Automatic stacking manipulator device

Abstract

The utility model relates to the technical field of 3D visual systems, in particular to an automatic stacking manipulator device which comprises two clamping jaws and a mounting base, a fixing block is arranged at one end of each clamping jaw, two supporting pieces are arranged on the back face of each clamping jaw, a servo motor is arranged on the end face of the mounting base, and a screw is arranged at the output end of the servo motor. A convex through hole is formed in the mounting base, a convex block is arranged in the convex through hole, a threaded groove is formed in the convex block, supporting arms are hinged to the two ends of the convex block, and the servo motor and the screw are arranged, so that the convex block controls extension and retraction of the two supporting arms, and then the two clamping jaws can grasp materials. The design of the screw rod and the thread groove is adopted, so that the situation that the two clamping jaws are opened instantly can be avoided, and the situation that materials fall off is effectively avoided.

Description

Technical Field

[0001] The utility model relates to the technical field of 3D vision systems, in particular to an automatic palletizing manipulator device. Background Art

[0002] The 3D vision system is an advanced computer vision technology used to perceive and understand objects in three-dimensional space through digital processing and analysis, while the automated palletizing robot is an advanced automation equipment mainly used to realize the automated stacking and handling of goods. The perfect combination of the 3D vision system and the automated palletizing robot provides efficient, flexible and intelligent automation solutions for all walks of life. Existing palletizing equipment usually uses a combination of robots and grippers to achieve material grabbing, stacking and fixing; the gripper is a key tool used to grab objects and keep them fixed during the palletizing process; in addition, in order to prevent the gripper from shaking or loosening during movement, the existing technology often requires an additional set of cylinders to compact the material to ensure that the material is firmly fixed on the gripper to avoid throwing the material off the gripper during movement.

[0003] However, when a cylinder is used for gripping, if the cylinder is damaged, the gripper will open instantly, making it impossible to continuously clamp the material, causing the material to fall. Utility Model Content

[0004] The utility model aims to provide an automatic palletizing robot device, aiming to solve the technical problem in the prior art that when a cylinder is used for gripping, if the cylinder is damaged, the gripper will open instantly, thereby failing to continuously clamp the material, thereby causing the material to fall.

[0005] To achieve the above-mentioned purpose, the utility model adopts an automated palletizing robot device, including two clamping jaws and a mounting seat, one end of the clamping jaw is provided with a fixed block, the back of the clamping jaw is provided with two supporting plates, the end face of the mounting seat is provided with a servo motor, the output end of the servo motor is provided with a screw, the mounting seat has a convex through hole, the convex through hole is provided with a convex block, the convex block has a threaded groove, both ends of the convex block are hinged with support arms, the two supporting plates are respectively hinged to the corresponding support arms, and are located at one end of the support arm away from the convex block, the two clamping jaws are respectively hinged to the mounting seat through the fixed block, and are symmetrically arranged below the mounting seat, the convex block is threadedly connected to the screw and sleeved on the screw.

[0006] Wherein, a mounting plate is arranged on the mounting seat.

[0007] Wherein, a support block is provided at one end of the mounting seat away from the servo motor, a bearing is provided in the support block, and the bearing is also sleeved on the screw rod.

[0008] Wherein, the automatic palletizing manipulator device further includes a positioning mechanism and a plurality of fixing members. The positioning mechanism is arranged on both sides of the mounting plate, and the plurality of fixing members are respectively arranged at the four bottom corners of the mounting plate.

[0009] Wherein, the positioning mechanism includes an L-shaped plate, a spring and a support rod. A limiting piece is provided at one end of the support rod. Both sides of the mounting plate have movable cavities. The L-shaped plate is fixedly connected to the support rod and is located at the other end of the support rod. The spring is sleeved on the support rod and abuts against the limiting piece and the movable cavity. The support rod is slidably connected to the mounting plate and is located in the corresponding movable cavity.

[0010] Wherein, the positioning mechanism further includes a handle and two limiting rods. The handle is fixedly connected to the L-shaped plate and is located outside the L-shaped plate. The two limiting rods are respectively fixedly connected to the mounting plate and are located on one side of the mounting plate and also on both sides of the support rod. The two limiting rods are also respectively slidably connected to the L-shaped plate and penetrate through the L-shaped plate.

