Stacking tool of industrial robot for packaging

Abstract

The invention discloses an industrial robot stacking tool for packaging, and belongs to the technical field of industrial robot stacking, the industrial robot stacking tool comprises a connecting flange, the lower surface of the connecting flange is fixedly connected with a mounting guide rail, and the lower surface of the right side of the mounting guide rail is fixedly connected with a main clamping plate; the lower end of the clamping plate with the hook is connected with a fork plate through a swing mechanism; the front side surface of the mounting guide rail is connected with a main clamping arm through a reciprocating mechanism, the rear side surface of the mounting guide rail is rotationally connected with a side clamping arm, and the other side surface of the rear side of the mounting guide rail is rotationally connected with an auxiliary clamping arm. According to the stacking tool for packaging of the industrial robot, in the using process, when materials need to be clamped, a servo motor can be started, when the servo motor works, a clamping plate with a hook is driven by a threaded rod to move towards a main clamping plate, finally, the materials are clamped and fixed through the clamping plate with the hook and the main clamping plate, stability is high, the operation process is rapid and convenient, and the working efficiency is high. The automation degree and the working efficiency are high.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial robot stacking, and specifically to a stacking tool for packaging by an industrial robot. Background Art

[0002] In modern factory production, intelligent stacking is extremely important. Intelligent stacking not only improves the accuracy of operations, but also reduces the operation cost, reduces the labor input, and reduces the loss of goods. In the field of intelligent stacking, industrial robots are one of the important components. During the working process of industrial robots, intelligent stacking becomes more standardized. For example, a stacking robot with the application number 201910599658.1 and the application date of July 4, 2019. When it works, it has a high degree of automation, a fast stacking speed, and accurate material recognition. There is also a Chinese patent application with the application number 201922027976.9 and the application date of November 21, 2019, an automatic stacking device for an industrial robot. When it works, it realizes the step of automatically transferring the packages on the conveying part to the stacking part by controlling the robotic arm assembly by the robot, reducing the labor intensity of the staff, making the overall process more intelligent and automated, reducing the production cost, and improving the production efficiency. And a Chinese patent application with the application number 201822154466.3 and the application date of December 21, 2018, a stacking robot. When it works, by setting the bearing plate, the purpose of bearing goods can be achieved; by setting the forklift assembly, the purpose of moving the goods onto the bearing plate can be achieved; by setting the cross plate and the first slider, the purpose of driving the bearing plate to move up and down can be achieved; by setting the frame, the purpose of setting the cross plate can be achieved.

[0003] During the use process, the stability of the robot's clamping of materials is extremely important. However, in the above-mentioned applications, the robots do not deepen the clamping structure of the materials. Therefore, during the stacking process, the situation of material dropping may occur, which will not only bring unnecessary troubles to material stacking, but also the dropped materials may accidentally injure the staff or passers-by, and the safety is relatively low. Summary of the Invention

[0004] The purpose of the present invention is to provide a stacking tool for packaging by an industrial robot, so as to solve the problem proposed in the above background art that during the use process, the clamping structure of the materials is not deepened, and therefore, during the stacking process, the situation of material dropping may occur, which will not only bring unnecessary troubles to material stacking, but also the dropped materials may accidentally injure the staff or passers-by, and the safety is relatively low.

[0005] To achieve the above object, the present invention provides the following technical solutions: A stacking tool for an industrial robot used for packaging, including a connecting flange, the lower surface of the connecting flange is fixedly connected with an installation guide rail, and the lower right surface of the installation guide rail is fixedly connected with a main clamping plate; the lower left surface of the installation guide rail is movably connected with a hook clamping plate through a sliding mechanism, and the upper front surface of the installation guide rail is bolted with a spherical plain bearing with a housing one, and the upper rear surface of the installation guide rail is bolted with a spherical plain bearing with a housing two; the lower end of the hook clamping plate is connected with a fork plate through a swinging mechanism, and the surface of the fork plate is fixedly connected with forks; the front surface of the installation guide rail is connected with a main clamping arm through a reciprocating mechanism, and the rear surface of the installation guide rail is rotatably connected with a side clamping arm, and the other side surface of the rear of the installation guide rail is rotatably connected with an auxiliary clamping arm.

