Robot palletizer gripper and using method thereof

Abstract

The invention relates to the technical field of carrying and stacking, in particular to a robot palletizer gripper and a using method thereof.The robot palletizer gripper comprises a rack, two limiting arms are symmetrically arranged on the left side and the right side of the rack, the upper portions of the limiting arms are rotationally connected with the rack through connecting shafts, the lower portions of the limiting arms are rotationally connected with rotating shafts, and a plurality of gripping fingers are arranged on the rotating shafts at intervals; a first driving mechanism and two second driving mechanisms are further arranged on the rack, and the first driving mechanism is in transmission connection with the two rotating shafts and used for driving the rotating shafts to rotate; the two second driving mechanisms are in transmission connection with the limiting arms on the two sides correspondingly and used for adjusting the distance between the two rotating shafts. The width of the gripper can be adjusted by additionally arranging the second driving mechanism, so that the gripper can be used in different working environments, meanwhile, the included angle between the limiting arm and the gripping fingers can be adjusted through cooperation of the first driving mechanism and the second driving mechanism, multiple working modes are achieved, and the practicability, universality and adjustability of the gripper are enhanced.

Description

Technical Field

[0001] The invention relates to the technical field of handling and palletizing, in particular to a palletizing robot gripper and a use method thereof. Background Art

[0002] The cement production and transportation process inevitably involves the handling of finished bagged cement. In order to improve the production and transportation efficiency of cement and reduce labor costs, in existing cement packaging production lines, palletizing robot grippers are usually used to replace manual operations for the handling and stacking of cement.

[0003] The palletizing robot grippers in the prior art generally use a driving structure to drive the rotating rod, thereby driving the gripper fingers to rotate, and the finished bagged cement is transported by the rotation of the gripper fingers. For example, the gripper for an automatic loading machine with application number CN202220047293.9 includes a mounting seat, a fixing frame is arranged on the top surface of the mounting seat, and two rows of connecting rods are arranged vertically downward on the bottom surface of the mounting seat, and a rotating rod is inserted between the bottoms of each row of connecting rods, and a plurality of gripper fingers are arranged on the rotating rod at intervals, and a driving cylinder is arranged on the fixing frame, and a driving arm is hinged at the end of the driving cylinder piston rod, and a driving shaft is fixed at the other end of the driving arm, and the driving shaft is parallel to the rotating rod. The two ends of the driving shaft are rotatably arranged on the mounting seat through bearings, and a driving wheel is arranged on the driving shaft, and a driven wheel is arranged on the rotating rod. The driving wheel and the driven wheel are driven by a chain. The prior art has the following problems in operation: the spacing between the connecting rods is fixed, and when loading and packing operations are performed, the working space is narrow, the manipulator cannot adapt to the working space for adjustment, and the operation mode is single. Summary of the invention

[0004] In view of the deficiencies in the prior art, an object of the present invention is to provide a palletizing robot gripper suitable for operations in narrow spaces and a method of using the same.

[0005] The technical solution adopted by the present invention to solve its technical problem is: A palletizing robot gripper comprises a frame, two limit arms are symmetrically arranged on the left and right sides of the frame, the upper part of the limit arm is rotatably connected to the frame through a connecting shaft, the lower part of the limit arm is rotatably connected to the rotating shaft, and a plurality of gripping fingers are arranged on the rotating shaft at intervals; a first driving mechanism and two second driving mechanisms are also arranged on the frame, the first driving mechanism is transmission-connected to the two rotating shafts, and the two second driving mechanisms are transmission-connected to the two limit arms respectively.

[0006] Compared with the prior art, the present invention adopting the above technical solution has the following outstanding features: By adding a second drive mechanism, the width of the gripper can be adjusted to make it suitable for different working environments. At the same time, through the cooperation of the first drive mechanism and the second drive mechanism, the angle between the limit arm and the gripper finger can be adjusted to achieve a variety of working modes, thereby enhancing the practicality, versatility and adjustability of the gripper.

