Clamp and robot for stacking and unloading frames

Abstract

The utility model discloses a clamp for stacking and unloading a frame and a robot, and relates to the technical field of stacking equipment, the clamp for stacking and unloading the frame comprises at least one group of first hook claw components and at least one group of second hook claw components; each first hook claw assembly comprises a second power device. A plurality of groups of first hooking claws are arranged and are linearly arranged at equal intervals, and the first hooking claws are driven by a second power device to rotate around one end of the first hooking claws; each second hook claw assembly comprises a third power device. And the second hooking claws are arranged in multiple groups and are linearly arranged at equal intervals, the arrangement direction of the second hooking claws is parallel to the arrangement direction of the first hooking claws, and the second hooking claws are driven by a third power device to rotate around one ends of the second hooking claws. Stacking and destacking of the whole layer of material frames are achieved, and the frame stacking and unloading efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing equipment, in particular to a clamp and a robot for palletizing and unloading frames. Background Art

[0002] More and more companies are adopting automated equipment to replace manual operations to further improve the efficiency of the packaging process of bottle / canned product production. In the existing automated production lines for bottle / canned products, there are two working conditions: one is stacking, that is, first loading the bottle / canned products into each material frame, and then stacking the material frames to form a full material pile storing bottle / canned products; the other is unloading, that is, after the bottle / canned products in the material frame are packaged, the empty material frames will also be stacked into a material pile to form an empty material pile storing empty material frames, and then, the material frames at the empty material pile will be sent to the next process to prepare for loading bottle / canned products.

[0003] Whether it is a full material pile or an empty material pile, when the material frame is turned over, in order to realize automated production, a robot is used to grab the material frame for turnover. However, the existing robot can only grab one material frame at a time. In a general material pile, each layer of the material frame is composed of several material frames arranged in a rectangular array. If only one material frame is grabbed at a time, the efficiency is relatively low whether it is when stacking or unloading. Utility Model Content

[0004] Therefore, in order to solve the above-mentioned shortcomings, on the one hand, the utility model provides a clamp for stacking and unloading frames, comprising a first hook assembly and a second hook assembly, wherein the first hook assembly and the second hook assembly are each provided with at least one set;

[0005] Each set of the first hook assembly comprises:

[0006] Second power unit;

[0007] A first hook, wherein the first hook is provided in an array and arranged linearly and equidistantly, and the first hook is driven to rotate around one end thereof by a second power device;

[0008] Each set of the second hook assembly comprises:

[0009] The third power unit;

[0010] A second hook, wherein the second hook is provided in an array and arranged linearly and equidistantly, the arrangement direction of the second hook is parallel to the arrangement direction of the first hook, and the second hook is driven to rotate around one end thereof by a third power device;

[0011] The rotation axis of the first hook is perpendicular to the rotation axis of the second hook, and during operation, the rotation axis of the first hook and the rotation axis of the second hook are both parallel to the plane where the material frame layer is located.

[0012] Furthermore, the first hook includes a connecting section, the second power device drives the first hook to rotate around one end of the connecting section, a hooking section perpendicular to the connecting section is provided at the other end of the connecting section, a limiting portion is provided at the end of the hooking section away from the above-mentioned connecting section, and a groove is formed between the limiting portion and the hooking section to accommodate the inner walls of two groups of adjacent material frame side holes.

[0013] Furthermore, the clamp also includes a connecting portion, through which the entire clamp is connected to the operating equipment.

[0014] Furthermore, the array of the first hooks in each group of the first hook assemblies is rotatably connected to the connecting portion via a second connecting shaft;

[0015] Each group of the second hooks is rotatably connected to the connecting portion via a third connecting shaft, and adjacent groups of the second hooks in each group of the second hook assemblies are connected via a second connecting rod.

[0016] The utility model moves the clamp to the top of a layer of arranged baskets, and the second power device and the third power device drive the first hook claw and the second hook claw to rotate simultaneously, so that the first hook claw and the second hook claw extend into the side holes of two adjacent groups of material frames in the material frame layer, thereby transporting the entire material frame layer to a specific position, realizing the stacking and unstacking of the entire layer of material frames, and improving the efficiency of stacking and unloading.

