A turnover box robot gripper

Abstract

A robot gripper for a turnover box comprises a frame, a supporting plate is slidably installed on the bottom of the frame through a driving mechanism, and a bearing plate is slidably installed on one side of the supporting plate through an adjusting mechanism; the utility model uses a camera identifier to identify and automatically align the position of the box, a motor drives the linear guide rail to drive the supporting plate to slide to the right, and then the cylinder pushes the bearing plate down to adjust the position of the right clamping plate, so that the right clamping plate and the left clamping plate clamp the two sides of the box respectively; then, the two cylinders drive the left pressure plate and the right pressure plate to descend respectively, so that the left pressure plate and the right pressure plate press down and fix the top of the box, quickly and accurately grasp the box, which is more convenient and faster than manual handling, and is convenient for frequent stacking and destacking; boxes of different qualities can be clamped and transported, unmanned production can be realized, manual labor can be reduced, the transportation speed of boxes can be increased, production efficiency can be improved, and it is suitable for handling turnover boxes of various specifications, saving time and labor, continuous production can be achieved, and safety can be guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grippers, in particular to a turnover box robot gripper. Background Art

[0002] During the production process of the enterprise, the boxes need to be stacked in a certain way and according to certain rules, and multiple boxes need to be stacked into one pile for easy storage; and during transportation and use, they need to be destackered.

[0003] However, most of the existing palletizing processes use manual handling of boxes, which are heavy and difficult to carry, resulting in high labor intensity for personnel, and low manual handling efficiency. Utility Model Content

[0004] In view of the above situation, in order to overcome the defects of the prior art, the purpose of the utility model is to provide a turnover box robot gripper, which effectively solves the problem that most of the existing palletizing uses manual handling of boxes, the boxes are heavy and difficult to carry, which makes the labor intensity of personnel high and the manual handling efficiency low.

[0005] The technical solution is a turnover box robot gripper, comprising a frame, a support plate is slidably mounted on the bottom of the frame through a driving mechanism, and the driving mechanism is used to drive the support plate to move horizontally; a load-bearing plate is slidably mounted on one side of the support plate through an adjusting mechanism, and the adjusting mechanism is used to drive the load-bearing plate to move up and down, a right clamping plate is mounted on one side of the load-bearing plate, and a left clamping plate is mounted on one side of the frame, and the right clamping plate and the left clamping plate clamp the two sides of the box respectively;

[0006] A left pressing plate is movably installed on one side of the frame close to the left clamping plate through a lifting mechanism, a first driving member is installed on one side of the bearing plate close to the right clamping plate, and a right pressing plate is installed on the output end of the first driving member, and both the left pressing plate and the right pressing plate press down and fix the top of the box body;

[0007] A detection and identification mechanism is installed on one side of the frame, and the detection and identification mechanism is used to detect the position of the box.

[0008] Preferably, the frame includes a base, a flange is installed in the middle of the top of the base, a filter pressure regulator is installed on one side of the base, a side plate is installed on one side of the base, the driving mechanism is installed at the bottom of the base, and the left clamping plate and the lifting mechanism are both installed on one side of the side plate.

[0009] Preferably, the driving mechanism includes a linear guide rail installed at the bottom of the base, a slider is slidably installed on one side of the linear guide rail, a motor is installed on one side of the linear guide rail, and the output end of the motor is connected to the input end of the linear guide rail through a linkage assembly, a drag chain is installed on one side of the slider, and the other side of the drag chain is installed on one side of the base, and the support plate is installed at the bottom of the slider.

[0010] Preferably, the adjustment mechanism includes a plurality of first guide rails, wherein the plurality of first guide rails are installed on one side of the supporting plate, a first guide block is slidably installed on one side of the plurality of first guide rails, one side of the plurality of first guide blocks is connected to a side of the supporting plate away from the right pressure plate, a second driving member is installed on the side of the supporting plate away from the first guide rail, a positioning plate is provided on the side of the supporting plate away from the right pressure plate, and an output end of the second driving member is connected to the top of the positioning plate.

[0011] Preferably, the lifting mechanism includes a plurality of second guide rails, wherein the plurality of second guide rails are installed on one side of the side plate close to the left clamping plate, a second guide block is slidably installed on one side of the plurality of second guide rails, the left pressure plate is installed on the side of the plurality of second guide blocks away from the second guide rail, a third driving member is installed on the inner side of the side plate, and an output end of the third driving member is connected to the top of the left pressure plate.

