Self-adaptive clamp and stacking robot

Abstract

The utility model relates to the technical field of robot application and packaging, and discloses a self-adaptive clamp which comprises an installation frame and a plurality of mechanical claws installed on the installation frame, one mechanical claw located at the end of the installation frame is fixedly connected with the installation frame, and the other mechanical claws are connected with the installation frame in a sliding mode. The mechanical claws are connected through a first pneumatic device so as to adjust the distance between the clamping claws, and the mechanical claws are all connected with a second pneumatic device. The utility model further discloses a palletizing robot which is formed by connecting the self-adaptive clamp and a mechanical arm. According to the self-adaptive clamp, under the condition that the clamp does not need to be disassembled, the space between the clamp and the clamp can be adjusted in a self-adaptive mode, and a palletizing robot can freely switch and grab products on product lines of two specifications.

Description

Technical Field

[0001] The utility model relates to the fields of robot application technology and packaging technology, in particular to an adaptive clamp and a palletizing robot for transporting, palletizing and unpalletizing products. Background Art

[0002] The time cost of mineral lubricant production is mainly consumed in the packaging of products. When using a robotic palletizing operation, the robotic palletizer is located behind the filling line and is responsible for transferring the filled products to the designated location. The clamp at the end of the robotic palletizer is set on the robotic wrist. There are two specifications of packaging barrels on the lubricant production line. Due to the different sizes of the packaging barrels, when dealing with lubricant products of different specifications, it is necessary to replace the clamps with different spacing and inner diameters to clamp the corresponding specifications of the products. At the same time, there are certain requirements for replacing the clamps, which must ensure positioning accuracy and ensure that the force on the product being gripped is uniform. When replacing the clamp, the original clamp needs to be disassembled, and the new clamp needs to be installed in the corresponding position after adjusting the clamp spacing. The clamp is heavy and the replacement operation takes a long time, which seriously affects the filling efficiency.

[0003] For economic reasons, how to enable two specifications of lubricant production lines to use the same robotic arm for palletizing, even if the product packaging barrels on the two production lines are of different sizes, to share a palletizing robot for palletizing, has become an urgent problem to be solved. Utility Model Content

[0004] The purpose of the utility model is to overcome the problem in the prior art that the clamp needs to be completely disassembled and then installed to grab two products of different specifications. The utility model provides an adaptive clamp that can adaptively adjust its spacing without disassembling the clamp, so that products of two specifications can be switched freely on the product line.

[0005] In order to achieve the above-mentioned purpose, the utility model provides an adaptive clamp on the one hand, including a mounting frame and multiple robotic claws installed on the mounting frame, a robotic claw at the end of the mounting frame is fixedly connected to the mounting frame, and the remaining robotic claws are slidingly connected to the mounting frame, the robotic claws are connected by a first pneumatic device to adjust the distance between the claws, and the robotic claws are all connected to a second pneumatic device.

[0006] On the lubricant production line, there is a production line that produces two products of different specifications. The packaging barrels of products of different specifications have different heights and diameters. When stacking the products, different clamping diameters and jaw spacings are required to grasp products of corresponding specifications.

[0007] The mounting frame of the adaptive clamp is a mounting carrier for multiple robotic claws, and the multiple robotic claws are connected to the mounting frame in sequence. One of the two robotic claws located at the end of the mounting frame needs to be fixedly connected to the mounting frame, and the remaining robotic claws can slide on the mounting frame to facilitate adjustment of the position of the robotic claws. This design allows the remaining robotic claws to use the position of the robotic claw as a reference, and accordingly, the gripping distance between the robotic claws can be adjusted by the first pneumatic device, and after adjusting to the target distance, the position of the robotic claws can be stable and motionless.

[0008] At the same time, in order to grasp products of different specifications, the clamping inner diameter of the manipulator gripper is achieved through a second pneumatic device. It should be noted that the pneumatic devices of this application are all equipped with corresponding control programs, which are all existing technologies. When faced with grasping two products of different specifications, the corresponding supporting program is called up, so that when the two products are stacked, the matching program can be selected at any time, and the gripper can be switched freely to grasp the products on the product line of two specifications.

