The end of the transverse guide block away from the main power assembly is connected to the movable rod, and the bottom end of the transverse guide block is fixedly connected to a middle support plate.

[0021] As a further technical solution of the present invention, the bottom support assembly also includes a longitudinal guide block, which is movably connected to the longitudinal guide rail. The longitudinal guide block is displaced forward and backward relative to the longitudinal guide rail. The bottom end of the longitudinal guide block is fixedly installed with a corner support plate, and one end of the corner support plate close to the main power assembly is on the same horizontal plane as one end of the second transverse guide rail.

[0022] As a further technical solution of the present invention, a third fixed seat is fixedly installed on the front and rear sides of the bottom end of the middle support plate, and a fourth fixed seat is fixedly installed on the bottom end of the corner support plate. A second connecting rod is movably connected between the third fixed seat and the fourth fixed seat through a rotating shaft.

[0023] When the second transverse guide rail has not descended to the bottom of the cargo, due to the effect of the side of the cargo, a certain lateral pressure will be applied to the second transverse guide rail. At this time, the return spring can be compressed, and the block moves to the left and drives the second transverse guide rail to move to the left until one end of the second transverse guide rail and one end of the clamping plate are on the same horizontal plane.

[0024] When the second transverse guide rail descends to the bottom of the cargo, the reset spring automatically resets and drives the second transverse guide rail to automatically reset, and then moves toward the middle of the cargo, and at the same time, a part of the gas inside the main power component can be released, so that the distance between the two clamping plates is slightly increased. At this time, the clamping plates no longer exert force on the sides of the cargo, and the cargo then descends, and the bottom end of the cargo then contacts the top of the corner support plate and the middle support plate, completing the bottom support process;

[0025] The air input into the air storage pipe can be discharged through the second air supply pipe and enter the interior of the fixed pipe, and drive the movable rod to move toward the direction close to the cargo. At this time, the transverse guide block will move toward the middle of the cargo, and drive the middle support plate to move toward the middle of the cargo, thereby strengthening the supporting process. When the transverse guide block moves toward the middle, multiple second connecting rods will deflect toward the outer side and apply thrust to the longitudinal guide block. At this time, the two longitudinal guide blocks will move in a relatively distant direction, and finally drive multiple corner support plates to move toward the four corners of the cargo, thereby completing the adjustment process of the support center of gravity.

[0026] By further utilizing the compressed air used for clamping and through the action of compressed air on the fixed pipe and the bottom support assembly, after completing the side clamping of the goods, the side clamping can be automatically converted into bottom support, and the middle support can be converted into four-corner support, thereby improving the stability of the support. At the same time, it avoids the traditional device always using side clamping, which makes the clamping force difficult to control and ultimately leads to poor clamping stability. This significantly improves the stability of goods during transportation and improves transportation efficiency.

[0027] The beneficial effects of the present invention are as follows:

[0028] 1. The present invention utilizes compressed air, through the input of compressed air and the cooperation of the main power component and the adjustment component, to quickly realize the rapid clamping process of the goods, and at the same time, the rapid release of compressed gas can be utilized to realize the rapid release of the clamping state, and at the same time, the buffering operation during the release can be realized through the action of the adjustment component, thereby avoiding the problem of the long time of the entire clamping limit process and the limit release process of the traditional device, quickly realizing the loading and unloading process, and improving the loading and unloading efficiency.

[0029] 2. The present invention utilizes the effect of compressed air again, applies the pressure of compressed air to the inside of the longitudinal adjustment component, realizes the automatic descent of the clamping plate, and moves it to a position close to the bottom of the goods, so as to stably clamp the goods of different heights. The device can adapt to the clamping needs of goods of different heights, avoids the problem of traditional devices only clamping the top of the goods, and easily causes insufficient clamping force when encountering higher goods, and significantly improves the clamping stability.

