Foaming product identifying and stacking manipulator
By setting a transverse cylinder in the robot hand, the transverse movement of the second jaw element is achieved, which solves the problem of unstable clamping foamed products with large sizes in the prior art, and adapts to the clamping needs of different body types, thereby improving the clamping stability and flexibility of the robot hand.
Patent Information
- Application Number
- CN202421610991.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-09
- Publication Date
- 2025-05-02
- Estimated Expiration
- 2034-07-09
AI Technical Summary
The robots in the prior art have unstable clamping when clamping foamed products with larger sizes, and when traditional truss robots face thermal expansion and contraction problems, the module is deformed and cannot move.
A foamed product identification stacking robot is designed. By setting a transverse cylinder, the transverse movement of the second jaw element is realized, thereby controlling the position of the jaw element, adjusting the distance between the jaw element and the first jaw element, and achieving stable clamping of products of different body types.
The robot can stably clamp large foam products. At the same time, through the design of transverse cylinders, it can adapt to the clamping needs of different body types, improving the clamping stability and flexibility of the robot.
Smart Images
Figure CN222820839U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of machinery, in particular to a foaming product identification and stacking robot. Background Art
[0002] After the foaming machine foams and forms the foamed product, a manipulator is usually used to grab the foamed product to a designated location for subsequent palletizing. The manipulator is the earliest industrial robot. It is an automatic operating device that can grab, move objects or operate tools according to a fixed procedure. Since cable stacking work is highly repetitive and physically labor-intensive, a truss manipulator can be used to replace manual stacking tasks. Traditional truss manipulators basically do not use visual camera equipment to identify the grasping position, and do not consider the deviation between the theoretical position and the actual position of the cable, which may lead to cable grasping failure or damage; secondly, the two ends of the module of the traditional truss manipulator are fixed. When the module material expands and contracts due to heat, the module will deform, making the module unable to move.
[0003] In order to solve this problem, some robots with visual recognition systems are disclosed in the prior art to accurately clamp products. For example, patent document with publication number CN214724198U discloses a truss-type cable grasping robot, which includes a truss assembly, a clamping jaw element, a driving assembly for driving the clamping jaw element to move on the truss assembly, and a visual recognition camera. The visual recognition camera and the clamping jaw element share the driving assembly, or a separate driving assembly is provided to drive the visual recognition camera to move on the truss assembly.
[0004] However, the conventional manipulator with a visual recognition system can usually only clamp products of fixed size. When the product is large, the conventional manipulator has an unstable clamping phenomenon. In view of this, the inventor conducted in-depth research on the above defects in the conventional technology, and thus the present case was created. Utility Model Content
[0005] The utility model aims to solve at least one of the technical problems in the above-mentioned technology to a certain extent. To this end, the utility model aims to provide a foam product identification and stacking robot, which realizes the lateral movement of the second clamping jaw element by setting a lateral movement cylinder, thereby controlling different positions of the second clamping jaw element, making it easy to suck the second clamping jaw element and the first clamping jaw element at different positions of the product, and realize stable clamping of the product.
[0006] To achieve the above-mentioned purpose, the utility model proposes a foam product identification and stacking robot, including a lifting frame, a visual identification system, a first connecting plate, a first clamping claw element, a transverse cylinder, a second connecting plate and a second clamping claw element;
[0007] The visual recognition system is arranged on the lifting frame, the first connecting plate is arranged on the lifting frame, the first clamping element is arranged on the first connecting plate, the transverse cylinder is arranged on the first connecting plate, the second connecting plate is connected to the transverse cylinder and is driven by the transverse cylinder to move laterally, and the second clamping element is arranged on the second connecting plate and moves synchronously with the second connecting plate.
[0008] Furthermore, a guide sleeve is provided at the bottom of the first connecting plate, and a guide rod capable of moving along the guide sleeve is provided on the second connecting plate.
[0009] Furthermore, the number of the first clamping jaw elements is two, which are respectively located at the front and rear sides of the first connecting plate; the number of the second clamping jaw elements is two, which are respectively located at the front and rear sides of the second connecting plate.