[0009] Preferably, the power device of the first pneumatic device is preferably a dual-control cylinder, and the power device of the second pneumatic device is preferably a double-stroke cylinder.

[0010] Both dual-control and dual-stroke cylinders are currently available. In the adaptive gripper described in this application, the dual-control cylinder can control two different jaw spacings, while the dual-stroke cylinder can control two different clamping inner diameters, enabling the gripper to handle two product sizes. The two pneumatic devices, when used together, allow the gripper to smoothly switch between gripping two different product sizes.

[0011] Preferably, the mounting frame is a rectangular frame, and slide rails are respectively provided on both sides of the mounting frame along the length direction. The robot claw is fixedly connected to the mounting plate, and a slider slidably connected to the slide rails is provided on the mounting plate.

[0012] The mounting frame is equipped with a slide rail to provide a convenient track for the robot gripper to move when the gripper spacing needs to be changed. At the same time, the robot gripper is fixedly connected to the mounting plate, and a slider that cooperates with the slide rail is fixedly connected to the mounting plate. Under the action of the pneumatic device, the robot gripper can move to the target spacing when it moves.

[0013] Preferably, the clamping diameter of the manipulator gripper is set to two sizes of diameters, which is achieved by setting two signals of the double-stroke cylinder.

[0014] For the grasping of two specifications of products, the diameters of the product packaging barrels are different. When the robot grips the packaging barrels, the clamping diameter requirements of the gripper are different. The double-stroke cylinder provides two signal settings to meet the grasping function requirements of the robot gripper.

[0015] Preferably, the distance between the grippers of the robot grippers is set to two distances, which is achieved by setting two signals of the dual-control cylinder.

[0016] For the grasping of two specifications of products, the diameters of the product packaging barrels are different. Combined with the barrel spacing, the robot gripper has different requirements for the spacing between the jaws when grasping the packaging barrels. The gripper spacing between the robot grippers needs to be set at two spacings to accommodate the grasping of two specifications of products. The dual-control cylinder can provide signals for two spacings to meet the grasping function requirements of the robot gripper.

[0017] Preferably, four robotic grippers are provided, three dual-control cylinders are provided, and four dual-stroke cylinders are provided.

[0018] As a preferred embodiment of the adaptive gripper, the number of grippers is set to four. To match the number of grippers, three dual-control cylinders and four dual-stroke cylinders are used. Each gripper is equipped with a dual-stroke cylinder to control the gripper's two clamping diameters. Three dual-control cylinders are connected between the four grippers to control the grippers' ability to switch between the two gripper spacings.

[0019] Preferably, the robotic claws are respectively a first robotic claw, a second robotic claw, a third robotic claw and a fourth robotic claw, the first robotic claw is fixedly connected to the mounting frame, and the second robotic claw, the third robotic claw and the fourth robotic claw are slidingly connected to the mounting frame.

[0020] Regarding the setting of the robotic grippers, it should be noted that one of the robotic grippers at the end of the mounting frame needs to be fixedly connected to the mounting frame. In an embodiment in which the number of robotic grippers is set to four, the first robotic gripper is fixedly connected to the mounting frame, and the remaining three robotic grippers are slidably connected to the mounting frame, providing a stable connection for the free switching of the spacing between the robotic grippers. In an embodiment in which the adaptive clamp is set to four robotic grippers, the first robotic gripper is set to be fixedly connected to the mounting frame, and the remaining three robotic grippers are slidably connected to the mounting frame. When grasping four small-sized products, the spacing between the four robotic grippers is the same; when the robotic grippers are switched to grasping large-sized products, the three slidable robotic grippers can be slid to the target spacing to grasp four large-sized products. This method requires a longer length of the mounting frame; when the robotic grippers are switched to grasping large-sized products, the first robotic gripper can be left unused, and the other three robotic grippers can be adjusted to the target spacing to grasp three large-sized products.