[0007] Preferably, a further technical solution of the present invention is: Preferably, the first driving mechanism includes a first driving cylinder, a first connecting rod, a driving gear, a driving sprocket, a double-row transition sprocket, a transmission sprocket, a first chain and a second chain; a first cylinder mounting seat and a gear mounting seat are provided on the frame, two bearing seats are provided on the gear mounting seat, and a rotating shaft is rotatably connected in the bearing seat; two driving gears and two driving sprockets are provided, each rotating shaft is sleeved with a driving gear and a driving sprocket, and the two driving gears are meshed with each other; the first driving cylinder is rotatably connected to the first cylinder mounting seat, and the output shaft of the first driving cylinder is provided with a first cylinder joint, one end of the first connecting rod is hinged to the first cylinder joint, and the other end is fixedly connected to any rotating shaft; a sliding bearing is provided on the connecting shaft, the double-row transition sprocket is fixed on the sliding bearing, and the transmission sprocket is fixed on the rotating shaft, the driving sprocket and one of the sprockets of the double-row transition sprocket on the same side are provided with a first chain, and the transmission sprocket and the other sprocket of the double-row transition sprocket on the same side are provided with a second chain.

[0008] Preferably, the second driving mechanism includes a second driving cylinder and a second connecting rod; two second driving cylinders are provided, corresponding to the connecting shafts on the left and right sides respectively; a second cylinder mounting seat is provided on the frame, the second driving cylinder is rotatably connected to the second cylinder mounting seat, a second cylinder joint is provided on the end of the piston rod, one end of the second connecting rod is hinged to the second cylinder joint, and the other end is fixedly connected to the corresponding connecting shaft; when the piston rod of the second driving cylinder moves, the second connecting rod rotates, driving the connecting shaft to rotate, and then driving the limit arm to rotate, thereby adjusting the spacing between the rotating shafts and the overall width of the gripper, and can be suitable for operations in narrow spaces.

[0009] Preferably, a clamping mechanism is also provided on the frame, and the clamping mechanism includes a vertically arranged clamping cylinder, and a pressure plate is provided at the end of the clamping cylinder piston rod; the material is pressed during the transportation process to prevent the material from being thrown out when the gripper rotates during the transportation process.

[0010] Preferably, two clamping cylinders are provided, which are respectively arranged on the front and rear sides of the frame, and the pressure plates are arranged horizontally, and the two pressure plates extend to opposite sides respectively, so as to be able to fully contact with the material to be transported.

[0011] A method for using a palletizing robot gripper is also disclosed. Through the cooperation of a first driving mechanism and a second driving mechanism, the palletizing robot gripper can have two working modes; The first type: the angle between the limit arm and the gripper finger is 90°, the first drive mechanism is locked, and the second drive mechanism drives the limit arm to grab the bag; The second type: the limit arm is in a vertical state and does not move, the second drive mechanism is locked, and the first drive mechanism drives the gripping fingers to grab the cargo package. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Schematic diagram of the structure of the palletizing robot gripper in the embodiment of the present invention; Figure 2 is another structural schematic diagram of the palletizing robot gripper in an embodiment of the present invention; Figure 3 is another structural schematic diagram of the palletizing robot gripper in an embodiment of the present invention; Figure 4 It is another structural schematic diagram of the palletizing robot gripper in the embodiment of the present invention.

[0013] Explanation of the accompanying drawings: 1. frame; 2. limit arm; 3. connecting shaft; 4. rotating shaft; 5. gripping finger; 6. first driving cylinder; 7. first connecting rod; 8. driving gear; 10. driving sprocket; 11. double-row transition sprocket; 13. transmission sprocket; 14. first chain; 15. second chain; 16. first cylinder mounting seat; 1601, weight reduction hole; 17. bearing seat; 18. second driving cylinder; 19. second connecting rod; 20. clamping cylinder; 21. pressure plate; 22. first cylinder joint; 23. second cylinder joint. DETAILED DESCRIPTION

[0014] The present invention is further described below in conjunction with specific embodiments, the purpose of which is only to provide a better understanding of the content of the present invention. Therefore, the examples given do not limit the protection scope of the present invention.

[0015] like Figure 1 to Figure 4 As shown, the present embodiment provides a palletizing robot gripper, comprising a frame 1, two limit arms 2 are symmetrically arranged on the left and right sides of the frame 1, the upper part of the limit arm 2 is rotatably connected to the frame 1 through a connecting shaft 3, the lower part of the limit arm 2 is rotatably connected to a rotating shaft 4, and a plurality of gripping fingers 5 are arranged at intervals on the rotating shaft 4; a first driving mechanism and a second driving mechanism are also arranged on the frame 1, the first driving mechanism is transmission-connected with the two rotating shafts 4 to drive the rotating shafts 4 to rotate, thereby driving the gripping fingers 5 on the left and right sides to open or grasp; two second driving mechanisms are provided, and the two second driving mechanisms are transmission-connected with the connecting shafts 3 of the two limit arms 2 respectively to adjust the distance between the two rotating shafts 4, thereby driving the limit arm 2 to rotate, and after the limit arm 2 rotates, the distance between the two rotating shafts 4 at the bottom can be adjusted, thereby adjusting the working mode of the gripper.

