Stacking robot grabbing deviation correcting device

Abstract

The utility model discloses a palletizing robot grabbing deviation correcting device which comprises a mounting frame and mounting blocks, a deviation correcting assembly is arranged on the lower side of the mounting frame and comprises a clamping plate, correcting blocks are symmetrically installed on the inner side surface of the clamping plate in a sliding mode, the inner walls of the correcting blocks are in threaded connection with first forward and reverse lead screws, and the first forward and reverse lead screws are in threaded connection with second forward and reverse lead screws. The middle of the outer surface of the first positive and negative screw rod is fixedly sleeved with a worm gear ring, the outer surface of the worm gear ring is meshed with a worm, a motor is fixedly installed at one end of the worm, and the motor is started to drive the worm and worm gear ring to rotate through the arranged offset correction assembly, so that the two correction blocks are driven to slide relatively, and a product is located in the range between the two correction blocks; in the clamping process of the clamping plate, the product slides on the inclined face of the correcting block, the product is driven to move to the clamping position, by means of the structure, the position of the deviated product is corrected, the grabbing precision of the stacking robot is guaranteed, and therefore the stacking efficiency of the device is improved.

Description

TECHNICAL FIELD

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

[0002] In today's industrial production, stacking operation is an indispensable link. The application of stacking robot greatly improves production efficiency and reduces labor cost, but in actual operation, the problem of robot grabbing offset occurs frequently. For example, the size and shape of goods on the production line may have certain tolerances, and different batches of products have differences in subtle size, which will cause the preset grabbing position of the robot to be inconsistent with the actual goods position, thereby affecting the grabbing accuracy and greatly reducing the stacking efficiency of products to a certain extent. In order to solve the problems of the prior art, we propose a stacking robot grabbing offset correction device. UTILITY MODEL CONTENTS

[0003] In order to overcome the above-mentioned defects of the prior art, the utility model provides a stacking robot grabbing offset correction device to solve the problem that the size and shape of goods on the production line may have certain tolerances, and different batches of products have differences in subtle size, which will cause the preset grabbing position of the robot to be inconsistent with the actual goods position, thereby affecting the grabbing accuracy and greatly reducing the stacking efficiency of products to a certain extent.

[0004] To solve the above technical problems, the utility model provides the following technical scheme: a stacking robot grabbing offset correction device, comprising a mounting frame and a mounting block, the lower side of the mounting frame is provided with an offset correction assembly, the inner side of the mounting frame is provided with a limit driving assembly;

[0005] The offset correction assembly comprises a clamping plate, the inner side surface of the clamping plate is symmetrically provided with a correction block, the lower outer surface of the clamping plate is fixedly provided with a grabbing claw, the inner wall of the correction block is threadedly connected with a reversible screw rod one, the outer surface of the reversible screw rod one is fixedly sleeved with a worm gear ring, the outer surface of the worm gear ring is engaged with a worm gear, and one end of the worm gear is fixedly provided with a motor.

[0006] The worm gear is rotatably connected to the inner wall of the clamping plate, the motor is fixedly installed on the outer surface of one side of the clamping plate, and the mounting block is fixedly installed on the outer surface of the upper side of the mounting frame.

[0007] The limiting driving assembly comprises a cylinder, a fixed block is fixedly installed on the outer surface of the telescopic end of the cylinder, a limiting strip is arranged on one side of the fixed block, a hollow column is fixedly installed on the outer surface of one side of the limiting strip, a positive and negative screw rod two is threadedly connected to the inner wall of the hollow column, a knob is fixedly sleeved on the outer surface of the middle part of the positive and negative screw rod two, the fixed block slides on the inner side surface of the mounting frame, the hollow column slides on the inner wall of the mounting frame, the knob is rotationally connected to the middle part of the inner wall of the mounting frame, a clamping plate is fixedly installed on the outer surface of the lower side of the fixed block, and the cylinder is fixedly installed on the outer surface of one side of the mounting frame.

[0008] The clamping plate is provided with two clamping plates, and two grabbing claws are fixedly installed on the outer surface of the lower side of the two clamping plates.

[0009] The inner side surface of the mounting frame is provided with a sliding groove, and the limiting strip slides on the outer wall of the sliding groove.

[0010] Compared with the prior art, the utility model has the advantages of:

[0011] The offset correction assembly is provided with a clamping plate, first, according to the size of the product, the motor is started to drive the worm to rotate, the worm drives the worm gear ring to rotate, the worm gear ring drives the positive and negative screw rod one to rotate, thereby relatively sliding two correction blocks, so that the product is located in the range between the two correction blocks, when clamping, when the product deviates from the predetermined position, the clamping plate slides on the inclined surface of the correction block in the clamping process, and the product is moved to the clamping position of the clamping plate, by using the above structure, the position correction of the offset product is realized through the correction block, the grabbing precision of the stacking robot is guaranteed, and the stacking efficiency of the device is greatly improved.

