Multifunctional robot palletizer gripper

Abstract

The invention discloses a multifunctional robot palletizer gripper and relates to the field of robot palletizers, the multifunctional robot palletizer gripper comprises a frame and a top plate, the top plate is located at the top of the frame, a connector is mounted on the top plate, sliding grooves are symmetrically formed in the frame, sliding blocks are slidably arranged in the sliding grooves, and supporting rods are hinged to the tops of the sliding blocks; and the other end of the supporting rod is hinged to the top plate, the bottom end of the sliding block is connected with a sliding plate, a bearing plate is arranged at the bottom of the sliding plate, a clamping plate is arranged in the sliding plate, and a special-shaped gear is arranged in the sliding plate. A bearing plate at the bottom of a sliding plate rotates by 90 degrees under the cooperation of a special-shaped gear and a transmission mechanism, the bearing plate can support the bottoms of carton cargoes, in the process that a mechanical arm pulls a top plate to move upwards, air in an elastic air bag is exhausted into buffering air bags on the two sides, and therefore the carton cargoes are conveyed to the bottom of the carton cargoes. Therefore, the whole carton goods are limited and clamped.

Description

Technical Field

[0001] The present invention relates to the field of palletizing robots, in particular to a multifunctional palletizing robot gripper. Background Art

[0002] With the continuous development of my country's economy, the continuous increase in labor costs, and the labor shortages that have occurred in various places, companies are forced to consider using more automated equipment to increase production speed, reduce labor costs, and maximize profits. In companies with high labor intensity, palletizing robots are the company's preferred automated equipment. Previously, palletizing robots have been widely promoted in the automotive manufacturing industry. Currently, they are being used more and more in other industries such as paper, food, and pharmaceuticals.

[0003] The palletizing robot is mainly composed of two parts: a robotic arm and a gripper. The existing palletizing robot grippers often clamp and palletize goods through two symmetrically arranged groups of clamps. When facing carton goods, the grippers are opened and closed to cover the two sides of the carton, and then the clamps are used to clamp them. Since the grippers are in a moving state during the palletizing process, it is very easy for the carton goods to shake during the transfer process using only two groups of clamps, affecting the stability of the entire transportation process. At the same time, there is often no supporting mechanism at the bottom of the carton goods during the clamping process of the clamps. Therefore, it is very easy for the goods in the carton to be damaged due to shaking during the movement, and the goods may fall from the bottom of the carton.

[0004] In summary, during the use of the above structure, the carton goods will shake during the transfer process, and there is often no supporting structure at the bottom of the carton goods. Therefore, it is very easy for the goods in the carton to shake during the movement, causing damage to the bottom of the carton. Summary of the Invention

[0005] Based on this, the purpose of the present invention is to provide a multifunctional palletizing robot gripper to solve the technical problem that the carton goods shake during the transfer process, and the goods in the carton are easily damaged due to shaking during the movement.

[0006] To achieve the above-mentioned object, the present invention provides the following technical solution: a multifunctional palletizing robot gripper, comprising a frame and a top plate, wherein the top plate is located at the top of the frame and a connector is mounted on the top plate, wherein slidable grooves are symmetrically provided on the frame and a slider is slidably provided in the slidable grooves, wherein the top of the slider is hingedly connected to a support rod and the other end of the support rod is hingedly connected to the top plate, the bottom end of the slider is connected to a sliding plate, and a supporting plate is rotatably provided at the bottom of the sliding plate; A clamping plate is provided on the inner side of the sliding plate for sliding in the vertical direction, and a special-shaped gear that cooperates with the clamping plate is rotatably provided inside the sliding plate, a supporting plate that cooperates with the special-shaped gear is rotatably provided at the bottom of the sliding plate, an elastic airbag is provided on one side of the slider in the sliding groove, and a buffer airbag connected to the elastic airbag is provided at the bottom of the frame.

