Box holding manipulator

Abstract

The invention discloses a box holding manipulator which comprises a lifting mechanism and a suction cup clamping assembly arranged on the lifting mechanism, the suction cup clamping assembly comprises a pair of oppositely-arranged clamping plates and further comprises a back plate pressing mechanism used for pressing a box body back plate, and the back plate pressing mechanism is located between the pair of clamping plates. The box holding manipulator is reasonable in structural design, the back plate pressing mechanism used for pressing the box body back plate is integrated in the suction cup clamping assembly, the box body back plate is pressed through the pressing plate on the upper portion when the pair of clamping plates clamps the side face of the box body, box holding transfer is stable and reliable, and the box body back plate is not prone to deformation.

Description

Technical Field

[0001] This invention relates to the field of automation equipment technology, and in particular to a box-carrying robotic arm. Background Technology

[0002] During the refrigerator foaming process, the assembled refrigerator body needs to be transferred to the refrigerator foaming fixture. The transfer of the assembled refrigerator body to the refrigerator foaming fixture is usually completed automatically by a box-holding robot to improve the transfer efficiency. The back panel of the refrigerator body is fixed in place by pre-positioning, usually by tape positioning. During the transfer process, the pair of clamps of the box-holding robot clamp the side of the body, which can easily deform the back panel and affect the product quality.

[0003] For example, patent CN218595477U discloses a refrigerator foaming and crating robot, which includes a frame, a movable frame assembly and a drive assembly on the frame, and a clamping arm on the movable frame assembly. Driven by the drive assembly, the movable frame assembly can move horizontally along the X-axis of the frame and move up and down along the Z-axis, and the clamping arm can open and close relative to each other along the Y-axis of the frame. When clamping, the back panel of the refrigerator arches and is easily deformed. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides a box-carrying robot that provides stable and reliable box handling and transport, and whose box back panel is not easily deformed.

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows: The box-carrying robot includes a lifting mechanism and a suction cup clamping assembly mounted on the lifting mechanism. The suction cup clamping assembly includes a pair of clamping plates arranged opposite each other, and also includes a back plate clamping mechanism for pressing the back plate of the box body. The back plate clamping mechanism is located between the pair of clamping plates.

[0006] Further or preferred: The backplate clamping mechanism is integrated on the suction cup clamping assembly.

[0007] It also includes a horizontal moving assembly for moving the entire box-holding robot on the support rail. The horizontal moving assembly includes a moving plate and a drive gear on the moving plate. The drive gear cooperates with a rack on the support rail. A lifting mechanism is located on the moving plate.

[0008] The lifting mechanism includes a lifting frame, and the top of the suction cup clamping assembly is connected to the lifting frame via a floating mechanism.

[0009] The suction cup clamping assembly includes a frame, a pair of clamping plates that can move relative to each other located below the frame, and a drive structure for driving the clamping plates to move; a support plate is provided on the top of the frame, and the support plate is connected to the lifting frame through a floating mechanism.

[0010] The floating mechanism comprises a set of floating connecting rods, upper ends of the floating connecting rods being hingedly connected to the lifting frame, and lower ends of the floating connecting rods being hingedly connected to the bearing plate.

[0011] The back plate pressing mechanism is arranged on the bearing plate.

[0012] The back plate pressing mechanism comprises an electric cylinder, a fixed connecting block and a pressing plate, the electric cylinder being mounted on the bearing plate through the fixed connecting block, the bearing plate being provided with a through hole for the electric cylinder to pass through, and the pressing plate being arranged at a lower end of the electric cylinder.

[0013] The pressing plate is a H-shaped flat plate, and a center position of the pressing plate is connected to the lower end of the electric cylinder.

[0014] The lower end of the electric cylinder is provided with a pressing block, and an elastic element is arranged between the pressing block and the pressing plate.

