Intelligent warehousing industrial robot carrying clamp device

Abstract

The application provides an intelligent warehouse industrial robot carrying and clamping device, and relates to the technical field of carrying and clamping devices.The device comprises a lifting module, the output end of the lifting module is fixedly provided with a mounting frame, two groups of transverse adjustment modules are arranged on the mounting frame, the output ends of the two groups of transverse adjustment modules are respectively provided with a left adjustment arm and a right adjustment arm, the extension directions of the two groups of adjustment arms are both arranged along the front-back direction, and the output ends of the two adjustment arms are respectively provided with a left clamping assembly and a right clamping assembly.The device can realize multi-dimensional stepless adjustment of vertical height, left-right spacing and front-back depth, is suitable for different specifications of goods and different sizes of goods, has a wide adjustment range, high positioning accuracy and stable and reliable operation.The device can switch multiple clamping working states, takes into account the requirements of flexible clamping and stable clamping, does not need to replace clamps, effectively improves the turnover efficiency of warehouse operation, reduces the equipment matching and operation and maintenance cost, and meets the long-term and efficient operation requirements of high-density intelligent warehouses.

Description

Technical Field

[0001] This invention mainly relates to the field of handling and gripping equipment technology, specifically to an industrial robot handling and gripping equipment for intelligent warehousing. Background Technology

[0002] With the rapid development of the intelligent warehousing and logistics industry, industrial robot handling and gripping equipment has become the core execution device for the storage, retrieval and transfer of goods in warehousing. Its performance directly affects the overall operational efficiency and scenario adaptability of the warehousing system.

[0003] Most existing warehouse clamping devices only possess basic left-right opening and closing clamping functions, resulting in a very limited clamping method that cannot flexibly switch clamping methods according to the size, material characteristics, and surface condition of the goods. When dealing with goods whose outer packaging is easily damaged, the rigid clamping structure can easily cause scratches and deformation of the goods' surfaces and corners. When dealing with irregularly shaped or small-sized goods, it is difficult to guarantee the clamping contact area and clamping stability, leading to a risk of goods slipping. Furthermore, the front-to-back extension and left-to-right adjustment structures of most clamping mechanisms are poorly designed, lacking sufficient flexibility in stroke adjustment. This makes it difficult to adapt to different depths of storage locations and goods of varying widths, resulting in poor equipment versatility and requiring frequent changes of corresponding clamps, significantly increasing the time and maintenance costs of warehousing operations. In addition, the telescopic transmission structure of some existing clamping devices lacks stability, and after long-term high-frequency operation, problems such as decreased positioning accuracy and operational jamming can easily occur, failing to meet the long-term, high-efficiency operation requirements of high-density intelligent warehousing scenarios.

[0004] In view of the many shortcomings of the existing technology, the present invention proposes an industrial robot handling and gripping device for intelligent warehousing, so as to solve the technical problems of the existing gripping devices having a single gripping form, poor scene adaptability and insufficient operational stability. Summary of the Invention

[0005] 1. The technical problem that the invention aims to solve: This invention provides an industrial robot handling and gripping device for intelligent warehousing, which solves the technical problems existing in the background art.

[0006] 2. Technical Solution: To achieve the above objectives, the technical solution provided by the present invention is as follows: an industrial robot handling and gripping device for intelligent warehousing includes a lifting module. A mounting frame is fixedly installed on the output end of the lifting module. A horizontal adjustment module one and a horizontal adjustment module two are respectively installed on the mounting frame. A left adjusting arm is installed on the output end of the horizontal adjustment module one, and a right adjusting arm is installed on the output end of the horizontal adjustment module two. The extension and retraction directions of the left and right adjusting arms are both arranged along the front-back direction. A passage groove is provided on the mounting frame for the left and right adjusting arms to pass through. A left clamping component is installed on the output end of the left adjusting arm, and a right clamping component is installed on the output end of the right adjusting arm. The left and right clamping components are symmetrically arranged with respect to the center line of the mounting frame.