[0006] Preferably, the sliding mechanism includes a servo motor bolted to the right surface of the main clamping plate, and the output end of the servo motor is fixedly connected with a threaded rod, and the threaded rod is threadedly connected with the hook clamping plate.

[0007] Preferably, the lower surface of the installation guide rail is fixedly connected with a linear slide rail, and the other side of the linear slide rail is bolted with the hook clamping plate, and the hook clamping plates are symmetrically distributed on both sides of the installation guide rail.

[0008] With the design of the above structure, when the servo motor works, the hook clamping plate can be driven by the threaded rod to move towards the main clamping plate, and finally the hook clamping plate and the main clamping plate will clamp and fix the material, with strong stability, and the operation process is fast and convenient, with high automation and high work efficiency.

[0009] Preferably, the surface of the hook clamping plate is fixedly connected with a hinge, and the other side of the hinge is fixedly connected with the fork plate, and the forks are equidistantly distributed on the surface of the fork plate.

[0010] Preferably, the hinge includes an upper connecting plate fixedly connected to the surface of the hook clamping plate, and the hinge further includes a lower connecting plate fixedly connected to the surface of the fork plate, and a connecting shaft is fixedly connected to the inner wall of the lower connecting plate, and the connecting shaft is rotatably connected to the upper connecting plate.

[0011] Preferably, the surface of the fork plate is fixedly connected with a docking hanger, the swinging mechanism is set as a side cylinder fixedly connected to the surface of the hook clamping plate, and the output end of the side cylinder is movably connected with the docking hanger.

[0012] With the design of the above structure, when the driving source of the swinging mechanism is a side cylinder, the side cylinder works, and at this time the output end of the side cylinder drives the fork plate to work. The fork plate rotates around the hook clamping plate under the action of the hinge. At this time, the fork plate and the forks support the bottom of the material, playing an auxiliary clamping role and optimizing the clamping stability.

[0013] Preferably, the swing mechanism is arranged as a motor fixedly connected to the lower surface of the upper connecting plate, and the output end of the motor is fixedly connected to the connecting shaft.

[0014] With the above structure design, when the driving source of the swing mechanism is a motor, the motor drives the lower connecting plate, the fork plate and the fork to rotate, and can also make the fork plate and the fork work to assist in clamping the material, with high working efficiency.

[0015] Preferably, the reciprocating mechanism includes an upper air cylinder fixedly connected to the upper surface of the installation guide rail, and the output end of the upper air cylinder is rotatably connected to the main clamping arm. The main clamping arms are symmetrically distributed on both sides of the installation guide rail, and a first shaft is fixedly connected between adjacent main clamping arms.

[0016] Preferably, the first shaft is rotatably arranged inside the spherical plain bearing with housing one. A connecting rod is rotatably connected to the inner wall of the left main clamping arm, and the other side of the connecting rod is rotatably arranged on the inner wall of the side clamping arm.

[0017] Preferably, the surface of the side clamping arm is fixedly connected with a second shaft, and the second shaft is rotatably arranged inside the spherical plain bearing with housing two, and the end of the second shaft is fixedly connected with an auxiliary clamping arm.

[0018] With the above structure design, the main clamping arm can work quickly. During specific operation, when the upper air cylinder is started, the output end of the upper air cylinder pushes the right main clamping arm, causing the right main clamping arm to rotate. At this time, the right main clamping arm drives the left main clamping arm to rotate through the first shaft. Then, the left main clamping arm pushes the side clamping arm through the connecting rod, causing the side clamping arm to work. After that, the side clamping arm drives the auxiliary clamping arm to work through the second shaft. Finally, the main clamping arms on both the left and right sides unfold, and the side clamping arm and the auxiliary clamping arm also unfold. When the output end of the upper air cylinder moves back, the main clamping arms on both the left and right sides retract, and the side clamping arm and the auxiliary clamping arm also retract, and the material can be clamped.