[0015] Compared with the prior art, the present application has the following advantages: The box holding mechanical hand has a reasonable structure, the back plate pressing mechanism for pressing the back plate of the box is arranged in the suction cup clamping assembly, the back plate of the box is pressed by the upper pressing plate when the pair of clamping plates clamp the side of the box, the box holding and transferring are stable and reliable, and the back plate of the box is not easy to deform. BRIEF DESCRIPTION OF DRAWINGS

[0016] The content expressed by each figure in the present specification and the marks in the figures are briefly described as follows: Figures 1 to 3 It is a whole structure schematic diagram of the box holding mechanical hand.

[0017] Figure 4 It is a schematic diagram of the box holding mechanical hand on the support frame.

[0018] Figure 5 It is a pressing mechanism schematic diagram of the present application.

[0019] Figure 6 It is a local enlarged schematic diagram of the box holding mechanical hand.

[0020] In the figure: 1. lifting mechanism, 2. horizontal moving assembly, 201. driving gear, 3. floating mechanism, 301. floating connecting rod, 4. back plate pressing mechanism, 401. fixed connecting block, 402. electric cylinder, 403. pressing plate, 5. suction cup clamping assembly, 501. frame, 502. clamping plate connecting beam, 503. adjusting rack, 504. clamping plate, 505. suction cup, 6. handle, 7. driving structure, 8. support rail, 9. lifting frame, 10. bearing plate. DETAILED DESCRIPTION

[0021] The specific embodiments of the present application are further described in detail below with reference to the drawings.

[0022] like Figures 1 to 6 As shown, the box-carrying robot includes a lifting mechanism 1, a suction cup clamping assembly 5, a horizontal moving assembly 2, a floating mechanism 3, and a back plate clamping mechanism 4 for clamping the back plate of the box.

[0023] The entire box-carrying robot is movably mounted on the support rail 8, which is fixed by a column; a set of box-carrying robots can be arranged side by side on the support rail.

[0024] The horizontal moving component 2 is used to move the entire box-holding robot along the support rail. The horizontal moving component includes a moving plate and a drive gear 201 mounted on the moving plate. The drive gear meshes with a rack mounted on the support rail. A lifting mechanism is mounted on the moving plate, and a handle 6 is provided on the moving plate. The moving plate is vertically positioned, with the drive gear located on one side and a motor driving the drive gear on the other side. The integrated design results in a compact structure.

[0025] The lifting mechanism 1 includes a vertical frame and a lifting frame 9. The vertical frame and the movable plate are fixedly connected. The vertical frame is provided with a vertical guide rail. The lifting frame is movable and is provided on the vertical frame and cooperates with the vertical guide rail. The lifting frame is provided with a lifting drive motor and a gear provided on the lifting drive motor. The vertical frame is provided with a vertical rack that cooperates with the gear. The drive structure is integrated.

[0026] The suction cup clamping assembly 5 is located below the lifting frame 9; the suction cup clamping assembly includes a frame 501, a pair of clamping plates 504 located below the frame that can move relative to each other, and a drive structure 7 for driving the clamping plates to move; a bearing plate 10 is provided on the top of the frame, and the bearing plate is connected to the lifting frame through a floating mechanism 3. By setting the floating structure, the suction cup clamping assembly can float, avoiding impact damage to the equipment.

[0027] The frame is a horizontal frame, and the drive structure is a servo motor. The servo motor is located on the horizontal frame. A pair of relatively movable clamping plate connecting beams 502 are provided below the frame. The clamping plates are installed on the inner side of the corresponding clamping plate connecting beams. A set of suction cups 505 are provided on the inner side of the clamping plates. An adjusting rack 503 is provided on the clamping plate connecting beam. The servo motor is connected to a gear. The gear and rack cooperate to realize the relative clamping and loosening of the pair of clamping plates.

[0028] The backplate clamping mechanism is integrated on the suction cup clamping assembly. The backplate clamping mechanism is located between a pair of clamping plates, and the structure is compact.

