Stacking robot clamping jaw with protection mechanism

Abstract

The utility model relates to the technical field of robot clamping jaws, in particular to a palletizing robot clamping jaw provided with a protection mechanism, which comprises a fixing plate, a fixing bolt is mounted in the fixing plate, a mounting frame is fixed on the lower surface of the fixing plate, a limiting mechanism for clamping and limiting articles is fixed on the outer wall of the mounting frame, and the protection mechanism is fixed on the outer wall of the mounting frame. The two ends of the mounting frame are each provided with an adjusting mechanism used for adjustment. The limiting mechanism comprises two mounting shells, the two mounting shells are fixed to the outer wall of the mounting frame, and springs are mounted in the two mounting shells. And through the arranged limiting mechanism, a movable plate can be pushed to move under the action of elasticity of a spring, so that a movable rod pushes a mounting plate to move, at the moment, the lower surface of an anti-skid gasket makes contact with the upper surface of an article, then the article is further limited, the situation that the article falls off during transferring can be effectively reduced, and the protection effect is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot clamps, in particular to a palletizing robot clamp provided with a protection mechanism. Background Art

[0002] Palletizing robot grippers are a crucial component of palletizing robot systems, responsible for grasping, handling, and stacking various materials, such as cartons, woven bags, and barrels. Depending on the shape, size, weight, material, and operational requirements of the gripped objects, palletizing robot grippers are widely used in labor-intensive locations, such as automated, unmanned factories, workshops, freight stations, and docks. They can replace manual labor in sorting, handling, and loading and unloading goods, reducing labor intensity and improving production efficiency and work efficiency.

[0003] The existing palletizing robot grippers may break during the gripping process due to the weight of the gripped object.

[0004] An existing patent (publication number: CN220702519U) discloses a composite clamp for a palletizing and handling robot. The clamping mechanism comprises a main body, a clamping mechanism, and a protective mechanism. The clamping mechanisms are located at the left and right ends of the main body, and the protective mechanism is located at the lower end of the main body. The main body comprises a mounting plate, with connecting brackets fixedly connected to the left and right ends of the mounting plate, and a connecting block fixedly connected to the surface of the connecting bracket. The clamping mechanism utilizes a connecting shaft structure. When the clamping claw clamps, it drives the sliding shaft on the clamping claw to squeeze the sliding shaft. This allows the sliding shaft to squeeze the connecting spring, causing the sliding shaft to slide within the rotating shaft. This also drives the rotating shaft to rotate along the connecting shaft with the clamping claw. This relieves pressure on the clamping claw when the clamping claw grips an object, thereby preventing the clamping claw from breaking.

[0005] In response to the above problems, although the solution provided by the existing patent sets a connecting shaft structure, when the clamping claw clamps, it will drive the sliding shaft on the clamping claw to squeeze the sliding shaft, thereby preventing the clamping claw from breaking, but its protection effect is poor when in use. For example, if the clamping of the item is offset, the item is likely to fall off when it is transferred, causing damage to the item. Summary of the Invention

[0006] The purpose of the utility model is to provide a palletizing robot gripper equipped with a protective mechanism, which can push the movable plate to move under the action of the elasticity of the spring itself, so that the movable rod pushes the mounting plate to move. At this time, the lower surface of the anti-slip gasket contacts the upper surface of the article, thereby further limiting the position of the article, which can effectively reduce the possibility of the article falling off during transfer, improve the protection effect, and solve the problems raised in the above-mentioned background technology.

[0007] To achieve the above objectives, the present invention provides the following technical solutions: a palletizing robot gripper provided with a protective mechanism, comprising a fixing plate, a fixing bolt being installed inside the fixing plate, a mounting bracket being fixed to the lower surface of the fixing plate, a limiting mechanism for limiting the position of the article being fixed to the outer wall of the mounting bracket, and adjustment mechanisms for adjustment being installed at both ends of the mounting bracket;

[0008] The limiting mechanism includes a mounting shell, and two mounting shells are provided. The two mounting shells are both fixed to the outer wall of the mounting frame. Springs are installed inside the two mounting shells. The ends of the springs are abutted and connected with a movable plate. A movable rod is fixed to the lower surface of the movable plate. The lower end of the movable rod is fixed to the mounting plate. The lower surface of the mounting plate is bonded with an anti-slip gasket.

[0009] Preferably, the adjustment mechanism includes an adjustment electric cylinder, and two adjustment electric cylinders are provided. The two adjustment electric cylinders are fixed to both ends of the mounting frame by bolts.

[0010] Preferably, the telescopic ends of the two adjusting electric cylinders are both passed through the mounting frame and fixed with connecting blocks, and the lower surface of the connecting blocks is fixed with a movable frame.

