Robot grabbing device for stacking

Abstract

The utility model discloses a robot gripping device for palletizing, and relates to the technical field of palletizing robots, the robot gripping device for palletizing comprises a screw rod clamping structure, hollow clamping plates are installed below two moving ends of the screw rod clamping structure through bolts, and the bottom ends of the two hollow clamping plates are rotatably connected with a plurality of supporting strips; according to the robot grabbing device for stacking, the top of a transmission mechanism is in a protruding state, a supporting strip is unfolded and is perpendicular to a hollow clamping plate, a packaging carton can be supported, large force is not needed when the fragile packaging carton is grabbed, the grabbing safety is greatly improved, and the grabbing efficiency is improved. And meanwhile, an electric push rod can be started to extrude an elastic protruding transmission mechanism, at the moment, all supporting strips automatically swing and are stored, the bottom of a hollow clamping plate is flat, when a plurality of cartons are stacked, interference of the stacked cartons is avoided, and the grabbing device is quite convenient to separate from the packaging cartons.

Description

Technical Field

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

[0002] A palletizing robot is a type of production automation equipment that can be used to grab items and thus stack them, saving labor and improving work efficiency.

[0003] The palletizing robot's robotic arm is equipped with a gripping device, which allows it to grab items. Currently, most gripping devices on the market use a clamping method to achieve gripping. Since some cartons and foam boxes contain fragile items, in order to avoid excessive clamping and improve gripping safety, the clamping plate usually adopts an L-shaped structure, which can serve as a bottom support. However, this structure is only suitable for palletizing cartons with less than four cartons per layer. When used for stacking cartons with more than four cartons per layer, after placing the cartons, the cartons are prone to cross-joining two or three sides and affix to adjacent cartons. Since the clamping plate is an L-shaped structure, it is not easy to separate the clamping plate from the cartons. If separated (the two clamping plates move away from each other), the adjacent cartons (one or two groups, with one or more cartons in each group) will be pushed to move a large displacement, which is inconvenient to use. Utility Model Content

[0004] The utility model provides a robot grasping device for palletizing, which has the advantages of safe grasping and convenient separation from cartons or foam boxes, so as to solve the problems raised in the background technology.

[0005] In order to solve the defects of the existing robot grasping device for palletizing that it is impossible to have both high clamping safety and convenient separation from the carton, the utility model provides the following technical solution: a robot grasping device for palletizing, including a screw clamping structure, hollow splints are bolted under the two movable ends of the screw clamping structure, the bottom ends of the two hollow splints are rotatably connected to a plurality of support bars, and a transmission mechanism connected to the support bars is provided in the two hollow splints, an electric push rod is bolted to the middle of the top surface of the screw clamping structure, and a long pressure plate fixedly connected to the bottom end of the electric push rod is provided in the screw clamping structure.

[0006] As a preferred technical solution of the present utility model, the transmission mechanism includes a T-shaped lifting rod connected to the hollow splint for upward and downward sliding, the top surface of the T-shaped lifting rod is integrally connected with a U-shaped rod, the bottom end of the T-shaped lifting rod is welded with three racks, the side ends of the racks are meshed with spur gears, the front end of the spur gear is integrally connected with a first bevel gear, the bottom end of the first bevel gear is meshed with a second bevel gear, the bottom end of the second bevel gear is fixedly connected to the top surface axis of the support bar, and two springs are welded to the bottom end of the T-shaped lifting rod and the lower inner wall of the hollow splint.

[0007] As a preferred technical solution of the present invention, a side axis of the spur gear away from the first bevel gear is connected to a fixing seat, and the fixing seat is fixedly connected to the inner wall of the hollow splint.

[0008] As a preferred technical solution of the present invention, a pair of openings are formed on the top surfaces of the two movable ends of the screw clamping structure, and the U-shaped rod passes through the openings.

[0009] As a preferred technical solution of the present invention, a connecting flange is installed in the middle of the top surface of the screw clamping structure, and the electric push rod is accommodated in the connecting flange.

[0010] As a preferred technical solution of the present invention, a power supply device is bolted onto one side of the top surface of the screw clamping structure, and the power supply device is a box structure.

