Stacking robot gripper convenient to adjust

Abstract

The utility model relates to the technical field of palletizing robot grippers, in particular to a palletizing robot gripper convenient to adjust, which comprises a fixed clamping plate, a movable clamping plate, a first driving component and a frame, the first driving component is embedded in the frame, and the fixed clamping plate is vertically mounted at the bottom edge of the frame. The movable clamping plate is vertically arranged on the opposite side of the fixed clamping plate and is in driving connection with the first driving assembly, a second driving assembly is installed on the inner side wall of the frame in an embedded mode, and the second driving assembly comprises a sliding rail, an electric actuator, a second inner spiral sleeve, a two-way lead screw and a sliding block and is matched with the deviation rectifying clamping plate through the second driving assembly; by means of the technical scheme, the to-be-grabbed materials on the conveying belt can be straightened and rectified before being grabbed, meanwhile, the to-be-grabbed materials are centered in the middle of the clamp, the accuracy and stability of the clamp in the grabbing process are improved, and it is convenient to keep the distances between the materials consistent in the stacking process.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robot grippers, in particular to a palletizing robot gripper which is easy to adjust. Background Art

[0002] The gripper of the palletizing robot is a key component in the robot system, used to grab, move and stack goods of various shapes and weights. It is usually designed with a mechanical claw or suction cup structure, equipped with sophisticated sensors and control systems to achieve precise position control and safe operation.

[0003] The palletizing robot gripper is one of the important components of the palletizing robot. It provides the basis for the palletizing robot to achieve efficient palletizing, but it still has certain problems: 1) For the materials to be grasped transported by the conveyor belt, the placement angles when they are located in the area to be grasped are inconsistent. When the palletizing robot gripper grasps, the horizontal position of each material in the gripper is inconsistent, which will lead to inconsistent time intervals in palletizing; 2) Due to the position deviation during material transportation, it will affect the position deviation, accuracy and stability of the gripper during grasping, causing greater difficulty for the robot's subsequent palletizing; Therefore, in view of the above situation, it is urgent to develop a palletizing robot gripper that is easy to adjust to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0004] The utility model aims to provide a palletizing robot gripper which is easy to adjust, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an adjustable palletizing robot gripper, comprising a fixed clamping plate, a movable clamping plate, a first drive assembly and a frame, wherein the first drive assembly is embedded and installed inside the frame, the fixed clamping plate is vertically installed on the bottom edge of the frame, the movable clamping plate is vertically arranged on the opposite side of the fixed clamping plate and is driven and connected to the first drive assembly, and the inner side wall of the frame is embedded and installed with a second drive assembly;

[0006] The second driving assembly includes a slide rail, an electric actuator, a second inner spiral sleeve, a bidirectional screw and a slider. The slide rail is horizontally installed on the inner wall of the frame, the electric actuator is installed in the top middle position of the slide rail, the bidirectional screw is embedded in the interior of the slide rail, the second inner spiral sleeve is nested in the middle section of the bidirectional screw, the second inner spiral sleeve is drive-connected to the electric actuator, the slider is embedded in the interior of the slide rail and slidably connected to the slide rail, and the two correction splints are detachably connected to the two sliders respectively. Specifically, the correction splint is driven by the second driving assembly to straighforge and correct the material to be grasped.

[0007] Preferably, the first drive assembly includes a motor, a sliding member, a first inner spiral sleeve, a screw and a guide rod. The motor is horizontally installed on the outer wall of the frame, the screw is horizontally installed in the middle position of the inner part of the frame, the screw is connected to the motor drive, and the two guide rods are horizontally installed at the inner bottom edge of the frame. The sliding member is nested at one end of the screw and the guide rod and is slidably connected to the guide rod. The first inner spiral sleeve is embedded in the interior of the sliding member, and the sliding member is adapted to the screw through the first inner spiral sleeve.

[0008] Preferably, two sliders are provided, and the sliders are nested at both ends of the bidirectional screw rod and matched with the bidirectional screw rod. Specifically, the sliders can cooperate with the bidirectional screw rod to realize synchronous reverse motion.

[0009] Preferably, the deflection-correcting splint is adjacent to the inner side of the fixed splint. Specifically, its installation position enables it to pre-align and center the material before the moving splint moves.

