Unstacking clamp and unstacking robot

Abstract

The utility model relates to the technical field of unstacking, in particular to an unstacking clamp and an unstacking robot. The unstacking clamp comprises a base plate and a telescopic adjusting assembly. The base plate is provided with a first clamping assembly and a second clamping assembly, and the first clamping assembly and the second clamping assembly are arranged in the length direction of the base plate. The telescopic adjusting assembly is arranged on the base plate, the first clamping assembly is connected to one end of the telescopic adjusting assembly, the second clamping assembly is connected to the other end of the telescopic adjusting assembly, and the telescopic adjusting assembly is used for driving the first clamping assembly and the second clamping assembly to be close to each other or away from each other. The first clamping assembly and the second clamping assembly are both rotationally connected with movable clamping arms so that the clamping angles of the first clamping assembly and the second clamping assembly can be adjusted. By the adoption of the unstacking clamp, one or two or more pieces to be clamped can be clamped in a compatible mode, and the clamping and unstacking efficiency and the clamping stability of the unstacking clamp are improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to box body unstacking technical field especially relates to a kind of unstacking clamp and unstacking robot. BACKGROUND

[0002] Current logistics stator annular operation is mainly artificial manual PPA operation, which moves a stack of stator-containing box bodies to unstacking station by artificial transplanting, and artificially restacks, disassembles and finally manually cleans the stack, so the entire operation process is completed by artificial, and there are problems such as cross operation, post operation fatigue and operation risk, so it is necessary to introduce stator unstacking, restacking, cleaning and stacking automation process.

[0003] The existing box body unstacking method can include a vacuum unstacking pattern and a clamping unstacking pattern, wherein the clamping unstacking pattern clamps heavy objects, has wide practicability and can be used for unstacking stator box bodies. However, due to the three closed sides of the stator box in the stator box stack and the existence of box patterns with large structural differences, the clamping stability and unstacking efficiency of the box body are affected. SUMMARY

[0004] The utility model discloses a kind of unstacking clamp and unstacking robot to solve the defects of prior art, can realize compatible clamping 1 or 2 or multiple to-be-clamped parts, improve the clamping unstacking efficiency and clamping stability of unstacking clamp.

[0005] To solve the above technical problems, the utility model provides an unstacking clamp, comprising:

[0006] A base plate is arranged with a first clamping assembly and a second clamping assembly, and the first clamping assembly and the second clamping assembly are arranged along the length direction of the base plate;

[0007] A telescopic adjusting assembly is provided on the base plate, the first clamping assembly is connected to one end of the telescopic adjusting assembly, the second clamping assembly is connected to the other end of the telescopic adjusting assembly, and the telescopic adjusting assembly is used to drive the first clamping assembly and the second clamping assembly to move closer to or further away from each other;

[0008] The first clamping assembly and the second clamping assembly are both rotatably connected with movable clamping arms to adjust the clamping angle of the first clamping assembly and the second clamping assembly.

[0009] As an improvement of the above scheme, the first clamping assembly comprises:

[0010] A connecting bracket is connected to the upper end of the telescopic adjusting assembly, the lower end of the connecting bracket is provided with a rotating shaft, the rotating shaft is rotatably provided with a rotating connecting block, and the movable clamping arm is rotatably connected to the lower end of the connecting bracket through the rotating connecting block.

[0011] The rotating connecting block is provided with an elastic member connected with the movable clamping arm.

[0012] The structure of the second clamping assembly is consistent with that of the first clamping assembly.

[0013] As an improvement of the above scheme, the connecting support is provided with a limiting member with the same initial length as the elastic member.

[0014] As an improvement of the above scheme, the telescopic adjusting assembly comprises:

[0015] A driving member, a fixed part of the driving member is fixedly arranged on the base plate, and a telescopic part of the driving member is extended or retracted along the length direction of the base plate;

[0016] A connecting member is slidingly arranged at the end of the base plate, the telescopic part of the driving member is connected with the connecting member, and the first clamping assembly and / or the second clamping assembly is connected with the connecting member.

