Stacking clamp suitable for rectangular coordinate type robot
By designing a palletizing fixture suitable for cartes coordinate robots, using the sliding parts and triggers of the lifting mechanism, gentle clamping and transporting of the turnover box is achieved, and the problems of excessive clamping force in the prior art are solved, resulting in deformation of the turnover box and damage to the goods, ensuring the integrity of the goods.
Patent Information
- Application Number
- CN202421244998.5
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-03
- Publication Date
- 2025-03-04
- Estimated Expiration
- 2034-06-03
AI Technical Summary
When using a rectangular coordinate robot for palletization, when existing fixtures clamp and transfer the turnover box, excessive force may easily lead to deformation of the turnover box, thereby damaging the internal cargo.
A palletizing fixture including an intermediate plate, a split-and-joint part and a lifting part is designed. The lifting part consists of a long plate and a lifting mechanism. The lifting mechanism includes a first rack, a slider and a trigger member. The slider makes the slider lightly touch the outer wall of the turnover box through the slider to avoid lateral forces, ensure that the slider touches the pressure in a suitable position, and reduces the squeezing of the turnover box.
It effectively reduces the squeeze of the turnover box, ensures the integrity of its internal goods, and avoids deformation of the turnover box and damage to the goods.
Smart Images
Figure CN222556013U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to a fixture for palletizing, in particular to a device which is installed on a rectangular coordinate robot and cooperates with the robot to palletize turnover boxes, and belongs to the technical field of tooling fixture equipment. Background Art
[0002] With the continuous development of automation technology and the continuous increase in labor costs, the use of automatic equipment for product palletizing is becoming more and more common; rectangular coordinate robots are common equipment used for palletizing weekly boxes; the weekly boxes are filled with goods with different properties, and some goods are relatively fragile. When the clamps on the robot clamp the turnover boxes for transportation, if the clamping force is too strong, the turnover boxes will be deformed, and the deformed weekly boxes will squeeze the goods inside, causing damage to the goods; therefore, a clamp is needed that can reliably lift the weekly boxes and minimize the squeezing of the turnover boxes, thereby ensuring the integrity of the goods inside the turnover boxes. Utility Model Content
[0003] The purpose of the utility model is to overcome the shortcomings of the prior art and provide a palletizing clamp suitable for a rectangular coordinate robot, which can reliably clamp and cooperate with the robot to transfer turnover boxes, minimize the squeezing of the turnover boxes, and thus ensure the integrity of the goods inside.
[0004] The problem described in the utility model is solved by the following technical solutions:
[0005] A palletizing fixture suitable for a rectangular coordinate robot comprises an intermediate plate, a separation and combination part and a lifting part; the intermediate plate is arranged on the rectangular coordinate robot; the separation and combination part is arranged on the intermediate plate; the lifting parts are two in number and are symmetrically arranged on both sides of the separation and combination part; the lifting part comprises a long plate and a lifting mechanism; the lifting mechanisms are multiple in number and are evenly arranged on the long plate along the length direction of the long plate.
[0006] The above-mentioned palletizing fixture suitable for a rectangular coordinate robot, the lifting mechanism includes a first rack, a sliding member and a trigger member; a strip hole is provided on the long plate, and the length direction line of the strip hole is parallel to the length direction line of the long plate, and the strip hole of the long plate passes through the long plate along the thickness direction of the long plate; the first rack is provided on the outer side wall of the long plate, and it is located directly above the strip hole, and the center line of the first rack is parallel to the length direction line of the strip hole; the sliding member is provided in the strip hole of the long plate; the number of the trigger members is two, and they are all provided on the outer wall of the long plate, and they are respectively located at the two ends of the strip hole; the trigger member includes a vertical plate and a first touch-pressure switch; the vertical plate is provided on the outer wall of the long plate, and it is located at one end of the strip hole; the first touch-pressure switch is provided on the end face of the vertical plate close to the strip hole; the signal output end of the first touch-pressure switch is connected to the signal input end of the CPU.
