Stacking robot with gripper structure convenient to adjust

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot with a gripper structure convenient to adjust, which comprises a base, a transmission arm group mounted at the top of the base, and a driving unit mounted on one side of the transmission arm group and used for driving the transmission arm group, wherein an adjusting disc is installed at the tail end of the transmission arm set, a reducing mechanism is arranged at the bottom of the adjusting disc, and a plurality of grabbing mechanisms used for grabbing objects are installed at the bottom of the reducing mechanism; a gear groove is formed in the bottom of the adjusting disc, the diameter changing mechanism is adopted for being connected with the grabbing mechanism, the distance between the grabbing mechanism and the center point can be rapidly adjusted so as to adapt to the size of a to-be-grabbed material, the size adjusting mode is easy and rapid to operate, it can be guaranteed that equal-distance adjustment is conducted in all directions, and the grabbing mechanism is provided with a plurality of rotating nodes and is high in flexibility; and meanwhile, the length can be adjusted through the telescopic arm, so that the grabbing size of the whole grabbing mechanism can be rapidly adjusted.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot with a gripper structure that is convenient to adjust. Background Technique

[0002] The development process of palletizing robots can be divided into the early stage, the development stage and the mature stage. The palletizing robots in the early stage mainly used robotic arms and simple control systems, with low palletizing ability and efficiency. The palletizing robots in the development stage adopted advanced sensors and control systems, enabling relatively accurate palletizing, and the application fields continued to expand. The palletizing robots in the mature stage adopted machine vision technology, realizing efficient automatic palletizing, and the application fields became more extensive.

[0003] With the continuous progress of technology, the future development trend of palletizing robots will be more efficient and will play a more important role in modern industrial production. However, there are still certain problems: when the palletizing robot grabs spherical materials with different outer diameters, it is necessary to replace the gripper with a specific structure, and the size of the gripper limits the size range of the spherical materials that can be grabbed. The gripper structure cannot be adjusted to adapt to spherical materials with different outer diameters. Therefore, in view of the above current situation, there is an urgent need to develop a palletizing robot with a gripper structure that is convenient to adjust to overcome the deficiencies in current practical applications and meet the current needs. Content of the Utility Model

[0004] The purpose of the utility model is to provide a palletizing robot with a gripper structure that is convenient to adjust, so as to solve the problems put forward in the above background technique.

[0005] To achieve the above purpose, the utility model provides the following technical solution: a palletizing robot with a gripper structure that is convenient to adjust, including a base, a transmission arm group installed on the top of the base, and a driving unit installed on one side of the transmission arm group for driving the transmission arm group; wherein, an adjustment disk is installed at the end of the transmission arm group, a variable diameter mechanism is arranged at the bottom of the adjustment disk, and a plurality of grasping mechanisms for grasping objects are installed at the bottom of the variable diameter mechanism;

[0006] A gear groove is opened at the bottom of the adjustment disk, and a number of annularly equidistantly distributed sliding grooves are opened around the gear groove, and the variable diameter mechanism is embedded in the interior of the sliding grooves;

[0007] The variable diameter mechanism includes screw B, sliding shaft, slider, bevel gear A, bevel gear B and motor B. Screw B and the sliding shaft are embedded and installed inside the chute. The slider is embedded and arranged inside the chute and is slidably connected to the chute. Screw B and the sliding shaft penetrate through the inside of the slider. The sliding shaft is slidably connected to the slider, and screw B is threadedly connected to the slider. One end of screw B penetrates and extends into the gear groove. Bevel gear A is embedded and installed inside the gear groove. Bevel gear B is nested and installed at one end of screw B located inside the gear groove. Motor B is vertically installed at the middle position of the bottom of the adjusting disc. By means of the provided variable diameter mechanism, multiple groups of sliders are driven to displace synchronously and equidistantly around the center point, so as to realize synchronous adjustment of the distance between the grasping mechanism installed at the bottom of the slider and the center point.

[0008] Preferably, several bevel gear Bs are all meshed with bevel gear A, and bevel gear A is drivingly connected to motor B. Specifically, by driving multiple bevel gear Bs to operate through a single bevel gear A, multiple screw Bs are driven to rotate synchronously.

