Self-adaptive shaping and centering deviation rectifying device for stacking of manipulator

Abstract

The invention provides a self-adaptive shaping and centering deviation rectifying device for manipulator stacking. The self-adaptive shaping and centering deviation rectifying device comprises a telescopic air cylinder vertically installed at the bottom of a manipulator and a clamping air cylinder horizontally installed at the bottom of the telescopic air cylinder. The bottom of the telescopic air cylinder is slidably installed on the base through a horizontal guide rod, the tail end of the clamping air cylinder is fixed to the base, and the head end of the clamping air cylinder is fixed to the telescopic air cylinder and drives the sponge installation block to move outwards in a one-way mode. The tail ends of the clamping cylinders are mounted inwards; sponge plates are fixed to the bottoms of sponge installation blocks which are movably installed at the two ends of a sliding rail, and the middle of the sliding rail penetrates through a sliding rail base. According to the invention, the clamped sponge plates can be ensured to automatically return to the center and have a transverse centering shaping function, so that the material warehousing efficiency is effectively improved, the sponge plates are mutually independent and can slide, and one locking device can be shared, so that electrical components can be effectively reduced, and the equipment cost and the maintenance cost are reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of adaptive shaping centering deviation device for mechanical hand stacking, belong to logistics equipment technical field. BACKGROUND

[0002] Joint robot is often used in automated logistics to stack, generally material line before feeding will unify the material with fixed posture, fixed position transmission to robot to stack, but in the process of transmission, material position and material itself can deviate from theory:

[0003] (1) existing fixture is completely dependent on line and carries out grabbing, and when line material is deviated, the device does not have horizontal shaping and deviation correction function, even if the positioning accuracy of robot is very high, but because material is not neat, it leads to uneven after stacking;

[0004] (2) even when material is not deviated, because ordinary adhesive tape is used to seal the material box, the fixture based on suction cup absorbs material, because the seal is not flat or the seal is too strong, the center of gravity causes longitudinal non-vertical after grabbing in the air, and the stacking also appears uneven, and the running speed of robot cannot be opened by 100%.

[0005] The above reasons can make the material not have the condition of entering warehouse when entering warehouse. SUMMARY

[0006] To solve the above technical problems, the present application provides a kind of adaptive shaping centering deviation device for mechanical hand stacking, which can ensure that the gripped sponge plate is automatically returned to the center, with horizontal centering and shaping function, thereby effectively improving the efficiency of material entering warehouse.

[0007] The present application is realized by the following technical scheme.

[0008] The present application provides a kind of adaptive shaping centering deviation device for mechanical hand stacking, which includes telescopic cylinder vertically installed at the bottom of robot and clamping cylinder horizontally installed at the bottom of telescopic cylinder;The bottom of telescopic cylinder is slidably installed on base through horizontal guide rod, the tail end of clamping cylinder is fixed on base, the head end of clamping cylinder is fixed on telescopic cylinder and drives sponge mounting block outwardly;Clamping cylinder is symmetrical left and right, and tail end is installed inward;Sponge mounting block is fixed with sponge plate at the bottom, and is movably installed at both ends of slide rail, and slide rail passes through slide rail seat in the middle.

[0009] The middle of slide rail seat has lock seat, and lock is installed on lock seat, and lock can lock slide rail movably.

[0010] The slide rail seat is three groups and is installed in parallel.

[0011] The front and rear ends of the three groups of slide rail seats are respectively provided with a pair of clamping cylinders.

[0012] The sponge plate is an arc surface plate.

[0013] The position between the slide rail seat and the sponge mounting block is provided with a centering spring set on the slide rail.

[0014] The sponge plate is independently provided with a plate at the bottom of each sponge mounting block.

[0015] The angle between the telescopic cylinder and the clamping cylinder is 90 degrees.

[0016] The lock is located at the center position of the lock seat and the slide rail seat.

[0017] Stacking operation of a material box before storage in the warehousing industry.

[0018] The beneficial effects of the present application are that the clamped sponge plate can be automatically centered, has a self-centering and shaping function in the transverse direction, thereby effectively improving the material storage efficiency, each sponge plate can slide independently, the locking device can be shared, the electrical components can be effectively reduced, thereby reducing the equipment cost and maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural schematic diagram of at least one embodiment of the present application;

[0020] Figure 2 is Figure 1 a top view.

[0021] In the figure: 11- telescopic cylinder, 12- clamping cylinder, 13- base, 14- guide rod, 21- slide rail, 22- centering spring, 23- sponge plate, 24- slide rail seat, 25- lock seat, 26- sponge mounting block, 27- lock. DETAILED DESCRIPTION

[0022] The technical solutions of the present application are further described below, but the scope of protection is not limited to the description.