[0007] The above-mentioned palletizing fixture suitable for rectangular coordinate robots, the sliding part includes a limit block, a guide cylinder, a slide rod, a pressure block, a first motor, a first gear and an infrared rangefinder; the guide cylinder is slidably arranged in the strip hole of the long plate, and the center line direction of the guide cylinder is parallel to the opening direction of the strip hole; the limit block is arranged at one end of the guide cylinder, and the limit block contacts the outer wall of the long plate; the slide rod is inserted in the guide cylinder, and a spring is arranged in the guide cylinder, one end of the spring is connected to the limit block, and the other end is connected to the slide rod; the four corners of the end face of the slide rod away from the guide cylinder are provided with square holes, and the pressure block is inserted in the square hole, and the square hole A second touch-pressure switch is arranged at the innermost end, and a spring is arranged in the square hole, and the spring is connected to the pressure block; a circular hole is arranged along the length direction of the guide cylinder on the limit block, and the infrared rangefinder is arranged on the outer wall of the limit block, and it covers the circular hole, and the infrared emitting end of the infrared rangefinder passes through the circular hole to point to the slide bar; the first motor is arranged on the outer wall of the limit block, and a first gear is arranged on its output shaft, and the first gear is meshingly connected with the first rack; the signal input end of the first motor is connected to the signal output end of the CPU; the signal output ends of the infrared rangefinder and the second touch-pressure switch are both connected to the signal input end of the CPU.
[0008] The above-mentioned palletizing fixture suitable for a rectangular coordinate robot, the separation and combination part includes a support plate, a guide mechanism, a separation and combination mechanism and a warning light; the number of the guide mechanisms is two, and a guide mechanism is provided between the two ends of the support plate and the two ends of the corresponding positions of the middle plate; the separation and combination mechanism is provided between the middle position of the middle plate and the middle position of the support plate; the warning light is provided on the side wall of the middle plate, and the signal input end of the warning light is connected to the signal output end of the CPU.
[0009] The above-mentioned palletizing fixture suitable for a rectangular coordinate robot, the guide mechanism includes an intermediate block, a guide rod and a guide block; the intermediate block is arranged between the end of the support plate and the end of the intermediate plate; the guide rods are symmetrically arranged at both ends of the intermediate block; the guide block is arranged at one end of the end face of the long plate, and the guide rod passes through the guide hole on the guide block.
[0010] The above-mentioned palletizing fixture suitable for rectangular coordinate robots, the separation and combination mechanism includes a second motor, a second gear, a second rack and a third rack; the second gear is axially connected to the center position of the support plate; the second motor is arranged at the middle position of the middle plate, and the second motor output shaft is connected to the center of the second gear; the ends of the two long plates are provided with fixed blocks, and one end of the second rack is arranged on the fixed block at the end of one long plate, and the third rack is arranged on the fixed block at the end of the other long plate; the third rack and the second rack are both meshed and transmission-connected with the second gear; the center lines of the second rack and the third rack are parallel; the second rack is located directly above the second gear, and the third rack is located directly below the second gear; the signal input end of the second motor is connected to the signal output end of the CPU.
[0011] The utility model drives the lifting parts on both sides to approach each other through the separation and combination parts, and through the cooperation of the trigger part and the sliding part, the sliding rod can lightly touch the outer wall of the turnover box, thereby avoiding applying a lateral force to the turnover box as much as possible; the sliding part enables the end of the sliding rod to touch and press on the appropriate position of the side wall of the turnover box. BRIEF DESCRIPTION OF THE DRAWINGS
[0012] Figure 1 This is a schematic diagram of the three-dimensional structure of the utility model from the first viewing angle;
[0013] Figure 2 This is a schematic diagram of the three-dimensional structure of the utility model from a second viewing angle.
[0014] The list of numbers in the figure is: 1. middle plate, 2. first rack, 3. limit block, 4. guide cylinder, 5. slide rod, 6. pressure block, 7. first motor, 8. first gear, 9. infrared rangefinder, 10. support plate, 11. middle block, 12. guide rod, 13. guide block, 14. second motor, 15. second gear, 16. second rack, 17. third rack. DETAILED DESCRIPTION
[0015] See also Figure 1 and Figure 2The utility model includes an intermediate plate 1, a separation and combination part and a lifting part; the intermediate plate 1 is arranged on a rectangular coordinate robot; the device is arranged on the rectangular coordinate robot and is driven to move by the rectangular coordinate robot, the device clamps the turnover box and then is transferred by the rectangular coordinate robot; the separation and combination part is arranged on the intermediate plate 1; the separation and combination part can drive the lifting parts on both sides to approach each other and then contact the turnover box; the number of the lifting parts is two, and they are symmetrically arranged on both sides of the separation and combination part; the lifting part includes a long board and a lifting mechanism; the number of the lifting mechanism is multiple, and they are evenly arranged on the long board along the length direction of the long board.