[0019] Compared with the prior art, the beneficial effects of the present invention are as follows: By adopting a new structural design, clamping structures on both sides of the material are provided. Through the main clamping plate and the hook-shaped clamping plate, the two sides of the material can be quickly clamped and fixed. At the same time, a clamping structure at the bottom of the material is also provided. Through the rotatable fork plate and fork, the bottom of the material is supported to play an auxiliary clamping role. Moreover, the main clamping arm, the side clamping arm and the auxiliary clamping arm are also provided to play an auxiliary clamping role, which can clamp more materials and stack more materials, with high working efficiency. The specific content is as follows:

[0020] (1) The stacking tool of this industrial robot for packaging can start the servo motor when it is necessary to clamp materials during use. When the servo motor works, it drives the hook clamping plate to move towards the main clamping plate through the threaded rod. Finally, the hook clamping plate and the main clamping plate clamp and fix the materials, with strong stability, and the operation process is fast and convenient, with high automation and high work efficiency.

[0021] (2) For the stacking tool of this industrial robot for packaging, after the hook clamping plate and the main clamping plate clamp and fix the materials, the swinging mechanism works. At this time, the side cylinder works, and the output end of the side cylinder drives the fork plate to work. The fork plate rotates around the hook clamping plate under the action of the hinge. At this time, the fork plate and the fork support the bottom of the materials, playing an auxiliary clamping role and optimizing the clamping stability.

[0022] Further, the driving source of the swinging mechanism can also be a motor. When the motor works, it drives the lower connecting plate, the fork plate and the fork to rotate, and can also make the fork plate and the fork work to assist in clamping the materials, with high work efficiency.

[0023] (3) For the stacking tool of this industrial robot for packaging, when the main clamping arms on the left and right sides need to work, start the upper cylinder. At this time, the output end of the upper cylinder pushes the main clamping arm on the right side, making the main clamping arm on the right side rotate. At this time, the main clamping arm on the right side drives the main clamping arm on the left side to rotate through the first shaft. Then, the main clamping arm on the left side drives the side clamping arm through the connecting rod, making the side clamping arm work. After that, the side clamping arm drives the auxiliary clamping arm to work through the second shaft. Finally, the main clamping arms on the left and right sides unfold, and the side clamping arm and the auxiliary clamping arm also unfold. When the output end of the upper cylinder moves back, the main clamping arms on the left and right sides retract, and the side clamping arm and the auxiliary clamping arm also retract, and can clamp the materials, with high automation, fast operation and high work efficiency.

[0024] Further, the spherical plain bearing with housing one can make the first shaft rotate more stably, and the spherical plain bearing with housing two can make the second shaft rotate more stably. Brief Description of the Drawings

[0025] Figure 1 It is a schematic diagram of the connection structure between the connecting flange and the mounting guide rail of the present invention;

[0026] Figure 2 It is a schematic diagram of the connection structure between the mounting guide rail and the servo motor of the present invention;

[0027] Figure 3 It is a schematic diagram of the connection structure between the mounting guide rail and the hook clamping plate of the present invention;

[0028] Figure 4 It is a schematic diagram of the working state structure of the hook clamping plate of the present invention;

[0029] Figure 5 Schematic diagram of the connection structure between the hook clamping plate and the linear slide rail of the present invention;

[0030] Figure 6 Schematic diagram of the connection structure between the hook clamping plate and the side cylinder of the present invention;

[0031] Figure 7 Schematic diagram of the distribution state structure of the forks of the present invention;

[0032] Figure 8 Schematic diagram of the connection structure between the upper connecting plate and the motor of the present invention;

[0033] Figure 9 Schematic diagram of the distribution state structure of the main clamping arms of the present invention.