[0007] Preferably, the left and right adjusting arms have the same structure; the left adjusting arm includes a housing, a telescopic rod is slidably arranged inside the housing along the front-back direction, two synchronous pulleys are rotatably installed on the housing at intervals along the front-back direction, a synchronous belt is sleeved between the two synchronous pulleys, the synchronous belt is fixedly connected to the telescopic rod, a guide rail is arranged on the telescopic rod along its length direction, and a slider is arranged inside the housing that slides with the guide rail.

[0008] Preferably, the left clamping assembly includes a mounting frame, which is fixedly connected to the output end of the left adjusting arm. The mounting frame is provided with a mounting plate, and a plurality of elastic clamping heads are spaced apart on the mounting plate.

[0009] Preferably, the mounting frame is further provided with a hydraulic cylinder, and a swing head is rotatably provided at one end of the mounting frame. The swing head is rotatably connected to the mounting frame through a rotating rod. A hinge seat is fixedly provided on the swing head. The piston rod end of the hydraulic cylinder is rotatably connected to the hinge seat. When the hydraulic cylinder extends or retracts, it drives the swing head to rotate around the axis of the rotating rod.

[0010] Preferably, a rotary cylinder is fixedly mounted on the swing head, and the mounting plate is fixedly connected to the output end of the rotary cylinder.

[0011] Preferably, the elastic clamping head includes a mounting base, one end of which is fixedly connected to the mounting plate, and the other end of which is fixedly provided with a mounting post. A spring and a sleeve are sequentially sleeved on the mounting post along its axial direction. One end of the spring abuts against the mounting base and the other end abuts against one end of the sleeve. A clamping piece is fixedly provided at the other end of the sleeve, and the clamping piece is used to contact the surface of the goods.

[0012] Preferably, a clamping block one is fixedly installed on the long side of the mounting plate, and a clamping block two is fixedly installed on the short side of the mounting plate; the clamping block one or clamping block two is rotated by the swing head and the rotary cylinder to switch the orientation of clamping block one or clamping block two toward the goods, so as to switch clamping block one or clamping block two to be in working state.

[0013] 3. Beneficial effects: Compared with the prior art, the technical solution provided by this invention has the following advantages: The intelligent warehousing industrial robot handling and gripping equipment described in this invention has multi-dimensional adjustment capabilities and multi-gripping state switching functions, which can effectively improve the equipment's universal adaptability, operational stability, and warehousing operation efficiency.

[0014] This invention, through the coordinated operation of a lifting module, a first lateral adjustment module, a second lateral adjustment module, and retractable left and right adjustment arms, enables multi-dimensional stepless adjustment of vertical height, lateral spacing, and front-back depth. It can adapt to different specifications of storage locations and goods of varying sizes, offering a wide adjustment range and high positioning accuracy. Employing a synchronous belt-driven telescopic rod structure, coupled with a guide rail and slider mechanism, the operation is smooth and stable, maintaining high transmission accuracy and structural reliability even during long-term, high-frequency operation.

[0015] The device of this invention can quickly switch between three clamping working states. The elastic clamping head can achieve flexible clamping, effectively avoiding damage to the surface of the goods. Clamping block one and clamping block two can be adapted to goods of different sizes respectively, ensuring sufficient clamping contact area and stable clamping force. The state switching can be completed by the cooperation of the swing head and the rotary cylinder, without the need to replace the clamps, which greatly improves the flow efficiency of warehousing operations and reduces equipment matching and maintenance costs. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure of the present invention from another angle; Figure 3 This is a schematic diagram of the mounting frame structure of the present invention; Figure 4 This is a schematic diagram of the left adjusting arm structure of the present invention; Figure 5 This is a schematic diagram of the left clamping component structure of the present invention; Figure 6 This is a schematic diagram of the left clamping component structure from another angle of the present invention; Figure 7 This is a schematic diagram of the elastic clamping head structure of the present invention; Figure 8 This is a schematic diagram of the internal structure of the elastic clamping head of the present invention.

