Robot stacking composite gripper

Abstract

The utility model relates to a robot stacking composite gripper, which relates to the technical field of robot stacking, and comprises a rack, a composite gripper, a holding and arranging device, a pressing device and a placing device, the composite gripper comprises a first rotating shaft, a first air cylinder, a first connecting rod, a gripping hook, a suction cup and a vacuum connector; the holding arrangement device comprises a shaft barrel, a shaft rod, a second air cylinder, a first clamping plate, a second clamping plate, a connecting rod and a third air cylinder; the pressing device comprises a fourth air cylinder, a second connecting rod, a third connecting rod and a pressing rod. The placing device comprises a conveying chain, a conveying rotating shaft, a sliding groove, a motor, a speed reducer, a gear and a transmission rotating shaft. The gripper has the advantages of being capable of achieving grabbing, sucking and arranging and pressing of multiple products, simple in structure, diversified and practical in function, effectively improving the defects of an existing gripper and improving production efficiency and quality.

Description

A robotic palletizing composite gripper Technical Field

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

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs. They offer higher production efficiency in modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry. These robots significantly save labor and space, and operate flexibly, precisely, quickly, efficiently, and stably, resulting in high work efficiency. Palletizing robots occupy a flexible and compact space, making the concept of building highly efficient and energy-saving fully automated block molding machine production lines a reality within a relatively small footprint.

[0003] Existing palletizing robot grippers have limited functionality and cannot simultaneously perform gripping, suction, and sorting of multiple products.

[0004] The preceding description is intended to provide general background information and does not necessarily constitute prior art. Summary of the Invention

[0005] The purpose of this utility model is to provide a robotic palletizing composite gripper. This robotic palletizing composite gripper has a simple structure, multiple functions, and is practical. It effectively improves the shortcomings of existing grippers and enhances production efficiency and quality.

[0006] This utility model provides a robotic palletizing composite gripper, including a frame, a composite gripper, a clamping and sorting device, a pressing device, and a placement device; the composite gripper includes a first rotating shaft, a first cylinder, a first connecting rod, grippers, suction cups, and a vacuum connector; the first rotating shaft is rotatably connected to both sides of the frame, and two grippers are fixedly connected to the first rotating shaft. The grippers are L-shaped, and the suction cups are fixedly connected to the lower ends of the grippers. Vacuum connectors communicating with the suction cups are connected to the sides of the grippers, and the vacuum connectors are used to connect to vacuum equipment; the first connecting rod is fixedly connected to the first rotating shaft between the two grippers. The other end of the connecting rod is hinged to the output end of the first cylinder, and the other end of the first cylinder is hinged to the side of the frame; the clamping and straightening device includes a shaft cylinder, a shaft rod, a second cylinder, a first clamping plate, a second clamping plate, a connecting rod, and a third cylinder; two shaft cylinders are fixedly connected to both the left and right sides of the frame, and the shaft rod is slidably inserted into the shaft cylinder, with the first clamping plate connected to the end of the shaft rod; a second cylinder is fixedly connected to the side of the frame between the two shaft cylinders, and the output end of the second cylinder is connected to the first clamping plate; sliding holes are provided near the ends on both the left and right sides of the frame, and a device is located behind the sliding holes on the left and right sides of the frame. The third cylinder is fixedly connected, and the two ends of the connecting rod pass through the sliding holes and are respectively connected to the output ends of the third cylinder on both sides of the frame. The second clamping plate is connected to the connecting rod. The pressing device includes a fourth cylinder, a second connecting rod, a third connecting rod, and a pressing rod. The fourth cylinder is fixedly connected to both the left and right sides of the frame away from the second clamping plate. The output end of the fourth cylinder is hinged to the second connecting rod, and the other end of the second connecting rod is hinged to the third connecting rod. The third connecting rod is rotatably connected to the side of the frame. The two ends of the pressing rod are respectively fixed to the ends of the two third connecting rods. The placement device includes a conveyor chain, a conveyor belt, and a conveyor belt. The machine includes a conveyor shaft, a slide groove, a motor, a reducer, gears, and a transmission shaft. The slide groove is circumferentially connected to the edges of the left and right sides inside the frame. A conveyor chain is slidably connected within the slide groove. Multiple conveyor shafts are connected to the two conveyor chains at the bottom of the frame. Two transmission shafts are rotatably connected to both sides of the frame. Gears are fixedly connected to both ends of each transmission shaft, and the gears mesh with the conveyor chains. The reducer is fixed to one side of the frame, and its output end is connected to one of the transmission shafts to drive the transmission shaft to rotate. The motor is mounted on the reducer.

