Robot stacking and grabbing device

Abstract

The utility model relates to the technical field of grabbing devices, in particular to a robot stacking and grabbing device which comprises a mounting disc, clamping assemblies and a main shaft, the main shaft is perpendicularly welded to the middle of the top of the mounting disc, and the multiple clamping assemblies are annularly distributed on the side face of the mounting disc and hinged to the mounting disc; the clamping assembly comprises a lifting disc, a large arm, a small arm, a first clamping arm, a second clamping arm, a third clamping arm, a sliding block and a second suction cup, the multiple sets of first suction cups installed at the bottom of the installation disc and the clamping assembly located on the edge of the installation disc are carried on the clamping assembly at the same time, and objects with smooth surfaces can be adsorbed and grabbed through the multiple sets of first suction cups; the clamping assembly similar to an octopus structure can be used for grabbing spherical objects, the second suction cup installed on the inner side of the clamping assembly can guarantee the grabbing stability, the clamping assembly can be unfolded around the installation disc, and therefore the spherical objects with different outer diameters can be grabbed.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of grabbing device technical field, specifically a kind of robot stacking grabbing device. BACKGROUND

[0002] The robot stacking grabbing device is a kind of equipment for automatic stacking operation, usually composed of mechanical arm, gripper or suction cup, sensor and control system, which can accurately grab, move and place goods according to preset program and sensor feedback, complete efficient stacking work. This device can be applied to various industrial scenes to improve production efficiency and reduce manual intervention.

[0003] The robot stacking grabbing device is one of the important components of the stacking robot, which is the basis for the robot to realize stacking. However, it still has some problems: 1) Most grabbing devices only have a single type of clamp, which cannot simultaneously adapt to the grabbing operation of different types of objects; 2) Traditional grabbing devices have poor stability for grabbing spherical objects, and a set of clamps cannot simultaneously satisfy the grabbing operation of spherical objects with different diameters. Therefore, in view of the above status, it is urgent to develop a robot stacking grabbing device to overcome the shortcomings in current practical applications and meet current needs. SUMMARY

[0004] The purpose of the utility model is to provide a kind of robot stacking grabbing device to solve the problems raised in the above background technology.

[0005] To achieve the above purpose, the utility model provides the following technical scheme: a kind of robot stacking grabbing device, comprising mounting disc, clamping assembly and main shaft, the main shaft is vertically welded in the middle position of the top of mounting disc, and a plurality of clamping assemblies are distributed in the side of mounting disc in a ring shape and are hinged with mounting disc.

[0006] The clamping assembly comprises lifting disc, large arm, small arm, first clamping arm, second clamping arm, third clamping arm, sliding block and second suction cup. The lifting disc is nested at the bottom end of the main shaft and is slidingly connected with the main shaft. The two ends of the second clamping arm are hinged with the first clamping arm and the third clamping arm respectively. The top end of the first clamping arm is hinged with the edge of the mounting disc. The top end of the large arm is hinged with the edge of the lifting disc. The bottom end of the large arm is hinged with the mutual hinged parts of the second clamping arm and the third clamping arm. The top end of the small arm is hinged with the edge of the lifting disc. The bottom end of the small arm is hinged with the mutual hinged parts of the first clamping arm and the second clamping arm. The sliding block is vertically installed on the inner wall of the lifting disc. A plurality of second suction cups are installed on the inner side of the first clamping arm, the second clamping arm and the third clamping arm.

[0007] A top mounting disc is welded at the top end of the main shaft. A motor is vertically installed at the bottom edge of the top mounting disc. A sliding groove is formed on one side of the main shaft. A lead screw is vertically arranged in the sliding groove. A variable pitch thread groove is formed on the surface of the lead screw.

[0008] Preferably, the bottom of the mounting disc is provided with a plurality of first suction cups, and specifically, the first suction cups are used for directly adsorbing the material to be grabbed.

[0009] Preferably, a through hole with the same outer diameter as the screw rod is arranged in the middle of the sliding block, a horizontally arranged sliding shaft is embedded in the through hole, the sliding shaft is matched with the variable pitch thread groove, and specifically, the screw rod is arranged in the through hole of the sliding block, the sliding shaft and the variable pitch thread groove are matched with each other, the screw rod is rotated to drive the sliding block to move up and down, and the lifting distance is different in different regions under the same rotating speed due to the variable pitch thread groove.

[0010] Preferably, two groups of lifting discs are arranged in an up-down distribution, the lifting disc at the top is hinged to the top end of the large arm, and the lifting disc at the bottom is hinged to the top end of the small arm, and specifically, the two lifting discs are used as the transmission structures of the large arm and the small arm.