[0007] By adopting the above technical solution, the clamping plate drives the carton goods upward through the cooperation of the electric slide rail and the electric slider. At this time, the supporting plate at the bottom of the sliding plate is rotated ninety degrees with the cooperation of the special-shaped gear and the transmission mechanism. The supporting plate can support the bottom of the carton goods. In the process of the robotic arm pulling the top plate upward, the slider will squeeze the elastic airbag on one side, so that the gas in the elastic airbag is discharged into the buffer airbags on both sides, thereby completing the limited clamping of the entire carton goods.

[0008] The present invention is further configured such that one side of the top of the support plate is L-shaped, and a guide column is elastically connected at this position, a shock-absorbing airbag is installed on the top of the support plate, and an insertion rod that cooperates with the guide column is slidingly provided in the support plate, one end of the insertion rod is connected to a piston assembly, and an air pipe is connected between the piston assembly and the shock-absorbing airbag.

[0009] Preferably, when the support plate is subsequently flipped 90 degrees, the guide column will be squeezed to make the guide column slide toward the inside of the support plate, and through cooperation with the insertion rod, the gas in the piston assembly will be discharged into the shock-absorbing airbag through the air pipe. At this time, the top of the shock-absorbing airbag is in contact with the bottom of the carton goods. In the process of moving and stacking by the robotic arm, the shock-absorbing airbag can play a buffering role for the carton goods, further improving the protection effect of the goods in the carton.

[0010] The present invention is further configured such that the piston assembly includes a piston cylinder, a piston plate and an elastic assembly, one end of the insertion rod passes through the piston cylinder and is connected to the piston plate, and the other side of the piston plate is connected to the elastic assembly.

[0011] Preferably, when the rod is squeezed on one side by the action of the guide column, the rod will drive the piston plate in the piston cylinder to slide to one side. In this process, the gas in the piston cylinder is discharged into the shock-absorbing airbag. At the same time, when the guide column is reset later, the piston plate is reset under the action of the elastic component, and the gas in the shock-absorbing airbag is drawn back, making it in a deflated state, thereby preventing damage to the shock-absorbing airbag during daily maintenance.

[0012] The present invention is further configured such that an electric slide rail is symmetrically provided on the inner side of the sliding plate, and an electric slider is slidably provided inside the electric slide rail, and one end of the electric slider is connected to the clamping plate.

[0013] Preferably, after the clamping plate completes clamping of the carton goods, the electric slide rail is activated to drive the electric slider to slide upward, thereby enabling the clamping plate to drive the clamped carton goods to slide toward the top.

[0014] The present invention is further configured such that a tooth block cooperating with a special-shaped gear is provided on one side of the electric slider, and a transmission mechanism is connected to one end of the special-shaped gear, and the other end of the transmission mechanism is connected to the supporting plate.

[0015] Preferably, when the electric slider moves upward through the electric slide rail, the tooth block on one side will drive the special-shaped gear to rotate, thereby achieving the following rotation of the supporting plate under the action of the transmission mechanism.

[0016] The present invention is further configured such that a protective cover is provided on the inner side of the clamping plate, and the protective cover is provided in a rough shape.

[0017] Preferably, the clamping plate is placed in direct contact with the outer wall of the carton under the action of the protective cover, which effectively prevents the outer wall of the carton from being worn during the clamping process. At the same time, the rough setting can increase the sliding friction between the carton and the protective cover. In the subsequent process of sliding upward through the electric slider, the carton slides with the clamping plate.

[0018] The present invention is further configured such that the transmission mechanism includes a driving disc, a transmission belt and a driven disc, the driving disc and the driven disc are connected by a transmission belt, one end of the driving disc is connected to a special-shaped gear, and one end of the driven disc is connected to a support plate.

[0019] Preferably, when the special-shaped gear is driven to rotate by the action of the tooth block, the active disk at one end rotates accordingly, and the driven disk also rotates accordingly due to the action of the transmission belt, thereby driving the support plate to rotate at a certain angle.

[0020] The present invention is further configured such that an electric suction cup is provided at the bottom of the top plate, and when the electric suction cup is adsorbed onto the frame, the sliders are located on both sides of the frame.