[0007] Using the above technical solution, when the first cylinder extends, it drives the first rotating shaft to rotate via the first connecting rod, thereby causing the gripper hook to clamp inward and achieve the gripping of the tray; in addition, the suction cup at the bottom of the gripper hook, under the control of the vacuum equipment, can achieve the suction of the partition; when the second cylinder extends, the first clamping plates located on both sides inside the frame will move closer to each other, thereby sorting and clamping the product; when the third cylinder retracts, it drives the second clamping plate to move closer to the first clamping plate via the connecting rod, thereby sorting and clamping the product in another direction; when the fourth cylinder extends, it drives the pressing rod to press closer to the second clamping plate via the second and third connecting rods, thereby sorting and clamping the product; the motor drives the transmission shaft to rotate via the reducer, and drives the chain to move in the slide groove via the gear, thereby removing the transmission shaft from the bottom of the frame.

[0008] Furthermore, the placement device also includes a first tension bearing and a second tension bearing; the first tension bearing is rotatably connected to both sides of the frame, and the second tension bearing is rotatably connected to both sides of the first tension bearing on the side of the frame; the first tension bearing presses against the top of the conveyor chain, and the second tension bearing presses against the bottom of the conveyor chain.

[0009] Furthermore, the composite grippers located on both sides of the frame are symmetrically arranged.

[0010] This utility model relates to a robotic palletizing composite gripper. In use, the upper end of the frame is connected to the robotic arm of a palletizing robot. A conveyor belt pushes products onto a conveyor shaft, where a clamping and pressing device arranges and presses the products in four directions. The composite gripper's hooks grab the pallet and move it to the palletizing position via the robotic arm. The gripper's suction cups then pick up a partition and place it on the pallet. Simultaneously, a motor drives a transmission shaft to rotate via a reducer, and a chain moves through a groove via gears, removing the conveyor shaft from the bottom of the frame. The products on the conveyor shaft fall onto the partition. This process is repeated to achieve product palletizing and stacking. This utility model can grasp, pick up, and arrange and press multiple products. It has a simple structure, diverse functions, and is practical, effectively improving upon the shortcomings of existing grippers and enhancing production efficiency and quality. Attached Figure Description

[0011] Figure 1 is a structural schematic diagram of the robot palletizing composite gripper provided in an embodiment of this utility model.

[0012] Figure 2 is a plan view of the robot palletizing composite gripper in Figure 1.

[0013] Figure 3 is a schematic diagram of the robot palletizing composite gripper in Figure 1 from another perspective.

[0014] Figure 4 is an enlarged view of part A in Figure 3.

[0015] Figure 5 is a schematic diagram of the composite gripper of the robot palletizing composite gripper in Figure 1.

[0016] Figure 6 is a plan view of the composite gripper of the robot palletizing composite gripper in Figure 1.

[0017] Figure 7 is a schematic diagram of the clamping and sorting device of the robot palletizing composite gripper in Figure 1.

[0018] Figure 8 is a top view of the clamping and sorting device of the robot palletizing composite gripper in Figure 1.

[0019] Figure 9 is a schematic diagram of the clamping device of the robot palletizing composite gripper in Figure 1.

[0020] Figure 10 is a plan view of the clamping device of the robot palletizing composite gripper in Figure 1.