[0010] Furthermore, the first clamping jaw element and the second clamping jaw element are both suction jaws. The upper ends of the first clamping jaw element and the second clamping jaw element are respectively adsorbed on the first connecting plate and the second connecting plate through magnets; or, the upper ends of the first clamping jaw element and the second clamping jaw element are respectively locked on the first connecting plate and the second connecting plate.
[0011] Furthermore, the first clamping jaw element is connected to the first connecting plate through a first buffer assembly; the first buffer assembly includes a first connecting rod, a first upper buffer rod, a first lower buffer rod and a first buffer spring, the first connecting rod is fixed to the bottom of the first connecting plate, the first upper buffer rod is arranged on the first connecting rod, the first lower buffer rod is telescopically sleeved in the first upper buffer rod, the first buffer spring is sleeved on the first lower buffer rod, one end of the first buffer spring abuts against the bottom of the first upper buffer rod, and the other end of the first buffer spring abuts against the first clamping jaw element.
[0012] Furthermore, a first limiting channel is formed in the first connecting rod, the first upper buffer rod is movably disposed in the first limiting channel, and a first limiting piece capable of abutting against the first lower buffer rod is disposed on the outer side of the first connecting rod.
[0013] Furthermore, the second clamping jaw element is connected to the second connecting plate through a second buffer assembly; the second buffer assembly includes a second connecting rod, a second upper buffer rod, a second lower buffer rod and a second buffer spring, the second connecting rod is fixed to the bottom of the second connecting plate, the second upper buffer rod is arranged on the second connecting rod, the second lower buffer rod is telescopically sleeved in the second upper buffer rod, the second buffer spring is sleeved on the second lower buffer rod, one end of the second buffer spring abuts against the bottom of the second upper buffer rod, and the other end of the second buffer spring abuts against the second clamping jaw element.
[0014] Furthermore, a second limiting channel is formed in the second connecting rod, the second upper buffer rod is movably arranged in the second limiting channel, and a second limiting piece capable of abutting against the second lower buffer rod is arranged on the outer side of the second connecting rod.
[0015] Furthermore, a lifting plate is provided at the bottom of the lifting frame, and a rotating component for driving the first connecting plate to rotate is provided on the lifting plate, and the rotating component includes a rotating cylinder, a bearing and a rotating rod, the rotating cylinder is provided on the lifting plate, the bearing is provided on the lifting plate, the rotating rod is connected to the rotating cylinder and driven by the rotating cylinder so that it can be rotatably provided in the bearing, and the rotating rod is connected to the first connecting plate.
[0016] Furthermore, it also includes a transverse seat and a transverse beam, wherein the transverse seat can be movably arranged on the transverse beam, and the lifting frame can be lifted and lowered in the transverse seat.
[0017] After adopting the above structure, the utility model relates to a foam product identification and stacking robot, which has at least the following
[0018] Beneficial effects:
[0019] 1. During use, after the foaming machine foams and forms the foamed product, a visual recognition system is set up to make the movement process of the manipulator more accurate. By setting up a transverse cylinder, a second connecting plate and a second clamping jaw element, when clamping foamed products of different sizes, when the foamed product is large, the transverse cylinder drives the second connecting plate to move laterally, so that the distance between the second clamping jaw element and the first clamping jaw element becomes larger, so that the large foamed product can be stably clamped. When the foamed product is small, the transverse cylinder drives the second connecting plate to move laterally in the opposite direction, so that the distance between the second clamping jaw element and the first clamping jaw element becomes smaller, so that the small foamed product can be stably clamped.
[0020] Second, by providing the guide sleeve and the guide rod, the second connecting plate is made more stable when moving, thereby making the second clamping jaw element more stable when moving.
[0021] Third, by providing two first clamping jaw elements and two second clamping jaw elements, when clamping the foamed product, the four corners of the edge of the foamed product are clamped, thereby further improving the clamping stability.
[0022] Compared with the prior art, the utility model realizes the lateral movement of the second clamping jaw element by setting a lateral movement cylinder, thereby controlling different positions of the second clamping jaw element and adjusting the distance between the second clamping jaw element and the first clamping jaw element, making it easier to suck the second clamping jaw element and the first clamping jaw element at different positions of the product, thereby achieving stable clamping of the product. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1This is a schematic diagram of the structure of a foam product identification and stacking robot according to an embodiment of the utility model;
[0024] Figure 2 It is a structural schematic diagram of another angle of the foam product recognition and stacking robot according to an embodiment of the utility model;
[0025] Figure 3 It is a schematic diagram of the connection between the transverse seat, the crossbeam and the lifting frame according to an embodiment of the utility model.
