Carrying gripper for robot palletizer

Abstract

The utility model relates to the technical field of palletizing robots, and discloses a carrying gripper for a palletizing robot, which comprises a top cover plate, the two sides of the lower surface of the top cover plate are connected with clamping plates in a sliding manner, the surfaces of the clamping plates are provided with guide sliding chutes, the interiors of the guide sliding chutes are connected with supporting shovel blocks in a sliding manner, and the supporting shovel blocks are connected with the clamping plates in a sliding manner. The clamping plate and the conveying plate are driven to be close to the two sides of a material through rotation of the positive and negative threaded columns, the two sides of the material are clamped and positioned, then when the material is clamped to the conveying plate, the pressed suction cups on the conveying plate are pressed to adsorb and position the bottom of the material, and the hydraulic telescopic rods drive the material to move to the position below the negative pressure suction cups. The negative pressure suction cup is externally connected with pump body equipment to adsorb and position the tops of the materials, the stability is enhanced again, then multi-directional positioning is achieved, the materials are restrained in all directions, the stability of the materials in the carrying and stacking process is greatly improved, and the conditions of shaking, deviation and the like of the materials are avoided.

Description

Technical Field

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

[0002] In modern industrial production, with the continuous expansion of production scale, the efficiency requirements for material handling and palletizing are increasing. Traditional manual handling methods have disadvantages such as slow speed and high labor intensity, and cannot meet the needs of large-scale and rapid production. Therefore, an efficient palletizing robot is needed to use a handling gripper to realize automated material handling and palletizing operations to improve the efficiency of the entire production process.

[0003] The cam is fixedly provided with a U-shaped partition on the inner bottom surface of the strip box, and the U-shaped partition divides the interior of the strip box into an adsorption chamber and an installation chamber, and the upper end of the installation chamber is rotatably connected to a stud, one end of the stud is fixedly connected to the rotating end of the motor fixedly installed on the outer wall of the strip box, and the threaded parts at both ends of the stud are threadedly sleeved with a slider, the bottom end of the slider extends out of the strip box, and the lower end of the side wall of the slider is provided with a push rod, the inner wall of the suction U-shaped frame is rotatably connected to the rotating shaft, and the two ends of the rotating shaft are provided with a torsion spring at the rotating connection between the inner wall of the U-shaped frame, and the outer wall of the rotating shaft is fixedly sleeved with a sleeve, the side wall of the sleeve is fixedly provided with a connecting plate, and the other end of the connecting plate is connected to an adjusting plate, the side wall of the adjusting plate slides into engagement with the end of the push rod, and the lower end of the adjusting plate facing away from the side where the push rod is fixed is fixed with a fixing frame, and a clamping roller is fixedly installed on the fixing frame.

[0004] However, the above device has some defects during actual use: although the rubber layer covering the outer surface of the clamping roller of the above device can improve the clamping effect, the rubber layer is easy to wear during long-term use, especially when the surface of the transported box is relatively rough or the transport frequency is high, the wear rate of the rubber layer will accelerate. Once the rubber layer is severely worn, the friction between the clamping roller and the box will be reduced, thereby affecting the stability of the clamping. In addition, if only circular clamping rollers are used for clamping, it may not be able to fit the surface of the box well for irregularly shaped boxes. For example, for boxes with curved surfaces or edges, the clamping rollers may not be able to completely wrap or fit tightly, causing the box to shake or even fall during transportation, which has a negative impact on the safety and efficiency of the production process. Utility Model Content

[0005] In order to solve the above technical problems, the utility model provides a handling gripper for a palletizing robot.

[0006] The utility model is implemented by the following technical solutions: a handling gripper for a palletizing robot, comprising a top cover plate, both sides of the lower surface of the top cover plate are slidably connected to clamping plates, the surface of the clamping plate is provided with a guide slot, the interior of the guide slot is slidably connected to a supporting shovel block, the surface of the supporting shovel block is fixedly connected to a transport plate, both sides of the upper surface of the transport plate are fixedly connected to pressure suction cups, and the upper surface of the supporting shovel block is fixedly connected to a hydraulic telescopic rod.