[0011] Preferably, a slider is fixed to the upper end of the movable frame, and the outer surface of the slider is slidably connected to a slide groove provided in the mounting frame. One end of the movable frame is provided with a clamping mechanism for clamping articles.

[0012] Preferably, the clamping mechanism includes a drive motor, and the drive motor is fixed to one end of the movable frame by a bolt.

[0013] Preferably, a transmission rod is fixed to the power output shaft of the drive motor, and two connecting parts are fixed to the outer surface of the transmission rod.

[0014] Preferably, the inner walls of the two connecting members are both provided with clamping claws, and the side walls of the two connecting members are both provided with fixing screws threadedly connected to the clamping claws.

[0015] Compared with the prior art, the beneficial effects of the present invention are:

[0016] 1. The limit mechanism, under the action of the spring's own elasticity, pushes the movable plate to move, causing the movable rod to push the mounting plate to move. At this time, the lower surface of the anti-slip pad contacts the upper surface of the object, further limiting the position of the object. This can effectively reduce the risk of the object falling off during transfer and improve the protection effect.

[0017] 2. Through the setting adjustment mechanism, the connecting block can be driven to move horizontally, and then the two movable frames can be driven to move relative to each other, so that the distance between the two clamping mechanisms can be adjusted, thereby facilitating the clamping of items of different widths and improving practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the specific implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0019] Figure 1 This is the overall structural view of the utility model;

[0020] Figure 2 This is a schematic diagram of a half-section structure of the mounting frame of the utility model;

[0021] Figure 3 For the utility model Figure 2 A magnified view of middle A;

[0022] Figure 4 This is a schematic diagram of the half-section structure of the installation shell of the utility model.

[0023] Description of reference numerals:

[0024] 1. Fixing plate; 2. Fixing bolts; 3. Mounting frame; 4. Mounting shell; 41. Spring; 42. Movable plate; 43. Movable rod; 44. Mounting plate; 45. Anti-slip gasket; 5. Adjusting electric cylinder; 51. Connecting block; 52. Movable frame; 53. Slider; 54. Slide; 6. Driving motor; 61. Transmission rod; 62. Connecting piece; 63. Clamping claw; 64. Fixing screw. DETAILED DESCRIPTION

[0025] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0026] The utility model provides a technical solution:

[0027] See also Figures 1 to 4A palletizing robot gripper with a protective mechanism includes a fixing plate 1, a fixing bolt 2 is installed inside the fixing plate 1, a mounting frame 3 is fixed to the lower surface of the fixing plate 1, a limiting mechanism for limiting the position of the object is fixed to the outer wall of the mounting frame 3, and an adjustment mechanism for adjustment is installed at both ends of the mounting frame 3;

[0028] The limiting mechanism includes a mounting shell 4, and there are two mounting shells 4. The two mounting shells 4 are fixed to the outer wall of the mounting frame 3. A spring 41 is installed inside the two mounting shells 4. The end of the spring 41 is abutted and connected with a movable plate 42. A movable rod 43 is fixed to the lower surface of the movable plate 42. The lower end of the movable rod 43 is fixed to a mounting plate 44. The lower surface of the mounting plate 44 is bonded with an anti-slip gasket 45.

[0029] By adopting the above technical solution, before using the palletizing robot gripper provided with a protective mechanism, the fixed plate 1 and the external robotic arm are first connected, and the fixed plate 1 is fixed by the fixing bolt 2 to complete the assembly. When in use, the robotic arm drives the gripper to move, and the mounting shell 4 provided on the fixed plate 1, under the action of the elasticity of the spring 41 itself, will push the movable plate 42 to move, so that the movable rod 43 pushes the mounting plate 44 to move. At this time, the lower surface of the anti-slip gasket 45 contacts the upper surface of the article, thereby further limiting the article, which can effectively reduce the situation where the article falls off during transfer, improve the protection effect, and has strong practicality.

[0030] Specifically, such as Figure 2 、 Figure 3 and Figure 4 As shown, the adjusting mechanism includes an adjusting electric cylinder 5, which is provided with two adjusting electric cylinders 5. The two adjusting electric cylinders 5 are fixed to the two ends of the mounting frame 3 by bolts. The telescopic ends of the two adjusting electric cylinders 5 pass through the mounting frame 3 and are fixed with connecting blocks 51. The lower surface of the connecting block 51 is fixed with a movable frame 52, and the upper end of the movable frame 52 is fixed with a slider 53. The outer surface of the slider 53 is slidably connected with a slide groove 54 provided in the mounting frame 3. One end of the movable frame 52 is provided with a clamping mechanism for clamping articles. The clamping mechanism includes a driving motor 6, which is fixed to one end of the movable frame 52 by bolts. The power output shaft of the driving motor 6 is fixed with a transmission rod 61. Two connecting parts 62 are fixed to the outer surface of the transmission rod 61. The inner walls of the two connecting parts 62 are installed with clamping claws 63, and the side walls of the two connecting parts 62 are installed with fixing screws 64 threadedly connected to the clamping claws 63.

