Vertical overturning type stacking robot end effector

Abstract

The utility model discloses a vertical turnover type stacking robot end effector, which relates to the technical field of end effectors and comprises a connecting end, a vertical turnover mechanism is arranged at one end of the connecting end, and a clamping component is arranged at one end of the vertical turnover mechanism. The vertical turnover mechanism comprises a special-shaped plate and a connector, an air cylinder is fixedly installed at one end of the special-shaped plate, a concave sliding seat is fixedly installed at the position, located on one side of the air cylinder, of one end of the special-shaped plate, two sets of bearing seats are fixedly installed at one end of the special-shaped plate, and rotating rods are rotationally installed in the two sets of bearing seats. And an elliptical plate is fixedly mounted at the extending end of the air cylinder. According to the utility model, the angle of goods can be quickly and accurately adjusted, the goods can be conveniently and accurately placed, the angle of the goods can be adjusted without manual intervention or other auxiliary equipment, and the overall working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of end effectors, in particular to an end effector of a vertical flip type stacking robot. Background Art

[0002] Stacking robots are essential equipment for material transportation in modern warehouses and production lines. They can be equipped with different end effectors to handle workpieces of varying shapes and shapes. An end effector is a tool attached to an industrial robot to perform different functions. By replacing different end effectors, the robot can perform various functions, such as handling, spraying, cleaning, and welding, thereby achieving different automated operations. Vertical flipping allows objects to be flipped vertically to meet specific stacking requirements.

[0003] However, in the existing technology, when stacking some goods with irregular shapes or specific markings that need to be placed in a specific direction, manual intervention or the use of other auxiliary equipment is required to adjust the angle of the goods. Otherwise, the goods cannot be placed accurately, thereby reducing the overall work efficiency. Therefore, a vertical flip stacking robot end effector is proposed. Utility Model Content

[0004] The purpose of the utility model is to solve the problem in the prior art that when stacking some goods with irregular shapes or specific markings that need to be placed in a specific direction, manual intervention or the use of other auxiliary equipment is required to complete the adjustment of the angle of the goods. Otherwise, the goods cannot be placed accurately, thereby reducing the overall work efficiency. A vertical flip stacking robot end effector is proposed to solve the problem in the prior art that when stacking some goods with irregular shapes or specific markings that need to be placed in a specific direction, manual intervention or the use of other auxiliary equipment is required to complete the adjustment of the angle of the goods. Otherwise, the goods cannot be placed accurately, thereby reducing the overall work efficiency.

[0005] In order to achieve the above-mentioned object, the present invention adopts the following technical solution: a vertical flip type stacking robot end effector, comprising a connecting end, one end of which is provided with a vertical flip mechanism, and one end of which is provided with a clamping assembly;

[0006] The vertical flipping mechanism includes a special-shaped plate and a connecting head, a cylinder is fixedly installed on one end of the special-shaped plate, a concave slide is fixedly installed on one end of the special-shaped plate and on one side of the cylinder, two groups of bearing seats are fixedly installed on one end of the special-shaped plate, and rotating rods are rotatably installed inside the two groups of bearing seats, an elliptical plate is fixedly installed on the protruding end of the cylinder, a connecting rod is fixedly installed on one end of the elliptical plate, a tooth plate is slidably installed inside the concave slide, the tooth end of the tooth plate is meshed with a gear, and a concave frame plate is fixedly installed on the outer wall of the tooth plate.

[0007] Preferably, a guide concave plate is slidably mounted on the outer wall of the concave sliding seat, and the gear is located inside the special-shaped shielding plate.

[0008] Preferably, the inner wall of the connecting head is fixed to the outer wall of the rotating rod, and one end of the special-shaped plate is fixed to one end of the connecting end.

[0009] Preferably, one end of the rotating rod passes through one end of one set of bearing seats and is fixed to one end of the gear.

[0010] Preferably, the other end of the connecting rod is fixed to one end of the concave frame plate.

[0011] Preferably, a special-shaped shielding plate is fixedly mounted on one end of the special-shaped plate.

[0012] Preferably, one end of the guide concave plate is fixed to one end of the concave frame plate.

[0013] Compared with the prior art, the advantages and positive effects of the present invention are:

[0014] 1. In the present invention, a vertical flipping mechanism is provided to drive the clamping assembly to flip vertically, so that the angle of the goods can be adjusted quickly and accurately, which facilitates the accurate placement of the goods. There is no need for manual intervention or the use of other auxiliary equipment to adjust the angle of the goods, thereby improving the overall work efficiency.

