Efficient and stable robot clamp

Abstract

The utility model relates to an efficient and stable robot clamp, which belongs to the technical field of robot clamps and comprises a box inlet conveyor, a box outlet conveyor is fixedly mounted at the output end of the box inlet conveyor, and a tail end conveyor is fixedly mounted at the input end of the box outlet conveyor. A waiting conveyor is fixedly installed at the input end of the tail end conveyor, a feeding conveyor is fixedly installed at the input end of the waiting conveyor, and a replenishment mechanism is fixedly installed on one side of the waiting conveyor. According to the efficient and stable robot clamp, goods are conveyed to the waiting conveying machine from the feeding conveying machine, the goods are conveyed to the tail end conveying machine for boxing during loading, and after boxing is completed, the box outlet conveying machine drives a packaging box to move to the middle section of the box outlet conveying machine; the clamping assembly is driven by the replenishment rotating assembly to move, the goods on the waiting conveyor are clamped into the packaging box, and replenishment of the goods which are not clamped is completed.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, specifically to a high-efficiency and stable robot gripper. Background Technology

[0002] A robotic gripper is a mechanical device, typically mounted on the end effector of a robot, used to grasp, hold, and manipulate objects of various shapes, sizes, and materials. It precisely positions and grasps target objects, quickly and accurately completing material handling and loading / unloading tasks, and can adapt to diverse task requirements.

[0003] Chinese utility model patent CN213136777U discloses an improved gripper for industrial robots that facilitates stable gripping. The gripper includes a main frame with a fixed opening at the center of one side. A drive gripper is fixedly connected inside the fixed opening, and a T-shaped groove is formed inside the drive gripper. An electric hydraulic cylinder is fixedly mounted at the bottom of the T-shaped groove, and a transmission block is fixedly mounted at one end of the electric hydraulic cylinder. Connectors are hinged to both sides of the transmission block. The gripper has two matrix grippers, enabling flexible and stable gripping of products of different shapes and specifications. This avoids the drawbacks of traditional grippers that require changing to adapt to different products. The hydraulic cylinder increases power, and the transmission relies on a sector-shaped gear plate, improving the gripping stability. It also features a self-locking function, enhancing adaptability. During use, a vacuum suction cup is used to assist in gripping, providing multiple protections for the gripped product and maximizing gripping stability. This design has high practical value.

[0004] However, when this robotic gripper is in use, if there is a missed clamping or empty clamping, it can easily lead to inaccurate quantity of products in each box. Therefore, a more efficient and stable robotic gripper is proposed to solve the problems mentioned above. Utility Model Content

[0005] To address the shortcomings of existing technologies, this utility model provides a highly efficient and stable robot gripper with advantages such as automatic replenishment after missed clamping. It solves the problem that common robot grippers often lead to inaccurate product quantities per box when missed or empty clamping occurs.

[0006] To achieve the above objectives, this utility model provides the following technical solution:

[0007] A high-efficiency and stable robot gripper includes a box infeed conveyor, an outfeed conveyor fixedly installed at the output end of the box infeed conveyor, an end-effector fixedly installed at the input end of the outfeed conveyor, a waiting conveyor fixedly installed at the input end of the end-effector, a feeding conveyor fixedly installed at the input end of the waiting conveyor, a replenishment mechanism fixedly installed on one side of the waiting conveyor, and a box packing rotation assembly fixedly installed at the output end of the end-effector.

[0008] The replenishment mechanism includes a replenishment rotating assembly fixedly installed on one side of the waiting conveyor. Both the replenishment rotating assembly and the packing rotating assembly are fixedly equipped with clamping assemblies. The replenishment rotating assembly drives the clamping assemblies to rotate between the waiting conveyor and the packing conveyor.

[0009] Furthermore, the replenishment rotating assembly includes a replenishment base plate, a replenishment upright plate fixedly installed on the top of the replenishment base plate, a replenishment mounting plate fixedly installed on the top of the replenishment upright plate, a replenishment rotating column rotatably installed on the top of the replenishment mounting plate, and a replenishment top plate fixedly installed on the top of the replenishment rotating column.

[0010] Furthermore, the replenishment rotating assembly also includes a replenishment side plate fixedly installed on the top of the replenishment top plate, a replenishment cylinder fixedly installed on one side of the replenishment side plate, a replenishment motor that drives the replenishment rotating column to rotate fixedly installed on the bottom of the replenishment mounting plate, and a clamping assembly fixedly installed on the movable end of the replenishment cylinder.

[0011] Furthermore, the packing rotation assembly includes a packing base plate, a packing upright plate fixedly installed on the top of the packing base plate, a packing mounting plate fixedly installed on the top of the packing upright plate, a packing rotation column rotatably installed on the top of the packing mounting plate, and a packing top plate fixedly installed on the top of the packing rotation column.