[0021] Preferably, in the initial state, the bottom of the electric suction cup is in contact with the top of the frame, at which time the slider drives the sliding plate to be in an open state. When the robotic arm controls the frame so that the sliding plates are on both sides of the carton goods, the electric suction cup is disconnected and is no longer adsorbed on the top of the frame.

[0022] The present invention is further configured such that the contact surface between the sliding groove and the slider is smooth.

[0023] As a preferred embodiment, the smooth setting effectively reduces the sliding friction between the two, ensuring the stability of the sliding block in the sliding groove when the support rod is pulled in an inclined direction, and preventing it from getting stuck during the clamping process.

[0024] The present invention is further configured such that the contact surface between the bottom end of the guide post and one end of the insertion rod is arranged in an arc shape.

[0025] Preferably, the arc is arranged in the process of the guide column moving downward to ensure that one end of the guide column stably squeezes one end of the insertion rod, so that the insertion rod can slide stably to one side.

[0026] In summary, the present invention mainly has the following beneficial effects: The present invention provides a top plate on the top of the frame, and the top plate is pulled up and down by the mechanical arm. At this time, the slider slides inward under the action of the support rod, thereby causing the sliding plate to drive the clamping plate to clamp the two sides of the carton goods. In this process, automatic clamping of the two sides of the carton goods is achieved, which is convenient for adapting to carton goods of different sizes. At the same time, the clamping plate drives the carton goods to move upward through the cooperation of the electric slide rail and the electric slider. At this time, the supporting plate at the bottom of the sliding plate rotates 90 degrees under the cooperation of the special-shaped gear and the transmission mechanism. At this time, the supporting plate can support the bottom of the carton goods, thereby preventing the goods from falling from the bottom of the carton during the transfer process. The present invention provides an elastic airbag on one side of the slider in the chute. When the robotic arm pulls the top plate upward, the slider squeezes the elastic airbag on one side, causing the gas in the elastic airbag to be discharged into the buffer airbags on both sides. Subsequently, when the carton goods are driven upward by the electric slider, the top of the carton goods will contact the bottom of the buffer airbag, thereby completing the limited clamping of the entire carton goods. At this time, the stability of the carton goods is guaranteed during the process of transferring the goods by the robotic arm, and the carton goods are effectively prevented from shaking at the bottom of the frame. The present invention has one side of the support plate in an L-shape, and a guide post is elastically provided at the position of the support plate. When the support plate is subsequently flipped ninety degrees, the guide post will be squeezed, causing the guide post to slide toward the inside of the support plate, and through cooperation with the insertion rod, the gas in the piston assembly is discharged into the shock-absorbing airbag through the air pipe. At this time, the top of the shock-absorbing airbag is in contact with the bottom of the carton goods. In the process of moving and stacking by the robotic arm, the shock-absorbing airbag can play a buffering role for the carton goods, further improving the protection effect of the goods in the carton. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 A top perspective view of the present invention; Figure 2 A bottom perspective view of the present invention; Figure 3 Schematic diagram of the elastic airbag structure of the present invention; Figure 4 It is the front view of the present invention; Figure 5 It is a schematic structural diagram of the transmission mechanism of the present invention; Figure 6 This is a structural schematic diagram of the support plate of the present invention in a horizontal state; Figure 7 It is a schematic diagram of the electric slide structure of the present invention; Figure 8 is a cross-sectional view of a support plate of the present invention; Figure 9 For the present invention Figure 1 A magnified view of middle A; Figure 10 For the present invention Figure 3 Magnified view of B.

[0028] Description of reference numerals: 1. Frame; 2. Top plate; 3. Connector; 4. Support rod; 5. Slide groove; 6. Sliding plate; 7. Support plate; 8. Electric suction cup; 9. Clamping plate; 10. Slider; 11. Buffer airbag; 12. Elastic airbag; 13. Special-shaped gear; 14. Transmission mechanism; 15. Guide column; 16. Gear block; 17. Shock-absorbing airbag; 18. Electric slide rail; 19. Insert rod; 20. Piston assembly; 21. Air pipe; 22. Electric slider. DETAILED DESCRIPTION

[0029] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be understood as limiting the present invention.