[0030] 3. The present invention further utilizes the compressed air used for clamping. Through the action of compressed air on the fixed tube and the bottom support assembly, after completing the side clamping of the goods, the side clamping can be automatically converted into the bottom support, and the middle support can be converted into the four-corner support, thereby improving the stability of the support. At the same time, it avoids the traditional device always using side clamping, which makes the clamping force difficult to control and ultimately leads to poor clamping stability, thereby significantly improving the stability of the goods during transportation and improving the transportation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0032] Figure 2 It is a side view of the overall structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the coordination of the adjusting guide rail, the main power assembly and the adjusting assembly structure of the present invention;

[0034] Figure 4 It is a cross-sectional schematic diagram of the internal structure of the main power assembly of the present invention;

[0035] Figure 5 It is an exploded schematic diagram of the adjustment guide rail and the adjustment assembly structure of the present invention;

[0036] Figure 6 for Figure 5 A magnified schematic diagram of the structure at center A;

[0037] Figure 7It is a schematic diagram of the coordination of the clamping plate, the longitudinal adjustment assembly and the bottom supporting assembly structure of the present invention;

[0038] Figure 8 A schematic diagram of the internal structure of the longitudinal adjustment assembly of the present invention;

[0039] Fig. 9 It is an exploded schematic diagram of the first transverse guide rail, the second transverse guide rail and the bottom supporting assembly structure of the present invention;

[0040] Fig.10 It is a schematic diagram of the coordination of the fixed tube, movable rod and bottom supporting assembly structure of the present invention.

[0041] In the figure: 1, adjusting rail; 2, fixing ear plate; 3, main power assembly; 301, five-way valve; 302, intake valve; 303, adjusting pipe; 304, piston plate; 305, piston rod; 306, first limit spring; 307, air guide pipe; 4, adjusting assembly; 401, adjusting plate; 402, first fixing seat; 403, second fixing seat; 404, first connecting rod; 405, adjusting block; 406, roller; 407, elastic buffer column; 5, card slot; 6, clamping plate; 7, longitudinal adjustment assembly; 701, air storage Tube; 702, limit plate; 703, adjustment rod; 704, second limit spring; 705, first air pipe; 706, second air pipe; 8, first transverse guide rail; 9, second transverse guide rail; 10, longitudinal guide rail; 11, block; 12, return spring; 13, bottom support assembly; 131, transverse guide block; 132, middle support plate; 133, longitudinal guide block; 134, corner support plate; 135, third fixed seat; 136, fourth fixed seat; 137, second connecting rod; 14, fixed tube; 15, movable rod. DETAILED DESCRIPTION

[0042] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] like Figures 1 to 10As shown, in the embodiment of the present invention, a pneumatic adjustable splint type manipulator gripper for a palletizing robot comprises an adjusting guide rail 1, fixed ear plates 2 are fixedly installed at both left and right ends of the adjusting guide rail 1, a main power component 3 is fixedly installed in the middle of the top of the adjusting guide rail 1, an adjusting component 4 is fixedly installed at the top of the main power component 3, a clamping groove 5 is provided on the left and right sides of the adjusting guide rail 1, a longitudinal adjustment component 7 is installed on the left and right sides of the bottom of the adjusting component 4, a splint 6 is installed at the bottom end of the longitudinal adjustment component 7, a first transverse guide rail 8 is fixedly installed in the middle of the bottom end of the splint 6, a second transverse guide rail 9 is provided at the bottom end of the first transverse guide rail 8, a clamping block 11 is fixedly installed at the top of the second transverse guide rail 9, the first transverse guide rail 8 and the clamping block 11 are movably clamped, the clamping block 11 is displaced left and right relative to the first transverse guide rail 8, and the end of the clamping block 11 away from the main power component 3 is fixedly connected with a reset spring 12 located inside the first transverse guide rail 8, and the reset spring 1 2 is connected to one end of the inner cavity of the first transverse guide rail 8, and the front and rear sides of the second transverse guide rail 9 are fixedly installed with longitudinal guide rails 10. The bottom end of the second transverse guide rail 9 is provided with a bottom supporting assembly 13, and the bottom supporting assembly 13 is movably connected with the second transverse guide rail 9 and the longitudinal guide rail 10. The end of the second transverse guide rail 9 away from the main power component 3 is fixedly connected with a fixed tube 14, and the internal movably connected with a movable rod 15 of the fixed tube 14. The movable rod 15 passes through the fixed tube 14 and one end of the second transverse guide rail 9 and is connected with the bottom supporting assembly 13. The end of the fixed tube 14 away from the main power component 3 is connected with the longitudinal adjustment assembly 7. The first transverse guide rail 8 and one end of the splint 6 are on the same horizontal plane. When the reset spring 12 is in the initial state, one end of the second transverse guide rail 9 protrudes from one end of the splint 6. When the reset spring 12 is in the compressed state, one end of the second transverse guide rail 9 and one end of the splint 6 are on the same horizontal plane.

