Robot stacking and grabbing device

Abstract

The utility model provides a robot stacking grabbing device which comprises a grabbing device body, the grabbing device body comprises a fixed seat, a movable seat is movably installed on the top of the fixed seat, an annular seat is fixedly installed on the movable seat, a fixed column is welded to the fixed seat and movably installed in the annular seat, and the annular seat is fixedly installed on the fixed column. A friction groove is formed in the ring seat, a connecting frame is welded to the fixing column, a power mechanism is fixedly installed on the connecting frame, a rolling wheel is installed on the power mechanism, and one side of the rolling wheel is movably installed in the friction groove. When the robot stacking and grabbing device is used, the movable seat is driven by the power mechanism to rotate, the position of the movable frame is rotationally adjusted, and after the movable frame is located between the fixing rods, the number of contact points between the movable frame and the bottom of an object is increased through the movable frame, so that a heavy object is better supported.

Description

Technical Field

[0001] The utility model relates to the field of palletizing and grabbing equipment, in particular to a robot palletizing and grabbing device. Background Art

[0002] A robot is an automated machine with high flexibility. The robot can move and stack objects together when working with a palletizing gripping device. However, the robot palletizing gripping device in the prior art cannot quickly grasp and stack the grasped objects during use, which greatly reduces the efficiency of the palletizing gripping device.

[0003] According to a high-efficiency robot palletizing and grabbing device disclosed in the patent document with the existing publication number CN213859320U, it includes a mounting seat, a palletizing and grabbing device assembly is installed on the bottom surface of the mounting seat, and a driving assembly is connected to the palletizing and grabbing device assembly in a transmission connection. The palletizing and grabbing device assembly includes a transmission box fixedly installed on the bottom surface of the mounting seat, and four driving gears are movably installed in the transmission box, and the four driving gears are distributed in a square. When the device is in use, it can quickly stack and position the unevenly stacked grabbing parts with the help of the synchronous movement of the clamping and positioning plates, thereby ensuring the neatness of the on-site placement of the grabbing parts and improving the quality of the robot palletizing and grabbing device. With respect to the above technical solution, although the solution achieves the neatness of the placement, it is unable to limit and fix the surrounding objects during the grabbing and moving process. The objects are easy to fall off the grabbing device during movement, which is inconvenient during use. Utility Model Content

[0004] In view of the shortcomings of the prior art, the purpose of the utility model is to provide a robot stacking grasping device to solve the problems raised in the above-mentioned background technology. The utility model has a novel structure. When in use, the movable seat rotates under the drive of the power mechanism to adjust the position of the movable frame. After the movable frames are respectively placed between the fixed rods, the contact points with the bottom of the object are increased through the movable frames, thereby better supporting heavier objects.

[0005] In order to achieve the above-mentioned purpose, the utility model is implemented through the following technical solutions: a robot palletizing grasping device, including a grasping device body, the grasping device body including a fixed seat, a movable seat is movably installed on the top of the fixed seat, a ring seat is fixedly installed on the movable seat, a fixed column is welded on the fixed seat, the fixed column is movably installed inside the ring seat, a friction groove is opened on the ring seat, a connecting frame is welded on the fixed column, a power mechanism is fixedly installed on the connecting frame, a roller is installed on the power mechanism, one side of the roller is movably installed inside the friction groove, and a fixed plate is welded on one end of the fixed column. Furthermore, movable rods are movably installed at both ends of the movable seat, a displacement mechanism is fixedly installed inside the movable seat, one end of the displacement mechanism is fixed on the movable rod, and a movable frame is welded on the bottom of the movable rod.

[0006] Furthermore, a positioning column is welded on the movable rod, and the positioning column moves on the side of the displacement mechanism.

[0007] Furthermore, a support rod is movably installed at the bottom of the fixing seat, a fixing rod is welded to the bottom of the support rod, a slide groove is opened at the bottom of the fixing seat, and a partition plate is fixed inside the slide groove.

[0008] Furthermore, a sliding block is welded on the top of the support rod, a support frame is movably mounted on one end of the fixed rod, the support frame cooperates with the movable frame, and a pushing mechanism is fixed on the partition plate.

[0009] Furthermore, one end of the pushing mechanism is fixed on the sliding block, a lifting mechanism is fixedly installed inside the fixing rod, and one end of the lifting mechanism is fixed on the supporting frame.

[0010] Furthermore, an annular groove is formed on the fixing column, a fixing ring is movably installed inside the annular groove, and the fixing ring is welded on the movable seat.

[0011] Furthermore, a positioning hole is provided inside the movable seat, and one end of the positioning column is movably installed inside the positioning hole.

[0012] The beneficial effects of the utility model are as follows: the utility model is a robot palletizing grasping device, comprising a fixed seat; a movable seat; a fixed column; a ring seat; a friction groove; a connecting frame; a power mechanism; a roller; a fixed plate; a displacement mechanism; a positioning column; a movable rod; a movable frame; a support rod; a fixed rod; a support frame; a slider; a pushing mechanism; a lifting mechanism; a ring groove; a fixed ring; a slide groove; and a partition plate.

