Positioning and guiding mechanism of stacking mechanical gripper

Abstract

The utility model discloses a stacking mechanical gripper positioning and guiding mechanism, which comprises a multi-joint mechanical arm and a stacking goods positioning, guiding and taking component, in the using process of the stacking mechanical gripper positioning and guiding mechanism, when a supporting table part moves to a stacking box close to the surface of a goods shelf, a visual sensor module is controlled to shoot the position in real time, and the positioning and guiding mechanism is used for positioning and guiding the stacking goods. The visual sensor module transmits the position state to an external PC end in real time, and an operator can control the first-axis arm, the second-axis arm, the third-axis arm and the fourth-axis arm to accurately move the five-axis arm part to a corresponding stacking box area. An operator can drive the first shaft arm, the second shaft arm, the third shaft arm and the fourth shaft arm to insert the fifth shaft arm and the electrically-driven clamping arm on the fifth shaft arm into a stacking box containing area for taking, after the electrically-driven clamping arm is in place, the fifth shaft arm is driven to rotate by 15 degrees clockwise and anticlockwise so as to verify the stable clamping state of the electrically-driven clamping arm on the stacking box, and therefore the stacking box can be conveniently taken out. And stability and falling prevention of the mechanical arm in the goods taking process are guaranteed.

Description

Technical Field

[0001] The utility model relates to the technical field of palletizing mechanical arms, in particular to a positioning and guiding mechanism for a palletizing mechanical gripper. Background Art

[0002] Robotic arms are the most widely used automated mechanical devices in robotics, found in industrial manufacturing, medical treatment, entertainment services, military, semiconductor manufacturing, and space exploration. While they vary in form, they all share a common characteristic: the ability to receive commands and precisely locate a point in three-dimensional (or two-dimensional) space to perform operations.

[0003] According to their different structural forms, robotic arms can be divided into multi-joint robotic arms, rectangular coordinate robotic arms, spherical coordinate robotic arms, polar coordinate robotic arms, cylindrical coordinate robotic arms, etc.

[0004] Palletizing robots can neatly and automatically stack (or unstack) packaged goods of varying dimensions onto pallets (or on production lines, etc.). To fully utilize the pallet's surface area and ensure the stability of the stacked materials, the robot features a material stacking sequence and arrangement controller. They can handle operations ranging from low to high speeds, from packaging bags to cartons, and from palletizing a single product to a variety of different products. They are widely used for product handling and palletizing in diverse industries, including automotive, logistics, home appliances, pharmaceuticals, and food and beverages.

[0005] Palletizing robots offer superior capabilities compared to conventional mechanical palletizers and manual labor. Their simple structure reduces malfunctions and makes maintenance and repair easy. With a small number of components and accessories, maintenance costs are low. Palletizing robots can be effectively installed in confined spaces. All controls are controlled via the control panel, making operation very simple. They are highly versatile: simply changing the gripper allows for palletizing and depalletizing of different goods, significantly reducing the customer's purchase cost.

[0006] In the prior art, publication number "CN213890019U" discloses a positioning and guiding mechanism for a palletizing mechanical gripper, comprising a main frame, bottom plates are provided at the bottom of both sides of the main frame, and fixed plates are provided on both sides of the inner part of the main frame near the upper end, positive and negative screw rods are arranged in the center between the two groups of fixed plates, and sliding rods are provided between the two groups of fixed plates near the front and rear ends, and limiting structures are provided on the periphery of the two groups of sliding rods near both ends, and fixed seats are provided on both sides of the inner part of the main frame below the fixed plates near the front and rear ends, and a movable block is provided between the two groups of fixed seats in the same longitudinal direction; a positioning and guiding mechanism for a palletizing mechanical gripper of the utility model can effectively enhance the stability of the device, improve the accuracy of the mechanism by adjusting the limiting structure to different degrees, reduce errors, and secondly strengthen the fixing effect of the device, and can quickly install and disassemble the mechanical gripper, facilitate inspection and maintenance, simple operation, save time and effort, and improve work efficiency.