[0044] Before the device is put into operation, it is necessary to use the fixing ear plates 2 at both ends of the adjusting guide rail 1 to fix it to the palletizer, and connect the external air pump to the main power component 3. At the same time, ensure that there is no high-pressure gas inside the main power component 3, completely release the gas inside the device, restore the device to its initial state, and wait for the clamping process of the goods.

[0045] like Figure 2 and Figure 3 as well as Figure 4As shown, the main power assembly 3 includes a five-way valve 301, the top of the five-way valve 301 is connected to the middle of the bottom end of the adjustment guide rail 1, the bottom end of the five-way valve 301 is fixedly connected to an intake valve 302, and the intake valve 302 is connected to an external air pump. The main power assembly 3 also includes a regulating pipe 303, the bottom end of the regulating pipe 303 is connected to the middle of the top end of the adjustment guide rail 1, and the front and rear sides of the five-way valve 301 are fixedly connected to an air guide pipe 307, and the other end of the air guide pipe 307 is connected to the regulating pipe The left and right sides of 303 near the bottom are connected, the internal movably sleeved piston plate 304 of the regulating tube 303, the top of the piston plate 304 is fixedly connected with a piston rod 305, the top of the piston rod 305 passes through the top of the regulating tube 303 and is connected to the regulating component 4, the outer side of the piston rod 305 is movably sleeved with a first limit spring 306, the upper and lower ends of the first limit spring 306 are respectively connected to the top of the inner cavity of the regulating tube 303 and the top of the piston plate 304.

[0046] When it is necessary to clamp the goods, the device can be moved to the top of the goods by an external palletizer, and by turning on the external air pump, high-pressure gas can be output to the inside of the intake valve 302. At this time, the high-pressure gas can enter the inside of the five-way valve 301. At this time, the valves at the front and rear ends of the five-way valve 301 can be opened to introduce the high-pressure air into the inside of the regulating tube 303 through the air guide pipe 307. With the injection of high-pressure air, the piston plate 304 is displaced upward by pressure, and drives the piston rod 305 to move upward. At this time, the first limit spring 306 can be compressed, and finally the power is transmitted to the regulating component 4.

[0047] like Figure 3 and Figure 5 as well as Figure 6 As shown, the adjustment component 4 includes an adjustment plate 401, the middle part of the bottom end of the adjustment plate 401 is connected to the top end of the piston rod 305, the left and right sides of the bottom end of the adjustment plate 401 are fixedly installed with a first fixed seat 402, the end of the first fixed seat 402 away from the adjustment plate 401 is movably connected to the first connecting rod 404 through a rotating shaft, the end of the first connecting rod 404 away from the first fixed seat 402 is movably connected to the second fixed seat 403 through a rotating shaft, the bottom end of the second fixed seat 403 is fixedly installed with an adjustment block 405, the adjustment block 405 is movably connected to the slot 5, the adjustment block 405 is displaced left and right relative to the slot 5, the front and rear ends of the adjustment block 405 are movably installed with rollers 406, the outer side surface of the roller 406 is in contact with the inner side surface of the slot 5, and the relatively far ends of the two adjustment blocks 405 are installed with elastic buffer columns 407.