[0012] Preferably, the detection and identification mechanism includes a fixing plate installed on one side of the base, and a camera identifier is installed on one side of the fixing plate.

[0013] Preferably, a proximity switch is installed on one side of the left pressure plate and the right pressure plate.

[0014] Preferably, a hydraulic buffer is installed on one side of the supporting plate, and a limiting plate cooperating with the hydraulic buffer is installed on one side of the load-bearing plate.

[0015] Preferably, anti-slip grooves are provided on the tops of the right clamping plate and the left clamping plate.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] The utility model uses a camera identifier to identify and automatically align the position of a box. A motor drives the linear guide rail to drive the supporting plate to slide to the right. Then, the cylinder pushes the supporting plate down to adjust the position of the right clamping plate, so that the right clamping plate and the left clamping plate clamp the two sides of the box respectively. Then, the two cylinders drive the left pressure plate and the right pressure plate to descend respectively, so that the left pressure plate and the right pressure plate press down and fix the top of the box, so as to quickly and accurately grab the box. Compared with manual handling, it is more convenient and faster, and is convenient for frequent stacking and destacking. Boxes of different qualities can be clamped and transported, realizing unmanned production, reducing manual labor, increasing the transportation speed of boxes, improving production efficiency, and adapting to the handling of turnover boxes of various specifications, saving time and labor, and ensuring continuous production. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a first-person perspective structural diagram of the turnover box robot gripper of the utility model.

[0019] Figure 2 It is a structural schematic diagram of the framework of the utility model.

[0020] Figure 3 It is a structural schematic diagram of the driving mechanism of the utility model.

[0021] Figure 4 It is a structural schematic diagram of the supporting plate, the adjusting mechanism and the bearing plate of the utility model.

[0022] Figure 5 This utility model Figure 4 Schematic diagram of the second perspective structure.

[0023] Figure 6 It is a structural schematic diagram of the lifting mechanism and the left pressure plate of the utility model.

[0024] Figure 7 It is a structural schematic diagram of the detection and identification mechanism of the utility model.

[0025] Explanation of the symbols in the schematic diagram:

[0026] 1. Frame; 11. Base; 12. Side plate; 13. Flange; 14. Filter regulator;

[0027] 2. Support plate;

[0028] 3. Loading plate; 31. Right clamping plate; 32. Left clamping plate; 33. Oil pressure buffer; 34. Anti-skid groove; 35. Limiting plate;

[0029] 4. Left pressure plate; 41. Proximity switch;

[0030] 5. right pressure plate; 51. first driving member;

[0031] 6. Linear guide; 61. Slider; 62. Motor; 63. Drag chain;

[0032] 7. first guide rail; 71. first guide block; 72. second driving member; 73. positioning plate;

[0033] 8. second guide rail; 81. second guide block; 82. third driving member;

[0034] 9. Fixing plate; 91. Camera identifier. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0036] Depend on Figure 1 A turnover box robot gripper is provided, comprising a frame 1, a driving mechanism, a supporting plate 2, an adjusting mechanism, a bearing plate 3, a right clamping plate 31, a left clamping plate 32, a lifting mechanism, a left pressure plate 4, a first driving member 51, a right pressure plate 5 and a detection and identification mechanism.

[0037] Depend on Figure 1 to Figure 2 It is given that, first, the frame 1 includes a base 11, a side panel 12 is installed on the left side of the bottom of the base 11, and a flange 13 is installed in the middle of the top of the base 11. Specifically, a triangular bracket is installed between the left side of the bottom of the base 11 and the inner wall of the top of the side panel 12, and the triangular bracket is used for support to increase stability. The top connection of the flange 13 is installed on the robot.

[0038] Depend on Figure 1 and Figure 3 It is given that the driving mechanism is installed at the bottom of the base 11, and the driving mechanism includes a linear guide 6, a slider 61, a motor 62 and a drag chain 63. Specifically, the linear guide 6 is installed at the bottom of the base 11, the slider 61 is slidably installed at the bottom of the linear guide 6, the motor 62 is installed on one side of the linear guide 6, one end of the drag chain 63 is installed on one side of the slider 61, and the other end of the drag chain 63 is installed on one side of the base 11, and the output end of the motor 62 is connected to the linear guide 6 through a linkage assembly. More specifically, the linkage assembly includes two gears and a lead screw, and the lead screw is rotatably installed inside the linear guide 6, one of the gears is installed at one end of the lead screw, and the other gear is installed at the output end of the motor 62, and the two gears are meshed with each other, and the lead screw is threadedly connected to the slider 61, and the motor 62 drives the lead screw to rotate through the gear, and then the lead screw drives the slider 61 to slide along the linear guide 6.

