Clamp for unstacking robot

Abstract

The utility model discloses a clamp for an unstacking robot, and relates to the technical field of robot clamps. The clamp for the unstacking robot comprises a clamp fixing base, a clamping jaw fixing assembly and a clamping assembly, the clamping jaw fixing assembly comprises two connecting columns, and the two connecting columns are fixedly connected to the lower end of the clamp fixing base; a clamping jaw seat is arranged below the clamp fixing seat, two connecting rods are rotationally connected to the ends, close to the connecting columns, of the clamping jaw seat, and the two connecting rods are rotationally connected with the corresponding connecting columns correspondingly, a clamping jaw is detached through tools such as an electric wrench, the clamping jaw is conveniently detached through the hexagonal prism shape of the fixing block, and the detaching efficiency of the clamping jaw is improved; according to the bagged material clamping device, clamping instability or failure caused by serious damage of the clamping jaws is avoided, the safety of the device is improved, the risk of industrial accidents is reduced, the number of the clamping jaws is increased or decreased according to the specifications of different bagged materials, the bagged materials of different specifications can be clamped conveniently, and the practicability of the device is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot clamps, in particular to a clamp for a depalletizing robot. Background Art

[0002] Bag materials are widely distributed in agricultural products, chemicals, building materials and other industries. At present, the loading operation of bag materials in China mainly relies on manual labor, which is inefficient and labor-intensive, and is accompanied by many hazards. At the same time, the degree of automation and informatization of the production and packaging operations of bag materials in China is getting higher and higher.

[0003] The existing clamps for depalletizing robots can meet the needs of most loading and placing tasks of bagged materials. The jaws may be damaged after long-term use and need to be maintained and repaired. Since the jaws of the depalletizing robot clamps are directly fixed on the clamps, it is not convenient to disassemble them when the jaws are damaged. Damaged jaws may cause unstable or failure clamping, thereby increasing the risk of work-related accidents. Utility Model Content

[0004] The purpose of the utility model is to solve at least one of the technical problems existing in the prior art and to provide a clamp for a palletizing robot, which can solve the problem that the jaws may be damaged after long-term use and need to be maintained and repaired. Since the jaws of the palletizing robot clamp are directly fixed on the clamp, it is not convenient to disassemble the jaws when they are damaged, and the damaged jaws may cause unstable or failure clamping, thereby increasing the risk of work-related accidents.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a fixture for a depalletizing robot, comprising a fixture fixing seat, a clamp fixing assembly and a clamping assembly, wherein the clamp fixing assembly is arranged below the fixture fixing seat, and the clamp fixing assembly comprises two connecting columns, and the two connecting columns are fixedly connected to the lower end of the fixture fixing seat;

[0006] A clamping claw seat is arranged below the clamp fixing seat, and one end of the clamping claw seat close to the connecting column is rotatably connected to two connecting rods, and the two connecting rods are rotatably connected to the corresponding connecting columns respectively.

[0007] Preferably, the clamping jaw fixing assembly comprises a thread groove, and the thread groove is provided on the surface of the clamping jaw seat;

[0008] The inner thread of the thread groove is connected with a clamping jaw, and a plurality of anti-slip sleeves are fixedly sleeved on the surface of the clamping jaw. The anti-slip sleeves are made of rubber. The surface of the clamping jaw is fixedly connected with a fixing block, which is in the shape of a hexagonal prism. One end of the clamping jaw close to the thread groove is provided with a thread matching the thread groove.

[0009] Among them, there are multiple numbers of thread grooves, clamping claws and fixing blocks.