[0048] When the piston rod 305 moves upward, the adjustment plate 401 moves upward accordingly, and the distance between the adjustment plate 401 and the adjustment guide rail 1 increases accordingly. At this time, the first connecting rod 404 deflects toward the middle and applies a pulling force to the second fixing seat 403. At this time, the two adjustment blocks 405 move relative to the card slot 5, that is, the two adjustment blocks 405 are relatively close to each other, and drive the two longitudinal adjustment components 7 to be relatively close to each other, and finally drive the two clamping plates 6 to be relatively close to each other, until the clamping plates 6 are in contact with the side of the goods, and the initial clamping process is completed;

[0049] When the clamping needs to be released, the compressed gas inside the adjusting tube 303 can be released. At this time, the main power component 3 automatically resets, and the adjusting component 4 automatically resets, that is, the two adjusting blocks 405 move away from each other, releasing the clamping process of the goods. At the same time, the elastic buffer column 407 can contact one end of the card slot 5 to complete the buffering process of the adjusting block 405.

[0050] By utilizing compressed air, through the input of compressed air, and through the coordinated action of the main power component 3 and the adjustment component 4, the rapid clamping process of the goods can be quickly realized, and the rapid release of compressed gas can be utilized to realize the rapid release of the clamping state. At the same time, the buffering operation during the release can be realized through the action of the adjustment component 4, thereby avoiding the problem of the long time of the entire clamping limit process and the limit release process of the traditional device, and quickly realizing the loading and unloading process, thereby improving the loading and unloading efficiency.

[0051] like Figure 2 and Figure 7 as well as Figure 8 As shown, the longitudinal adjustment component 7 includes an air storage pipe 701, the top of which is connected to the bottom of the adjustment block 405, and an end of the outer side of the air storage pipe 701 close to the main power component 3 is fixedly connected to a first air supply pipe 705, the first air supply pipe 705 is connected to the left and right ends of the five-way valve 301, and an end of the outer side of the air storage pipe 701 away from the main power component 3 is fixedly connected to a second air supply pipe 706, and the other end of the second air supply pipe 706 is connected to the fixed pipe 14, the inner part of the air storage pipe 701 is movably sleeved with a limit plate 702, and the bottom end of the limit plate 702 is fixedly connected with an adjustment rod 703, the bottom end of the adjustment rod 703 passes through the bottom end of the air storage pipe 701 and is connected to the top of the splint 6, and the outer side of the adjustment rod 703 is movably sleeved with a second limit spring 704, and the upper and lower ends of the second limit spring 704 are respectively connected to the bottom end of the limit plate 702 and the bottom end of the inner cavity of the air storage pipe 701.

[0052] Embodiment: When the height of the cargo is relatively high and the clamping plate 6 can only clamp the side of the cargo close to the top, the valves at the left and right ends of the five-way valve 301 can be opened. At this time, high-pressure gas can be injected into the interior of the gas storage pipe 701 through the first gas supply pipe 705, and a certain pressure will be applied to the limit plate 702. At this time, the second limit spring 704 is compressed, and drives the adjustment rod 703 to move downward, and applies a downward force to the clamping plate 6. At this time, the clamping plate 6 moves along the side of the cargo toward the bottom end of the cargo to clamp the bottom end of the cargo, and at the same time, it can synchronously drive the first transverse guide rail 8 and the second transverse guide rail 9 to move downward until the top end of the second transverse guide rail 9 moves to the bottom end position of the cargo, thereby completing the adaptive adjustment process of the higher cargo.