[0015] 2. In the present invention, a guide concave plate is provided. When the concave frame plate moves, the concave frame plate will drive the guide concave plate to move, and the guide concave plate will slide on the outer wall of the concave slide, so that the guide concave plate can move stably on the concave slide, thereby increasing the stability of the tooth plate when moving inside the concave slide. The provision of the special-shaped shielding plate can shield the gear and the tooth plate, and can protect the gear and the tooth plate. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the three-dimensional structure of a vertical flip type stacking robot end effector proposed in the utility model;

[0017] Figure 2 The utility model proposes a structural schematic diagram of a vertical flip mechanism and a clamping assembly in the end effector of a vertical flip type stacking robot;

[0018] Figure 3 This is a partial structural diagram of a vertical flip mechanism in the end effector of a vertical flip type stacking robot proposed in the utility model;

[0019] Figure 4 The present invention provides a partial stereoscopic view of the end effector of a vertical flip stacking robot.

[0020] Legend: 1. Connecting end; 2. Vertical flip mechanism; 21. Special-shaped plate; 22. Cylinder; 23. Connecting head; 24. Concave slide; 25. Bearing seat; 26. Turning rod; 27. Oval plate; 28. Connecting rod; 29. Special-shaped shielding plate; 210. Gear; 211. Concave frame plate; 212. Tooth plate; 213. Guide concave plate; 3. Clamping assembly. DETAILED DESCRIPTION

[0021] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below with reference to the accompanying drawings and embodiments. It should be noted that the embodiments of the present application and the features therein can be combined with each other without conflict.

[0022] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways than those described herein. Therefore, the present invention is not limited to the specific embodiments disclosed in the following specification.

[0023] Example 1: Figure 1 - Figure 4 As shown, the utility model provides a vertical flip type stacking robot end effector, comprising a connecting end 1, one end of the connecting end 1 is provided with a vertical flip mechanism 2, and one end of the vertical flip mechanism 2 is provided with a clamping assembly 3;

[0024] The vertical flip mechanism 2 includes a special-shaped plate 21 and a connecting head 23, one end of the special-shaped plate 21 is fixedly installed with a cylinder 22, one end of the special-shaped plate 21 and located on one side of the cylinder 22 is fixedly installed with a concave slide 24, one end of the special-shaped plate 21 is fixedly installed with two groups of bearing seats 25, and the two groups of bearing seats 25 are internally rotatably installed with a rotating rod 26, the protruding end of the cylinder 22 is fixedly installed with an elliptical plate 27, one end of the elliptical plate 27 is fixedly installed with a connecting rod 28, and a tooth plate 212 is slidably installed inside the concave slide 24, the tooth end of the tooth plate 212 is engaged with a gear 210, and the outer wall of the tooth plate 212 is fixedly installed with a concave frame plate 211, the inner wall of the connecting head 23 is fixed to the outer wall of the rotating rod 26, one end of the rotating rod 26 passes through one end of one group of bearing seats 25 and is fixed to one end of the gear 210, the other end of the connecting rod 28 is fixed to one end of the concave frame plate 211, and one end of the special-shaped plate 21 is fixed to one end of the connecting end 1.

[0025] The following is a detailed description of the specific settings and functions of this embodiment. The cylinder 22 is started, and the protruding end of the cylinder 22 drives the connecting rod 28 to move through the elliptical plate 27. The connecting rod 28 drives the concave frame plate 211 to move, and the concave frame plate 211 drives the toothed plate 212 to slide inside the concave slide seat 24. Under the meshing cooperation of the toothed plate 212 and the gear 210, the toothed plate 212 will drive the gear 210 to rotate, and the gear 210 drives the rotating rod 26 to rotate inside the two sets of bearing seats 25. At the same time, the rotating rod 26 drives the connecting head 23 to rotate, and the connecting head 23 drives the clamping assembly 3 to rotate, which can drive the clamping assembly 3 to perform vertical flipping, thereby quickly and accurately adjusting the angle of the goods, facilitating the accurate placement of the goods, and no manual intervention or use of other auxiliary equipment to adjust the angle of the goods, thereby improving the overall work efficiency.

[0026] By providing the concave slide 24, with the cooperation of the concave slide 24, the tooth plate 212 can slide inside the concave slide 24 when moving, which not only guides the tooth plate 212 but also increases the stability of the tooth plate 212 when moving;

[0027] With the cooperation between the two sets of bearing seats 25 and the rotating rod 26, the rotating rod 26 can stably rotate inside the two sets of bearing seats 25;

[0028] The setting of the clamping component 3 facilitates the clamping component 3 to clamp the goods by controlling the operation of the clamping component 3.

