Gripper of notch type turnover box

Abstract

The utility model discloses a notch type turnover box gripper which comprises a robot quick-change assembly connected with a robot male head. The moving arm driving assembly comprises a welding frame body connected with the robot quick-change assembly, and a power assembly is arranged on the welding frame body; the fixed arm assembly is connected with the welding frame body and located at one end of the welding frame body; the fixed arm assembly comprises a movable first clamping jaw and a buckle notch used for being connected with the turnover box, and further comprises a movable first pressing plate used for pressing the turnover box. The movable arm assembly is connected with the power assembly and located at the other end of the welding frame body so as to be driven by the power assembly to move in the direction close to or away from the fixed arm assembly. The robot quick-change device is reasonable in structural design, connection with a robot male head is achieved through the robot quick-change assembly, and free switching of various clamps of a robot is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of transporting materials, and in particular to a gripper of a notch-type turnover box. Background Art

[0002] At present, in the automated logistics system, the handling and loading and unloading of turnover boxes are the key links to improve efficiency. Existing turnover box grippers are mostly fixed designs, lacking flexibility and automation, resulting in low handling efficiency and high reliance on operators. For example, when a warehouse receives products packaged in turnover boxes from suppliers, multiple people place the turnover boxes on the conveyor line; manual handling and bending work frequently are heavy, high-intensity and easy to fatigue, resulting in a low happiness index and a high employee turnover rate. Utility Model Content

[0003] In view of the above problems, the purpose of the embodiments of the present application is to provide a gripper for a notch-type turnover box, so as to solve the problem of high labor intensity in manual handling of turnover boxes.

[0004] The purpose of the embodiment of the present application is to provide a gripper for a notch-type turnover box, comprising:

[0005] A robot quick-change assembly, which is connected to the robot male connector;

[0006] A mobile arm driving assembly, comprising a welding frame connected to the robot quick-change assembly, wherein the welding frame is provided with a power assembly;

[0007] A fixed arm assembly connected to the welding frame and located at one end of the welding frame;

[0008] The fixed arm assembly includes a movable first clamping claw for connecting to the buckle notch of the turnover box, and also includes a movable first pressing plate for pressing the turnover box;

[0009] A movable arm assembly connected to the power assembly and located at the other end of the welding frame, so as to move in a direction close to or away from the fixed arm assembly under the drive of the power assembly;

[0010] The movable arm assembly includes a movable second clamping claw for connecting with the buckle notch of the turnover box, and also includes a movable second pressing plate for pressing the turnover box;

[0011] A detection assembly is respectively connected to the fixed arm assembly and / or the movable arm assembly and contacts the turnover box, and is used to detect the position of the turnover box so that the fixed arm assembly and the movable arm assembly clamp the turnover box.

[0012] As an optional embodiment, the robot quick change assembly includes:

[0013] Quick-change female connector, used to connect with the robot male connector;

[0014] A pneumatic component connected to the quick-change female head and used to drive the quick-change female head to move;

[0015] An air distribution joint, which is connected to the pneumatic element and is used to drive the pneumatic element to move;

[0016] A quick-change fixing plate, used for installing the quick-change female connector and the gas distribution connector;

[0017] Quick-change vertical plates, which are respectively arranged at both ends of the quick-change fixed plate and connected to the welding frame;

[0018] A positioning column, which is provided at one end of the quick-change fixing plate and is located outside the quick-change vertical plate, and is used to determine the assembly position of the robot quick-change assembly and the robot;

[0019] The gas collecting joint is arranged on the quick-change vertical plate and connected to the gas distributing joint, and the other end of the gas collecting joint is connected to the gas source.