[0039] Depend on Figures 4 to 5 Then, the supporting plate 2 is installed at the bottom of the slider 61 so that the supporting plate 2 moves together with the slider 61. Specifically, a tripod is installed between the bottom of the slider 61 and the right side of the supporting plate 2, and the tripod is used to increase the stability of the supporting plate 2.

[0040] At the same time, the carrying plate 3 is movably arranged on one side of the supporting plate 2 , and the adjusting mechanism is installed between the supporting plate 2 and the carrying plate 3 . Specifically, the adjusting mechanism includes a first guide rail 7 , a first guide block 71 , a second driving member 72 and a positioning plate 73 .

[0041] More specifically, two first guide rails 7 and two first guide blocks 71 are provided, the two first guide rails 7 are vertically mounted at both ends of the supporting plate 2 away from the tripod, the two first guide blocks 71 are respectively slidably mounted on the side of the two first guide rails 7 away from the supporting plate 2, and the bearing plate 3 is mounted on the side of the two first guide blocks 71 away from the first guide rails 7; the second driving member 72 is a cylinder, the cylinder is mounted on the side of the supporting plate 2 away from the first guide rail 7, the positioning plate 73 is mounted on the side of the bearing plate 3, and the output end of the cylinder is connected to the top of the positioning plate 73. More specifically, the cylinder presses the positioning plate 73 so that the bearing plate 3 can be lifted up and down, and the first guide rail 7 and the first guide block 71 limit it, so that it can be lifted vertically, and the sliding property and stability are increased.

[0042] Depend on Figure 2 and Figure 5 It is important to give that the right clamping plate 31 is installed at the bottom end of the side of the supporting plate 3 away from the first guide block 71, and the left clamping plate 32 is installed at the bottom end of the inner side of the side plate 12, and the tops of the right clamping plate 31 and the left clamping plate 32 are both provided with anti-slip grooves 34. Specifically, the right clamping plate 31 and the left clamping plate 32 correspond to each other, and the right clamping plate 31 and the left clamping plate 32 respectively clamp the two sides of the box.

[0043] More specifically, the cylinder drives the supporting plate 3 to rise and fall to adjust the height of the right clamping plate 31; the right clamping plate 31 and the left clamping plate 32 are used to clamp the two sides of the box respectively, or the tops of the right clamping plate 31 and the left clamping plate 32 are used to lift the grab ears of the box, and then the box is grabbed and transported.

[0044] Depend on Figure 1 and Figure 6 A further improved solution is provided, in which the lifting mechanism is installed on the inner side of the side plate 12 , and the left pressure plate 4 is movably installed on the inner side of the side plate 12 through the lifting mechanism. Specifically, the lifting mechanism includes a second guide rail 8 , a second guide block 81 and a third driving member 82 .

[0045] More specifically, two second guide rails 8 and two second guide blocks 81 are provided, and the two second guide rails 8 are installed on the side of the side plate 12 close to the left clamping plate 32, and the two second guide blocks 81 are respectively slidably installed on the side of the two second guide rails 8 away from the side plate 12, and the left pressure plate 4 is installed on the side of the two second guide blocks 81 away from the second guide rail 8. The third driving member 82 is also a cylinder, and the cylinder is installed on the side of the side plate 12 close to the left clamping plate 32, and the output end of the cylinder is connected to the top of the left pressure plate 4. More specifically, the cylinder drives the left pressure plate 4 to descend, so that the left pressure plate 4 presses down and fixes the top of the box.

[0046] Depend on Figures 4 to 5 Secondly, the first driving member 51 is also a cylinder, which is installed on one side of the supporting plate 3 close to the right clamping plate 31, and the top of the right pressure plate 5 is installed on the output end of the cylinder. Specifically, the cylinder drives the right pressure plate 5 to descend, and the right pressure plate 5 presses down and fixes the top of the box.