[0017] As an improvement of the above scheme, the driving member is a self-locking air cylinder.

[0018] Both ends of the base plate are provided with sliding rails, the connecting member is slidingly connected with the sliding rails through a sliding block, both ends of the base plate are formed with an empty slot, the top of the first clamping assembly and the second clamping assembly passes through the empty slot and is connected with the bottom side of the connecting member.

[0019] As an improvement of the above scheme, the base plate is provided with a plurality of buffer members and a plurality of mechanical limiting members, the buffer members and the mechanical limiting members are adapted to abut against the side of the connecting member facing the driving member.

[0020] As an improvement of the above scheme, the first clamping assembly and the second clamping assembly are both connected with a set of anti-falling assemblies, the anti-falling assembly comprises:

[0021] An anti-falling air cylinder, a fixed end of the anti-falling air cylinder is arranged on the first clamping assembly or the second clamping assembly;

[0022] A limiting hook is arranged at the telescopic end of the anti-falling air cylinder, and an L-shaped clamping surface is formed on the side of the limiting hook away from the anti-falling air cylinder.

[0023] As an improvement of the above scheme, it further comprises:

[0024] A support frame connected with the base plate;

[0025] A lifting air cylinder, a fixed end of the lifting air cylinder is arranged on the support frame;

[0026] An auxiliary clamping cylinder is connected to the telescopic end of the lifting cylinder, and the telescopic end of the auxiliary clamping cylinder is telescopic along the length direction of the base plate.

[0027] The base plate is formed with a avoiding groove, and the lifting cylinder is used to drive the auxiliary clamping cylinder to extend into the lower part of the base plate.

[0028] As an improvement of the above scheme, the auxiliary clamping cylinder further comprises:

[0029] A visual component is arranged on the base plate, and the visual component is used to collect the image shape features of the to-be-clamped parts.

[0030] Correspondingly, the utility model also provides a palletizing robot, including mechanical arm and the palletizing clamp of any one of above-mentioned, the upper part of base plate is provided with the adaptive board, the adaptive board is connected with the mechanical arm.

[0031] The utility model discloses, has following beneficial effect:

[0032] According to the palletizing clamp of the embodiment, when the palletizing clamp is used to clamp and palletize the to-be-clamped parts such as stator boxes, the first clamping assembly and the second clamping assembly can be brought close to or away from each other through the telescopic adjusting assembly, the size of the clamping space of the palletizing clamp is adjusted, one or two or more to-be-clamped parts can be clamped at the same time according to actual needs, the palletizing time is shortened, and the clamping and palletizing efficiency of the palletizing clamp is improved.

[0033] Meanwhile, the clamping angle is adjusted according to the actual shape of the to-be-clamped parts by using the movable clamping arm, so that the palletizing clamp can flexibly adapt to different clamping face angles of the to-be-clamped parts, and then when two or more to-be-clamped parts with different structures are clamped at the same time, the structural differences between the two or more to-be-clamped parts can be adaptively absorbed, the compatible clamping of the palletizing clamp on various to-be-clamped parts is realized, and the clamping stability of the palletizing clamp when clamping various to-be-clamped parts at the same time is improved. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is the three-dimensional structure schematic view of the palletizing clamp in an embodiment of the utility model;

[0035] Figure 2 is the top view structure schematic view of the palletizing clamp in an embodiment of the utility model;

[0036] Figure 3 is the front view structure schematic view of the palletizing clamp in an embodiment of the utility model;

[0037] Figure 4 is Figure 1 the enlarged structure schematic view of A in the figure;

[0038] Figure 5 is Figure 3 is an enlarged structural schematic view of a position B in figure 1;

[0039] Figure 6 is a top view structural schematic view of a substrate in an embodiment of the present utility model;

[0040] Figure 7 is a three-dimensional structural schematic view of a clamping arm assembly in an embodiment of the present utility model;

[0041] Figure 8 is Figure 7 is an enlarged structural schematic view of a position C in figure 2;

