Robot stacking gripper

Abstract

The utility model relates to a robot stacking gripper which comprises a transverse frame, a fixed frame is arranged in the center of the upper end of the transverse frame, a robot connecting flange is arranged at the top end of the fixed frame, longitudinal frames are arranged on the two sides of the bottom end of the transverse frame, and tidying structures are arranged in the longitudinal frames. The utility model relates to the technical field of robot stacking equipment. According to the robot stacking gripper, cartons are located between the two longitudinal frames, the multiple cartons are aligned and clamped through the tidying structure, at the moment, the gripper plates are controlled to move to the two sides of the cartons through the arrangement of the electric telescopic rods, the gripper supporting rods are inserted into the bottom ends of the cartons, and then the purpose of supporting the cartons is achieved; according to the carton stacking device, the cartons can be directly placed at the top end of a carton stack through the separated tidying structure and the gripper plate, and when the gripper supporting rods are pulled out, the bottoms of the cartons always have supporting force, so that the stability is high during stacking.

Description

Technical Field

[0001] This utility model relates to the technical field of robotic palletizing equipment, and in particular to a robotic palletizing gripper. Background Technology

[0002] Palletizing robots are a type of industrial robot that performs tasks such as gripping, handling, palletizing, and depalletizing large quantities of workpieces and packages in industrial production processes.

[0003] Chinese Patent Publication No. CN221396157U discloses a gripper for a robotic palletizer, including a fixed base. The bottom of the fixed base has a slide rail, within which two gripper clamps are slidably connected. A bidirectional threaded rod is rotatably connected within the slide rail, threaded into the gripper clamps. A mounting base is fixedly connected to the bottom of each gripper clamp, with a locking plate rotatably connected between its two ends. An electric telescopic rod is rotatably connected between the locking plate and the gripper clamp. A bidirectional hydraulic rod is embedded on one side of each gripper clamp, with auxiliary clamps fixedly connected to both ends. The fixed base has a slide rail at its bottom, within which two gripper clamps are slidably connected, and the bidirectional threaded rod is rotatably connected. This invention prevents the gripper from tipping over when the robotic palletizer gripper retracts, by causing the locking plate to rotate outwards under the retraction of the electric telescopic rod.

[0004] In the aforementioned patent, the main purpose is to align the carton by using gripper plates on both sides, and to stack the carton with the help of an electric telescopic rod and pallet. However, during the stacking process, the rotation of the pallet requires a large space, and the bottom of the carton has no supporting structure during the rotation of the pallet, which can easily cause the carton to fall. Utility Model Content

[0005] In view of the shortcomings of the existing technology, the purpose of this utility model is to provide a robotic palletizing gripper to solve the technical problems mentioned in the background.

[0006] The above-mentioned technical objective of this utility model is achieved through the following technical solution:

[0007] A robotic palletizing gripper includes a transverse frame, a fixed frame at the upper center of the transverse frame, a robot connecting flange at the top of the fixed frame, and longitudinal frames on both sides of the bottom of the transverse frame, with a tidying structure inside the longitudinal frames.

[0008] The transverse frame is provided with extension frames on both sides, and the extension frames are provided with a clamping structure inside.

[0009] Electric telescopic rods are provided on both sides of the upper end of the transverse frame. The telescopic end of the electric telescopic rod is provided with a gripper plate. Several evenly distributed gripper supports are provided on the bottom end of the gripper plate facing the transverse frame.

[0010] The alignment structure includes a mounting frame, which is fixedly connected to a longitudinal frame. An alignment air rod is provided at the upper middle part of the mounting frame, and an alignment plate is provided at the telescopic end of the alignment air rod. A closed structure is provided inside the alignment plate.

[0011] Furthermore, guide rods are fixedly installed on both sides of the upper end of the gripper plate, and linear bearings are sleeved on the outer peripheral wall of the guide rods, and the linear bearings are fixedly connected to the transverse frame through bearing seats.

