Clamp for robot stacking

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a robot palletizing clamp which comprises a clamp body and a quick connector, and the clamp body is vertically installed at the bottom end of the quick connector in an embedded mode and detachably connected with the quick connector. The clamp comprises a base, clamping jaws, a pneumatic driver, a quick connection valve A, a butt joint seat and a locking piece, the multiple clamping jaws are obliquely hinged to the edge of the bottom of the base, the pneumatic driver is horizontally installed in the middle of the bottom of the base, one end of the pneumatic driver extends to one side of the base, and the other end of the pneumatic driver extends to the other side of the base. The quick connecting valve A is vertically embedded in the edge of the top end of the pneumatic driver, the quick connecting device is fixedly connected with the palletizing robot body through bolts, and the clamps are in quick butt joint and disassembly with the quick connecting device through the butt joint base and the locking piece, so that various clamps used by the palletizing robot all adopt the design structure, and the structure is simple and convenient. Therefore, the clamp can be quickly and automatically replaced, the time and labor cost for replacing the clamp are reduced, and the working efficiency is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to a fixture for robot palletizing. Background Art

[0002] Palletizing robots are automated equipment designed specifically for automatically stacking and moving goods in industrial production and logistics. They can significantly improve production efficiency, reduce manual labor, and improve the accuracy and consistency of goods stacking.

[0003] The palletizing robot's gripper, also known as the end effector or manipulator end assembly, is a device installed at the end of the robot arm, used to grab, carry and place various items. The gripper can work with the palletizing robot to significantly improve the palletizing speed and overall production efficiency, but it still has certain problems: different types and weights of items require different types of grippers when palletizing, but the loading and unloading of the grippers is cumbersome and time-consuming, and cannot be automated. This process consumes a lot of time and manpower; therefore, in view of the above situation, there is an urgent need to develop a gripper for robot palletizing to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0004] The purpose of the present utility model is to provide a robot palletizing fixture to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a fixture for robot palletizing, comprising a fixture and a quick connector, wherein the fixture is vertically embedded and installed at the bottom end of the quick connector, and is detachably connected to the quick connector;

[0006] The clamp includes a base, a clamping jaw, a pneumatic driver, a quick-connect valve A, a docking seat, and a locking piece. Several clamping jaws are hinged at an angle at the bottom edge of the base. The pneumatic driver is horizontally installed in the middle of the bottom of the base. One end of the pneumatic driver extends to one side of the base. The quick-connect valve A is vertically embedded in the top edge of the pneumatic driver and is connected and fixed to the pneumatic driver. The docking seat is vertically welded to the middle of the top of the base. The locking piece is vertically set at the top of the docking seat and is integrally formed with the docking seat.

[0007] The quick connector also includes a quick connector valve B, a locking sleeve, a spring A, a push rod, a spring B, a locking ball and a linear motor. A docking groove is provided in the middle position of the bottom of the quick connector. The quick connector valve B is vertically arranged at the bottom edge of the quick connector and is fixedly connected to the outer wall of the quick connector by screws. A mounting groove is provided inside the quick connector. The locking sleeve is embedded in the inside of the mounting groove and is slidably connected in the mounting groove. The spring A is vertically embedded and installed between the locking sleeve and the mounting groove. The push rod is embedded in the inside of the locking sleeve and is slidably connected in the locking sleeve. The spring B is embedded and installed between the push rod and the mounting groove. A limiting groove is provided on the side of the locking sleeve. The locking ball is embedded between the limiting groove and the docking groove and is rollingly connected in the limiting groove and the docking groove. A locking groove is provided on the inner wall of the docking groove. An installation chamber is provided on one side of the installation groove. The linear motor is vertically installed in the installation chamber, and the end of the output shaft of the linear motor is fixedly connected to the side wall of the locking sleeve.

[0008] Preferably, the pneumatic driver is a driving structure integrating multiple cylinders, and the ends of the piston rods of the cylinders are hinged to the clamping jaws.

[0009] Preferably, the top of the locking piece forms a spherical surface, and the bottom edge of the locking piece forms a concave surface. The spherical surface is used to push the locking ball to the edge position, and the concave surface can have a certain limiting effect with the locking ball to ensure subsequent locking.

[0010] Preferably, the docking seat is in the shape of a truncated cone with a large inclination angle as a whole, and the docking seat matches the docking groove, and the two cooperate with each other to achieve docking stability between the clamp and the quick connector.

[0011] Preferably, the quick-connect valve A and the quick-connect valve B are vertically corresponding one to one, and the top of the quick-connect valve B is connected to an external compressed air source as a drive. After the quick-connect valve B is docked with the quick-connect valve A, the pneumatic driver driven by the external compressed air drives the clamping claw to extend and retract around the hinged part, thereby achieving the effect of the clamping claw grabbing items.