[0017] Furthermore, the fixture further comprises a frame protection assembly, which comprises:

[0018] The first power unit;

[0019] The guard plates are provided in four groups, and the four groups of the guard plates are arranged around the outside of the first hook claw and the second hook claw. The four groups of the guard plates are driven to rotate simultaneously by the first power device so that the guard plates are close to or away from the side of the material frame layer.

[0020] Furthermore, the frame protection assembly also includes:

[0021] A four-blade disk, driven by a first power device to rotate around its own central axis;

[0022] The mounting part is arranged corresponding to the number of guard plates, is rotationally connected to the connecting part through a first connecting shaft, the mounting part is connected to the four-blade disk through a first connecting rod, and the guard plates are fixedly mounted on the mounting part.

[0023] Furthermore, a clamping block is fixed on the connecting surface of the guard plate and the mounting portion, and the clamping block has a clamping groove for accommodating a connecting column in the mounting portion. The guard plate is fixed by a connecting bolt threadedly penetrating the clamping block and abutting against the connecting column.

[0024] Furthermore, the fixture further comprises a pressing frame assembly, and the pressing frame assembly comprises:

[0025] Fourth power unit;

[0026] A pressure plate is arranged above the guard plate and is surrounded by the guard plate. The pressure frame is in a rectangular frame shape, and the first hook claw and the second hook claw are surrounded therein. The pressure plate is driven to move linearly by a fourth power device.

[0027] The fourth power device drives the pressing plate to press the basket while the first power device with the guard plate protects the basket, so as to ensure that the hook claw and the frame are always in close contact with each other during the entire movement process, thereby preventing the material frame from being separated from the hook claw due to inertia at the beginning and end of the movement, causing the frame to tilt or fall.

[0028] On the other hand, the utility model provides a robot for loading and unloading frames, comprising the above-mentioned clamp;

[0029] The robot also includes an operating device, and the clamp is installed at the movable end of the operating device, and the operating device drives the clamp to reciprocate along a preset path.

[0030] On the other hand, the utility model also provides a method for loading and unloading frames, the method using the above-mentioned robot, the method comprising:

[0031] The operating equipment drives the fixture to move above a layer of arranged baskets;

[0032] The second power device and the third power device are operated simultaneously to drive the first hook claw and the second hook claw to rotate simultaneously, so that the first hook claw and the second hook claw extend into the side holes of two adjacent groups of material frames in the material frame layer;

[0033] The operating equipment drives the fixture to move to a specific position to move the entire material frame layer to a specific position, and repeat the above process;

[0034] The material frame layer is a rectangular array formed by a plurality of material frames arranged vertically and horizontally;

[0035] The direction in which the material frames hooked by the first hooks are arranged is perpendicular to the direction in which the material frames hooked by the second hooks are arranged.

[0036] The utility model has the following advantages:

[0037] The utility model moves the clamp to the top of a layer of arranged baskets, and the second power device and the third power device drive the first hook claw and the second hook claw to rotate simultaneously, so that the first hook claw and the second hook claw extend into the side holes of two adjacent groups of material frames in the material frame layer, thereby transporting the entire material frame layer to a specific position, realizing the stacking and unstacking of the entire layer of material frames, and improving the efficiency of stacking and unloading. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 is a top view of the fixture;

[0039] Figure 2 yes Figure 1 a side view of the fixture shown;

[0040] Figure 3 yes Figure 1 A schematic structural diagram of the second hook assembly in the clamp shown;

[0041] Figure 4 yes Figure 1 A schematic structural diagram of a first hook assembly in the clamp shown;

[0042] Figure 5 yes Figure 4 A schematic structural diagram of a first hook in the first hook assembly shown;

[0043] Figure 6 yes Figure 1 A schematic diagram of the structure of the frame assembly in the fixture shown;

[0044] Figure 7 yes Figure 5 An enlarged schematic diagram of a local structure in the guard frame assembly shown;

