Multifunctional unstacking gripper device

Abstract

The utility model discloses a multifunctional unstacking gripper device, which relates to the technical field of robots and comprises a mounting plate, a gripper mechanism and a sucker, the gripper mechanism and the sucker are fixed on the bottom surface of the mounting plate, and the gripper mechanism comprises a fixed gripper arranged at one corner of the bottom surface of the mounting plate, and a movable gripper I and a movable gripper II which are identical in structure. The movable gripper I and the movable gripper II are arranged along the X axis and the Y axis respectively in a sliding mode with the fixed gripper as the starting point, the suction cups and a clamping area of the gripper mechanism are distributed in a diagonal mode, the movable gripper I and the movable gripper II can flexibly grab two portions of a box according to the size of the box, the movable gripper I and the movable gripper II and the fixed gripper form a triangular clamping area, and therefore the box can be clamped conveniently. The to-be-unstacked box body is firmly grabbed; the manipulator can also be switched into a gripper mechanism mode and a suction cup mode, the two working modes not only improve the working efficiency, but also are suitable for box bodies made of different materials, and the applicability is wide.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a multifunctional stacking and disassembling gripper device. Background Art

[0002] At present, industrial micro parts are packed in cartons or plastic boxes and stacked on wooden or plastic pallets. Forklifts are used to move the stacked parts to the loading port, where they are unstacked and moved onto the conveyor for transportation. Due to the different parts from different manufacturers, the types and sizes of the boxes are inconsistent, so the packaging boxes can only be moved to the conveyor by manual unstacking;

[0003] The patent numbered 202020239483.1, "New Depalletizing Mechanical Gripper", discloses a mechanical gripper that grabs materials by driving movable fingers away from or close to fixed fingers. The mechanical gripper can only grab two parts of the material, the grab is not firm, and the stroke of the movable fingers is short. The mechanical gripper cannot grab materials that are slightly larger in size. In addition, the mechanical gripper adopts the same working method for materials of different materials, so the working efficiency is relatively low. Utility Model Content

[0004] The technical problem to be solved by the utility model is to provide a multifunctional destacking gripper device to solve the problems of the existing mechanical grippers in that the gripping of materials is not firm, the application range is narrow and the working efficiency is low.

[0005] The technical solution to solve the above technical problems is: a multifunctional destacking gripper device, including a mounting plate and a gripper mechanism and a suction cup fixed to the bottom surface of the mounting plate, the gripper mechanism including a fixed gripper arranged at a corner of the bottom surface of the mounting plate, and movable grippers I and II with the same structure, the movable grippers I and II are respectively slidably arranged along the X-axis and Y-axis with the fixed gripper as the starting point, and the clamping areas of the suction cup and the gripper mechanism form a diagonal distribution.

[0006] A further technical solution of the utility model is: the depalletizing gripper device also includes a clamping cylinder, which is fixed next to the suction cup, and the clamping cylinder and the clamping area of ​​the gripper mechanism form a diagonal distribution. A hook is provided at the end of the piston rod of the clamping cylinder, and the hook moves along the Y-axis following the piston rod of the clamping cylinder.

[0007] A further technical solution of the utility model is that the destacking gripper device also includes a visual system, and the position of the visual system is higher than the height of the boxes stacked into a stack.

[0008] A further technical solution of the utility model is: a connecting device is provided on the top surface of the mounting plate, and the connecting device is used to connect with the mechanical arm.

[0009] A further technical solution of the utility model is: the movable gripper I or movable gripper II comprises a clamping gripper, a gripper cylinder, a servo electric cylinder, and a guide rail arranged parallel to the servo electric cylinder; the clamping gripper is connected to the gripper cylinder, the gripper cylinder drives the clamping gripper action, the gripper cylinder is fixed to the end of the piston rod of the servo electric cylinder through a slider, and the slider is slidably connected to the guide rail;

[0010] The fixed gripper comprises a clamping gripper and a gripper cylinder. The clamping gripper is connected to the gripper cylinder, and the gripper cylinder drives the clamping gripper action.

[0011] A further technical solution of the utility model is that the clamping grip comprises a pair of clamping fingers, one of which has a protrusion on its inner side and the other is an L-shaped clamping finger.

[0012] A further technical solution of the utility model is that the height of the suction cup fixed on the mounting plate is lower than the height of the gripping mechanism.