[0012] Furthermore, the packing rotation assembly also includes a packing side plate fixedly installed on the top of the packing top plate, a packing cylinder fixedly installed on one side of the packing side plate, a packing motor that drives the packing rotation column to rotate fixedly installed on the bottom of the packing mounting plate, and another clamping assembly fixedly installed on the movable end of the replenishment cylinder and the movable end of the packing cylinder.

[0013] Furthermore, the clamping assembly includes a clamping top plate fixedly installed on the movable end of the packing cylinder, a clamping side plate fixedly installed on one side of the clamping top plate, and a clamping cylinder fixedly installed on the top of the clamping side plate.

[0014] Furthermore, the clamping assembly also includes a clamping base plate fixedly installed on the movable end of the clamping cylinder. A clamping rotating shaft is rotatably installed on the bottom of the clamping base plate, a clamping suction cup is fixedly installed on the bottom of the clamping rotating shaft, a clamping motor that drives the clamping rotating shaft to rotate is fixedly installed on the top of the clamping base plate, and a clamping air pipe is fixedly installed on the top of the clamping suction cup.

[0015] Furthermore, the clamping suction cup includes a suction cup base fixedly installed at the bottom of the clamping rotation shaft, two sets of suction heads are fixedly installed at the bottom of the suction cup base, and two detection lenses are fixedly installed on one side of the suction cup base, with three suction heads in one set.

[0016] Compared with the prior art, this utility model provides a highly efficient and stable robot gripper, which has the following beneficial effects:

[0017] 1. This efficient and stable robotic gripper transfers goods from the infeed conveyor to the waiting conveyor. During loading, the goods are transferred to the end conveyor for boxing. After boxing, the outgoing conveyor moves the box to the middle section of the outgoing conveyor. When a missing item is found, the replenishment rotating component moves the gripping component to pick up the goods from the waiting conveyor and put them into the box, thus replenishing the missing item. This solves the common problem of inaccurate product quantity in each box when missing or empty items are found in robotic grippers.

[0018] 2. This efficient and stable robotic gripper uses a detection lens on one side of the suction cup base to detect whether the suction head is picking up the goods. If a missed grip occurs, the number of missed grips is recorded for easy replenishment in the future. Attached Figure Description

[0019] Figure 1 This is a top view of the structure of this utility model;

[0020] Figure 2 This is a front view of the replenishment rotating assembly of this utility model;

[0021] Figure 3 This is a front view of the packing rotating assembly of this utility model;

[0022] Figure 4 This is a three-dimensional view of the clamping suction cup of this utility model.

[0023] In the diagram: 1. Inbound conveyor; 2. Outbound conveyor; 3. End-of-line conveyor; 4. Waiting conveyor; 5. Feeding conveyor; 6. Replenishment rotating assembly; 61. Replenishment base plate; 62. Replenishment upright plate; 63. Replenishment mounting plate; 64. Replenishment rotating column; 65. Replenishment top plate; 66. Replenishment side plate; 67. Replenishment cylinder; 68. Replenishment motor; 7. Packing rotating assembly; 71. Packing base plate; 72. Packing upright plate; 73. 74. Packing mounting plate; 75. Packing rotating column; 76. Packing top plate; 77. Packing side plate; 78. Packing cylinder; 89. Packing motor; 80. Clamping assembly; 81. Clamping top plate; 82. Clamping side plate; 83. Clamping cylinder; 84. Clamping bottom plate; 85. Clamping rotating shaft; 86. Clamping suction cup; 861. Suction cup base; 862. Suction head; 863. Detection lens; 87. Clamping motor; 88. Clamping air tube. Detailed Implementation

[0024] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0025] Please see Figures 1 to 4 This embodiment of a high-efficiency and stable robot gripper includes a box infeed conveyor 1, a box outfeed conveyor 2 fixedly installed at the output end of the box infeed conveyor 1, an end conveyor 3 fixedly installed at the input end of the box outfeed conveyor 2, a waiting conveyor 4 fixedly installed at the input end of the end conveyor 3, a feeding conveyor 5 fixedly installed at the input end of the waiting conveyor 4, a replenishment mechanism fixedly installed on one side of the waiting conveyor 4, and a box packing rotation assembly 7 fixedly installed at the output end of the end conveyor 3.

[0026] Packaging boxes are transported from the infeed conveyor 1 to the outfeed conveyor 2. Empty packaging boxes are transported to the input end of the outfeed conveyor 2. Goods are transported from the feed conveyor 5 to the waiting conveyor 4. Goods remain on the waiting conveyor 4. When loading is required, the goods are transported to the top of the end conveyor 3.