[0016] When the limit arm 2 is in a vertical state, it is 0°, and the limit arm 2 can rotate -45°~45° around the axis of the connecting shaft 3. When the gripping finger 5 is in a vertical state, it is 0°, and the gripping finger 5 can rotate -90°~90° around the axis of the rotating shaft 4. Through the cooperation of the first driving mechanism and the second driving mechanism, this embodiment also discloses a method for using the gripper of a palletizing robot. The first method is as follows: the angle between the limit arm 2 and the gripping finger 5 is 90°, the first driving mechanism is locked, and the second driving mechanism drives the limit arm 2 to grab the cargo package; the second method is as follows: the limit arm 2 is in a vertical state and does not move, the second driving mechanism is locked, and the first driving mechanism drives the gripping finger 5 to grab the cargo package; when the handling space is not limited, the first working mode can be selected, the contact area between the cargo package and the gripping finger 5 and the limit arm 2 is larger, and the gripping is more stable; when the handling space is relatively narrow, the second working mode can be selected. In the second working mode, the width of the gripper is narrow, which is conducive to narrow space operations.

[0017] The first driving mechanism includes a first driving cylinder 6, a first connecting rod 7, a driving gear 8, a driving sprocket 10, a double-row transition sprocket 11, a transmission sprocket 13, a first chain 14 and a second chain 15; a first cylinder mounting seat 16 and a gear mounting seat are provided on the frame 1, and a plurality of weight-reducing holes 1601 are longitudinally spaced on the first cylinder mounting seat 16; two bearing seats 17 are provided on the gear mounting seat, and the two bearing seats 17 are located on the same horizontal plane, and a rotating shaft is rotatably connected in the bearing seat 17; two driving gears 8 and two driving sprockets 10 are provided, and each rotating shaft is correspondingly sleeved with a driving gear 8 and a driving sprocket 10, and the two driving The movable gears 8 are meshed with each other; the first driving cylinder 6 is hinged on any weight reduction hole 1601 of the first cylinder mounting seat 16, and the output shaft of the first driving cylinder 6 is provided with a first cylinder joint 22, the upper end of the first connecting rod 7 is hinged to the first cylinder joint 22, and the lower end is fixedly connected to any rotating shaft; a sliding bearing is provided on the connecting shaft 3, the double-row transition sprocket 11 is fixed on the sliding bearing, the transmission sprocket 13 is connected to the rotating shaft 4 by a key, the driving sprocket 10 and one of the sprockets of the double-row transition sprocket 11 on the same side are provided with a first chain 14, and the transmission sprocket 12 and the other sprocket of the double-row transition sprocket 13 on the same side are provided with a second chain 15.

[0018] The driving process of the first driving mechanism is: the first driving cylinder 6 drives the first connecting rod 7 to rotate, the first connecting rod 7 drives the rotating shaft connected thereto to rotate, and the rotating shaft drives the driving gear 8 and the driving sprocket 10 sleeved on the rotating shaft to rotate. Since the two driving gears 8 are meshed with each other, at the same time, the other driving gear 8 rotates synchronously, thereby realizing synchronous driving of the driving sprocket 10 on the other side to rotate; the driving sprockets 10 on both sides drive the double-row transition sprockets 11 on both sides to rotate through the first chain 14, and the double-row transition sprockets 11 drive the transmission sprocket 13 to rotate through the second chain 15, thereby realizing the rotation of the rotating shaft 4 and the gripping fingers 5.

[0019] The second driving mechanism includes a second driving cylinder 18 and a second connecting rod 19; two second driving cylinders 18 are provided, corresponding to the connecting shafts 3 on the left and right sides respectively; a second cylinder mounting seat is provided on the frame 1, and the second driving cylinder 18 is rotatably connected to the second cylinder mounting seat, and a second cylinder joint 23 is provided at the end of the piston rod, the upper end of the second connecting rod 19 is hinged to the second cylinder joint 23, and the lower end is fixedly connected to the corresponding connecting shaft 3.

