Stacking gripper and stacking robot

Abstract

The utility model discloses a stacking gripper and a stacking robot, and relates to the technical field of packaging carrying, the stacking gripper comprises a main frame, a gripping tooth mechanism and a sensing assembly, the gripping tooth mechanism comprises a clamping driving part, a first clamping jaw and a second clamping jaw, and the clamping driving part drives the first clamping jaw to be close to or away from the second clamping jaw; the sensing assembly comprises a force feedback sensor, and the force feedback sensor is electrically connected with the clamping driving piece; the force feedback sensor is arranged on the side wall, facing the second clamping jaw, of the first clamping jaw. And / or the force feedback sensor is arranged on the side wall, facing the first clamping jaw, of the second clamping jaw. In the technical scheme of the utility model, the force feedback sensor receives the pressure signal between the gripper and the material and then transmits the pressure signal to the control system, so that the gripping force can be quickly and accurately judged through the force feedback sensor when the stacking gripper grabs the material, and the gripping speed does not need to be reduced to ensure the accuracy of the gripping force; therefore, the stacking gripper can be applied to the application scene of high-frequency gripping.

Description

Technical Field

[0001] This utility model relates to the field of packaging and handling technology, and in particular to a palletizing gripper and a palletizing robot. Background Technology

[0002] Palletizing grippers are automated devices that neatly and automatically stack packaged goods of different shapes and sizes onto pallets. They are widely used in various fields such as automotive, logistics, home appliances, pharmaceuticals, and food and beverage. Palletizing grippers are characterized by simple structure, low failure rate, reliable performance, and easy maintenance. Furthermore, different types of goods can be palletized and depalletized by changing the grippers.

[0003] Most palletizing grippers are rigid grippers. When gripping materials, excessive gripping force may damage the materials, while insufficient gripping force may cause the materials to slip off the gripper.

[0004] For the reasons mentioned above, current palletizing grippers generally reduce the gripping speed to ensure moderate gripping force, making it difficult to apply palletizing grippers to high-frequency gripping application scenarios. Utility Model Content

[0005] The main purpose of this utility model is to propose a palletizing gripper, which aims to expand the application range of palletizing grippers.

[0006] To achieve the above objectives, the palletizing gripper proposed in this utility model includes:

[0007] Main frame;

[0008] A gripping mechanism, comprising a clamping drive, a first gripper, and a second gripper, wherein the clamping drive is disposed on the main frame, and the first gripper is retractably connected to the output end of the clamping drive; the second gripper is disposed on the main frame, and the clamping drive drives the first gripper to move closer to or away from the second gripper; and

[0009] A sensing component, the sensing component including a force feedback sensor, the force feedback sensor being electrically connected to the clamping drive;

[0010] Wherein, the force feedback sensor is disposed on the side wall of the first gripper facing the second gripper; and / or, the force feedback sensor is disposed on the side wall of the second gripper facing the first gripper.

[0011] In one embodiment, the main frame includes a main board and a plurality of support plates, and a slide bar is formed on both sides of the main board; a slide groove is formed at opposite ends of each support plate, and the two slide grooves of each support plate are slidably connected to the two slide bars respectively.

[0012] The palletizing gripper includes multiple gripping tooth mechanisms, each of which is mounted on a support plate.

[0013] In one embodiment, the main frame further includes a plurality of telescopic drive members, with each pair of adjacent support plates connected by one of the telescopic drive members, and each of the telescopic drive members being used to drive the two adjacent support plates to move closer or further apart.

[0014] In one embodiment, the second gripper includes a heat sink and gripping teeth. The heat sink is disposed on the main frame, and the gripping teeth are disposed at the end of the heat sink away from the main frame and facing the first gripper.

[0015] The heat sink has a heat dissipation groove on the side facing away from the main frame, and a heat dissipation hole communicating with the heat dissipation groove is also provided on the other side of the heat sink.

[0016] In one embodiment, the second gripper further includes a heat dissipation layer that fills the bottom space of the heat dissipation groove.

[0017] In one embodiment, the heat dissipation layer is made of an aluminum-copper composite material.

[0018] In one embodiment, the opening of the heat dissipation groove is rectangular.

