Automatic boxing robot tooling

Abstract

The utility model relates to an automatic boxing robot tooling which comprises a picking frame and a limiting assembly, a channel is formed in the picking frame, the limiting assembly comprises an elastic piece and a locking piece which are arranged at two openings of the channel respectively, the locking piece is movably connected with the picking frame, and the locking piece can rotate to the position right opposite to the elastic piece. A limiting gap for fixing materials is formed between the locking piece and the elastic piece, and the locking piece can rotate to the position where the locking piece and the elastic piece are staggered. The robot can be connected with the picking frame and drive the picking frame to move to the conveying path where the channel of the picking frame is right opposite to the materials, the materials can enter the channel of the picking frame, meanwhile, the materials located in the channel can be fixed through the elastic piece and the locking piece, and when the robot moves the picking frame to the discharging position of the materials, the materials can be discharged through the elastic piece and the locking piece. The locking piece and the elastic piece are staggered, the materials are pushed out of the channel under the elastic force of the elastic piece, the materials can be supported by the picking frame during transferring, and the material picking device is suitable for transferring heavy materials.

Description

Technical Field

[0001] The utility model relates to the technical field of end pickers, in particular to an end picker for an automatic boxing robot. Background Art

[0002] To facilitate the transfer of materials by the robot, an end effector is usually installed at the end of the robot's execution. The end effector mostly uses structures such as suction cups and clamps to achieve the task of grasping materials.

[0003] For example, the patent with application number CN202010572462.6 proposes a carrying device, an end pick and a robot for an end pick assembly, wherein each end pick assembly in the first end pick assembly and the second end pick assembly includes: a pair of support rods arranged in parallel, suitable for supporting at least one of a vacuum suction cup, a clamp and an electromagnet.

[0004] However, suction cup end tooling is difficult to adapt to the needs of moving heavier materials, and clamp type end tooling is prone to clamping and damaging materials when grabbing heavier materials. Utility Model Content

[0005] In view of this, it is necessary to provide an automatic packing robot end picker to solve the problem that the suction cup end picker is difficult to adapt to the material moving needs of heavier materials, and the clamp type end picker is prone to clamping the materials when grabbing heavier materials.

[0006] The utility model provides an end picker for an automatic boxing robot, comprising a picking frame and a limiting assembly, wherein a channel is formed in the picking frame, and the limiting assembly comprises an elastic member and a locking member respectively arranged at two openings of the channel, the locking member being movably connected to the picking frame, the locking member being able to rotate to a position facing the elastic member, a limiting gap for fixing materials being formed between the locking member and the elastic member, and the locking member being able to rotate to a position staggered with the elastic member to allow materials to enter and exit the channel.

[0007] Furthermore, the picking frame includes a base, a bracket, a connecting frame and a plurality of rollers. The base is fixedly connected to the bracket and the channel is formed therebetween. The top of the bracket is connected to the execution end of the robot via the connecting frame. The plurality of rollers are arranged in parallel above the base. The axial direction of the rollers is arranged perpendicular to the extension direction of the channel. The elastic member and the locking member are both arranged on the base.

[0008] Furthermore, it also includes an anti-collision rib and a camera, and the anti-collision rib and the camera are both arranged on a side of the base close to the locking member.

[0009] Furthermore, the elastic member includes a limit block, a sliding rod, a top block and a spring, the limit block is fixedly arranged on the picking frame and is located in the channel, one end of the sliding rod passes through the limit block and is slidably connected to the limit block along the extension direction of the channel, the other end of the sliding rod points to the locking member and is fixedly connected to the top block, the spring is sleeved on the sliding rod, and the two ends of the spring are respectively in contact with the limit block and the top block.

[0010] Furthermore, the locking member includes a rotating member and a baffle, the rotating member is installed on the picking frame, the output end of the rotating member and the baffle are used to drive the baffle to rotate, and the baffle can be rotated to a position facing the elastic member or staggered with the elastic member.

[0011] Furthermore, it also includes a pushing assembly installed in the channel of the picking frame, and the pushing assembly is connected to the elastic member to drive the elastic member to move along the extension direction of the channel.