[0027] The replenishment mechanism includes a replenishment rotating assembly 6 fixedly installed on one side of the waiting conveyor 4. Both the replenishment rotating assembly 6 and the packing rotating assembly 7 are fixedly equipped with clamping assemblies 8. The replenishment rotating assembly 6 drives the clamping assemblies 8 to rotate between the waiting conveyor 4 and the packing conveyor 2.

[0028] Specifically, after the goods are packed, the outbound conveyor 2 moves the packaged box containing the goods to the middle section of the outbound conveyor 2. When a missing item is found, the clamping component 8 on the replenishment rotating component 6 will pick up the goods waiting on the conveyor 4, and the replenishment rotating component 6 will transfer the goods to the packaged box for replenishment.

[0029] Please see Figure 2 In this embodiment, the replenishment rotating assembly 6 includes a replenishment base plate 61, a replenishment upright plate 62 is fixedly installed on the top of the replenishment base plate 61, a replenishment mounting plate 63 is fixedly installed on the top of the replenishment upright plate 62, a replenishment rotating column 64 is rotatably installed on the top of the replenishment mounting plate 63, and a replenishment top plate 65 is fixedly installed on the top of the replenishment rotating column 64.

[0030] The replenishment rotating assembly 6 also includes a replenishment side plate 66 fixedly installed on the top of the replenishment top plate 65. A replenishment cylinder 67 is fixedly installed on one side of the replenishment side plate 66. A replenishment motor 68, which drives the replenishment rotating column 64 to rotate, is fixedly installed on the bottom of the replenishment mounting plate 63. A clamping assembly 8 is fixedly installed on the movable end of the replenishment cylinder 67. The replenishment motor 68 drives the replenishment rotating column 64 to rotate, which in turn drives the replenishment cylinder 67 to rotate, and consequently drives the clamping assembly 8 to rotate.

[0031] Please see Figure 3 In this embodiment, the packing rotation assembly 7 includes a packing base plate 71, a packing upright plate 72 is fixedly installed on the top of the packing base plate 71, a packing mounting plate 73 is fixedly installed on the top of the packing upright plate 72, a packing rotation column 74 is rotatably installed on the top of the packing mounting plate 73, and a packing top plate 75 is fixedly installed on the top of the packing rotation column 74.

[0032] The packing rotation assembly 7 also includes a packing side plate 76 fixedly installed on the top of the packing top plate 75. A packing cylinder 77 is fixedly installed on one side of the packing side plate 76. A packing motor 78, which drives the packing rotation column 74 to rotate, is fixedly installed on the bottom of the packing mounting plate 73. Another clamping assembly 8 is fixedly installed on the movable ends of the replenishment cylinder 67 and the packing cylinder 77. The packing motor 78 drives the packing rotation column 74 to rotate, which in turn drives the packing cylinder 77 to rotate, and drives the clamping assembly 8 to rotate, thus packing the goods on the end conveyor 3 into boxes.

[0033] Please see Figure 2 and Figure 3 In this embodiment, the clamping assembly 8 includes a clamping top plate 81 fixedly installed on the movable end of the packing cylinder 77, a clamping side plate 82 fixedly installed on one side of the clamping top plate 81, and a clamping cylinder 83 fixedly installed on the top of the clamping side plate 82.

[0034] The clamping assembly 8 also includes a clamping base plate 84 fixedly installed at the movable end of the clamping cylinder 83. A clamping rotating shaft 85 is rotatably installed at the bottom of the clamping base plate 84. A clamping suction cup 86 is fixedly installed at the bottom of the clamping rotating shaft 85. A clamping motor 87 that drives the clamping rotating shaft 85 to rotate is fixedly installed at the top of the clamping base plate 84. A clamping air pipe 88 is fixedly installed at the top of the clamping suction cup 86.

[0035] Please see Figure 4 In this embodiment, the clamping suction cup 86 includes a suction cup base 861 fixedly installed at the bottom of the clamping rotation shaft 85. Two sets of suction heads 862 are fixedly installed at the bottom of the suction cup base 861, and two detection lenses 863 are fixedly installed on one side of the suction cup base 861. The number of suction heads 862 in one set is three.

[0036] Specifically, a set of suction heads 862 picks up a piece of goods, the clamping motor 87 drives the clamping suction cup 86 to rotate, causing the two sets of suction heads 862 to switch positions and pick up another piece of goods. The packing rotating assembly 7 drives the two pieces of goods to the packaging box and places the goods into the packaging box.

[0037] By connecting the clamping air tube 88 to an external vacuum station, the vacuum station drives the clamping suction cup 86 to work, providing stronger suction.

[0038] The working principle of the above embodiment is as follows: when a missing item is found, the clamping component 8 on the replenishment rotating component 6 will pick up the goods on the waiting conveyor 4, and the replenishment rotating component 6 will transfer the goods to the packaging box for replenishment.