[0007] However, the existing technology still has major deficiencies, such as:

[0008] In the above-mentioned device and the prior art, during the stacking process, the goods stacked on the placement plane can be stacked vertically. When the goods placed sideways on the vertical shelves are stored and retrieved, the goods cannot be taken sideways normally, and the goods cannot be positioned and retrieved according to their positions, which affects the lateral storage and retrieval efficiency of the goods. Utility Model Content

[0009] The purpose of the utility model is to provide a positioning and guiding mechanism for a palletizing mechanical gripper, so as to solve the problems raised in the above-mentioned background technology.

[0010] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a palletizing robot gripper positioning and guiding mechanism, comprising a multi-joint robotic arm and a palletizing cargo positioning, guiding and picking component, wherein the palletizing cargo positioning, guiding and picking component is arranged on the movable end of the multi-joint robotic arm, and is used to store and retrieve palletizing boxes on the shelves and the goods in the palletizing boxes.

[0011] Preferably, the stacked cargo positioning, guiding and picking component includes a picking part, the picking part includes a five-axis arm, the five-axis arm is arranged on the movable end of the multi-joint robotic arm, and electric-driven clamping arms are symmetrically installed on both sides of the five-axis arm. A visual sensor module is provided on the surface of the five-axis arm, and the visual sensor modules are symmetrically arranged in four groups.

[0012] Preferably, the stacked cargo positioning, guiding and picking assembly also includes an anti-slip part, which includes an electric-driven hoisting roller, a mounting groove is provided on the surface of the five-axis arm, the electric-driven hoisting roller is installed inside the mounting groove, a sliding base plate is provided at the bottom of the mounting groove, the sliding base plate is slid through and installed on the five-axis arm, a counterweight block is installed at one end of the sliding base plate, a covering bottom film is wrapped around the surface of the electric-driven hoisting roller, one end of the covering bottom film is installed on the surface of the counterweight block, the surface of the covering bottom film is covered and adhered to the surface of the sliding base plate, an embedded guide rail is installed at the bottom of the five-axis arm, and the moving end of the embedded guide rail is fixed to one side of the sliding base plate.

[0013] Preferably, an anti-skid pad layer is provided on the inner side of the electric drive clamping arm, and a surface of the anti-skid pad layer is provided with gel-like protrusions.

[0014] Preferably, the multi-joint robotic arm is configured as a four-joint robotic arm.

[0015] Preferably, the articulated robotic arm includes a one-axis arm, a two-axis arm, a three-axis arm and a four-axis arm, and the one-axis arm, the two-axis arm, the three-axis arm and the four-axis arm are installed through a movable joint combination.

[0016] Preferably, the one-axis arm is installed on a movable base, the movable base includes a base, two sets of chassis guide rails are installed on the surface of the base, a support platform is installed on the movable end of the chassis guide rail, and the one-axis arm is installed on the top of the support platform.

[0017] Compared with the prior art, the beneficial effects of the present invention are:

[0018] 1. During use, when the support platform moves to a pallet box close to the shelf surface, the visual sensor module is controlled to capture the position in real time. The visual sensor module transmits the position status to the external PC in real time. The operator can then control the one-axis arm, two-axis arm, three-axis arm, and four-axis arm to accurately move the five-axis arm to the corresponding pallet box area, ensuring the accurate guidance and positioning of the robot arm when picking up goods.

[0019] 2. During use, when the five-axis arm reaches the picking position accurately, the operator can drive the one-axis arm, the two-axis arm, the three-axis arm and the four-axis arm to insert the five-axis arm and the electric-driven clamping arm on the five-axis arm into the stacking box placement area for picking up the goods. After the electric-driven clamping arm is in place, the two groups of electric-driven clamping arms can be driven to clamp the goods. When the electric-driven clamping arm is in place, the five-axis arm is driven to rotate 15° in the clockwise and counterclockwise direction to verify the stable state of the electric-driven clamping arm clamping the stacking box, ensuring the stability of the robotic arm and preventing it from falling off during the process of picking up the goods. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is an overall schematic diagram of the device of the utility model;

[0021] Figure 2 This is a partial schematic diagram of the visual sensor module in the present utility model;

[0022] Figure 3 This is a partial schematic diagram of the five-axis arm in the present utility model;

[0023] Figure 4 This is a schematic diagram of the electric drive winch roller in the utility model;

[0024] Figure 5 This is a schematic diagram of the embedded guide rail and sliding base in the utility model.