[0030] The following describes an embodiment of the present invention based on its overall structure. Example 1

[0031] See also Figures 1-10The multifunctional palletizing robot gripper shown includes a frame 1, a top plate 2, a connecting head 3, a transmission mechanism 14, a clamping mechanism, a stabilizing mechanism and a supporting mechanism. Slide grooves 5 are symmetrically opened on the frame 1, and a slider 10 is slidingly arranged in the slide groove 5. A support rod 4 is hinged at the top of the slider 10, and the other end of the support rod 4 is hinged to the top plate 2, and the connecting head 3 is located at the top of the top plate 2. During the palletizing process, the staff connects the connecting head 3 to the output end of the robot arm, and moves the frame 1 to the carton goods under the action of the robot arm. Since a sliding plate 6 is connected to the bottom end of the slider 10, the sliding plates 6 are on both sides of the carton goods at this time. The connecting head 3 is pulled upward by the robot arm, so that the top plate 2 drives the support rod 4 to move upward together. At this time, the slider 10 will slide inward in the slide groove 5, thereby realizing that the sliding plates 6 are attached to both sides of the carton goods; Since an elastic airbag 12 is provided on one side of the slider 10 in the slide groove 5, and a buffer airbag 11 connected to the elastic airbag 12 is provided at the bottom of the frame 1, the elastic airbag 12 on one side will be squeezed when the slider 10 drives the sliding plate 6 to slide inward. At this time, the elastic airbag 12 will discharge the internal gas into the buffer airbag 11. During this process, the buffer airbag 11 is inflated. At the same time, a clamping plate 9 is provided on the inner side of the sliding plate 6 to slide in the vertical direction. The outer wall of the carton cargo is clamped by the clamping plate 9. Since an electric slide rail 18 is symmetrically provided on the inner side of the sliding plate 6, and an electric slider 22 is provided to slide inside the electric slide rail 18, and one end of the electric slider 22 is connected to the clamping plate 9, the electric slide rail 18 is started to drive the electric slider 22 to slide upward, thereby realizing that the clamping plate 9 drives the clamped carton cargo to slide to the top; During this process, since a tooth block 16 that cooperates with the special-shaped gear 13 is provided on one side of the electric slider 22, and a transmission mechanism 14 is connected to one end of the special-shaped gear 13, and the other end of the transmission mechanism 14 is connected to the support plate 7, when the electric slider 22 moves upward through the electric slide rail 18, the tooth block 16 on one side will drive the special-shaped gear 13 to rotate, thereby realizing the support plate 7 to rotate ninety degrees under the action of the transmission mechanism 14. At this time, the support plate 7 can support the bottom of the carton goods, thereby preventing the goods from falling from the bottom of the carton during the transfer process, and the top of the carton goods will contact the bottom of the buffer airbag 11, thereby completing the limited clamping of the entire carton goods. At this time, the stability of the carton goods is guaranteed during the process of transferring the goods by the robotic arm, and the carton goods are effectively prevented from shaking at the bottom of the frame.

[0032] In the above embodiment, please refer to Figure 1 and Figure 2A protective cover is provided on the inner side of the clamping plate 9, and the protective cover is provided with a rough shape. Under the action of the protective cover, the clamping plate 9 is placed in direct contact with the outer wall of the carton, which effectively prevents the outer wall of the carton from being worn during the clamping process. At the same time, the rough setting can increase the sliding friction between the carton and the protective cover. In the subsequent process of sliding upward through the electric slider 22, the carton slides with the clamping plate.

[0033] In the above embodiment, please refer to Figure 5 The transmission mechanism 14 includes a driving disc, a transmission belt and a driven disc. The driving disc and the driven disc are connected by a transmission belt. A special-shaped gear 13 is connected to one end of the driving disc, and one end of the driven disc is connected to the supporting plate 7. When the special-shaped gear 13 is driven to rotate by the action of the tooth block 16, the driving disc at one end rotates accordingly. Due to the action of the transmission belt, the driven disc also rotates accordingly, thereby driving the supporting plate 7 to rotate at a certain angle.

