Manipulator clamping device with high stability

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator clamping device with high stability. Comprising a stacker crane body, a first mounting base mounted at the tail end of the stacker crane body, a second mounting base mounted below the first mounting base, two clamping plates mounted on the two sides of the lower portion of the first mounting base, two suction cup assemblies mounted on the two sides of the lower portion of the second mounting base, and a lifting mechanism mounted in the first mounting base, the first moving assembly is used for driving the two clamping plates to be close to each other or away from each other, and the second moving assembly is mounted in the second mounting seat and used for driving the two suction cup assemblies to be close to each other or away from each other. According to the manipulator clamping device with the high stability, through the arrangement of the first mounting base, the second mounting base, the clamping plate, the suction cup assembly, the first moving assembly and the second moving assembly, an object to be transferred can be stably clamped and fixed, and the transferring stability is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of manipulators, in particular to a manipulator clamping device with high stability. Background Art

[0002] The palletizing manipulator can neatly and automatically stack packaged goods with different external dimensions on pallets or production lines. To make full use of the area of the pallet and the stability of the stacked materials, the robot is equipped with a material palletizing sequence and arrangement setter, which can meet the requirements from low speed to high speed, from packaging bags to cartons, and from palletizing one product to palletizing multiple different products.

[0003] The existing palletizing manipulator cannot adjust the suction area according to the size of the object when adsorbing the object with a suction cup. At the same time, it only relies on the adsorption force to adsorb the object, and it is unstable when moving the object, greatly reducing the user experience and being unsuitable for industrial applications.

[0004] Therefore, it is necessary to propose a technical means to solve the above defects. Summary of the Utility Model

[0005] The utility model adopts the following technical solutions:

[0006] A manipulator clamping device with high stability includes a palletizing machine body, a first mounting seat installed at the end of the palletizing machine body, a second mounting seat installed below the first mounting seat, two clamping plates installed on both sides below the first mounting seat, two suction cup assemblies installed on both sides below the second mounting seat, a first moving component installed in the first mounting seat for driving the two clamping plates to approach or separate from each other, and a second moving component installed in the second mounting seat for driving the two suction cup assemblies to approach or separate from each other.

[0007] Preferably, the first moving component includes a first lead screw, a first moving block, a first connecting block and a first motor; the first lead screw is installed in the first mounting seat, and both ends of the first lead screw are reverse thread sections of two segments; two first moving blocks are provided and are respectively installed on the reverse thread sections of the two ends; two first connecting blocks are provided, and the two first connecting blocks are respectively installed on both sides of the first moving block; the upper ends of the clamping plates are respectively connected to the two first connecting blocks; the first motor is connected to the first lead screw for driving the first lead screw to rotate.

[0008] Preferably, a first installation groove and second installation grooves installed on both sides of the first installation groove and communicating with the first installation groove are provided in the first mounting seat; the first lead screw and the first moving block are installed in the first installation groove; the two first connecting blocks are respectively installed in the two second installation grooves.

[0009] Preferably, an avoidance groove is provided in the clamping plate for the second mounting seat to pass through when moving.

[0010] Preferably, the second moving component includes a second lead screw, a second moving block, and a second motor; the second lead screw is installed on the second mounting seat, and the second lead screw is provided with two reverse thread segments; there are two second moving blocks, and the two second moving blocks are respectively installed on the two reverse thread segments; the second motor is connected to the second lead screw to drive the second lead screw to rotate; there are two sucker components, and the two sucker components are respectively connected to the two second moving blocks.

[0011] Preferably, a second mounting groove for installing the second lead screw is provided at the bottom of the second mounting seat.

[0012] Preferably, the sucker component includes a second connecting block connected to the second moving block and a sucker connected to the second connecting block.

[0013] Preferably, the sucker component further includes a buffer spring and a linkage plate; a third mounting groove is formed on the side of the second connecting block; the buffer spring is installed in the third mounting groove; one end of the linkage plate is installed in the third mounting groove and connected to the buffer spring, and the other end extends to the bottom of the second connecting block; the sucker is installed below the linkage plate.