[0025] In the figure: 1. Base; 2. Base frame guide rail; 3. Support platform; 4. One-axis arm; 41. Two-axis arm; 5. Three-axis arm; 6. Four-axis arm; 7. Five-axis arm; 71. Visual sensor module; 72. Mounting slot; 73. Electric drive clamping arm; 74. Anti-slip pad; 8. Electric drive hoisting roller; 81. Coating bottom film; 82. Counterweight block; 9. Embedded guide rail; 91. Sliding bottom plate. 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] See also Figure 1-5 , the utility model provides a technical solution:

[0028] Example 1: A palletizing robot gripper positioning and guiding mechanism: comprising a multi-joint robotic arm and a palletizing cargo positioning and guiding component, wherein the palletizing cargo positioning and guiding component is arranged on the movable end of the multi-joint robotic arm and is used to store and retrieve palletizing boxes on shelves and cargo in the palletizing boxes.

[0029] The stacked cargo positioning, guiding and picking component includes a picking part, which includes a five-axis arm 7. The five-axis arm 7 is arranged on the movable end of the multi-joint robotic arm. Electric-driven clamping arms 73 are symmetrically installed on both sides of the five-axis arm 7. A visual sensor module 71 is arranged on the surface of the five-axis arm 7, and the visual sensor module 71 is symmetrically arranged in four groups.

[0030] The stacked cargo positioning, guiding and picking assembly also includes an anti-slip part, which includes an electric-driven hoisting roller 8. A mounting groove 72 is provided on the surface of the five-axis arm 7. The electric-driven hoisting roller 8 is installed inside the mounting groove 72. A sliding base plate 91 is provided at the bottom of the mounting groove 72. The sliding base plate 91 slides through and is installed on the five-axis arm 7. A counterweight block 82 is installed at one end of the sliding base plate 91. A covering bottom film 81 is wrapped around the surface of the electric-driven hoisting roller 8. One end of the covering bottom film 81 is installed on the surface of the counterweight block 82. The surface of the covering bottom film 81 is covered and adhered to the sliding base plate 91. An embedded guide rail 9 is installed at the bottom of the five-axis arm 7. The moving end of the embedded guide rail 9 is fixed to one side of the sliding base plate 91.

[0031] An anti-skid pad layer 74 is provided on the inner side of the electric drive clamping arm 73 , and a surface of the anti-skid pad layer 74 is provided with rubber-like bumps.

[0032] In this embodiment, when the five-axis arm 7 partially reaches the picking position accurately, the operator can drive the one-axis arm 4, the two-axis arm 41, the three-axis arm 5 and the four-axis arm 6 to insert the five-axis arm 7 and the electric-driven clamping arm 73 on the five-axis arm 7 into the stacking box placement area for picking. When the electric-driven clamping arm 73 is in place, two groups of electric-driven clamping arms 73 can be driven to clamp the goods. When the electric-driven clamping arm 73 is in place, the five-axis arm 7 is driven to rotate 15° in the clockwise and counterclockwise direction to verify the stable clamping state of the electric-driven clamping arm 73 on the stacking box, thereby ensuring the stability and anti-falling of the robotic arm during the process of picking up the goods.

[0033] The multi-joint robotic arm is set as a four-joint robotic arm.

[0034] The articulated robotic arm includes a single-axis arm 4 , a second-axis arm 41 , a third-axis arm 5 and a fourth-axis arm 6 , which are assembled and installed through movable joints.

[0035] An axis arm 4 is installed on the mobile base, which includes a base 1. Two sets of chassis guide rails 2 are installed on the surface of the base 1. A support platform 3 is installed on the moving end of the chassis guide rail 2. An axis arm 4 is installed on the top of the support platform 3.

[0036] Working principle: During the use of this device, when it is necessary to pick up the stacking box on the shelf, the operator controls the bottom frame guide rail 2 to move. When the moving end of the bottom frame guide rail 2 moves, it can drive the support platform 3 installed on the top of the moving end of the bottom frame guide rail 2 to move back and forth. When the support platform 3 moves to the stacking box close to the surface of the shelf, the visual sensor module 71 is controlled to take real-time position pictures. The visual sensor module 71 transmits the position status to the external PC in real time. The operator can control the one-axis arm 4, the two-axis arm 41, the three-axis arm 5 and the four-axis arm 6 to accurately move the five-axis arm 7 to the corresponding stacking box area, ensuring the accurate guidance and positioning of the robot arm in the process of picking up the goods.