[0019] In one embodiment, the gripping mechanism further includes an anti-slip layer disposed on the sidewall of the first gripper facing the second gripper, and the force feedback sensor is disposed on the side of the anti-slip layer facing away from the first gripper; and / or,

[0020] The anti-slip layer is disposed on the side wall of the second gripper facing the first gripper, and the force feedback sensor is disposed on the side of the anti-slip layer facing away from the second gripper.

[0021] In one embodiment, the sensing component further includes a distance sensor disposed on the side of the second gripper facing away from the main frame.

[0022] This utility model also proposes a palletizing robot, the palletizing robot comprising:

[0023] Main frame;

[0024] A gripping mechanism, comprising a clamping drive, a first gripper, and a second gripper, wherein the clamping drive is disposed on the main frame, and the first gripper is retractably connected to the output end of the clamping drive; the second gripper is disposed on the main frame, and the clamping drive drives the first gripper to move closer to or away from the second gripper; and

[0025] A sensing component, the sensing component including a force feedback sensor, the force feedback sensor being electrically connected to the clamping drive;

[0026] Wherein, the force feedback sensor is disposed on the side wall of the first gripper facing the second gripper; and / or, the force feedback sensor is disposed on the side wall of the second gripper facing the first gripper.

[0027] In the technical solution of this utility model, the palletizing gripper includes a main frame, a gripping tooth mechanism, and a sensing component. The gripping tooth mechanism includes a clamping drive, a first gripper, and a second gripper. The clamping drive is located on the main frame, and the first gripper is retractably connected to the output end of the clamping drive. The second gripper is located on the main frame, and the clamping drive drives the first gripper to move closer to or away from the second gripper. The sensing component includes a force feedback sensor, which is electrically connected to the clamping drive. The force feedback sensor is located on the side wall of the first gripper facing the second gripper, and / or the force feedback sensor is located on the side wall of the second gripper facing the first gripper. In the technical solution of this utility model, a preset pressure value is set, and the clamping drive drives the first gripper to approach the second gripper to clamp the material. When the material is clamped, the first and second grippers exert a squeezing force on the material. Since the forces are mutual, the material will exert a force of the same magnitude on the force feedback sensor. After receiving the pressure signal, the force feedback sensor transmits the signal to the control system of the palletizing gripper. When the signal value is less than the preset pressure value, the control system controls the clamping drive to continue driving the first gripper to approach the second gripper. When the signal value reaches the preset pressure value, the control system controls the clamping drive to stop driving. In this way, the palletizing gripper will not damage the material due to excessive gripping force, nor will it be unstable due to insufficient gripping force. Moreover, the force feedback sensor can quickly and accurately determine the gripping force without reducing the gripping speed to ensure accurate gripping force. This allows the palletizing gripper to be used in high-frequency gripping applications, expanding the application range of the palletizing gripper. Attached Figure Description

[0028] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0029] Figure 1 A schematic diagram of a palletizing gripper according to an embodiment of the present invention;

[0030] Figure 2 for Figure 1 A magnified view of a section at point A in the middle;

[0031] Figure 3 A schematic diagram of another embodiment of the palletizing gripper provided by this utility model;

[0032] Figure 4 This is a structural schematic diagram of an embodiment of the palletizing robot provided by this utility model.

[0033] Explanation of icon numbers:

[0034] 1000 Palletizing gripper 231a Heat sink 11 motherboard 231b Heat dissipation holes 111 Slider 232 claw teeth 12 Support plate 233 Heat dissipation layer 13 Telescopic drive component 24 Anti-slip layer 21 Clamping drive 31 Force feedback sensor 22 First gripper 32 Distance sensor 23 Second gripper 2000 Palletizing robots 231 heat sink 4 robotic arm

[0035] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0036] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.

[0037] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.

[0038] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0039] This utility model proposes a palletizing gripper 1000.

[0040] Please see Figure 1 and Figure 2In the technical solution of this utility model, the palletizing gripper 1000 includes a main frame, a gripping tooth 232 mechanism, and a sensing component. The gripping tooth 232 mechanism includes a clamping drive 21, a first gripper 22, and a second gripper 23. The clamping drive 21 is disposed on the main frame, and the first gripper 22 is retractably connected to the output end of the clamping drive 21. The second gripper 23 is disposed on the main frame, and the clamping drive 21 drives the first gripper 22 to move closer to or away from the second gripper 23. The sensing component includes a force feedback sensor 31, which is electrically connected to the clamping drive 21. The force feedback sensor 31 is disposed on the side wall of the first gripper 22 facing the second gripper 23; and / or, the force feedback sensor 31 is disposed on the side wall of the second gripper 23 facing the first gripper 22.