[0013] A further technical solution of the utility model is: there are at least two suction cups arranged side by side, the suction cup comprises a suction cup body and a honeycomb sponge layer, the suction cup body is provided with adsorption holes, the sponge layer covers the suction cup body, and the honeycomb holes of the sponge layer correspond one-to-one to the adsorption holes, and each adsorption hole is connected to the vacuum generator through a separate control valve.

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

[0015] 1. Firm grip

[0016] The utility model comprises a fixed gripper, a movable gripper I and a movable gripper II through a gripper mechanism. The movable gripper I and the movable gripper II are respectively slidably arranged along the X-axis and the Y-axis with the fixed gripper as a starting point. The movable gripper I and the movable gripper II can flexibly grasp two parts of the box body according to the size of the box body, and form a triangular clamping area with the fixed gripper to firmly grasp the box body to be depalletized.

[0017] When grabbing large-sized boxes, the clamping cylinder hooks the opposite corner of the box to make the grab more secure;

[0018] Moreover, when the box body is a cardboard box, the utility model switches to the suction cup mode, and the suction cup adheres to the surface of the carton to hold it firmly; further, the sponge layer of the suction cup is stretchable, ensuring that the sponge layer adheres to the surface of the carton to prevent the suction cup from leaking. When the flatness of the carton surface is too poor, resulting in the failure of vacuuming of some adsorption holes, the control valve corresponding to the failed adsorption hole will automatically close to maintain the vacuum degree of other adsorption holes, so that the suction cup can hold the box body firmly.

[0019] 2. High work efficiency

[0020] The utility model can be switched to a gripper mechanism mode and a suction cup mode. When the box body is a plastic box, the gripper mechanism mode is adopted, and the movable gripper I and the movable gripper II can automatically adjust their positions to grab plastic boxes of different sizes.

[0021] When the box is a carton, the suction cup mode is used to directly align the carton with the suction, saving the operation time of the gripper device. In addition, the sponge layer of the suction cup allows it to quickly fit the uneven surface of the carton, improving work efficiency.

[0022] The utility model also includes a visual system. When the plastic boxes or cartons are of different sizes or stacked in different directions, the visual system can identify their sizes, directions and stacking heights, determine the coordinates of the plastic boxes, and automatically adjust the grasping position for fitting grasping.

[0023] 3. Wide applicability

[0024] The movable gripper I and the movable gripper II of the utility model take the fixed gripper as the starting point, and slide along the X-axis and the Y-axis to adjust the distance from the fixed gripper respectively. The movable gripper I and the movable gripper II can adjust a large stroke, so they can grab boxes of different sizes;

[0025] Two different grabbing modes can grab boxes made of different materials and have a wide range of applications.

[0026] 4. Save labor costs

[0027] The gripper device of the utility model is intelligent and multifunctional. It only needs to place the stacking boxes in the loading area. The visual system can identify the stacking height, box size, and box stacking direction and determine the coordinates of the boxes, and accurately grab the boxes without additional manual operation, thereby effectively improving the loading efficiency and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 : A front view of a multifunctional depalletizing gripper device according to the first embodiment (the visual system is not shown);

[0029] Figure 2 : Figure 1 Side view of

[0030] Figure 3 : A three-dimensional structural diagram of a multifunctional depalletizing gripper device according to Embodiment 1 (the visual system is not shown);

[0031] Figure 4 : A schematic diagram of the working state of a multifunctional destacking gripper device according to the first embodiment;

[0032] In the figure:

[0033] 1-mounting plate, 2-gripper mechanism, 21-fixed gripper, 22-movable gripper Ⅰ, 23-movable gripper Ⅱ, 24-gripper, 25-gripper cylinder, 26-servo electric cylinder, 27-guide rail, 28-gripper finger, 3-suction cup, 31-suction cup body, 32-sponge layer, 4-clamping cylinder, 41-hook, 5-connecting device, 6-visual system,

[0034] A-Depalletizing gripper device, B-Stacked boxes, C-Conveyor belt. DETAILED DESCRIPTION Embodiment 1

[0035] like Figures 1 to 4 As shown, a multifunctional depalletizing gripper device comprises a mounting plate 1 and a gripper mechanism 2 fixed to the bottom surface of the mounting plate 1, a suction cup 3, a clamping cylinder 4, a connecting device 5 and a visual system 6.