[0045] Figure 8 yes Figure 2 A schematic diagram of the structure of the pressure frame assembly in the clamp shown;

[0046] Fig. 9 It is a schematic diagram of the state before the clamp grabs the material frame or after releasing the material frame;

[0047] Fig.10 It is a schematic diagram of the state of the fixture grabbing the material frame;

[0048] Fig.11 It is a schematic diagram of the first state when the clamp hooks the material frame layer;

[0049] Fig.12 It is a schematic diagram of the second state when the clamp hooks the material frame layer;

[0050] In the figure:

[0051] 100, connecting part;

[0052] 200, guard frame assembly; 210, first power device; 220, guard plate; 221, block; 230, first connecting rod; 240, four-blade disk; 250, first connecting shaft; 260, mounting portion; 261, connecting column;

[0053] 300, first hook assembly; 310, second power device; 320, second connecting shaft; 330, first hook;

[0054] 400, second hook assembly; 410, second hook; 420, third connecting shaft; 430, connecting convex plate; 440, second connecting rod; 450, third power device;

[0055] 500, pressing frame assembly; 510, fourth power device; 520, pressing plate;

[0056] 600. Material frame. DETAILED DESCRIPTION

[0057] Embodiments of the present application 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 application, and should not be construed as limiting the present application.

[0058] In this document, relational terms such as first and second, etc., are used only 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", "comprises", or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or apparatus that includes 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 apparatus.

[0059] As described in the background technology, existing robots can only grab one material frame at a time. In a general material pile, each layer of material frames is composed of several material frames arranged in a rectangular array. If only one material frame is grabbed at a time, the efficiency is relatively low whether it is when encoding or unloading the frame.

[0060] Embodiment 1:

[0061] Therefore, in order to solve the above technical problems, this embodiment provides a clamp for stacking and unloading frames, such as Figure 1 , 2 As shown, the clamp includes a first hook assembly 300 and a second hook assembly 400, and the first hook assembly and the second hook assembly are each provided with at least one group;

[0062] like Figure 4 As shown, each set of the first hook assembly 300 includes:

[0063] A second power device 310;

[0064] The first hook 330 is provided in an array and is linearly and equidistantly arranged. The first hook 330 is driven by the second power device to rotate around one end thereof;

[0065] like Figure 3 As shown, each set of the second hook assembly 400 includes:

[0066] A third power unit 450;

[0067] The second hooks 410 are provided in an array and are linearly and equidistantly arranged. The arrangement direction of the second hooks is parallel to the arrangement direction of the first hooks. The second hooks are driven to rotate around one end thereof by a third power device;

[0068] The rotation axis of the first hook is perpendicular to the rotation axis of the second hook, and during operation, the rotation axis of the first hook and the rotation axis of the second hook are both parallel to the plane where the material frame layer is located.

[0069] The first hook can be designed as follows Figure 5 In the structure shown, the first hook 330 may include a connecting section 331, and the second power device drives the first hook to rotate around one end of the connecting section 331. A hooking section 332 perpendicular to the connecting section is provided at the other end of the connecting section, and a limiting portion 333 is provided at the end of the hooking section away from the above-mentioned connecting section, and a groove that can accommodate two groups of adjacent material frame side hole inner walls is formed between the limiting portion and the hooking section.

[0070] In this embodiment, the second hook has the same structure as the first hook.

[0071] The clamp mechanism described in the utility model is suitable for taking and placing a whole layer of baskets with handles on the side. In this embodiment, the clamp is moved to a preset height position above a layer of arranged baskets, such as Fig. 9 As shown, the first hook and the second hook form a certain inclination angle with the plane where the material frame layer is located when the material frame is not hooked. When the material frame is hooked, the second power device drives the first hook to rotate, and the third power device drives the second hook to rotate, so that the first hook and the second hook extend into the side holes of two adjacent groups of material frames in the material frame layer. At this time, the vertical section of the hook is perpendicular to the plane where the material frame is located. Then, the clamp is driven by the operating equipment to move upward for a certain distance. In this process, the hooking sections of the first hook and the second hook contact the lower surface of the material frame hand collar, lifting the material frame to a certain height. Then, the operating equipment continues to drive the clamp to move, so as to transport the entire material frame layer to a specific position.