[0047] For additional explanation, the left pressing plate 4 and the right pressing plate 5 are simultaneously lowered to press down and fix the two sides of the top of the box body, or the left pressing plate 4 and the right pressing plate 5 are simultaneously lowered to press down and fix the tops of the grab ears on both sides of the box body.

[0048] Depend on Figure 1 and Figure 7 Finally, the detection and identification mechanism is installed on one side of the base 11. Specifically, the detection and identification mechanism includes a fixed plate 9 and a camera identifier 91. More specifically, the fixed plate 9 is installed on one side of the base 11, and the camera identifier 91 is installed on one side of the fixed plate 9. The camera identifier 91 is used to identify and automatically align the position of the box to facilitate accurate grasping by the robot gripper.

[0049] Depend on Figure 1 and Figure 6 In addition, a proximity switch 41 is installed on one side of the left pressure plate 4 and the right pressure plate 5. The proximity switch 41 is electrically connected to the first driving member 51 and the third driving member 82 to sense and detect the position of the box, thereby controlling the start of the cylinder.

[0050] Depend on Figure 5 It is given that a hydraulic buffer 33 is installed on one side of the support plate 2, and a limit plate 35 that cooperates with the hydraulic buffer 33 is installed on one side of the load-bearing plate 2. Specifically, the hydraulic buffer 33 is a mechanical buffer, which is composed of a cylinder body and a piston. There is oil inside the cylinder body. When the limit plate 35 follows the load-bearing plate 3 to descend, the bottom of the limit plate 35 will contact and abut against the piston, and will press the piston down. After the piston descends to a certain position, the piston limits the limit plate 35 so that the load-bearing plate 3 cannot descend any further.

[0051] Depend on Figure 1It is given that a filter pressure regulator 14 is installed on one side of the base 11, and the filter pressure regulator 14 is connected to the three cylinders through pipelines. The filter pressure regulator 14 combines the functions of the filter and the pressure regulator to double-treat the gas entering the cylinder. It filters impurities in the gas to prevent impurities from entering the cylinder, and can adjust the pressure value of the cylinder to ensure stable output of the cylinder.

[0052] The beneficial effects obtained by the frame 1, the driving mechanism, the supporting plate 2, the adjusting mechanism, the bearing plate 3, the right clamping plate 31, the left clamping plate 32, the lifting mechanism, the left pressure plate 4, the first driving member 51, the right pressure plate 5 and the detection and identification mechanism are as follows: the utility model uses the camera identifier 91 to identify and automatically align the position of the box body, the motor 62 drives the linear guide rail 6 to drive the supporting plate 2 to slide to the right, and then the cylinder pushes the bearing plate 3 to descend and adjust the position of the right clamping plate 31, so that the right clamping plate 31 and the left clamping plate 32 clamp the two sides of the box body respectively; then, the two cylinders drive the left pressure plate 4 and the right pressure plate 5 to descend respectively, so that the left pressure plate 4 and the right pressure plate 5 press down and fix the top of the box body, and quickly and accurately grab the box body, which is more convenient and faster than manual handling, and is convenient for frequent stacking and destacking; boxes of different qualities can be clamped and transported, unmanned production can be realized, manual labor can be reduced, the transportation speed of the boxes can be increased, production efficiency can be improved, and it is suitable for the handling of turnover boxes of various specifications, saving time and labor, continuous production can be achieved, and safety can be guaranteed.

[0053] When the utility model is used, the first grasping state is: the camera identifier 91 is used to identify and automatically align the position of the box, the motor 62 drives the linear guide 6 to drive the supporting plate 2 to slide to the right, and then the cylinder pushes the supporting plate 3 down to adjust the position of the right clamping plate 31, so that the right clamping plate 31 and the left clamping plate 32 respectively clamp the two sides of the box; then, the two cylinders respectively drive the left pressure plate 4 and the right pressure plate 5 to descend, so that the left pressure plate 4 and the right pressure plate 5 press down and fix the top of the box, thereby completing the grasping.

[0054] Grasping state two: the camera identifier 91 is used to identify and automatically align the position of the box, the motor 62 drives the linear guide 6 to drive the supporting plate 2 to slide to the right, and then the cylinder pushes the supporting plate 3 down to adjust the position of the right clamping plate 31, and the top of the right clamping plate 31 and the left clamping plate 32 respectively lift the grabbing ears on both sides of the box; then, the two cylinders drive the left pressure plate 4 and the right pressure plate 5 to descend respectively, and the left pressure plate 4 and the right pressure plate 5 simultaneously press down and fix the top of the grabbing ears on both sides of the box to complete the grasping.