[0023] The first embodiment of the present application relates to as Figure 1 , Figure 2The self-adapting shaping centering and correcting device for mechanical hand stacking includes a telescopic cylinder 11 vertically installed at the bottom of the mechanical hand and a clamping cylinder 12 horizontally installed at the bottom of the telescopic cylinder 11; the bottom of the telescopic cylinder 11 is slidably installed on a base 13 through a horizontal guide rod 14, the tail end of the clamping cylinder 12 is fixed on the base 13, the head end of the clamping cylinder 12 is fixed on the telescopic cylinder 11 and unidirectionally drives the sponge mounting block 26 to move outward, the clamping cylinder 12 is left-right symmetrical and is installed with the tail end inward, the bottom of the sponge mounting block 26 is fixed with a sponge plate 23, the sponge mounting block 26 is movably installed at both ends of a slide rail 21, and the middle part of the slide rail 21 penetrates through a slide rail seat 24.

[0024] The second embodiment of the present application is basically the same as the first embodiment, and mainly lies in that the middle part of the slide rail seat 24 is provided with a lock seat 25, the lock seat 25 is provided with a lock 27, and the lock 27 can movably lock the slide rail 21.

[0025] Further, the slide rail seat 24 is three groups of parallel installation.

[0026] Further, one pair of clamping cylinders 12 is installed at the front and rear ends of the three groups of slide rail seats 24.

[0027] Further, the telescopic cylinder 11 and the clamping cylinder 12 form a 90° angle.

[0028] Further, the lock 27 is located at the center position of the lock seat 25 and the slide rail seat 24.

[0029] The third embodiment of the present application is basically the same as the first embodiment, and mainly lies in that the sponge plate 23 is an arc plate.

[0030] Further, the centering spring 22 is sleeved on the slide rail 21 between the slide rail seat 24 and the sponge mounting block 26.

[0031] Further, one piece of the sponge plate 23 is independently installed at the bottom of each sponge mounting block 26.

[0032] The present application is especially suitable for the stacking operation of the material box before entering the warehouse in the warehousing industry, such as the stacking operation of the tobacco material box before entering the warehouse.

[0033] Based on the above-mentioned embodiments, the general working principle of the present application lies in:

[0034] 1. After three pieces of the sponge plate grab three same specifications of the materials which are not aligned left and right in the air;

[0035] 2. The clamping cylinder is unfolded (usually in an unfolded state);

[0036] 3. The telescopic cylinder is extended;

[0037] 4. After the telescopic cylinder is in place, the clamping cylinder is retracted. At this time, since the three sponge plates are on independent slide rails, after the clamping cylinder is activated, although the sponge plates are uneven, the material is indeed in the center;

[0038] 5. The sponges on the sponge boards on the market are all flat. After being optimized into a curve through this improvement, there will be no deviation in the longitudinal direction of the material box;

[0039] 6. Before placing the goods (palletizing), the lock will be activated to lock the sponge board on the slide rail to prevent the sponge board from automatically returning to the center under the action of the spring;

[0040] 7. After the material box is placed, the telescopic cylinder and the clamping cylinder return to their original state, and the lock also returns to its pre-action state. At this time, the pressure of the two springs will automatically return the slider to the center;

[0041] 8. Repeat the above steps to grab the next material.

Claims

1. An adaptive shaping, centering and deviation-correcting device for manipulator palletizing, comprising a telescopic cylinder (11) vertically mounted at the bottom of the manipulator and a clamping cylinder (12) horizontally mounted at the bottom of the telescopic cylinder (11), characterized in that: The bottom of the telescopic cylinder (11) is slidably mounted on the base (13) through a horizontal guide rod (14); the tail end of the clamping cylinder (12) is fixed to the base (13); the head end of the clamping cylinder (12) is fixed to the telescopic cylinder (11) and drives the sponge mounting block (26) to move outward in one direction; the clamping cylinder (12) is bilaterally symmetrical and the tail end is mounted inward; a sponge plate (23) is fixed to the bottom of the sponge mounting block (26); the sponge mounting block (26) is movably mounted on both ends of the slide rail (21), and the middle of the slide rail (21) passes through the slide rail seat (24).

2. The adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: A lock seat (25) is provided in the middle of the slide rail seat (24), and a lock (27) is installed on the lock seat (25). The lock (27) can movably lock the slide rail (21).

3. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: The slide rail seats (24) are installed in parallel in three groups.

4. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: A pair of clamping cylinders (12) are respectively installed at the front and rear ends of the three groups of slide rail seats (24).

5. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: The sponge plate (23) is in the shape of an arc plate.

6. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: A return spring (22) is provided between the slide rail seat (24) and the sponge mounting block (26) and is sleeved on the slide rail (21).

7. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: The sponge plate (23) is independently installed at the bottom of each sponge installation block (26).

8. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: The telescopic cylinder (11) and the clamping cylinder (12) form an angle of 90 degrees.

9. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 2, characterized in that: The lock (27) is located at the center of the lock seat (25) and the slide rail seat (24).

10. The self-adaptive shaping, centering and deviation-correcting device for robot palletizing according to claim 1, characterized in that: Used for palletizing of boxes before storage in the warehousing industry.

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