[0034] In the figure: 1. Connecting flange; 2. Installation guide rail; 3. Main clamping plate; 4. Servo motor; 5. Threaded rod; 6. Linear slide rail; 7. Hook clamping plate; 8. Fork plate; 9. Fork; 10. Side cylinder; 11. Docking hanger; 12. Hinge; 121. Upper connecting plate; 122. Lower connecting plate; 123. Connecting shaft; 13. Motor; 14. Upper cylinder; 15. Main clamping arm; 16. Spherical plain bearing with housing one; 17. First shaft; 18. Spherical plain bearing with housing two; 19. Second shaft; 20. Connecting rod; 21. Side clamping arm; 22. Auxiliary clamping arm. Detailed implementation manners

[0035] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0036] The present invention provides the following technical solutions: A stacking tool for industrial robots used in packaging.

[0037] Embodiment 1: By providing the hook clamping plate 7 and the main clamping plate 3, the material can be quickly clamped and fixed. As Figures 1 - 4 shown, it includes a connecting flange 1. The lower surface of the connecting flange 1 is fixedly connected with an installation guide rail 2, and the lower right surface of the installation guide rail 2 is fixedly connected with a main clamping plate 3; the lower left surface of the installation guide rail 2 is movably connected with a hook clamping plate 7 through a sliding mechanism; the sliding mechanism includes a servo motor 4 bolted to the right surface of the main clamping plate 3, and the output end of the servo motor 4 is fixedly connected with a threaded rod 5, and the threaded rod 5 is threadedly connected with the hook clamping plate 7. The lower surface of the installation guide rail 2 is fixedly connected with a linear slide rail 6, and the other side of the linear slide rail 6 is bolted to the hook clamping plate 7, and the hook clamping plates 7 are symmetrically distributed on both sides of the installation guide rail 2.

[0038] During use, when it is necessary to clamp the material, the servo motor 4 on the surface of the main clamping plate 3 can be started. When the servo motor 4 works, it rotates through the threaded rod 5, and the hook clamping plate 7 is simultaneously connected to the installation guide rail 2 through the linear slide rail 6. Furthermore, the threaded rod 5 drives the hook clamping plate 7 to move towards the main clamping plate 3. Finally, the hook clamping plate 7 and the main clamping plate 3 clamp and fix the material, with strong stability, and the operation process is fast and convenient, with a high degree of automation, high work efficiency. At the same time, the hook clamping plates 7 are symmetrically distributed on both sides of the installation guide rail 2, optimizing the clamping stability and also enabling clamping of more materials.

[0039] Embodiment 2: Different from Embodiment 1, the swing mechanism provided can drive the fork plate 8 and the fork 9 to work, and the fork plate 8 and the fork 9 can clamp the lower surface of the material, improving the stability. As Figures 5 - 7 shown, the lower end of the hook clamping plate 7 is connected to the fork plate 8 through the swing mechanism, and a fork 9 is fixedly connected to the surface of the fork plate 8. A hinge 12 is fixedly connected to the surface of the hook clamping plate 7, and the other side of the hinge 12 is fixedly connected to the fork plate 8. The forks 9 are evenly distributed on the surface of the fork plate 8. The hinge 12 includes an upper connecting plate 121 fixedly connected to the surface of the hook clamping plate 7, and the hinge 12 further includes a lower connecting plate 122 fixedly connected to the surface of the fork plate 8. A connecting shaft 123 is fixedly connected to the inner wall of the lower connecting plate 122, and the connecting shaft 123 is rotatably connected to the upper connecting plate 121. A docking hanger 11 is fixedly connected to the surface of the fork plate 8. The swing mechanism is set as a side cylinder 10 fixedly connected to the surface of the hook clamping plate 7, and the output end of the side cylinder 10 is movably connected to the docking hanger 11.

[0040] After the hook clamping plate 7 and the main clamping plate 3 clamp and fix the material, the swing mechanism works. At this time, the side cylinder 10 on the surface of the hook clamping plate 7 works. At this time, the output end of the side cylinder 10 drives the fork plate 8 to work. The fork plate 8 and the fork 9 rotate around the hook clamping plate 7 under the action of the hinge 12. At this time, the fork plate 8 and the fork 9 support the bottom of the material, playing an auxiliary clamping role and optimizing the clamping stability.