[0037] When the five-axis arm 7 reaches the picking position accurately, the operator can drive the one-axis arm 4, the two-axis arm 41, the three-axis arm 5 and the four-axis arm 6 to insert the five-axis arm 7 and the electric-driven clamping arm 73 on the five-axis arm 7 into the stacking box placement area for picking up the goods. After the electric-driven clamping arm 73 is in place, the two groups of electric-driven clamping arms 73 can be driven to clamp the goods. After the electric-driven clamping arm 73 is in place, the five-axis arm 7 is driven to rotate 15° in the clockwise and counterclockwise directions to verify the stable state of the electric-driven clamping arm 73 clamping the stacking box, thereby ensuring the stability and anti-falling of the robot arm during the process of picking up the goods.

[0038] The coated bottom film 81 will increase the static friction between the sliding bottom plate 91 and the palletizing box, so that the palletizing box cannot be loosened from the surface of the sliding bottom plate 91 when it is clamped on both sides, thereby ensuring the stability of the storage and retrieval of the palletizing box and preventing the goods from falling off.

[0039] 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 positioning and guiding mechanism for a palletizing robot gripper, characterized by: The utility model comprises a multi-joint mechanical arm and a palletized cargo positioning, guiding and picking component. The palletized cargo positioning, guiding and picking component is arranged on the movable end of the multi-joint mechanical arm and is used for storing and picking the palletized cargo boxes on the shelves and the cargo in the palletized cargo boxes.

2. A positioning and guiding mechanism for a palletizing robot gripper according to claim 1, characterized in that: The stacked cargo positioning, guiding and picking component comprises a picking portion, wherein the picking portion comprises a five-axis arm (7), wherein the five-axis arm (7) is arranged on the movable end of the multi-joint robotic arm, wherein electric drive clamping arms (73) are symmetrically mounted on both sides of the five-axis arm (7), and a visual sensor module (71) is arranged on the surface of the five-axis arm (7), wherein the visual sensor modules (71) are symmetrically arranged in four groups.

3. A positioning and guiding mechanism for a palletizing robot gripper according to claim 2, characterized in that: The stacked cargo positioning guide and picking assembly also includes an anti-slip portion, which includes an electric-driven hoisting roller (8). A mounting groove (72) is provided on the surface of the five-axis arm (7). The electric-driven hoisting roller (8) is installed inside the mounting groove (72). A sliding base plate (91) is provided at the bottom of the mounting groove (72). The sliding base plate (91) is slidably installed on the five-axis arm (7). A counterweight block (82) is installed at one end of the sliding base plate (91). A coating bottom film (81) is wrapped around the surface of the electric-driven hoisting roller (8). One end of the coating bottom film (81) is installed on the surface of the counterweight block (82). The surface of the coating bottom film (81) is coated and adhered to the sliding base plate (91). An embedded guide rail (9) is installed at the bottom of the five-axis arm (7). The movable end of the embedded guide rail (9) is fixed to one side of the sliding base plate (91).

4. A positioning and guiding mechanism for a palletizing robot gripper according to claim 3, characterized in that: An anti-skid pad layer (74) is provided on the inner side of the electric drive clamping arm (73), and a surface of the anti-skid pad layer (74) is provided with glue-like protrusions.

5. The positioning and guiding mechanism for a palletizing robot gripper according to claim 1, characterized in that: The multi-joint robotic arm is configured as a four-joint robotic arm.

6. A positioning and guiding mechanism for a palletizing robot gripper according to claim 5, characterized in that: The joint robot arm comprises a one-axis arm (4), a two-axis arm (41), a three-axis arm (5) and a four-axis arm (6); the one-axis arm (4), the two-axis arm (41), the three-axis arm (5) and the four-axis arm (6) are assembled and installed via movable joints.

7. A positioning and guiding mechanism for a palletizing robot gripper according to claim 6, characterized in that: The one-axis arm (4) is installed on a movable base, and the movable base includes a base (1), two sets of chassis guide rails (2) are installed on the surface of the base (1), a support platform (3) is installed on the movable end of the chassis guide rail (2), and the one-axis arm (4) is installed on the top of the support platform (3).

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