[0012] Furthermore, guide holes are provided on both sides of the upper end of the mounting bracket, and a stabilizing rod is slidably disposed inside the guide hole. The end of the stabilizing rod is fixedly connected to the alignment plate through a bending member.

[0013] Furthermore, the clamping structure includes a clamping cylinder, an extension rod is slidably provided at the bottom end of the clamping cylinder, a sealing piston is provided at the top end of the extension rod and the sealing piston is inserted into the inside of the clamping cylinder, and a clamping plate is provided at the bottom end of the extension rod.

[0014] Furthermore, the closed structure includes a drive motor, which is fixedly installed at the center of the alignment plate. Both ends of the drive motor are provided with guide screws, and the alignment plate has rotating grooves on both sides for installing the guide screws. The threads of the two guide screws are opposite. A straightening slider is slidably arranged inside the rotating groove, and the straightening slider has a threaded groove that engages with the threaded guide screws.

[0015] Furthermore, both ends of the alignment plate are provided with support blocks, and the side of the support block facing the center of the transverse frame is on the same plane as the end face of the alignment slider.

[0016] In summary, this utility model has at least one of the following beneficial technical effects:

[0017] 1. This robotic palletizing gripper has cartons positioned between two longitudinal frames. Multiple cartons are aligned and clamped using an alignment structure. At this point, the gripper plate is moved to both sides of the cartons via an electric telescopic rod, and the gripper support rod is inserted into the bottom of the cartons to lift them up. Through the separate alignment structure and gripper plate, cartons can be placed directly on top of the carton stack, and the bottom of the cartons always has support when the gripper support rod is pulled out, thus achieving high stability during palletizing.

[0018] 2. This robotic palletizing gripper uses two side-mounted alignment pneumatic rods to move an alignment plate. After moving, the alignment plate clamps the cartons, making the front and rear ends of the carton stack flush with each other. Then, a drive motor rotates the guide screws on both sides, which in turn move the alignment slider through the threaded grooves. Since the thread directions of the guide screws at both ends are opposite, the alignment slider can effectively push the cartons on the left and right sides inward, thereby achieving the purpose of aligning the cartons on the left and right sides. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this utility model, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic diagram of the structure of a robotic palletizing gripper according to the present invention.

[0021] Figure 2 This is a schematic diagram of the clamping structure of a robot palletizing gripper according to the present invention.

[0022] Figure 3 This is a front structural diagram of the folding structure of a robot palletizing gripper according to the present invention.

[0023] Figure 4 This is a schematic diagram of the back side of the folding structure of a robot palletizing gripper according to the present invention.

[0024] In the diagram, 1. Horizontal frame; 2. Fixed frame; 3. Robot connecting flange; 4. Longitudinal frame; 5. Alignment structure; 51. Mounting bracket; 52. Alignment air rod; 53. Alignment plate; 54. Closed structure; 541. Drive motor; 542. Guide screw; 543. Rotary groove; 544. Alignment slider; 545. Support block; 55. Guide hole; 56. Stabilizing rod; 6. Extension frame; 7. Clamping structure; 71. Clamping cylinder; 72. Extension rod; 73. Clamping plate; 8. Electric telescopic rod; 9. Grip plate; 10. Grip support rod; 11. Guide slide rod; 12. Bearing seat. Detailed Implementation

[0025] The present invention will be further described in detail below with reference to the accompanying drawings.

[0026] Example:

[0027] Reference Figure 1 - Figure 4The present invention discloses a robot palletizing gripper, including a transverse frame 1, a fixed frame 2 at the upper center of the transverse frame 1, a robot connecting flange 3 at the top of the fixed frame 2, and longitudinal frames 4 on both sides of the bottom of the transverse frame 1, with a straightening structure 5 inside the longitudinal frame 4.

[0028] The transverse frame 1 has extension frames 6 on both sides, and the extension frames 6 have a clamping structure 7 inside.

[0029] Electric telescopic rods 8 are provided on both sides of the upper end of the transverse frame 1. The telescopic end of the electric telescopic rod 8 is provided with a gripper plate 9. Several evenly distributed gripper supports 10 are provided at the bottom end of the gripper plate 9 facing the transverse frame 1.

