Packing robot stacker gripper

Abstract

The utility model provides a packaging robot stacker gripper which comprises a ground rail, a robotic arm is arranged on the ground rail in a sliding mode, a first connecting plate is fixed to the top of the robotic arm, a workbench is arranged on one side of the robotic arm, and a second connecting plate is fixed to one side of the workbench through a connecting column. A plurality of through holes are formed in the first connecting plate and the second connecting plate in a penetrating mode, the first connecting plate and the second connecting plate are connected through a plurality of high-strength bolts, two sets of sliding grooves are formed in one side of the workbench in a spaced mode, and two moving seats are arranged between the two sliding grooves in a sliding mode; the stacker crane gripper solves the problems that an existing stacker crane gripper mostly adopts an integrated gripper structure, once the gripper part breaks down, the whole gripper and a machine arm need to be disassembled and maintained during maintenance, and the operation is very troublesome.

Description

Technical Field

[0001] The utility model relates to the field of robot arms, in particular to a gripper of a packaging robot palletizer. Background Art

[0002] With the continuous development and progress of science and technology, many industries will adopt machine processing to replace manual labor, thereby reducing labor costs. For example, when stacked objects need to be palletized when transporting them, palletizers will be used for intelligent palletizing.

[0003] 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. When using palletizing robots, mechanical grippers are required to grab objects.

[0004] The existing palletizing robot palletizer grippers mostly adopt an integrated gripper structure (that is, the gripper and the robot arm are integrated). During use, once the gripper part fails, the entire gripper and the robot arm need to be disassembled and maintained for maintenance, which is very troublesome and delays normal work.

[0005] Therefore, it is necessary to provide a new packaging robot palletizer gripper to solve the above technical problems. Utility Model Content

[0006] In order to solve the above technical problems, the utility model provides a packaging robot palletizer gripper, which solves the problem that the existing palletizer grippers mostly adopt an integrated gripper structure. Once the gripper part fails, the entire gripper and robot arm need to be disassembled and maintained for maintenance, which is very troublesome.

[0007] The packaging robot palletizer gripper provided by the utility model includes a ground rail, a robot arm is slidably arranged on the ground rail, a first connecting plate is fixed to the top of the robot arm, a workbench is provided on one side of the robot arm, a second connecting plate is fixed to one side of the workbench through a connecting column, a plurality of through holes are formed on both the first connecting plate and the second connecting plate, and the first connecting plate and the second connecting plate are connected by a plurality of high-strength bolts;

[0008] Two groups of slide grooves are spaced apart on one side of the workbench, two movable seats are slidably arranged between the two slide grooves, and clamping plates are installed on the two movable seats.

[0009] In a preferred embodiment, a silicone protective pad is provided on opposite sides of the two splints.

[0010] In a preferred embodiment, a bidirectional screw rod is movably provided inside the two slide grooves through bearings, both ends of the bidirectional screw rod respectively pass through the two moving seats, and the bidirectional screw rod is threadedly connected to the moving seat.

[0011] In a preferred embodiment, one end of the two bidirectional screws extends out of the workbench and is installed with a worm gear. A plurality of limit seats are arranged at intervals on one side of the workbench. Two worms are movably arranged between the plurality of limit seats. The ends of the two worms that are close to each other are fixedly connected.

[0012] The two worms are respectively engaged with the two worm wheels.

[0013] In a preferred embodiment, a mounting seat is fixed to one side of the workbench, and a rotating shaft is movably provided on the mounting seat via a bearing;

[0014] A motor is installed at the center of one side of the workbench, one end of the rotating shaft is connected to the output end of the motor through a coupling, the other end of the rotating shaft is installed with a first bevel gear, one end of the worm extends out of the limit seat and is installed with a second bevel gear, and the first bevel gear is meshed with the second bevel gear.

[0015] In a preferred embodiment, the worm wheel and worm, as well as the first bevel gear and the second bevel gear all adopt closed transmission.

[0016] The working principle of this utility model:

[0017] When it is necessary to repair parts on the workbench or replace clamping plates of different shapes, workers only need to remove several bolts between the first connecting plate and the second connecting plate to separate the robot arm from the workbench. The operation is simple and quick, saving working time. Finally, a spare workbench or a workbench with clamping plates of different shapes can be connected to the top of the robot arm without delaying normal work.