[0007] Through the above technical solution, the support shovel block is driven to rise and fall by controlling the hydraulic telescopic rod. Since the surface of the support shovel block is fixedly connected to the transport plate, the height of the transport plate can be adjusted, so that the support shovel block can get closer to the material and preliminarily position the material in preparation for grabbing. When the material is clamped and moved to the surface of the transport plate, the material presses down the pressure suction cups on both sides of the surface of the transport plate, and the pressure suction cups pre-absorb and position the material. Then, the support shovel block is driven to rise again by the hydraulic telescopic rod. Since the upper surface of the support shovel block is fixedly connected to the hydraulic telescopic rod, and the support shovel block is slidably connected to the guide chute, it can rise stably. As the support shovel block rises, the transport plate also rises, thereby driving the material adsorbed by the pressure suction cup to rise.

[0008] As a further improvement of the above solution, the top end of the hydraulic telescopic rod is fixedly connected to the inner top wall of the guide chute.

[0009] As a further improvement of the above solution, a mounting ring is fixedly connected to the middle of the lower surface of the top cover plate, a negative pressure suction cup is fixedly connected to the inside of the mounting ring, and a connecting air pipe is fixedly connected to the upper surface of the negative pressure suction cup.

[0010] As a further improvement of the above solution, auxiliary sliding grooves are provided on both sides of the lower surface of the top cover plate, and a motor groove is provided on the lower surface of the top cover plate.

[0011] Through the above technical solution, the motor slot facilitates the installation and positioning of the servo motor.

[0012] As a further improvement of the above solution, a servo motor is fixedly connected to the inside of the motor slot, an output end of the servo motor is fixedly connected to a forward and reverse threaded column, and a surface of the forward and reverse threaded column is rotatably connected to a support shaft seat.

[0013] Through the above technical solution, the support shaft seat ensures the stability of the forward and reverse threaded columns during rotation.

[0014] As a further improvement of the above solution, the support shaft seat is fixedly connected to the lower surface of the top cover plate, and movable blocks are threadedly connected on both sides of the positive and negative threaded columns.

[0015] Through the above technical solution, the forward and reverse threaded columns start to rotate. Since the threads on both sides are in opposite directions, the movable blocks threadedly connected on both sides of the threaded column can move toward each other.

[0016] As a further improvement of the above solution, the movable block is fixedly connected to the upper surface of the clamping plate, and the clamping plate is slidably connected to the lower surface of the top cover plate through the movable block.

[0017] Through the above technical solution, the movement of the movable block drives the clamping plate to move, thereby clamping both sides of the material.

[0018] Compared with the prior art, the beneficial effects of the present invention are:

[0019] The utility model drives the clamping plate and the transport plate to approach the two sides of the material by rotating the positive and negative threaded columns, and clamps and positions the two sides of the material. Subsequently, when the material is clamped onto the transport plate, the pressure suction cup on the transport plate is pressurized to adsorb and position the bottom of the material, and the hydraulic telescopic rod drives the material to move under the negative pressure suction cup, and the negative pressure suction cup is externally connected to the pump body equipment to adsorb and position the top of the material, which further enhances the stability and realizes multi-directional positioning, so that the material is constrained in all directions, greatly improving the stability of the material during the handling and stacking process, and avoiding shaking, deviation, etc. of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the overall structure of the utility model;

[0021] Figure 2 This is a schematic diagram of the structure of the supporting shovel block of the utility model;

[0022] Figure 3 This is a schematic structural diagram of the negative pressure suction cup of the utility model;

[0023] Figure 4 This is a schematic structural diagram of the positive and negative threaded column of the utility model;

[0024] Figure 5 This is a structural diagram of the hydraulic telescopic rod of the utility model.