[0011] Wherein, the fixing member includes a nut, two gaskets and a bolt. Mounting holes are provided at the four bottom corners of the mounting plate. The nut is threadedly connected to the bolt and is sleeved on the bolt. The two gaskets are respectively sleeved on the bolt. The bolt is arranged in the corresponding mounting hole, and the two gaskets are respectively located on the upper and lower end faces of the mounting plate.

[0012] An automatic palletizing manipulator device of the present utility model includes two clamping jaws and a mounting seat. A fixing block is provided at one end of the clamping jaw, and two support pieces are provided on the back of the clamping jaw. A servo motor is provided on the end face of the mounting seat. A screw rod is provided at the output end of the servo motor. A convex through hole is provided in the mounting seat. A convex block is provided in the convex through hole. A threaded groove is provided in the convex block. Support arms are hinged at both ends of the convex block. The two support pieces are respectively hinged to the corresponding support arms and are located at the end of the support arm away from the convex block. The two clamping jaws are respectively hinged to the mounting seat through the fixing block and are symmetrically arranged below the mounting seat. The convex block is threadedly connected to the screw rod and is sleeved on the screw rod. Through the arrangement of the servo motor and the screw rod, the convex block controls the extension and retraction of the two support arms, and further enables the two clamping jaws to grip the material. The design of using the screw rod and the threaded groove can avoid the situation that the two clamping jaws open instantaneously, thereby effectively avoiding the situation of material dropping. Brief Description of the Drawings

[0013] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0014] Figure 1 is the front view of the first embodiment of the present invention.

[0015] Figure 2 is the Figure 1 cross-sectional view taken along line A-A in the present invention.

[0016] Figure 3 is the Figure 1 cross-sectional view taken along line B-B in the present invention.

[0017] Figure 4 is the three-dimensional view of the second embodiment of the present invention.

[0018] Figure 5 is the side view of the second embodiment of the present invention.

[0019] Figure 6 is the Figure 5 cross-sectional view taken along line C-C in the present invention.

[0020] 101 - jaw, 102 - mounting base, 103 - fixing block, 104 - bearing, 105 - support plate, 106 - servo motor, 107 - screw, 108 - convex through hole, 109 - convex block, 110 - thread groove, 111 - support arm, 112 - mounting plate, 113 - support block, 201 - L-shaped plate, 202 - spring, 203 - support rod, 204 - limiting piece, 205 - moving cavity, 206 - handle, 207 - limiting rod, 208 - nut, 209 - gasket, 210 - bolt. Detailed Embodiments

[0021] The following will describe in detail the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation to the present invention.

[0022] First Embodiment:

[0023] Please refer to Figures 1 to 3 , whereinFigure 1 is the front view of the first embodiment of the present utility model, Figure 2 is the Figure 1 cross-sectional view taken along line A-A in the Figure 3 is the Figure 1 cross-sectional view taken along line B-B in the

[0024] The present utility model provides an automatic palletizing manipulator device, including two grippers 101 and a mounting base 102. By the foregoing solution, the technical problem that when using a cylinder for gripping, if the cylinder is damaged, the gripper will instantly open, resulting in the inability to continuously clamp the material and causing the material to fall is solved.

[0025] For this specific embodiment, one end of the gripper 101 is provided with a fixed block 103, the back of the gripper 101 is provided with two support pieces 105, the end face of the mounting base 102 is provided with a servo motor 106, the output end of the servo motor 106 is provided with a screw rod 107, the mounting base 102 has a convex through hole 108, a convex block 109 is arranged in the convex through hole 108, a threaded groove 110 is arranged in the convex block 109, the two ends of the convex block 109 are hinged with support arms 111, the two support pieces 105 are respectively hinged with the corresponding support arms 111 and are located at the end of the support arm 111 away from the convex block 109, the two grippers 101 are respectively hinged with the mounting base 102 through the fixed block 103 and are symmetrically arranged below the mounting base 102, the convex block 109 is in threaded connection with the screw rod 107 and is sleeved on the screw rod 107. By the arrangement of the servo motor 106 and the screw rod 107, the convex block 109 controls the extension and retraction of the two support arms 111, so that the two grippers 101 can automatically grip the material. The design of using the screw rod 107 and the threaded groove 110 can avoid the situation that the two grippers 101 instantly open, effectively avoiding the situation of material dropping. At the same time, it can be combined with a 3D vision system later, so that the design can achieve full automation.

