Clamp with good clamping effect for palletizing robot

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot clamp with a good clamping effect, which comprises a base, four groups of clamping jaws and a buffer mechanism, the four groups of clamping jaws are annularly distributed at the edge of the bottom of the base at equal intervals, the top ends of the clamping jaws are hinged with the base, and the buffer mechanism is obliquely mounted on the inner sides of the clamping jaws; the bottom of the base is provided with four hinged seats A which are distributed around the center of the base in a scattering mode, the hinged seats A are fixedly connected with the base through screws, one side of each hinged seat A is provided with a hinged seat B, the hinged seats B are perpendicularly installed at the edge position of the bottom of the base, and each single clamping jaw is formed by sequentially hinging a force arm A, a force arm B and an anti-disengaging jaw. The clamping jaws are provided with three rotating nodes, so that the degree of freedom is higher, the four sets of clamping jaws are adopted as a whole to be annularly distributed around the center position, higher grabbing stability and adaptability are achieved, and more types of materials can be grabbed.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing robots, in particular to a clamp for a palletizing robot with good clamping effect. Background Art

[0002] Palletizing robots are the product of the organic combination of machinery and computer programs, which provide higher production efficiency for modern production. Palletizing machines are widely used in the palletizing industry. Palletizing robots greatly save labor and space.

[0003] Among them, the palletizing robot relies on the clamp at the end to grab the materials, and it cooperates with the palletizing robot to achieve efficient palletizing, but it still has some problems: 1) low flexibility and cannot adapt to the grabbing operations of different types of materials; 2) hard contact with the materials, which can easily damage the materials; therefore, in view of the above situation, there is an urgent need to develop a clamp for palletizing robots with good clamping effect to overcome the shortcomings in current practical applications and meet current needs. Utility Model Content

[0004] The purpose of the utility model is to provide a clamp for a palletizing robot with good clamping effect, so as to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solution: a clamp for a palletizing robot with good clamping effect, comprising a base, clamping claws and a buffer mechanism, wherein four sets of clamping claws are equidistantly distributed in a ring at the bottom edge of the base, and the top ends of the clamping claws are hinged to the base, and the buffer mechanism is installed obliquely on the inner side of the clamping claws;

[0006] The bottom of the base is provided with four articulated seats A scattered around the center of the base. The articulated seats A are fixed to the base by screws. Each side of a single articulated seat A is provided with an articulated seat B, which is vertically installed at the bottom edge of the base.

[0007] The clamping jaws include a lever arm A, a lever arm B and an anti-drop claw. The top of the lever arm A is hinged to the hinge seat A, the top of the lever arm B is hinged to the bottom of the lever arm A, and the top of the anti-drop claw is hinged to the bottom of the lever arm B.

[0008] The buffer mechanism includes a sleeve, a piston rod, a micro damping spring and a buffer pad. Several sleeves are installed at an angle on the inner side of the force arm A. One end of the piston rod is embedded in the interior of the sleeve and is slidably connected to the sleeve. The micro damping spring is embedded between the piston rod and the sleeve. The buffer pad is installed at the end position of several piston rods.

[0009] Preferably, the lever arm A also includes a cylinder A and a bent beam. The bottom end of the cylinder A is hinged to the hinge seat B, the end of the piston shaft of the cylinder A is hinged to the outer side of the lever arm A, and the bent beam is welded at an angle to the bottom edge of the lever arm A. The lever arm A cooperates with the lever arm B and the anti-slip claw to achieve multiple degrees of freedom and can grab more types of materials.

[0010] Preferably, the lever arm B also includes a cylinder B and a connecting seat. The bottom end of the cylinder B is hinged to the end of the curved beam, the end of the piston shaft of the cylinder B is hinged to the outer side of the lever arm B, and the connecting seat is welded to the middle position of the side wall of the lever arm B, and cooperates with the lever arm A to grab the material.

[0011] Preferably, the anti-slip claw also includes an extension beam, a cylinder C and a rubber strip. The extension beam is welded at an angle to the top edge of the anti-slip claw, the bottom end of the cylinder C is hinged to the connecting seat, the end of the piston shaft of the cylinder C is hinged to the end of the extension beam, and the rubber strip is arranged at an angle on the inner wall of the anti-slip claw and is bonded to the anti-slip claw by glue. The anti-slip claw can lift the bottom edge of the material when grabbing the material, provide sufficient support for the bottom of the material, and prevent it from accidentally falling off.

[0012] Preferably, the buffer pad is made of a flexible rubber material, which has a stronger buffering performance.

[0013] Preferably, a buffer mechanism with the same structure is installed on the inner side of the lever arm A and the lever arm B. The buffer mechanism can provide a good buffering effect between the clamping jaw and the material, avoiding damage to the material caused by hard contact between the clamping jaw and the material.