[0072] This embodiment realizes the stacking and unstacking of a whole layer of material frames, thereby improving the efficiency of stacking and unstacking.

[0073] In this embodiment, the clamp may further include a connecting portion 100, through which the clamp as a whole can be docked with the working equipment. The first hook assembly and the second hook assembly can be installed on the connecting portion 100.

[0074] Exemplarily, the array of first hooks in each group of the first hook assemblies can be rotatably connected to the connecting part 100 via the second connecting shaft 320; that is, the second hooks in each group of the first hook assemblies can be rotatably connected to the connecting part via the same connecting shaft. In this embodiment, the above-mentioned second power device can be selected from a cylinder, an electric cylinder or a hydraulic cylinder. At this time, the second power device is connected to the above-mentioned second connecting shaft through a convex plate, and the rotation of the second connecting shaft is driven by the extension and retraction of the piston rod, so as to drive several first hooks in each group of the first hook assemblies to rotate simultaneously.

[0075] Exemplarily, each group of the second hooks is rotatably connected to the connection part through a third connecting shaft 420, and the adjacent groups of the second hooks in each group of the second hook assembly are connected through a second connecting rod 440. That is, each group of the first hooks is rotatably connected to the connection part through a connecting shaft alone, and the third connecting shaft is perpendicular to the second connecting shaft. In this embodiment, the third power device can be a cylinder, an electric cylinder or a hydraulic cylinder, and a convex plate 430 is also provided on the third connecting shaft, which is connected to the convex plates through a second connecting rod. The third power device is connected to one group of convex plates, and the piston rod of the third power device is extended and retracted to drive one group of the third connecting shafts to rotate, and the other third connecting shafts are driven to rotate under the transmission of the second connecting rod, so as to achieve synchronous movement of the first hooks in the same group.

[0076] In this embodiment, the second power device and the third power device mentioned above can also be motors.

[0077] Embodiment 2:

[0078] This embodiment provides a method for arranging hook claws.

[0079] like Fig.11 As shown, each group of the second hook assembly may be provided with N groups of second hooks, where N is a positive integer;

[0080] Each group of the first hook assembly may be provided with 2N groups of first hooks;

[0081] When hooking the material frames, each group of second hooks hooks adjacent material frames in the horizontal row in the material frame layer, and each group of first hooks hooks adjacent material frames in the vertical row in the material frame layer. Both groups of material frames hooked by each group of the second hooks or the first hooks are not affected by the adjacent first hooks or the second hooks.

[0082] For example, when a group of first hooks hook material frames A and B, the hooking parts of the group of first hooks extend into the side holes of the handle openings on the adjacent sides of frames A and B, and the adjacent first hooks or second hooks frame C adjacent to frame A or frame B and frame D adjacent to frame C away from frame A or frame B.

[0083] Embodiment 3:

[0084] This embodiment provides another arrangement of the hooks.

[0085] like Fig.12 As shown, each group of the second hook assembly may be provided with N groups of second hooks, where N is a positive integer;

[0086] Each group of the first hook assembly may be provided with N+1 groups of first hooks;

[0087] When hooking the material frames, each group of second hook claws hooks adjacent material frames in a transverse row in the material frame layer, and each group of first hook claws hooks adjacent material frames in a longitudinal row in the material frame layer.

[0088] For example, when a group of first hooks hook material frames A and B, the hooking parts of the group of first hooks extend into the side holes of the handle openings on the adjacent sides of frames A and B, and the adjacent first hooks or second hooks frame A or frame B and frame C adjacent to frame A or frame B.

[0089] Embodiment 4:

[0090] In order to improve the transportation stability of the material frame layer, such as Figure 1 , 2 As shown, the fixture also includes a frame assembly 200, such as Figure 6 As shown, the frame assembly 200 includes:

[0091] A first power device 210, which is installed on the above-mentioned connecting part;

[0092] The guard plates 220 are provided in four groups, and the four groups of the guard plates are arranged around the outside of the first hook and the second hook. The four groups of the guard plates are driven to rotate simultaneously by the first power device so that the guard plates are close to or away from the side of the material frame layer.