[0009] Preferably, the grasping mechanism includes telescopic arm A, cylinder A, cylinder B, telescopic arm B and claw. The bottom end of the telescopic shaft of cylinder A is hinged to the edge of telescopic arm A. The top end of telescopic arm B is hinged to the bottom end of telescopic arm A. Both ends of cylinder B are respectively hinged to telescopic arm A and telescopic arm B. The claw is hinged to the bottom end of telescopic arm B. Specifically, the telescopic structure of telescopic arm B is the same as that of telescopic arm A, so it has a higher grasping degree of freedom and a larger size adjustment range.

[0010] Preferably, telescopic arm A is composed of a bent beam, a force arm, guide rails, screw A and motor A. The top ends of two guide rails are fixedly connected to the bottom edge of the bent beam. Screw A is vertically arranged at the middle position of the bottom of the bent beam and is rotatably connected to the bent beam. The bottom ends of the guide rails and screw A are both embedded and arranged inside the force arm. The guide rails are slidably connected to the force arm, and screw A is threadedly connected to the force arm. Motor A is embedded and installed inside the bent beam. Screw A is drivingly connected to motor A. By means of the provided guide rails and screw A, the force arm can be driven to expand and contract to realize length adjustment, and the size of the fixture can be adjusted according to the size of the material to be grasped to adapt to the grasping operation of materials of different sizes.

[0011] Preferably, the top ends of telescopic arm A and cylinder A are respectively hinged to both ends of the bottom of the slider.

[0012] Compared with the prior art, the utility model provides a palletizing robot which is convenient for adjusting the gripper structure and has the following beneficial effects:

[0013] 1. It uses a variable diameter mechanism to connect the grasping mechanism, which can quickly adjust the distance between the grasping mechanism and the center point to adapt to the size of the material to be grasped. This size adjustment method is simple and fast, and can ensure equidistant adjustment in all directions.

[0014] 2. Its grasping mechanism has multiple rotating joints, with high flexibility. At the same time, the length can be adjusted through the telescopic arm to quickly adjust the graspable size of the entire grasping mechanism. Brief Description of the Drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. 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:

[0016] Figure 1 It is a front structural schematic diagram of the present invention;

[0017] Figure 2 It is a structural schematic diagram of the grasping mechanism of the present invention;

[0018] Figure 3 It is a bottom view of the adjusting disk of the present invention;

[0019] Figure 4 It is a structural schematic diagram of the adjusting disk of the present invention;

[0020] Figure 5 It is a side structural schematic diagram of the whole of the present invention;

[0021] Figure 6 It is a structural schematic diagram of the telescopic arm A of the present invention;

[0022] Figure 7 It is a structural schematic diagram of the bevel gear A of the present invention.

[0023] In the figure: 1. Adjusting disk; 11. Chute; 12. Gear groove; 2. Grasping mechanism; 21. Telescopic arm A; 211. Bent beam; 212. Force arm; 213. Guide rail; 214. Screw A; 215. Motor A; 22. Cylinder A; 23. Cylinder B; 24. Telescopic arm B; 25. Hook; 3. Variable diameter mechanism; 31. Screw B; 32. Slide shaft; 33. Slide block; 34. Bevel gear A; 35. Bevel gear B; 36. Motor B; 4. Base; 5. Driving unit; 6. Transmission arm group. Detailed Embodiments

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] In the present utility model, unless otherwise clearly defined and limited, terms such as "installation", "connection", "linkage", "fixation", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral body; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances.