[0041] Embodiment 3: Different from Embodiment 2, by setting the motor 13, the fork plate 8 and the fork 9 can also be driven to work. As Figure 8 shown, the swing mechanism is set as a motor 13 fixedly connected to the lower surface of the upper connecting plate 121, and the output end of the motor 13 is fixedly connected to the connecting shaft 123.

[0042] When the driving source of the swing mechanism is the motor 13, the work of the motor 13 can also drive the lower connecting plate 122, the fork plate 8 and the fork 9 to rotate, and can also make the fork plate 8 and the fork 9 work to assist in clamping the material, with high work efficiency.

[0043] Embodiment 4: Different from Embodiment 3, by providing the main clamping arm 15, the side clamping arm 21 and the auxiliary clamping arm 22, the side clamping function is achieved, and more materials can be clamped, improving the working efficiency. As Figure 9 shown, the front side surface of the mounting guide rail 2 is connected with the main clamping arm 15 through a reciprocating mechanism, and the rear side surface of the mounting guide rail 2 is rotatably connected with the side clamping arm 21, and the other side surface of the rear side of the mounting guide rail 2 is rotatably connected with the auxiliary clamping arm 22. A spherical plain bearing 16 with a housing is bolted to the upper surface of the front side of the mounting guide rail 2, and a spherical plain bearing 18 with a housing is bolted to the upper surface of the rear side of the mounting guide rail 2. The reciprocating mechanism includes an upper cylinder 14 fixedly connected to the upper surface of the mounting guide rail 2, and the output end of the upper cylinder 14 is rotatably connected with the main clamping arm 15, and the main clamping arms 15 are symmetrically distributed on both sides of the mounting guide rail 2, and a first shaft 17 is fixedly connected between adjacent main clamping arms 15.

[0044] The first shaft 17 is rotatably arranged inside the spherical plain bearing 16 with a housing. A connecting rod 20 is rotatably connected to the inner wall of the left main clamping arm 15, and the other side of the connecting rod 20 is rotatably arranged on the inner wall of the side clamping arm 21. A second shaft 19 is fixedly connected to the surface of the side clamping arm 21, and the second shaft 19 is rotatably arranged inside the spherical plain bearing 18 with a housing, and the auxiliary clamping arm 22 is fixedly connected to the end of the second shaft 19.

[0045] When the main clamping arms 15 on the left and right sides need to work, the upper cylinder 14 is started. At this time, the output end of the upper cylinder 14 pushes the right main clamping arm 15, causing the right main clamping arm 15 to rotate. At this time, the right main clamping arm 15 drives the left main clamping arm 15 to rotate through the first shaft 17. Then, the left main clamping arm 15 pushes the side clamping arm 21 through the connecting rod 20, causing the side clamping arm 21 to work. After that, the side clamping arm 21 drives the auxiliary clamping arm 22 to work through the second shaft 19. Finally, the main clamping arms 15 on the left and right sides are unfolded, and the side clamping arm 21 and the auxiliary clamping arm 22 are also unfolded. When the output end of the upper cylinder 14 moves back, the main clamping arms 15 on the left and right sides are retracted, and the side clamping arm 21 and the auxiliary clamping arm 22 are also retracted, and the materials can be clamped. It has a high degree of automation, quick operation, and high working efficiency. The spherical plain bearing 16 with a housing can make the first shaft 17 rotate more stably, and the spherical plain bearing 18 with a housing can make the second shaft 19 rotate more stably.

[0046] The above is the working process of the entire device, and the content not described in detail in this specification belongs to the prior art well-known to those skilled in the art.