[0036] The gripper mechanism 2 includes a fixed gripper 21 disposed at a corner of the bottom surface of the mounting plate 1, and a movable gripper I 22 and a movable gripper II 23 having the same structure. The movable gripper I 22 and the movable gripper II 23 are respectively slidably disposed along the X-axis and the Y-axis with the fixed gripper 21 as a starting point;

[0037] The fixed gripper 21 includes a clamping gripper 24 and a gripper cylinder 25. The clamping gripper 24 is connected to the gripper cylinder 25, and the gripper cylinder 25 drives the clamping gripper 24 to move.

[0038] The movable gripper I 22 or movable gripper II 23 comprises a clamping gripper 24, a gripper cylinder 25, a servo electric cylinder 26, and a guide rail 27 arranged parallel to the servo electric cylinder 26. The clamping gripper 24 is connected to the gripper cylinder 25, and the gripper cylinder 25 drives the clamping gripper 24 to move. The gripper cylinder 25 is fixed to the piston rod end of the servo electric cylinder 26 through a slider, and the slider is slidably connected to the guide rail 27. By controlling the stroke of the servo electric cylinder 26, the position of the gripper cylinder 25 can be accurately controlled to ensure that the gripper cylinder 25 can grip plastic boxes of different sizes (the gripper cylinders 25 of the movable gripper I 22 and the movable gripper II 23 grip two adjacent sides of the plastic box respectively);

[0039] The clamping grip 24 includes a pair of clamping fingers 28, wherein a protrusion is provided on the inner side of one of the clamping fingers 28, and the other clamping finger 28 is an L-shaped clamping finger;

[0040] The suction cup 3 is fixed to the bottom surface of the mounting plate 1, and the suction cup 3 and the clamping area of ​​the gripper mechanism 2 are diagonally distributed. The height of the suction cup 3 fixed on the mounting plate 1 is lower than the height of the gripper mechanism 2, so as to prevent the plastic box from colliding with the suction cup when the gripper device is clamping the plastic box.

[0041] There are at least two suction cups 3 arranged side by side, and the suction cup 3 includes a suction cup body 31 and a honeycomb sponge layer 32. The suction cup body 31 is provided with suction holes, and the sponge layer 32 covers the suction cup body 31, and the honeycomb holes of the sponge layer 32 correspond to the suction holes one by one, and each suction hole is connected to the vacuum generator through a separate control valve;

[0042] The clamping cylinder 4 is fixed between the two suction cups 3, and the clamping area of ​​the clamping cylinder 4 and the gripper mechanism 2 also forms a diagonal distribution. The end of the piston rod of the clamping cylinder 4 is provided with a hook 41, and the hook 41 moves along the Y axis following the piston rod of the clamping cylinder 4;

[0043] The connecting device 5 is arranged on the top surface of the mounting plate 1, and the connecting device 5 is used to connect with the robot arm;

[0044] The vision system 6 is arranged beside the robot arm, and the position of the vision system 6 is higher than the height of the boxes stacked into a stack.

[0045] The working principle of this utility model:

[0046] The depalletizing gripper device A is arranged next to the conveyor belt C. The forklift transports the stacked boxes B to the loading area. The visual system 6 is arranged next to the robot arm. The position of the visual system is higher than the stacked boxes to ensure that all the boxes in the loading area can be photographed.

[0047] The visual camera of the visual system 6 takes pictures to identify the size, direction and rectangular coordinate points of the box;

[0048] When the stacked boxes are plastic boxes, the gripper mechanism is activated and the suction cup does not work; the robot arm moves the gripper device so that the fixed gripper is aligned with the direct coordinate point of the plastic box identified by the visual system, and the fixed gripper is used as the coordinate starting point to fit the rectangular coordinates of the box to grasp the box at this position; the active gripper I controls the gripper cylinder to move to the farthest point from the short side of the box according to the distance identified, and clamps the box at this position; at the same time, the active gripper II controls the gripper cylinder to move to the farthest point from the long side of the box according to the distance identified, and clamps the box at this position to grab the box;

[0049] When it is identified that the plastic box is too wide, the system will control the clamping cylinder to intervene and assist in clamping the diagonal of the box, forming a diagonal clamping of the plastic box with the clamping area of ​​the gripper mechanism to reduce the load on the plastic box.