[0016] The lifting mechanism includes a first rack 2, a sliding member and a trigger member; a strip hole is provided on the long plate, and the length direction line of the strip hole is parallel to the length direction line of the long plate, and the strip hole of the long plate passes through the long plate along the thickness direction of the long plate; the first rack 2 is arranged on the outer wall of the long plate, and it is located directly above the strip hole, and the center line of the first rack 2 is parallel to the length direction line of the strip hole; the sliding member is arranged in the strip hole of the long plate; the number of the trigger members is two, and they are all arranged on the outer wall of the long plate, and they are respectively located at the two ends of the strip hole; the trigger member includes a vertical plate and a first touch-pressure switch; the vertical plate is arranged on the outer wall of the long plate, and it is located at one end of the strip hole; the first touch-pressure switch is arranged on the end face of the vertical plate close to the strip hole; the trigger member is used to confirm the position of the sliding member, and when the sliding member triggers a first touch-pressure switch, the real-time position of the sliding member can be known, which is convenient for the next step of judgment; the signal output end of the first touch-pressure switch is connected to the signal input end of the CPU.
[0017] The sliding member includes a limit block 3, a guide cylinder 4, a slide bar 5, a pressure block 6, a first motor 7, a first gear 8 and an infrared rangefinder 9; the guide cylinder 4 is slidably arranged in the strip hole of the long plate, and the center line direction of the guide cylinder 4 is parallel to the opening direction of the strip hole; a key is arranged on the side wall of the guide cylinder 4, and a groove is arranged on the inner wall of the strip hole, and the key on the side wall of the guide cylinder 4 is arranged in the groove of the inner wall of the strip hole, and the guide cylinder 4 can only slide in the strip hole of the long plate and will not escape from the strip hole; the limit block 3 is arranged at one end of the guide cylinder 4, and the limit block 3 contacts the outer wall of the long plate; the slide bar 5 is inserted in the guide cylinder 4; and a spring is arranged in the guide cylinder 4, one end of the spring is connected to the limit block 3, and the other end is connected to the slide bar 5; the spring provides the slide bar 5 with a force to extend out of the guide cylinder 4, and the existence of the spring makes the long plate contact the turnover box with a smaller force under the action of the spring during the process of approaching, after the slide bar 5 contacts the turnover box, thereby avoiding deformation of the turnover box caused by excessive contact pressure.
[0018] The four corners of the end face of the slide bar 5 away from the guide cylinder 4 are provided with square holes, and the pressure blocks 6 are inserted into the square holes. The innermost end of the square hole is provided with a second touch-pressure switch, and a spring is provided in the square hole, and the spring is connected to the pressure block 6; because the side wall of the turnover box is provided with reinforcing ribs for reinforcing the turnover box, the reinforcing ribs are horizontal and vertical, and the side wall of the turnover box is divided into small groove-shaped structures. In order to ensure that the slide bar 5 accurately enters the groove structure of the side wall of the turnover box, four pressure blocks are provided. If each pressure block on the slide bar 5 triggers its corresponding second touch-pressure switch, it means that the slide bar 5 is in a state of being pressed. The rod 5 touches the plane and is located in the groove structure. As long as there is no trigger signal for some of the second touch-pressure switches, it means that the slide rod 5 touches the reinforcement rib and has not entered the groove structure. This can be used to determine whether the slide rod 5 is in the groove structure, and then adjust the position to ensure that the slide rod 5 enters the groove structure. The reason why the end of the slide rod 5 is set to enter the groove structure is that when the slide rod 5 moves upward, the upper end surface of the slide rod 5 must support the lower end surface of the reinforcement rib horizontally to lift the turnover box. If the slide rod 5 touches the reinforcement rib, the force point cannot be found, and the turnover box cannot be lifted.
[0019] The limit block 3 is provided with a circular hole along the length direction of the guide cylinder 4. The infrared rangefinder 9 is arranged on the outer wall of the limit block 3 and covers the circular hole. The infrared emitting end of the infrared rangefinder 9 passes through the circular hole to point to the slide bar 5; the infrared rangefinder 9 can know the relative position of the slide bar 5, and then determine whether this slide bar 5 enters the groove structure by comparing with the position of other slide bars 5.
[0020] The first motor 7 is arranged on the outer wall of the limit block 3, and a first gear 8 is arranged on its output shaft, and the first gear 8 is meshed and transmission-connected with the first rack 2; the signal input end of the first motor 7 is connected with the signal output end of the CPU; the signal output ends of the infrared rangefinder 9 and the second touch-pressure switch are both connected with the signal input end of the CPU; the first motor 7 drives the first gear 8 to rotate, and the first gear 8 is meshed with the first rack 2, so when the first gear rotates, it drives the first motor 7 to move; the first motor 7 drives the limit block 3, the guide cylinder 4, the slide rod 5, and the pressure block 6 assembly to move synchronously.