[0010] Preferably, the clamping assembly is arranged at the lower end of the clamp fixing seat, and the clamping assembly comprises a hydraulic rod connecting frame, and the hydraulic rod connecting frame is fixedly connected to the lower end of the clamp fixing seat;

[0011] The surface of the hydraulic rod connecting frame is rotatably connected to the first hydraulic rod, the output end of the first hydraulic rod is fixedly connected to the hinge support, the end of the hinge support away from the first hydraulic rod is fixedly connected to the second hydraulic rod, and the first hydraulic rod and the second hydraulic rod are rotatably connected through the hinge support;

[0012] The output end of the second hydraulic rod is rotatably connected to a fixed rod, both ends of the fixed rod are respectively fixedly connected to fixed brackets, and the opposite surfaces of the two fixed brackets are fixedly connected to limit rods.

[0013] Preferably, there are two clamp fixing assemblies, which are symmetrically arranged at the lower ends of the clamp fixing base.

[0014] Preferably, there are two clamping assemblies, which are symmetrically arranged at the lower end of the clamp fixing seat;

[0015] Among them, the four fixing brackets are respectively fixedly connected to the corresponding clamping claw seats.

[0016] Preferably, the lower end of the clamp fixing seat is fixedly connected with eight reinforcing ribs, and the eight reinforcing ribs are respectively fixedly connected to the corresponding connecting columns. The upper end of the clamp fixing seat is fixedly connected with a clamp mounting block, and the front and rear ends of the clamp fixing seat are respectively fixedly connected with clamp connecting blocks.

[0017] Compared with the prior art, the beneficial effects of the utility model are:

[0018] (1) The clamp for the depalletizing robot can be disassembled by using an electric wrench or other tools. The hexagonal shape of the fixed block makes it easy to disassemble the clamp, thereby improving the efficiency of disassembly of the clamp and avoiding unstable or failure clamping due to serious damage to the clamp, thereby improving the safety of the device and reducing the risk of work-related accidents. The number of clamps can be increased or decreased according to the specifications of different bagged materials, thereby facilitating the clamping of bagged materials of different specifications and improving the practicality of the device.

[0019] (2) The clamp for the depalletizing robot increases the friction between the clamping jaws and the bagged materials by providing an anti-slip sleeve. Since the anti-slip sleeve is made of rubber, the clamping jaws can clamp the materials more firmly, reducing the risk of the bagged materials slipping or shifting during processing, handling or transportation, which helps to improve production efficiency and product quality. The anti-slip sleeve can reduce scratches or scrapes on the surface of the bagged materials when clamping, thereby protecting the quality and appearance of the bagged materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The utility model is further described below in conjunction with the accompanying drawings and embodiments:

[0021] Figure 1 This is a schematic diagram of the structure of a fixture for a depalletizing robot according to the utility model;

[0022] Figure 2 This is a schematic structural diagram of another perspective of the fixture for the depalletizing robot of the utility model;

[0023] Figure 3 This is a schematic diagram of the clamping jaw seat of the utility model;

[0024] Figure 4 It is a schematic diagram of the clamping jaws of the present utility model.

[0025] Figure numerals: 1. clamp fixing seat; 2. clamp mounting block; 3. clamp connecting block; 4. hydraulic rod connecting frame; 5. first hydraulic rod; 6. hinge support; 7. second hydraulic rod; 8. connecting column; 9. reinforcing rib; 10. connecting rod; 11. clamping claw seat; 12. fixing bracket; 13. fixing rod; 14. limiting rod; 15. threaded groove; 16. clamping claw; 17. anti-slip sleeve; 18. fixing block. DETAILED DESCRIPTION

[0026] This section will describe in detail the specific embodiments of the utility model. The preferred embodiments of the utility model are shown in the accompanying drawings. The purpose of the accompanying drawings is to supplement the description of the text part of the specification with graphics, so that people can intuitively and vividly understand each technical feature and the overall technical solution of the utility model, but it cannot be understood as a limitation on the protection scope of the utility model.