[0020] The driving process of the second driving mechanism is as follows: when the piston rod of the second driving cylinder 18 moves, it drives the second connecting rod 19 to rotate, and the second connecting rod 19 drives the connecting shaft 3 to rotate, thereby driving the limiting arm 2 to rotate to a suitable angle.

[0021] Since rotating operations are often involved in the handling process, a clamping mechanism is also provided on the frame 1 to prevent the cargo bag from being thrown out when the gripper rotates. The clamping mechanism includes a vertically arranged clamping cylinder 20. Two clamping cylinders 20 are provided, which are respectively arranged on the front and rear sides of the frame 1. A pressure plate 21 is provided at the end of the piston rod of the clamping cylinder 20. The pressure plate 21 is horizontally arranged, and the two pressure plates 21 extend to the opposite sides respectively. When the gripper grabs the cargo bag, the piston rod of the clamping cylinder 20 is output, and the pressure plate 21 presses down to clamp the cargo bag, and works together with the gripper finger 5 and the limit arm 2 to grip the cargo bag to prevent the material from being thrown out when the gripper rotates during handling.

[0022] The above description is only the preferred embodiment of the present invention, and does not limit the scope of rights of the present invention. All equivalent changes made by using the contents of the present invention specification and its drawings are included in the scope of rights of the present invention.

Claims

1. A palletizing robot gripper, characterized in that: It includes a frame, and two limit arms are symmetrically arranged on the left and right sides of the frame. The upper part of the limit arm is rotatably connected to the frame through a connecting shaft, and the lower part of the limit arm is rotatably connected to the rotating shaft, and a number of gripping fingers are arranged on the rotating shaft at intervals; the frame is also provided with a first driving mechanism and two second driving mechanisms, the first driving mechanism is transmission-connected to the two rotating shafts, and the two second driving mechanisms are transmission-connected to the limit arms on both sides respectively.

2. A palletizing robot gripper according to claim 1, characterized in that: The first driving mechanism includes a first driving cylinder, a first connecting rod, a driving gear, a driving sprocket, a double-row transition sprocket, a transmission sprocket, a first chain and a second chain; The frame is provided with a first cylinder mounting seat and a gear mounting seat, the gear mounting seat is provided with two bearing seats, and a rotating shaft is rotatably connected in the bearing seats; There are two drive gears and two drive sprockets, and each rotating shaft is sleeved with a drive gear and a drive sprocket, and the two drive gears are meshed with each other; The first driving cylinder is rotatably connected to the first cylinder mounting seat, the output shaft of the first driving cylinder is provided with a first cylinder joint, one end of the first connecting rod is hinged to the first cylinder joint, and the other end is fixedly connected to any rotating shaft; A sliding bearing is arranged on the connecting shaft, the double-row transition sprocket is fixed on the sliding bearing, the transmission sprocket is fixed on the rotating shaft, the driving sprocket and one of the sprockets of the double-row transition sprocket on the same side are equipped with a first chain, and the transmission sprocket and the other sprocket of the double-row transition sprocket on the same side are equipped with a second chain.

3. The palletizing robot gripper according to claim 1, characterized in that: The second driving mechanism includes a second driving cylinder and a second connecting rod; two second driving cylinders are provided, corresponding to the connecting shafts on the left and right sides respectively; a second cylinder mounting seat is provided on the frame, and the second driving cylinder is rotatably connected to the second cylinder mounting seat, and a second cylinder joint is provided at the end of the piston rod of the second driving cylinder, one end of the second connecting rod is hinged to the second cylinder joint, and the other end is fixedly connected to the corresponding connecting shaft.

4. The palletizing robot gripper according to claim 1, characterized in that: The frame is also provided with a clamping mechanism, which comprises a vertically arranged clamping cylinder, and a pressure plate is provided at the end of the piston rod of the clamping cylinder.

5. The palletizing robot gripper according to claim 4, characterized in that: Two clamping cylinders are provided, which are respectively arranged on the front and rear sides of the frame. The pressure plates are arranged horizontally, and the two pressure plates extend to the opposite sides respectively.

6. A method for using a palletizing robot gripper, characterized in that: Through the cooperation of the first driving mechanism and the second driving mechanism, the palletizing robot gripper can have two working modes; The first type: the angle between the limit arm and the gripper finger is 90°, the first drive mechanism is locked, and the second drive mechanism drives the limit arm to grab the bag; The second type: the limit arm is in a vertical state and does not move, the second drive mechanism is locked, and the first drive mechanism drives the gripping fingers to grab the cargo package.

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