Manipulator sucker for gantry stacker crane

Abstract

The manipulator suction cup comprises an X-axis guide rail and Y-axis guide rails vertically arranged on the two sides of the X-axis guide rail, a stacking suction cup assembly is arranged on the X-axis guide rail, the stacking suction cup assembly achieves the stacking action in any area of a plane through matching of the Y-axis guide rails and the X-axis guide rail, and the stacking suction cup assembly comprises a lifting air cylinder. The connecting rod penetrates through the X-axis guide rail to be connected with the cover plate, a positive-negative pressure head is arranged on the cover plate and communicated with a suction cup body at the bottom of the cover plate, and buffering positioning feet used for making contact with corners and edges of materials for buffering and limiting in a framing mode are arranged at the corners of the cover plate. The multi-axial stacking manipulator solves the problems that in the prior art, stacking manipulator equipment is prone to causing skew stacking of materials, and multi-axial placement is not achieved.

Description

Technical Field

[0001] The utility model relates to the application field of a manipulator, in particular to a manipulator suction cup used for a gantry palletizer. Background Art

[0002] A manipulator is an automatic device that can imitate certain movements of human hands and arms, and is used to grab, carry objects or operate tools according to a fixed program. It is characterized by being able to complete various expected operations through programming, and having the advantages of both human and mechanical machines in terms of structure and performance. It can replace heavy labor to achieve mechanization and automation of production, and can operate in harmful environments to protect personal safety. Therefore, it is widely used in machinery manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.

[0003] In the prior art, manipulators that match palletizers have been developed based on processing requirements, and are generally used to place materials in a regular manner in various areas. However, most of the existing manipulators for palletizers are linear structures that can only be placed in a row along a single axis, and do not have a limiting structure, making them prone to tilting during palletizing.

[0004] In view of this, this proposal proposes a manipulator suction cup for gantry palletizers, which has multi-axial placement characteristics and a limiting structure for limiting and aligning materials during palletizing, so that the final stacked materials are straight and not skewed. In addition, the overall structure is easy to assemble and disassemble for maintenance, and uses positive and negative pressure to control suction, which has a long service life and saves resources. Utility Model Content

[0005] The technical solution of the utility model aims to solve one of the technical problems in the related art at least to a certain extent. To this end, the main purpose of the utility model is to provide a manipulator suction cup for a gantry palletizer, aiming to solve the problem that the palletizing manipulator equipment in the prior art easily causes the material to be stacked crookedly and does not have multi-axial placement.

[0006] To achieve the above-mentioned purpose, the utility model provides a manipulator suction cup for a gantry palletizer, comprising an X-axis guide rail and a Y-axis guide rail vertically arranged on both sides of the X-axis guide rail, a palletizing suction cup assembly is arranged on the X-axis guide rail, and the palletizing suction cup assembly realizes the palletizing action in any area of ​​the plane through the cooperation of the Y-axis guide rail and the X-axis guide rail.

[0007] The stacking suction cup assembly includes a lifting cylinder and a connecting rod arranged on the outside of the lifting cylinder, the connecting rod passes through the X-axis guide rail and is connected to the cover plate, the cover plate is provided with positive and negative pressure heads, the positive and negative pressure heads are connected to the suction cup body at the bottom of the cover plate, and the corners of the cover plate are provided with buffering positioning feet for contacting with the corners and edges of the material and framing the limit.

[0008] As a further solution of the present invention, the bottom of the X-axis guide rail and the Y-axis guide rail are supported by a gantry bracket, and a foot seat with a fixing portion is provided at the foot position of the gantry bracket.

[0009] As a further solution of the utility model, the stacking suction cup assembly also includes a negative locking motor connected to one side of the positive and negative pressure heads.

[0010] As a further solution of the utility model, the stacking suction cup assembly also includes a fixing frame arranged on two opposite sides of the suction cup body, and the fixing frame is a "C"-shaped frame structure.

[0011] As a further solution of the present invention, the suction cup body is consistent with the outer contour of the cover plate.