[0012] The limiting driving assembly is provided with a cylinder, first, according to the width of the product, the knob is rotated to drive the positive and negative screw rod two to rotate, the positive and negative screw rod two drives the hollow column to slide, thereby driving the limiting strip to slide, and then the clamping distance between the two clamping plates is adjusted, so that the distance is equal to the width of the product, then the cylinder is started to drive the fixed block to slide, so that the clamping plate is clamped on the two side surfaces of the product, by using the above structure, the limiting of the fixed block is realized by rotating the knob to drive the two limiting strips to slide relatively, the clamping force of the clamping plate is avoided to be too large to damage the appearance of the product, and the protection performance of the product is improved to a certain extent. ACCURACY OF DRAWINGS

[0013] Figure 1 It is a whole structure schematic view of the utility model;

[0014] Figure 2 It is a structure schematic view of the offset correction assembly of the utility model;

[0015] Figure 3 For the utility model Figure 2 The A area amplification structure schematic view of the utility model is shown in the figure;

[0016] Figure 4 For the utility model's limiting drive assembly structure schematic view;

[0017] Figure 5 For the utility model's mounting rack center internal structure schematic view.

[0018] [Reference signs]

[0019] 1, mounting rack;2, offset correction assembly;3, limiting drive assembly;4, mounting block;21, clamping plate;22, correction block;23, grabbing claw;24, positive and negative screw rod one;25, worm ring;26, worm;27, motor;31, air cylinder;32, fixed block;33, limiting strip;34, hollow column;35, positive and negative screw rod two;36, knob. Specific implementation

[0020] In order to make the technical problems, technical schemes and advantages to be solved by the utility model more clear, specific embodiments will be described in detail below.

[0021] As attached Figure 1 To attached Figure 5 The embodiment of the utility model provides a kind of stacker robot grabbing offset correction device, including mounting rack 1 and mounting block 4, the lower side of mounting rack 1 is provided with offset correction assembly 2, the inner side of mounting rack 1 is provided with limiting drive assembly 3;

[0022] Offset correction assembly 2 includes clamping plate 21, the inner side surface of clamping plate 21 is symmetrically slidably installed with correction block 22, the lower side outer surface of clamping plate 21 is fixedly installed with grabbing claw 23, the inner wall of correction block 22 is threadedly connected with positive and negative screw rod one 24, the outer surface middle part of positive and negative screw rod one 24 is fixedly sleeved with worm ring 25, the outer surface of worm ring 25 is engaged with worm 26, one end of worm 26 is fixedly installed with motor 27.

[0023] Among them, worm 26 is rotatably connected to the inner wall of clamping plate 21, motor 27 is fixedly installed on the outer surface of one side of clamping plate 21, mounting block 4 is fixedly installed on the upper side outer surface of mounting rack 1;

[0024] The position correction of offset product is realized by the setting correction block 22, guarantees the grabbing accuracy of stacker robot, to greatly improve the stacking efficiency of device.

[0025] The limiting driving assembly 3 comprises a cylinder 31, a fixed block 32 is fixedly installed on the outer surface of the telescopic end of the cylinder 31, a limiting strip 33 is arranged on one side of the fixed block 32, a hollow column 34 is fixedly installed on the outer surface of one side of the limiting strip 33, a positive and negative screw rod two 35 is threadedly connected to the inner wall of the hollow column 34, a knob 36 is fixedly sleeved on the outer surface of the middle part of the positive and negative screw rod two 35, the fixed block 32 slides on the inner side surface of the mounting frame 1, the hollow column 34 slides on the inner wall of the mounting frame 1, the knob 36 is rotationally connected to the middle part of the inner wall of the mounting frame 1, the clamping plate 21 is fixedly installed on the outer surface of the lower side of the fixed block 32, and the cylinder 31 is fixedly installed on the outer surface of one side of the mounting frame 1.

[0026] The limiting of the fixed block 32 is realized by rotating the knob 36 to drive the relative sliding of the two limiting strips 33, the clamping force of the clamping plate 21 is prevented from being too large to damage the appearance of the product, and the protection performance of the product is improved to a certain extent.

[0027] The clamping plate 21 is provided with two clamping plates 21, and the outer surface of the lower side of the two clamping plates 21 is fixedly installed with two clamping plates 21.

