Grabbing clamp for three-dimensional warehouse part box unstacking robot

Abstract

The grabbing clamp comprises a Z-direction translation mechanism, the bottom of the Z-direction translation mechanism is connected with a fixing frame in a sliding mode, the fixing frame is connected with a rotating air cylinder, the output end of the rotating air cylinder is connected with a base plate, and a plurality of sponge vacuum suction cups are arranged on the base plate in parallel. According to the grabbing clamp for the three-dimensional warehouse piece box unstacking robot, piece cigarettes are rapidly grabbed by means of the advantage that the area of the sponge vacuum suction cup is large, the sponge vacuum suction cup is controlled by the rotary air cylinder to rotate by + / -90 degrees, the piece cigarettes at different placing positions can be conveniently grabbed, and the application range of the grabbing clamp is wider; the sponge vacuum chucks are arranged in parallel, so that a plurality of cigarettes or a single cigarette can be grabbed according to needs.

Description

Technical Field

[0001] The utility model relates to the technical field of grabbing fixtures for destacking, and more specifically, to a grabbing fixture for a destacking robot for vertical warehouse parts boxes. Background Art

[0002] In the tobacco industry, in order to make full use of warehouse space, shelves are designed with two or more layers for storing boxes with pallets. When distribution or shipment is required, the boxes with pallets are placed on depalletizing shelves, and then depalletizing machines are used to depalletize the boxes, so that standard cigarettes can be grabbed and placed on the cigarette conveyor.

[0003] When grabbing cigarette pieces, a grabbing robot arm with a vacuum suction cup is used. The robot arm is distributed on the upper and lower guide drive mechanisms, which requires the grabbing robot arm to be longer and the vacuum suction cup at the bottom of the robot arm is a small suction cup. Usually, multiple small suction cups are required to work together to effectively grab the cigarette pieces, and it cannot change direction according to changes in the horizontal and vertical dimensions of the cigarette pieces, so as to grab them more accurately. This will directly affect the number of cigarette pieces grabbed by the destacking robot, thereby affecting the destacking efficiency.

[0004] Therefore, there is an urgent need for a gripping fixture for a vertical warehouse box destacking robot. Utility Model Content

[0005] The purpose of the utility model is to provide a grabbing fixture for a vertical warehouse box depalletizing robot, which can solve the problem that the existing grabbing fixture is fixed in position and cannot change direction, thereby affecting the depalletizing efficiency.

[0006] The utility model provides a grasping clamp for a vertical warehouse box depalletizing robot, which includes: a Z-direction translation mechanism, a fixed frame is slidably connected to the bottom of the Z-direction translation mechanism, the fixed frame is connected to a rotating cylinder, the output end of the rotating cylinder is connected to a base plate, and a plurality of sponge vacuum suction cups are arranged in parallel on the base plate.

[0007] As described above, the grasping clamp for the vertical warehouse box destacking robot, wherein, preferably, the top of each sponge vacuum suction cup is fixed to the base plate, the middle of the base plate is connected to the output end of the rotary cylinder, and the bottom of the body of the rotary cylinder is connected to the fixed frame.

[0008] As described above, the grasping fixture for the vertical warehouse box depalletizing robot, wherein, preferably, a positioning plate is provided on the top of the base plate, the positioning plate is in a 1 / 4 ring shape, and proximity switches are provided at both ends of the positioning plate.

[0009] As described above, the grasping fixture for the vertical warehouse box depalletizing robot, wherein preferably, the fixed frame includes a base plate, T-shaped plates are provided on both sides of the base plate in the vertical direction, the upper parts of the T-shaped plates on both sides are fixedly connected by connecting plates, and a fixing plate is provided on the top of the T-shaped plate.

[0010] As described above, the grasping clamp for the vertical warehouse box destacking robot, wherein preferably, the Z-axis translation mechanism includes a telescopic fork and a rodless cylinder, the top of the telescopic fork is fixedly connected to the position moving device of the robot, and the bottom of the telescopic fork is provided with a U-shaped positioning frame with an opening facing downward, the top inner wall of the U-shaped positioning frame is connected to the top of the body of the rodless cylinder, and the actuator of the rodless cylinder is connected to the fixed plate.

[0011] As described above, the grasping fixture for the vertical warehouse box depalletizing robot, wherein, preferably, a slider is provided on the top of the fixed plate, a guide rail is provided on the bottom of the U-shaped positioning frame, and the slider is slidably connected to the guide rail.

[0012] As described above, the grasping fixture for the vertical warehouse box depalletizing robot, wherein preferably, each of the sponge vacuum suction cups is connected to a corresponding vacuum generator.