[0013] 1. This kind of robot palletizing grasping device, when in use, the movable seat is driven by the power mechanism to rotate and adjust the position of the movable frame. After the movable frames are respectively between the fixed rods, the movable frames increase the contact points with the bottom of the object, so as to better support heavier objects.

[0014] 2. This kind of robot palletizing grasping device, after the movable frame rotates to the two ends of the fixed seat, the movable frame realizes all-round wrapping of the object from both ends of the fixed seat to avoid the impact caused by the object falling from between the fixed rods when grasping and moving.

[0015] 3. This kind of robot palletizing grasping device, in addition, the lifting mechanism pushes the support frame to move downward, the support frame and the movable frame are dislocated up and down, and after the movable frame and the support frame are dislocated up and down, objects can be grasped in layers, and separate placement at different positions can be achieved during palletizing. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of a robot palletizing and grabbing device of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of a support rod of a robot palletizing and grabbing device of the utility model;

[0018] Figure 3 It is a side view structural diagram of a fixed seat and a movable seat of a robot palletizing and grabbing device of the utility model;

[0019] In the figure: 1. fixed seat; 2. movable seat; 3. fixed column; 4. ring seat; 5. friction groove; 6. connecting frame; 7. power mechanism; 8. roller; 9. fixed plate; 10. displacement mechanism; 11. positioning column; 12. movable rod; 13. movable frame; 14. support rod; 15. fixed rod; 16. support frame; 17. slider; 18. pushing mechanism; 19. lifting mechanism; 20. ring groove; 21. fixed ring; 22. slide groove; 23. partition plate. DETAILED DESCRIPTION

[0020] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0021] See also Figures 1 to 3The utility model provides a technical solution: a robot palletizing grasping device, including a grasping device body, the grasping device body includes a fixed seat 1, a movable seat 2 is movably installed on the top of the fixed seat 1, a ring seat 4 is fixedly installed on the movable seat 2, a fixed column 3 is welded on the fixed seat 1, the fixed column 3 is movably installed inside the ring seat 4, a friction groove 5 is opened on the ring seat 4, a connecting frame 6 is welded on the fixed column 3, a power mechanism 7 is fixedly installed on the connecting frame 6, the power mechanism 7 is a DC motor, the DC motor drives the roller 8 to rotate, and the roller 8 cooperates with the friction groove 5 to drive the ring seat 4 and the movable seat 2 are rotated for use, a roller 8 is installed on the power mechanism 7, one side of the roller 8 is movably installed in the friction groove 5, one end of the fixed column 3 is welded with a fixed plate 9, both ends of the movable seat 2 are movably installed with movable rods 12, a displacement mechanism 10 is fixedly installed inside the movable seat 2, one end of the displacement mechanism 10 is fixed on the movable rod 12, a movable frame 13 is welded to the bottom of the movable rod 12, the displacement mechanism 10 is an electric push rod, the electric push rod pushes the movable rod 12 to move to both sides, moves and adjusts the position of the movable frame 13, so as to facilitate the rotation of the movable seat 2 in the later stage.

[0022] In this embodiment, a positioning column 11 is welded to the movable rod 12, and the positioning column 11 is movable on the side of the displacement mechanism 10. A support rod 14 is movably installed at the bottom of the fixed seat 1, and a fixing rod 15 is welded to the bottom of the support rod 14. A slide groove 22 is opened at the bottom of the fixed seat 1, and a partition plate 23 is fixed inside the slide groove 22. A slider 17 is welded to the top of the support rod 14, and a support frame 16 is movably installed at one end of the fixing rod 15. The support frame 16 cooperates with the movable frame 13, and a pushing mechanism 18 is fixed on the partition plate 23. The pushing mechanism 18 is an electric push rod, which pushes the slider 17 and the support rod 14 to move, so that the support rod 14 drives the fixing rod 15 to complete the grasping and clamping of the object.

[0023] In this embodiment, one end of the pushing mechanism 18 is fixed on the slider 17, and a lifting mechanism 19 is fixedly installed inside the fixed rod 15. One end of the lifting mechanism 19 is fixed on the support frame 16. An annular groove 20 is opened on the fixed column 3, and a fixing ring 21 is movably installed inside the annular groove 20. The fixing ring 21 is welded to the movable seat 2. A positioning hole is opened inside the movable seat 2. One end of the positioning column 11 is movably installed inside the positioning hole. The lifting mechanism 19 is an electric push rod. The electric push rod pushes the support frame 16 to move downward. After the support frame 16 moves downward, it forms a height dislocation with the movable frame 13, thereby realizing layered clamping of the object.