[0018] When this palletizing robot is in use, the workbench is moved to the top of the product to be palletized by the robot arm, and then the motor is started to make the two bidirectional screws rotate simultaneously in the same direction, driving the two splints to move closer to each other along the slide groove and finally fix the product. The product is then transferred to the position to be palletized by the robot arm. It has a simple structure and the transmission parts are all purely mechanical structures, with a long service life and low failure rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A three-dimensional view of the main structure of the packaging robot palletizer gripper provided by the utility model;

[0020] Figure 2 A schematic diagram of the structure of the workbench provided by the utility model;

[0021] Figure 3 This is a plan view of the main structure of the packaging robot palletizer gripper provided by the utility model.

[0022] Numbers in the figure: 1. Ground rail; 2. Robot arm; 3. First connecting plate; 4. Workbench; 5. Second connecting plate; 6. Through hole; 7. Connecting column; 8. Slide groove; 9. Moving seat; 10. Clamp; 11. Silicone protective pad; 12. Bidirectional screw; 13. Worm gear; 14. Limit seat; 15. Worm; 16. Mounting seat; 17. Rotating shaft; 18. Motor; 19. First bevel gear; 20. Second bevel gear. DETAILED DESCRIPTION

[0023] The present invention will be further described below with reference to the accompanying drawings and implementation examples.

[0024] Please refer to Figure 1 、 Figure 2 as well as Figure 3 ,in Figure 1 A three-dimensional view of the main structure of the packaging robot palletizer gripper provided by the utility model; Figure 2 A schematic diagram of the structure of the workbench provided by the utility model; Figure 3 This is a plan view of the main structure of the packaging robot palletizer gripper provided by the utility model.

[0025] In the specific implementation process, Figure 1-Figure 3 As shown, it includes a ground rail 1, a robot arm 2 is slidably arranged on the ground rail 1, a first connecting plate 3 is fixed to the top of the robot arm 2, a workbench 4 is arranged on one side of the robot arm 2, and a second connecting plate 5 is fixed to one side of the workbench 4 through a connecting column 7. A plurality of through holes 6 are opened through the first connecting plate 3 and the second connecting plate 5, and the first connecting plate 3 and the second connecting plate 5 are connected by a plurality of high-strength bolts. When it is necessary to repair the parts on the workbench 4 or replace the clamping plates 10 of different shapes, the staff only needs to remove the bolts between the first connecting plate 3 and the second connecting plate 5 to separate the robot arm 2 from the workbench 4. The operation is simple and quick, saving working time. Finally, the spare workbench 4 or the workbench 4 equipped with clamping plates 10 of other shapes can be connected to the top of the robot arm 2.

[0026] Two sets of slide grooves 8 are spaced apart on one side of the workbench 4, and two movable seats 9 are slidingly arranged between the two slide grooves 8. A splint 10 is installed on the two movable seats 9, and a silicone protective pad 11 is provided on the opposite side of the two splints 10. By setting the silicone protective pad 11, on the one hand, the friction between the product is increased, and on the other hand, the surface of the product is protected.

[0027] A bidirectional screw rod 12 is movably provided inside the two slide grooves 8 through bearings. Both ends of the bidirectional screw rod 12 pass through the two moving seats 9 respectively, and the bidirectional screw rod 12 is threadedly connected to the moving seat 9. One end of the two bidirectional screw rods 12 extends out of the workbench 4 and is installed with a worm gear 13. A plurality of limit seats 14 are arranged at intervals on one side of the workbench 4. Two worms 15 are movably provided between the plurality of limit seats 14. The close ends of the two worms 15 are fixedly connected, and the two worms 15 are respectively engaged with the two worm gears 13. A mounting seat 16 is fixed on one side of the workbench 4. A rotating shaft 17 is movably provided on the mounting seat 16 through a bearing. A motor 18 is installed at the center of one side of the workbench 4. One end of the rotating shaft 17 is connected to the output end of the motor 18 through a coupling. Starting the motor 18 can drive the rotating shaft 17 to rotate.

