Antiskid gripper of robot palletizer

Abstract

The utility model relates to the technical field of palletizing robots and discloses a palletizing robot anti-skid gripper which comprises a device body, two gripping plates arranged in a mirror symmetry mode are arranged at the bottom of the device body, a U-shaped protection frame is rotationally connected to the bottom of the gripping plate on the left side, and a rotating assembly for adjusting rotation of the U-shaped protection frame is arranged on the gripping plate on the left side. The bottom of the grabbing plate on the right side is rotationally connected with a rotating rod, supporting plates are fixedly connected to the two sides of the bottom end of the rotating rod, the U-shaped protection frame comprises two long rods, a transverse rod is fixedly arranged between the movable ends of the two long rods, and the distance between the two long rods is smaller than the length of the supporting plates. The U-shaped protection frame is vertically rotated, and the supporting plate capable of supporting the suspended end of the U-shaped protection frame is arranged, so that when the U-shaped protection frame is used for carrying out bottom protection on a clamped object, the supporting plate can support the suspended end of the U-shaped protection frame, and the protection capacity of the U-shaped protection frame and the anti-skid gripper of the stacking robot is improved.

Description

Technical Field

[0001] This utility model relates to the field of palletizing robot technology, specifically an anti-slip gripper for palletizing robots. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs. They provide higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. Palletizing robots greatly save labor and space. They are flexible, precise, fast, efficient, and highly stable, resulting in high operational efficiency. The palletizing robot system uses patented coordinate-type robot technology, allowing for flexible and compact installation.

[0003] In the prior art, a gripper device for a palletizing robot to prevent items from falling is disclosed in patent announcement number CN218344676U. The device includes a palletizing robot, a controller fixedly connected to the top of the palletizing robot, grippers rotatably connected to the left and right sides of the bottom of the palletizing robot, a slide rail fixedly connected to one side of the gripper, a clamping plate slidably connected to the slide rail via a slider, a servo motor engaging in the internal groove of the clamping plate, a rotating rod fixedly connected to the end of the main shaft of the servo motor, a positioning ring sleeved on the outer side of the rotating rod, and an anti-drop structure provided on one side of the positioning ring.

[0004] While the above solution offers many advantages, it also has the following drawbacks: one end of the anti-falling crossbar is mounted on a clamping plate, while the other end is suspended in the air. The suspended area, lacking support, will experience bending stress under the pressure of heavy objects and the impact of falling objects. Over time, this will increase the bending deformation or cracking of the suspended area of ​​the anti-falling crossbar, thus affecting the protective capability of the anti-slip gripper of the palletizing robot. Utility Model Content

[0005] The purpose of this invention is to provide an anti-slip gripper for palletizing robots, so as to solve the problem of poor protective ability of current anti-slip grippers for palletizing robots.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a palletizing robot anti-slip gripper, comprising a device body, with two gripping plates arranged in a mirror-symmetric manner at the bottom of the device body. A U-shaped protective frame is rotatably connected to the bottom of the left gripping plate, and a rotating component for adjusting the rotation of the U-shaped protective frame is provided on the left gripping plate. A rotating rod is rotatably connected to the bottom of the right gripping plate, and support plates are fixedly connected to both sides of the bottom end of the rotating rod. The U-shaped protective frame includes two long rods, and a crossbar is fixedly provided between the movable ends of the two long rods. The distance between the two long rods is less than the length of the support plate, but the distance between the two long rods is greater than the width of the support plate.

[0007] Preferably, the bottom end of the gripper plate is provided with a telescopic groove, a telescopic block is slidably connected in the telescopic groove, and a spring is provided between the top wall of the telescopic groove and the top wall of the telescopic block. The top end of the rotating rod and one end of the U-shaped protective frame are respectively rotatably connected to the two telescopic blocks.

[0008] Preferably, limiting grooves are formed on the inner walls of both sides of the telescopic groove, and limiting blocks are slidably arranged in the cavity of the limiting groove, with the two limiting blocks respectively fixed on both sides of the telescopic block.

[0009] Preferably, the rotating assembly includes a dual-axis motor installed inside the telescopic block on the left side. The two ends of the output shaft of the dual-axis motor are respectively fixedly connected to the two sides inside the U-shaped protective frame, and the dual-axis motor is electrically connected to a power source.

[0010] Preferably, a first servo motor is installed inside the telescopic block on the right side, the output shaft of the first servo motor is fixedly connected to the top of the rotating rod, and the first servo motor is electrically connected to the power supply.

[0011] Preferably, the device body has two track grooves at the bottom, a threaded rod is rotatably connected to the inner wall of the track groove, a track slider is threadedly sleeved on the outer side of the threaded rod, the track slider slides in the cavity of the track groove, and the track slider is fixed to the top of the gripper plate.