[0026] Description of symbols
[0027] Lifting frame 1, first connecting plate 2, guide sleeve 21, first clamping element 3, transverse cylinder 4, second connecting plate 5, guide rod 51, second clamping element 6, first buffer assembly 7, first connecting rod 71, first upper buffer rod 72, first lower buffer rod 73, first buffer spring 74, first limit member 75, second buffer assembly 8, second connecting rod 81, second upper buffer rod 82, second lower buffer rod 83, second buffer spring 84, second limit member 85, rotating assembly 9, rotating cylinder 91, bearing 92, rotating rod 93, transverse seat 10, crossbeam 11. DETAILED DESCRIPTION
[0028] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.
[0029] like Figures 1 to 3 As shown, a foam product identification and stacking robot of the utility model comprises a lifting frame 1, a visual identification system, a first connecting plate 2, a first clamping element 3, a transverse cylinder 4, a second connecting plate 5 and a second clamping element 6; the visual identification system is arranged on the lifting frame 1, the first connecting plate 2 is arranged on the lifting frame 1, the first clamping element 3 is arranged on the first connecting plate 2, the transverse cylinder 4 is arranged on the first connecting plate 2, the second connecting plate 5 is connected to the transverse cylinder 4 and is driven by the transverse cylinder 4 to move laterally, and the second clamping element 6 is arranged on the second connecting plate 5 and moves synchronously with the second connecting plate 5.
[0030] In this way, the utility model relates to a foam product recognition and stacking robot. When in use, after the foaming machine foams and forms the foam product, a visual recognition system is set to make the robot movement process more accurate. By setting the transverse cylinder 4, the second connecting plate 5 and the second clamping jaw element 6, when clamping foam products of different sizes, when the foam product is large, the transverse cylinder 4 drives the second connecting plate 5 to move laterally, so that the distance between the second clamping jaw element 6 and the first clamping jaw element 3 becomes larger, so that the large foam product can be stably clamped. When the foam product is small, the transverse cylinder 4 drives the second connecting plate 5 to move laterally in the opposite direction, so that the distance between the second clamping jaw element 6 and the first clamping jaw element 3 becomes smaller, so that the small foam product can be stably clamped.
[0031] Optionally, a guide sleeve 21 is provided at the bottom of the first connecting plate 2, and a guide rod 51 is provided on the second connecting plate 5 that can move along the guide sleeve 21. By providing the guide sleeve 21 and the guide rod 51, the second connecting plate 5 is more stable when moving, thereby making the second clamping jaw element 6 more stable when moving.
[0032] Furthermore, two first clamping jaw elements 3 are provided, which are respectively located at the front and rear sides of the first connecting plate 2; two second clamping jaw elements 6 are provided, which are respectively located at the front and rear sides of the second connecting plate 5. By providing two first clamping jaw elements 3 and two second clamping jaw elements 6, when clamping the foaming product, the four corners of the edge of the foaming product are clamped, and the clamping stability is further improved.
[0033] In this embodiment, the first clamping claw element 3 and the second clamping claw element 6 are both suction claws. When the suction claws clamp the foamed product, the suction claws generate negative pressure, so that the suction claws have a strong suction force, thereby making the clamping more stable. The upper ends of the first clamping claw element 3 and the second clamping claw element 6 are respectively adsorbed on the first connecting plate 2 and the second connecting plate 5 through magnets; or, the upper ends of the first clamping claw element 3 and the second clamping claw element 6 are respectively locked on the first connecting plate 2 and the second connecting plate 5.
