Robot stacking and clamping assembly mechanism

Abstract

The utility model discloses a robot stacking and clamping assembly mechanism, which belongs to the technical field of industrial robots and comprises a fixing plate, a hydraulic rod is arranged in the middle of the fixing plate, a piston rod of the hydraulic rod is connected with a moving seat, two sides of the fixing plate are connected with manipulators, and the manipulators are rotatably connected with the fixing plate through second rotating shafts. According to the mechanical arm clamping device, the fixing assembly is arranged, the clamping blocks with the corresponding sizes are installed according to the clamping requirements, the fixing inserting blocks are inserted into the inserting grooves of the fixing base, the clamping blocks are inserted into the inserting grooves of the fixing base, and therefore the clamping blocks can be clamped conveniently and rapidly. The bolts are inserted into the pin holes under the elastic action of the reset springs, so that the fixing insertion blocks are firmly fixed in the fixing bases, the clamping blocks are rapidly fixed, goods are clamped through the clamping blocks, and the clamping requirements of different goods are met.

Description

TECHNICAL FIELD

[0001] The utility model belongs to industrial robot technical field, concretely relates to a robot stacking clamping assembly mechanism. BACKGROUND

[0002] The robot stacking clamping assembly is the key component for grabbing and carrying goods in the stacking operation of the robot, and is usually composed of an end effector, a sensor and a control system. It can realize the rapid, accurate and safe carrying and placing of goods, and is widely used in various automatic production lines, warehouse logistics and other fields.

[0003] Chinese patent application No. 202323308224.2 discloses a robot stacking clamping assembly, which comprises a fixed plate, a hydraulic rod, a mechanical hand, a transmission rod and a clamping block. The two side surfaces of the fixed plate are provided with a mechanical hand. The inner side surface of the mechanical hand is provided with a hydraulic rod through a transmission rod. The inner side surface of the mechanical hand is provided with a clamping block at the upper end. A buffer groove is formed in the inner side surface of the mechanical hand at the upper end. A buffer rod is fixedly connected in the buffer groove. The surface of the buffer rod is slidably connected with a buffer block at both ends. The clamping block and the buffer spring are provided to clamp and buffer the goods when the robot stacking clamping assembly clamps and stacks the goods. When the two photoelectric sensors at both ends are blocked by the signal blocking block, the robot stacking clamping assembly stops continuing to apply force.

[0004] The above-mentioned patent has the following problems in use: the clamping block cannot be replaced, which limits the use of clamping, and the clamping block buffer structure is complex, the buffer effect is poor, and the clamping effect is affected. UTILITY MODEL CONTENT

[0005] To solve the problems in the above background art, the utility model provides a robot stacking clamping assembly mechanism, which has the characteristics of replaceable clamping block and good clamping block buffer effect.

[0006] To achieve the above-mentioned purpose, the utility model provides the following technical scheme: a robot stacking clamping assembly mechanism, which comprises a fixed plate. A hydraulic rod is arranged in the middle of the fixed plate. A moving seat is connected to the piston rod of the hydraulic rod. A mechanical hand is connected to the two sides of the fixed plate. The mechanical hand and the fixed plate are rotatably connected through a second rotating shaft. A transmission rod is connected to the two sides of the moving seat. The transmission rod and the moving seat are rotatably connected through a third rotating shaft. The transmission rod and the mechanical hand are rotatably connected through a first rotating shaft. A buffer assembly is arranged at the upper end of the mechanical hand. A fixed assembly is connected to the side of the buffer assembly. A clamping block is installed on the side of the fixed assembly. Signal blocking blocks are arranged around the side of the fixed assembly. Photoelectric sensors are arranged at the corresponding positions of the signal blocking blocks around the side of the buffer assembly.

[0007] Preferably, the fixing assembly comprises a fixing block, a limiting assembly, a fixing seat and a pin hole, wherein the limiting assembly is arranged on the upper and lower ends of the two sides of the fixing seat, the fixing block is arranged on the upper and lower ends of the side of the clamping block, and the pin hole is arranged on the two sides of the fixing block.

[0008] Preferably, the fixing block is in a T-shaped structure, and the side of the fixing seat is provided with a T-shaped groove.