[0013] As described above, the grasping fixture for the vertical warehouse box depalletizing robot, wherein, preferably, a slide groove is provided on the top of each sponge vacuum suction cup, and the slide grooves corresponding to each sponge vacuum suction cup are parallel to each other.

[0014] As described above, the grasping fixture for the vertical warehouse box depalletizing robot, wherein preferably, a fixed block is slidably provided in each of the slide grooves, and each of the fixed blocks is fixedly connected to the base plate via a fastener.

[0015] The utility model provides a grabbing fixture for a robot for destacking pieces of cigarettes in vertical warehouses, which takes advantage of the large area of ​​the sponge vacuum suction cup to quickly grab pieces of cigarettes, and controls the sponge vacuum suction cup to rotate ±90° through a rotating cylinder, which is convenient for grabbing pieces of cigarettes in different placement positions, making the application range of the grabbing fixture wider; the sponge vacuum suction cups are arranged in parallel and controlled individually, and can grab multiple or single pieces of cigarettes as needed; the proximity switches at both ends of the 1 / 4 ring positioning plate are used to monitor whether the sponge vacuum suction cups are rotated into place to ensure that they are rotated into place and the effectiveness of the grabbing action; the fixed frame is constructed by a plate-shaped bottom plate, a T-plate, a connecting plate and a fixed plate, which is convenient for transfer and convenient for fixing the rotating cylinder, while reducing the weight of the fixed frame; the longitudinal and horizontal movement of the grabbing fixture is completed by the combination of the telescopic fork and the rodless cylinder, which further reduces the space occupied by the extreme position of the grabbing fixture, making it suitable for vertical warehouses with small operating space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention will be further described below with reference to the accompanying drawings, in which:

[0017] Figure 1 A schematic structural diagram of an embodiment of a grabbing fixture for a vertical warehouse box depalletizing robot provided by the present invention;

[0018] Figure 2 This is a schematic diagram of the installation of the sponge vacuum suction cup in the present invention.

[0019] Figure 3 It is a structural diagram of the Z-direction translation mechanism in the present utility model.

[0020] Explanation of the accompanying drawings: 1-sponge vacuum suction cup, 2-base plate, 3-rotating cylinder, 4-fixed frame, 401-bottom plate, 402-T-plate, 403-connecting plate, 404-fixed plate, 5-Z-axis translation mechanism, 501-telescopic fork, 502-rodless cylinder, 503-U-shaped positioning frame, 6-positioning plate, 7-fixed block. DETAILED DESCRIPTION

[0021] Various exemplary embodiments of the present disclosure will now be described in detail with reference to the accompanying drawings. The description of the exemplary embodiments is merely illustrative and is in no way intended to limit the present disclosure, its application, or use. The present disclosure can be implemented in many different forms and is not limited to the embodiments described herein. These embodiments are provided to make the present disclosure thorough and complete and to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that unless otherwise specifically stated, the relative arrangement of parts and steps, the composition of materials, numerical expressions, and numerical values ​​set forth in these embodiments should be interpreted as being merely exemplary and not as limiting.

[0022] The terms "first," "second," and similar terms used in this disclosure do not indicate any order, quantity, or importance, but are simply used to distinguish different parts. Terms such as "include" or "comprising" mean that the elements preceding the term include the elements listed after the term, and do not exclude the possibility of also including other elements. Terms such as "upper," "lower," and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0023] In the present disclosure, when a specific component is described as being located between a first component and a second component, there may or may not be an intervening component between the specific component and the first component or the second component. When a specific component is described as being connected to another component, the specific component may be directly connected to the other component without an intervening component, or may not be directly connected to the other component but have an intervening component.

[0024] All terms (including technical or scientific terms) used in this disclosure have the same meaning as those understood by one of ordinary skill in the art to which this disclosure belongs, unless otherwise specifically defined. It should also be understood that terms defined in, for example, general dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an idealized or highly formal sense, unless explicitly defined herein.

[0025] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0026] like Figure 1 and Figure 2 As shown, the grasping fixture for the vertical warehouse box depalletizing robot provided in this embodiment includes: a Z-direction translation mechanism 5, the bottom of the Z-direction translation mechanism 5 is slidably connected to a fixed frame 4, the fixed frame 4 is connected to a rotating cylinder 3, the output end of the rotating cylinder 3 is connected to a base plate 2, and a plurality of sponge vacuum suction cups 1 are arranged in parallel on the base plate 2.