[0012] As a further solution of the utility model, the buffer positioning foot is composed of a spring sleeved on the outside of the column and a bolt located at the bottom of the spring.

[0013] As a further solution of the utility model, the number of the buffer positioning feet is 4, which are hoisted and arranged below each corner of the cover plate.

[0014] The beneficial effects of the utility model are as follows:

[0015] The robot suction cup for the gantry palletizer proposed in the utility model increases the freedom of placement of the palletizing robot structure by adopting a multi-axis matching structure (the X and Y axes cooperate to realize the entire plane placement), and at the same time adopts a buffer positioning foot to cooperate with the positive and negative pressure heads and cover plates to realize the suction cup body "straightening" the material (including the material below) when sucking and releasing the material, so that the pallet is always in a straight state without being skewed. In addition, the overall structure of the equipment is simple and easy to assemble and maintain with other external equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the utility model technical solution or the utility model technical solution in the prior art, the drawings required for use in the embodiments or the prior art descriptions will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the utility model technical solution. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0017] Figure 1 It is a schematic diagram of the overall structure of the X-axis and Y-axis guide rails and the stacking suction cup assembly in the present invention.

[0018] Figure 2 It is a schematic diagram of the arrangement of the lifting cylinder and the connecting rod in the utility model.

[0019] Figure 3 It is a schematic diagram of the planar structure of the X-axis and Y-axis guide rails and the stacking suction cup assembly in the present invention.

[0020] Figure 4 It is a schematic diagram of an enlarged structure of a partial stacking suction cup assembly in the utility model.

[0021] Figure 5 It is a schematic diagram of an enlarged structure of another part of the stacking suction cup assembly in the utility model.

[0022] [Main parts / assembly reference numerals]

[0023] Label name Label name 1 X-axis guide rail 34 Cover 2 Y-axis guide rail 35 Buffer positioning feet 3 Palletizing suction cup assembly 36 Suction cup body 30 Lifting Cylinder 37 Fixed frame 31 link 4 Gantry bracket 32 Positive and negative pressure head 40 foot base 33 Lock negative motor DETAILED DESCRIPTION

[0024] as follows:

[0025] Please see attached Figure 1-5 ,

[0026] The main structure includes an X-axis guide rail 1, and a Y-axis guide rail 2 vertically arranged on both sides of the X-axis guide rail 1. A stacking suction cup assembly 3 is provided on the X-axis guide rail 1. The stacking suction cup assembly 3 realizes the stacking action in any area of ​​the plane through the cooperation of the Y-axis guide rail 2 and the X-axis guide rail 1. The stacking suction cup assembly 3 includes a lifting cylinder 30, and a connecting rod 31 arranged on the outside of the lifting cylinder 30. The connecting rod 31 passes through the X-axis guide rail 1 and is connected to the cover plate 34. The cover plate 34 is provided with positive and negative pressure heads 32, which are connected to the suction cup body 36 at the bottom of the cover plate 34. The corners of the cover plate 34 are provided with buffering positioning feet 35 for contacting with the corners and edges of the material and framing the limit.

[0027] Here’s how it works:

[0028] Different from the existing single-axis placement mechanism, this solution adopts the vertical staggered placement of the X-axis guide 1 and the Y-axis guide 2, so that the stacking suction cup assembly 3 on the axis body can be stacked at any position on the plane. Therefore, there is no need to set up multiple stacking mechanisms on the line body, which simplifies the line body and saves space. While the stacking suction cup assembly 3 has the function of positive and negative pressure suction cups, it also has a positioning function, that is, when stacking, the suction cup or the material under the suction cup can be aligned (frame limit alignment) through the buffer positioning foot 35 to prevent the material from tilting and collapsing. In addition, the stacking suction cup assembly 3 is a detachable and replaceable structure, which can be adjusted or disassembled and replaced according to the size of the material, and has strong adaptability.

[0029] A preferred embodiment of the present invention: the bottom of the X-axis guide rail 1 and the Y-axis guide rail 2 are supported by a gantry bracket 4, and a foot seat 40 with a fixing portion is provided at the foot position of the gantry bracket 4.