[0009] Preferably, the limiting assembly comprises a sleeve rod, a limiting block, a reset spring, a limiting ring and a bolt, wherein the bolt is slidably connected to the middle of the sleeve rod, the limiting ring is arranged in the middle of the bolt, the reset spring is arranged on the inner surface of the sleeve rod inside the bolt, and the limiting block is arranged on the side of the bolt.

[0010] Preferably, the buffer assembly comprises a fixing block, a sleeve, a buffer rod and a buffer spring, wherein the fixing block is arranged on the side of the fixing seat, the buffer rod is arranged in the middle groove of the fixing block, the sleeve is arranged at the end of the buffer rod away from the fixing seat, and the buffer spring is arranged on the surface between the inside of the fixing block and the sleeve of the buffer rod.

[0011] Preferably, the outer surface of the sleeve is slidably connected with the sliding groove of the fixing block, and the two ends of the buffer spring are fixedly connected with the fixing block and the sleeve respectively.

[0012] Compared with the prior art, the utility model has the advantages that:

[0013] 1. The fixing assembly is arranged, the clamping block of the corresponding size is installed according to the clamping requirement, the fixing block is inserted into the insertion slot of the fixing seat, the bolt is inserted into the pin hole under the elastic force of the reset spring, the fixing block is fixed in the fixing seat, the clamping block is quickly fixed, the goods are clamped through the clamping block, and the clamping requirement of different goods is met.

[0014] 2. The buffer assembly is arranged, in the clamping process of the clamping block, the sleeve is moved in the sliding groove of the fixing block under the pushing of the buffer rod, the sleeve makes the buffer spring compressed, the elastic force of the buffer spring makes the fixing seat buffer, and then the clamping block is buffered, so that the structure is simple, and the buffering effect is good. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 It is a structural schematic view of the utility model;

[0016] Figure 2 It is a structural schematic view of the fixing assembly of the utility model;

[0017] Figure 3 It is a structural schematic view of the limiting assembly of the utility model;

[0018] Figure 4 It is a structural schematic view of the buffer assembly of the utility model;

[0019] In the figure: 1, clamp block; 2, fixed assembly; 21, fixed plug; 22, limiting assembly; 221, sleeve rod; 222, limiting block; 223, return spring; 224, limiting ring; 225, bolt; 23, fixed seat; 24, pin hole; 3, buffer assembly; 31, fixed block; 32, sleeve; 33, buffer rod; 34, buffer spring; 4, mechanical hand; 5, transmission rod; 6, first rotating shaft; 7, second rotating shaft; 8, hydraulic rod; 9, fixed plate; 10, moving seat; 11, third rotating shaft; 12, photoelectric sensor; 13, signal blocking block. 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, rather than all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the utility model.

[0021] Embodiment 1

[0022] Please refer to Figures 1-4 The utility model provides the following technical scheme: a robot stacking clamping assembly mechanism, the middle of fixed plate 9 is provided with hydraulic rod 8, the piston rod of hydraulic rod 8 is connected with moving seat 10, the both sides of fixed plate 9 are connected with mechanical hand 4, and mechanical hand 4 is rotatably connected with fixed plate 9 through second rotating shaft 7, the both sides of moving seat 10 are connected with transmission rod 5, and transmission rod 5 is rotatably connected with moving seat 10 through third rotating shaft 11, transmission rod 5 is rotatably connected with mechanical hand 4 through first rotating shaft 6, the upper end of mechanical hand 4 is provided with buffer assembly 3, the side of buffer assembly 3 is connected with fixed assembly 2, the side of fixed assembly 2 is installed with clamp block 1, the side of fixed assembly 2 is provided with signal blocking block 13 around, and the side of buffer assembly 3 is provided with photoelectric sensor 12 around the corresponding position of signal blocking block 13.

[0023] Specifically, fixed assembly 2 includes fixed plug 21, limiting assembly 22, fixed seat 23 and pin hole 24, wherein the upper and lower ends of the both sides of fixed seat 23 are provided with limiting assembly 22, the upper and lower ends of the side of clamp block 1 are provided with fixed plug 21, and the both sides of fixed plug 21 are provided with pin hole 24.

[0024] Through the above technical scheme, fixed plug 21 is inserted into the insertion slot of fixed seat 23, limiting assembly 22 is inserted into pin hole 24, fixed plug 21 is firmly fixed in fixed seat 23, clamp block 1 is quickly fixed, and the goods are clamped through clamp block 1, so that the clamping demand of different goods is met.