[0020] As an optional embodiment, the power assembly includes:

[0021] A motor mounting plate connected to the welding frame, wherein a motor mounting frame is provided on the motor mounting plate;

[0022] A motor, which is arranged on the motor mounting frame, and one end of the output shaft of the motor is connected to a coupling;

[0023] A bearing seat, which is arranged on the motor mounting plate;

[0024] A synchronous wheel is arranged on the other side of the motor mounting plate, the wheel shaft of the synchronous wheel passes through the bearing seat and is connected to the coupling, and the other end of the welding frame is provided with a similar synchronous wheel;

[0025] A synchronous belt is arranged on the outer sides of the two synchronous wheels and meshes with the synchronous wheels, and a clamping plate is arranged on the synchronous belt.

[0026] As an optional embodiment, the power assembly further includes:

[0027] An idler wheel fixing plate connected to the welding frame;

[0028] The idler wheel is connected to the idler wheel fixing plate through its own wheel axle, and its outer wall is in contact with the synchronous belt.

[0029] As an optional embodiment, the moving arm driving assembly further includes:

[0030] A solenoid valve assembly connected to the welding frame and used to provide an air source for the movement of the first pressing plate, the second clamping jaw and the second pressing plate;

[0031] A drag chain, one end of which is connected to the welding frame through a drag chain fixing plate, and the other end of which is arranged in a drag chain slot connected to the moving arm assembly;

[0032] The first linear rail is arranged on the welding frame, and when the synchronous belt drives the driving arm assembly to move through the clamping plate, the driving arm assembly is moved along the first linear rail.

[0033] As an optional embodiment, the fixed arm assembly further includes:

[0034] A first fixed arm connected to the welding frame;

[0035] A second fixed arm connected to the first fixed arm, wherein a first clamping claw is provided at one end of the second fixed arm;

[0036] A first pressing cylinder, which is arranged at the other end of the second fixed arm, a first pressing plate is arranged on the movable end of the first pressing cylinder, and the first pressing plate cooperates with the first clamping claw to clamp the turnover box;

[0037] A sensor mounting plate is arranged on the second fixed arm, and a first sensor is arranged on the sensor mounting plate for detecting the presence or absence of the turnover box.

[0038] As an optional embodiment, the moving arm assembly further includes:

[0039] A first movable arm connected to the clamping plate, wherein the first movable arm is provided with a first cylinder;

[0040] a second movable arm connected to the first movable arm through a movable end of the first cylinder, and the second movable arm is provided with a second clamping claw;

[0041] A sensor mounting plate, which is arranged on the second movable arm, and a second sensor is arranged on the sensor mounting plate for detecting the presence or absence of the turnover box;

[0042] A second pressing cylinder is arranged on the second movable arm. A second pressing plate is arranged on the movable end of the second pressing cylinder. The second pressing plate cooperates with the second clamping claw to clamp the turnover box.

[0043] As an optional embodiment, the moving arm assembly further includes:

[0044] The second linear rail is arranged on the first moving arm so that the second moving arm moves along the second linear rail when the first cylinder drives the second moving arm to move.

[0045] As an optional embodiment, the detection component includes:

[0046] An L-shaped plate connected to the second fixed arm, wherein a linear bearing is provided on the L-shaped plate;

[0047] a third pressing plate connected to the linear bearing and used for mounting a movable third sensor;

[0048] A guide shaft has one end connected to the linear bearing and the other end connected to the probe plate. A spring sleeved on the guide shaft is provided between the L-shaped plate and the probe plate.

[0049] As an optional embodiment, the detection component further includes:

[0050] a bolt, one end of which passes through the third pressing plate and is connected to the third sensor;

[0051] A nut is connected to the bolt and is located on a side of the third pressing plate away from the third sensor.