[0012] Furthermore, the pushing assembly includes a slide rail, a slide plate, a screw and a driving member, the slide rail is fixedly provided on the picking frame and extends along the direction of the channel, the slide plate extends in a direction perpendicular to the channel and is slidingly connected to the slide rail, the elastic member is fixedly provided on the slide plate, the screw is rotationally connected to the picking frame, the screw is threadedly connected to the bottom of the slide plate, the driving member is installed on the picking frame and the output end is connected to the screw rod to drive the screw rod to rotate.

[0013] Furthermore, it also includes a centering positioning assembly, which includes two pushing members, two side plates and a plurality of positioning rollers relatively arranged on both sides of the channel, the pushing members are fixedly connected to the picking frame, the output end of the pushing members is connected to the side plates and drives the side plates to move in the direction of approaching or away from the channel, and a plurality of positioning rollers are installed on the side of the side plate close to the channel, and the plurality of positioning rollers are arranged in sequence along the extension direction of the channel, and the axes of the positioning rollers are vertically arranged.

[0014] Furthermore, there are multiple elastic members, which are arranged in sequence along a direction perpendicular to the channel; there are multiple pushing members on each side, which are arranged in sequence along the extension direction of the channel.

[0015] Furthermore, a sponge pad is provided on a side of the top block away from the slide rod.

[0016] Compared with the existing technology, the robot can be connected to the picking rack and drive the picking rack to move to a position where its channel is facing the material conveying path, and the material can enter the channel of the picking rack. At the same time, the material in the channel can be fixed by elastic parts and locking parts. When the picking rack is moved to the material unloading position by the robot, the locking part and the elastic part are staggered with each other, and the material is pushed out of the channel under the elastic force of the elastic part. The transportation of the material can be supported by the picking rack, which is suitable for the transportation of heavy materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A front view of the entire end picker of the automatic packing robot provided by an embodiment of the utility model;

[0018] Figure 2 A perspective view of the entire end picker of the automatic packing robot provided by an embodiment of the present utility model;

[0019] Figure 3 A schematic structural diagram of an elastic member in an end picker of an automatic packing robot provided by an embodiment of the present utility model;

[0020] Figure 4 A schematic structural diagram of a locking member in an end picker of an automatic packing robot provided by an embodiment of the present utility model;

[0021] Figure 5 This is a structural schematic diagram of the centering positioning component in the end picker of the automatic packing robot provided by an embodiment of the utility model. DETAILED DESCRIPTION

[0022] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0023] like Figure 1-2 As shown, the utility model provides an automatic packing robot end picker, including a picking frame 531 and a limiting assembly 532. A channel is formed in the picking frame 531. The limiting assembly 532 includes an elastic member 532a and a locking member 532b respectively arranged at the two openings of the channel. The locking member 532b is movably connected to the picking frame 531. The locking member 532b can be rotated to a position facing the elastic member 532a. A limiting gap for fixing materials is formed between the locking member 532b and the elastic member 532a. The locking member 532b can be rotated to a position staggered with the elastic member 532a to allow materials to enter and exit the channel.

[0024] During implementation, the robot can be connected to the picking rack 531 and drive the picking rack 531 to move to a position where its channel is facing the material conveying path, and the material can enter the channel of the picking rack 531. At the same time, the material in the channel can be fixed by the elastic member 532a and the locking member 532b. When the picking rack 531 is moved to the material unloading position by the robot, the locking member 532b and the elastic member 532a are staggered with each other, and the material is pushed out of the channel under the elastic force of the elastic member 532a. The transportation of the material can be supported by the picking rack 531, which is suitable for the transportation of heavy materials.

[0025] In this embodiment, a channel is formed in the picking rack 531 for placing heavy-weight materials.

[0026] In one embodiment, the picking frame 531 includes a base 531a, a bracket 531b, a connecting frame 531c and a plurality of rollers 531d. The base 531a is fixedly connected to the bracket 531b and a channel is formed therebetween. The top of the bracket 531b is connected to the execution end of the robot via the connecting frame 531c. The plurality of rollers 531d are arranged in parallel above the base 531a. The axial direction of the roller 531d is arranged perpendicular to the extension direction of the channel. The elastic member 532a and the locking member 532b are both arranged on the base 531a.