[0026] Wherein, a mounting plate 112 is arranged on the mounting base 102. Through the mounting plate 112, it is convenient to connect with a robotic arm, so as to automatically grip the material and complete subsequent palletizing.

[0027] Secondly, a support block is arranged at one end of the mounting base 102 away from the servo motor 106. A bearing 104 is arranged in the support block, and the bearing 104 is also sleeved on the screw rod 107. The bearing 104 can facilitate improving the stability of the screw rod 107 during rotation.

[0028] When using the present utility model, the mounting base 102 is connected to the robotic arm through the mounting plate 112. When it is necessary to grasp an object, the robotic arm is used to move the two jaws 101 above the material. At this time, the two jaws 101 are in an open state. By controlling the robotic arm, the two jaws 101 are located on both sides of the material. The servo motor 106 is started, and the servo motor 106 rotates clockwise, driving the convex block 109 to move towards the support block. The two support arms 111 then push the jaws 101 to move towards each other, thereby clamping the material. Then, it is moved to a suitable position by the robotic arm to complete palletizing. Finally, the servo motor 106 is started again, and the servo motor 106 rotates counterclockwise, so that the two jaws 101 open, facilitating the next operation. The external forward and reverse circuit of the servo motor 106 in this design solves the technical problem that when using a cylinder to grasp an object, if the cylinder is damaged, the gripper will instantly open, resulting in the inability to continuously clamp the material, and then the material will fall off.

[0029] The second embodiment is as follows:

[0030] On the basis of the first embodiment, please refer to Figures 4 to 6 , where Figure 4 is the three-dimensional perspective view of the second embodiment of the present utility model, Figure 5 is the side view of the second embodiment of the present utility model, Figure 6 is of the present utility model Figure 5 The cross-sectional view taken along the line C-C in

[0031] The present utility model provides an automatic palletizing manipulator device, which further includes a positioning mechanism and a plurality of fixing members. The positioning mechanism includes an L-shaped plate 201, a spring 202, a support rod 203, a handle 206, and two limiting rods 207. The fixing members include a nut 208, two gaskets 209, and a bolt 210.

[0032] For this specific embodiment, the positioning mechanism is arranged on both sides of the mounting plate 112, and a plurality of the fixing members are respectively arranged at the four bottom corners of the mounting plate 112.

[0033] One end of the support rod 203 is provided with a limit piece 204. Both sides of the mounting plate 112 are provided with movable cavities 205. The L-shaped plate 201 is fixedly connected to the support rod 203 and is located at the other end of the support rod 203. The spring 202 is sleeved on the support rod 203 and abuts against the limit piece 204 and inside the movable cavity 205. The support rod 203 is slidably connected to the mounting plate 112 and is located in the corresponding movable cavity 205. By pulling the L-shaped plate 201, then bringing the mounting plate 112 into contact with the mounting position of the robotic arm, and at the same time releasing the L-shaped plate 201, the L-shaped plate 201 is made to abut against the mounting position of the robotic arm, thereby completing the preliminary connection of the mounting plate 112 and the robotic arm. Finally, the final fixation is completed through the fixing member.

[0034] Secondly, the handle 206 is fixedly connected to the L-shaped plate 201 and is located outside the L-shaped plate 201. The two limit rods 207 are respectively fixedly connected to the mounting plate 112 and are located on one side of the mounting plate 112 and also on both sides of the support rod 203. The two limit rods 207 are also respectively slidably connected to the L-shaped plate 201 and penetrate through the L-shaped plate 201. The handle 206 facilitates pulling the L-shaped plate 201, and the limit rods 207 prevent the L-shaped plate 201 from rotating.