[0017] Figure label: 1. Lifting module; 2. Mounting frame; 21. Through slot; 22. Lateral adjustment module one; 23. Lateral adjustment module two; 3. Left adjusting arm; 31. Housing; 32. Telescopic rod; 33. Synchronous belt; 34. Synchronous belt pulley; 35. Guide rail; 4. Right adjusting arm; 5. Left clamping assembly; 51. Mounting bracket; 52. Hydraulic cylinder; 53. Swing head; 54. Rotating rod; 55. Hinge seat; 56. Rotary cylinder; 57. Mounting plate; 58. Clamping block one; 59. Clamping block two; 6. Right clamping assembly; 7. Elastic clamping head; 71. Mounting seat; 72. Mounting column; 73. Spring; 74. Sleeve; 75. Clamping plate. Detailed Implementation

[0018] To facilitate understanding of the present invention, a more complete description of the invention will be given below with reference to the accompanying drawings, which illustrate several embodiments of the invention. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that the disclosure of the invention will be more thorough and complete.

[0019] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0020] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0021] In this invention, unless otherwise explicitly specified and limited, the terms "installed," "connected," "linked," "fixed," and "equipped" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0022] It should be noted that the structures not described in this invention are not related to the design points and improvement directions of this invention, and are the same as or can be implemented using existing technologies, so they will not be elaborated here. Example

[0023] See attached document Figures 1-8 An intelligent warehousing industrial robot handling and gripping device includes a lifting module 1. A mounting frame 2 is fixedly mounted on the output end of the lifting module 1. A first lateral adjustment module 22 and a second lateral adjustment module 23 are respectively mounted on the mounting frame 2. A left adjusting arm 3 is mounted on the output end of the first lateral adjustment module 22, and a right adjusting arm 4 is mounted on the output end of the second lateral adjustment module 23. The extension and retraction directions of the left and right adjusting arms 3 and 4 are both along the front-rear direction. A passage slot 21 is provided on the mounting frame 2 for the left and right adjusting arms 3 and 4 to pass through. A left clamping component 5 is mounted on the output end of the left adjusting arm 3, and a right clamping component 6 is mounted on the output end of the right adjusting arm 4. The left and right clamping components 5 and 6 are symmetrically arranged with respect to the center line of the mounting frame 2.

[0024] The left adjusting arm 3 and the right adjusting arm 4 have the same structure; the left adjusting arm 3 includes a housing 31, and a telescopic rod 32 is slidably arranged inside the housing 31 along the front-back direction. Two synchronous pulleys 34 are rotatably installed on the housing 31 at intervals along the front-back direction. A synchronous belt 33 is sleeved between the two synchronous pulleys 34. The synchronous belt 33 is fixedly connected to the telescopic rod 32. A guide rail 35 is arranged on the telescopic rod 32 along its length direction. A slider that slides with the guide rail 35 is arranged inside the housing 31.

[0025] The left clamping assembly 5 includes a mounting frame 51, which is fixedly connected to the output end of the left adjusting arm 3. A mounting plate 57 is provided on the mounting frame 51, and several elastic clamping heads 7 are spaced apart on the mounting plate 57. A hydraulic cylinder 52 is also provided on the mounting frame 51. A swing head 53 is rotatably mounted on one end of the mounting frame 51. The swing head 53 is rotatably connected to the mounting frame 51 via a rotating rod 54. A hinge seat 55 is fixedly mounted on the swing head 53. The piston rod end of the hydraulic cylinder 52 is rotatably connected to the hinge seat 55. When the hydraulic cylinder 52 extends or retracts, it drives the swing head 53 to rotate around the axis of the rotating rod 54. A rotary cylinder 56 is fixedly mounted on the swing head 53, and the mounting plate 57 is fixedly connected to the output end of the rotary cylinder 56. A clamping block 58 is fixedly installed on the long side of the mounting plate 57, and a clamping block 59 is fixedly installed on the short side of the mounting plate 57. The clamping block 58 or the clamping block 59 is rotated by the swing head 53 and the rotary cylinder 56 to switch the orientation of the clamping block 58 or the clamping block 59 toward the goods, so as to switch the clamping block 58 or the clamping block 59 to be in the working state.