[0026] Embodiment:

[0027] Please refer to Figures 1-6 , the present utility model provides a technical solution: a palletizing robot facilitating the adjustment of the gripper structure, including a base 4, a transmission arm group 6 installed on the top of the base 4, and a driving unit 5 installed on one side of the transmission arm group 6 for driving the transmission arm group 6; wherein, an adjustment disk 1 is installed at the end of the transmission arm group 6, a variable diameter mechanism 3 is provided at the bottom of the adjustment disk 1, and a plurality of gripper mechanisms 2 for grasping articles are installed at the bottom of the variable diameter mechanism 3;

[0028] A gear groove 12 is opened at the bottom of the adjustment disk 1, and a plurality of annularly and equidistantly distributed sliding grooves 11 are opened around the gear groove 12, and the variable diameter mechanism 3 is embedded and installed inside the sliding grooves 11;

[0029] The variable diameter mechanism 3 includes a screw B31, a sliding shaft 32, a slider 33, a bevel gear A34, a bevel gear B35, and a motor B36. The screw B31 and the sliding shaft 32 are embedded and installed inside the sliding grooves 11, the slider 33 is embedded and arranged inside the sliding grooves 11 and is slidably connected with the sliding grooves 11, the screw B31 and the sliding shaft 32 penetrate through the inside of the slider 33, the sliding shaft 32 is slidably connected with the slider 33, the screw B31 is threadedly connected with the slider 33, one end of the screw B31 penetrates and extends into the gear groove 12, the bevel gear A34 is embedded and installed inside the gear groove 12, the bevel gear B35 is nested and installed at one end of the screw B31 located inside the gear groove 12, and the motor B36 is vertically installed at the middle position at the bottom of the adjustment disk 1. By setting the variable diameter mechanism 3, a plurality of sliders 33 are driven to synchronously and equidistantly displace around the center point, so as to synchronously adjust the distance between the gripper mechanism 2 installed at the bottom of the slider 33 and the center point.

[0030] Preferably, a plurality of bevel gears B35 are all meshed with the bevel gear A34, and the bevel gear A34 is drivingly connected with the motor B36. Specifically, by driving a single bevel gear A34 to operate a plurality of bevel gears B35, a plurality of screw B31s are driven to rotate synchronously.

[0031] Preferably, the grasping mechanism 2 includes a telescopic arm A21, a cylinder A22, a cylinder B23, a telescopic arm B24, and a claw 25. The bottom end of the telescopic shaft of the cylinder A22 is hinged to the edge of the telescopic arm A21. The top end of the telescopic arm B24 is hinged to the bottom end of the telescopic arm A21. Both ends of the cylinder B23 are respectively hinged to the telescopic arm A21 and the telescopic arm B24. The claw 25 is hinged to the bottom end of the telescopic arm B24. Specifically, the telescopic structure of the telescopic arm B24 is the same as that of the telescopic arm A21. Therefore, it has a higher grasping degree of freedom and a larger size adjustment range.

[0032] Preferably, the telescopic arm A21 is composed of a bent beam 211, a force arm 212, guide rails 213, a screw A214, and a motor A215. The top ends of the two guide rails 213 are fixedly connected to the bottom edge of the bent beam 211. The screw A214 is vertically arranged at the middle position of the bottom of the bent beam 211 and is rotationally connected to the bent beam 211. The bottom ends of the guide rails 213 and the screw A214 are both embedded in the interior of the force arm 212. The guide rails 213 are slidably connected to the force arm 212. The screw A214 is threadedly connected to the force arm 212. The motor A215 is embedded and installed in the interior of the bent beam 211. The screw A214 is drivingly connected to the motor A215. By providing the guide rails 213 and the screw A214, the force arm 212 can be driven to expand and contract to achieve length adjustment, and the size of the fixture can be adjusted according to the size of the material to be grasped to adapt to the grasping operation of materials of different sizes.

[0033] Preferably, the top ends of the telescopic arm A21 and the cylinder A22 are respectively hinged to both ends of the bottom of the slider 33.

[0034] Working principle: First, the driving unit 5 drives the transmission arm group 6 to operate along the path set by the pre-program, driving the adjusting disk 1 and the grasping mechanism 2 to approach the material to be palletized. The cylinder A22 of the grasping mechanism 2 drives the telescopic arm A21 to rotate inward around the top hinged position, and then the cylinder B23 drives the telescopic arm B24 to rotate inward around its top hinged position. The two cooperate with each other to achieve the grasping of the material. It should be noted here that, according to the cross-sectional size of the material in advance, the distance between each grasping mechanism 2 and the grasping center can be changed through the variable diameter mechanism 3 in the adjusting disk 1, so as to adapt to the grasping operation of materials with different transverse sizes. During adjustment, the motor B36 cooperates with the bevel gear A34 to drive a plurality of bevel gears B35 to rotate, and then drives the screw B31 connected to the bevel gear B35 to rotate, thereby driving the slider 33 to move axially along the screw B31; when the length of the grasping mechanism 2 needs to be adjusted, the motor A215 can be used to drive the screw A214 to rotate, driving the force arm 212 to move axially along the guide rail 213, thereby adjusting its length.