[0021] The separation and combination part includes a support plate 10, a guide mechanism, a separation and combination mechanism and a warning light; there are two guide mechanisms, and a guide mechanism is provided between the two ends of the support plate 10 and the two ends of the corresponding positions of the middle plate 1; the separation and combination mechanism is provided between the middle position of the middle plate 1 and the middle position of the support plate 10; the guide mechanism is used to provide a guiding effect; the separation and combination mechanism is used to provide a driving force for the long plates on both sides to move closer or farther away; the warning light is provided on the side wall of the middle plate 1, and the signal input end of the warning light is connected to the signal output end of the CPU; when the warning light is green, it means that each slide rod 5 is in place, and the turnover box can be lifted and transported.
[0022] The guide mechanism includes an intermediate block 11, a guide rod 12 and a guide block 13; the intermediate block 11 is arranged between the end of the support plate 10 and the end of the intermediate plate 1; the guide rods 12 are symmetrically arranged at both ends of the intermediate block 11; the guide block 13 is arranged at one end of the end surface of the long plate, and the guide rod 12 passes through the guide hole on the guide block 13; when the long plates on both sides move closer to or away from each other, the guide rod 12 provides a guiding effect.
[0023] The separation and combination mechanism includes a second motor 14, a second gear 15, a second rack 16 and a third rack 17; the second gear 15 is axially connected to the center of the support plate 10; the second motor 14 is arranged at the middle position of the middle plate 1, and the output shaft of the second motor 14 is connected to the center of the second gear 15; the second motor 14 can drive the second gear 15 to rotate, and the rotating second gear 15 drives the racks on both sides to move in the opposite direction, thereby driving the two long boards to move closer to or away from each other; fixed blocks are provided at the ends of the two long boards, and one end of the second rack 16 is provided on the fixed block at the end of one long board, and the third rack 17 is provided on the fixed block at the end of the other long board; the third rack 17 and the second rack 16 are both meshed and transmission-connected with the second gear 15; the center lines of the second rack 16 and the third rack 17 are parallel; the second rack 16 is located directly above the second gear 15, and the third rack 17 is located directly below the second gear 15; the signal input end of the second motor 14 is connected to the signal output end of the CPU.
[0024] The model of the CPU module in the present utility model is 87C196KC.
[0025] Actual usage process: the rectangular coordinate robot drives the clamp to move to the turnover box, so that the turnover box is located between the long boards on both sides, and the turnover box is located in the center position between the long boards on both sides; then the second motor 14 is started to make the long boards on both sides close together; as long as the four pressure blocks 6 at the end of one sliding rod 5 trigger the second touch-pressure switch, it means that at least one end of the sliding rod 5 is fitted in the side wall groove structure of the turnover box, and the action of the second motor 14 is stopped at this time. During this process, the infrared rangefinder 9 is a safety insurance. If the infrared rangefinder 9 detects that the sliding rod 5 is about to touch the limit block 3, the second motor 14 is forced to stop moving to avoid the sliding rod 5 from hard contacting the limit block 3. Without the buffer of the spring, it directly impacts the side wall of the turnover box, which will cause damage to the goods inside the turnover box; the remaining sliding rods 5 are judged whether they are in place according to the position of their pressure blocks 6; since the end faces of each sliding rod 5 are parallel, when one sliding rod 5 is in place, the remaining sliding rods 5 are normal In the case of a sudden change in the load capacity, the first motor 7 is used to move the slider 5 laterally so that the slider 5 is staggered from the reinforcement rib. In the process of horizontal movement, if the four second pressure switches are triggered, it means that the slider 5 is in place, and the first motor 7 is turned off. The above-mentioned actions are performed until all the sliders 5 are in place. At this time, the rectangular coordinate robot drives the fixture upward. During the upward movement, each slider 5 presses against the top of the inner wall of the groove structure on the side wall of the turnover box and drives it upward for transportation. After the turnover box is in place, the second motor 14 is used to drive the long boards on both sides to move away, thereby releasing the contact between the slider 5 and the turnover box. Then, the various parts of the fixture are reset to restore the initial position. Then, the rectangular coordinate robot drives the fixture to move to the next turnover box that needs to be transported, and the above-mentioned actions are repeated.
Claims
1. A palletizing fixture suitable for a rectangular coordinate robot, characterized in that: The robot comprises an intermediate plate (1), a separation and combination part and a lifting part; the intermediate plate (1) is arranged on a rectangular coordinate robot; the separation and combination part is arranged on the intermediate plate (1); the lifting parts are two in number and are symmetrically arranged on both sides of the separation and combination part; the lifting part comprises a long plate and a lifting mechanism; the lifting mechanisms are multiple in number and are evenly arranged on the long plate along the length direction of the long plate.