[0028] The inner side surface of the mounting frame 1 is provided with a sliding groove, and the limiting strip 33 slides on the outer wall of the sliding groove.

[0029] The working process of the utility model is as follows:

[0030] Firstly, according to the width and size of the product, the knob 36 is rotated to drive the rotation of the positive and negative screw rod two 35, the positive and negative screw rod two 35 is rotated to drive the sliding of the hollow column 34, thereby driving the sliding of the limiting strip 33, and the clamping distance between the two clamping plates 21 is adjusted, so that the distance is equal to the width of the product, the motor 27 is started to drive the rotation of the worm 26, the worm 26 is rotated to drive the rotation of the worm ring 25, the worm ring 25 is rotated to drive the rotation of the positive and negative screw rod one 24, thereby driving the relative sliding of the two correction blocks 22, so that the product is located within the range between the two correction blocks 22, after the adjustment is completed, the cylinder 31 is started to drive the sliding of the fixed block 32, so that the clamping plate 21 is clamped on the two side surfaces of the product, when the product deviates from the predetermined position, the product slides on the inclined surface of the correction block 22 in the clamping process of the clamping plate 21, drives the product to move to the clamping position of the clamping plate 21, realizes the position correction of the deviated product, guarantees the grabbing precision of the stacking robot, and greatly improves the stacking efficiency of the device.

[0031] Finally should be explained a few points is: first, in the description of the present application, it should be pointed out that, unless otherwise specified and limited, the term "installation", "connected", "connection" should be broad, can be mechanical or electrical connection, but also can be two elements inside the communication, can be directly connected, "up", "down", "left", "right" and so on, only for indicating the relative position relationship, when the absolute position of the described object changes, the relative position relationship may change;

[0032] Second: the utility model discloses the embodiment in the drawing, only relate to the structure involved in the embodiment of the present disclosure, other structures can refer to the usual design, under the condition of not conflicting, the same embodiment and different embodiments of the utility model can be combined with each other;

[0033] Finally: the above only for the preferred embodiment of the utility model has, and does not for limiting the utility model, any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model, should be included in the protection scope of the utility model.

Claims

1. A palletizing robot grab offset correction device comprising a mounting bracket (1) and a mounting block (4), characterized in that, The lower side of the mounting frame (1) is provided with an offset correction assembly (2), and the inner side of the mounting frame (1) is provided with a limiting driving assembly (3); The offset correction assembly (2) comprises a clamping plate (21), the inner side surface of the clamping plate (21) is symmetrically provided with a correction block (22) slidingly installed, the lower outer surface of the clamping plate (21) is fixedly provided with a grabbing claw (23), the inner wall of the correction block (22) is threadedly connected with a reversible screw rod (24), the outer surface of the reversible screw rod (24) is fixedly sleeved with a worm gear ring (25) in the middle, the outer surface of the worm gear ring (25) is engaged with a worm (26), and one end of the worm (26) is fixedly provided with a motor (27).

2. The palletizing robotic grasp offset correction device of claim 1, wherein, The worm (26) is rotationally connected to the inner wall of the clamping plate (21), the motor (27) is fixedly installed on the outer surface of one side of the clamping plate (21), and the mounting block (4) is fixedly installed on the outer surface of the upper side of the mounting frame (1).

3. The palletizing robotic grasp offset correction device of claim 1, wherein, The limiting driving assembly (3) comprises a gas cylinder (31), the outer surface of the telescopic end of the gas cylinder (31) is fixedly provided with a fixed block (32), one side of the fixed block (32) is provided with a limiting strip (33), the outer surface of one side of the limiting strip (33) is fixedly provided with a hollow column (34), the inner wall of the hollow column (34) is threadedly connected with a reversible screw rod (35), the outer surface of the reversible screw rod (35) is fixedly sleeved with a knob (36) in the middle, the fixed block (32) slides on the inner side surface of the mounting frame (1), the hollow column (34) slides on the inner wall of the mounting frame (1), the knob (36) is rotationally connected to the middle of the inner wall of the mounting frame (1), the clamping plate (21) is fixedly installed on the outer surface of the lower side of the fixed block (32), and the gas cylinder (31) is fixedly installed on the outer surface of one side of the mounting frame (1).

4. The palletizing robotic grasp offset correction device of claim 1, wherein, The clamping plate (21) is provided with two, and the outer surface of the lower side of the two clamping plates (21) is fixedly provided with two grabbing claws (23), and the two grabbing claws (23) can be engaged with each other.

5. The palletizing robotic grasp offset correction device of claim 3, wherein, The inner side surface of the mounting frame (1) is provided with a sliding groove, and the limiting strip (33) slides on the outer wall of the sliding groove.

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