[0034] In a preferred embodiment of the utility model, the first clamping jaw element 3 is connected to the first connecting plate 2 through a first buffer assembly 7; the first buffer assembly 7 includes a first connecting rod 71, a first upper buffer rod 72, a first lower buffer rod 73 and a first buffer spring 74, the first connecting rod 71 is fixed to the bottom of the first connecting plate 2, the first upper buffer rod 72 is arranged on the first connecting rod 71, the first lower buffer rod 73 is telescopically sleeved in the first upper buffer rod 72, the first buffer spring 74 is sleeved on the first lower buffer rod 73, one end of the first buffer spring 74 abuts against the bottom of the first upper buffer rod 72, and the other end of the first buffer spring 74 abuts against the first clamping jaw element 3.
[0035] By providing the first buffer assembly 7, the first clamping jaw element 3 moves under the action of the first buffer spring 74 when clamping, thereby preventing the first clamping jaw element 3 from directly hitting the foaming product and causing damage.
[0036] In this embodiment, a first limiting channel is formed in the first connecting rod 71, the first upper buffer rod 72 is movably arranged in the first limiting channel, and a first limiting member 75 capable of abutting against the first lower buffer rod 73 is arranged outside the first connecting rod 71. By providing the first limiting channel and the first limiting member 75, the position of the first lower buffer rod 73 can be easily adjusted, so as to be applicable to foaming products with different heights.
[0037] In a preferred embodiment of the utility model, the second clamping jaw element 6 is connected to the second connecting plate 5 through a second buffer assembly 8; the second buffer assembly 8 includes a second connecting rod 81, a second upper buffer rod 82, a second lower buffer rod 83 and a second buffer spring 84, the second connecting rod 81 is fixed to the bottom of the second connecting plate 5, the second upper buffer rod 82 is arranged on the second connecting rod 81, the second lower buffer rod 83 is telescopically sleeved in the second upper buffer rod 82, the second buffer spring 84 is sleeved on the second lower buffer rod 83, one end of the second buffer spring 84 abuts against the bottom of the second upper buffer rod 82, and the other end of the second buffer spring 84 abuts against the second clamping jaw element 6.
[0038] By providing the second buffer assembly 8, the second clamping jaw element 6 moves under the action of the second buffer spring 84 when clamping, thereby preventing the second clamping jaw element 6 from directly hitting the foamed product and causing damage.
[0039] In this embodiment, a second limiting channel is formed in the second connecting rod 81, the second upper buffer rod 82 is movably arranged in the second limiting channel, and a second limiting member 85 capable of abutting against the second lower buffer rod 83 is arranged outside the second connecting rod 81. By providing the second limiting channel and the second limiting member 85, the position of the second lower buffer rod 83 can be easily adjusted, so as to be suitable for foaming products with different heights.
[0040] Furthermore, a lifting plate is provided at the bottom of the lifting frame 1, and a rotating assembly 9 is provided on the lifting plate to drive the first connecting plate 2 to rotate. The rotating assembly 9 includes a rotating cylinder 91, a bearing 92 and a rotating rod 93. The rotating cylinder 91 is provided on the lifting plate, the bearing 92 is provided on the lifting plate, the rotating rod 93 is connected to the rotating cylinder 91 and driven by the rotating cylinder 91 to be rotatably provided in the bearing 92, and the rotating rod 93 is connected to the first connecting plate 2. By providing the rotating assembly 9, the clamped foamed product can be rotated, so as to facilitate palletizing.
[0041] Furthermore, it also includes a transverse seat 10 and a crossbeam 11. The transverse seat 10 can be movably arranged on the crossbeam 11, and the lifting frame 1 can be lifted and lowered in the transverse seat 10. By arranging the crossbeam 11 and the transverse seat 10, it is convenient for the first clamping element 3 and the second clamping element 6 to clamp the foamed product to the designated position for stacking.
[0042] Compared with the prior art, the utility model realizes the lateral movement of the second clamping jaw element 6 by setting a lateral movement cylinder 4, thereby controlling different positions of the second clamping jaw element 6 and adjusting the distance between the second clamping jaw element 6 and the first clamping jaw element 3, making it easier to suck the second clamping jaw element 6 and the first clamping jaw element 3 at different positions of the product, thereby achieving stable clamping of the product.
[0043] The above embodiments and drawings do not limit the product form and style of the present utility model. Any appropriate changes or modifications made by ordinary technicians in the relevant technical field should be deemed to be within the patent scope of the present utility model.