[0024] The device provides the required electric energy for the electrical appliances inside the device through external power and external electric energy. When using the device, firstly, the fixed column 3 is connected to the robot through the fixed plate 9, and the robot provides power for the movement of the fixed seat 1. When in use, the use state of the movable frame 13 is adjusted according to the requirements of grabbing the object. When multiple points are needed to grab and support the bottom of the object, the displacement mechanism 10 is retracted and started to move the movable rod 12 to the two ends of the movable seat 2, and the space between the movable frame 13 is opened. After opening, the power mechanism 7 is started to drive the roller 8 to rotate. The roller 8 and the friction groove 5 cooperate. The friction force generated by the roller 8 and the friction groove 5 causes the ring seat 4 and the movable seat 2 to rotate 90 degrees on the fixed column 3. After the movable seat 2 rotates 90 degrees, the movable frame 13 is located at the center of the fixed rod 15, and the pushing mechanism 18 and the displacement mechanism 10 are moved to the center of the fixed rod 15. The mechanism 10 contracts at the same time, so that the support frame 16 and the movable frame 13 on the fixed rod 15 move inward at the same time to complete the grasping of the object. When the object needs to be grasped in layers, the lifting mechanism 19 will be started to push the support frame 16 to move downward. After the support frame 16 moves downward, a height difference is formed with the movable frame 13, and the support frame 16 is preferentially brought into contact with the bottom of the object. Then the displacement mechanism 10 drives the movable frame 13 to move inward, and one end of the movable frame 13 completes the layered clamping of the object. After the layered clamping, the objects can be placed in different positions for stacking. When it is necessary to grasp the object with full protection, the movable seat 2 is rotated. The rotation of the movable seat 2 moves the movable frame 13 to the two ends of the fixed seat 1, and the object is fully protected by the cooperation of the movable frame 13 and the fixed rod 15 to prevent the object from falling between the fixed rods 15 during the grasping movement.

[0025] The above shows and describes the basic principles and main features of the utility model and the advantages of the utility model. For those skilled in the art, it is obvious that the utility model is not limited to the details of the above exemplary embodiments, and can be implemented in other specific forms without departing from the spirit or basic features of the utility model. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the utility model is defined by the attached claims rather than the above description, and it is intended to include all changes within the meaning and scope of the equivalent elements of the claims. Any figure mark in the claims should not be regarded as limiting the claims involved.

[0026] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A robot palletizing grasping device, comprising a grasping device body, characterized in that: The gripping device body comprises a fixed seat (1), a movable seat (2) is movably mounted on the top of the fixed seat (1), a ring seat (4) is fixedly mounted on the movable seat (2), a fixed column (3) is welded on the fixed seat (1), the fixed column (3) is movably mounted inside the ring seat (4), a friction groove (5) is opened on the ring seat (4), a connecting frame (6) is welded on the fixed column (3), a power mechanism (7) is fixedly mounted on the connecting frame (6), a roller (8) is mounted on the power mechanism (7), one side of the roller (8) is movably mounted inside the friction groove (5), and a fixed disk (9) is welded on one end of the fixed column (3).

2. A robot palletizing grasping device according to claim 1, characterized in that: Both ends of the movable seat (2) are movably mounted with movable rods (12), a displacement mechanism (10) is fixedly mounted inside the movable seat (2), one end of the displacement mechanism (10) is fixed on the movable rod (12), and a movable frame (13) is welded to the bottom of the movable rod (12).

3. A robot palletizing grasping device according to claim 2, characterized in that: A positioning column (11) is welded on the movable rod (12), and the positioning column (11) moves on the side of the displacement mechanism (10).

4. A robot palletizing grasping device according to claim 2, characterized in that: A support rod (14) is movably mounted at the bottom of the fixing seat (1), a fixing rod (15) is welded to the bottom of the support rod (14), a sliding groove (22) is formed at the bottom of the fixing seat (1), and a partition plate (23) is fixed inside the sliding groove (22).

5. A robot palletizing grasping device according to claim 4, characterized in that: A slider (17) is welded to the top of the support rod (14), a support frame (16) is movably mounted on one end of the fixed rod (15), the support frame (16) cooperates with the movable frame (13), and a pushing mechanism (18) is fixed on the partition plate (23).

6. A robot palletizing grasping device according to claim 5, characterized in that: One end of the pushing mechanism (18) is fixed on the slider (17), a lifting mechanism (19) is fixedly installed inside the fixing rod (15), and one end of the lifting mechanism (19) is fixed on the supporting frame (16).

7. The robot palletizing grasping device according to claim 1, characterized in that: The fixing column (3) is provided with an annular groove (20), a fixing ring (21) is movably installed inside the annular groove (20), and the fixing ring (21) is welded to the movable seat (2).

8. The robot palletizing grasping device according to claim 3, characterized in that: A positioning hole is provided inside the movable seat (2), and one end of the positioning column (11) is movably mounted inside the positioning hole.

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