[0030] The foot base 40 provided at the bottom of the gantry bracket 4 can be fixed to the line body (or other equipment), and the gantry bracket 4 has good fixation and shock absorption effects.

[0031] A preferred embodiment of the present invention: the stacking suction cup assembly 3 also includes a negative locking motor 33 connected to one side of the positive and negative pressure heads 32 .

[0032] The negative locking motor 33 is used to control the positive and negative pressure heads 32 to maintain negative pressure when the power is off (or when there is no control state), and is suitable for materials that need to maintain negative pressure all the time.

[0033] A preferred embodiment of the present invention: the stacking suction cup assembly 3 further includes a fixing frame 37 disposed on two opposite sides of the suction cup body 36, and the fixing frame 37 is a "C"-shaped frame structure.

[0034] The fixed frame 37 is used to assist in framing the two sides of the material so that it fits more closely to the suction cup body 36 .

[0035] A preferred embodiment of the present invention: the suction cup body 36 is consistent with the outer contour of the cover plate.

[0036] The suction cup body 36 is configured with a consistent contour to reduce the gap therebetween and save negative pressure suction force.

[0037] A preferred embodiment of the present invention: the buffer positioning foot 35 is composed of a spring sleeved outside the column and a bolt located at the bottom of the spring.

[0038] After the buffer positioning foot 35 contacts the edge (or corner) of the material (material with a frame), no hard contact is generated, so the material is not damaged.

[0039] A preferred embodiment of the present invention is as follows: the number of buffer positioning feet 35 is 4, which are hoisted and disposed below each corner of the cover plate 34 .

[0040] The buffer positioning feet 35 are arranged according to the corners of the cover plate 34 .

[0041] The above are only preferred embodiments of the technical solution of the utility model, and do not limit the patent scope of the technical solution of the utility model. All equivalent structural changes made by using the contents of the technical solution description and drawings of the utility model under the conception of the technical solution of the utility model, or direct / indirect application in other related technical fields are included in the patent protection scope of the technical solution of the utility model.

Claims

1. A manipulator suction cup for a gantry palletizer, characterized in that: include An X-axis guide rail, and a Y-axis guide rail vertically arranged on both sides of the X-axis guide rail, the X-axis guide rail is provided with a stacking suction cup assembly, and the stacking suction cup assembly realizes the stacking action of any area on the plane through the cooperation of the Y-axis guide rail and the X-axis guide rail, The stacking suction cup assembly includes a lifting cylinder and a connecting rod arranged on the outside of the lifting cylinder, the connecting rod passes through the X-axis guide rail and is connected to the cover plate, the cover plate is provided with positive and negative pressure heads, the positive and negative pressure heads are connected to the suction cup body at the bottom of the cover plate, and the corners of the cover plate are provided with buffering positioning feet for contacting with the corners and edges of the material and framing the limit.

2. The manipulator suction cup for a gantry palletizer according to claim 1, characterized in that: The bottom of the X-axis guide rail and the Y-axis guide rail are supported by a gantry bracket, and a foot seat with a fixing portion is provided at the foot position of the gantry bracket.

3. The manipulator suction cup for a gantry palletizer according to claim 1, characterized in that: The stacking suction cup assembly also includes a negative locking motor connected to one side of the positive and negative pressure heads.

4. The manipulator suction cup for a gantry palletizer according to claim 1, characterized in that: The stacking suction cup assembly also includes a fixing frame arranged on two opposite sides of the suction cup body, and the fixing frame is a "C"-shaped frame structure.

5. The manipulator suction cup for a gantry palletizer according to claim 1, characterized in that: The suction cup body is consistent with the outer contour of the cover plate.

6. The manipulator suction cup for a gantry palletizer according to claim 1, characterized in that: The buffer positioning foot is composed of a spring sleeved on the outside of a column and a bolt located at the bottom of the spring.

7. The manipulator suction cup for a gantry palletizer according to claim 1, characterized in that: The buffer positioning feet are provided in four numbers, and are hoisted and respectively provided below each corner of the cover plate.

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