[0052] The beneficial effects of the embodiments of the present application are:

[0053] The structural design of this application is reasonable. The robot quick-change assembly is used to connect with the robot male head, and the robot can freely switch between multiple fixtures. The mobile arm assembly and the fixed arm assembly are used to grasp the turnover box with a concave buckle hand shape. The compatible turnover box size range is large, and the functions of hooking, avoiding, pressing, and detecting the turnover box are realized. The detection assembly is used to prevent the deviation of the grasping position guided by the visual system and avoid the occurrence of collision. The present invention replaces frequent manual handling, improves manual work efficiency, and improves the manual happiness index. It is suitable for warehousing, logistics, food manufacturing, automotive parts manufacturing and other fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a structural schematic diagram (structural explosion diagram) of an embodiment of the present application;

[0055] Figure 2 This is a schematic diagram of the structure of a robot quick-change assembly according to an embodiment of the present application;

[0056] Figure 3 This is a schematic diagram of the structure of a moving arm driving assembly according to an embodiment of the present application;

[0057] Figure 4 This is a schematic structural diagram of a fixed arm assembly according to an embodiment of the present application;

[0058] Figure 5 This is a schematic structural diagram of a moving arm assembly according to an embodiment of the present application;

[0059] Figure 6 A schematic diagram of the structure of a detection component according to an embodiment of the present application;

[0060] Figure 7The structure of the turnover box of the embodiment of the present application is shown as follows: Figure 1 ;

[0061] Figure 8 The structure of the turnover box of the embodiment of the present application is shown as follows: Figure 2 .

[0062] Reference numerals:

[0063] 100, robot quick-change assembly; 11, quick-change female connector; 12, air distribution connector; 13, quick-change fixing plate; 14, quick-change vertical plate; 15, positioning column; 16, air collecting connector; 200, mobile arm drive assembly; 21, welding frame; 221, motor mounting plate; 222, motor mounting frame; 223, motor; 224, coupling; 225, bearing seat; 226, synchronous wheel; 227, synchronous belt; 231, idler wheel fixing plate; 232, idler wheel; 24, solenoid valve group; 251, drag chain; 252, drag chain fixing plate; 253, drag chain slot; 254, first linear rail; 26, clamping plate; 30 0. Fixed arm assembly; 31. First clamp; 32. First pressure plate; 33. First fixed arm; 34. Second fixed arm; 35. First pressure cylinder; 36. Sensor mounting plate; 37. First sensor; 400. Moving arm assembly; 41. Second clamp; 42. Second pressure plate; 43. First moving arm; 44. First cylinder; 45. Second moving arm; 46. Second sensor; 47. Second pressure cylinder; 48. Second linear rail; 500. Detection assembly; 51. L-shaped plate; 52. Linear bearing; 53. Third pressure plate; 54. Third sensor; 55. Guide shaft; 56. Probe plate; 57. Spring. DETAILED DESCRIPTION

[0064] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0065] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present application will occur to those skilled in the art.

[0066] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present application and, together with the general description of the present application given above and the detailed description of the embodiments given below, serve to explain the principles of the present application.

[0067] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0068] It should also be understood that although the present application has been described with reference to some specific examples, those skilled in the art will be able to readily implement many other equivalent forms of the present application.

[0069] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0070] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid unnecessary or redundant details that obscure the present application. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0071] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0072] The present application embodiment provides a gripper for a notch-shaped turnover box, such as Figure 1 As shown, it includes a robot quick-change assembly 100, a moving arm driving assembly 200, a fixed arm assembly 300, a moving arm assembly 400 and a detection assembly 500. The present application has a high degree of automation. The robot quick-change assembly 100 is used to quickly connect the robot to reduce manual operations; the coordination of the fixed arm assembly 300 and the moving arm assembly 400 ensures the stability of the turnover box during the handling process; and the detection assembly 500 is used to effectively prevent collision accidents.

[0073] The robot quick-change assembly 100 is connected to the robot male connector. Figure 2 As shown, the robot quick-change assembly 100 includes a quick-change female head 11, a pneumatic element, an air distribution joint 12, a quick-change fixing plate 13, a quick-change vertical plate 14, a positioning column 15 and an air collecting joint 16.