[0021] Preferably, the three dual-control cylinders are sequentially arranged between the four robotic grippers, and a single dual-control cylinder is fixedly connected to two adjacent robotic grippers respectively.

[0022] In an embodiment where the number of robotic grippers is set to four, a first dual-control cylinder is fixedly connected between the first robotic gripper and the second robotic gripper, a second dual-control cylinder is fixedly connected between the second robotic gripper and the third robotic gripper, and a third dual-control cylinder is fixedly connected between the third robotic gripper and the fourth robotic gripper.

[0023] A second aspect of the present invention provides a palletizing robot, which is connected to a robotic arm using the aforementioned adaptive clamp.

[0024] The adaptive clamp is connected to the robotic arm, and one palletizing robot can be used to clamp products on two production lines, improving the production efficiency of the palletizing robot.

[0025] Preferably, the robotic arm is threadedly connected to the adaptive clamp.

[0026] The adaptive clamp of the present application is installed at the end of the robotic arm of the palletizing robot. The adaptive clamp can be threadedly connected to the robotic arm, which facilitates the installation and disassembly of the adaptive clamp.

[0027] Through the above technical solution, the utility model connects multiple robotic claws to the mounting frame, and the robotic claws are all equipped with double-stroke cylinders. Double-control cylinders are arranged between adjacent robotic claws. One robotic claw at the end of the mounting frame is fixed, and the other robotic claws are slidably connected to the mounting frame. The two cylinders control the robotic claws respectively to achieve adaptive switching of the clamping diameter and claw spacing of the robotic claws, thereby realizing easy grasping of products of two specifications.

[0028] The beneficial effects of the utility model are:

[0029] First, it is possible to grasp two products of different specifications without disassembling the original robotic gripper;

[0030] Second, it can switch and grab products of two different specifications freely;

[0031] Third, it improves the palletizing efficiency of products of different specifications on the production line;

[0032] Fourth, it can cope with the arbitrary switching of the two production lines, thereby improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 is a side view schematic diagram of an embodiment of an adaptive gripper for gripping four products;

[0034] Figure 2 It is a schematic top view of the structure of an embodiment of an adaptive clamp for picking up three products.

[0035] Description of Reference Numerals

[0036] 1. Adaptive fixture; 11. Two-stroke cylinder; 12. Mounting frame; 13. Robotic gripper; 131. First robot gripper; 132. Second robot gripper; 133. Third robot gripper; 134. Fourth robot gripper; 14. Dual-control cylinder; 141. First dual-control cylinder; 142. Second dual-control cylinder; 143. Third dual-control cylinder; 15. Mounting plate. DETAILED DESCRIPTION

[0037] The following is a detailed description of the specific embodiments of the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to illustrate and explain the present invention and are not intended to limit the present invention.

[0038] In the present invention, unless otherwise specified, directional words such as "up, down, left, right, inside, outside, far, near, front" generally refer to the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and therefore cannot be understood as limitations on the present invention.

[0039] like Figure 1 and Figure 2 An adaptive clamp is shown, including a mounting frame 12 and multiple robotic claws 13 mounted on the mounting frame 12. A robotic claw 13 at the end of the mounting frame 12 is fixedly connected to the mounting frame 12, and the remaining robotic claws 13 are slidingly connected to the mounting frame 12. The robotic claws 13 are connected by a first pneumatic device to adjust the distance between the claws, and the robotic claws 13 are all connected to a second pneumatic device.

[0040] The adaptive clamp 1 of the present invention is used in a lubricating oil production process with two production lines, each producing two different specifications of products. The packaging barrels of the different specifications of the products have different heights and diameters. When the two products are completed and need to be stacked, a mechanical gripper 13 with different clamping diameters and jaw spacing is required to grasp the corresponding products.