2. The palletizing fixture for a rectangular coordinate robot according to claim 1, characterized in that: The lifting mechanism comprises a first rack (2), a sliding member and a trigger member; a strip hole is arranged on the long plate, and the length direction line of the strip hole is parallel to the length direction line of the long plate, and the strip hole of the long plate passes through the long plate along the thickness direction of the long plate; the first rack (2) is arranged on the outer wall of the long plate, and it is located directly above the strip hole, and the center line of the first rack (2) is parallel to the length direction line of the strip hole; the sliding member is arranged in the strip hole of the long plate; the number of the trigger members is two, and they are all arranged on the outer wall of the long plate, and they are respectively located at the two ends of the strip hole; the trigger member comprises a vertical plate and a first touch pressure switch; the vertical plate is arranged on the outer wall of the long plate, and it is located at one end of the strip hole; the first touch pressure switch is arranged on the end face of the vertical plate close to the strip hole; the signal output end of the first touch pressure switch is connected to the signal input end of the CPU.
3. The palletizing fixture for a rectangular coordinate robot according to claim 2, characterized in that: The sliding member comprises a limit block (3), a guide cylinder (4), a slide rod (5), a pressure block (6), a first motor (7), a first gear (8) and an infrared rangefinder (9); the guide cylinder (4) is slidably arranged in the strip-shaped hole of the long plate, and the center line direction of the guide cylinder (4) is parallel to the opening direction of the strip-shaped hole; the limit block (3) is arranged at one end of the guide cylinder (4), and the limit block (3) contacts the outer wall of the long plate; the slide rod (5) is inserted in the guide cylinder (4), and a spring is arranged in the guide cylinder (4), one end of the spring is connected to the limit block (3), and the other end is connected to the slide rod (5); the four corners of the end surface of the slide rod (5) away from the guide cylinder (4) are all provided with square holes, and the pressure block (6) is inserted in the square hole, and the most A second touch-pressure switch is arranged at the inner end, and a spring is arranged in the square hole, and the spring is connected to the pressure block (6); the limit block (3) is provided with a circular hole along the length direction of the guide tube (4); the infrared rangefinder (9) is arranged on the outer wall of the limit block (3) and covers the circular hole, and the infrared emitting end of the infrared rangefinder (9) passes through the circular hole and points to the slide bar (5); the first motor (7) is arranged on the outer wall of the limit block (3), and a first gear (8) is arranged on its output shaft, and the first gear (8) is meshingly connected with the first rack (2); the signal input end of the first motor (7) is connected to the signal output end of the CPU; the signal output ends of the infrared rangefinder (9) and the second touch-pressure switch are both connected to the signal input end of the CPU.
4. The palletizing fixture suitable for a rectangular coordinate robot according to claim 3, characterized in that: The splitting and combining part comprises a support plate (10), a guide mechanism, a splitting and combining mechanism and a warning light; the number of the guide mechanisms is two, and a guide mechanism is provided between the two ends of the support plate (10) and the two ends of the corresponding positions of the middle plate (1); the splitting and combining mechanism is provided between the middle position of the middle plate (1) and the middle position of the support plate (10); the warning light is provided on the side wall of the middle plate (1), and the signal input end of the warning light is connected to the signal output end of the CPU.
5. The palletizing fixture suitable for a rectangular coordinate robot according to claim 4, characterized in that: The guide mechanism comprises an intermediate block (11), a guide rod (12) and a guide block (13); the intermediate block (11) is arranged between the end of the support plate (10) and the end of the intermediate plate (1); guide rods (12) are symmetrically arranged at both ends of the intermediate block (11); the guide block (13) is arranged at one end of the end surface of the long plate, and the guide rod (12) passes through a guide hole on the guide block (13).
6. The palletizing fixture suitable for a rectangular coordinate robot according to claim 5, characterized in that: The splitting and combining mechanism comprises a second motor (14), a second gear (15), a second rack (16) and a third rack (17); the second gear (15) is axially connected to the center of the support plate (10); the second motor (14) is arranged at the center of the middle plate (1), and the output shaft of the second motor (14) is connected to the center of the second gear (15); fixed blocks are arranged at the ends of the two long plates, and one end of the second rack (16) is arranged on the fixed block at the end of one long plate, and the third rack (17) is arranged on the fixed block at the end of the other long plate; the third rack (17) and the second rack (16) are meshed and transmission-connected with the second gear (15); the center lines of the second rack (16) and the third rack (17) are parallel; the second rack (16) is located directly above the second gear (15), and the third rack (17) is located directly below the second gear (15); the signal input end of the second motor (14) is connected to the signal output end of the CPU.