[0074] The quick-change female head 11 is used to connect with the male head of the robot, and the pneumatic component is connected with the quick-change female head 11 to drive the quick-change female head 11 to move. The air distribution joint 12 is connected with the pneumatic component to drive the pneumatic component to move. The quick-change fixing plate 13 is used to install the quick-change female head 11 and the air distribution joint 12.

[0075] The two quick-change vertical plates 14 are provided, which are respectively provided at the two ends of the quick-change fixing plate 13 and connected to the welding frame 21. The positioning column 15 is provided at one end of the quick-change fixing plate 13 and is located on the outside of the quick-change vertical plate 14, and is used to determine the assembly position of the robot quick-change assembly 100 and the robot. The gas collecting joint 16 is provided on the quick-change vertical plate 14 and is connected to the gas distribution joint 12, and the other end thereof is connected to the gas source. Among them, the gas source is the gas source system of the robot.

[0076] like Figure 3 As shown, the mobile arm driving assembly 200 includes a welding frame 21 connected to the robot quick change assembly 100, and a power assembly is provided on the welding frame 21. The power assembly includes a motor mounting plate 221, a motor mounting frame 222, a motor 223, a bearing seat 225, a synchronous wheel 226 and a synchronous belt 227.

[0077] The motor mounting plate 221 is connected to the welding frame 21, and a motor mounting frame 222 is provided on the motor mounting plate 221. The motor mounting frame 222 includes a motor 223 fixing plate and four support columns, one end of each support column is respectively at the corner of the motor 223 fixing plate, and a locking block is provided on the other end thereof to lock the support column on the motor mounting plate 221.

[0078] The motor 223 is arranged on the motor 223 fixing plate of the motor mounting frame 222, and one end of the output shaft of the motor 223 is connected to a coupling 224. The bearing seat 225 is arranged on the motor mounting plate 221. The synchronous wheel 226 is arranged on the other side of the motor mounting plate 221, and the wheel axle of the synchronous wheel 226 passes through the bearing seat 225 and is connected to the coupling 224. The other end of the welding frame 21 is provided with a similar synchronous wheel 226. The synchronous belt 227 is arranged on the outer side of the two synchronous wheels 226 and meshes with the synchronous wheels 226, and a clamping plate 26 is provided on the synchronous belt 227.

[0079] The power assembly further includes an idler wheel 232 fixing plate 231 and an idler wheel 232, wherein the idler wheel 232 fixing plate 231 is connected to the welding frame 21, and the idler wheel 232 is connected to the idler wheel 232 fixing plate 231 through its own wheel axle, and its outer wall is in contact with the synchronous belt 227. The present application tensions the synchronous belt 227 through the idler wheel 232 to ensure the effective connection between the synchronous belt 227 and the synchronous wheel 226, and does not affect the synchronous wheel 226 to drive the synchronous belt 227 to move.

[0080] The mobile arm driving assembly 200 further includes a solenoid valve group 24, a drag chain 251 and a first linear rail 254. The solenoid valve group 24 is connected to the welding frame 21, and is used to provide an air source for the movement of the first pressing plate 32, the second clamping jaw 41 and the second pressing plate 42, that is, to provide an air source for the first cylinder 44, the first pressure cylinder 35 and the second pressure cylinder 47. The solenoid valve group 24 of the present application is also connected to the air collecting joint 16, and is used to control the on-off between the air source system of the robot and the robot quick-change assembly 100.

[0081] One end of the drag chain 251 is connected to the welding frame 21 through the drag chain fixing plate 252, and the other end is arranged in the drag chain slot 253 connected to the moving arm assembly 400. The first linear rail 254 is arranged on the welding frame 21, and when the synchronous belt 227 drives the driving arm assembly to move through the clamping plate 26, the driving arm assembly moves along the first linear rail 254. The clamping plate 26 is connected to the moving arm assembly 400, and one side of the clamping plate 26 is slidably matched with the first linear rail 254.