[0093] After the first hook assembly and the second hook assembly hook the material frame layer, the first power device drives the guard plate to rotate, so that the guard plate moves to the outside of the material frame layer, making it parallel to the outer side of the material frame layer and maintaining contact.

[0094] In this embodiment, the frame protection assembly may further include:

[0095] The four-blade disk 240 is driven by the first power device to rotate around its own central axis;

[0096] The mounting part 260 is set corresponding to the number of guard plates, and is rotatably connected to the above-mentioned connecting part through a first connecting shaft. The mounting part is connected to the above-mentioned four-blade disk through a first connecting rod 230, and the guard plate 220 is fixedly mounted on the mounting part 260.

[0097] The above-mentioned four-blade disk can maintain a rotatable connection with the connecting part through the fourth connecting shaft. The above-mentioned first power device can select a cylinder, an electric cylinder or a hydraulic cylinder. Through the extension and retraction of the piston, the four-blade disk is driven to rotate, and the mounting part 260 is driven to rotate around the first connecting shaft under the transmission of the first connecting rod, so that the guard plate rotates accordingly.

[0098] In this embodiment, the first power device may also be a motor, which is connected to the fourth connecting shaft through the motor to directly drive the four-blade disk to rotate.

[0099] Of course, the guard plate can also be driven to rotate directly by the first power device, for example, by providing a plurality of motors and connecting the motors to the first connecting shaft to directly drive the guard plate to rotate.

[0100] In this embodiment, the connection method between the above-mentioned guard plate and the mounting portion includes but is not limited to welding, fusion, riveting and other connection methods.

[0101] In order to realize the replaceable guard plate, Figure 7 As shown, a block 221 is fixed on the connecting surface between the guard plate and the mounting portion, and the block has a slot for accommodating a connecting column 261 in the mounting portion 260. The guard plate is fixed by a connecting bolt threadedly passing through the block and abutting against the connecting column.

[0102] By removing the connecting bolts, the guard plate can be removed from the connecting column for easy replacement.

[0103] like Figure 2 As shown, the fixture also includes a pressing frame assembly 500, such as Figure 8 As shown, the pressing frame assembly 500 includes:

[0104] A fourth power device 520, which is fixedly mounted on the connecting portion;

[0105] The pressure plate 520 is arranged above the guard plate and is surrounded by the guard plate. The pressure frame is in a rectangular frame shape, and the first hook claw and the second hook claw are surrounded therein. The pressure plate is driven to move linearly by the fourth power device 520.

[0106] In this embodiment, the fourth power device is selected from a pneumatic cylinder, an electric cylinder or a hydraulic cylinder.

[0107] The fourth power device drives the pressing plate to press the basket while the first power device with the guard plate protects the basket, so as to ensure that the hook claw and the frame are always in close contact with each other during the entire movement process, thereby preventing the material frame from being separated from the hook claw due to inertia at the beginning and end of the movement, causing the frame to tilt or fall.

[0108] Embodiment 5:

[0109] This embodiment provides a robot for loading and unloading frames, the robot comprising the above-mentioned clamp;

[0110] The robot also includes an operating device, and the clamp is installed at the movable end of the operating device, and the operating device drives the clamp to reciprocate along a preset path.

[0111] In this embodiment, the above-mentioned operating equipment includes but is not limited to a multi-axis robotic arm, a translatable lifting device, etc.