[0026] The elastic clamping head 7 includes a mounting base 71. One end of the mounting base 71 is fixedly connected to the mounting plate 57. The other end of the mounting base 71 is fixedly provided with a mounting post 72. A spring 73 and a sleeve 74 are sequentially sleeved on the mounting post 72 along its axial direction. One end of the spring 73 abuts against the mounting base 71, and the other end abuts against one end of the sleeve 74. The other end of the sleeve 74 is fixedly provided with a clamping piece 75, which is used to contact the surface of the goods.

[0027] Working principle and working process During equipment operation, the lifting module 1 first drives the mounting frame 2 to rise and fall vertically, so that the left clamping component 5 and the right clamping component 6 are aligned with the clamping height of the target goods; then the horizontal adjustment module 1 22 and the horizontal adjustment module 23 drive the left adjustment arm 3 and the right adjustment arm 4 to move towards or away from each other in the left and right directions, and adjust the distance between the clamping components on both sides according to the width of the goods to complete the alignment in the width direction.

[0028] After alignment, the left adjusting arm 3 and the right adjusting arm 4 start synchronously. The synchronous pulley 34 rotates, driving the synchronous belt 33 to move. The synchronous belt 33 pulls the telescopic rod 32 forward along the guide rail 35, causing the left clamping assembly 5 and the right clamping assembly 6 to move to the left and right sides of the cargo respectively, completing the alignment in the depth direction. Subsequently, the lateral adjusting modules on both sides drive the adjusting arms to move towards each other, so that the clamping structure contacts and clamps the cargo. After the clamping action is completed, the lifting module 1 lifts the cargo, and the adjusting arms retract to complete the cargo handling.

[0029] The equipment has three clamping working modes, which can be flexibly switched according to the material and size of the goods: The first type is the elastic clamping state: the hydraulic cylinder 52 and the rotary cylinder 56 work together to adjust the posture so that the side of the mounting plate 57 with the elastic clamping head 7 faces the goods. During the clamping process, the clamping piece 75 first contacts the surface of the goods. As the clamping force increases, the sleeve 74 slides backward along the mounting post 72 and compresses the spring 73. The spring 73 provides elastic buffering force to achieve flexible clamping. This is suitable for goods with easily scratched surfaces, brittle materials, or uneven surfaces, and avoids damage to the goods during the clamping process.

[0030] The second working state is that of clamping block 58: hydraulic cylinder 52 drives piston rod to extend and retract, which drives swing head 53 to pitch around rotating rod 54 via hinge seat 55. At the same time, rotary cylinder 56 drives mounting plate 57 to rotate circumferentially, so that clamping block 58 on the long side of mounting plate 57 faces the goods. In this state, the clamping contact area is large and the clamping force is uniform and stable, which is suitable for large-sized, regularly shaped box-like goods and can ensure the clamping reliability during the handling of heavy goods.

[0031] The third working state is that of clamping block 2 59: through the pitch rotation of the swing head 53 and the circumferential rotation of the rotary cylinder 56, the clamping block 2 59 on the short side of the mounting plate 57 faces the goods. In this state, the clamping width is suitable for narrow and small-sized goods, which can ensure that the clamping surface is in full contact with the surface of the goods, avoid the risk of slippage caused by insufficient contact area when clamping small-sized goods, and improve the stability of handling small-sized goods.