[0042] Figure 9 is a connecting structural schematic view of a lifting cylinder and an auxiliary clamping cylinder in an embodiment of the present utility model;

[0043] Figure 10 is a three-dimensional structural schematic view of a to-be-clamped piece in an embodiment of the present utility model, wherein the to-be-clamped piece is an embedded foam box;

[0044] Figure 11 is a three-dimensional structural schematic view of a to-be-clamped piece in an embodiment of the present utility model, wherein the to-be-clamped piece is a folding plastic box without cover. DETAILED DESCRIPTION

[0045] In order to make the purpose, technical scheme and advantages of the present utility model more clear, the present utility model will be further described in detail below in combination with the drawings. It is hereby declared that the up, down, left, right, front, back, inner and outer orientation words appearing or about to appear in the present utility model in the text are only based on the drawings of the present utility model, and they are not the specific limitation on the present utility model.

[0046] The unstacking clamp can realize compatible clamping of one or two or more to-be-clamped pieces 7, and improve the clamping unstacking efficiency and clamping stability of the unstacking clamp.

[0047] In an embodiment of the present utility model, as shown in figure 1, Figures 1 to 3 The unstacking clamp comprises a substrate 1 and a telescopic adjusting assembly 3. The substrate 1 is arranged with a first clamping assembly 21 and a second clamping assembly 22, and the first clamping assembly 21 and the second clamping assembly 22 are arranged along the length direction of the substrate 1. The telescopic adjusting assembly 3 is arranged on the substrate 1, the first clamping assembly 21 is connected to one end of the telescopic adjusting assembly 3, the second clamping assembly 22 is connected to the other end of the telescopic adjusting assembly 3, and the telescopic adjusting assembly 3 is used to drive the first clamping assembly 21 and the second clamping assembly 22 to move close to or away from each other. The first clamping assembly 21 and the second clamping assembly 22 are both rotatably connected with a movable clamping arm 23, so as to adjust the clamping angle of the first clamping assembly 21 and the second clamping assembly 22.

[0048] According to the unstacking clamp provided in the embodiment, when the unstacking clamp is used to clamp and unstack the stator box stack, the first clamping assembly 21 and the second clamping assembly 22 can be driven by the telescopic adjusting assembly 3 to move closer to or farther away from each other, so as to adjust the size of the clamping space of the unstacking clamp for the clamped parts, so that the unstacking clamp can clamp one or two or more clamped parts 7 at the same time according to actual needs, thereby shortening the unstacking time and improving the clamping and unstacking efficiency of the unstacking clamp.

[0049] Meanwhile, the clamping angle can be adjusted by the movable clamping arm 23 according to the shape of the actual clamped part 7, so that the unstacking clamp can flexibly adapt to different clamping surface angles of the clamped part 7, and then when the unstacking clamp clamps two or more clamped parts 7 at the same time, the structural differences between the two or more clamped parts 7 can be adaptively absorbed, so as to realize the compatible clamping of the unstacking clamp for the clamped parts 7 with different structures, and improve the clamping stability of the unstacking clamp for clamping multiple clamped parts 7 at the same time.

[0050] In a specific embodiment, the clamped part 7 is a stator box body, and the existing stator box body includes two types of box styles, one of which is an embedded packaging foam box, and the other is a folding type without a cover. After a plurality of stator box bodies are stacked to form a box stack, each stator box body in the box stack is in a three-sided closed state when unstacking. At this time, the first clamping assembly 21 and the second clamping assembly 22 can be driven by the telescopic adjusting assembly 3 to move closer to or farther away from each other, so that the clamping space of the unstacking clamp can adapt to two side-by-side stator box bodies; when unstacking, the unstacking clamp takes the wall surface of the two side-by-side stator box bodies facing outward as the clamping surface, so as to realize double-box clamping and unstacking. Meanwhile, the movable clamping arm 23 can adapt to the structural differences of different stator box bodies in real time, so as to improve the clamping stability for different box structures. Furthermore, when the unstacking clamp provided in the embodiment is used to unstack the stator box stack, it is not necessary to separate the box styles with different structures, and two stator box bodies can be taken out at the same time, thereby shortening the unstacking time of the stator box stack and effectively ensuring the unstacking efficiency of the stator box stack.