[0027] This embodiment further includes an anti-collision rib 531a1 and a camera 531a2. The anti-collision rib 531a1 and the camera 531a2 are both arranged on one side of the base 531a close to the locking member 532b.

[0028] The limiting assembly 532 in this embodiment includes an elastic member 532a and a locking member 532b respectively arranged at the two openings of the channel. The locking member 532b is movably connected to the picking frame 531. The locking member 532b can be rotated to a position facing the elastic member 532a. A limiting gap for fixing the material is formed between the locking member 532b and the elastic member 532a. The locking member 532b can be rotated to a position staggered with the elastic member 532a to allow materials to enter and exit the channel.

[0029] like Figure 3 As shown, in one embodiment, the elastic member 532a includes a limit block 532a1, a slide rod 532a2, a top block 532a3 and a spring 532a4, the limit block 532a1 is fixedly arranged on the picking frame 531 and is located in the channel, one end of the slide rod 532a2 passes through the limit block 532a1 and is slidably connected to the limit block 532a1 along the extension direction of the channel, the other end of the slide rod 532a2 points to the locking member 532b and is fixedly connected to the top block 532a3, the spring 532a4 is sleeved on the slide rod 532a2, and the two ends of the spring 532a4 are respectively in contact with the limit block 532a1 and the top block 532a3.

[0030] A sponge pad is provided on the side of the top block 532a3 away from the sliding rod 532a2.

[0031] like Figure 4 As shown, in one embodiment, the locking member 532b includes a rotating member 532b1 and a baffle 532b2. The rotating member 532b1 is mounted on the pickup frame 531. The output end of the rotating member 532b1 and the baffle 532b2 are used to drive the baffle 532b2 to rotate. The baffle 532b2 can rotate to a position facing the elastic member 532a or offset from the elastic member 532a. The rotating member 532b1 can be implemented using a rotary cylinder.

[0032] To facilitate pushing the material out of the channel, the end tool in this embodiment also includes a pushing assembly 533 installed in the channel of the picking frame 531. The pushing assembly 533 is connected to the elastic member 532a to drive the elastic member 532a to move along the extension direction of the channel.

[0033] In one embodiment, the push assembly 533 includes a slide rail 533a, a slide plate 533b, a screw 533c, and a driving member. The slide rail 533a is fixedly mounted on the pick-up frame 531 and extends along the channel. The slide plate 533b extends perpendicular to the channel and is slidably connected to the slide rail 533a. The elastic member 532a is fixedly mounted on the slide plate 533b. The screw 533c is rotationally connected to the pick-up frame 531. The screw 533c is threadedly connected to the bottom of the slide plate 533b. The driving member is mounted on the pick-up frame 531, and its output end is connected to the screw 533c to drive the screw 533c to rotate. The driving member can be implemented by a motor.

[0034] like Figure 5 As shown, to facilitate limiting the lateral position of the material in the channel, the end tool in this embodiment also includes a centering positioning assembly 534. The centering positioning assembly 534 includes two pushers 534a, two side plates 534b, and multiple positioning rollers 534c, which are arranged on opposite sides of the channel. The pushers 534a are fixedly connected to the pickup frame 531. The output end of the pushers 534a is connected to the side plates 534b and drives the side plates 534b to move toward or away from the channel. Multiple positioning rollers 534c are installed on the side of the side plates 534b close to the channel. The multiple positioning rollers 534c are arranged in sequence along the extension direction of the channel, and the axes of the positioning rollers 534c are arranged vertically. The pushers 534a can be implemented using cylinders.

[0035] In one embodiment, there are multiple elastic members 532a, which are arranged in sequence along a direction perpendicular to the channel, and there are multiple pushing members 534a on each side, which are arranged in sequence along the extension direction of the channel.