[0032] The above-described embodiments are merely illustrative of certain implementations of the present invention, and are described in a relatively specific and detailed manner. However, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements are all within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. An industrial robot handling and gripping device for intelligent warehousing, characterized in that: The system includes a lifting module (1), and a mounting frame (2) is fixedly installed on the output end of the lifting module (1). A horizontal adjustment module one (22) and a horizontal adjustment module two (23) are respectively installed on the mounting frame (2). A left adjustment arm (3) is installed on the output end of the horizontal adjustment module one (22), and a right adjustment arm (4) is installed on the output end of the horizontal adjustment module two (23). The extension and retraction directions of the left adjustment arm (3) and the right adjustment arm (4) are both arranged along the front and rear directions. A through slot (21) is provided on the mounting frame (2) for the left adjustment arm (3) and the right adjustment arm (4) to pass through. A left clamping component (5) is installed on the output end of the left adjustment arm (3), and a right clamping component (6) is installed on the output end of the right adjustment arm (4). The left clamping component (5) and the right clamping component (6) are symmetrically arranged on the left and right sides of the center line of the mounting frame (2).

2. The intelligent warehousing industrial robot handling and gripping device according to claim 1, characterized in that: The left adjusting arm (3) and the right adjusting arm (4) have the same structure; the left adjusting arm (3) includes a housing (31), a telescopic rod (32) is slidably arranged inside the housing (31) along the front-back direction, two synchronous pulleys (34) are rotatably installed on the housing (31) at intervals along the front-back direction, a synchronous belt (33) is sleeved between the two synchronous pulleys (34), the synchronous belt (33) is fixedly connected to the telescopic rod (32), a guide rail (35) is arranged on the telescopic rod (32) along its length direction, and a slider that slides with the guide rail (35) is arranged inside the housing (31).

3. The intelligent warehousing industrial robot handling and gripping device according to claim 1, characterized in that: The left clamping assembly (5) includes a mounting frame (51), which is fixedly connected to the output end of the left adjusting arm (3). The mounting frame (51) is provided with a mounting plate (57), and the mounting plate (57) is provided with a plurality of elastic clamping heads (7) at intervals.

4. The intelligent warehousing industrial robot handling and gripping device according to claim 3, characterized in that: The mounting bracket (51) is also equipped with a hydraulic cylinder (52). One end of the mounting bracket (51) is rotatably equipped with a swing head (53). The swing head (53) is rotatably connected to the mounting bracket (53) through a rotating rod (54). A hinge seat (55) is fixedly installed on the swing head (53). The piston rod end of the hydraulic cylinder (52) is rotatably connected to the hinge seat (55). When the hydraulic cylinder (52) extends or retracts, it drives the swing head (53) to rotate around the axis of the rotating rod (54).

5. The intelligent warehousing industrial robot handling and gripping device according to claim 4, characterized in that: A rotary cylinder (56) is fixedly installed on the swing head (53), and the mounting plate (57) is fixedly connected to the output end of the rotary cylinder (56).

6. An industrial robot handling and gripping device for intelligent warehousing according to any one of claims 3 to 5, characterized in that: The elastic clamping head (7) includes a mounting base (71), one end of which is fixedly connected to the mounting plate (57), and the other end of which is fixedly provided with a mounting post (72). A spring (73) and a sleeve (74) are sequentially sleeved on the mounting post (72) along its axial direction. One end of the spring (73) abuts against the mounting base (71) and the other end abuts against one end of the sleeve (74). The other end of the sleeve (74) is fixedly provided with a clamping piece (75), which is used to contact the surface of the goods.

7. The intelligent warehousing industrial robot handling and gripping device according to claim 5, characterized in that: A clamping block one (58) is fixedly installed on the long side of the mounting plate (57), and a clamping block two (59) is fixedly installed on the short side of the mounting plate (57). The clamping block one (58) or the clamping block two (59) is rotated by the swing head (53) and the rotary cylinder (56) to switch the direction of the clamping block one (58) or the clamping block two (59) toward the goods, so as to switch the clamping block one (58) or the clamping block two (59) to be in the working state.

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