[0053] By utilizing the effect of compressed air again and applying the pressure of compressed air to the interior of the longitudinal adjustment component 7, the clamping plate 6 is automatically lowered and moved to a position close to the bottom of the goods, so as to stably clamp goods of different heights. This allows the device to adapt to the clamping needs of goods of different heights, avoids the problem of traditional devices only clamping the top of the goods, and easily causing insufficient clamping force when encountering higher goods, and significantly improves the clamping stability.

[0054] like Figure 1 and Figure 7 as well as Fig. 9 and Fig.10 As shown, the bottom supporting assembly 13 includes a transverse guide block 131, which is movably connected to the second transverse guide rail 9, and the transverse guide block 131 moves forward and backward relative to the second transverse guide rail 9. The end of the transverse guide block 131 away from the main power assembly 3 is connected to the movable rod 15, and the bottom end of the transverse guide block 131 is fixedly connected to the middle support plate 132. The bottom supporting assembly 13 also includes a longitudinal guide block 133, which is movably connected to the longitudinal guide rail 10. The longitudinal guide block 133 is movably connected to the longitudinal guide rail 10. 3 relative to the longitudinal guide rail 10, the bottom end of the longitudinal guide block 133 is fixedly installed with a corner support plate 134, one end of the corner support plate 134 close to the main power assembly 3 is on the same horizontal plane as one end of the second transverse guide rail 9, the front and rear sides of the bottom end of the middle support plate 132 are fixedly installed with a third fixing seat 135, the bottom end of the corner support plate 134 is fixedly installed with a fourth fixing seat 136, and the third fixing seat 135 and the fourth fixing seat 136 are movably connected with a second connecting rod 137 through a rotating shaft.

[0055] When the second transverse guide rail 9 has not descended to the bottom of the cargo, due to the effect of the side of the cargo, a certain lateral pressure will be applied to the second transverse guide rail 9. At this time, the return spring 12 can be compressed, and the block 11 moves to the left and drives the second transverse guide rail 9 to move to the left until one end of the second transverse guide rail 9 is on the same horizontal plane as one end of the clamping plate 6.

[0056] Embodiment: When the second transverse guide rail 9 descends to the bottom of the cargo, the reset spring 12 automatically resets and drives the second transverse guide rail 9 to automatically reset, and then moves toward the middle of the cargo, and at the same time, a part of the gas inside the main power assembly 3 can be released, so that the distance between the two clamping plates 6 is slightly increased. At this time, the clamping plates 6 no longer exert force on the sides of the cargo, and the cargo then descends, and the bottom end of the cargo then contacts the top of the corner support plate 134 and the middle support plate 132, completing the bottom support process;

[0057] The air input into the air storage pipe 701 can be discharged through the second air supply pipe 706 and enter the interior of the fixed pipe 14, and drive the movable rod 15 to move toward the direction close to the cargo. At this time, the transverse guide block 131 moves toward the middle of the cargo, and drives the middle support plate 132 to move toward the middle of the cargo, thereby strengthening the support process. When the transverse guide block 131 moves toward the middle, multiple second connecting rods 137 deflect toward the outer side and apply thrust to the longitudinal guide block 133. At this time, the two longitudinal guide blocks 133 move in a relatively distant direction, and finally drive multiple corner support plates 134 to move toward the four corners of the cargo, thereby completing the adjustment process of the support center of gravity.

[0058] By further utilizing the compressed air used for clamping and the effect of compressed air on the fixed tube 14 and the bottom support assembly 13, after completing the side clamping of the goods, the side clamping can be automatically converted into bottom support, and the middle support can be converted into four-corner support, thereby improving the stability of the support. At the same time, it avoids the traditional device always using side clamping, which makes the clamping force difficult to control and ultimately leads to poor clamping stability, thereby significantly improving the stability of the goods during transportation and improving the transportation efficiency.