[0035] Thirdly, mounting holes are provided at the four bottom corners of the mounting plate 112. The nut 208 is threadedly connected to the bolt 210 and is sleeved on the bolt 210. The two gaskets 209 are respectively sleeved on the bolt 210. The bolt 210 is disposed in the corresponding mounting hole, and the two gaskets 209 are also respectively located on the upper and lower end faces of the mounting plate 112. The arrangement of the nut 208 and the bolt 210 facilitates the final fixation of the mounting plate 112 and the robotic arm, and the gasket 209 protects the mounting positions of the mounting plate 112 and the robotic arm.

[0036] When using the automatic palletizing robotic arm device of this embodiment, by pulling the L-shaped plate 201, then bringing the mounting plate 112 into contact with the mounting position of the robotic arm, and at the same time releasing the L-shaped plate 201, the L-shaped plate 201 is made to abut against the mounting position of the robotic arm, thereby completing the preliminary connection of the mounting plate 112 and the robotic arm. Finally, the final fixation is completed through the fixing member. The handle 206 facilitates pulling the L-shaped plate 201, the limit rods 207 prevent the L-shaped plate 201 from rotating, the arrangement of the nut 208 and the bolt 210 facilitates the final fixation of the mounting plate 112 and the robotic arm, and the gasket 209 protects the mounting positions of the mounting plate 112 and the robotic arm.

[0037] The above-disclosed is only a preferred embodiment of the present utility model. Of course, the scope of rights of the present utility model cannot be limited thereby. Those of ordinary skill in the art can understand all or part of the processes of implementing the above embodiments, and the equivalent changes made according to the claims of the present utility model still fall within the scope covered by the utility model.

Claims

1. An automated palletizing robot device, characterized in that: The invention comprises two clamping jaws and a mounting seat, a fixing block is arranged at one end of the clamping jaw, two supporting sheets are arranged on the back side of the clamping jaw, a servo motor is arranged on the end face of the mounting seat, a screw rod is arranged at the output end of the servo motor, a convex through hole is arranged in the mounting seat, a convex block is arranged in the convex through hole, a thread groove is arranged in the convex block, support arms are hingedly arranged at both ends of the convex block, the two supporting sheets are respectively hinged to the corresponding support arms, and are located at one end of the support arm away from the convex block, the two clamping jaws are respectively hinged to the mounting seat through the fixing block, and are symmetrically arranged below the mounting seat, the convex block is threadedly connected to the screw rod, and is sleeved on the screw rod.

2. The automated palletizing robot device according to claim 1, characterized in that: A mounting plate is arranged on the mounting seat.

3. The automated palletizing robot device according to claim 2, characterized in that: A support block is arranged at one end of the mounting seat away from the servo motor, a bearing is arranged in the support block, and the bearing is also sleeved on the screw rod.

4. The automated palletizing robot device according to claim 3, characterized in that: The automated palletizing robot device further comprises a positioning mechanism and a plurality of fixing members, wherein the positioning mechanism is arranged on both sides of the mounting plate, and the plurality of fixing members are respectively arranged at four bottom corners of the mounting plate.

5. The automated palletizing robot device according to claim 4, characterized in that: The positioning mechanism includes an L-shaped plate, a spring and a support rod, a limit plate is provided at one end of the support rod, and both sides of the mounting plate have movable cavities. The L-shaped plate is fixedly connected to the support rod and is located at the other end of the support rod. The spring is sleeved on the support rod and abuts against the limit plate and the movable cavity. The support rod is slidably connected to the mounting plate and is located in the corresponding movable cavity.

6. The automated palletizing robot device according to claim 5, characterized in that: The positioning mechanism also includes a handle and two limit rods, the handle is fixedly connected to the L-shaped plate and is located on the outside of the L-shaped plate, the two limit rods are respectively fixedly connected to the mounting plate and are located on one side of the mounting plate, and are also located on both sides of the support rod, and the two limit rods are also respectively slidably connected to the L-shaped plate and pass through the L-shaped plate.

7. The automated palletizing robot device according to claim 6, characterized in that: The fixing part includes a nut, two washers and a bolt. The four bottom corners of the mounting plate are provided with mounting holes. The nut is threadedly connected to the bolt and is sleeved on the bolt. The two washers are respectively sleeved on the bolt. The bolt is arranged in the corresponding mounting holes, and the two washers are also respectively located on the upper and lower end surfaces of the mounting plate.

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