[0041] In the technical solution of this utility model, a preset pressure value is set, and the clamping drive 21 drives the first gripper 22 to approach the second gripper 23 to clamp the material. When the material is clamped, the first gripper 22 and the second gripper 23 exert a squeezing force on the material. Since the forces are mutual, the material will exert the same force on the force feedback sensor 31. After receiving the pressure signal, the force feedback sensor 31 transmits the signal to the control system of the palletizing gripper 1000. When the signal value is less than the preset pressure value, the control system controls the clamping drive 21 to continue driving. When the first gripper 22 moves closer to the second gripper 23, the control system controls the clamping drive 21 to stop driving when the signal value reaches the preset pressure value. This ensures that the palletizing gripper 1000 will not damage the material due to excessive gripping force, nor will it be unstable due to insufficient gripping force. Moreover, the force feedback sensor 31 determines the gripping force quickly and accurately without reducing the gripping speed to ensure accurate gripping force. This allows the palletizing gripper 1000 to be used in high-frequency gripping applications, expanding the application range of the palletizing gripper 1000.

[0042] In one embodiment of this utility model, a force feedback sensor 31 is disposed on the side wall of the first gripper 22 facing the second gripper 23, so that the pressure between the first gripper 22 and the material can be detected when the palletizing gripper 1000 grips the material, and the gripping force can be determined based on the pressure between the first gripper 22 and the material.

[0043] In one embodiment of this utility model, a force feedback sensor 31 is disposed on the side wall of the second gripper 23 facing the first gripper 22, so that the pressure between the second gripper 23 and the material can be detected when the palletizing gripper 1000 clamps the material, and the gripping force can be determined based on the pressure between the second gripper 23 and the material.

[0044] In one embodiment of this invention, a force feedback sensor 31 is disposed on the side wall of the first gripper 22 facing the second gripper 23, and another force feedback sensor 31 is disposed on the side wall of the second gripper 23 facing the first gripper 22. This allows for the detection of the pressure between the first gripper 22 and the second gripper 23 and the material when the palletizing gripper 1000 is holding the material, making the determination of the gripping force more accurate by using the pressure from both sides.

[0045] The main frame includes a main board 11 and multiple support plates 12, and the palletizing gripper 1000 includes multiple gripping teeth 232 mechanisms. Please refer to [link / reference]. Figure 1 and Figure 3 In one embodiment of this utility model, the main frame includes a main board 11 and five support plates 12. A slide bar 111 is formed on both sides of the main board 11. Each support plate 12 has a sliding groove formed at its opposite ends, and the two sliding grooves of each support plate 12 are slidably connected to the two slide bars 111 respectively. The palletizing gripper 1000 includes five gripping teeth 232 mechanisms, each gripping tooth 232 mechanism being disposed on a support plate 12. The support plates 12 can move closer or further apart from each other, allowing the gripping teeth 232 mechanisms to move relative to each other in the width direction of the support plate 12. This allows the spacing between the gripping teeth 232 mechanisms to be adjusted according to the shape of the material, making the gripping teeth 232 mechanisms more flexible in grasping the material, and enabling more gripping teeth 232 mechanisms to grasp the material simultaneously for a more secure grip.

[0046] The main frame also includes multiple telescopic drive components 13. See [link / reference needed]. Figure 1 In one embodiment of this utility model, the main frame further includes four telescopic drive members 13. Each pair of adjacent support plates 12 is connected by a telescopic drive member 13, and each telescopic drive member 13 is used to drive the two adjacent support plates 12 to move closer or further apart. The addition of the telescopic drive members 13 automates the movement of the support plates 12, reduces the need for manual adjustment, and improves the automation level of the palletizing gripper 1000. By quickly adjusting the position of the support plates 12 through the telescopic drive members 13, it can quickly adapt to different materials, reduce downtime caused by adjusting the position of the support plates 12, and improve overall work efficiency.

