Multi-station robot palletizer gripper

Abstract

The utility model relates to the technical field of robot grippers, in particular to a multi-station robot palletizer gripper which comprises a rack, a plurality of bag grabbing mechanisms are arranged at the bottom of the rack at intervals, and a driving mechanism is arranged on the rack and corresponds to each bag grabbing mechanism. Each driving mechanism is used for controlling the corresponding bag grabbing mechanism to be opened or closed. The stacking and loading quality is improved by arranging the multiple sets of bag grabbing mechanisms, control mechanisms of the bag grabbing mechanisms operate independently and do not affect one another, bag taking and placing operation can be conducted according to time and positions, and the material placing gaps can be controlled according to requirements.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, specifically a multi-station palletizing robot gripper. Background Technology

[0002] The handling of finished bagged cement is unavoidable during cement production and transportation. To improve the efficiency of cement production and transportation and reduce labor costs, existing cement packaging production lines typically use multi-station palletizing robots to replace manual labor for cement handling and palletizing.

[0003] A prior art palletizing robot gripper, such as one described in application number CN201810867280.4, includes a connecting frame and two claw tooth assemblies mounted on the connecting frame. Each claw tooth assembly includes a base plate, a swing rod, a claw tooth seat, a first movable claw tooth, a first claw tooth bearing, a first multi-stroke telescopic drive component, a first drive component bearing, a first connecting bent rod, a second movable claw tooth, a second claw tooth bearing, a second multi-stroke telescopic drive component, a second drive component bearing, and a second connecting bent rod. The first and second movable claw teeth are L-shaped structures with bearings connected to their upper ends. The drive structure drives the bearings to rotate, thereby opening or closing the two claw teeth. The existing technology has the following problems in operation: 1. The existing technology can only release all bagged materials at one time and cannot adjust the release position midway; 2. When loading and packing operations are carried out, the working space is narrow. The existing claw teeth require a large space when they move. When the claw teeth open, they are easy to hit the wall. Therefore, when releasing the bag, the gripper must be higher than the height of the vehicle side, which will cause the bag to break and increase dust. The existing structure reduces the above defects and is convenient for operation in narrow spaces; 3. The connection between the gripper fingers and the drive rod is mostly welded together. The gripper fingers wear down with the bag during operation and need to be replaced regularly, which is time-consuming and costly. Utility Model Content

[0004] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a multi-station palletizing robot gripper that can improve the quality of material palletizing, improve space utilization, and is suitable for operation in narrow spaces.

[0005] The technical solution adopted by this utility model to solve its technical problem is:

[0006] A multi-station palletizing robot gripper includes a frame, with several sets of gripping mechanisms spaced apart at the bottom of the frame. A drive mechanism is provided on the frame corresponding to each set of gripping mechanisms, and each drive mechanism is used to control the corresponding gripping mechanism to open or close.

[0007] Compared with the prior art, the outstanding features of this utility model, which adopts the above technical solution, are:

[0008] By setting up multiple sets of bag-grabbing mechanisms, the quality of palletizing and loading is improved. The control mechanisms of each bag-grabbing mechanism operate independently and do not affect each other. They can carry out bag-grabbing and bag-placing operations at different times and locations, and can control the material placement gaps according to needs.

[0009] As a preferred embodiment, a further technical solution of this utility model is:

[0010] Preferably, each group of grabbing mechanisms includes several spaced-apart gantry frames, with two vertical sections of the gantry frames located on the left and right sides of the bottom of the frame, respectively; the lower ends of the vertical sections on the same side of several gantry frames in each group of grabbing mechanisms are rotatably connected to a continuous rotating shaft, and several grabbing fingers are spaced-apart on the rotating shaft; the drive mechanism is connected to the rotating shaft for transmission; by directly setting the grabbing fingers at the lower end of the vertically set support rod, the operating space is saved, and this structure is suitable for operation in narrow spaces.