[0014] Compared with the prior art, the present invention provides a palletizing robot clamp with good clamping effect, which has the following beneficial effects:

[0015] 1. Its single gripper is hinged by lever A, lever B, and anti-dropping claw in sequence. The gripper has three rotation nodes, so it has a higher degree of freedom. The overall use of four groups of grippers is distributed in a ring around the center position, which makes it have stronger grasping stability and adaptability, and can grasp more types of materials.

[0016] 2. A buffer mechanism is installed on the inside of the clamp to prevent the clamp from directly contacting the material. The outside of the buffer mechanism uses a buffer pad made of flexible material to contact the material, and has a built-in micro damping spring to achieve a secondary buffering effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 This is a schematic diagram of the front structure of the utility model;

[0019] Figure 2 This is a side structural diagram of the utility model;

[0020] Figure 3 This is a side longitudinal sectional view of the entire utility model;

[0021] Figure 4 This is a side longitudinal sectional view of the buffer mechanism of the utility model;

[0022] Figure 5 This is a schematic diagram of the structure of the lever arm A of the utility model;

[0023] Figure 6 This is a schematic diagram of the anti-drop claw structure of the utility model;

[0024] In the figure: 1. Base; 11. Articulated seat A; 12. Articulated seat B; 2. Clamping claw; 21. Lever A; 211. Cylinder A; 212. Bending beam; 22. Lever B; 221. Cylinder B; 222. Connecting seat; 23. Anti-slip claw; 231. Extension beam; 232. Cylinder C; 233. Rubber strip; 3. Buffer mechanism; 31. Sleeve; 32. Piston rod; 33. Micro damping spring; 34. Buffer pad. 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] 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.

[0027] Example:

[0028] See also Figures 1-6 The utility model provides a technical solution: a clamp for a palletizing robot with good clamping effect, comprising a base 1, clamping jaws 2 and a buffer mechanism 3, wherein four groups of clamping jaws 2 are equidistantly distributed in a ring shape at the bottom edge of the base 1, and the top ends of the clamping jaws 2 are hinged to the base 1, and the buffer mechanism 3 is obliquely installed on the inner side of the clamping jaws 2;

[0029] The bottom of the base 1 is provided with four hinged seats A11 distributed in a scattered manner around the center of the base 1. The hinged seats A11 are fixedly connected to the base 1 by screws. A hinged seat B12 is provided on one side of each hinged seat A11. The hinged seat B12 is vertically installed at the bottom edge of the base 1.

[0030] The clamping jaw 2 includes a lever arm A21, a lever arm B22 and an anti-slip claw 23. The top of the lever arm A21 is hinged to the hinge seat A11, the top of the lever arm B22 is hinged to the bottom of the lever arm A21, and the top of the anti-slip claw 23 is hinged to the bottom of the lever arm B22.

[0031] The buffer mechanism 3 includes a sleeve 31, a piston rod 32, a micro damping spring 33 and a buffer pad 34. Several sleeves 31 are installed at an angle on the inner side of the force arm A21. One end of the piston rod 32 is embedded in the interior of the sleeve 31 and is slidably connected to the sleeve 31. The micro damping spring 33 is embedded between the piston rod 32 and the sleeve 31. The buffer pad 34 is installed at the end position of several piston rods 32.

[0032] Preferably, the lever arm A21 also includes a cylinder A211 and a bent beam 212. The bottom end of the cylinder A211 is hinged to the hinge seat B12, the end of the piston shaft of the cylinder A211 is hinged to the outer side of the lever arm A21, and the bent beam 212 is welded at an angle to the bottom edge of the lever arm A21. The lever arm A21 cooperates with the lever arm B22 and the anti-slip claw 23 to achieve multiple degrees of freedom and can grasp more types of materials.

[0033] Preferably, the force arm B22 also includes a cylinder B221 and a connecting seat 222. The bottom end of the cylinder B221 is hinged to the end of the curved beam 212. The end of the piston shaft of the cylinder B221 is hinged to the outer side of the force arm B22. The connecting seat 222 is welded to the middle position of the side wall of the force arm B22 and cooperates with the force arm A21 to grab the material.

[0034] Preferably, the anti-slip claw 23 also includes an extension beam 231, a cylinder C232 and a rubber strip 233. The extension beam 231 is welded at an angle to the top edge of the anti-slip claw 23, the bottom end of the cylinder C232 is hinged to the connecting seat 222, and the end of the piston shaft of the cylinder C232 is hinged to the end of the extension beam 231. The rubber strip 233 is arranged at an angle on the inner wall of the anti-slip claw 23 and is bonded to the anti-slip claw 23 by glue. The anti-slip claw 23 can lift the bottom edge of the material when grabbing the material, provide sufficient support for the bottom of the material, and prevent it from falling off accidentally.

[0035] Preferably, the buffer pad 34 is made of a flexible rubber material, which has a stronger buffering performance.