[0027] The top of each sponge vacuum cup 1 is fixed to the base plate 2; the middle of the base plate 2 is connected to the output end of the rotary cylinder 3. In some embodiments of the present invention, a circular hole is opened in the middle of the base plate 2, and the output end of the rotary cylinder 3 passes through the hole and is fixed to the base plate 2. The bottom of the body of the rotary cylinder 3 is connected to the fixed frame 4. The top of the fixed frame 4 is slidably connected to the bottom of the Z-axis translation mechanism 5.

[0028] During operation, when it is necessary to grab a cigarette piece, according to the position information of the cigarette piece in the box obtained by the control system, when the position of the sponge vacuum suction cup 1 is parallel to the position of the cigarette piece, the two side-by-side cigarette pieces are grabbed separately; when the position of the sponge vacuum suction cup 1 is perpendicular to the position of the cigarette piece, the output end of the rotary cylinder 3 drives the base plate 2 to rotate 90°, and the two side-by-side cigarette pieces are grabbed separately; after the grabbing clamp grabs the cigarette piece, it is driven by the Z-direction translation mechanism 5 to move it longitudinally and horizontally, and the cigarette piece is transported to the top of the cigarette piece conveyor line.

[0029] Furthermore, a positioning plate 6 is provided on the top of the base plate 2. The positioning plate 6 is in the shape of a quarter ring, and proximity switches are provided at both ends of the positioning plate 6. The positioning plate 6 is fixedly connected to the base plate 2 via a C-shaped support frame, and the proximity switches can detect whether the base plate 2 is rotated into place.

[0030] Furthermore, the fixing frame 4 includes a base plate 401, with T-shaped plates 402 vertically disposed on either side of the base plate 401. The upper portions of the T-shaped plates 402 on both sides are fixedly connected by a connecting plate 403, and a fixing plate 404 is disposed on the top of the T-shaped plates 402. Specifically, the body of the rotary cylinder 3 is fixed to the base plate 401. Furthermore, triangular reinforcing ribs are disposed at the connection between the T-shaped plates 402 and the base plate 401.

[0031] Furthermore, if Figure 3 As shown, the Z-axis translation mechanism 5 comprises a telescopic fork 501 and a rodless cylinder 502. The top of the telescopic fork 501 is fixedly connected to the robot's positioning mechanism, which typically includes a lateral horizontal motion structure and a vertical lifting mechanism. A downward-facing U-shaped positioning bracket 503 is provided at the bottom of the telescopic fork 501. The top inner wall of the U-shaped positioning bracket 503 is connected to the top of the rodless cylinder 502's body. The actuator of the rodless cylinder 502 is connected to the fixed plate 404. Furthermore, a slider is provided at the top of the fixed plate 404, and a guide rail is provided at the bottom of the U-shaped positioning bracket 503. The slider is slidably connected to the guide rail. During use, the actuator of the rodless cylinder 502 moves to the extreme position at one end, and the telescopic fork 501 then extends. When it reaches or falls short of the extreme position, it grabs a cigarette and then retracts. After retraction, the actuator of the rodless cylinder 502 retracts to the extreme position on the other side to place the cigarette. Driven by the positioning mechanism, the robot's gripper moves to a position parallel to the top of the cigarette case. The Z-axis translation mechanism 5 activates, and the actuator of the rodless cylinder 502 moves toward the cigarette case to its limit. Then, the telescopic fork 501, driven by the drive mechanism, moves toward the cigarette case until the sponge vacuum cup 1 is above the cigarette case. Based on the position information of the cigarette cases within the box acquired by the control system, when the sponge vacuum cup 1 is parallel to the cigarette case, two side-by-side cigarette cases are grasped separately. When the sponge vacuum cup 1 is perpendicular to the cigarette case, the output of the rodless cylinder 502 drives the base plate 2 to rotate 90°, and the two side-by-side cigarette cases are grasped separately. Once the base plate 2 rotates, a proximity switch determines whether it has fully rotated. After the grabbing fixture grabs the cigarette piece, the vacuum degree of the sponge vacuum suction cup 1 is tested to confirm that the grip is stable, and then it is driven by the Z-direction translation mechanism 5 to move horizontally longitudinally. After the telescopic fork 501 retracts into place, the rodless cylinder 502 continues to move back to transport the cigarette piece to the top of the cigarette conveyor line.

[0032] Furthermore, each of the sponge vacuum suction cups 1 is connected to a corresponding vacuum generator, which facilitates the individual vacuum control of each sponge vacuum suction cup 1. Multiple or single pieces of cigarettes can be grabbed as needed. For example, two or one piece of cigarettes can be grabbed as needed. A chute is provided on the top of each sponge vacuum suction cup 1, and the chute corresponding to each sponge vacuum suction cup 1 is parallel to each other. It should be noted that the present invention does not specifically limit the number of sponge vacuum suction cups 1. For example, it can be 2, 3, 5, etc.