[0027] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, front, back, left, right, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0028] In the description of the present utility model, "greater than", "less than", "exceed" etc. are understood as not including the number itself, and "above", "below", "within" etc. are understood as including the number itself. If there is a description of "first" or "second", it is only used for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0029] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0030] See also Figure 1-4 The utility model provides a technical solution: a clamp for a depalletizing robot, comprising a clamp fixing seat 1, a clamp fixing assembly and a clamping assembly, the clamp fixing assembly is arranged below the clamp fixing seat 1, the clamp fixing assembly includes two connecting columns 8, the two connecting columns 8 are fixedly connected to the lower end of the clamp fixing seat 1, a clamping claw seat 11 is arranged below the clamp fixing seat 1, one end of the clamping claw seat 11 close to the connecting column 8 is rotatably connected to two connecting rods 10, and the two connecting rods 10 are rotatably connected to the corresponding connecting columns 8 respectively.

[0031] The clamping jaw fixing assembly includes a thread groove 15, which is opened on the surface of the clamping jaw seat 11. The internal thread of the thread groove 15 is connected to the clamping jaw 16. The surface of the clamping jaw 16 is fixedly sleeved with multiple anti-slip sleeves 17. The anti-slip sleeves 17 are made of rubber. The surface of the clamping jaw 16 is fixedly connected with a fixing block 18. The fixing block 18 is in the shape of a hexagonal prism, and one end of the clamping jaw 16 close to the thread groove 15 is opened with a thread compatible with the thread groove 15. There are multiple thread grooves 15, clamping jaws 16 and fixing blocks 18.

[0032] The clamping assembly is arranged at the lower end of the clamp fixing seat 1, and the clamping assembly includes a hydraulic rod connecting frame 4, which is fixedly connected to the lower end of the clamp fixing seat 1. The surface of the hydraulic rod connecting frame 4 is rotatably connected with the first hydraulic rod 5, and the output end of the first hydraulic rod 5 is fixedly connected with a hinge support 6. The end of the hinge support 6 away from the first hydraulic rod 5 is fixedly connected with the second hydraulic rod 7. The first hydraulic rod 5 and the second hydraulic rod 7 are rotatably connected through the hinge support 6, and the output end of the second hydraulic rod 7 is rotatably connected with a fixed rod 13, and the two ends of the fixed rod 13 are respectively fixedly connected with fixed brackets 12, and the opposite surfaces of the two fixed brackets 12 are fixedly connected with limit rods 14.

[0033] There are two clamping jaw fixing assemblies, which are symmetrically arranged at the lower end of the clamp fixing seat 1.

[0034] There are two clamping assemblies, which are symmetrically arranged at the lower end of the clamp fixing seat 1 , and four fixing brackets 12 are fixedly connected to the corresponding clamping claw seats 11 .

[0035] The lower end of the clamp fixing seat 1 is fixedly connected with eight reinforcing ribs 9, and the eight reinforcing ribs 9 are respectively fixedly connected to the corresponding connecting columns 8. The upper end of the clamp fixing seat 1 is fixedly connected with a clamp mounting block 2, and the front and rear ends of the clamp fixing seat 1 are respectively fixedly connected with clamp connecting blocks 3.

[0036] When using the device, first install the device on the mechanical arm of the clamping robot. When it is necessary to clamp the bagged material, first start the first hydraulic rod 5 to drive the hinge support 6 to move, and the hinge support drives the second hydraulic rod 7 to move. Since the second hydraulic rod 7 is blocked by the limit rod 14, the first hydraulic rod 5 and the second hydraulic rod 7 rotate, and the second hydraulic rod drives the limit rod 14 and the fixed bracket 12 to rotate. The fixed bracket 12 drives the clamping claw seat 11, the fixed rod 13 and the limit rod 14 to rotate around the connecting rod 10, and starts the second hydraulic rod 7 to squeeze the fixed rod 13, so that the clamping claw seat 11, the fixed bracket 12, the fixed rod 13 and the limit rod 14 rotate further. When the clamping claw seat 11 rotates to a certain extent, the clamping claw seat 11 drives the connecting rod 10 to rotate around the corresponding connecting column 8, and the clamping claw seat 11 drives the clamping claw 16, the anti-slip sleeve 17 and the fixed block 18 to rotate, and the bagged material is clamped by the clamping claw 16.