[0041] The mounting frame 12 of the adaptive clamp 1 is a mounting carrier for multiple robotic grippers 13. Multiple robotic grippers 13 are sequentially connected to the mounting frame 12. One of the two robotic grippers 13 located at the end of the mounting frame 12 needs to be fixedly connected to the mounting frame 12. Figure 1The leftmost or rightmost robotic gripper 13 shown is fixedly connected to the mounting frame 12, while the remaining robotic grippers 13 are slidably connected to the mounting frame 12, allowing the robotic grippers 13 to slide on the mounting frame 12 to adjust the distance between the grippers 13. This design allows the remaining robotic grippers 13 to be positioned relative to the position of the robotic gripper 13 fixedly connected to the mounting frame 12. Accordingly, the distance between the grippers 13 can be adjusted using a first pneumatic device. Each first pneumatic device is connected to two adjacent robotic grippers 13, and the connection can be a threaded connection, so that the two adjacent robotic grippers 13 can move closer to or away from each other under the action of the first pneumatic device. Under the premise that the robotic gripper 13 at the end of the mounting frame 12 is fixedly connected to the mounting frame 12, after the gripper distance of the robotic gripper 13 is adjusted to the target distance, the position of the remaining robotic grippers 13 can remain stable. It should be noted that the first pneumatic device can achieve bidirectional adjustment of the gripper distance between the robotic grippers 13.

[0042] At the same time, in order to grab two products of different specifications, the clamping inner diameter of the manipulator gripper 13 can be achieved by a second pneumatic device, and the second pneumatic device can achieve the two target clamping inner diameters required for the manipulator gripper 13 to grab. It should be noted that the pneumatic devices of this application are all equipped with corresponding control programs, which are all existing technologies and will not be described here. When faced with the grabbing of two products of different specifications, the corresponding supporting program is called up, so that when the two products are stacked, the matching program can be selected at any time, and the clamps can be switched freely on the product lines of two specifications to grab the products.

[0043] Furthermore, the power device of the first pneumatic device is a dual-control cylinder 14 , and the power device of the second pneumatic device is a double-stroke cylinder 11 .

[0044] The preferred embodiment of the pneumatic device is a dual-control cylinder 14 and a dual-stroke cylinder 11. Both dual-control cylinder 14 and dual-stroke cylinder 11 are prior art products. In the adaptive gripper 1 of this application, the dual-control cylinder 14 can control the manipulator gripper 13 to have two different gripping jaw spacings, and the dual-stroke cylinder 11 can control the manipulator gripper 13 to have two different clamping inner diameters to accommodate two product sizes. The two pneumatic devices, when used in conjunction, enable the manipulator gripper to freely switch between gripping two product sizes.

[0045] Furthermore, the mounting frame 12 is a rectangular frame, and slide rails are respectively provided on both sides of the mounting frame 12 along the length direction. The robot claw 13 is fixedly connected to the mounting plate 15, and a slider slidably connected to the slide rails is provided on the mounting plate 15.

[0046] like Figure 2As shown, the mounting frame 12 is a rectangular frame, and slide rails are respectively provided on the two parallel long sides of the mounting frame 12. The slide rails can be provided on the corresponding outer side, inner side, or bottom of the long side frame. The slide rails provided on the mounting frame 12 provide a track for easy movement of the manipulator gripper 13 when the gripper spacing needs to be changed. At the same time, the manipulator gripper 13 is fixedly connected to the mounting plate 15, and the fixed connection is a threaded connection, as shown in FIG. Figure 2 Shown, the mounting plate 15 is fixedly connected with a slide block that cooperates with the slide rail, and the fixed connection is a threaded connection or welding. Under the effect of the pneumatic device, the manipulator claw 13 can move by the target clamping claw spacing when moving.

[0047] Furthermore, the clamping diameter of the manipulator claw 13 is set to two sizes of diameters, which is achieved by setting two signals of the double-stroke cylinder 11.