[0011] Preferably, each group of grabbing mechanisms corresponds to two drive mechanisms, with the two drive mechanisms corresponding to the left and right drive shafts respectively; each drive mechanism includes a drive cylinder, an inverted L-shaped drive handle, a first transition sprocket and a second transition sprocket, and also includes a cylinder mounting seat and a shaft seat set on the top of the frame, with the drive shaft rotatably connected in the shaft seat; the drive cylinder is hinged to the cylinder mounting seat, the piston rod end of the drive cylinder is hinged to the horizontal part of the inverted L-shaped drive handle, and the lower end of the vertical part of the inverted L-shaped drive handle is connected to the drive shaft; the first transition sprocket is mounted on the drive shaft, the second transition sprocket is mounted on the rotating shaft, and the first transition sprocket and the second transition sprocket are connected by chain drive.

[0012] Preferably, the lower end of the vertical part of the inverted L-shaped transmission handle is provided with two connecting handles spaced apart. The lower end of the connecting handle is a ring sleeve, which is sleeved on the transmission shaft. The two ring sleeves are located on both sides of the first transition sprocket, respectively, making the connection more stable.

[0013] Preferably, the gripper finger is connected to the rotating shaft via a first connector and a second connector. The rotating shaft has several keyways spaced apart. A first arc-shaped groove is located at the center of the bottom of the first connector, corresponding to the rotating shaft. A connecting key is located in the first arc-shaped groove, corresponding to the keyway. The first connector and the rotating shaft are connected via the connecting key and the keyway. Two first connecting holes are symmetrically arranged on both sides of the first arc-shaped groove on the first connector. The second connector is connected to the upper end of the gripper finger. A second arc-shaped groove is located on the second connector, corresponding to the first arc-shaped groove. Two second connecting holes are also located on the second connector, corresponding to the two first connecting holes. The second connector and the first connector are secured together by bolts passing through the first and second connecting holes and locking them with nuts. This design makes the gripper finger replacement simple, convenient, and quick. Each gripper finger can be replaced individually according to its wear condition, reducing maintenance and operating costs.

[0014] Preferably, each group of bag-grabbing mechanisms on the frame is provided with a set of clamping mechanisms, with two in a set and spaced apart; each clamping mechanism includes a vertically arranged clamping cylinder, with the piston rod end of the clamping cylinder pointing downwards and a pressure plate provided on the piston rod end.

[0015] Preferably, the pressure plate includes a longitudinal support beam, and a transverse support beam is provided on the lower side of each end of the longitudinal support beam. A limiting plate is connected to the lower side of each end of the transverse support beam. The limiting plate includes a horizontally arranged connecting part and an inclined limiting part. The limiting part is arranged perpendicular to the connecting part and is inclined to the side away from the transverse support beam.

[0016] Preferably, both the longitudinal support beams and the transverse support beams are made of aluminum profiles. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the gripper of the multi-station palletizing robot in this embodiment of the present invention;

[0018] Figure 2 This is a schematic diagram of the bag-grabbing mechanism in an embodiment of this utility model;

[0019] Figure 3 This is a schematic diagram of the connection structure between the gripping finger and the rotating shaft in an embodiment of this utility model;

[0020] Figure 4 This is a schematic diagram of the pressing mechanism in an embodiment of this utility model.

[0021] Explanation of reference numerals in the attached drawings: 1. Frame; 2. Gantry frame; 3. Rotary shaft; 301. Keyway; 4. Gripping finger; 5. Cylinder mounting seat; 6. Shaft seat; 7. Drive cylinder; 8. Inverted L-shaped transmission handle; 9. First transition sprocket; 10. Second transition sprocket; 11. Chain; 12. Clamping cylinder; 14. First connector; 15. Second connector; 16. Longitudinal support beam; 17. Transverse support beam; 18. Limiting plate. Detailed Implementation

[0022] The present invention will be further described below with reference to specific embodiments. The purpose of this description is only to better understand the content of the present invention. Therefore, the examples given do not limit the scope of protection of the present invention.