[0010] Preferably, the correcting plate forms an angle of 90 degrees with the fixed plate. Specifically, the correcting plate can pre-align and center the material before the fixed plate cooperates with the movable plate to grab the material, thereby improving the position accuracy between the material and the fixed plate and the movable plate, thereby improving the stacking accuracy.

[0011] Compared with the prior art, the utility model provides a palletizing robot gripper that is easy to adjust, which has the following beneficial effects:

[0012] Through the second drive component and the correction clamp, it can align and correct the material to be grabbed on the conveyor belt before grabbing it, and at the same time center it in the middle of the clamp, thereby improving the accuracy and stability of the clamp when grabbing, and facilitating the maintenance of consistent spacing between materials during stacking. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative labor:

[0014] Figure 1 This is a schematic diagram of the front structure of the utility model;

[0015] Figure 2 This is a schematic diagram of the structure of the first drive assembly of the utility model;

[0016] Figure 3 This is a schematic diagram of the structure of the second drive assembly of the utility model;

[0017] Figure 4It is a side longitudinal sectional view of the second driving assembly of the utility model.

[0018] In the figure: 10, fixed clamping plate; 20, movable clamping plate; 30, first driving assembly; 301, motor; 302, sliding member; 303, first inner spiral sleeve; 304, screw; 305, guide rod; 40, frame; 50, second driving assembly; 501, slide rail; 502, electric actuator; 503, second inner spiral sleeve; 504, bidirectional screw; 505, slider; 60, deviation correction clamping plate. DETAILED DESCRIPTION

[0019] 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.

[0020] In the present invention, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] Example:

[0022] See also Figure 1-Figure 4 The utility model provides a technical solution: a palletizing robot gripper that is easy to adjust, comprising a fixed clamping plate 10, a movable clamping plate 20, a first driving assembly 30 and a frame 40, wherein the first driving assembly 30 is embedded and installed inside the frame 40, the fixed clamping plate 10 is vertically installed at the bottom edge of the frame 40, the movable clamping plate 20 is vertically arranged on the opposite side of the fixed clamping plate 10, and is drivingly connected to the first driving assembly 30, and the inner side wall of the frame 40 is embedded and installed with a second driving assembly 50;

[0023] The second driving assembly 50 includes a slide rail 501, an electric actuator 502, a second inner spiral sleeve 503, a bidirectional screw rod 504 and a slider 505. The slide rail 501 is horizontally installed on the inner wall of the frame 40, the electric actuator 502 is installed in the top middle position of the slide rail 501, the bidirectional screw rod 504 is embedded in the interior of the slide rail 501, the second inner spiral sleeve 503 is nested in the middle section of the bidirectional screw rod 504, the second inner spiral sleeve 503 is drivingly connected to the electric actuator 502, the slider 505 is embedded in the interior of the slide rail 501 and is slidingly connected to the slide rail 501, and the two correcting splints 60 are detachably connected to the two sliders 505 respectively. Specifically, the correcting splint 60 is driven by the second driving assembly 50 to sway and correct the material to be grasped.

[0024] Preferably, the first drive assembly 30 includes a motor 301, a sliding member 302, a first inner spiral sleeve 303, a screw 304 and a guide rod 305. The motor 301 is horizontally installed on the outer wall of the frame 40, the screw 304 is horizontally installed in the middle position inside the frame 40, the screw 304 is drive-connected to the motor 301, and the two guide rods 305 are horizontally installed at the inner bottom edge of the frame 40. The sliding member 302 is nested at one end of the screw 304 and the guide rod 305, and is slidably connected to the guide rod 305. The first inner spiral sleeve 303 is embedded in the interior of the sliding member 302, and the sliding member 302 is adapted to the screw 304 through the first inner spiral sleeve 303.

[0025] Preferably, two sliders 505 are provided, and the sliders 505 are nested at both ends of the bidirectional screw rod 504 and matched with the bidirectional screw rod 504. Specifically, the sliders 505 can cooperate with the bidirectional screw rod 504 to realize synchronous reverse motion.