[0051] It should be noted that the movable clamping arm 23 is preferably made of polyurethane, so as to ensure that the movable clamping arm 23 will not deform the stator box body when clamping the stator box body, by virtue of the high friction coefficient and low hardness of polyurethane.

[0052] Among them, as Figure 1 , Figure 7 and Figure 8As shown, the first clamping assembly 21 comprises a connecting bracket 211. The upper end of the connecting bracket 211 is connected with the telescopic adjusting assembly 3, and the lower end of the connecting bracket 211 is provided with a rotating shaft 212, the rotating shaft 212 is rotationally provided with a rotating connecting block 213, and the movable clamping arm 23 is rotationally connected with the lower end of the connecting bracket 211 through the rotating connecting block 213. The rotating connecting block 213 is arranged with an elastic member 214 connected with the movable clamping arm 23.

[0053] Further, in the process of clamping the to-be-clamped part 7 by the unstacking clamp, when the movable clamping arm 23 abuts against the clamping surface of the to-be-clamped part 7, according to the actual structure of the clamping surface of the to-be-clamped part 7, the movable clamping arm 23 rotates a certain angle with the rotating connecting block 213 as the axis, so that the movable clamping arm 23 adapts to the actual structural difference of the to-be-clamped part 7, and the compatibility of the unstacking clamp to different structures of the to-be-clamped part 7 is realized. At the same time, in the process of rotating the movable clamping arm 23, the elastic member 214 on the rotating connecting block 213 is compressed or stretched, and the energy storage action of the elastic member 214 is completed. Further, after completing the clamping operation of the to-be-clamped part 7 once, the elastic member 214 can drive the movable clamping arm 23 to reset to the initial state, so that the unstacking clamp can perform subsequent clamping actions.

[0054] Optionally, as shown in Figure 4 and Figure 8 The rotating connecting block 213 comprises two half-rings, the two half-rings embrace the rotating shaft 212, the elastic member 214 is arranged on the half-ring close to the movable clamping arm 23, and the two half-rings are connected through fasteners such as bolts or studs, so as to adjust the flexibility of rotation between the rotating connecting block 213 and the rotating shaft 212 by adjusting the tightening length of the bolts or the studs.

[0055] It should be noted that, in order to improve the connection stability between the connecting bracket 211 and the telescopic adjusting assembly 3, as shown in Figure 7 The top of the connecting bracket 211 is formed with a connecting top plate 216, and the connecting bracket 211 is connected with the telescopic adjusting assembly 3 through the connecting top plate 216, so as to increase the connection area of the connecting bracket 211 and the telescopic adjusting assembly 3. The connecting top plate 216 is formed with a plurality of threaded connection holes, and the connecting top plate 216 and the telescopic adjusting assembly 3 are assembled by a plurality of bolts or studs, so as to improve the connection stability of the connecting top plate 216 and the telescopic adjusting assembly 3.

[0056] The structure of the second clamping assembly 22 is consistent with that of the first clamping assembly 21, so as to ensure that the clamping forces of the unstacking clamp on both sides of the to-be-clamped part 7 are consistent.

[0057] Further, as shown in Figure 5As shown, the connecting bracket 211 is provided with a limiting piece 215, the thickness of the limiting piece 215 is the same as the initial length of the elastic piece 214, so that when the movable clamping arm 23 is reset to the initial state, the limiting action of the limiting piece 215 can be utilized to ensure that the movable clamping arm 23 can keep relatively parallel to the side surface of the connecting bracket 211 after being reset, thereby further ensuring the adaptability of the de-stacking clamp to the structure of the subsequent to-be-clamped piece 7.

[0058] Preferably, the limiting piece 215 is a standard nut, and the limiting piece 215 is connected to the connecting bracket 211 by bolts or studs.