[0050] When the stacked box is a carton, the suction cup is activated and the gripper mechanism does not work; the gripper cylinders of the movable gripper I and II are moved close to the fixed gripper, and at the same time, the clamping cylinder is opened to the maximum angle to make room for the suction cup; the entire gripper device is adjusted according to the size and direction of the carton identified by the visual system, so that the suction cup is aligned with the top surface of the carton, and pressure is applied downward to make the sponge layer completely fit the surface of the carton, and the suction holes are vacuumed to adsorb the carton;

[0051] There are numerous suction holes on the suction cup, and each suction hole has a separate control valve. When some suction holes cannot be vacuumed, the control valve automatically closes the hole to ensure the vacuum pressure of other suction holes, that is, the suction cup is not affected by the uneven surface of the carton and the size of the carton;

[0052] For small-sized cartons, the suction cup automatically closes the suction holes that are not in contact with the surface of the carton, retaining the vacuum of the suction holes within the contact area. When the carton is too large, the two suction cups work at the same time.

Claims

1. A multifunctional destacking gripper device, characterized in that: The invention comprises a mounting plate (1) and a gripper mechanism (2) and a suction cup (3) fixed to the bottom surface of the mounting plate (1); the gripper mechanism (2) comprises a fixed gripper (21) arranged at a corner of the bottom surface of the mounting plate (1), and a movable gripper I (22) and a movable gripper II (23) having the same structure; the movable gripper I (22) and the movable gripper II (23) are respectively arranged to slide along the X-axis and the Y-axis with the fixed gripper (21) as a starting point; the suction cup (3) and the clamping area of ​​the gripper mechanism (2) are diagonally distributed.

2. A multifunctional destacking gripper device according to claim 1, characterized in that: The depalletizing gripper device further comprises a clamping cylinder (4), the clamping cylinder (4) being fixed beside the suction cup (3), the clamping cylinder (4) and the clamping area of ​​the gripper mechanism (2) being diagonally distributed, and a hook (41) being provided at the end of the piston rod of the clamping cylinder (4), the hook (41) moving along the Y-axis following the piston rod of the clamping cylinder (4).

3. The multifunctional destacking gripper device according to claim 1, characterized in that: The depalletizing gripper device further comprises a visual system (6), wherein the position of the visual system (6) is higher than the height of the boxes stacked into a stack.

4. The multifunctional depalletizing gripper device according to claim 1, characterized in that: A connecting device (5) is provided on the top surface of the mounting plate (1), and the connecting device (5) is used to be connected to a mechanical arm.

5. The multifunctional depalletizing gripper device according to claim 1, characterized in that: The movable gripper I (22) or movable gripper II (23) comprises a clamping gripper (24), a gripper cylinder (25), a servo electric cylinder (26), and a guide rail (27) arranged parallel to the servo electric cylinder (26); the clamping gripper (24) is connected to the gripper cylinder (25); the gripper cylinder (25) drives the clamping gripper (24) to move; the gripper cylinder (25) is fixed to the end of the piston rod of the servo electric cylinder (26) via a slider, and the slider is slidably connected to the guide rail (27); The fixed gripper (21) comprises a clamping gripper (24) and a gripper cylinder (25); the clamping gripper (24) is connected to the gripper cylinder (25); and the gripper cylinder (25) drives the clamping gripper (24) to move.

6. A multifunctional destacking gripper device according to claim 5, characterized in that: The clamping grip (24) comprises a pair of clamping fingers (28), wherein a protrusion is provided on the inner side of one of the clamping fingers (28), and the other clamping finger (28) is an L-shaped clamping finger.

7. The multifunctional destacking gripper device according to claim 1, characterized in that: The height of the suction cup (3) fixed on the mounting plate (1) is lower than the height of the gripping mechanism (2).

8. The multifunctional depalletizing gripper device according to claim 7, characterized in that: There are at least two suction cups (3) arranged side by side, the suction cup (3) comprising a suction cup body (31) and a honeycomb sponge layer (32), the suction cup body (31) being provided with suction holes, the sponge layer (32) covering the suction cup body (31), and the honeycomb holes of the sponge layer (32) corresponding to the suction holes one by one, and each suction hole being connected to a vacuum generator via a separate control valve.

Images