Mechanical gripper for robot palletizer

Abstract

The utility model discloses a mechanical gripper for a palletizing robot, which comprises a base detachably mounted on the palletizing robot; the two bearing plates are vertically arranged at the two opposite ends of the base respectively, connecting arms are formed on the upper sides of the bearing plates and hinged to the base, and the lower sides of the two bearing plates extend oppositely to form a row of grabbing teeth; the first driving part is used for driving the supporting plate and is mounted on the base; vertically-arranged first sliding grooves are formed in the opposite sides of the adaptive plate and the two bearing plates, second sliding grooves are formed in the inner sides of the grabbing teeth, the second sliding grooves are formed in the length directions of the grabbing teeth, sliding blocks are hinged to the two opposite sides of the adaptive plate respectively, the sliding blocks on one side of the adaptive plate are arranged in the first sliding grooves in a sliding mode, and the sliding blocks on the other side of the adaptive plate are arranged in the second sliding grooves in a sliding mode; a second driving piece used for driving the sliding block on one side of the adaptation plate is installed in the first sliding groove. The gripper structure solves the problem that the gripper structure of the palletizing robot cannot grab goods with large width stably.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, specifically to a mechanical gripper for palletizing robots. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs. They provide higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. Palletizing robots greatly save labor and space. They are flexible, precise, fast, efficient, and highly stable, resulting in high operational efficiency.

[0003] The gripper structure of existing palletizing robots (such as the Chinese patent with publication number CN107627321A) is unstable when gripping goods (such as box-shaped sheet metal parts) with a large width. When the gripper clamps the goods, the opening angle is too large, and the gripper cannot reach a vertical state.

[0004] The information disclosed in this background section is intended only to enhance the understanding of the overall background of this utility model and should not be construed as an admission or in any way implying that the information constitutes prior art known to those skilled in the art. Utility Model Content

[0005] To overcome the shortcomings of existing technologies, a mechanical gripper for palletizing robots is provided to solve the problem of unstable gripping of goods with excessively wide widths in existing palletizing robot gripper structures.

[0006] To achieve the above objectives, a mechanical gripper for a palletizing robot is provided, comprising:

[0007] The base is detachably mounted on the palletizing robot;

[0008] Two support plates are vertically arranged at opposite ends of the base. A connecting arm is formed on the upper side of the support plate and is hinged to the base. A row of gripping teeth extends oppositely from the lower side of the two support plates.

[0009] A first driving component for driving the support plate is mounted on the base;

[0010] The adapter plate has a first vertically arranged groove formed on the opposite sides of the two support plates, and a second groove formed on the inner side of the gripper teeth. The second groove is arranged along the length direction of the gripper teeth. Slider blocks are respectively hinged to the opposite sides of the adapter plate. The slider on one side of the adapter plate is slidably disposed in the first groove, and the slider on the other side of the adapter plate is slidably disposed in the second groove. A second driving member for driving the slider on one side of the adapter plate is installed in the first groove.

[0011] Furthermore, the first driving component is an electro-hydraulic push rod, which has a fixed end and a telescopic end. The fixed end is hinged to one end of the base, and the telescopic end is hinged to the support plate.

[0012] Furthermore, the second driving component is a lead screw, which is rotatably mounted in the first slide groove. The lead screw is arranged along the length direction of the first slide groove. A motor is mounted on the support plate, and the motor is drivenly connected to the lead screw.

[0013] Furthermore, a pressure plate is mounted on the bottom of the base in a way that allows it to be raised and lowered by a cylinder, and the pressure plate is positioned between the two support plates.

[0014] Furthermore, there are two pressure plates, which are spaced apart along the length of the base.

[0015] The beneficial effect of this utility model is that the mechanical gripper of this utility model for palletizing robots can adapt to the side angle of wider goods by rotating the adapter plate installed between the support plate and the gripper teeth. This allows the adapter plate on the two support plates to clamp wider goods, thereby enabling the mechanical gripper of this utility model for palletizing robots to be suitable for gripping wider goods, improving the gripping stability of wider goods, and also expanding the applicability of the equipment. Attached Figure Description

[0016] Other features, objects, and advantages of this application will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0017] Figure 1 This is a schematic diagram of the mechanical gripper for a palletizing robot according to an embodiment of the present invention.

[0018] Figure 2 This is a cross-sectional view of the support plate according to an embodiment of the present utility model.

[0019] Figure 3 This is a schematic diagram of the mechanical gripper of a palletizing robot gripping a wide item according to an embodiment of the present invention. Detailed Implementation

[0020] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the relevant utility model and not intended to limit the scope of the utility model. Furthermore, it should be noted that, for ease of description, only the parts relevant to the utility model are shown in the accompanying drawings.

[0021] It should be noted that, unless otherwise specified, the embodiments and features described in this application can be combined with each other. This application will now be described in detail with reference to the accompanying drawings and embodiments.

[0022] Reference Figures 1 to 3 As shown, this utility model provides a mechanical gripper for a palletizing robot, including: a base 1, a support plate 2, a first driving component, and an adapter plate 3.

[0023] In this embodiment, the base 1 is detachably mounted on the palletizing robot. The base is mounted on the robotic arm of the palletizing robot.