[0025] Specifically, the fixed insertion block 21 is provided in a T-shaped structure, and the side of the fixed seat 23 is provided with a T-shaped slot.

[0026] By adopting the above technical scheme, the fixed insertion block 21 is inserted into the insertion slot of the fixed seat 23 and cannot move longitudinally, and the limiting assembly 22 is inserted into the pin hole 24 to be fixed transversely, so that the clamp block 1 is quickly fixed and is not easy to fall off.

[0027] Specifically, the limiting assembly 22 includes a sleeve rod 221, a limiting block 222, a return spring 223, a limiting ring 224 and a plug pin 225, wherein the middle of the sleeve rod 221 is slidably connected with the plug pin 225, the middle of the plug pin 225 is provided with the limiting ring 224, the inside surface of the plug pin 225 in the sleeve rod 221 is provided with the return spring 223, and the side of the plug pin 225 is provided with the limiting block 222.

[0028] By adopting the above technical scheme, the plug pin 225 is inserted into the pin hole 24 under the elastic force of the return spring 223, so that the fixed insertion block 21 is firmly fixed in the fixed seat 23, and the clamp block 1 is quickly fixed.

[0029] In use, according to the clamping requirement, the clamp block 1 of a corresponding size is installed, the fixed insertion block 21 is inserted into the insertion slot of the fixed seat 23, the plug pin 225 is inserted into the pin hole 24 under the elastic force of the return spring 223, so that the fixed insertion block 21 is firmly fixed in the fixed seat 23, and the clamp block 1 is quickly fixed, the goods are clamped by the clamp block 1, the clamping requirement of different goods is met, the goods are buffered and clamped by the buffering effect of the buffering assembly 3, and when the two photoelectric sensors 12 at both ends are blocked by the signal blocking block 13, the robot stacking and clamping assembly stops to continue to apply force, effectively avoiding the problem that the robot stacking and clamping assembly does not usually have a buffering structure in use, and when the goods are clamped by the mechanical hand 4, the clamping force is too large to cause the goods to be clamped and deformed and damaged, and there is a certain inconvenience in use.

[0030] Embodiment 2

[0031] The difference between the embodiment and the embodiment 1 is that the buffering assembly 3 includes a fixed block 31, a sleeve 32, a buffering rod 33 and a buffering spring 34, wherein the side of the fixed seat 23 is provided with the fixed block 31, the middle slot of the fixed block 31 is provided with the buffering rod 33, the end of the buffering rod 33 away from the fixed seat 23 is provided with the sleeve 32, and the surface between the fixed block 31 and the sleeve 32 inside the buffering rod 33 is provided with the buffering spring 34.

[0032] Through the above technical scheme, during clamping of the clamping block 1, the buffer rod 33 pushes the sleeve 32 to move in the sliding groove of the fixed block 31, the sleeve 32 compresses the buffer spring 34, and the elastic force of the buffer spring 34 buffers the fixed seat 23 and further buffers the clamping block 1, so that the structure is simple and the buffering effect is good.

[0033] Specifically, the outer surface of the sleeve 32 is in sliding connection with the sliding groove of the fixed block 31, and the two ends of the buffer spring 34 are fixedly connected with the fixed block 31 and the sleeve 32 respectively.

[0034] Through the above technical scheme, it is ensured that the buffer rod 33 pushes the sleeve 32 to move in the sliding groove of the fixed block 31.

[0035] In use, during clamping of the clamping block 1, the buffer rod 33 pushes the sleeve 32 to move in the sliding groove of the fixed block 31, the sleeve 32 compresses the buffer spring 34, and the elastic force of the buffer spring 34 buffers the fixed seat 23 and further buffers the clamping block 1, so that the structure is simple and the buffering effect is good.

[0036] The structure and use principle of the mechanical hand 4, the transmission rod 5, the first rotating shaft 6, the second rotating shaft 7, the hydraulic rod 8, the fixed plate 9, the moving seat 10, the third rotating shaft 11, the photoelectric sensor 12 and the signal blocking block 13 in the utility model have been disclosed in a robot stacking clamping assembly with a Chinese patent application number 202323308224.2.