[0011] Preferably, the sliding block is matched with the sliding groove, and specifically, the sliding groove is used for limiting the movement direction of the sliding block, so that the sliding block can only move up and down vertically.

[0012] Compared with the prior art, the robot stacking and grabbing device has the following beneficial effects:

[0013] The device is simultaneously provided with a plurality of first suction cups arranged at the bottom of the mounting disc and a clamping assembly arranged at the edge of the mounting disc, the plurality of first suction cups are used for adsorbing and grabbing the smooth surface of the articles, the clamping assembly with the structure similar to that of an octopus is used for grabbing the spherical articles, the second suction cup arranged at the inner side of the clamping assembly is used for ensuring the grabbing stability, and the clamping assembly can be unfolded around the mounting disc, so that the spherical articles with different outer diameters can be grabbed. BRIEF DESCRIPTION OF DRAWINGS

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can also be obtained by those skilled in the art without any creative labor based on these drawings:

[0015] Figure 1 It is a front structure schematic view of the present application;

[0016] Figure 2 It is a side structure schematic view of the present application;

[0017] Figure 3 It is a screw rod structure schematic view of the present application;

[0018] Figure 4The utility model discloses a lifting disc plan view.

[0019] In the drawing: 10, mounting disc; 101, first sucking disc; 20, clamping assembly; 201, lifting disc; 202, big arm; 203, small arm; 204, first clamping arm; 205, second clamping arm; 206, third clamping arm; 207, sliding block; 208, sliding axle; 209, second sucking disc; 30, main shaft; 301, motor; 302, screw rod; 303, sliding groove; 304, mounting disc; 305, variable pitch thread groove. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative work belong to the protection scope of the utility model.

[0021] In the utility model, unless another explicit provision and limitation, the terms "mounting", "connecting", "connecting", "fixing" and other terms should be understood broadly, for example, can be fixed connection, can be detachable connection, or integral; can be mechanical connection, can be electrical connection; can be directly connected, can be indirectly connected through intermediate medium, can be the communication of two elements or the interaction of two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0022] Embodiment:

[0023] Please refer to Figures 1-4 The utility model provides a kind of technical scheme: a kind of robot stacking grabbing device, including mounting disc 10, clamping assembly 20 and main shaft 30, main shaft 30 is vertically welded in the top middle position of mounting disc 10, several clamping assemblies 20 are annularly distributed in the side of mounting disc 10, and are hinged with mounting disc 10;

[0024] The clamping assembly 20 comprises a lifting disc 201, a large arm 202, a small arm 203, a first clamping arm 204, a second clamping arm 205, a third clamping arm 206, a sliding block 207 and a second suction disc 209, the lifting disc 201 is nested at the bottom end of the main shaft 30 and is in sliding connection with the main shaft 30, the two ends of the second clamping arm 205 are respectively hinged to the first clamping arm 204 and the third clamping arm 206, the top end of the first clamping arm 204 is hinged to the edge of the mounting disc 10, the top end of the large arm 202 is hinged to the edge of the lifting disc 201, the bottom end of the large arm 202 is hinged to the mutual hinging part of the second clamping arm 205 and the third clamping arm 206, the top end of the small arm 203 is hinged to the edge of the lifting disc 201, the bottom end of the small arm 203 is hinged to the mutual hinging part of the first clamping arm 204 and the second clamping arm 205, the sliding block 207 is vertically installed on the inner wall of the lifting disc 201, and the inner sides of the first clamping arm 204, the second clamping arm 205 and the third clamping arm 206 are all provided with a plurality of second suction discs 209.

[0025] The top end of the main shaft 30 is welded with a top mounting disc 304, the bottom edge of the top mounting disc 304 is vertically provided with a motor 301, one side of the main shaft 30 is provided with a sliding groove 303, and the sliding groove 303 is vertically provided with a lead screw 302, and the surface of the lead screw 302 is provided with a variable pitch thread groove 305.

[0026] Preferably, the bottom of the mounting disc 10 is provided with a plurality of first suction discs 101, and specifically, the first suction discs 101 are arranged to directly adsorb the material to be grabbed.

[0027] Preferably, a through hole with the same outer diameter as the lead screw 302 is formed in the middle position of the sliding block 207, a horizontally arranged sliding shaft 208 is embedded in the through hole, the sliding shaft 208 is matched with the variable pitch thread groove 305, and specifically, the lead screw 302 is arranged to penetrate the through hole in the sliding block 207, the sliding shaft 208 and the variable pitch thread groove 305 are matched with each other, the lead screw 302 drives the sliding block 207 to move up and down when rotating, and due to the existence of the variable pitch thread groove 305, the lifting distance is different in different areas at the same speed.