[0034] In the above embodiment, please refer to Figure 1 , wherein an electric suction cup 8 is provided at the bottom of the top plate 2, and when the electric suction cup 8 is adsorbed with the frame 1, the slider 10 is on both sides of the frame 1. In the initial state, the bottom of the electric suction cup 8 is in contact with the top of the frame 1, at this time, the slider 10 drives the sliding plate 6 to be in an open state. When the robotic arm controls the frame 1 so that the sliding plate 6 is on both sides of the carton goods, the electric suction cup is disconnected, and at this time it is not adsorbed on the top of the frame 1. Subsequently, the connector 3 is pulled upward by the robotic arm, so that the top plate 2 drives the support rod 4 to move upward together, thereby completing the sliding of the slider 10. Example 2

[0035] See also Figure 5 and Figure 8 The multifunctional palletizing robot gripper shown has an overall structure similar to that of Example 1, wherein one side of the top of the support plate 7 is L-shaped, and a guide column 15 is elastically connected at this position. When the support plate 7 is subsequently flipped ninety degrees, the guide column 15 will be squeezed, causing the guide column 15 to slide into the inside of the support plate 7. At the same time, a shock-absorbing airbag 17 is installed on the top of the support plate 7, and an insertion rod 19 that cooperates with the guide column 15 is slidingly set in the support plate 7. A piston assembly 20 is connected to one end of the insertion rod 19, and an air pipe 21 is connected between the piston assembly 20 and the shock-absorbing airbag 17. Through the cooperation of the guide column 15 and the insertion rod 19, the gas in the piston assembly 20 is discharged into the shock-absorbing airbag 17 through the air pipe 21. At this time, the top of the shock-absorbing airbag 17 is in contact with the bottom of the carton goods. In the process of moving and stacking by the robotic arm, the shock-absorbing airbag 17 can play a buffering role on the carton goods, further improving the protection effect of the goods in the carton.

[0036] In the above embodiment, please refer to Figure 8 The piston assembly 20 includes a piston cylinder, a piston plate and an elastic component. One end of the rod 19 passes through the piston cylinder and is connected to the piston plate, and the other side of the piston plate is connected to the elastic component. When the rod 19 is squeezed on one side by the action of the guide column 15, the rod 19 will drive the piston plate in the piston cylinder to slide to one side. In this process, the gas in the piston cylinder is discharged into the shock-absorbing airbag 17. At the same time, when the guide column is reset later, the piston plate is reset by the action of the elastic component, and the gas in the shock-absorbing airbag 17 is drawn back, making it in a deflated state, thereby preventing damage to the shock-absorbing airbag 17 during routine maintenance.

[0037] The present invention works specifically as follows: when in use, the connector 3 is connected to the output end of the robot arm, and then the sliding plate 6 is located on both sides of the bottom of the frame 1 under the action of the electric suction cup 8, and the sliding plate 6 is moved to both sides of the carton goods by the robot arm, and then the electric suction cup 8 is powered off to release the connection with the frame 1, and at the same time the robot arm pulls up the top plate 2, at this time, under the action of the support rod, the slider 10 in the chute 5 moves inward, so that the sliding plate 6 is attached to both sides of the carton goods, and since the inner side of the clamping plate 9 is rough, the carton goods can be clamped by the clamping plate 9, and then the clamping plate 9 is slid upward under the action of the electric slide rail 18 and the electric slider 22; Through the cooperation of the special-shaped gear 13 and the transmission mechanism 14, the supporting plate 7 at the bottom of the sliding plate 6 is rotated ninety degrees. At this time, the supporting plate 7 can support the bottom of the carton goods. At the same time, as the slider 10 drives the sliding plate 6 to slide inward, the elastic airbag 12 on one side of the slider 10 will be squeezed. By discharging the gas in the elastic airbag 12 into the buffer airbags 11 on both sides, when the carton goods are subsequently driven to move upward by the electric slider 22, the top of the carton goods will contact the bottom of the buffer airbag 11, thereby completing the limited clamping of the entire carton goods. At this time, the stability of the carton goods is guaranteed during the process of transferring the goods by the robotic arm.