[0011] Compared with the prior art, the utility model provides a robot grasping device for palletizing, which has the following beneficial effects: when relatively fragile products are packed in a packaging carton (or a packaging foam box), under normal circumstances, the top of the transmission mechanism is in a protruding state, the support bars are unfolded and perpendicular to the hollow plywood, which can support the packaging carton, and there is no need to use a large force when grasping the fragile packaging carton, and the grasping safety is greatly improved. At the same time, the electric push rod can be started to squeeze the elastically protruding transmission mechanism. At this time, all the support bars are automatically swung and stored, and the bottom of the hollow plywood is flat. When stacking multiple cartons (for example, six or more cartons per layer), it will not be interfered with by the stacked cartons, and it is very convenient to separate the grasping device from the packaging carton. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a structural diagram of the utility model;

[0013] Figure 2 This is a schematic diagram of the installation structure of the transmission mechanism of the utility model;

[0014] Figure 3 It is a bottom view of the utility model;

[0015] Figure 4It is a top view of the utility model.

[0016] In the picture:

[0017] 10. Screw clamping structure; 20. Hollow splint; 30. Support bar; 40. Transmission mechanism; 41. T-shaped lifting rod; 42. U-shaped rod; 43. Rack; 44. Spur gear; 45. First bevel gear; 46. Second bevel gear; 47. Spring; 50. Electric push rod; 60. Elongated pressure plate; 70. Opening; 80. Connecting flange; 90. Power supply device. DETAILED DESCRIPTION

[0018] 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.

[0019] See also Figures 1-4 The utility model discloses a robot grasping device for palletizing, including a screw clamping structure 10, wherein hollow splints 20 are bolted below the two movable ends of the screw clamping structure 10, the bottom ends of the two hollow splints 20 are rotatably connected to a plurality of support bars 30, and a transmission mechanism 40 connected to the support bars 30 is provided in the two hollow splints 20, an electric push rod 50 is bolted in the middle of the top surface of the screw clamping structure 10, and a long pressure plate 60 fixedly connected to the bottom end of the electric push rod 50 is provided in the screw clamping structure 10.

[0020] Specifically, the transmission mechanism 40 includes a T-shaped lifting rod 41 that is slidably connected to the hollow splint 20 up and down, the top surface of the T-shaped lifting rod 41 is integrally connected with a U-shaped rod 42, and three racks 43 are welded to the bottom end of the T-shaped lifting rod 41. The side ends of the racks 43 are meshed with spur gears 44, and the front end of the spur gear 44 is integrally connected with a first bevel gear 45. The bottom end of the first bevel gear 45 is meshed with a second bevel gear 46, and the bottom end of the second bevel gear 46 is fixedly connected to the top surface axis of the support bar 30. Two springs 47 are welded to the bottom end of the T-shaped lifting rod 41 and the lower inner wall of the hollow splint 20.

[0021] In this embodiment, the transmission mechanism 40 can be used in conjunction with the elongated pressure plate 60 with the electric push rod 50. Under normal circumstances, under the elastic support of the spring 47, the U-shaped rod 42 is in a protruding state, and the support bar 30 is in an expanded state, which can support the carton (or foam box), reduce the grasping force, and have high safety. When palletizing is completed, the elongated pressure plate 60 squeezes the protruding U-shaped rod 42. At this time, under the action of the entire transmission mechanism 40, all the support bars 30 can be driven to swing and be stored at the same time, which facilitates the separation of the grasping device from the carton.

[0022] Specifically, the side axis of the spur gear 44 away from the first bevel gear 45 is connected to a fixed seat, which is fixedly connected to the inner wall of the hollow clamping plate 20. A pair of openings 70 are opened on the top surfaces of the two movable ends of the screw clamping structure 10, and the U-shaped rod 42 passes through the opening 70.

[0023] In this embodiment, the spur gear 44 is installed, and the opening 70 facilitates the penetration of the U-shaped rod 42 so as not to interfere with the up and down movement of the U-shaped rod 42 .

[0024] Specifically, a connecting flange 80 is installed in the middle of the top surface of the screw clamping structure 10 , and the electric push rod 50 is received in the connecting flange 80 .