[0012] Preferably, a second servo motor is installed inside the device body, and a first bevel gear is fixedly sleeved on the output shaft of the second servo motor. Second bevel gears are meshed and connected to both sides of the first bevel gear. The two second bevel gears are respectively fixedly sleeved on the outside of two threaded rods. The second servo motor is electrically connected to the power supply.

[0013] Preferably, a clamping plate is fixedly connected to the opposite side of the gripping plate.

[0014] Compared with the prior art, the beneficial effects of this utility model are:

[0015] 1. This application uses a vertically rotating U-shaped protective frame and provides a support plate that can support the suspended end of the U-shaped protective frame. In this way, when the U-shaped protective frame is used to protect the bottom of the clamped object, the support plate can support the suspended end of the U-shaped protective frame, thereby increasing the protective capability of the U-shaped protective frame and the anti-slip gripper of the palletizing robot.

[0016] 2. This application incorporates a height-adjustable telescopic block, allowing the bottom of the gripper to directly contact the ground and clamp the object while it is gripping it. After the object is clamped, the telescopic block is ejected by a spring. This prevents the protective structure from being blocked by the object and unable to move to the protective position during the gripping process, thus improving the practicality and protective effect of U-shaped protective frames and other protective structures. Attached Figure Description

[0017] Figure 1 This is a three-dimensional schematic diagram of an anti-slip gripper for a palletizing robot according to the present invention;

[0018] Figure 2 This is a three-dimensional cross-sectional view of an anti-slip gripper for a palletizing robot according to the present invention.

[0019] Figure 3 This is a three-dimensional schematic diagram of the cooperation between the gripper plate and the threaded rod of the anti-slip gripper of a palletizing robot according to this utility model;

[0020] Figure 4 This is a three-dimensional schematic diagram of the cooperation between the telescopic block, support plate, and U-shaped protective frame of the anti-slip gripper of a palletizing robot according to this utility model.

[0021] The following are the labels in the diagram: 1. Device body; 2. Grab plate; 3. U-shaped protective frame; 4. Rotating rod; 5. Support plate; 6. Dual-axis motor; 7. Telescopic groove; 8. Telescopic block; 9. First servo motor; 10. Clamping plate; 11. Track groove; 12. Threaded rod; 13. Track slider; 14. Second servo motor; 15. First bevel gear; 16. Second bevel gear. Detailed Implementation

[0022] 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.

[0023] Example: Figure 1 - Figure 4 As shown, this utility model provides a technical solution for an anti-slip gripper for a palletizing robot, including a device body 1. Two gripping plates 2 are arranged in a mirror image symmetrically at the bottom of the device body 1. A U-shaped protective frame 3 is rotatably connected to the bottom of the left gripping plate 2, and a rotating component for adjusting the rotation of the U-shaped protective frame 3 is provided on the left gripping plate 2. A rotating rod 4 is rotatably connected to the bottom of the right gripping plate 2. Support plates 5 are fixedly connected to both sides of the bottom end of the rotating rod 4. The U-shaped protective frame 3 includes two long rods, and a crossbar is fixedly provided between the movable ends of the two long rods. The distance between the two long rods is less than the length of the support plate 5, but the distance between the two long rods is greater than the width of the support plate 5.

[0024] When not using the gripper plate 2, rotate the U-shaped protective frame 3 so that it is parallel to the gripper plate 2. When in use, approach the two gripper plates 2 and use the clamping plates 10 on the gripper plates 2 to clamp the object. After clamping, rotate the U-shaped protective frame 3 so that the suspended area of ​​the U-shaped protective frame 3 moves above the support plate 5. Then rotate the support plate 5 by 45° so that the support plate 5 can contact and support the bottom of the U-shaped protective frame 3.

[0025] like Figure 2 and Figure 4 As shown, the bottom end of the grab plate 2 is provided with a telescopic groove 7, and a telescopic block 8 is slidably connected in the telescopic groove 7. A spring is provided between the top wall of the telescopic groove 7 and the top wall of the telescopic block 8. The top end of the rotating rod 4 and one end of the U-shaped protective frame 3 are respectively rotatably connected to the two telescopic blocks 8.

[0026] like Figure 2 and Figure 4 As shown, limit grooves are formed on both inner walls of the telescopic groove 7, and limit blocks are slidably arranged in the cavity of the limit groove. The two limit blocks are respectively fixed on both sides of the telescopic block 8.

[0027] like Figure 2 As shown, the rotating assembly includes a dual-axis motor 6 installed inside the left telescopic block 8. The two ends of the output shaft of the dual-axis motor 6 are fixedly connected to the two sides inside the U-shaped protective frame 3, respectively. The dual-axis motor 6 is electrically connected to the power supply.