[0024] There are two support plates 2. The two support plates are arranged opposite each other. The two support plates 2 are respectively vertically arranged at opposite ends of the base 1. A connecting arm 21 is formed on the upper side of the support plate 2. The support plates are arranged along the width direction of the base. Each support plate has two connecting arms. The two connecting arms are respectively arranged at opposite ends of the support plate. The connecting arm 21 is hinged to the base 1. One end of the connecting arm is connected to the upper side of the support plate. The other end of the connecting arm is hinged to the base. A row of gripping teeth 22 extends oppositely from the lower side of the two support plates 2. The row of gripping teeth includes multiple gripping teeth, which are spaced apart along the length direction of the support plate.

[0025] The first driving component is mounted on the base 1. The first driving component is used to drive the support plate 2.

[0026] In a preferred embodiment, the first driving component is an electro-hydraulic actuator. The electro-hydraulic actuator has a fixed end and a telescopic end. The fixed end is hinged to one end of the base 1. The telescopic end is hinged to the support plate 2.

[0027] In this embodiment, vertically arranged first sliding grooves are formed on opposite sides of the two support plates 2. A second sliding groove is formed on the inner side of the gripping teeth 22. The second sliding groove is arranged along the length direction of the gripping teeth 22. Slider blocks 31 are respectively hinged to opposite sides of the adapter plate 3. The slider 31 on one side of the adapter plate 3 slides in the first sliding groove. The slider 31 on the other side of the adapter plate 3 slides in the second sliding groove. A second driving member 32 for driving the slider 31 on one side of the adapter plate 3 is installed in the first sliding groove.

[0028] In a preferred embodiment, the second driving component 32 is a lead screw. The lead screw is rotatably mounted in the first slide groove. The lead screw is arranged along the length direction of the first slide groove. A motor is mounted on the support plate 2. The motor is driven by the lead screw.

[0029] In this embodiment, a pressure plate 5 is mounted on the bottom of the base 1 in a height-adjustable manner via a cylinder 51. The pressure plate 5 is positioned between two support plates 2. In this embodiment, the cylinder is vertically oriented.

[0030] In a preferred embodiment, there are two pressure plates 5. The two pressure plates 5 are spaced apart along the length of the base 1.

[0031] See Figure 3 As shown, when the mechanical gripper of this invention for a palletizing robot grasps a wider item 4, the two support plates open to a large angle under the drive of the first drive member. Simultaneously, the second drive member drives the slider in the first groove to move towards the lower side of the support plates, causing the adapter plate to flip and fit against the opposite sides of the wider item. After the adapter plate fits against the opposite sides of the item, the first drive member drives the two support plates to close, clamping the item between the adapter plate and a row of gripping teeth.

[0032] In addition, when the width of the goods (such as sheet metal parts) is narrow, the pressure plate descends under the drive of the cylinder and presses against the top of the goods, so that the goods are clamped between the gripper teeth and the pressure plate.

[0033] The mechanical gripper of this invention for palletizing robots uses an adapter plate installed between the support plate and the gripper teeth to rotate and adapt to the side angle of wider goods. This allows the adapter plate on the two support plates to clamp wider goods, thereby enabling the mechanical gripper of this invention for palletizing robots to be suitable for gripping wider goods, improving the gripping stability of wider goods, and also expanding the applicability of the equipment.

[0034] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the utility model involved in this application is not limited to the technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above features with (but not limited to) technical features with similar functions disclosed in this application.

Claims

1. A mechanical gripper for a palletizing robot, characterized in that, include: The base is detachably mounted on the palletizing robot; Two support plates are vertically arranged at opposite ends of the base. A connecting arm is formed on the upper side of the support plate and is hinged to the base. A row of gripping teeth extends oppositely from the lower side of the two support plates. A first driving component for driving the support plate is mounted on the base; The adapter plate has a first vertically arranged groove formed on the opposite sides of the two support plates, and a second groove formed on the inner side of the gripper teeth. The second groove is arranged along the length direction of the gripper teeth. Slider blocks are respectively hinged to the opposite sides of the adapter plate. The slider on one side of the adapter plate is slidably disposed in the first groove, and the slider on the other side of the adapter plate is slidably disposed in the second groove. A second driving member for driving the slider on one side of the adapter plate is installed in the first groove.

2. The mechanical gripper for a palletizing robot according to claim 1, characterized in that, The first driving component is an electro-hydraulic push rod, which has a fixed end and a telescopic end. The fixed end is hinged to one end of the base, and the telescopic end is hinged to the support plate.

3. The mechanical gripper for a palletizing robot according to claim 1, characterized in that, The second driving component is a lead screw, which is rotatably mounted in the first slide groove. The lead screw is arranged along the length direction of the first slide groove. A motor is mounted on the support plate, and the motor is drivenly connected to the lead screw.

4. The mechanical gripper for a palletizing robot according to claim 1, characterized in that, A pressure plate is mounted on the bottom of the base via a cylinder, and the pressure plate is positioned between the two support plates.

5. The mechanical gripper for a palletizing robot according to claim 4, characterized in that, The number of pressure plates is two, and the two pressure plates are spaced apart along the length direction of the base.

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