[0023] like Figure 1 to Figure 4 As shown, this embodiment provides a multi-station palletizing robot gripper, including a frame 1; the frame 1 is a rectangular frame structure with reinforcing ribs in the middle for mounting cylinder mounting seats 5, shaft seats 6 and other structures; several sets of gripping mechanisms are spaced apart at the bottom of the frame 1, and a set of driving mechanisms is provided on the frame 1 for each set of gripping mechanisms. Each set of driving mechanisms is used to control the corresponding gripping mechanism so that it can operate independently and realize opening or gripping.

[0024] In this embodiment, two sets of gripping mechanisms are spaced apart under the frame 1. Each set of gripping mechanisms corresponds to a set of drive mechanisms. Each set of drive mechanisms can independently control the corresponding gripping mechanism to realize palletizing operations at different times and locations. For example, when there is no need to place bagged materials, two bags of materials can be placed side by side at the same time. When bagged materials need to be stacked or there are special requirements for the spacing between bagged materials, one gripping mechanism can first place one bag of material. Then, the multi-station palletizing robot gripper is moved by the robotic arm or slide rail to move the other gripping mechanism to the designated position, and then the other bag of material is opened and placed. The two gripping mechanisms operate independently and do not affect each other, which is conducive to the orderly progress of palletizing operations and greatly improves the palletizing quality. Especially when it is designed for loading operations, it can be adjusted to have no spacing between bagged materials, which improves the space utilization rate in the carriage.

[0025] Each group of grabbing mechanisms includes several spaced-apart gantry frames 2, with two vertical sections of each gantry frame 2 located on the left and right sides of the bottom of the frame 1, respectively. The lower ends of the vertical sections on the same side of several gantry frames 2 in each group of grabbing mechanisms are rotatably connected to a continuous rotating shaft 3, with several grabbing fingers 4 spaced apart on the rotating shaft 3. The drive mechanism is connected to the rotating shaft 3. The bottom of the frame 1 is provided with connecting ears, and the gantry frames and the frame 1 are bolted together and fixed.

[0026] Since the support rod 2 is vertical, it can get closer to the side wall of the carriage. When the angle between the gripping finger 4 and the support rod 2 is 180°, it is in the open state. When the gripping finger 4 rotates to a smaller angle of 90° or 85° with the support rod 2, it is in the closed state. In operation, initially, the drive mechanism drives the gripping finger 4 to be in the open state and insert it into the gap between the bag supply tray rollers. Then, the drive mechanism drives the rotating shaft 3 to rotate, which in turn drives the gripping fingers 4 on both sides to rotate synchronously towards each other. When they gradually rotate to a smaller angle of 90° or 85° with the support rod 2, the bagged material is lifted up as the gripping finger 4 rotates and is transferred to the designated position. After that, the drive mechanism drives the rotating shaft 3 of the two gripping mechanisms to rotate in sequence, which drives the gripping finger 4 to rotate to the vertical state and places the bagged material in the designated position. In this embodiment, when the gripping finger 4 rotates, the support rod 2 does not need to rotate, the activity space is smaller, which is beneficial for operation in narrow spaces (e.g., carriages).

[0027] like Figure 1 Each group of grabbing mechanisms corresponds to two drive mechanisms, and the two drive mechanisms correspond to the left and right drive shafts respectively; for example Figure 2Each drive mechanism includes a drive cylinder 7, an inverted L-shaped transmission handle 8, a first transition sprocket 9, and a second transition sprocket 10. It also includes a cylinder mounting base 5 and a shaft seat 6 located on the top of the frame 1. A drive shaft is rotatably connected to the shaft seat 6. The drive cylinder 7 is hinged to the cylinder mounting base 5. The piston rod end of the drive cylinder 7 is hinged to the horizontal part of the inverted L-shaped transmission handle 8, and the lower end of the vertical part of the inverted L-shaped transmission handle 8 is connected to the drive shaft. The first transition sprocket 9 is mounted on the drive shaft, and the second transition sprocket 10 is mounted on the rotating shaft 3. The first transition sprocket 9 and the second transition sprocket 10 are connected by a chain 11. Both the first transition sprocket 910 and the second transition sprocket 1011 are double-row sprockets, resulting in more stable transmission.