[0048] For grabbing two specifications of products, the diameters of the product packaging barrels are different. When the robot gripper 13 grabs the packaging barrels, the clamping diameter requirements of the gripper are different. The double-stroke cylinder 11 provides two signals to meet the needs of the robot gripper 13 to grab the two specifications of products.

[0049] Furthermore, the distance between the grippers of the manipulator grippers 13 is set to two distances, which is achieved by setting two signals of the dual-control cylinder 14 .

[0050] For the grasping of two specifications of products, the diameters of the product packaging barrels are different. Combined with the barrel spacing, the robotic gripper 13 has different requirements for the spacing between the jaws when grasping the packaging barrels. The gripper spacing between the robotic grippers 13 needs to be set at two spacings to match the grasping of two specifications of products. The dual-control cylinder 14 can provide signals of two spacings to match the grasping function requirements of the robotic gripper.

[0051] Furthermore, four robotic grippers 13 are provided, three dual-control cylinders 14 are provided, and four double-stroke cylinders 11 are provided.

[0052] As a preferred embodiment of the adaptive clamp 1, the plurality of mechanical claws 13 are set to four, and in accordance with the number of mechanical claws 13, the dual-control cylinders 14 are set to three, and the dual-stroke cylinders 11 are set to four, such as Figure 1 and Figure 2 Each manipulator gripper 13 is equipped with a dual-stroke cylinder 11 to control the two clamping diameters of the manipulator gripper. Three dual-control cylinders 14 are connected between the four manipulator grippers 13 to control the manipulator grippers 13 to switch between the two gripper spacings.

[0053] Furthermore, the robotic claws 13 are respectively a first robotic claw 131, a second robotic claw 132, a third robotic claw 133 and a fourth robotic claw 134, the first robotic claw 131 is fixedly connected to the mounting frame 12, and the second robotic claw 132, the third robotic claw 133 and the fourth robotic claw 134 are slidingly connected to the mounting frame 12.

[0054] Regarding the setting of the robotic claws 13, it should be noted that one of the robotic claws 13 at the end of the mounting frame 12 needs to be fixedly connected to the mounting frame 12. In the embodiment where the number of robotic claws 13 is set to four, the first robotic claw 131 is fixedly connected to the mounting frame 12, and the remaining three robotic claws 13 are slidably connected to the mounting frame 12, providing a stable connection for the free switching of the claw spacing between the robotic claws 13. In the embodiment where the adaptive clamp 1 is set to have four robotic claws 13, the first robotic claw 131 is set to be fixedly connected to the mounting frame 12, and the other three robotic claws 13 are slidably connected to the mounting frame 12. When grabbing four small-sized products, the spacing between the four robotic claws 13 is the same, such as Figure 1 As shown; when the robotic gripper 13 is switched to grasping large-sized products, one embodiment is that the three sliding robotic grippers 13 can be slid to the target spacing and the spacing between the four robotic grippers 13 is equal, and four large-sized products can be grasped. This method requires a longer length for the mounting frame 12; another embodiment is that when the four robotic grippers 13 that grasp small-sized products are switched to grasping large-sized products, the first robotic gripper 131 can be left empty and not used, and the second robotic gripper 132, the third robotic gripper 133 and the fourth robotic gripper 134 are arranged in sequence to adjust the gripper spacing to the target spacing, and only three robotic grippers 13 are used to grasp three large-sized products.

[0055] Furthermore, the three dual-control cylinders 14 are sequentially arranged between the four robotic grippers 13 , and a single dual-control cylinder 14 is fixedly connected to two adjacent robotic grippers 13 .