[0025] Description of main symbols:

[0026] 1. Top cover plate; 2. Clamping plate; 3. Guide chute; 4. Support shovel block; 5. Transport plate; 6. Pressure suction cup; 7. Hydraulic telescopic rod; 8. Mounting ring; 9. Negative pressure suction cup; 10. Connecting air pipe; 11. Auxiliary chute; 12. Motor slot; 13. Servo motor; 14. Positive and negative threaded column; 15. Support shaft seat; 16. Movable block. DETAILED DESCRIPTION

[0027] Below, the present invention is further described in conjunction with the accompanying drawings and specific implementation methods. It should be noted that, under the premise of no conflict, the various embodiments or technical features described below can be arbitrarily combined to form new embodiments.

[0028] Example:

[0029] Please combine Figure 1-5 The present embodiment is a handling gripper for a palletizing robot, comprising a top cover plate 1, with clamping plates 2 slidably connected to both sides of the lower surface of the top cover plate 1, a guide slot 3 being provided on the surface of the clamping plate 2, a support shovel block 4 being slidably connected inside the guide slot 3, a transport plate 5 being fixedly connected to the surface of the support shovel block 4, and a pressure suction cup 6 being fixedly connected to both sides of the upper surface of the transport plate 5, a hydraulic telescopic rod 7 being fixedly connected to the upper surface of the support shovel block 4, which is driven to rise and fall by controlling the hydraulic telescopic rod 7. Since the surface of the support shovel block 4 is fixedly connected to the transport plate 5, the height of the transport plate 5 can be adjusted. This enables the supporting shovel block 4 to better approach the material, preliminarily position the material and prepare for grabbing. When the material is clamped and moved to the surface of the transport plate 5, the material presses down the pressure suction cups 6 on both sides of the surface of the transport plate 5, and the pressure suction cups 6 pre-absorb and position the material. Then, the supporting shovel block 4 is driven to rise again by the hydraulic telescopic rod 7. Since the upper surface of the supporting shovel block 4 is fixedly connected to the hydraulic telescopic rod 7, and the supporting shovel block 4 is slidably connected to the guide chute 3, it can rise stably. As the supporting shovel block 4 rises, the transport plate 5 also rises, thereby driving the material adsorbed by the pressure suction cup 6 to rise.

[0030] The top end of the hydraulic telescopic rod 7 is fixedly connected to the inner top wall of the guide chute 3 .

[0031] A mounting ring 8 is fixedly connected to the middle of the lower surface of the top cover plate 1, a negative pressure suction cup 9 is fixedly connected to the inside of the mounting ring 8, and a connecting air pipe 10 is fixedly connected to the upper surface of the negative pressure suction cup 9. The connecting air pipe 10 is connected to an external air pump device to make the negative pressure suction cup 9 generate negative pressure, and the negative pressure generated by the negative pressure suction cup 9 performs secondary adsorption and positioning on the material.

[0032] Auxiliary sliding grooves 11 are provided on both sides of the lower surface of the top cover plate 1 , and a motor slot 12 is provided on the lower surface of the top cover plate 1 .

[0033] A servo motor 13 is fixedly connected to the inside of the motor slot 12, and a forward and reverse threaded column 14 is fixedly connected to the output end of the servo motor 13. The surface of the forward and reverse threaded column 14 is rotatably connected to the support shaft seat 15. When the forward and reverse threaded column 14 rotates, since the threads on both sides thereof are in opposite directions, the movable blocks 16 on both sides will drive the clamping plates 2 to move toward the middle at the same time, thereby clamping the material.

[0034] The support shaft seat 15 is fixedly connected to the lower surface of the top cover plate 1 , and movable blocks 16 are threadedly connected to both sides of the positive and negative threaded columns 14 .

[0035] The movable block 16 is fixedly connected to the upper surface of the clamping plate 2 , and the clamping plate 2 is slidably connected to the lower surface of the top cover plate 1 through the movable block 16 .