[0082] Specifically, when the motor 223 drives the synchronous wheel 226 to rotate, the synchronous wheel 226 drives the synchronous belt 227 to move, and the synchronous belt 227 drives the movable arm assembly 400 to move through the clamping plate 26. At the same time, the clamping plate 26 enables the movement of the movable arm assembly 400 to be carried out under the guidance of the drag chain 251 to ensure the accuracy of the movement.

[0083] like Figure 4 , Figure 7 and Figure 8 As shown, the fixed arm assembly 300 is connected to the welding frame 21 and is located at one end of the welding frame 21. The fixed arm assembly 300 includes a movable first clamping claw 31 for connecting to the buckle notch of the turnover box, and a movable first pressing plate 32 for pressing the turnover box. The fixed arm assembly 300 also includes a first fixed arm 33, a second fixed arm 34, a first pressing cylinder 35 and a sensor mounting plate 36.

[0084] The first fixed arm 33 is connected to the welding frame 21, the second fixed arm 34 is connected to the first fixed arm 33, and one end of the second fixed arm 34 is mounted with the first clamping claw 31 through a clamping claw fixing plate. The first pressure cylinder 35 is provided at the other end of the second fixed arm 34, and a first pressing plate 32 is provided on the movable end of the first pressure cylinder 35, and the first pressing plate 32 cooperates with the first clamping claw 31 to clamp the turnover box. The sensor mounting plate 36 is provided on the second fixed arm 34, and a first sensor 37 is provided on the sensor mounting plate 36 to detect whether the turnover box exists.

[0085] like Figure 5 , Figure 7-Figure 8As shown, the movable arm assembly 400 is connected to the power assembly and is located at the other end of the welding frame 21, so as to move in a direction close to or away from the fixed arm assembly 300 under the drive of the power assembly. The movable arm assembly 400 includes a movable second clamping jaw 41 for connecting to the buckle recess of the turnover box, and also includes a movable second pressing plate 42 for pressing the turnover box.

[0086] The moving arm assembly 400 further includes a first moving arm 43 , a second moving arm 45 , a first air cylinder 44 , a second pressure cylinder 47 , a sensor mounting plate 36 , and a second linear rail 48 .

[0087] The first moving arm 43 is connected to the clamping plate 26, and a first cylinder 44 is disposed on the first moving arm 43. The second moving arm 45 is connected to the first moving arm 43 through the movable end of the first cylinder 44, and a second clamping claw 41 is mounted on the second moving arm 45 through a clamping claw fixing plate.

[0088] A joint connector is disposed on the movable end of the first cylinder 44 , the joint connector is connected to a connecting plate, and the joint connecting plate is connected to the second movable arm 45 .

[0089] The sensor mounting plate 36 is disposed on the second movable arm 45, and a second sensor 46 is disposed on the sensor mounting plate 36 for detecting the presence of the turnover box. The second pressing cylinder 47 is disposed on the second movable arm 45, and a second pressing plate 42 is disposed on the movable end of the second pressing cylinder 47, and the second pressing plate 42 cooperates with the second clamping claw 41 to clamp the turnover box.

[0090] The moving arm assembly 400 further includes a second linear rail 48 , which is disposed on the first moving arm 43 , so that the second moving arm 45 moves along the second linear rail 48 when the first cylinder 44 drives the second moving arm 45 to move.

[0091] Specifically, the movable ends of the first pressure cylinder 35 and the second pressure cylinder 47 are both in a retracted state when not in use to avoid the turnover box. When the first clamp 31 hooks the handle of the turnover box, the first sensor 37 detects the presence of the turnover box. And when the second clamp 41 hooks the handle of the turnover box, the second sensor 46 detects the presence of the turnover box, and at this time, the first pressure cylinder 35 and the second pressure cylinder 47 are activated to drive the first pressing plate 32 and the second pressing plate 42 to fix the turnover box.