[0014] A manipulator clamping device with high stability according to the present invention, through the settings of the first mounting seat, the second mounting seat, the clamping plate, the sucker component, the first moving component, and the second moving component, can firmly clamp and fix the object to be transferred, improving the stability during transfer. Description of the Drawings

[0015] Figure 1 It is an overall schematic diagram of a manipulator clamping device with high stability according to the present invention;

[0016] Figure 2 It is an overall schematic diagram of a manipulator clamping device with high stability according to the present invention after removing the palletizing machine body;

[0017] Figure 3 It is Figure 2 an overall schematic diagram from another angle. Detailed Embodiments

[0018] The technical solution of the present utility model will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present utility model, rather than all embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present utility model without creative efforts shall fall within the protection scope of the present utility model.

[0019] In the description of the present utility model, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present utility model. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0020] In the description of the present utility model, it should be noted that unless otherwise clearly defined and limited, the terms "installation", "connection", "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. 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 situations.

[0021] Please refer to Figures 1 to 3 , a manipulator clamping device with high stability, including a palletizer body A, a first mounting seat 10 installed at the end of the palletizer body A, a second mounting seat 20 installed below the first mounting seat 10, two clamping plates 40 installed on both sides below the first mounting seat 10, two suction cup assemblies 30 installed on both sides below the second mounting seat 20, a first moving assembly 50 installed inside the first mounting seat for driving the two clamping plates 40 to approach or move away from each other, and a second moving assembly 60 installed inside the second mounting seat for driving the two suction cup assemblies 30 to approach or move away from each other.

[0022] Specifically, in this embodiment, during operation, the first mounting base 10 and the second mounting base 20 are moved to the object to be clamped by the palletizing machine body A so that the object is located between the two clamping plates 40. At this time, according to the size of the object, the second moving component 60 adjusts the distance between the two suction cup components 30 so that the suction cup components 30 can firmly suck the upper end surface of the object. After the suction is completed, the two clamping plates 40 are driven by the first moving component 50 to approach each other and clamp and fix the two sides of the object. In this embodiment, through the cooperation of the suction cup components 30 and the clamping plates 40, the object to be transferred can be firmly clamped and fixed, improving the stability during transfer.

[0023] A manipulator clamping device with high stability involved in the present utility model, through the settings of the first mounting base 10, the second mounting base 20, the clamping plates 40, the suction cup components 30, the first moving component 50 and the second moving component 60, can firmly clamp and fix the object to be transferred, improving the stability during transfer.

[0024] In a specific embodiment, the first moving component 50 includes a first lead screw 501, a first moving block 502, a first connecting block 503 and a first motor 504. The first lead screw 501 is installed on the first mounting base 10, and both ends of the first lead screw 501 are two reverse thread segments. There are two first moving blocks 502, which are respectively installed on the two ends of the direction thread segments. There are two first connecting blocks 503, and the two first connecting blocks 503 are respectively installed on both sides of the first moving block 502. The upper ends of the clamping plates 40 are respectively connected to the two first connecting blocks 503. The first motor 504 is connected to the first lead screw 501 and is used to drive the first lead screw 501 to rotate. In this embodiment, during operation, the first motor 504 drives the first lead screw 501 to rotate, and then through the setting of the reverse thread segments, it drives the two first moving blocks 502 to approach each other, thereby driving the two clamping plates 40 to approach each other through the first connecting blocks 503 to clamp the object.

[0025] In a specific embodiment, a first mounting groove 101 is provided in the first mounting base 10, and second mounting grooves 102 are installed on both sides of the first mounting groove 101 and communicate with the first mounting groove 101. The first lead screw 501 and the first moving block 502 are installed in the first mounting groove 101. The two first connecting blocks 503 are respectively installed in the two second mounting grooves 102.

[0026] In a specific embodiment, an avoidance groove 401 is provided in the clamping plate 40 for the second mounting base 20 to pass through during movement. In this embodiment, through the setting of the avoidance groove 401, when the two clamping plates 40 approach each other, interference with the second mounting base 20 is formed. Further, a buffer cotton 402 is provided on the side of the clamping plate 40 for clamping.