[0028] To ensure a more stable transmission effect between the inverted L-shaped transmission handle 8 and the transmission shaft, in this embodiment, two connecting handles are spaced apart at the lower vertical end of the inverted L-shaped transmission handle 8. The lower end of the connecting handle is a ring sleeve, which is sleeved on the transmission shaft. The two ring sleeves are located on both sides of the first transition sprocket 9.

[0029] like Figure 3 The gripper finger 4 and the rotating shaft 3 are detachably connected. Specifically, the gripper finger 4 is connected to the rotating shaft 3 via a first connector 14 and a second connector 15. The rotating shaft 3 has several keyways 301 spaced apart. The bottom center of the first connector 14 has a first arc-shaped groove corresponding to the rotating shaft 3, and a connecting key is provided in the first arc-shaped groove corresponding to the keyway 301. The first connector 14 and the rotating shaft 3 are connected via the connecting key and the keyway 301. Two first connecting holes are symmetrically arranged on both sides of the first arc-shaped groove on the first connector 14. The second connector 15 is connected to the upper end of the gripper finger 4. The second connector 15 has a second arc-shaped groove corresponding to the first arc-shaped groove, and two second connecting holes are provided on the second connector 15 corresponding to the two first connecting holes. The second connector 15 and the first connector 14 are secured by bolts passing through the first and second connecting holes and locking them with nuts. Alternatively, the second connector 15 and the gripper finger 4 can also be connected by bolts, creating a detachable connection structure. This facilitates the installation and replacement of the gripper finger 4 and facilitates future equipment maintenance.

[0030] When installing the gripper finger 4, first connect the first connector 14 to the rotating shaft 3 via the connecting key and keyway 301, then bolt the second connector 15 to the first connector 14, and then bolt the gripper finger 4 to the second connector 15. When the gripper finger 4 needs to be replaced, simply remove the bottom gripper finger 4. This facilitates maintenance and avoids the inconvenience of welding fixation.

[0031] like Figure 1 To prevent bagged materials from spilling out during transfer, each set of gripping mechanisms on frame 1 is equipped with a clamping mechanism, with two mechanisms per set, spaced apart; for example... Figure 4Each clamping mechanism includes a vertically arranged clamping cylinder 12, with the piston rod end of the clamping cylinder 12 pointing downwards and a pressure plate mounted on the piston rod end. The pressure plate includes a longitudinal support beam 16, with a transverse support beam 17 at each end of the longitudinal support beam 16. A limiting plate 18 is connected to the lower side of each end of the transverse support beam 17. The limiting plate 18 includes a horizontally arranged connecting part and an inclined limiting part, with the limiting part perpendicular to the connecting part and inclined away from the transverse support beam 17. During operation, when the bagged material is gripped, the clamping cylinder 12 outputs pressure, the pressure plate presses down, and the bagged material is clamped to prevent it from being thrown out during transport.

[0032] like Figure 4 To facilitate installation and adjustment, both the longitudinal support beam 16 and the transverse support beam 17 are made of aluminum profiles.

[0033] The above description is merely a preferred embodiment of the present utility model and does not limit the scope of the present utility model. All equivalent changes made based on the content of the present utility model specification and its drawings are included within the scope of the present utility model.

Claims

1. A gripper for a multi-station palletizing robot, characterized in that: Includes a frame (1), with several sets of bag-grabbing mechanisms spaced apart at the bottom of the frame (1), and a set of drive mechanisms corresponding to each set of bag-grabbing mechanisms on the frame (1). Each set of drive mechanisms is used to control the corresponding bag-grabbing mechanism to open or close it.