[0012] Preferably, the limiting groove is spherical and passes through the locking sleeve inside and outside. The opening on the outside of the limiting groove is smaller than the opening on the inside of the locking sleeve. The diameter of the outer opening of the limiting groove is larger than the outer diameter of the locking ball, and the inner opening of the limiting groove is smaller than the outer diameter of the locking ball. The locking ball can pass through the limiting groove to the inside of the locking sleeve, thereby cooperating with the concave surface of the locking piece to achieve locking.

[0013] Preferably, when spring A is in the "free length" state, the limiting groove of the locking sleeve is horizontally corresponding to the locking groove one by one. At this time, the locking ball is located between the limiting groove and the locking groove, and is rollingly connected to the limiting groove and the locking groove. When the locking piece of the clamp is inserted into the locking sleeve, it can push the locking ball and force it to embed into the locking groove. Then the locking ball is located at the concave surface of the locking piece, which is convenient for the subsequent locking effect of the locking piece.

[0014] Preferably, the maximum outer diameter of the locking piece is smaller than the inner diameter of the locking sleeve, and the locking piece can be embedded in the locking sleeve, cooperating with the locking ball and the inner wall of the mounting groove of the quick connector to achieve locking, thereby realizing rapid assembly and disassembly of the clamp and the quick connector.

[0015] Compared with the prior art, the present invention provides a robot palletizing fixture with the following features:

[0016] Beneficial effects:

[0017] The quick connector is fixedly connected to the palletizing robot body with bolts, while the fixture is quickly docked and disassembled through the docking seat, locking parts and quick connector. Therefore, all types of fixtures used by the palletizing robot adopt this design structure, which can realize fast and automatic fixture replacement, reduce the time and labor cost of fixture replacement, and improve work efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without inventive work.

[0019] Figure 1 This is a schematic diagram of the front structure of the utility model;

[0020] Figure 2 This is a schematic diagram of the fixture structure of the utility model;

[0021] Figure 3 This is a schematic diagram of the structure of the quick connector of the utility model;

[0022] Figure 4 This is a side longitudinal sectional view of the entire utility model;

[0023] Figure 5 This is a side longitudinal sectional view of the quick connector of the utility model;

[0024] Figure 6 This is a side view of the fixture of the utility model;

[0025] In the figure: 1. Clamp; 11. Base; 12. Gripper; 13. Pneumatic actuator; 14. Quick-connect valve A; 15. Docking seat; 16. Locking piece; 161. Spherical surface; 162. Concave surface; 2. Quick connector; 21. Docking groove; 22. Quick-connect valve B; 23. Locking sleeve; 231. Limiting groove; 24. Spring A; 25. Push rod; 26. Spring B; 27. Locking ball; 28. Locking groove; 29. Linear motor. DETAILED DESCRIPTION

[0026] 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.

[0027] In this utility model, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, indirect connection through an intermediate medium, internal communication between two components, or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on specific circumstances.

[0028] Example:

[0029] See also Figures 1-6 The utility model provides a technical solution: a fixture for robot palletizing, comprising a fixture 1 and a quick connector 2, wherein the fixture 1 is vertically embedded and installed at the bottom end of the quick connector 2 and is detachably connected to the quick connector 2;

[0030] The clamp 1 includes a base 11, a clamping jaw 12, a pneumatic driver 13, a quick-connect valve A14, a docking seat 15, and a locking piece 16. Several clamping jaws 12 are hingedly connected to the bottom edge of the base 11 at an angle. The pneumatic driver 13 is horizontally installed in the middle of the bottom of the base 11. One end of the pneumatic driver 13 extends to one side of the base 11. The quick-connect valve A14 is vertically embedded in the top edge of the pneumatic driver 13 and is connected to and fixed to the pneumatic driver 13. The docking seat 15 is vertically welded to the middle of the top of the base 11. The locking piece 16 is vertically arranged at the top of the docking seat 15 and is integrally formed with the docking seat 15.