[0056] like Figure 2As shown, in an embodiment where the number of robotic claws 13 is set to four, one side of the first dual-control cylinder 141 is fixedly connected to the right side of the mounting plate 15 where the first robotic claw 131 is located, the other side of the first dual-control cylinder 141 is fixedly connected to the left side of the mounting plate 15 where the second robotic claw 132 is located, one side of the second dual-control cylinder 142 is fixedly connected to the right side of the mounting plate 15 where the second robotic claw 132 is located, the other side of the second dual-control cylinder 142 is fixedly connected to the left side of the mounting plate 15 where the third robotic claw 133 is located, one side of the third dual-control cylinder 143 is fixedly connected to the right side of the mounting plate 15 where the third robotic claw 133 is located, and the other side of the third dual-control cylinder 143 is fixedly connected to the left side of the mounting plate where the fourth robotic claw 134 is located, and the fixed connection is a threaded connection.

[0057] The utility model also discloses a palletizing robot, which adopts the aforementioned adaptive clamp 1 to be connected with a mechanical arm.

[0058] The palletizing robot is composed of an adaptive fixture 1 connected to a robotic arm. The adaptive fixture 1 can be connected to a robotic arm with matching functions to better adapt to the application of two production lines, thereby improving the working efficiency of the palletizing robot.

[0059] Furthermore, the robotic arm is threadedly connected to the adaptive clamp 1 .

[0060] The adaptive clamp 1 of the present application is installed at the end of the robotic arm of the palletizing robot. The adaptive clamp 1 can be threadedly connected to the robotic arm, making the installation and disassembly of the adaptive clamp 1 more convenient.

[0061] It should be noted that the various specific technical features described in the above specific embodiments can be combined in any appropriate manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0062] In addition, the various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. An adaptive fixture, characterized in that: The invention comprises a mounting frame (12) and a plurality of manipulator claws (13) mounted on the mounting frame (12), wherein one manipulator claw (13) at the end of the mounting frame (12) is fixedly connected to the mounting frame (12), and the other manipulator claws (13) are slidably connected to the mounting frame (12), the manipulator claws (13) are connected to each other via a first pneumatic device to adjust the distance between the grippers, and the manipulator claws (13) are all connected to a second pneumatic device.

2. The adaptive fixture according to claim 1, characterized in that The power device of the first pneumatic device is preferably a double-control cylinder (14), and the power device of the second pneumatic device is preferably a double-stroke cylinder (11).

3. The adaptive fixture according to claim 2, characterized in that The mounting frame (12) is a rectangular frame. Slide rails are respectively provided on both sides of the mounting frame (12) along the length direction. The mechanical gripper (13) is fixedly connected to the mounting plate (15). The mounting plate (15) is provided with a slider slidably connected to the slide rails.

4. The adaptive fixture according to claim 2, characterized in that The clamping diameter of the clamping jaws of the manipulator gripper (13) is set to two sizes of diameters, which is achieved by setting two signals of the double-stroke cylinder (11).

5. The adaptive fixture according to claim 4, characterized in that The distance between the grippers of the manipulator grippers (13) is set to two distances, which is achieved by setting two signals of the dual-control cylinder (14).

6. The adaptive fixture according to claim 3, characterized in that The number of the mechanical grippers (13) is four, the number of the dual-control cylinders (14) is three, and the number of the dual-stroke cylinders (11) is four.

7. The adaptive fixture according to claim 6, characterized in that The mechanical claws (13) are respectively a first mechanical claw (131), a second mechanical claw (132), a third mechanical claw (133) and a fourth mechanical claw (134); the first mechanical claw (131) is fixedly connected to the mounting frame (12); the second mechanical claw (132), the third mechanical claw (133) and the fourth mechanical claw (134) are slidably connected to the mounting frame (12).

8. The adaptive fixture according to claim 7, characterized in that The three dual-control cylinders (14) are sequentially arranged between the four mechanical grippers (13), and a single dual-control cylinder (14) is fixedly connected to two adjacent mechanical grippers (13).

9. A palletizing robot, characterized in that: The adaptive clamp described in any one of claims 1 to 8 is connected to the robotic arm.

10. The palletizing robot according to claim 9, characterized in that: The robotic arm is threadedly connected to the adaptive clamp.

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