[0059] In one specific embodiment, the limiting piece 215 is located below the rotating shaft 212 and the elastic piece 214. When the de-stacking clamp clamps the to-be-clamped piece 7, the upper end of the movable clamping arm 23 compresses the elastic piece 214, and the movable clamping arm 23 rotates counterclockwise by a certain angle to flexibly adapt to the structure of the to-be-clamped piece 7. When the de-stacking clamp completes the movement of the to-be-clamped piece 7 and releases the to-be-clamped piece 7, the movable clamping arm 23 rotates clockwise under the elastic recovery of the elastic piece 214 and abuts against the limiting piece 215 below, thereby completing the reset of the movable clamping arm 23. Thus, the de-stacking clamp can correspondingly adapt to the inclined clamping surface with an inclination angle greater than 90° with respect to the horizontal plane.

[0060] In another embodiment, the limiting piece 215 is located above the rotating shaft 212 and the elastic piece 214. When clamping the to-be-clamped piece 7, the movable clamping arm 23 rotates clockwise by a certain angle, and when releasing the to-be-clamped piece 7, the movable clamping arm 23 rotates counterclockwise, thereby making the de-stacking clamp correspondingly adapt to the inclined clamping surface with an inclination angle less than 90° with respect to the horizontal plane.

[0061] Of course, the limiting piece 215 is not limited to a standard nut, but can also be an elastic piece 214. Two elastic pieces 214 located above and below the rotating shaft 212 have the same structure, which facilitates the de-stacking clamp to simultaneously adapt to the inclined clamping surface with an inclination angle greater than 90° or less than 90°.

[0062] In the embodiment of the present application, as shown in Figures 1 to 3 The telescopic adjusting assembly 3 includes a driving member 31 and a connecting member 32. The fixed part of the driving member 31 is fixedly arranged on the base plate 1, and the telescopic part of the driving member 31 extends or retracts along the length direction of the base plate 1. The connecting member 32 is slidingly arranged at the end of the base plate 1, the telescopic part of the driving member 31 is connected with the connecting member 32, and the first clamping assembly 21 and / or the second clamping assembly 22 is connected to the connecting member 32.

[0063] It can be understood that when the unstacking clamp needs to clamp two or more to-be-clamped pieces 7 at the same time, the telescopic part of the driving part 31 can be driven to extend along the length direction of the base plate 1, drive the first clamping assembly 21 and / or the second clamping assembly 22 away from the fixed part of the driving part 31, thereby increasing the clamping space between the first clamping assembly 21 and the second clamping assembly 22, corresponding to the length of the two or more to-be-clamped pieces 7 after being arranged side by side, and then the unstacking clamp can clamp two or more to-be-clamped pieces 7 at the same time, realize the unstacking operation of two or more to-be-clamped pieces 7 at one time, shorten the unstacking time, and improve the unstacking efficiency of the stack.

[0064] Alternatively, as shown in Figure 2 , two sets of telescopic adjusting assemblies 3 can also be arranged on the base plate 1, one connecting part 32 is connected with the first clamping assembly 21, and the other connecting part 32 is connected with the second clamping assembly 22, and the two connecting parts 32 are driven away from each other by the two driving parts 31, so as to drive the first clamping assembly 21 and the second clamping assembly 22 away from each other.

[0065] Of course, one set of telescopic adjusting assemblies 3 can be arranged on the base plate 1, the connecting part 32 is connected with the second clamping assembly 22, and when the driving part 31 drives the connecting part 32 to extend, the first clamping assembly 21 can be kept fixed, and the second clamping assembly 22 is driven away from the first clamping assembly 21; or the connecting part 32 is connected with the first clamping assembly 21, and when the driving part 31 drives the connecting part 32 to extend, the second clamping assembly 22 can be kept fixed, and the first clamping assembly 21 is driven away from the second clamping assembly 22.

[0066] In the embodiment, the connecting part 32 is in a plate structure.