[0030] The straightening structure 5 includes a mounting frame 51, which is fixedly connected to the longitudinal frame 4. A straightening air rod 52 is provided at the upper middle part of the mounting frame 51. An alignment plate 53 is provided at the telescopic end of the straightening air rod 52. A closed structure 54 is provided inside the alignment plate 53.

[0031] In this embodiment, during use, the fixed frame 2 and the robot connecting flange 3 are connected to the equipment. When stacking cartons, the robot moves the equipment to the top of the cartons and positions them between the two longitudinal frames 4. The alignment structure 5 aligns and clamps the multiple cartons. Figure 1 As shown, at this time, the gripper plate 9 is moved to both sides of the carton by the setting of the electric telescopic rod 8, and the gripper support rod 10 is inserted into the bottom of the carton, thereby achieving the purpose of lifting the carton.

[0032] After the cardboard box is lifted, the robot places the cardboard box on top of the stack. The alignment plate 53 is moved by the alignment air rods 52 on both sides. After the alignment plate 53 moves, it clamps the cardboard box. Then, the closing structure 54 gathers the cardboard boxes on both sides towards the middle to achieve the purpose of aligning the cardboard boxes.

[0033] In a further preferred embodiment of this utility model, such as Figure 1 As shown, guide slide rods 11 are fixedly installed on both sides of the upper end of the gripper plate 9. Linear bearings are sleeved on the outer peripheral wall of the guide slide rods 11, and the linear bearings are fixedly connected to the transverse frame 1 through the bearing seat 12.

[0034] In this embodiment, as Figure 1 As shown, the bearing housing 12 and the linear bearing are used to position the sliding trajectory of the guide rod 11, thereby improving the stability of the gripper plate 9 when it moves.

[0035] In a further preferred embodiment of this utility model, such as Figure 3 and Figure 4As shown, guide holes 55 are provided on both sides of the upper end of the mounting bracket 51. A stabilizing rod 56 is slidably disposed inside the guide hole 55. The end of the stabilizing rod 56 is fixedly connected to the alignment plate 53 through a bending member.

[0036] In this embodiment, the guide hole 55 and the stabilizing rod 56 are used to limit the trajectory of the alignment plate 53, thereby improving the stability of the alignment plate 53 during movement.

[0037] In a further preferred embodiment of this utility model, such as Figure 2 As shown, the clamping structure 7 includes a clamping cylinder 71, an extension rod 72 is slidably provided at the bottom end of the clamping cylinder 71, a sealing piston is provided at the top end of the extension rod 72, and the sealing piston is inserted into the inside of the clamping cylinder 71. A clamping plate 73 is provided at the bottom end of the extension rod 72.

[0038] In this embodiment, an air pump is provided on the side wall of the pressing cylinder 71. The air pump provides air to the inside of the pressing cylinder 71 to cooperate with the sealing piston to push the extension rod 72 downward until the extension rod 72 moves to the bottom end of the pressing plate 73, thereby providing downward pressure on the carton, improving the stability of the carton and the gripper support rod 10, thereby improving the stability of the carton when it moves during the stacking process and avoiding the situation where the carton falls off due to inertia.

[0039] In a further preferred embodiment of this utility model, such as Figure 3 and Figure 4 As shown, the closed structure 54 includes a drive motor 541, which is fixedly installed at the center of the alignment plate 53. Both ends of the drive motor 541 are provided with guide screws 542, and the alignment plate 53 has rotating grooves 543 for installing the guide screws 542 on both sides. The threads of the two guide screws 542 are opposite. A straightening slider 544 is slidably arranged inside the rotating groove 543. The straightening slider 544 has a threaded groove that is threaded to engage with the guide screws 542.