[0026] Preferably, the deflection-correcting clamping plate 60 is adjacent to the inner side of the fixed clamping plate 10 . Specifically, its installation position enables it to align and center the material in advance before the moving clamping plate 20 moves.

[0027] Preferably, the correcting splint 60 forms an angle of 90 degrees with the fixed splint 10. Specifically, the correcting splint 60 can pre-align and center the material before the fixed splint 10 cooperates with the movable splint 20 to grab the material, thereby improving the position accuracy between the material and the fixed splint 10 and the movable splint 20, thereby improving the stacking accuracy.

[0028] Working principle: The frame 40 is installed at the end of the mechanical arm of the palletizing robot. When the material transported on the conveyor belt needs to be grabbed, the palletizing robot drives the entire gripper structure close to the material, and selects the material between the fixed clamping plate 10 and the movable clamping plate 20, and starts the second drive component 50. The electric actuator 502 drives the second inner spiral sleeve 503 to rotate, thereby driving the bidirectional screw rod 504 to rotate clockwise, driving the two sliders 505 to move synchronously toward the middle position, and at the same time drives the two deviation correction clamps 60 to move closer to the middle, aligning and centering the material to be grabbed, and then starts the first drive component 30, and the motor 301 drives the screw rod 304 to rotate, and cooperates with the first inner spiral sleeve 303 to drive the sliding member 302 to move, thereby driving the movable clamping plate 20 to move axially along the guide rod 305 close to the fixed clamping plate 10 to achieve the grabbing of the material.

[0029] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the statement "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A palletizing robot gripper that is easy to adjust, characterized in that: The invention comprises a fixed clamping plate (10), a movable clamping plate (20), a first driving assembly (30) and a frame (40), wherein the first driving assembly (30) is embedded and installed inside the frame (40), the fixed clamping plate (10) is vertically installed on the bottom edge of the frame (40), the movable clamping plate (20) is vertically arranged on the opposite side of the fixed clamping plate (10) and is drivingly connected to the first driving assembly (30), and a second driving assembly (50) is embedded and installed on the inner side wall of the frame (40); The second driving assembly (50) comprises a slide rail (501), an electric actuator (502), a second inner spiral sleeve (503), a bidirectional screw rod (504) and a slider (505); the slide rail (501) is horizontally mounted on the inner wall of the frame (40); the electric actuator (502) is mounted at the top middle position of the slide rail (501); the bidirectional screw rod (504) is embedded in the interior of the slide rail (501); the second inner spiral sleeve (503) is nested in the middle section of the bidirectional screw rod (504); the second inner spiral sleeve (503) is drivingly connected to the electric actuator (502); the slider (505) is embedded in the interior of the slide rail (501) and is slidably connected to the slide rail (501); and two deviation correcting splints (60) are detachably connected to the two sliders (505) respectively.

2. The easily adjustable palletizing robot gripper according to claim 1, characterized in that: The first driving assembly (30) comprises a motor (301), a sliding member (302), a first inner spiral sleeve (303), a screw rod (304) and a guide rod (305); the motor (301) is horizontally mounted on the outer side wall of the frame (40); the screw rod (304) is horizontally mounted in the middle position inside the frame (40); the screw rod (304) is drivingly connected to the motor (301); two guide rods (305) are horizontally mounted at the inner bottom edge of the frame (40); the sliding member (302) is nested at one end of the screw rod (304) and the guide rod (305) and is slidably connected to the guide rod (305); the first inner spiral sleeve (303) is embedded in the interior of the sliding member (302); the sliding member (302) is adapted to the screw rod (304) through the first inner spiral sleeve (303).

3. The easily adjustable palletizing robot gripper according to claim 1, characterized in that: The sliders (505) are provided in two pieces in total, and the sliders (505) are nested at the two ends of the bidirectional screw rod (504) and are adapted to the bidirectional screw rod (504).

4. The easily adjustable palletizing robot gripper according to claim 3 is characterized in that: The deviation-correcting clamping plate (60) is adjacent to the inner side of the fixed clamping plate (10).

5. The easily adjustable palletizing robot gripper according to claim 1, characterized in that: The deviation-correcting clamping plate (60) and the fixed clamping plate (10) form an angle of 90 degrees.

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