[0047] Please see Figure 3In one embodiment of this utility model, the second gripper 23 includes a heat dissipation plate 231 and gripping teeth 232. The heat dissipation plate 231 is disposed on the main frame, and the gripping teeth 232 are disposed at the end of the heat dissipation plate 231 away from the main frame and facing the first gripper 22. A heat dissipation groove 231a is formed on the side of the heat dissipation plate 231 facing away from the main frame, and a heat dissipation hole 231b communicating with the heat dissipation groove 231a is also provided on the other side of the heat dissipation plate 231. The design of the heat dissipation plate 231 effectively increases the heat dissipation area of ​​the second gripper 23, and conducts the heat generated by the second gripper 23 to the back of the heat dissipation plate 231 through the heat dissipation groove 231a and the heat dissipation hole 231b, preventing the second gripper 23 from overheating and causing performance degradation or damage during high-load operation. The heat dissipation design enables the gripper to maintain good performance in different working environments and adapt to various industrial application scenarios.

[0048] Please see Figure 3 In one embodiment of this utility model, the second gripper 23 further includes a heat dissipation layer 233, which fills the bottom space of the heat dissipation groove 231a. The heat dissipation layer 233 filling the bottom space of the heat dissipation groove 231a can more effectively conduct and dissipate the heat generated by the second gripper 23, thereby improving heat dissipation efficiency.

[0049] Of course, the material of the heat dissipation layer 233 can be thermally conductive silicone grease or an aluminum-copper composite material, and there is no limitation herein. In one embodiment of this utility model, the material of the heat dissipation layer 233 is an aluminum-copper composite material. The heat dissipation performance of the aluminum-copper composite material is better than that of a single material, and the thermal conductivity of the copper-aluminum composite material is far superior to that of copper. At the same time, the addition of aluminum significantly reduces the weight. The high thermal conductivity and lightweight characteristics of the aluminum-copper composite material enable the heat sink to work stably in various harsh environments, effectively resist corrosion and oxidation, and improve the reliability and stability of the system. Therefore, the aluminum-copper composite material is preferred as the material of the heat dissipation layer 233.

[0050] It is understood that the opening of the heat sink 231a can be rectangular or circular; there is no limitation on this. Please refer to [link / reference]. Figure 3 In one embodiment of this utility model, the opening of the heat dissipation groove 231a is rectangular. The design of the rectangular cross-section heat dissipation groove 231a can increase the effective heat exchange area of ​​the heat dissipation plate 231, thereby improving the heat dissipation efficiency.

[0051] In the technical solution of this utility model, the gripper 232 mechanism further includes an anti-slip layer 24, which is disposed on the side wall of the first gripper 22 facing the second gripper 23, and a force feedback sensor 31 is disposed on the side of the anti-slip layer 24 facing away from the first gripper 22; and / or, the anti-slip layer 24 is disposed on the side wall of the second gripper 23 facing the first gripper 22, and the force feedback sensor 31 is disposed on the side of the anti-slip layer 24 facing away from the second gripper 23. Please refer to [link / reference]. Figure 1 and Figure 2In one embodiment of this utility model, the gripper tooth 232 mechanism further includes an anti-slip layer 24. The anti-slip layer 24 is disposed on the side wall of the first gripper 22 facing the second gripper 23, and a force feedback sensor 31 is disposed on the side of the anti-slip layer 24 facing away from the first gripper 22. The anti-slip layer 24 is also disposed on the side wall of the second gripper 23 facing the first gripper 22, and the force feedback sensor 31 is disposed on the side of the anti-slip layer 24 facing away from the second gripper 23. The anti-slip layer 24 increases the friction between the gripper and the material, preventing the material from slipping during gripping and improving the stability and reliability of gripping. Distributing the force feedback sensor 31 on the side of the anti-slip layer 24 facing away from each gripper allows the gripper tooth 232 mechanism to more accurately monitor the gripping force when gripping materials.