[0031] The quick connector 2 also includes a quick connector valve B22, a locking sleeve 23, a spring A24, a push rod 25, a spring B26, a locking ball 27 and a linear motor 29. A docking groove 21 is provided at the middle position of the bottom of the quick connector 2. The quick connector valve B22 is vertically arranged at the bottom edge of the quick connector 2 and is fixedly connected to the outer wall of the quick connector 2 by screws. A mounting groove is provided inside the quick connector 2. The locking sleeve 23 is embedded in the inside of the mounting groove and is slidably connected in the mounting groove. The spring A24 is vertically embedded between the locking sleeve 23 and the mounting groove. The push rod 25 is embedded in the inside of the locking sleeve 23 and is fixedly connected to the outer wall of the quick connector 2 by screws. The locking sleeve 23 is slidably connected, and the spring B26 is embedded and installed between the push rod 25 and the mounting groove. A limiting groove 231 is provided on the side of the locking sleeve 23, and the locking ball 27 is embedded and provided between the limiting groove 231 and the docking groove 21, and is rollingly connected in the limiting groove 231 and the docking groove 21. A locking groove 28 is provided on the inner wall of the docking groove 21, and an installation chamber is provided on one side of the installation groove. The linear motor 29 is vertically installed in the installation chamber, and the end of the output shaft of the linear motor 29 is fixedly connected to the side wall of the locking sleeve 23. A limiting protrusion is provided in the docking groove 21 to prevent the locking sleeve 23 and the push rod 25 from falling off.

[0032] Preferably, the pneumatic driver 13 is a driving structure integrating multiple cylinders, and the ends of the piston rods of the cylinders are hinged to the clamping jaws 12 .

[0033] Preferably, the top of the locking piece 16 forms a spherical surface 161, and the bottom edge of the locking piece 16 forms a concave surface 162. The spherical surface 161 is used to push the locking ball 27 to the edge position, and the concave surface 162 can play a certain limiting effect with the locking ball 27 to ensure subsequent locking.

[0034] Preferably, the docking seat 15 is in the shape of a truncated cone with a large inclination angle. The docking seat 15 matches the docking groove 21 , and the two cooperate with each other to achieve docking stability between the clamp 1 and the quick connector 2 .

[0035] Preferably, the quick-connect valve A14 and the quick-connect valve B22 are vertically corresponding one to one, and an external compressed air source is connected to the top of the quick-connect valve B22 as a drive. After the quick-connect valve B22 is docked with the quick-connect valve A14, the pneumatic driver 13 is driven by the external compressed air to drive the clamping jaw 12 to extend and retract around the hinged part, thereby achieving the effect of the clamping jaw 12 grabbing items.

[0036] Preferably, the limiting groove 231 is spherical and passes through the locking sleeve 23 inside and outside. The opening on the outer side of the limiting groove 231 is smaller than the inner opening of the locking sleeve 23. The diameter of the outer opening of the limiting groove 231 is larger than the outer diameter of the locking ball 27. The inner opening of the limiting groove 231 is smaller than the outer diameter of the locking ball 27. The locking ball 27 can partially enter the inner side of the locking sleeve 23 through the limiting groove 231, thereby cooperating with the concave surface of the locking piece 16 to achieve locking.

[0037] Preferably, when the spring A24 is in the "free length" state, the limiting groove 231 of the locking sleeve 23 is horizontally corresponding to the locking groove 28. At this time, the locking ball 27 is located between the limiting groove 231 and the locking groove 28, and is rollingly connected in the limiting groove 231 and the locking groove 28. When the locking piece 16 of the clamp 1 is inserted into the locking sleeve 23, it can push the locking ball 27 and force it to embed into the locking groove 28. Then the locking ball 27 is located at the concave surface 162 of the locking piece 16, which is convenient for the subsequent locking effect of the locking piece 16.

[0038] Preferably, the maximum outer diameter of the locking piece 16 is smaller than the inner diameter of the locking sleeve 23, and the locking piece 16 can be embedded in the locking sleeve 23, cooperating with the locking ball 27 and the inner wall of the mounting groove of the quick connector 2 to achieve locking, thereby realizing rapid assembly and disassembly of the clamp 1 and the quick connector 2.

[0039] Working principle: First, use bolts to vertically install the quick connector 2 on the end of the manipulator of the palletizing robot, and connect the compressed gas source used by the palletizing robot to drive the clamp 1 through a pipeline to the top interface of the cross-border valve B22. Control the palletizing robot to align the docking groove 21 at the bottom end of the quick connector 2 with the docking seat 15 at the top end of the clamp 1 and insert it. The locking piece 16 will first push the locking ball 27 open through the top spherical surface 161, forcing it to slide into the locking groove 28. When the docking seat 15 and the docking groove 21 are fully matched, the top of the locking piece 16 is higher than the locking ball 27. At this time, the locking ball 27 will enter the limit groove 231 under the action of its own gravity, and then start the linear motor 29 to drive the locking sleeve 23 to move upward, and the locking sleeve 23 will pass through the limit The positioning groove 231 drives the locking ball 27 to move upward, so that most of it is located between the limiting groove 231 and the inner wall of the docking groove 21. At this time, one side of the locking ball 27 is embedded in the concave surface 162 of the locking piece 16 through the limiting groove 231, thereby achieving a locking effect on the locking piece 16. At this time, the entire clamp 1 and the quick connector 2 are docked. In this process, the quick-connect valve A14 and the quick-connect valve B22 are also docked. The clamp 12 can be controlled to grab objects by compressed gas in conjunction with the pneumatic driver 13. When the clamp 1 needs to be disassembled, the locking sleeve 23 is driven down by the linear motor 29, thereby driving the locking ball 27 to descend between the locking groove 28 and the limiting groove 231. At this time, the locking ball 27 will not affect the removal of the locking piece 16.