[0036] Preferably, a buffer mechanism 3 with the same structure is installed on the inner side of the force arm A21 and the force arm B22. The buffer mechanism 3 can play a good buffering effect between the clamping jaw 2 and the material, avoiding the clamping jaw 2 and the material from hard contact and causing damage to the material.

[0037] Working principle: First, connect the base 1 to the end of the manipulator of the palletizing robot, and the palletizing robot drives and controls the overall operation of the clamp. When it is necessary to grab materials, the cylinder A211, cylinder B221, and cylinder C232 of the clamp 2 are retracted, and the cylinder A211 drives the power arm A21 to rotate outward around the hinge seat A11, and the cylinder B221 drives the power arm B22 to rotate outward around the top and the bottom hinge of the force arm A21, and the cylinder C232 drives the anti-slip claw 23 to rotate outward around the top and the bottom hinge of the force arm B22. At this time, the entire clamp 2 is moved from the center point It unfolds outward, and when the palletizing robot drives it close to the material, it controls cylinder A211, cylinder B221, and cylinder C232 to pop out, thereby driving the power arm A21, force arm B22, and anti-slip claw 23 to tighten toward the middle position, thereby achieving a grabbing effect on the material in the middle. It should be noted here that a buffer mechanism 3 is installed on the inner wall of the clamp 2. When the clamp 2 is used to grab the material, the buffer pad 34 of the buffer mechanism 3 will first contact the material and apply a grabbing force to it under the drive of the clamp 2. The buffer pad 34 made of flexible material and the micro damping spring 33 can play a buffering effect during the grabbing process.

[0038] 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, so 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 palletizing robot clamp with good clamping effect, characterized by: The invention comprises a base (1), clamping jaws (2) and a buffer mechanism (3), wherein four groups of the clamping jaws (2) are distributed in a ring shape at equal intervals at the bottom edge of the base (1), and the top ends of the clamping jaws (2) are hinged to the base (1), and the buffer mechanism (3) is installed obliquely on the inner side of the clamping jaws (2); The bottom of the base (1) is provided with four hinge seats A (11) distributed in a scattered manner around the center of the base (1), and the hinge seats A (11) are fixedly connected to the base (1) by screws. A hinge seat B (12) is provided on one side of each hinge seat A (11), and the hinge seat B (12) is vertically installed at the bottom edge of the base (1); The clamping claw (2) comprises a lever arm A (21), a lever arm B (22) and an anti-slip claw (23), wherein the top end of the lever arm A (21) is hinged to the hinge seat A (11), the top end of the lever arm B (22) is hinged to the bottom end of the lever arm A (21), and the top end of the anti-slip claw (23) is hinged to the bottom end of the lever arm B (22); The buffer mechanism (3) comprises a sleeve (31), a piston rod (32), a micro damping spring (33) and a buffer pad (34); a plurality of the sleeves (31) are obliquely mounted on the inner side of the force arm A (21); one end of the piston rod (32) is embedded in the interior of the sleeve (31) and is slidably connected to the sleeve (31); the micro damping spring (33) is embedded between the piston rod (32) and the sleeve (31); and the buffer pad (34) is mounted at the end positions of the plurality of piston rods (32).

2. The palletizing robot clamp with good clamping effect according to claim 1, characterized in that: The lever arm A (21) further comprises a cylinder A (211) and a curved beam (212), wherein the bottom end of the cylinder A (211) is hinged to the hinge seat B (12), the piston shaft end of the cylinder A (211) is hinged to the outer side of the lever arm A (21), and the curved beam (212) is welded at an angle to the bottom edge of the lever arm A (21).

3. The palletizing robot clamp with good clamping effect according to claim 2, characterized in that: The lever arm B (22) further comprises a cylinder B (221) and a connecting seat (222), wherein the bottom end of the cylinder B (221) is hinged to the end of the curved beam (212), the piston shaft end of the cylinder B (221) is hinged to the outer side of the lever arm B (22), and the connecting seat (222) is welded to the middle position of the side wall of the lever arm B (22).

4. The palletizing robot clamp with good clamping effect according to claim 3, characterized in that: The anti-slip claw (23) further comprises an extension beam (231), a cylinder C (232) and a rubber strip (233); the extension beam (231) is welded obliquely to the top edge of the anti-slip claw (23); the bottom end of the cylinder C (232) is hinged to the connecting seat (222); the piston shaft end of the cylinder C (232) is hinged to the end of the extension beam (231); the rubber strip (233) is arranged obliquely on the inner side wall of the anti-slip claw (23) and is bonded to the anti-slip claw (23) by glue.

5. The palletizing robot clamp with good clamping effect according to claim 1, characterized in that: The buffer pad (34) is made of flexible rubber material.

6. The palletizing robot clamp with good clamping effect according to claim 1, characterized in that: A buffer mechanism (3) with the same structure is installed on the inner sides of the force arm A (21) and the force arm B (22).

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