[0035] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent in such process, method, article or device. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the said element.

Claims

1. A palletizing robot that facilitates gripper structure adjustment, characterized in that: The invention comprises a base (4), a transmission arm group (6) installed on the top of the base (4), and a driving unit (5) installed on one side of the transmission arm group (6) for driving the transmission arm group (6); wherein an adjusting disk (1) is installed at the end of the transmission arm group (6), a diameter-changing mechanism (3) is provided at the bottom of the adjusting disk (1), and a plurality of gripping mechanisms (2) for gripping objects are installed at the bottom of the diameter-changing mechanism (3); The bottom of the adjusting disk (1) is provided with a gear groove (12), the periphery of the gear groove (12) is provided with a plurality of circumferentially equidistantly distributed slide grooves (11), and the diameter-changing mechanism (3) is embedded and installed inside the slide groove (11); The diameter-changing mechanism (3) comprises a screw rod (31), a sliding shaft (32), a slider (33), a bevel gear A (34), a bevel gear B (35) and a motor B (36); the screw rod B (31) and the sliding shaft (32) are embedded and installed in the interior of the slide groove (11); the slider (33) is embedded and installed in the interior of the slide groove (11) and is slidably connected to the slide groove (11); the screw rod B (31) and the sliding shaft (32) are penetrated and installed in the interior of the slider (33); the sliding shaft (32) and the slider (33) are slidably connected; the screw rod B (31) and the slider (33) are connected by threads; one end of the screw rod B (31) penetrates and extends into the interior of the gear groove (12); the bevel gear A (34) is embedded and installed in the interior of the gear groove (12); the bevel gear B (35) is nested and installed at one end of the screw rod B (31) located in the gear groove (12); and the motor B (36) is vertically installed at the bottom middle position of the adjustment disk (1).

2. A palletizing robot with easy gripper structure adjustment according to claim 1, characterized in that: A plurality of bevel gears B (35) are meshed with bevel gear A (34), and bevel gear A (34) is drivingly connected to motor B (36).

3. A palletizing robot with easy gripper structure adjustment according to claim 1, characterized in that: The grasping mechanism (2) comprises a telescopic arm A (21), a cylinder A (22), a cylinder B (23), a telescopic arm B (24) and a hook (25), wherein the bottom end of the telescopic shaft of the cylinder A (22) is hinged to the edge of the telescopic arm A (21), the top end of the telescopic arm B (24) is hinged to the bottom end of the telescopic arm A (21), the two ends of the cylinder B (23) are respectively hinged to the telescopic arm A (21) and the telescopic arm B (24), and the hook (25) is hinged to the bottom end of the telescopic arm B (24).

4. A palletizing robot with easy gripper structure adjustment according to claim 3, characterized in that: The telescopic arm A (21) is composed of a curved beam (211), a lever arm (212), a guide rail (213), a screw rod A (214) and a motor A (215). The top ends of the two guide rails (213) are fixedly connected to the bottom edge of the curved beam (211). The screw rod A (214) is vertically arranged at the middle position of the bottom of the curved beam (211) and is rotatably connected to the curved beam (211). The bottom ends of the guide rails (213) and the screw rod A (214) are both embedded in the inside of the lever arm (212). The guide rail (213) is slidably connected to the lever arm (212). The screw rod A (214) is threadedly connected to the lever arm (212). The motor A (215) is embedded in the inside of the curved beam (211). The screw rod A (214) is drivingly connected to the motor A (215).

5. The palletizing robot with easy gripper structure adjustment according to claim 3, characterized in that: The top ends of the telescopic arm A (21) and the cylinder A (22) are respectively hinged to the two ends of the bottom of the slider (33).

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