[0092] like Figure 6As shown, the detection assembly 500 is respectively connected to the fixed arm assembly 300 and / or the movable arm assembly 400 and contacts the turnover box, and is used to detect the position of the turnover box so that the fixed arm assembly 300 and the movable arm assembly 400 clamp the turnover box.

[0093] The detection assembly 500 includes an L-shaped plate 51, a third pressure plate 53 and a guide shaft 55. The L-shaped plate 51 is connected to the second fixed arm 34, and a linear bearing 52 is provided on the L-shaped plate 51. The third pressure plate 53 is connected to the linear bearing 52, and is used to install a movable third sensor 54. One end of the guide shaft 55 is connected to the linear bearing 52, and the other end is connected to the probe plate 56. A spring 57 sleeved on the guide shaft 55 is provided between the L-shaped plate 51 and the probe plate 56. A gasket is also provided between the spring 57 and the probe plate 56.

[0094] The detection assembly 500 also includes a bolt and a nut. One end of the bolt passes through the third pressure plate 53 and is connected to the third sensor 54 . The nut is connected to the bolt and is located on a side of the third pressure plate 53 away from the third sensor 54 .

[0095] The use position of the third sensor 54 relative to the third pressure plate 53 can be adjusted by nuts and bolts, and the use is more flexible. The third sensor 54 can be used to detect the compression amount of the spring 57 to determine whether there is a turnover box under the gripper; it can also be used to detect the moving position of the probe plate 56 to determine whether there is a turnover box under the gripper.

[0096] Specifically, when the turnover box is unstacking, the robot drives the gripper to move downward. When the probe plate 56 contacts the turnover box and is blocked by the turnover box, the probe plate 56 drives the guide shaft 55 to move along the linear bearing 52 to compress the spring 57. The third sensor 54 detects the compression of the spring 57 to determine that there is a turnover box under the gripper, and then grabs the turnover box. The present application detects the turnover box in the Z-axis direction, and when used with the robot, it can also prevent the grasping position guided by the visual system from being offset and avoid the occurrence of collision.

[0097] Before use, ensure that the robot male head is correctly connected to the quick-change female head 11, and the quick-change assembly is locked through the pneumatic components and the air distribution connector 12. Check whether all sensors are working properly to ensure that the position of the turnover box can be accurately detected in the following operation.

[0098] Before use, the first air cylinder 44 is in a retracted state to avoid the Z-axis position of the turnover box. The first pressure cylinder 35 and the second pressure cylinder 47 are also in a retracted state to facilitate the subsequent clamping of the turnover box.

[0099] When in use, the robot first grasps the gripper, that is, aligns the positioning column 15 of the robot quick-change assembly 100 with the assembly position of the robot to ensure a stable connection between the gripper and the robot.

[0100] Next, the robot starts the motor 223, and the output shaft of the motor 223 drives the synchronous wheel 226 to rotate through the coupling 224, and the synchronous belt 227 moves accordingly, driving the movable arm assembly 400 to move along the welding frame 21 to open the corresponding distance size according to the size of the turnover box.

[0101] At this time, the robot drives the movable arm driving assembly 200 to move upward, so that the first clamping claw 31 hooks the hand-catching notch of the turnover box and moves upward a certain distance with the robot. In addition, the movable end of the first cylinder 44 extends out, so that the second movable arm 45 moves away from the first movable arm 43 to avoid the turnover box. Then, the movable arm assembly 400 is moved toward the fixed arm assembly 300 through the movable arm driving assembly 200, so that the second clamping claw 41 can hook the hand-catching notch on the other side of the turnover box. Then, the first pressing cylinder 35 and the second pressing cylinder 47 are started at the same time, so that the first pressing plate 32 and the second pressing plate 42 can press the turnover box tightly to ensure the stability of the turnover box during transportation.