[0055] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A turnover box robot gripper, characterized in that: The invention comprises a frame (1), a supporting plate (2) being slidably mounted on the bottom of the frame (1) via a driving mechanism, the driving mechanism being used to drive the supporting plate (2) to move horizontally; a bearing plate (3) being slidably mounted on one side of the supporting plate (2) via an adjusting mechanism, the adjusting mechanism being used to drive the bearing plate (3) to move up and down; a right clamping plate (31) being mounted on one side of the bearing plate (3), and a left clamping plate (32) being mounted on one side of the frame (1), the right clamping plate (31) and the left clamping plate (32) clamping two sides of a box body respectively; A left pressure plate (4) is movably mounted on a side of the frame (1) close to the left clamping plate (32) via a lifting mechanism, a first driving member (51) is mounted on a side of the bearing plate (3) close to the right clamping plate (31), a right pressure plate (5) is mounted on an output end of the first driving member (51), and both the left pressure plate (4) and the right pressure plate (5) press down and fix the top of the box body; A detection and identification mechanism is installed on one side of the frame (1), and the detection and identification mechanism is used to detect the position of the box.

2. The turnover box robot gripper according to claim 1, characterized in that: The frame (1) comprises a base (11), a flange (13) is installed in the middle of the top of the base (11), a filter pressure regulator (14) is installed on one side of the base (11), a side plate (12) is installed on one side of the base (11), the drive mechanism is installed at the bottom of the base (11), and the left clamping plate (32) and the lifting mechanism are both installed on one side of the side plate (12).

3. The turnover box robot gripper according to claim 2, characterized in that: The driving mechanism comprises a linear guide rail (6) mounted on the bottom of a base (11); a slider (61) is slidably mounted on one side of the linear guide rail (6); a motor (62) is mounted on one side of the linear guide rail (6), and an output end of the motor (62) is connected to an input end of the linear guide rail (6) via a linkage assembly; a drag chain (63) is mounted on one side of the slider (61); the other side of the drag chain (63) is mounted on one side of the base (11); and the support plate (2) is mounted on the bottom of the slider (61).

4. The turnover box robot gripper according to claim 1, characterized in that: The adjustment mechanism comprises a plurality of first guide rails (7), wherein the plurality of first guide rails (7) are mounted on one side of the supporting plate (2), a first guide block (71) is slidably mounted on one side of the plurality of first guide rails (7), one side of the plurality of first guide blocks (71) is connected to a side of the supporting plate (3) away from the right pressure plate (5), a second driving member (72) is mounted on the side of the supporting plate (2) away from the first guide rail (7), a positioning plate (73) is arranged on the side of the supporting plate (3) away from the right pressure plate (5), and an output end of the second driving member (72) is connected to the top of the positioning plate (73).

5. The turnover box robot gripper according to claim 2, characterized in that: The lifting mechanism comprises a plurality of second guide rails (8), wherein the plurality of second guide rails (8) are mounted on a side of the side plate (12) close to the left clamping plate (32), a second guide block (81) is slidably mounted on one side of the plurality of second guide rails (8), the left pressure plate (4) is mounted on a side of the plurality of second guide blocks (81) facing away from the second guide rail (8), a third driving member (82) is mounted on the inner side of the side plate (12), and an output end of the third driving member (82) is connected to the top of the left pressure plate (4).

6. The turnover box robot gripper according to claim 2, characterized in that: The detection and identification mechanism comprises a fixing plate (9) mounted on one side of a base (11), and a camera identifier (91) is mounted on one side of the fixing plate (9).

7. The turnover box robot gripper according to claim 1, characterized in that: A proximity switch (41) is installed on one side of the left pressure plate (4) and the right pressure plate (5).

8. The turnover box robot gripper according to claim 1, characterized in that: A hydraulic buffer (33) is installed on one side of the support plate (2), and a limit plate (35) matching the hydraulic buffer (33) is installed on one side of the load-bearing plate (3).

9. The turnover box robot gripper according to claim 1, characterized in that: Anti-slip grooves (34) are provided on the tops of the right clamping plate (31) and the left clamping plate (32).

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