[0059] Working principle and usage process:

[0060] Before the device is put into operation, the fixing lugs 2 at both ends of the adjusting guide rail 1 are used to fix it to the palletizer, and the external air pump is connected to the main power component 3. At the same time, it is ensured that there is no high-pressure gas inside the main power component 3, and the gas inside the device is completely released, and the device is restored to the initial state, waiting for the clamping process of the goods;

[0061] When it is necessary to clamp the goods, the device can be moved to the top of the goods by an external palletizer, and the high-pressure gas can be output to the inside of the air inlet valve 302 by turning on the external air pump. At this time, the high-pressure gas can enter the inside of the five-way valve 301. At this time, the valves at the front and rear ends of the five-way valve 301 can be opened to guide the high-pressure air into the inside of the regulating tube 303 through the air guide pipe 307. With the injection of high-pressure air, the piston plate 304 is displaced upward by pressure, and the piston rod 305 is driven to move upward. At this time, the first limit spring 306 can be compressed, and finally the power is transmitted to the regulating component 4;

[0062] When the piston rod 305 moves upward, the adjustment plate 401 moves upward accordingly, and the distance between the adjustment plate 401 and the adjustment guide rail 1 increases accordingly. At this time, the first connecting rod 404 deflects toward the middle and applies a pulling force to the second fixing seat 403. At this time, the two adjustment blocks 405 move relative to the card slot 5, that is, the two adjustment blocks 405 are relatively close to each other, and drive the two longitudinal adjustment components 7 to be relatively close to each other, and finally drive the two clamping plates 6 to be relatively close to each other, until the clamping plates 6 are in contact with the side of the goods, and the initial clamping process is completed;

[0063] When the clamping needs to be released, the compressed gas inside the regulating tube 303 can be released, and the main power component 3 and the regulating component 4 are automatically reset, that is, the two regulating blocks 405 move away from each other, and the clamping process of the goods is released. At the same time, the elastic buffer column 407 can contact one end of the card slot 5 to complete the buffering process of the regulating block 405;

[0064] When the height of the goods is relatively high and the clamping plate 6 can only clamp the side of the goods close to the top, the valves at the left and right ends of the five-way valve 301 can be opened. At this time, high-pressure gas can be injected into the interior of the gas storage pipe 701 through the first gas supply pipe 705, and a certain pressure will be applied to the limit plate 702. At this time, the second limit spring 704 is compressed accordingly, and drives the adjusting rod 703 to move downward, and applies a downward force to the clamping plate 6. At this time, the clamping plate 6 moves along the side of the goods toward the bottom of the goods to clamp the bottom of the goods, and at the same time, it can synchronously drive the first transverse guide rail 8 and the second transverse guide rail 9 to move downward until the top end of the second transverse guide rail 9 moves to the bottom end position of the goods, thereby completing the adaptive adjustment process of the higher goods.

[0065] By utilizing the compressed air again, the compressed air pressure is applied to the interior of the longitudinal adjustment assembly 7, so that the clamping plate 6 is automatically lowered and moved to a position close to the bottom of the goods, so as to stably clamp goods of different heights, so that the device can meet the clamping requirements of goods of different heights, avoiding the problem that the traditional device only clamps the top of the goods and is prone to insufficient clamping force when encountering high goods, and significantly improving the clamping stability;

[0066] When the second transverse guide rail 9 descends to the bottom of the cargo, the reset spring 12 automatically resets and drives the second transverse guide rail 9 to automatically reset, and then moves toward the middle of the cargo, and at the same time, a part of the gas inside the main power assembly 3 can be released, so that the distance between the two clamping plates 6 is slightly increased. At this time, the clamping plates 6 no longer exert force on the sides of the cargo, and the cargo then descends, and the bottom end of the cargo then contacts the top of the corner support plate 134 and the middle support plate 132, completing the bottom support process;