[0029] The back plate pressing mechanism is arranged on the bearing plate 10; preferably, the back plate pressing mechanism comprises an electric cylinder 402, a fixed connecting block 401 and a pressing plate 403, the electric cylinder is installed on the bearing plate through the fixed connecting block, the bearing plate is provided with a through hole for the electric cylinder to pass through, and the pressing plate is arranged at the lower end of the electric cylinder; the pressing plate is driven to move up and down by the electric cylinder, so that the pressing of the back plate of the box body is realized, and the deformation of the back plate when the box body is clamped is avoided.

[0030] Further, the pressing plate is a H-shaped plate, and the center of the pressing plate is connected with the lower end of the electric cylinder. The lower end of the electric cylinder is provided with a pressing block, and an elastic element is arranged between the pressing block and the pressing plate; the elastic element is a rubber pad or a disc spring, and the pressing is stable and reliable.

[0031] The lifting frame of the lifting mechanism is a frame structure, which is stable and reliable; and the top bearing plate of the suction cup clamping assembly is connected with the lifting frame through a floating mechanism. The floating mechanism comprises a group of floating connecting rods 301, the upper end of the floating connecting rod is hingedly connected with the lifting frame, and the lower end of the floating connecting rod is hingedly connected with the bearing plate.

[0032] The box gripping manipulator has reasonable structure, the back plate pressing mechanism for pressing the back plate of the box body is arranged in the suction cup clamping assembly, the back plate of the box body is pressed by the upper pressing plate when the pair of clamping plates clamp the side of the box body, the box gripping and transferring are stable and reliable, and the back plate of the box body is not easy to deform.

[0033] The above only describes the preferred embodiments of the present application, and the above technical features can be combined to form multiple embodiments of the present application.

[0034] The present application is described above in conjunction with the drawings, and it is obvious that the specific implementation of the present application is not limited by the above manner, as long as the concept and technical scheme of the present application are adopted for various non-essential improvements, or the concept and technical scheme of the present application are directly applied to other occasions without improvement, all of which are within the protection scope of the present application.

Claims

1. A container handling robot comprising a lifting mechanism and a suction gripper assembly arranged on the lifting mechanism, the suction gripper assembly comprising a pair of opposing gripping plates, characterized in that: The back plate pressing mechanism is arranged between the pair of clamping plates.

2. The container gripping robot as claimed in claim 1, wherein: The back plate pressing mechanism is arranged on the chuck clamping assembly.

3. The container gripping robot of claim 1 wherein: The horizontal moving assembly is arranged on the support rail and is used to move the whole box gripping manipulator.

4. The container gripping robot of claim 2 wherein: The lifting mechanism is arranged on the moving plate.

5. The container gripping robot of claim 4 wherein: The top of the chuck clamping assembly is connected with the lifting frame through the floating mechanism.

6. The container gripping robot of claim 5 wherein: The chuck clamping assembly comprises a frame, a pair of clamping plates movably arranged below the frame, and a driving structure used to drive the clamping plates to move.

7. The container gripping robot of claim 5 wherein: The top of the frame is provided with a bearing plate, and the bearing plate is connected with the lifting frame through the floating mechanism.

8. The container gripping robot of claim 7 wherein: The floating mechanism comprises a set of floating connecting rods.

9. The container gripping robot of claim 8 wherein: The lower end of the floating connecting rod is connected with the bearing plate.

10. The container gripping robot of claim 8 wherein: The back plate pressing mechanism is arranged on the bearing plate. The back plate pressing mechanism comprises an electric cylinder, a fixed connecting block, and a pressing plate. The electric cylinder is installed on the bearing plate through the fixed connecting block. The bearing plate is provided with a through hole for the electric cylinder to pass through. The pressing plate is arranged at the lower end of the electric cylinder. The lower end of the electric cylinder is provided with a pressing block. An elastic element is arranged between the pressing block and the pressing plate.

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