[0036] Compared with the existing technology: the robot can be connected to the picking rack 531, and the picking rack 531 can be driven to move to a position where its channel is facing the material conveying path, and the material can enter the channel of the picking rack 531. At the same time, the material in the channel can be fixed by the elastic member 532a and the locking member 532b. When the picking rack 531 is moved to the material unloading position by the robot, the locking member 532b and the elastic member 532a are staggered with each other, and the material is pushed out of the channel under the elastic force of the elastic member 532a. The transportation of the material can be supported by the picking rack 531, which is suitable for the transportation of heavy materials.

[0037] The above is only a preferred specific implementation method of the present invention, but the protection scope of the present invention is not limited to this. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed in the present invention should be covered by the protection scope of the present invention.

Claims

1. An automatic packing robot end picker, characterized in that: include: a picking rack having a passage formed therein; A limiting assembly includes an elastic member and a locking member respectively arranged at the two openings of the channel. The locking member is movably connected to the picking frame. The locking member can be rotated to a position facing the elastic member. A limiting gap for fixing the material is formed between the locking member and the elastic member. The locking member can be rotated to a position staggered with the elastic member to allow material to enter and exit the channel.

2. The automatic packing robot end picker according to claim 1, characterized in that: The picking frame includes a base, a bracket, a connecting frame and a plurality of rollers. The base is fixedly connected to the bracket and the channel is formed therebetween. The top of the bracket is connected to the execution end of the robot via the connecting frame. The plurality of rollers are arranged in parallel above the base. The axial direction of the rollers is arranged perpendicular to the extension direction of the channel. The elastic member and the locking member are both arranged on the base.

3. The automatic packing robot end picker according to claim 2, characterized in that: It also includes an anti-collision rib and a camera, and the anti-collision rib and the camera are both arranged on one side of the base close to the locking member.

4. The automatic packing robot end picker according to claim 1, characterized in that: The elastic member includes a limit block, a sliding rod, a top block and a spring. The limit block is fixedly arranged on the picking frame and is located in the channel. One end of the sliding rod passes through the limit block and is slidably connected to the limit block along the extension direction of the channel. The other end of the sliding rod points to the locking member and is fixedly connected to the top block. The spring is sleeved on the sliding rod, and both ends of the spring are respectively in contact with the limit block and the top block.

5. The automatic packing robot end picker according to claim 1, characterized in that: The locking member includes a rotating member and a baffle. The rotating member is installed on the picking frame. The output end of the rotating member and the baffle are used to drive the baffle to rotate. The baffle can be rotated to a position facing the elastic member or staggered with the elastic member.

6. The automatic packing robot end picker according to claim 1, characterized in that: It also includes a pushing assembly installed in the channel of the picking frame, and the pushing assembly is connected to the elastic member to drive the elastic member to move along the extending direction of the channel.

7. The automatic packing robot end picker according to claim 6, characterized in that: The pushing assembly includes a slide rail, a slide plate, a screw rod and a driving member. The slide rail is fixedly arranged on the picking frame and extends along the direction of the channel. The slide plate extends in a direction perpendicular to the channel and is slidably connected to the slide rail. The elastic member is fixedly arranged on the slide plate. The screw rod is rotatably connected to the picking frame. The screw rod is threadedly connected to the bottom of the slide plate. The driving member is installed on the picking frame and the output end is connected to the screw rod to drive the screw rod to rotate.

8. The automatic packing robot end picker according to claim 1, characterized in that: It also includes a centering positioning assembly, which includes two pushing members, two side plates and multiple positioning rollers relatively arranged on both sides of the channel, the pushing members are fixedly connected to the picking frame, the output end of the pushing members is connected to the side plates and drives the side plates to move in the direction of approaching or away from the channel, and multiple positioning rollers are installed on the side of the side plate close to the channel, and the multiple positioning rollers are arranged in sequence along the extension direction of the channel, and the axes of the positioning rollers are vertically arranged.

9. The automatic packing robot end picker according to claim 8, characterized in that: There are multiple elastic members, which are sequentially arranged along a direction perpendicular to the channel. There are multiple pushing members on each side, which are sequentially arranged along the extension direction of the channel.

10. The automatic packing robot end picker according to claim 4, characterized in that: A sponge pad is provided on one side of the top block away from the slide rod.

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