[0029] Example 2: Figure 1 、 Figure 2 and Figure 3 As shown, a guide concave plate 213 is slidably installed on the outer wall of the concave slide 24, the gear 210 is located inside the special-shaped baffle 29, one end of the special-shaped plate 21 is fixedly installed with the special-shaped baffle 29, and one end of the guide concave plate 213 is fixed to one end of the concave frame plate 211.

[0030] The effect achieved by the entire embodiment is that when the concave frame plate 211 moves, the concave frame plate 211 will drive the guide concave plate 213 to move, and the guide concave plate 213 will slide on the outer wall of the concave slide 24, thereby enabling the guide concave plate 213 to move stably on the concave slide 24, thereby increasing the stability of the tooth plate 212 when moving inside the concave slide 24, and the setting of the special-shaped shielding plate 29 can shield the gear 210 and the tooth plate 212, and can protect the gear 210 and the tooth plate 212.

[0031] The method of use and working principle of this device: First, the rear end of the connecting end 1 is fixed to the movable end of the stacking robot. When in use, the stacking robot moves the vertical flipping mechanism 2 and the clamping assembly 3 to the side of the goods through the connecting end 1, and then clamps the goods through the clamping assembly 3. Finally, when controlling the stacking robot, it drives the vertical flipping mechanism 2 and the clamping assembly 3 to move through the connecting end 1, and moves the goods clamped by the clamping assembly 3 to the appropriate position, and then starts the cylinder 22. The protruding end of the cylinder 22 drives the connecting rod 28 to move through the elliptical plate 27, and the connecting rod 28 drives the concave frame plate 211 to move. The concave frame plate 211 drives the tooth plate 212 to slide inside the concave slide seat 24, and the tooth plate 212 drives the gear 210 to rotate. The gear 210 drives the rotating rod 26 to rotate inside the two sets of bearing seats 25. At the same time, the rotating rod 26 drives the connecting head 23 to rotate, and the connecting head 23 drives the clamping assembly 3 to rotate, which can drive the clamping assembly 3 to flip, and can quickly and accurately adjust the angle of the goods, making it convenient to accurately place the goods.

[0032] The above are only preferred embodiments of the present invention and are not intended to limit the present invention in any other form. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification of the above embodiment made according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall still fall within the scope of protection of the technical solution of the present invention.

Claims

1. A vertical flip stacking robot end effector, comprising a connecting end (1), characterized in that: One end of the connecting end (1) is provided with a vertical flip mechanism (2), and one end of the vertical flip mechanism (2) is provided with a clamping assembly (3); The vertical flip mechanism (2) comprises a special-shaped plate (21) and a connector (23), one end of the special-shaped plate (21) is fixedly mounted with a cylinder (22), one end of the special-shaped plate (21) and located on one side of the cylinder (22) is fixedly mounted with a concave slide seat (24), one end of the special-shaped plate (21) is fixedly mounted with two groups of bearing seats (25), the two groups of bearing seats (25) are internally rotatably mounted with rotating rods (26), the protruding end of the cylinder (22) is fixedly mounted with an elliptical plate (27), one end of the elliptical plate (27) is fixedly mounted with a connecting rod (28), a tooth plate (212) is slidably mounted inside the concave slide seat (24), the tooth end of the tooth plate (212) is meshed with a gear (210), and the outer wall of the tooth plate (212) is fixedly mounted with a concave frame plate (211).

2. The vertical flip stacking robot end effector according to claim 1, characterized in that: A guide concave plate (213) is slidably mounted on the outer wall of the concave sliding seat (24), and the gear (210) is located inside the special-shaped shielding plate (29).

3. The vertical flip stacking robot end effector according to claim 1, characterized in that: The inner wall of the connecting head (23) is fixed to the outer wall of the rotating rod (26), and one end of the special-shaped plate (21) is fixed to one end of the connecting end (1).

4. The vertical flip stacking robot end effector according to claim 3, characterized in that: One end of the rotating rod (26) passes through one end of one set of bearing seats (25) and is fixed to one end of the gear (210).

5. The vertical flip stacking robot end effector according to claim 3, characterized in that: The other end of the connecting rod (28) is fixed to one end of the concave frame plate (211).

6. The vertical flip stacking robot end effector according to claim 2, characterized in that: A special-shaped shielding plate (29) is fixedly mounted on one end of the special-shaped plate (21).

7. The vertical flip stacking robot end effector according to claim 2, characterized in that: One end of the guide concave plate (213) is fixed to one end of the concave frame plate (211).

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