[0028] A first bevel gear 19 is installed at the other end of the rotating shaft 17, and one end of the worm 15 extends out of the limit seat 14 and is installed with a second bevel gear 20. The first bevel gear 19 is meshed with the second bevel gear 20. When the present palletizing robot is in use, the workbench 4 is moved to the top of the product to be palletized by the robot arm 2, and then the motor 18 is started to drive the rotating shaft 17 to rotate. Under the transmission action of the first bevel gear 19 and the second bevel gear 20, the two worms 15 rotate at the same time, driving the worm gear 13 to rotate accordingly. Under the action of the worm gear 13, the two bidirectional lead screws 12 rotate in the same direction at the same time, driving the two splints 10 to approach each other along the slide groove 8 and finally fix the product. Then the product is transferred to the position to be palletized by the robot arm 2.

[0029] The worm wheel 13 and the worm 15 as well as the first bevel gear 19 and the second bevel gear 20 all adopt closed transmission to reduce friction and wear and increase their service life.

[0030] Working principle of the utility model: When the palletizing robot is in use, the workbench 4 is moved to the top of the product to be palletized by the robot arm 2, and then the motor 18 is started to drive the rotating shaft 17 to rotate. Under the transmission action of the first bevel gear 19 and the second bevel gear 20, the two worms 15 rotate simultaneously, driving the worm wheel 13 to rotate accordingly;

[0031] Under the action of the worm gear 13, the two bidirectional screws 12 rotate simultaneously in the same direction, driving the two clamping plates 10 to approach each other along the slide 8 and finally fix the product. Then the robot arm 2 transfers the product to the stacking position.

[0032] When it is necessary to repair parts on the workbench 4 or replace clamps 10 of different shapes, the staff only needs to remove several bolts between the first connecting plate 3 and the second connecting plate 5 to separate the robot arm 2 from the workbench 4. The operation is simple and quick, saving working time. Finally, the spare workbench 4 or the workbench 4 equipped with clamps 10 of other shapes can be connected to the top of the robot arm 2.

[0033] The circuits and controls involved in the present invention are all prior art and will not be described in detail here.

[0034] The above description is merely an embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present invention, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A packaging robot palletizer gripper, comprising a ground rail (1), on which a robot arm (2) is slidably arranged, characterized in that: A first connecting plate (3) is fixed to the top of the robot arm (2), a workbench (4) is provided on one side of the robot arm (2), a second connecting plate (5) is fixed to one side of the workbench (4) via a connecting column (7), a plurality of through holes (6) are provided on both the first connecting plate (3) and the second connecting plate (5), and the first connecting plate (3) and the second connecting plate (5) are connected via a plurality of high-strength bolts; Two groups of slide grooves (8) are spaced apart on one side of the workbench (4), two movable seats (9) are slidably arranged between the two slide grooves (8), and clamping plates (10) are installed on the two movable seats (9).

2. The packaging robot palletizer gripper according to claim 1, characterized in that: A silicone protective pad (11) is provided on opposite sides of the two clamping plates (10).

3. The packaging robot palletizer gripper according to claim 2, characterized in that: A bidirectional screw rod (12) is movably provided inside the two slide grooves (8) via bearings. Both ends of the bidirectional screw rod (12) respectively pass through the two movable seats (9), and the bidirectional screw rod (12) is threadedly connected to the movable seat (9).

4. The packaging robot palletizer gripper according to claim 3, characterized in that: One end of the two bidirectional screw rods (12) extends out of the workbench (4) and is installed with a worm gear (13); a plurality of limit seats (14) are arranged at intervals on one side of the workbench (4); two worms (15) are movably arranged between the plurality of limit seats (14); and the two worms (15) are fixedly connected at their adjacent ends; The two worms (15) are respectively engaged with the two worm wheels (13).

5. The packaging robot palletizer gripper according to claim 4, characterized in that: A mounting seat (16) is fixed on one side of the workbench (4), and a rotating shaft (17) is movably provided on the mounting seat (16) via a bearing; A motor (18) is installed at the center of one side of the workbench (4), one end of the rotating shaft (17) is connected to the output end of the motor (18) through a coupling, and the other end of the rotating shaft (17) is installed with a first bevel gear (19). One end of the worm (15) extends out of the limit seat (14) and is installed with a second bevel gear (20), and the first bevel gear (19) is meshed with the second bevel gear (20).

6. The packaging robot palletizer gripper according to claim 5, characterized in that: The worm wheel (13) and the worm (15), as well as the first bevel gear (19) and the second bevel gear (20) all adopt closed transmission.

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