[0067] Specifically, as shown in Figure 3 , the driving part 31 is a self-locking air cylinder, so that the driving part 31 is self-locked after clamping the to-be-clamped piece, a stable clamping position is maintained, and the clamping stability of the unstacking clamp to the to-be-clamped piece 7 is ensured. The two ends of the base plate 1 are provided with sliding rails 321, and the connecting part 32 is slidably connected with the sliding rails 321 through a sliding block, so as to improve the stability of the sliding of the connecting part 32 on the base plate 1 through the sliding cooperation between the sliding block and the sliding rail 321. Preferably, the sliding rails 321 are arranged along the length direction of the base plate 1.

[0068] As shown in Figure 6 , the two ends of the base plate 1 are formed with an empty slot 11, the top of the first clamping assembly 21 and the second clamping assembly 22 passes through the empty slot 11, and is connected with the bottom side of the connecting part 32, and then under the driving of the connecting part 32, the first clamping assembly 21 and the second clamping assembly 22 can move in the empty slot 11 relative to the base plate 1, adjust the size of the clamping space between the first clamping assembly 21 and the second clamping assembly 22, and improve the connection stability between the first clamping assembly 21, the second clamping assembly 22 and the connecting part 32.

[0069] More specifically, as shown in Figure 1 and Figure 2 , the substrate 1 is provided with a buffer 12 and a mechanical stop 13, and the buffer 12 and the mechanical stop 13 are adapted to abut against the side of the connecting piece 32 towards the driving piece 31, so that when the connecting piece 32 is close to the driving piece 31, the moving speed of the connecting piece 32 is slowed down by the buffer 12, and at the same time the sliding of the connecting piece 32 on the substrate 1 is limited by the mechanical stop 13, avoiding the buffer 12 from moving too fast and falling off the sliding rail 321, and improving the connection stability of the buffer 12 on the substrate 1.

[0070] Optionally, the buffer 12 can be a telescopic rod, and a rubber ring is connected to one end of the telescopic rod towards the connecting piece 32, and the telescopic rod is connected to the substrate 1 through an angle code or a support. The mechanical stop 13 can be a square structure, and the mechanical stop 13 is located below the telescopic part of the driving piece 31, and the side of the mechanical stop 13 towards the connecting piece 32 is flush with the side wall of the air clearance groove 11.

[0071] It should be further pointed out that, as shown in Figure 1 and Figure 2 , two position detection pieces 15 are arranged at both ends of the substrate 1, one of which is arranged at the front end of the sliding rail 321, for sensing the movement state of the connecting piece 32 when the driving piece 31 is extended, so as to match the working state of the driving piece 31 with the movement state of the connecting piece 32, and determine whether the connecting piece 32 is extended, avoiding the situation that the connecting piece 32 does not move with the driving piece 31 due to connection failure or other failures; the other position detection piece 15 is arranged at the tail end of the sliding rail 321, for sensing whether the connecting piece 32 moves to the expected position, avoiding the situation that the connecting piece 32 slides excessively or does not slide to the position.

[0072] In one of the specific embodiments, as shown in Figure 10 , when the unstacking clamp clamps 2 or more to-be-clamped pieces 7 at the same time, and the to-be-clamped pieces 7 are embedded foam boxes, since the top of the embedded foam box is usually formed with a concave surface, the concave surface will form a step position 71 with the top of the box, at this time, in order to improve the clamping stability of the unstacking clamp on 2 or more embedded foam boxes, the first clamping assembly 21 and the second clamping assembly 22 are both connected with a set of anti-falling assemblies 4. As shown in Figure 3 , the anti-falling assembly 4 includes an anti-falling cylinder 41 and a limiting hook 42, and the fixed end of the anti-falling cylinder 41 is arranged on the first clamping assembly 21 or the second clamping assembly 22. The limiting hook 42 is arranged at the telescopic end of the anti-falling cylinder 41, and the side of the limiting hook 42 away from the anti-falling cylinder 41 forms an L-shaped clamping surface.