[0067] The air input into the air storage pipe 701 can be discharged through the second air supply pipe 706 and enter the interior of the fixed pipe 14, and drive the movable rod 15 to move toward the direction close to the cargo. At this time, the transverse guide block 131 moves toward the middle of the cargo, and drives the middle support plate 132 to move toward the middle of the cargo, thereby strengthening the support process. When the transverse guide block 131 moves toward the middle, multiple second connecting rods 137 deflect toward the outer side and apply thrust to the longitudinal guide block 133. At this time, the two longitudinal guide blocks 133 move in a relatively distant direction, and finally drive multiple corner support plates 134 to move toward the four corners of the cargo, thereby completing the adjustment process of the support center of gravity.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A pneumatically adjustable splint-type mechanical gripper for a palletizing robot, comprising an adjustment guide rail (1), characterized in that: The left and right ends of the adjustment guide rail (1) are fixedly mounted with fixed ear plates (2); the middle part of the top of the adjustment guide rail (1) is fixedly mounted with a main power component (3); the top of the main power component (3) is fixedly mounted with an adjustment component (4); the left and right sides of the adjustment guide rail (1) are provided with card slots (5); the left and right sides of the bottom of the adjustment component (4) are fixedly mounted with longitudinal adjustment components (7); the bottom of the longitudinal adjustment component (7) is fixedly mounted with a clamping plate (6); the middle part of the bottom of the clamping plate (6) is fixedly mounted with a first transverse guide A second transverse guide rail (9) is provided at the bottom end of the first transverse guide rail (8), a clamping block (11) is fixedly installed at the top end of the second transverse guide rail (9), the first transverse guide rail (8) and the clamping block (11) are movably clamped together, the clamping block (11) is displaced left and right relative to the first transverse guide rail (8), one end of the clamping block (11) away from the active power assembly (3) is fixedly connected to a return spring (12) located inside the first transverse guide rail (8), and the other end of the return spring (12) is fixedly connected to the inner cavity of the first transverse guide rail (8). One end of the second transverse guide rail (9) is connected, the front and rear sides of the second transverse guide rail (9) are fixedly mounted with longitudinal guide rails (10), the bottom end of the second transverse guide rail (9) is provided with a bottom supporting assembly (13), the bottom supporting assembly (13) is movably connected to the second transverse guide rail (9) and the longitudinal guide rail (10), one end of the second transverse guide rail (9) away from the main power assembly (3) is fixedly connected with a fixed tube (14), the interior of the fixed tube (14) is movably connected with a movable rod (15), the movable rod (15) passes through the fixed tube (14) and the second transverse guide rail (9), and the movable rod (15) passes through the fixed tube (14) and the second transverse guide rail (9). One end of the transverse guide rail (9) is connected to the bottom support assembly (13); one end of the fixed tube (14) away from the main power assembly (3) is connected to the longitudinal adjustment assembly (7); the first transverse guide rail (8) and one end of the clamping plate (6) are on the same horizontal plane; when the return spring (12) is in an initial state, one end of the second transverse guide rail (9) protrudes from one end of the clamping plate (6); when the return spring (12) is in a compressed state, one end of the second transverse guide rail (9) and one end of the clamping plate (6) are on the same horizontal plane; The main power assembly (3) comprises a five-way valve (301), the top end of the five-way valve (301) is connected to the middle of the bottom end of the regulating guide rail (1), the bottom end of the five-way valve (301) is fixedly connected to an air intake valve (302), the air intake valve (302) is connected to an external air pump, and the main power assembly (3) further comprises a regulating pipe (303), the bottom end of the regulating pipe (303) is connected to the middle of the top end of the regulating guide rail (1); The adjustment assembly (4) comprises an adjustment plate (401), the middle part of the bottom end of the adjustment plate (401) is connected to the top end of the piston rod (305), first fixing seats (402) are fixedly installed on both the left and right sides of the bottom end of the adjustment plate (401), one end of the first fixing seat (402) away from the adjustment plate (401) is movably connected to a first connecting rod (404) via a rotating shaft, and one end of the first connecting rod (404) away from the first fixing seat (402) is movably connected to a second fixing seat (403) via a rotating shaft; The longitudinal adjustment component (7) comprises an air storage pipe (701), the top end of the air storage pipe (701) being connected to the bottom end of the adjustment block (405), one end of the outer side surface of the air storage pipe (701) close to the main power component (3) being fixedly connected to a first air supply pipe (705), the first air supply pipe (705) being connected to the left and right ends of the five-way valve (301), and one end of the outer side surface of the air storage pipe (701) away from the main power component (3) being fixedly connected to a second air supply pipe (706), the other end of the second air supply pipe (706) being connected to the fixed pipe. (14), the gas storage tube (701) is internally movably sleeved with a limit plate (702), the bottom end of the limit plate (702) is fixedly connected with an adjustment rod (703), the bottom end of the adjustment rod (703) passes through the bottom end of the gas storage tube (701) and is connected to the top end of the clamping plate (6), the outer side surface of the adjustment rod (703) is movably sleeved with a second limit spring (704), the upper and lower ends of the second limit spring (704) are respectively connected to the bottom end of the limit plate (702) and the bottom end of the inner cavity of the gas storage tube (701); The bottom supporting assembly (13) comprises a transverse guide block (131), the transverse guide block (131) being movably connected to the second transverse guide rail (9), the transverse guide block (131) being displaced forward and backward relative to the second transverse guide rail (9), one end of the transverse guide block (131) away from the main power assembly (3) being connected to the movable rod (15), and the bottom end of the transverse guide block (131) being fixedly connected to a middle supporting plate (132).