Claims
1. A foam product identification and stacking robot, characterized in that: It includes a lifting frame, a first connecting plate, a first clamping jaw element, a traverse cylinder, a second connecting plate and a second clamping jaw element; The first connecting plate is arranged on the lifting frame, the first clamping element is arranged on the first connecting plate, the transverse cylinder is arranged on the first connecting plate, the second connecting plate is connected to the transverse cylinder and is driven by the transverse cylinder to move transversely, and the second clamping element is arranged on the second connecting plate and moves synchronously with the second connecting plate.
2. The foam product identification and stacking robot according to claim 1, characterized in that: A guide sleeve is disposed at the bottom of the first connecting plate, and a guide rod capable of moving along the guide sleeve is disposed on the second connecting plate.
3. The foam product identification and stacking robot according to claim 1, characterized in that: The number of the first clamping jaw elements is two and they are located at the front and rear sides of the first connecting plate respectively; the number of the second clamping jaw elements is two and they are located at the front and rear sides of the second connecting plate respectively.
4. The foam product identification and stacking robot according to claim 1, characterized in that: The first clamping jaw element and the second clamping jaw element are both suction jaws; The upper ends of the first clamping jaw element and the second clamping jaw element are respectively adsorbed on the first connecting plate and the second connecting plate through magnets; or, the upper ends of the first clamping jaw element and the second clamping jaw element are respectively locked on the first connecting plate and the second connecting plate.
5. The foam product identification and stacking robot according to claim 1, characterized in that: The first clamping jaw element is connected to the first connecting plate through a first buffer assembly; the first buffer assembly includes a first connecting rod, a first upper buffer rod, a first lower buffer rod and a first buffer spring, the first connecting rod is fixed to the bottom of the first connecting plate, the first upper buffer rod is arranged on the first connecting rod, the first lower buffer rod is telescopically sleeved in the first upper buffer rod, the first buffer spring is sleeved on the first lower buffer rod, one end of the first buffer spring abuts against the bottom of the first upper buffer rod, and the other end of the first buffer spring abuts against the first clamping jaw element.
6. The foam product identification and stacking robot according to claim 5, characterized in that: A first limiting channel is formed in the first connecting rod, the first upper buffer rod is movably disposed in the first limiting channel, and a first limiting piece capable of abutting against the first lower buffer rod is disposed on the outer side of the first connecting rod.
7. The foam product identification and stacking robot according to claim 1, characterized in that: The second clamping jaw element is connected to the second connecting plate through a second buffer assembly; the second buffer assembly includes a second connecting rod, a second upper buffer rod, a second lower buffer rod and a second buffer spring, the second connecting rod is fixed to the bottom of the second connecting plate, the second upper buffer rod is arranged on the second connecting rod, the second lower buffer rod is telescopically sleeved in the second upper buffer rod, the second buffer spring is sleeved on the second lower buffer rod, one end of the second buffer spring abuts against the bottom of the second upper buffer rod, and the other end of the second buffer spring abuts against the second clamping jaw element.
8. The foam product identification and stacking robot according to claim 7, characterized in that: A second limiting channel is formed in the second connecting rod, the second upper buffer rod is movably arranged in the second limiting channel, and a second limiting piece capable of abutting against the second lower buffer rod is arranged on the outer side of the second connecting rod.
9. The foam product identification and stacking robot according to claim 1, characterized in that: A lifting plate is arranged at the bottom of the lifting frame, and a rotating assembly driving the first connecting plate to rotate is arranged on the lifting plate, and the rotating assembly includes a rotating cylinder, a bearing and a rotating rod, the rotating cylinder is arranged on the lifting plate, the bearing is arranged on the lifting plate, the rotating rod is connected to the rotating cylinder and driven by the rotating cylinder so that it can be rotatably arranged in the bearing, and the rotating rod is connected to the first connecting plate.
10. The foam product identification and stacking robot according to claim 1, characterized in that: It also includes a transverse seat and a transverse beam, wherein the transverse seat can be movably arranged on the transverse beam, and the lifting frame can be lifted and lowered in the transverse seat; and it also includes: a visual recognition system, wherein the visual recognition system is arranged on the lifting frame.