[0033] Furthermore, a fixing block 7 is slidably disposed within each of the chute slots, and each of the fixing blocks 7 is fixedly connected to the base plate 2 via a fastener. Exemplarily, the fasteners are bolts; it should be noted that the present invention does not specifically limit the type of fastener. In some embodiments of the present invention, the base plate 2 is provided with a plurality of fixing holes. In a specific implementation, the fixing block 7 can be moved to an appropriate position as needed, and then bolted to the base plate 2 together with the chute slot.

[0034] The embodiment of the utility model provides a grabbing fixture for a vertical warehouse box destacking robot, which takes advantage of the large area of ​​the sponge vacuum suction cup to quickly grab the cigarette pieces, and controls the sponge vacuum suction cup to rotate ±90° through the rotating cylinder, which is convenient for grabbing cigarette pieces in different placement positions, making the application range of the grabbing fixture wider; the sponge vacuum suction cups are arranged in parallel and controlled individually, and can grab multiple or single cigarette pieces as needed; the proximity switches at both ends of the 1 / 4 ring positioning plate are used to monitor whether the sponge vacuum suction cups are rotated into place to ensure that they are rotated into place and the effectiveness of the grabbing action; the fixed frame is constructed by a plate-shaped bottom plate, a T-plate, a connecting plate and a fixed plate, which is convenient for transfer and convenient for fixing the rotating cylinder, while reducing the weight of the fixed frame; the longitudinal and horizontal movement of the grabbing fixture is completed by the combination of the telescopic fork and the rodless cylinder, which further reduces the space occupied by the extreme position of the grabbing fixture, making it suitable for vertical warehouses with small operating space.

[0035] Thus far, various embodiments of the present disclosure have been described in detail. To avoid obscuring the concept of the present disclosure, some details well known in the art have not been described. Based on the above description, those skilled in the art can fully understand how to implement the technical solutions disclosed herein.

[0036] Although some specific embodiments of the present disclosure have been described in detail through examples, those skilled in the art will understand that the above examples are for illustration only and are not intended to limit the scope of the present disclosure. Those skilled in the art will understand that the above embodiments may be modified or some technical features may be replaced with equivalents without departing from the scope and spirit of the present disclosure. The scope of the present disclosure is defined by the appended claims.

Claims

1. A gripping fixture for a vertical warehouse box depalletizing robot, characterized in that: include: A Z-direction translation mechanism, wherein the bottom of the Z-direction translation mechanism is slidably connected to a fixed frame, the fixed frame is connected to a rotating cylinder, the output end of the rotating cylinder is connected to a base plate, and a plurality of sponge vacuum suction cups are arranged in parallel on the base plate.

2. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 1 is characterized in that: The top of each sponge vacuum suction cup is fixed on the base plate, the middle of the base plate is connected to the output end of the rotary cylinder, and the bottom of the body of the rotary cylinder is connected to the fixing frame.

3. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 1 is characterized in that: A positioning plate is provided on the top of the base plate, the positioning plate is in a 1 / 4 ring shape, and proximity switches are provided at both ends of the positioning plate.

4. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 1, characterized in that: The fixing frame includes a bottom plate, T-shaped plates are arranged on both sides of the bottom plate in the vertical direction, the upper parts of the T-shaped plates on both sides are fixedly connected by connecting plates, and the tops of the T-shaped plates are provided with fixing plates.

5. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 4 is characterized in that: The Z-axis translation mechanism includes a telescopic fork and a rodless cylinder. The top of the telescopic fork is fixedly connected to the position moving device of the robot. The bottom of the telescopic fork is provided with a U-shaped positioning frame with an opening facing downward. The top inner wall of the U-shaped positioning frame is connected to the top of the body of the rodless cylinder, and the actuator of the rodless cylinder is connected to the fixed plate.

6. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 5, characterized in that: A slider is provided on the top of the fixing plate, a guide rail is provided on the bottom of the U-shaped positioning frame, and the slider is slidably connected to the guide rail.

7. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 1, characterized in that: Each of the sponge vacuum suction cups is connected to a corresponding vacuum generator.

8. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 7, characterized in that: A slide groove is provided on the top of each sponge vacuum suction cup, and the slide grooves corresponding to each sponge vacuum suction cup are parallel to each other.

9. The grabbing fixture for a vertical warehouse box depalletizing robot according to claim 8, characterized in that: A fixed block is slidably arranged in each of the sliding grooves, and each of the fixed blocks is fixedly connected to the base plate via a fastener.

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