[0112] Embodiment 6:

[0113] This embodiment provides a method for unloading a frame, which uses the above-mentioned robot and includes:

[0114] The operating equipment drives the fixture to move above a layer of arranged baskets;

[0115] The second power device and the third power device are operated simultaneously to drive the first hook claw and the second hook claw to rotate simultaneously, so that the first hook claw and the second hook claw extend into the side holes of two adjacent groups of material frames in the material frame layer;

[0116] The operating equipment drives the clamp to lift it up a distance to ensure that the hook hooks the basket;

[0117] The fourth power device drives the pressing plate to press the material basket, and the first power device drives the guard plate to protect the basket;

[0118] The operating equipment drives the fixture to move to a specific position to move the entire material frame layer to a specific position, and repeat the above process;

[0119] The material frame layer is a rectangular array formed by a plurality of material frames arranged vertically and horizontally;

[0120] The direction in which the material frames hooked by the first hooks are arranged is perpendicular to the direction in which the material frames hooked by the second hooks are arranged.

[0121] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A clamp for a stacking and unloading frame, characterized in that: It includes a first hook assembly and a second hook assembly, wherein the first hook assembly and the second hook assembly are each provided with at least one group; Each set of the first hook assembly comprises: Second power unit; A first hook, wherein the first hook is provided in an array and arranged linearly and equidistantly, and the first hook is driven to rotate around one end thereof by a second power device; Each set of the second hook assembly comprises: The third power unit; A second hook, wherein the second hook is provided in an array and arranged linearly and equidistantly, the arrangement direction of the second hook is parallel to the arrangement direction of the first hook, and the second hook is driven to rotate around one end thereof by a third power device; The rotation axis of the first hook is perpendicular to the rotation axis of the second hook, and during operation, the rotation axis of the first hook and the rotation axis of the second hook are both parallel to the plane where the material frame layer is located.

2. A clamp for stacking and unloading frames according to claim 1, characterized in that: The first hook includes a connecting section, and the second power device drives the first hook to rotate around one end of the connecting section. A hooking section perpendicular to the connecting section is provided at the other end of the connecting section, and a limiting portion is provided at the end of the hooking section away from the above-mentioned connecting section, and a groove is formed between the limiting portion and the hooking section to accommodate the inner walls of two groups of adjacent material frame side holes.

3. A clamp for stacking and unloading frames according to claim 1, characterized in that: The clamp also includes a connecting portion, through which the entire clamp is connected to the working equipment.

4. A clamp for stacking and unloading frames according to claim 3, characterized in that: The first hooks in each group of the first hook assemblies are rotatably connected to the connecting portion via a second connecting shaft; Each group of the second hooks is rotatably connected to the connecting portion via a third connecting shaft, and adjacent groups of the second hooks in each group of the second hook assemblies are connected via a second connecting rod.

5. A clamp for stacking and unloading frames according to claim 3, characterized in that: The fixture also includes a frame protection assembly, which includes: The first power unit; The guard plates are provided in four groups, and the four groups of the guard plates are arranged around the outside of the first hook claw and the second hook claw. The four groups of the guard plates are driven to rotate simultaneously by the first power device so that the guard plates are close to or away from the side of the material frame layer.

6. A clamp for stacking and unloading frames according to claim 5, characterized in that: The frame assembly also includes: A four-blade disk, driven by a first power device to rotate around its own central axis; The mounting part is arranged corresponding to the number of guard plates, is rotationally connected to the connecting part through a first connecting shaft, the mounting part is connected to the four-blade disk through a first connecting rod, and the guard plates are fixedly mounted on the mounting part.

7. A clamp for stacking and unloading frames according to claim 6, characterized in that: A clamping block is fixed on the connecting surface of the guard plate and the mounting part. The clamping block has a clamping groove for accommodating a connecting column in the mounting part. The guard plate is fixed by a connecting bolt threadedly penetrating the clamping block and abutting against the connecting column.

8. The clamp for stacking and unloading frames according to claim 5, characterized in that: The clamp also includes a pressing frame assembly, and the pressing frame assembly includes: Fourth power unit; A pressure plate is arranged above the guard plate and is surrounded by the guard plate. The pressure frame is in a rectangular frame shape, and the first hook claw and the second hook claw are surrounded therein. The pressure plate is driven to move linearly by a fourth power device.

9. A robot for loading and unloading frames, characterized in that: The clamp comprising any one of claims 1 to 8 above; The robot also includes an operating device, and the clamp is installed at the movable end of the operating device, and the operating device drives the clamp to reciprocate along a preset path.

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