[0040] In this embodiment, when arranging the cartons, the drive motor 541 drives the guide screws 542 on both sides to rotate, and then the guide screws 542, in conjunction with the threaded grooves, push the arranging sliders 544 to move. The arranging sliders 544 on both sides move in opposite directions. Since the sidewalls of the arranging sliders 544 are in contact with the cartons when the alignment plate 53 arranging the carton stack, and the end face of the arranging sliders 544 is provided with a rubber plate to increase the friction between the arranging sliders 544 and the cartons, the arranging sliders 544 on both sides drive the cartons to move inward, thereby reducing the gap between adjacent cartons, achieving the purpose of arranging the carton stack and improving the stability of the carton stack.

[0041] In a further preferred embodiment of this utility model, such as Figure 3 As shown, both ends of the alignment plate 53 are provided with support blocks 545, and the side of the support block 545 facing the center of the transverse frame 1 is on the same plane as the end face of the alignment slider 544.

[0042] In this embodiment, by setting up the support block 545, when aligning the carton stack, since the alignment slider 544 and the side wall of the support block 545 are on the same plane, the moving carton can be guided, thus avoiding the problem of the carton turning at an angle due to uneven force.

[0043] The embodiments described herein are preferred embodiments of this utility model and are not intended to limit the scope of protection of this utility model. Therefore, all equivalent changes made to the structure, shape, and principle of this utility model should be included within the scope of protection of this utility model.

Claims

1. A robotic palletizing gripper, characterized in that, It includes a transverse frame (1), a fixed frame (2) is provided at the center of the upper end of the transverse frame (1), a robot connection flange (3) is provided at the top of the fixed frame (2), and longitudinal frames (4) are provided on both sides of the bottom end of the transverse frame (1). A straightening structure (5) is provided inside the longitudinal frame (4). The transverse frame (1) is provided with extension frames (6) on both sides, and the extension frames (6) are provided with a pressing structure (7) inside. Electric telescopic rods (8) are provided on both sides of the upper end of the transverse frame (1). A gripper plate (9) is provided at the telescopic end of the electric telescopic rod (8). Several evenly distributed gripper supports (10) are provided at the bottom end of the gripper plate (9) facing the transverse frame (1). The straightening structure (5) includes a mounting frame (51), which is fixedly connected to the longitudinal frame (4). A straightening air rod (52) is provided at the upper middle part of the mounting frame (51), and an alignment plate (53) is provided at the telescopic end of the straightening air rod (52). A closed structure (54) is provided inside the alignment plate (53).

2. The robotic palletizing gripper according to claim 1, characterized in that, Guide slide rods (11) are fixedly installed on both sides of the upper end of the gripper plate (9). A linear bearing is sleeved on the outer peripheral wall of the guide slide rod (11), and the linear bearing is fixedly connected to the transverse frame (1) through the bearing seat (12).

3. The robotic palletizing gripper according to claim 2, characterized in that, The mounting bracket (51) has guide holes (55) on both sides of its upper end. A stabilizing rod (56) is slidably installed inside the guide hole (55). The end of the stabilizing rod (56) is fixedly connected to the alignment plate (53) by a bending member.

4. The robotic palletizing gripper according to claim 3, characterized in that, The clamping structure (7) includes a clamping cylinder (71), an extension rod (72) is slidably provided at the bottom end of the clamping cylinder (71), a sealing piston is provided at the top end of the extension rod (72), and the sealing piston is inserted into the inside of the clamping cylinder (71). A clamping plate (73) is provided at the bottom end of the extension rod (72).

5. A robotic palletizing gripper according to claim 4, characterized in that, The closed structure (54) includes a drive motor (541), which is fixedly installed at the center of the alignment plate (53). Both ends of the drive motor (541) are provided with guide screws (542), and the alignment plate (53) has rotating grooves (543) for installing the guide screws (542) on both sides. The threads of the two guide screws (542) are opposite. A leveling slider (544) is slidably provided inside the rotating groove (543). The leveling slider (544) has a threaded groove that is threaded to engage with the guide screws (542).

6. A robotic palletizing gripper according to claim 5, characterized in that, Both ends of the alignment plate (53) are provided with support blocks (545), and the side of the support block (545) facing the center of the transverse frame (1) is on the same plane as the end face of the alignment slider (544).

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