[0052] Please see Figure 1 and Figure 2 In one embodiment of this utility model, the sensing component further includes a distance sensor 32, which is disposed on the side of the second gripper 23 facing away from the main frame. The distance sensor 32 can monitor the distance between the gripper 232 mechanism and the material before the gripper 232 mechanism grips the material, which helps to accurately control the gripping position and improve the accuracy and efficiency of gripping; by monitoring the distance, it can also avoid material damage or equipment damage caused by improper gripping position, thereby improving the safety of operation.

[0053] This utility model also proposes a palletizing robot 2000, which includes a robotic arm 4 and a palletizing gripper 1000. The specific structure of the palletizing gripper 1000 is as described in the above embodiments. Since this palletizing robot 2000 adopts all the technical solutions of all the above embodiments, it has at least all the beneficial effects brought about by the technical solutions of the above embodiments, which will not be elaborated here. Please refer to [link to relevant documentation]. Figure 4 The main frame is mounted on the robotic arm 4.

[0054] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.

Claims

1. A palletizing gripper (1000), characterized in that, include Main frame; The gripping tooth (232) mechanism includes a clamping drive (21), a first gripper (22), and a second gripper (23). The clamping drive (21) is located on the main frame. The first gripper (22) is telescopically connected to the output end of the clamping drive (21). The second gripper (23) is located on the main frame. The clamping drive (21) drives the first gripper (22) to move closer to or away from the second gripper (23). as well as The sensing component includes a force feedback sensor (31) which is electrically connected to the clamping drive (21). The force feedback sensor (31) is located on the side wall of the first gripper (22) facing the second gripper (23); and / or, the force feedback sensor (31) is located on the side wall of the second gripper (23) facing the first gripper (22).

2. The palletizing gripper (1000) as described in claim 1, characterized in that, The main frame includes a main board (11) and multiple support plates (12). A slide bar (111) is formed on both sides of the main board (11). Each of the support plates (12) has a sliding groove at its opposite ends. The two sliding grooves of each support plate (12) are slidably connected to the two slide bars (111) respectively. The palletizing gripper (1000) includes a plurality of gripping teeth (232) mechanisms, each of the gripping teeth (232) mechanisms being disposed on a support plate (12).

3. The palletizing gripper (1000) as described in claim 2, characterized in that, The main frame also includes multiple telescopic drive components (13), and each pair of adjacent support plates (12) are connected by one of the telescopic drive components (13). Each telescopic drive component (13) is used to drive the two adjacent support plates (12) to move closer or further apart from each other.

4. The palletizing gripper (1000) as described in claim 1, characterized in that, The second gripper (23) includes a heat sink (231) and gripping teeth (232). The heat sink (231) is located on the main frame, and the gripping teeth (232) are located at the end of the heat sink (231) away from the main frame and facing the first gripper (22). The heat sink (231) has a heat dissipation groove (231a) on the side facing away from the main frame, and a heat dissipation hole (231b) communicating with the heat dissipation groove (231a) is also provided on the other side of the heat sink (231).

5. The palletizing gripper (1000) as described in claim 4, characterized in that, The second gripper (23) also includes a heat dissipation layer (233) that fills the bottom space of the heat dissipation groove (231a).

6. The palletizing gripper (1000) as described in claim 5, characterized in that, The heat dissipation layer (233) is made of aluminum-copper composite material.

7. The palletizing gripper (1000) as described in claim 5, characterized in that, The opening of the heat dissipation groove (231a) is rectangular.

8. The palletizing gripper (1000) as described in any one of claims 1 to 7, characterized in that, The gripper (232) mechanism further includes an anti-slip layer (24), which is disposed on the side wall of the first gripper (22) facing the second gripper (23), and the force feedback sensor (31) is disposed on the side of the anti-slip layer (24) facing away from the first gripper (22); and / or, The anti-slip layer (24) is disposed on the side wall of the second gripper (23) facing the first gripper (22), and the force feedback sensor (31) is disposed on the side of the anti-slip layer (24) facing away from the second gripper (23).

9. The palletizing gripper (1000) as described in any one of claims 1 to 7, characterized in that, The sensing component also includes a distance sensor (32), which is located on the side of the second gripper (23) facing away from the main frame.

10. A palletizing robot (2000), characterized in that, The palletizing robot (2000) includes a robotic arm (4) and a palletizing gripper (1000) as described in any one of claims 1 to 9, the main frame being mounted on the robotic arm (4).

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