[0025] In this embodiment, the connecting flange 80 can be fixedly connected to the palletizing robot, thereby driving the entire grasping device to move flexibly without interfering with the normal installation of the electric push rod 50.

[0026] Specifically, a power supply device 90 is bolted onto one side of the top surface of the screw clamping structure 10 , and the power supply device 90 is a box structure.

[0027] In this embodiment, the power supply device 90 is an existing product, which is mainly composed of a battery with an inverter, a controller, a wire body and a box body. The box body is used to improve the protection and storage properties.

[0028] The working principle and use process of the utility model are as follows: the entire grabbing device is fixedly installed on the stacking robot through the connecting flange 80. When not grabbing, under the elastic force of the spring 47, the U-shaped rod 42 is positioned upward and in a convex state. At this time, the support bar 30 is unfolded and perpendicular to the hollow splint 20. The screw clamping structure 10 is started, and the hollow splint 20 with the support bar 30 is matched to realize the grabbing of the carton (or foam box). Then the grabbed carton is placed on the top of the stacked carton, and then the electric push rod 50 is started to drive the long-shaped The pressure plate 60 moves downward and squeezes the U-shaped rod 42, and the T-shaped lifting rod 41 moves downward accordingly. The rack 43 moves downward and drives the spur gear 44 to rotate, and the spur gear 44 drives the first bevel gear 45 to rotate, and the first bevel gear 45 drives the second bevel gear 46 to rotate. The support bar 30 carried by the second bevel gear 46 is overlapped and stored under the hollow splint 20, driving the entire grasping device to move upward, which can quickly achieve separation from the carton. At this time, the adjacent cartons will maintain a small distance, and the stacking robot can push the carton through the grasping device to make the adjacent cartons fit together.

[0029] It should be noted that, in this document, terms such as "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus 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 apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or apparatus comprising the element.

[0030] Although the embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A robot gripping device for palletizing, characterized in that: The invention comprises a screw clamping structure (10), wherein hollow splints (20) are bolted below the two movable ends of the screw clamping structure (10), the bottom ends of the two hollow splints (20) are rotatably connected to a plurality of support bars (30), and the two hollow splints (20) are provided with a transmission mechanism (40) connected to the support bars (30), an electric push rod (50) is bolted to the middle of the top surface of the screw clamping structure (10), and a long pressure plate (60) is provided in the screw clamping structure (10) and fixedly connected to the bottom end of the electric push rod (50).

2. The robot grasping device for palletizing according to claim 1, characterized in that: The transmission mechanism (40) includes a T-shaped lifting rod (41) connected to the hollow splint (20) for sliding up and down connection, the top surface of the T-shaped lifting rod (41) is integrally connected with a U-shaped rod (42), the bottom end of the T-shaped lifting rod (41) is welded with three racks (43), the side ends of the racks (43) are meshedly connected with a spur gear (44), the front end of the spur gear (44) is integrally connected with a first bevel gear (45), the bottom end of the first bevel gear (45) is meshedly connected with a second bevel gear (46), the bottom end of the second bevel gear (46) is fixedly connected to the top surface axis of the support bar (30), and two springs (47) are welded to the bottom end of the T-shaped lifting rod (41) and the lower inner wall of the hollow splint (20).

3. The robot grasping device for palletizing according to claim 2, characterized in that: A side axis of the spur gear (44) away from the first bevel gear (45) is connected to a fixing seat, and the fixing seat is fixedly connected to the inner wall of the hollow clamping plate (20).

4. The robot grasping device for palletizing according to claim 2, characterized in that: A pair of openings (70) are provided on the top surfaces of the two movable ends of the screw rod clamping structure (10), and the U-shaped rod (42) passes through the openings (70).

5. The robot grasping device for palletizing according to claim 1, characterized in that: A connecting flange (80) is installed in the middle of the top surface of the screw rod clamping structure (10), and the electric push rod (50) is accommodated in the connecting flange (80).

6. The robot grasping device for palletizing according to claim 1, characterized in that: A power supply device (90) is bolted onto one side of the top surface of the screw rod clamping structure (10), and the power supply device (90) is a box structure.

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