[0102] Then, the robot drives the gripper to move to carry the turnover box. After reaching the destination, the robot moves the turnover box downward to place it on the receiving conveyor line. At this time, the movable ends of the first pressure cylinder 35 and the second pressure cylinder 47 retract, and the robot drives the gripper to continue to move downward, so that the first clamping claw 31 and the second clamping claw 41 are separated from the hand-gripping notch of the turnover box. The mobile arm driving assembly 200 moves the mobile arm assembly 400 away from the fixed arm assembly 300, and at the same time, the movable end of the first cylinder 44 retracts and avoids the turnover box, thereby releasing the turnover box. Finally, the robot returns with the gripper to grab the turnover box again and place it, and this cycle continues.

[0103] During the whole process, the control system continuously monitors the status of each component to ensure the safety and accuracy of the operation. The gripper is regularly inspected and maintained to ensure that all parts are working properly, especially the pneumatic components, sensors and mechanical connections.

[0104] The present application combines the robot quick-change assembly 100 to achieve rapid connection with the robot male head and improve work efficiency. Through the design of the mobile arm drive assembly 200 and the fixed arm assembly 300, the turnover box buckle recess is clamped and pressed to enhance the clamping stability. A detection assembly 500 is also provided to detect the position of the turnover box during the clamping process to avoid collision accidents.

[0105] The power assembly of the present application is driven by a motor 223 and a synchronous belt 227 to achieve precise movement of the movable arm assembly 400. Auxiliary components such as a solenoid valve group 24 and a drag chain 251 are also provided to provide air source and guidance for the movement of the clamp and the pressure plate.

[0106] In combination with the above, the gripper of the present application can pick up at least the following types of turnover boxes:

[0107] 1. Compatible with 400mm*300mm and 600mm*400mm sized turnover boxes with recessed buckles.

[0108] 2. Compatible with turnover boxes with recessed buckles and a height greater than 220mm.

[0109] The above embodiments are only exemplary embodiments of the present application and are not intended to limit the present application. The protection scope of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and protection scope of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present application.

Claims

1. A gripper for a notch-type turnover box, characterized in that: include: A robot quick-change assembly, which is connected to the robot male connector; A mobile arm driving assembly, comprising a welding frame connected to the robot quick-change assembly, wherein the welding frame is provided with a power assembly; A fixed arm assembly connected to the welding frame and located at one end of the welding frame; The fixed arm assembly includes a movable first clamping claw for connecting to the buckle notch of the turnover box, and also includes a movable first pressing plate for pressing the turnover box; A movable arm assembly connected to the power assembly and located at the other end of the welding frame, so as to move in a direction close to or away from the fixed arm assembly under the drive of the power assembly; The movable arm assembly includes a movable second clamping claw for connecting with the buckle notch of the turnover box, and also includes a movable second pressing plate for pressing the turnover box; A detection assembly is respectively connected to the fixed arm assembly and / or the movable arm assembly and contacts the turnover box, and is used to detect the position of the turnover box so that the fixed arm assembly and the movable arm assembly clamp the turnover box.

2. A gripper for a notch-shaped turnover box as claimed in claim 1, characterized in that: The robot quick change assembly comprises: Quick-change female connector, used to connect with the robot male connector; A pneumatic component connected to the quick-change female head and used to drive the quick-change female head to move; An air distribution joint, which is connected to the pneumatic element and is used to drive the pneumatic element to move; A quick-change fixing plate, used for installing the quick-change female connector and the gas distribution connector; Quick-change vertical plates, which are respectively arranged at both ends of the quick-change fixed plate and connected to the welding frame; A positioning column, which is provided at one end of the quick-change fixing plate and is located outside the quick-change vertical plate, and is used to determine the assembly position of the robot quick-change assembly and the robot; The gas collecting joint is arranged on the quick-change vertical plate and connected to the gas distributing joint, and the other end of the gas collecting joint is connected to the gas source.