[0027] In a specific embodiment, the second moving component 60 includes a second lead screw 601, a second moving block 602, and a second motor 603; the second lead screw 601 is installed on the second mounting seat 20, and the second lead screw 601 is provided with two reverse thread segments; there are two second moving blocks 602, and the two second moving blocks 602 are respectively installed on the two reverse thread segments; the second motor 603 is connected to the second lead screw 601 to drive the second lead screw 601 to rotate; there are two suction cup assemblies 30, and the two suction cup assemblies 30 are respectively connected to the two second moving blocks 602. Specifically, during operation, the second motor 603 drives the second lead screw 601 to rotate, and then drives the two second moving blocks 602 to approach or move away from each other through the two reverse thread segments. Further, a second mounting groove 102 for installing the second lead screw 601 is provided at the bottom of the second mounting seat 20. Further, the suction cup assembly 30 includes a second connecting block 301 connected to the second moving block 602 and a suction cup (not shown in the figure) connected to the second connecting block 301. In this embodiment, through the arrangement of the second connecting block 301, the suction cup is driven to move when the second moving block 602 moves. Further, the suction cup assembly 30 further includes a buffer spring 302 and a linkage plate 303; a third mounting groove 304 is formed in the side of the second connecting block 301; the buffer spring 302 is installed in the third mounting groove 304; one end of the linkage plate 303 is installed in the third mounting groove 304 and is connected to the buffer spring 302, and the other end extends to the bottom of the second connecting block 301; the suction cup is installed below the linkage plate 303. In this embodiment, when the suction cup adsorbs the surface of an object, through the arrangement of the buffer spring 302 and the linkage plate 303, the suction cup can adjust its own position according to the unevenness of the object surface, so as to effectively adsorb the object and improve the adsorption stability.

[0028] A manipulator clamping device with high stability according to the present invention can firmly clamp and fix the object to be transferred through the arrangements of the first mounting seat 10, the second mounting seat 20, the clamping plate 40, the suction cup assembly 30, the first moving assembly 50, and the second moving assembly 60, improving the stability during transfer.

[0029] The above embodiments only represent several implementation manners of the present invention, and the description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent of the present invention. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention should be subject to the appended claims.

Claims

1. A manipulator clamping device with high stability, characterized in that: It includes a palletizing machine body, a first mounting seat installed at the end of the palletizing machine body, a second mounting seat installed below the first mounting seat, two clamping plates installed on both sides below the first mounting seat, two suction cup assemblies installed on both sides below the second mounting seat, a first moving assembly installed in the first mounting seat for driving the two clamping plates to approach or separate from each other, and a second moving assembly installed in the second mounting seat for driving the two suction cup assemblies to approach or separate from each other.

2. The manipulator clamping device with high stability according to claim 1, wherein: The first moving assembly includes a first lead screw, first moving blocks, first connecting blocks, and a first motor; the first lead screw is installed in the first mounting seat, and both ends of the first lead screw are two reverse thread segments; two first moving blocks are provided and are respectively installed on the two reverse thread segments; two first connecting blocks are provided, and the two first connecting blocks are respectively installed on both sides of the first moving blocks; the upper ends of the clamping plates are respectively connected to the two first connecting blocks; the first motor is connected to the first lead screw for driving the first lead screw to rotate.

3. The manipulator clamping device with high stability according to claim 2, characterized in that: A first mounting groove and second mounting grooves installed on both sides of the first mounting groove and communicating with the first mounting groove are provided in the first mounting seat; the first lead screw and the first moving blocks are installed in the first mounting groove; the two first connecting blocks are respectively installed in the two second mounting grooves.

4. The manipulator clamping device with high stability according to claim 2, characterized in that: A relief groove for the second mounting seat to pass through during movement is provided in the clamping plate.

5. The manipulator clamping device with high stability according to claim 1, wherein: The second moving assembly includes a second lead screw, second moving blocks, and a second motor; the second lead screw is installed in the second mounting seat, and the second lead screw has two reverse thread segments; two second moving blocks are provided, and the two second moving blocks are respectively installed on the two reverse thread segments; The second motor is connected to the second lead screw for driving the second lead screw to rotate; two suction cup assemblies are provided, and the two suction cup assemblies are respectively connected to the two second moving blocks.

6. The high-stability mechanical hand clamping device according to claim 5, characterized in that: A second mounting groove for installing the second lead screw is provided at the bottom of the second mounting seat.

7. The high-stability mechanical hand clamping device according to claim 5, characterized in that: The suction cup assembly includes a second connecting block connected to the second moving block and a suction cup connected to the second connecting block.

8. The manipulator clamping device with high stability according to claim 7, characterized in that: The suction cup assembly further includes a buffer spring and a linkage plate; a third mounting groove is provided on the side of the second connecting block; the buffer spring is installed in the third mounting groove; one end of the linkage plate is installed in the third mounting groove and is connected to the buffer spring, and the other end extends to the bottom of the second connecting block; the suction cup is installed below the linkage plate.

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