2. The pneumatic adjustable clamping plate type manipulator gripper for a palletizing robot according to claim 1, characterized in that: The front and rear sides of the five-way valve (301) are both fixedly connected with an air guide tube (307), the other end of the air guide tube (307) is connected with the left and right sides of the regulating tube (303) near the bottom end, and the inside of the regulating tube (303) is movably sleeved with a piston plate (304).

3. The pneumatic adjustable clamping plate type manipulator gripper for a palletizing robot according to claim 2, characterized in that: The top end of the piston plate (304) is fixedly connected to a piston rod (305), the top end of the piston rod (305) passes through the top end of the regulating tube (303) and is connected to the regulating assembly (4), and the outer side surface of the piston rod (305) is movably sleeved with a first limit spring (306), the upper and lower ends of the first limit spring (306) are respectively connected to the top end of the inner cavity of the regulating tube (303) and the top end of the piston plate (304).

4. The pneumatic adjustable clamping plate type manipulator gripper for a palletizing robot according to claim 3, characterized in that: An adjusting block (405) is fixedly mounted on the bottom end of each of the second fixing seats (403). The adjusting block (405) is movably engaged with the card slot (5). The adjusting block (405) is displaced leftward and rightward relative to the card slot (5). Rollers (406) are movably mounted on both front and rear ends of the adjusting block (405). The outer side surface of the roller (406) contacts the inner side surface of the card slot (5). An elastic buffer column (407) is mounted on the ends of the two adjusting blocks (405) that are relatively far away from each other.

5. The pneumatic adjustable clamping plate type manipulator gripper for a palletizing robot according to claim 4, characterized in that: The bottom supporting assembly (13) further comprises a longitudinal guide block (133), the longitudinal guide block (133) being movably connected to the longitudinal guide rail (10), the longitudinal guide block (133) being displaced forward and backward relative to the longitudinal guide rail (10), a corner support plate (134) being fixedly mounted at the bottom end of each longitudinal guide block (133), and an end of the corner support plate (134) close to the main power assembly (3) and an end of the second transverse guide rail (9) being on the same horizontal plane.

6. The pneumatic adjustable clamping plate type manipulator gripper for a palletizing robot according to claim 5, characterized in that: A third fixing seat (135) is fixedly mounted on both the front and rear sides of the bottom end of the middle support plate (132), a fourth fixing seat (136) is fixedly mounted on the bottom end of the corner support plate (134), and a second connecting rod (137) is movably connected between the third fixing seat (135) and the fourth fixing seat (136) via a rotating shaft.

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