[0039] The installation, connection, or setting methods disclosed in this embodiment are all common mechanical connection methods, and any method that achieves the desired beneficial effect can be implemented. Furthermore, all electrical components in this embodiment are electrically connected to the main controller and power supply. The main controller can be a conventional, known device such as a computer that performs control functions. Those skilled in the art can control the electrical components through simple programming, and the existing disclosed power connection technologies are common knowledge in the field. Therefore, this embodiment will not elaborate further on their specific structural composition and working principles.

[0040] It should be noted that the orientations or positional relationships indicated herein are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the purpose of facilitating the description of this application and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0042] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A high efficiency stable robotic gripper comprising an in-box conveyor (1) characterized by: The output end of the infeed conveyor (1) is fixedly installed with an outfeed conveyor (2), the input end of the outfeed conveyor (2) is fixedly installed with an end conveyor (3), the input end of the end conveyor (3) is fixedly installed with a waiting conveyor (4), the input end of the waiting conveyor (4) is fixedly installed with a feeding conveyor (5), a replenishment mechanism is fixedly installed on one side of the waiting conveyor (4), and a packing rotation assembly (7) is fixedly installed at the output end of the end conveyor (3). The replenishment mechanism includes a replenishment rotating assembly (6) fixedly installed on one side of the waiting conveyor (4). Both the replenishment rotating assembly (6) and the packing rotating assembly (7) are fixedly equipped with clamping assemblies (8). The replenishment rotating assembly (6) drives the clamping assembly (8) to rotate between the waiting conveyor (4) and the packing conveyor (2).

2. A high efficiency stable robotic gripper as claimed in claim 1, wherein: The replenishment rotating assembly (6) includes a replenishment base plate (61), a replenishment upright plate (62) fixedly installed on the top of the replenishment base plate (61), a replenishment mounting plate (63) fixedly installed on the top of the replenishment upright plate (62), a replenishment rotating column (64) rotatably installed on the top of the replenishment mounting plate (63), and a replenishment top plate (65) fixedly installed on the top of the replenishment rotating column (64).

3. A high efficiency stable robotic gripper as claimed in claim 2, wherein: The replenishment rotating assembly (6) also includes a replenishment side plate (66) fixedly installed on the top of the replenishment top plate (65), a replenishment cylinder (67) fixedly installed on one side of the replenishment side plate (66), a replenishment motor (68) that drives the replenishment rotating column (64) to rotate fixedly installed on the bottom of the replenishment mounting plate (63), and a clamping assembly (8) fixedly installed on the movable end of the replenishment cylinder (67).

4. The high efficiency stable robotic gripper of claim 1, wherein: The packing rotation assembly (7) includes a packing base plate (71), a packing upright plate (72) is fixedly installed on the top of the packing base plate (71), a packing mounting plate (73) is fixedly installed on the top of the packing upright plate (72), a packing rotation column (74) is rotatably installed on the top of the packing mounting plate (73), and a packing top plate (75) is fixedly installed on the top of the packing rotation column (74).

5. A high efficiency stable robotic gripper as claimed in claim 4, wherein: The packing rotation assembly (7) also includes a packing side plate (76) fixedly installed on the top of the packing top plate (75). A packing cylinder (77) is fixedly installed on one side of the packing side plate (76). A packing motor (78) that drives the packing rotation column (74) to rotate is fixedly installed on the bottom of the packing mounting plate (73). Another clamping assembly (8) is fixedly installed on the movable end of the replenishment cylinder (67) and the movable end of the packing cylinder (77).

6. The high efficiency stable robotic gripper of claim 1, wherein: The clamping assembly (8) includes a clamping top plate (81) fixedly installed on the movable end of the packing cylinder (77), a clamping side plate (82) fixedly installed on one side of the clamping top plate (81), and a clamping cylinder (83) fixedly installed on the top of the clamping side plate (82).

7. The high efficiency stable robotic gripper of claim 1, wherein: The clamping assembly (8) further includes a clamping base plate (84) fixedly installed on the movable end of the clamping cylinder (83). A clamping rotating shaft (85) is rotatably installed on the bottom of the clamping base plate (84). A clamping suction cup (86) is fixedly installed on the bottom of the clamping rotating shaft (85). A clamping motor (87) that drives the clamping rotating shaft (85) to rotate is fixedly installed on the top of the clamping base plate (84). A clamping air pipe (88) is fixedly installed on the top of the clamping suction cup (86).

8. The efficient and stable robot gripper according to claim 7, characterized in that: The clamping suction cup (86) includes a suction cup base (861) fixedly installed at the bottom of the clamping rotating shaft (85). Two sets of suction heads (862) are fixedly installed at the bottom of the suction cup base (861). Two detection lenses (863) are fixedly installed on one side of the suction cup base (861). The number of suction heads (862) in one set is three.

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