[0037] The provision of the anti-slip sleeve 17 facilitates increasing the friction between the clamping jaws 16 and the bagged material. Since the anti-slip sleeve 17 is made of rubber, the clamping jaws can clamp the material more firmly, reducing the risk of the material slipping or shifting during processing, handling or transportation. This helps to improve production efficiency and product quality, and can reduce scratches or scrapes on the surface of the material during clamping, thereby protecting the quality and appearance of the material.

[0038] During the long-term use of the clamp 16, the clamp 16 will produce certain wear. When the wear reaches a certain degree, it is easy to affect the clamping effect. At this time, the clamp 16 needs to be disassembled and replaced in time. The clamp 16 can be disassembled by using tools such as an electric wrench. The hexagonal shape of the fixing block 18 facilitates the disassembly of the clamp 16, thereby improving the disassembly efficiency of the clamp 16, avoiding unstable or failed clamping due to serious damage to the clamp 16, improving the safety of the device, and reducing the risk of work-related accidents.

[0039] Furthermore, the jaws 16 can be disassembled by using tools such as an electric wrench, and the hexagonal shape of the fixing block 18 facilitates the disassembly of the jaws 16, thereby improving the disassembly efficiency of the jaws 16, avoiding unstable or failed clamping due to serious damage to the jaws 16, improving the safety of the device, and reducing the risk of industrial accidents. According to the specifications of different bagged materials, the number of jaws 16 can be increased or decreased, thereby facilitating the clamping of bagged materials of different specifications, thereby improving the practicality of the device.

[0040] The provision of the anti-slip sleeve 17 facilitates increasing the friction between the clamping jaws 16 and the bagged material. Since the anti-slip sleeve 17 is made of rubber, the clamping jaws 16 can clamp the material more firmly, reducing the risk of the bagged material slipping or shifting during processing, handling or transportation, which helps to improve production efficiency and product quality. The anti-slip sleeve 17 can reduce scratches or scrapes on the surface of the bagged material when clamping, thereby protecting the quality and appearance of the bagged material.

[0041] Working principle: When using the device, first install the device on the mechanical arm of the clamping robot. When it is necessary to clamp the bagged material, first start the first hydraulic rod 5 to drive the hinge support 6 to move, and the hinge support drives the second hydraulic rod 7 to move. Since the second hydraulic rod 7 is blocked by the limit rod 14, the first hydraulic rod 5 and the second hydraulic rod 7 rotate, and the second hydraulic rod drives the limit rod 14 and the fixed bracket 12 to rotate. The fixed bracket 12 drives the clamping claw seat 11, the fixed rod 13 and the limit rod 14 to rotate around the connecting rod 10, and starts the second hydraulic rod 7 to squeeze the fixed rod 13, so that the clamping claw seat 11, the fixed bracket 12, the fixed rod 13 and the limit rod 14 rotate further. When the clamping claw seat 11 rotates to a certain extent, the clamping claw seat 11 drives the connecting rod 10 to rotate around the corresponding connecting column 8, and the clamping claw seat 11 drives the clamping claw 16, the anti-slip sleeve 17 and the fixed block 18 to rotate, and the bagged material is clamped by the clamping claw 16.

[0042] The provision of the anti-slip sleeve 17 facilitates increasing the friction between the clamping jaws 16 and the bagged material. Since the anti-slip sleeve 17 is made of rubber, the clamping jaws can clamp the material more firmly, reducing the risk of the material slipping or shifting during processing, handling or transportation. This helps to improve production efficiency and product quality, and can reduce scratches or scrapes on the surface of the material during clamping, thereby protecting the quality and appearance of the material.