[0073] Further, after the first clamping assembly 21 and the second clamping assembly 22 clamp the to-be-clamped piece through the movable clamping arm 23, the limiting hook 42 can be driven by the anti-falling cylinder 41 to extend and abut against the L-shaped clamping surface against the stepped position 71 of the stator box, so as to provide an upward supporting force along the thickness direction of the box to the stator box, increase the clamping force of the unstacking clamp on the stator box, further improve the clamping stability of the unstacking clamp on the to-be-clamped piece, avoid the to-be-clamped piece from separating from the unstacking clamp, and ensure the unstacking of the double-box.

[0074] In another specific embodiment, as shown in Figure 11 when two or more to-be-clamped pieces 7 are clamped by the unstacking clamp at the same time, and the to-be-clamped pieces 7 are folding plastic boxes without covers, since the top of the folding plastic box without cover is exposed with a mounting groove 72 for fixing the stator, and a convex surface is formed between the stator and the bottom wall surface of the mounting groove 72, in order to improve the clamping stability of the two or more folding plastic boxes without covers, as shown in Figure 1 、 Figure 2 and Figure 9 the unstacking clamp further comprises a supporting frame 51, a lifting cylinder 52 and an auxiliary clamping cylinder 53. The supporting frame 51 is connected to the base plate 1, the fixed end of the lifting cylinder 52 is arranged on the supporting frame 51, the fixed end of the auxiliary clamping cylinder 53 is connected to the telescopic end of the lifting cylinder 52, and the telescopic end of the auxiliary clamping cylinder 53 is telescopic along the length direction of the base plate 1. The base plate 1 is formed with an avoiding groove 14, and the lifting cylinder 52 is used to drive the auxiliary clamping cylinder 53 to extend below the base plate 1. Further, after the first clamping assembly 21 and the second clamping assembly 22 clamp the to-be-clamped piece through the movable clamping arm 23, the auxiliary clamping cylinder 53 can be driven by the lifting cylinder 52 to sink from the avoiding groove 14 and extend into the box body, and then the telescopic end of the auxiliary clamping cylinder 53 extends to the first clamping assembly 21 and the second clamping assembly 22 on both sides and abuts against the convex surface inside the stator box, so as to improve the clamping stability of the unstacking clamp on each stator box by cooperation of the first clamping assembly 21 and the auxiliary clamping cylinder 53 and cooperation of the second clamping assembly 22 and the auxiliary clamping cylinder 53, and ensure the unstacking of the double-box.

[0075] In the embodiment of the utility model, as shown in Figures 1 to 3 the unstacking clamp further comprises a visual assembly 6. The visual assembly 6 is arranged on the base plate 1, and is used to collect the image shape features of the to-be-clamped piece 7, so as to cooperate with the visual image shape features during unstacking, and solve the problem of position deviation of the box body.

[0076] Specifically, as shown in Figure 1As shown, the visual component 6 comprises a mounting seat 61 and a camera 62, the mounting seat 61 is formed with a mounting groove 72, the mounting groove 72 is inclined to the clamping space between the first clamping component 21 and the second clamping component 22, and the camera 62 is mounted in the mounting groove 72, so that when the unstacking clamp clamps the to-be-clamped part 7, the image shape features of the clamped part are collected by the camera 62, thereby facilitating the judgment of the incoming material position deviation.

[0077] Preferably, the camera 62 adopts a 5 million pixel camera, can absorb ±20mm deviation of incoming material, and the accuracy can reach ±2.5mm, so as to improve the image quality obtained and enhance the judgment accuracy of the incoming material deviation.

[0078] Correspondingly, the utility model also provides a kind of unstacking robot, and the unstacking robot includes mechanical arm and the unstacking clamp described in any one of the above, and the unstacking robot has all the beneficial effects of the above-mentioned unstacking clamp, which will not be repeated here.

[0079] As shown in the drawings, Figures 1 to 3 As shown, the upper portion of the base plate 1 is provided with an adapter plate 16, which is connected with the mechanical arm to realize the connection and fixation of the unstacking clamp and the mechanical arm, facilitate the unstacking robot to control the operation of each cylinder of the unstacking clamp, and grasp and unstack the stator box in the stator box stack, to realize the intelligent unstacking of the stator box stack.