3. A gripper for a notch-shaped turnover box as claimed in claim 1, characterized in that: The power assembly comprises: A motor mounting plate connected to the welding frame, wherein a motor mounting frame is provided on the motor mounting plate; A motor, which is arranged on the motor mounting frame, and one end of the output shaft of the motor is connected to a coupling; A bearing seat, which is arranged on the motor mounting plate; A synchronous wheel is arranged on the other side of the motor mounting plate, the wheel shaft of the synchronous wheel passes through the bearing seat and is connected to the coupling, and the other end of the welding frame is provided with a similar synchronous wheel; A synchronous belt is arranged on the outer sides of the two synchronous wheels and meshes with the synchronous wheels, and a clamping plate is arranged on the synchronous belt.

4. A gripper for a notch-shaped turnover box as claimed in claim 3, characterized in that: The power assembly also includes: An idler wheel fixing plate connected to the welding frame; The idler wheel is connected to the idler wheel fixing plate through its own wheel axle, and its outer wall is in contact with the synchronous belt.

5. A gripper for a notch-shaped turnover box as claimed in claim 4, characterized in that: The movable arm driving assembly further comprises: A solenoid valve assembly connected to the welding frame and used to provide an air source for the movement of the first pressing plate, the second clamping jaw and the second pressing plate; A drag chain, one end of which is connected to the welding frame through a drag chain fixing plate, and the other end of which is arranged in a drag chain slot connected to the moving arm assembly; The first linear rail is arranged on the welding frame, and when the synchronous belt drives the movable arm assembly to move through the clamping plate, the movable arm assembly is moved along the first linear rail.

6. The gripper of the notch-type turnover box according to claim 1, characterized in that: The fixed arm assembly also includes: A first fixed arm connected to the welding frame; A second fixed arm connected to the first fixed arm, wherein a first clamping claw is provided at one end of the second fixed arm; A first pressing cylinder, which is arranged at the other end of the second fixed arm, a first pressing plate is arranged on the movable end of the first pressing cylinder, and the first pressing plate cooperates with the first clamping claw to clamp the turnover box; A sensor mounting plate is arranged on the second fixed arm, and a first sensor is arranged on the sensor mounting plate for detecting the presence or absence of the turnover box.

7. A gripper for a notch-shaped turnover box as claimed in claim 3, characterized in that: The moving arm assembly further comprises: A first movable arm connected to the clamping plate, wherein the first movable arm is provided with a first cylinder; a second movable arm connected to the first movable arm through a movable end of the first cylinder, and the second movable arm is provided with a second clamping claw; A sensor mounting plate, which is arranged on the second movable arm, and a second sensor is arranged on the sensor mounting plate for detecting the presence or absence of the turnover box; A second pressing cylinder is arranged on the second movable arm. A second pressing plate is arranged on the movable end of the second pressing cylinder. The second pressing plate cooperates with the second clamping claw to clamp the turnover box.

8. A gripper for a notch-shaped turnover box as claimed in claim 7, characterized in that: The moving arm assembly further comprises: The second linear rail is arranged on the first moving arm so that the second moving arm moves along the second linear rail when the first cylinder drives the second moving arm to move.

9. The gripper of the notch-type turnover box according to claim 6, characterized in that: The detection component comprises: An L-shaped plate connected to the second fixed arm, wherein a linear bearing is provided on the L-shaped plate; a third pressing plate connected to the linear bearing and used for mounting a movable third sensor; A guide shaft has one end connected to the linear bearing and the other end connected to the probe plate. A spring sleeved on the guide shaft is provided between the L-shaped plate and the probe plate.

10. A gripper for a notch-shaped turnover box as claimed in claim 9, characterized in that: The detection component also includes: a bolt, one end of which passes through the third pressing plate and is connected to the third sensor; A nut is connected to the bolt and is located on a side of the third pressing plate away from the third sensor.

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