[0043] During the long-term use of the clamp 16, the clamp 16 will produce certain wear. When the wear reaches a certain degree, it is easy to affect the clamping effect. At this time, the clamp 16 needs to be disassembled and replaced in time. The clamp 16 can be disassembled by using tools such as an electric wrench. The hexagonal shape of the fixing block 18 facilitates the disassembly of the clamp 16, thereby improving the disassembly efficiency of the clamp 16, avoiding unstable or failed clamping due to serious damage to the clamp 16, improving the safety of the device, and reducing the risk of work-related accidents.

[0044] The embodiments of the present invention are described in detail above in conjunction with the accompanying drawings, but the present invention is not limited to the above embodiments. Various changes can be made within the knowledge scope of ordinary technicians in the technical field without departing from the purpose of the present invention.

Claims

1. A fixture for a depalletizing robot, characterized in that: It comprises a clamp fixing seat (1), a clamping jaw fixing assembly and a clamping assembly, wherein the clamping jaw fixing assembly is arranged below the clamp fixing seat (1), and the clamping jaw fixing assembly comprises two connecting columns (8), and the two connecting columns (8) are fixedly connected to the lower end of the clamp fixing seat (1); A clamping claw seat (11) is arranged below the clamp fixing seat (1), and one end of the clamping claw seat (11) close to the connecting column (8) is rotatably connected to two connecting rods (10), and the two connecting rods (10) are rotatably connected to the corresponding connecting columns (8) respectively.

2. A fixture for a depalletizing robot according to claim 1, characterized in that: The clamping jaw fixing assembly comprises a thread groove (15), and the thread groove (15) is formed on the surface of the clamping jaw seat (11); The inner thread of the thread groove (15) is connected with a clamping jaw (16), and a plurality of anti-slip sleeves (17) are fixedly sleeved on the surface of the clamping jaw (16), and the anti-slip sleeves (17) are made of rubber. The surface of the clamping jaw (16) is fixedly connected with a fixing block (18), and the fixing block (18) is in the shape of a hexagonal prism, and a thread matching the thread groove (15) is provided at one end of the clamping jaw (16) close to the thread groove (15); There are multiple thread grooves (15), clamping jaws (16) and fixing blocks (18).

3. A fixture for a depalletizing robot according to claim 1, characterized in that: The clamping assembly is arranged at the lower end of the clamp fixing seat (1), and the clamping assembly comprises a hydraulic rod connecting frame (4), and the hydraulic rod connecting frame (4) is fixedly connected to the lower end of the clamp fixing seat (1); The surface of the hydraulic rod connecting frame (4) is rotatably connected to a first hydraulic rod (5), an output end of the first hydraulic rod (5) is fixedly connected to a hinge support (6), an end of the hinge support (6) away from the first hydraulic rod (5) is fixedly connected to a second hydraulic rod (7), and the first hydraulic rod (5) and the second hydraulic rod (7) are rotatably connected via the hinge support (6); The output end of the second hydraulic rod (7) is rotatably connected to a fixed rod (13), both ends of the fixed rod (13) are respectively fixedly connected to fixed brackets (12), and the opposite surfaces of the two fixed brackets (12) are fixedly connected to limit rods (14).

4. The fixture for a depalletizing robot according to claim 1, characterized in that: There are two clamping jaw fixing assemblies, which are symmetrically arranged at the lower ends of the clamp fixing seat (1).

5. The fixture for a depalletizing robot according to claim 3, characterized in that: There are two clamping assemblies, which are symmetrically arranged at the lower ends of the clamp fixing seat (1); The four fixed brackets (12) are respectively fixedly connected to the corresponding clamping jaw seats (11).

6. The fixture for a depalletizing robot according to claim 1, characterized in that: The lower end of the clamp fixing seat (1) is fixedly connected to eight reinforcing ribs (9), and the eight reinforcing ribs (9) are respectively fixedly connected to corresponding connecting columns (8); the upper end of the clamp fixing seat (1) is fixedly connected to a clamp mounting block (2); and the front and rear ends of the clamp fixing seat (1) are respectively fixedly connected to clamp connecting blocks (3).

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