[0040] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

Claims

1. A robot palletizing fixture, characterized by: It comprises a clamp (1) and a quick connector (2), wherein the clamp (1) is vertically embedded and installed at the bottom end of the quick connector (2) and is detachably connected to the quick connector (2); The clamp (1) includes a base (11), a clamping jaw (12), a pneumatic driver (13), a quick-connect valve A (14), a docking seat (15) and a locking piece (16), wherein a plurality of the clamping jaws (12) are hingedly connected to the bottom edge of the base (11), the pneumatic driver (13) is horizontally installed at the bottom middle position of the base (11), one end of the pneumatic driver (13) extends to one side of the base (11), the quick-connect valve A (14) is vertically embedded in the top edge of the pneumatic driver (13), and is connected and fixed to the pneumatic driver (13), the docking seat (15) is vertically welded to the top middle position of the base (11), and the locking piece (16) is vertically arranged at the top of the docking seat (15) and is integrally formed with the docking seat (15); The quick connector (2) further comprises a quick connector valve B (22), a locking sleeve (23), a spring A (24), a push rod (25), a spring B (26), a locking ball (27) and a linear motor (29). A docking groove (21) is provided at the middle position of the bottom of the quick connector (2). The quick connector valve B (22) is vertically arranged at the bottom edge of the quick connector (2) and is fixedly connected to the outer wall of the quick connector (2) by screws. A mounting groove is provided inside the quick connector (2). The locking sleeve (23) is embedded in the mounting groove and is slidably connected to the mounting groove. The spring A (24) is vertically embedded between the locking sleeve (23) and the mounting groove. The push rod (25) is fixedly connected to the outer wall of the quick connector (2) by screws. ) is embedded in the interior of the locking sleeve (23) and is slidably connected to the locking sleeve (23), the spring B (26) is embedded between the push rod (25) and the mounting groove, a limiting groove (231) is provided on the side of the locking sleeve (23), the locking ball (27) is embedded between the limiting groove (231) and the docking groove (21), and is rollingly connected to the limiting groove (231) and the docking groove (21), the inner wall of the docking groove (21) is provided with a locking groove (28), a mounting chamber is provided on one side of the mounting groove, the linear motor (29) is vertically installed in the mounting chamber, and the output shaft end of the linear motor (29) is fixedly connected to the side wall of the locking sleeve (23).

2. The robot palletizing fixture according to claim 1, characterized in that: The pneumatic driver (13) is specifically a driving structure integrating multiple cylinders, and the piston rod ends of the cylinders are hinged to the clamping claws (12).

3. The robot palletizing fixture according to claim 1, characterized in that: The top end of the locking piece (16) forms a spherical surface (161), and the bottom edge of the locking piece (16) forms a concave surface (162).

4. The robot palletizing fixture according to claim 1, characterized in that: The docking seat (15) is in the shape of a truncated cone with a large inclination angle as a whole, and the docking seat (15) matches the docking groove (21).

5. The robot palletizing fixture according to claim 1, characterized in that: The quick-connect valve A (14) and the quick-connect valve B (22) are vertically arranged in one-to-one correspondence.

6. The robot palletizing fixture according to claim 1, characterized in that: The limiting groove (231) is spherical and passes through the locking sleeve (23) inside and outside. The opening of the limiting groove (231) on the outside is smaller than the opening on the inside of the locking sleeve (23). The diameter of the outer opening of the limiting groove (231) is larger than the outer diameter of the locking ball (27), and the inner opening of the limiting groove (231) is smaller than the outer diameter of the locking ball (27).

7. The robot palletizing fixture according to claim 1, characterized in that: When the spring A (24) is in a "free length" state, the limiting groove (231) of the locking sleeve (23) and the locking groove (28) are horizontally aligned one-to-one. At this time, the locking ball (27) is located between the limiting groove (231) and the locking groove (28) and is rollingly connected to the limiting groove (231) and the locking groove (28).

8. The robot palletizing fixture according to claim 1, characterized in that: The maximum outer diameter of the locking member (16) is smaller than the inner diameter of the locking sleeve (23).

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