[0031] By adopting the above technical solution, the driving motor 6 is started, driving the transmission rod 61 to rotate, and then driving the connecting member 62 to rotate, so that the two sets of clamping claws 63 move relative to each other to grab the items, and by unscrewing the fixing screws 64, the fixation of the clamping claws 63 can be released, so that the clamping claws 63 can be disassembled and replaced, and the adjusting electric cylinder 5 set on the fixed plate 1 can drive the connecting block 51 to move horizontally, and then drive the two movable frames 52 to move relative to each other. With the cooperation of the slider 53 and the slide groove 54, the stability of the movable frame 52 during movement can be guaranteed, so that the distance between the two clamping mechanisms can be adjusted, thereby facilitating the clamping of items of different widths and improving practicality.

[0032] Working principle: The robotic arm drives the clamping claw to move, driving the mounting frame 3 to be above the object to be clamped. At this time, the driving motor 6 drives the transmission rod 61 to rotate, and then drives the connecting member 62 to rotate, so that the two sets of clamping claws 63 move relative to each other to grab the object, and by unscrewing the fixing screw 64, the fixation of the clamping claw 63 can be released, so that the clamping claw 63 can be disassembled and replaced. Through the mounting shell 4 set on the fixed plate 1, under the action of the elasticity of the spring 41 itself, the movable plate 42 is pushed to move, so that the movable rod 43 pushes the mounting plate 44 to move. At this time, the lower surface of the anti-slip gasket 45 contacts the upper surface of the object, thereby further limiting the object, which can effectively reduce the situation of the object falling off during transfer, and through the adjusting electric cylinder 5 set on the fixed plate 1, it can drive the connecting block 51 to move horizontally, and then drive the two movable frames 52 to move relative to each other. With the cooperation of the slider 53 and the slide groove 54, the stability of the movable frame 52 during movement can be guaranteed, so that the distance between the two clamping mechanisms can be adjusted.

[0033] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the above embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A palletizing robot gripper provided with a protective mechanism, comprising a fixing plate (1), characterized in that: A fixing bolt (2) is installed inside the fixing plate (1), a mounting frame (3) is fixed to the lower surface of the fixing plate (1), a limiting mechanism for clamping and limiting objects is fixed to the outer wall of the mounting frame (3), and adjustment mechanisms for adjustment are installed at both ends of the mounting frame (3); The limiting mechanism comprises a mounting shell (4), two mounting shells (4) are provided, the two mounting shells (4) are fixed to the outer wall of the mounting frame (3), a spring (41) is installed inside the two mounting shells (4), the end of the spring (41) is abutted and connected with a movable plate (42), a movable rod (43) is fixed to the lower surface of the movable plate (42), a mounting plate (44) is fixed to the lower end of the movable rod (43), and a non-slip pad (45) is bonded to the lower surface of the mounting plate (44).

2. The palletizing robot gripper with a protective mechanism according to claim 1, characterized in that: The adjustment mechanism comprises an adjustment electric cylinder (5), and the adjustment electric cylinder (5) is provided with two, and the two adjustment electric cylinders (5) are fixed to the two ends of the mounting frame (3) by bolts.

3. The palletizing robot gripper with a protective mechanism according to claim 2, characterized in that: The telescopic ends of the two regulating electric cylinders (5) pass through the mounting frame (3) and are fixed with connecting blocks (51), and the lower surface of the connecting blocks (51) is fixed with a movable frame (52).

4. The palletizing robot gripper with a protective mechanism according to claim 3, characterized in that: A slider (53) is fixed to the upper end of the movable frame (52), and the outer surface of the slider (53) is slidably connected to a slide groove (54) provided in the mounting frame (3). One end of the movable frame (52) is provided with a clamping mechanism for clamping an object.

5. The palletizing robot gripper with a protective mechanism according to claim 4, characterized in that: The clamping mechanism comprises a drive motor (6), and the drive motor (6) is fixed to one end of the movable frame (52) by means of bolts.

6. The palletizing robot gripper with a protective mechanism according to claim 5, characterized in that: A transmission rod (61) is fixed to the power output shaft of the drive motor (6), and two connecting members (62) are fixed to the outer surface of the transmission rod (61).

7. The palletizing robot gripper with a protective mechanism according to claim 6, characterized in that: The inner walls of the two connecting members (62) are both provided with clamping claws (63), and the side walls of the two connecting members (62) are both provided with fixing screws (64) threadedly connected to the clamping claws (63).

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