[0028] The two output shafts on the dual-axis motor 6 drive the two ends of one side of the U-shaped protective frame 3 to rotate in the same direction.

[0029] like Figure 2 As shown, a first servo motor 9 is installed inside the right telescopic block 8. The output shaft of the first servo motor 9 is fixedly connected to the top of the rotating rod 4. The first servo motor 9 is electrically connected to the power supply.

[0030] The first servo motor 9 drives the rotating rod 4 to rotate.

[0031] like Figure 2 As shown, the device body 1 has two track grooves 11 at the bottom. A threaded rod 12 is rotatably connected to the inner wall of the track groove 11. A track slider 13 is threadedly sleeved on the outer side of the threaded rod 12. The track slider 13 slides in the cavity of the track groove 11 and is fixed to the top of the gripper plate 2.

[0032] The vertical cross-section of the track groove 11 is a convex cavity, and the vertical cross-section of the track slider 13 is a convex structure. By rotating the threaded rod 12, the two threaded rods 12 will drive the two track sliders 13 to move closer or further apart.

[0033] like Figure 2As shown, a second servo motor 14 is installed inside the device body 1. The output shaft of the second servo motor 14 is fixedly sleeved with a first bevel gear 15. Both sides of the first bevel gear 15 are meshed with second bevel gears 16. The two second bevel gears 16 are respectively fixedly sleeved on the outside of the two threaded rods 12. The second servo motor 14 is electrically connected to the power supply.

[0034] The first bevel gear 15 is driven to rotate by the second servo motor 14, and the first bevel gear 15 drives the corresponding threaded rod 12 to rotate by the second bevel gear 16. The two threaded rods 12 will rotate relative to each other, so that the two threaded rods 12 move closer or further away from the two track sliders 13 respectively; the two threaded rods 12 are arranged in a circumferential array.

[0035] like Figure 1 and Figure 3 As shown, a clamping plate 10 is fixedly connected to one side of the gripping plate 2 facing each other;

[0036] The clamp 10 provides protection and clamping.

[0037] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A palletizing robot anti-slip gripper, comprising a device body (1), characterized in that: The device body (1) has two gripping plates (2) arranged in a mirror symmetrical manner at the bottom. The bottom of the left gripping plate (2) is rotatably connected to a U-shaped protective frame (3), and the left gripping plate (2) is provided with a rotating component for adjusting the rotation of the U-shaped protective frame (3). The bottom of the right gripping plate (2) is rotatably connected to a rotating rod (4), and both sides of the bottom end of the rotating rod (4) are fixedly connected to support plates (5).

2. The palletizing robot anti-slip gripper according to claim 1, characterized in that: The bottom end of the gripper (2) is provided with a telescopic groove (7), and a telescopic block (8) is slidably connected in the telescopic groove (7). A spring is provided between the top wall of the telescopic groove (7) and the top wall of the telescopic block (8). The top end of the rotating rod (4) and one end of the U-shaped protective frame (3) are respectively rotatably connected to the two telescopic blocks (8).

3. The anti-slip gripper for a palletizing robot according to claim 2, characterized in that: Limiting grooves are formed on both sides of the inner wall of the telescopic groove (7), and limiting blocks are slidably arranged in the cavity of the limiting groove. The two limiting blocks are respectively fixed on both sides of the telescopic block (8).

4. The palletizing robot anti-slip gripper according to claim 3, characterized in that: The rotating assembly includes a dual-axis motor (6) installed in the telescopic block (8) on the left side, and the two ends of the output shaft of the dual-axis motor (6) are fixedly connected to the two sides inside the U-shaped protective frame (3).

5. The anti-slip gripper for a palletizing robot according to claim 3, characterized in that: The telescopic block (8) on the right side is equipped with a first servo motor (9), and the output shaft of the first servo motor (9) is fixedly connected to the top of the rotating rod (4).

6. The palletizing robot anti-slip gripper of claim 1, wherein: The device body (1) has two track grooves (11) at the bottom. A threaded rod (12) is rotatably connected to the inner wall of the track groove (11). A track slider (13) is threaded on the outer side of the threaded rod (12). The track slider (13) slides in the cavity of the track groove (11) and is fixed to the top of the grab plate (2).

7. The anti-slip gripper for a palletizing robot according to claim 1, characterized in that: The device body (1) is equipped with a second servo motor (14), and the output shaft of the second servo motor (14) is fixedly sleeved with a first bevel gear (15). The two sides of the first bevel gear (15) are meshed with second bevel gears (16), and the two second bevel gears (16) are respectively fixedly sleeved on the outside of the two threaded rods (12).

8. The palletizing robot anti-slip gripper of claim 1, wherein: A clamping plate (10) is fixedly connected to the opposite side of the gripping plate (2).

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