[0037] The working principle and use process of the utility model are as follows: in use, according to the clamping requirement, the corresponding size clamping block 1 is installed, the fixed plug block 21 is inserted into the insertion slot of the fixed seat 23, the insertion pin 225 is inserted into the pin hole 24 under the elastic force of the reset spring 223, the fixed plug block 21 is fixed in the fixed seat 23, the clamping block 1 is quickly fixed, the goods are clamped through the clamping block 1, the clamping requirement of different goods is met, the purpose of buffering and clamping the goods is realized through the buffering effect of the buffering assembly 3, and when the two photoelectric sensors 12 at both ends simultaneously block the signal through the signal blocking block 13, the robot stacking clamping assembly stops continuing to force, effectively avoids the problem that the current robot stacking clamping assembly usually does not have a buffering structure when in use, and when the goods are clamped through the mechanical hand 4, the clamping force is too large to cause the goods to be clamped and deformed and damaged, and there is a certain inconvenience in use; during clamping of the clamping block 1, the buffer rod 33 pushes the sleeve 32 to move in the sliding groove of the fixed block 31, the sleeve 32 compresses the buffer spring 34, and the elastic force of the buffer spring 34 buffers the fixed seat 23 and further buffers the clamping block 1, so that the structure is simple and the buffering effect is good.

[0038] Although the embodiments of the present application have been shown and described, it is to be understood that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present application, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A robotic palletizing gripping assembly mechanism comprising a fixed plate (9), characterized in that: The middle of the fixed plate (9) is provided with a hydraulic rod (8), the piston rod of the hydraulic rod (8) is connected with a moving seat (10), both sides of the fixed plate (9) are connected with a mechanical hand (4), the mechanical hand (4) and the fixed plate (9) are rotatably connected through a second rotating shaft (7), both sides of the moving seat (10) are connected with a transmission rod (5), the transmission rod (5) and the moving seat (10) are rotatably connected through a third rotating shaft (11), the transmission rod (5) and the mechanical hand (4) are rotatably connected through a first rotating shaft (6), the upper end of the mechanical hand (4) is provided with a buffer assembly (3), the side of the buffer assembly (3) is connected with a fixed assembly (2), the side of the fixed assembly (2) is provided with a clamping block (1), the side of the fixed assembly (2) is provided with a signal blocking block (13) around, and the side of the buffer assembly (3) is provided with a photoelectric sensor (12) around the corresponding position of the signal blocking block (13).

2. A robotic palletizing clamp assembly mechanism according to claim 1, characterized in that: The fixed assembly (2) comprises a fixed plug (21), a limiting assembly (22), a fixed seat (23) and a pin hole (24), wherein the upper and lower ends of the two sides of the fixed seat (23) are provided with the limiting assembly (22), the upper and lower ends of the side of the clamping block (1) are provided with the fixed plug (21), and the two sides of the fixed plug (21) are provided with the pin hole (24).

3. A robotic palletizing clamp assembly mechanism according to claim 2, characterized in that: The fixed plug (21) is T-shaped structure, and the side of the fixed seat (23) is provided with a T-shaped groove.

4. The robotic palletizing clamp assembly mechanism of claim 2, wherein: The limiting assembly (22) comprises a sleeve rod (221), a limiting block (222), a return spring (223), a limiting ring (224) and a latch (225), wherein the middle of the sleeve rod (221) is slidably connected with the latch (225), the middle of the latch (225) is provided with the limiting ring (224), the inner surface of the sleeve rod (221) is provided with the return spring (223), and the side of the latch (225) is provided with the limiting block (222).

5. The robotic palletizing clamp assembly mechanism of claim 1, wherein: The buffer assembly (3) comprises a fixed block (31), a sleeve (32), a buffer rod (33) and a buffer spring (34), wherein the side of the fixed seat (23) is provided with the fixed block (31), the middle groove of the fixed block (31) is provided with the buffer rod (33), the end of the buffer rod (33) away from the fixed seat (23) is provided with the sleeve (32), and the surface between the fixed block (31) and the sleeve (32) inside the buffer rod (33) is provided with the buffer spring (34).

6. A robotic palletizing clamp assembly mechanism according to claim 5, characterized in that: The outer surface of the sleeve (32) is slidably connected with the sliding groove of the fixed block (31), and the two ends of the buffer spring (34) are respectively buckled and fixed with the fixed block (31) and the sleeve (32).

Images