[0047] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. Stacking tool for industrial robots used in packaging, including a connecting flange (1), the lower surface of the connecting flange (1) is fixedly connected with an installation guide rail (2), and the lower right surface of the installation guide rail (2) is fixedly connected with a main clamping plate (3); It is characterized in that: The lower left surface of the installation guide rail (2) is movably connected with a hook clamping plate (7) through a sliding mechanism, and the upper front surface of the installation guide rail (2) is bolted with a spherical plain bearing with housing one (16), and the upper rear surface of the installation guide rail (2) is bolted with a spherical plain bearing with housing two (18); The lower end of the hook clamping plate (7) is connected with a fork plate (8) through a swinging mechanism, and the surface of the fork plate (8) is fixedly connected with forks (9); The front surface of the installation guide rail (2) is connected with a main clamping arm (15) through a reciprocating mechanism, and the rear surface of the installation guide rail (2) is rotatably connected with a side clamping arm (21), and the other side surface of the rear of the installation guide rail (2) is rotatably connected with an auxiliary clamping arm (22).

2. The stacking tool for packaging of the industrial robot according to claim 1, characterized in that: The sliding mechanism includes a servo motor (4) bolted to the right surface of the main clamping plate (3), and the output end of the servo motor (4) is fixedly connected with a threaded rod (5), and the threaded rod (5) is in threaded connection with the hook clamping plate (7).

3. The stacking tool for packaging of the industrial robot according to claim 1, characterized in that: The lower surface of the installation guide rail (2) is fixedly connected with a linear slide rail (6), and the other side of the linear slide rail (6) is bolted to the hook clamping plate (7), and the hook clamping plates (7) are symmetrically distributed on both sides of the installation guide rail (2).

4. The stacking tool for packaging of the industrial robot according to claim 1, characterized in that: The surface of the hook clamping plate (7) is fixedly connected with a hinge (12), and the other side of the hinge (12) is fixedly connected with the fork plate (8), and the forks (9) are equally spaced on the surface of the fork plate (8).

5. The stacking tool for packaging of the industrial robot according to claim 4, characterized in that: The hinge (12) includes an upper connecting plate (121) fixedly connected to the surface of the hook clamping plate (7), and the hinge (12) further includes a lower connecting plate (122) fixedly connected to the surface of the fork plate (8), and a connecting shaft (123) is fixedly connected to the inner wall of the lower connecting plate (122), and the connecting shaft (123) is rotatably connected to the upper connecting plate (121).

6. The stacking tool for packaging of the industrial robot according to claim 1, characterized in that: The surface of the fork plate (8) is fixedly connected with a docking hanger (11), the swinging mechanism is a side cylinder (10) fixedly connected to the surface of the hook clamping plate (7), and the output end of the side cylinder (10) is movably connected to the docking hanger (11).

7. The stacking tool for packaging of the industrial robot according to claim 5, characterized in that: The swinging mechanism is a motor (13) fixedly connected to the lower surface of the upper connecting plate (121), and the output end of the motor (13) is fixedly connected to the connecting shaft (123).

8. The stacking tool for packaging of the industrial robot according to claim 1, characterized in that: The reciprocating mechanism includes an upper cylinder (14) fixedly connected to the upper surface of the installation guide rail (2), and the output end of the upper cylinder (14) is rotatably connected to the main clamping arm (15), and the main clamping arms (15) are symmetrically distributed on both sides of the installation guide rail (2), and a first shaft (17) is fixedly connected between adjacent main clamping arms (15).

9. The stacking tool for packaging of the industrial robot according to claim 8, characterized in that: The first shaft (17) is rotatably arranged inside the first spherical bearing with housing (16). A connecting rod (20) is rotatably connected to the inner wall of the left main clamping arm (15), and the other side of the connecting rod (20) is rotatably arranged on the inner wall of the side clamping arm (21).

10. The stacking tool for packaging of the industrial robot according to claim 1, characterized in that: The surface of the side clamping arm (21) is fixedly connected with a second shaft (19). The second shaft (19) is rotatably arranged inside the second spherical bearing with housing (18), and the end of the second shaft (19) is fixedly connected with an auxiliary clamping arm (22).

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