[0080] The above is the preferred embodiment of the utility model, and it should be pointed out that for ordinary skilled persons in the technical field, several improvements and refinements can be made without departing from the principles of the present invention, and these improvements and refinements are also considered within the protection scope of the utility model.

Claims

1. A de-stacking gripper characterized by, The utility model relates to a kind of clamping device, including: Substrate, be arranged with first clamping assembly and second clamping assembly, the first clamping assembly with the second clamping assembly is arranged along the length direction of substrate; Telescopic adjusting assembly is set to the substrate, the first clamping assembly is connected to one end of telescopic adjusting assembly, the second clamping assembly is connected to the other end of telescopic adjusting assembly, and telescopic adjusting assembly is used to drive the first clamping assembly and the second clamping assembly mutually close or mutually far away; The first clamping assembly and the second clamping assembly are rotatably connected with movable clamp arm, to adjust the clamping angle of the first clamping assembly and the second clamping assembly.

2. The de-palletizing gripper of claim 1, wherein, The first clamping assembly includes: Connecting support, the upper end of connecting support is connected with telescopic adjusting assembly, the lower end of connecting support is provided with rotating shaft, the rotating shaft is rotatably provided with rotating connecting block, and movable clamp arm is rotatably connected with the lower end of connecting support by rotating connecting block; The rotating connecting block is arranged with elastic member, and the elastic member is connected with the movable clamp arm; The structure of the second clamping assembly is consistent with the structure of the first clamping assembly.

3. The de-palletizing gripper of claim 2, wherein, The connecting support is provided with a limiting piece, and the thickness of the limiting piece is the same as the initial length of the elastic member.

4. The de-palletizing gripper of claim 1, wherein, The telescopic adjusting assembly includes: Drive element, the fixed part of drive element is fixedly arranged on the substrate, and the telescopic part of drive element extends or retracts along the length direction of the substrate; Connecting piece, slidingly arranged on the end of the substrate, the telescopic part of drive element is connected with the connecting piece, and the first clamping assembly and / or the second clamping assembly is connected with the connecting piece.

5. The de-palletizing gripper of claim 4, wherein, The drive element is a self-locking air cylinder; Both ends of the substrate are provided with sliding rails, the connecting piece is connected with the sliding rails through sliding blocks, both ends of the substrate are formed with an avoidance slot, the top of the first clamping assembly and the second clamping assembly passes through the avoidance slot, and is connected with the bottom side of the connecting piece.

6. The de-palletizing gripper of claim 4, wherein, The substrate is provided with a buffer and a mechanical limiting piece, and the buffer and the mechanical limiting piece are adapted to abut against the side of the connecting piece facing the drive element.

7. The de-palletizing gripper of claim 1, wherein, The first clamping assembly and the second clamping assembly are each connected with a set of anti-falling assembly, and the anti-falling assembly includes: Anti-falling air cylinder, the fixed end of the anti-falling air cylinder is arranged on the first clamping assembly or the second clamping assembly; Limiting hook, arranged on the telescopic end of the anti-falling air cylinder, the side away from the anti-falling air cylinder of the limiting hook forms an L-shaped clamping surface.

8. The de-palletizing gripper of claim 1, wherein, Further including: Support frame, connected to the substrate; Lifting air cylinder, the fixed end of the lifting air cylinder is arranged on the support frame; Auxiliary clamping air cylinder, the fixed end of the auxiliary clamping air cylinder is connected to the telescopic end of the lifting air cylinder, and the telescopic end of the auxiliary clamping air cylinder telescopes along the length direction of the substrate; The substrate is formed with an avoidance slot, and the lifting air cylinder is used to drive the auxiliary clamping air cylinder to extend into the lower part of the substrate.

9. The de-palletizing gripper of claim 1, wherein, Further including: Visual assembly, arranged on the substrate, the visual assembly is used to collect the image shape characteristics of the clamped piece.

10. A de-palletizing robot characterized by, The de-stacking clamp comprises a mechanical arm and the de-stacking clamp according to any one of claims 1-9, and a matching plate is arranged above the substrate and connected with the mechanical arm.

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