[0038] Although an embodiment of the present invention has been shown and described, this specific embodiment is merely an explanation of the present invention and is not a limitation of the invention. The specific features, structures, materials or characteristics described may be combined in an appropriate manner in any one or more embodiments or examples. After reading this specification, those skilled in the art may make modifications, substitutions and variations to the embodiment without creative contribution as needed without departing from the principles and purpose of the present invention. However, as long as they are within the scope of the claims of the present invention, they are protected by patent law.

Claims

1. A multifunctional palletizing robot gripper, comprising a frame (1) and a top plate (2), wherein the top plate (2) is located on the top of the frame (1) and a connector (3) is mounted on the top plate (2), characterized in that: The frame (1) is symmetrically provided with a slide groove (5), and a slider (10) is slidably provided in the slide groove (5), the top of the slider (10) is hinged to a support rod (4), and the other end of the support rod (4) is hinged to the top plate (2), the bottom end of the slider (10) is connected to a sliding plate (6), and a supporting plate (7) is rotatably provided at the bottom of the sliding plate (6); A clamping plate (9) is provided on the inner side of the sliding plate (6) for sliding in the vertical direction, and a special-shaped gear (13) cooperating with the clamping plate (9) is provided in rotation inside the sliding plate (6), a supporting plate (7) cooperating with the special-shaped gear (13) is provided in rotation at the bottom of the sliding plate (6), an elastic air bag (12) is provided on one side of the slider (10) in the sliding groove (5), and a buffer air bag (11) connected to the elastic air bag (12) is provided at the bottom of the frame (1).

2. The multifunctional palletizing robot gripper according to claim 1, characterized in that: One side of the top of the support plate (7) is L-shaped, and a guide column (15) is elastically connected at this position. A shock-absorbing airbag (17) is installed on the top of the support plate (7). An insertion rod (19) that cooperates with the guide column (15) is slidably provided in the support plate (7). One end of the insertion rod (19) is connected to a piston assembly (20), and an air pipe (21) is connected between the piston assembly (20) and the shock-absorbing airbag (17).

3. The multifunctional palletizing robot gripper according to claim 2, characterized in that: The piston assembly (20) comprises a piston cylinder, a piston plate and an elastic assembly. One end of the insertion rod (19) passes through the piston cylinder and is connected to the piston plate, and the other end of the insertion rod (19) is connected to the elastic assembly on the other side of the piston plate.

4. The multifunctional palletizing robot gripper according to claim 1, characterized in that: An electric slide rail (18) is symmetrically arranged on the inner side of the sliding plate (6), and an electric slider (22) is slidably arranged inside the electric slide rail (18), and one end of the electric slider (22) is connected to the clamping plate (9).

5. The multifunctional palletizing robot gripper according to claim 4, characterized in that: A tooth block (16) that cooperates with the special-shaped gear (13) is provided on one side of the electric slider (22), and a transmission mechanism (14) is connected to one end of the special-shaped gear (13), and the other end of the transmission mechanism (14) is connected to the supporting plate (7).

6. The multifunctional palletizing robot gripper according to claim 1, characterized in that: A protective cover is provided on the inner side of the clamping plate (9), and the protective cover is provided in a rough shape.

7. The multifunctional palletizing robot gripper according to claim 5, characterized in that: The transmission mechanism (14) comprises a driving disc, a transmission belt and a driven disc, wherein the driving disc and the driven disc are connected via a transmission belt, one end of the driving disc is connected to a special-shaped gear (13), and one end of the driven disc is connected to a supporting plate (7).

8. The multifunctional palletizing robot gripper according to claim 1, characterized in that: An electric suction cup (8) is provided at the bottom of the top plate (2), and when the electric suction cup (8) is adsorbed onto the frame (1), the sliders (10) are located on both sides of the frame (1).

9. The multifunctional palletizing robot gripper according to claim 1, characterized in that: The contact surface between the slide groove (5) and the slider (10) is smooth.

10. The multifunctional palletizing robot gripper according to claim 2, characterized in that: The contact surface between the bottom end of the guide column (15) and one end of the insertion rod (19) is arranged in an arc shape.

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