[0028] Preferably, the lifting disc 201 is provided with two groups, which are arranged in an upper and lower distribution, the lifting disc 201 at the top is hinged to the top end of the large arm 202, and the lifting disc 201 at the bottom is hinged to the top end of the small arm 203, and specifically, the two lifting discs 201 are respectively used as the transmission structure of the large arm 202 and the small arm 203.

[0029] Preferably, the sliding block 207 is matched with the sliding groove 303, and specifically, the sliding groove 303 is arranged to limit the movement direction of the sliding block 207, so that the sliding block 207 can only move vertically.

[0030] Working principle: the spindle 30 is connected with the end of the mechanical arm of the stacking robot through the mounting disc 304, but when the ball-shaped object needs to be grabbed, the motor 301 is started to drive the screw rod 302 to rotate counterclockwise, thereby driving the sliding block 207 and the lifting disc 201 to rise along the spindle 30, and finally the first clamping arm 204, the second clamping arm 205 and the third clamping arm 206 are driven by the large arm 202 and the small arm 203 to turn upwards around the hinge, and stop when the unfolded angle is greater than the outer diameter of the ball-shaped object, the clamping assembly 20 is driven by the mechanical arm to approach the ball-shaped object, then the motor 301 drives the screw rod 302 to rotate clockwise, thereby driving the sliding block 207 and the lifting disc 201 to descend along the spindle 30, and finally the first clamping arm 204, the second clamping arm 205 and the third clamping arm 206 are driven by the large arm 202 and the small arm 203 to turn downwards around the hinge, until the ball-shaped object is clamped stably, and the grabbing is completed. It should be noted that a plurality of first suction cups 101 at the bottom of the mounting disc 10 can be used to adsorb and grab the object with smooth surface, and the inner walls of the first clamping arm 204, the second clamping arm 205 and the third clamping arm 206 are all installed with second suction cups 209, which can improve the stability of the grabbing process.

[0031] It should be noted that in this document, the terms such as first and second are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

Claims

1. A robotic palletizing gripping device, characterized by: It includes installation disc (10), clamping assembly (20) and main shaft (30), the main shaft (30) is vertically welded in the middle position of the top of installation disc (10), and a plurality of clamping assemblies (20) are distributed in the side of installation disc (10) in a ring shape and are hinged with installation disc (10); The clamping assembly (20) includes lifting disc (201), large arm (202), small arm (203), first clamping arm (204), second clamping arm (205), third clamping arm (206), sliding block (207) and second suction disc (209), the lifting disc (201) is nested and arranged at the bottom end of the main shaft (30) and is slidably connected with the main shaft (30), the two ends of the second clamping arm (205) are respectively hinged with the first clamping arm (204) and the third clamping arm (206), the top end of the first clamping arm (204) is hinged with the edge of the installation disc (10), the top end of the large arm (202) is hinged with the edge of the lifting disc (201), the bottom end of the large arm (202) is hinged with the mutual hinged parts of the second clamping arm (205) and the third clamping arm (206), the top end of the small arm (203) is hinged with the edge of the lifting disc (201), the bottom end of the small arm (203) is hinged with the mutual hinged parts of the first clamping arm (204) and the second clamping arm (205), the sliding block (207) is vertically installed on the inner wall of the lifting disc (201), and the inner sides of the first clamping arm (204), the second clamping arm (205) and the third clamping arm (206) are all provided with a plurality of second suction discs (209). The top end of the main shaft (30) is welded with a top installation disc (304), the bottom edge of the top installation disc (304) is vertically provided with a motor (301), one side of the main shaft (30) is provided with a sliding groove (303), the sliding groove (303) is vertically provided with a lead screw (302) inside, and the surface of the lead screw (302) is provided with a variable pitch thread groove (305).

2. The robotic palletizing gripping device of claim 1, wherein: A plurality of first suction discs (101) are installed at the bottom of the installation disc (10).

3. The robotic palletizing gripping device of claim 1, wherein: A through hole with the same outer diameter as the lead screw (302) is formed in the middle position of the sliding block (207), and a horizontally arranged sliding shaft (208) is embedded and installed in the through hole, and the sliding shaft (208) is matched with the variable pitch thread groove (305).

4. The robotic palletizing gripping device of claim 1, wherein: There are two groups of lifting discs (201) arranged in an up-down manner, the lifting disc (201) at the top is hinged with the top end of the large arm (202), and the lifting disc (201) at the bottom is hinged with the top end of the small arm (203).

5. The robotic palletizing gripping device according to claim 1, wherein: The sliding block (207) is matched with the sliding groove (303).

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