[0036] The implementation principle of a handling gripper for a stacking robot in the embodiment of the present application is as follows: first, the supporting shovel block 4 is driven to rise and fall by controlling the hydraulic telescopic rod 7. Since the surface of the supporting shovel block 4 is fixedly connected to the transport plate 5, the height of the transport plate 5 can be adjusted, so that the supporting shovel block 4 can get closer to the material and preliminarily position the material in preparation for grabbing. Next, the servo motor 13 located inside the motor slot 12 is started, and the positive and negative threaded columns 14 fixedly connected to its output end begin to rotate. Both sides of the positive and negative threaded columns 14 are threadedly connected with movable blocks 16. The movable block 16 is fixedly connected to the upper surface of the clamping plate 2, and the clamping plate 2 is slidably connected to the lower surface of the top cover plate 1 through the movable block 16. When the positive and negative threaded columns 14 rotate, since the threads on both sides are in opposite directions, the movable blocks 16 on both sides will drive the clamping plates 2 to move toward the middle at the same time, thereby clamping the material. When the material is clamped and moved to the transport plate 5 When the material is on the surface, the material presses down the pressure suction cups 6 on both sides of the surface of the transport plate 5, and the pressure suction cups 6 pre-adsorb and position the material, and then, the supporting shovel block 4 is driven to rise again by the hydraulic telescopic rod 7. Since the upper surface of the supporting shovel block 4 is fixedly connected to the hydraulic telescopic rod 7, and the supporting shovel block 4 is slidably connected to the guide chute 3, it can rise stably. As the supporting shovel block 4 rises, the transport plate 5 also rises, thereby driving the material adsorbed by the pressure suction cup 6 to rise. When the material moves to the bottom of the negative pressure suction cup 9, an external air pump device is connected through the air pipe 10 to generate negative pressure in the negative pressure suction cup 9. The negative pressure generated by the negative pressure suction cup 9 performs a second adsorption and positioning on the material. At this time, the bottom of the material is adsorbed and positioned by the pressure suction cup 6, the transport plate 5 provides support, the two sides of the material are positioned by the clamping plate 2, and the top is positioned by the negative pressure suction cup 9, so that the material can maintain a stable state during the subsequent handling process.

[0037] The above-mentioned embodiments are only preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and replacements made by technicians in this field on the basis of the present invention fall within the scope of protection required by the present invention.

Claims

1. A handling gripper for a palletizing robot, characterized in that: The utility model comprises a top cover plate (1), both sides of the lower surface of the top cover plate (1) are slidably connected to clamping plates (2), the surface of the clamping plate (2) is provided with a guide slot (3), the interior of the guide slot (3) is slidably connected to a supporting shovel block (4), the surface of the supporting shovel block (4) is fixedly connected to a transport plate (5), both sides of the upper surface of the transport plate (5) are fixedly connected to pressure suction cups (6), and the upper surface of the supporting shovel block (4) is fixedly connected to a hydraulic telescopic rod (7).

2. A palletizing robot handling gripper according to claim 1, characterized in that: The top end of the hydraulic telescopic rod (7) is fixedly connected to the inner top wall of the guide chute (3).

3. The handling gripper for a palletizing robot according to claim 1, characterized in that: A mounting ring (8) is fixedly connected to the middle of the lower surface of the top cover plate (1), a negative pressure suction cup (9) is fixedly connected to the interior of the mounting ring (8), and a connecting air pipe (10) is fixedly connected to the upper surface of the negative pressure suction cup (9).

4. The handling gripper for a palletizing robot according to claim 1, wherein: Auxiliary sliding grooves (11) are provided on both sides of the lower surface of the top cover plate (1), and a motor groove (12) is provided on the lower surface of the top cover plate (1).

5. The handling gripper for a palletizing robot according to claim 4, characterized in that: A servo motor (13) is fixedly connected to the interior of the motor slot (12), an output end of the servo motor (13) is fixedly connected to a forward and reverse threaded column (14), and a surface of the forward and reverse threaded column (14) is rotatably connected to a support shaft seat (15).

6. The handling gripper for a palletizing robot according to claim 5, characterized in that: The support shaft seat (15) is fixedly connected to the lower surface of the top cover plate (1), and both sides of the forward and reverse threaded columns (14) are threadedly connected to movable blocks (16).

7. The handling gripper for a palletizing robot according to claim 6, characterized in that: The movable block (16) is fixedly connected to the upper surface of the clamping plate (2), and the clamping plate (2) is slidably connected to the lower surface of the top cover plate (1) via the movable block (16).

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