2. The multi-station palletizing robot gripper according to claim 1, characterized in that: Each group of grabbing mechanisms includes several gantry frames (2) arranged at intervals. The two vertical parts of the gantry frames (2) are located on the left and right sides of the bottom of the frame (1), respectively. The lower ends of the vertical parts on the same side of several gantry frames (2) in each group of grabbing mechanisms are rotatably connected to a continuous rotating shaft (3). Several grabbing fingers (4) are arranged at intervals on the rotating shaft (3). The drive mechanism is connected to the rotating shaft (3) for transmission.

3. The multi-station palletizing robot gripper according to claim 2, characterized in that: Each bag-grabbing mechanism corresponds to two drive mechanisms, and the two drive mechanisms correspond to the left and right transmission shafts respectively. Each drive mechanism includes a drive cylinder (7), an inverted L-shaped transmission handle (8), a first transition sprocket (9) and a second transition sprocket (10), and also includes a cylinder mounting seat (5) and a shaft seat (6) set on the top of the frame (1), with a transmission shaft rotatably connected in the shaft seat (6); The drive cylinder (7) is hinged on the cylinder mounting base (5). The piston rod end of the drive cylinder (7) is hinged to the horizontal part of the inverted L-shaped transmission handle (8). The lower end of the vertical part of the inverted L-shaped transmission handle (8) is connected to the transmission shaft. The first transition sprocket (9) is mounted on the drive shaft, and the second transition sprocket (10) is mounted on the rotating shaft (3). The first transition sprocket (9) and the second transition sprocket (10) are connected by a chain (11).

4. The multi-station palletizing robot gripper according to claim 3, characterized in that: Two connecting handles are spaced apart at the lower end of the vertical part of the inverted L-shaped transmission handle (8). The lower end of the connecting handle is a ring sleeve, which is sleeved on the transmission shaft. The two ring sleeves are located on both sides of the first transition sprocket (9).

5. The multi-station palletizing robot gripper according to claim 2, characterized in that: The finger grasping device (4) is connected to the rotating shaft (3) via the first connector (14) and the second connector (15); The rotating shaft (3) is provided with several keyways (301) at intervals. The bottom middle position of the first connector (14) is provided with a first arc groove corresponding to the rotating shaft (3). A connecting key is provided in the first arc groove corresponding to the keyway (301). The first connector (14) and the rotating shaft (3) are connected by the connecting key and the keyway (301). Two first connecting holes are symmetrically provided on both sides of the first arc groove on the first connector (14). The second connector (15) is connected to the upper end of the gripper finger (4). The second connector (15) has a second arc groove corresponding to the first arc groove, and the second connector (15) has two second connection holes corresponding to the two first connection holes. The second connector (15) and the first connector (14) are locked and fixed by bolts through the first connection holes and the second connection holes with nuts.

6. The multi-station palletizing robot gripper according to claim 1, characterized in that: Each set of clamping mechanisms is provided on the frame (1) for each group of bag-grabbing mechanisms. There are two clamping mechanisms in a set, spaced apart. Each clamping mechanism includes a vertically arranged clamping cylinder (12). The piston rod end of the clamping cylinder (12) faces downward, and a pressure plate is provided on the piston rod end.

7. The multi-station palletizing robot gripper according to claim 6, characterized in that: The pressure plate includes a longitudinal support beam (16), and a transverse support beam (17) is provided on the lower side of each end of the longitudinal support beam (16). A limiting plate (18) is connected to the lower side of each end of the transverse support beam (17). The limiting plate (18) includes a horizontally arranged connecting part and an inclined limiting part. The limiting part is arranged perpendicular to the connecting part and is inclined to the side away from the transverse support beam (17).

8. The multi-station palletizing robot gripper according to claim 7, characterized in that: Both the longitudinal support beam (16) and the transverse support beam (17) are made of aluminum profiles.

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