[0021] Figure 11 is a schematic diagram of the placement device for the robot palletizing composite gripper in Figure 1.

[0022] The reference numerals and components involved in the accompanying drawings are shown below:

[0023] 1. Frame; 11. Sliding hole; 2. Composite gripper

[0024] 21. First rotating shaft; 22. First cylinder; 23. First connecting rod

[0025] 24. Grappling hook 25. Suction cup 26. Vacuum connector

[0026] 3. Clamping and straightening device 31, shaft cylinder 32, shaft rod

[0027] 33. Second cylinder; 34. First clamping plate; 35. Second clamping plate

[0028] 36. Connecting rod; 37. Third cylinder; 4. Clamping device

[0029] 41. Fourth cylinder; 42. Second connecting rod; 43. Third connecting rod

[0030] 44. Clamping rod; 5. Placement device; 51. Conveyor chain

[0031] 52. Transmission shaft; 53. Slide rail; 54. Motor

[0032] 55. Reducer 56. Gear 57. Drive shaft

[0033] 58. First tension bearing 59. Second tension bearing Detailed Implementation

[0034] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0035] The terms "first," "second," "third," "fourth," etc., used in the specification and claims of this utility model are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0036] Example 1

[0037] Figure 1 is a structural schematic diagram of the robot palletizing composite gripper provided in an embodiment of the present invention. Figure 2 is a plan view of the robot palletizing composite gripper in Figure 1. Figure 3 is a structural schematic diagram of the robot palletizing composite gripper in Figure 1 from another perspective. Figure 4 is an enlarged view of part A in Figure 3. Figure 5 is a structural schematic diagram of the composite gripper of the robot palletizing composite gripper in Figure 1. Figure 6 is a plan view of the composite gripper of the robot palletizing composite gripper in Figure 1. Figure 7 is a structural schematic diagram of the clamping and sorting device of the robot palletizing composite gripper in Figure 1. Figure 8 is a top view of the clamping and sorting device of the robot palletizing composite gripper in Figure 1. Figure 9 is a structural schematic diagram of the pressing device of the robot palletizing composite gripper in Figure 1. Figure 10 is a plan view of the pressing device of the robot palletizing composite gripper in Figure 1. Figure 11 is a structural schematic diagram of the placement device of the robot palletizing composite gripper in Figure 1. Please refer to Figures 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, and 11. The robot palletizing composite gripper provided in this embodiment of the utility model includes a frame 1, a composite gripper 2, a clamping and sorting device 3, a pressing device 4, and a placement device 5.

[0038] As shown in Figures 5 and 6, the composite gripper 2 of this utility model includes a first rotating shaft 21, a first cylinder 22, a first connecting rod 23, gripping hooks 24, a suction cup 25, and a vacuum connector 26. The first rotating shaft 21 is rotatably connected to both the left and right sides of the frame 1. Two gripping hooks 24 are fixedly connected to the first rotating shaft 21. The gripping hooks 24 are L-shaped. The suction cup 25 is fixedly connected to the lower end of the gripping hooks 24. The vacuum connector 26, which communicates with the suction cup 25, is connected to the side of the gripping hooks 24 and is used to connect to vacuum equipment. The first connecting rod 23 is fixedly connected to the first rotating shaft 21 between the two gripping hooks 24. The other end of the first connecting rod 23 is hinged to the output end of the first cylinder 22. The other end of the first cylinder 22 is hinged to the side of the frame 1.

[0039] It should be noted that when the first cylinder 22 extends, it will drive the first rotating shaft 21 to rotate through the first connecting rod 23, thereby driving the gripper hook 24 to grip inward and realize the gripping of the tray; in addition, the suction cup 25 at the bottom of the gripper hook 24 can realize the suction of the partition under the control of the vacuum equipment.

[0040] As shown in Figures 7 and 8, the clamping and sorting device 3 of this utility model includes a shaft cylinder 31, a shaft rod 32, a second cylinder 33, a first clamping plate 34, a second clamping plate 35, a connecting rod 36, and a third cylinder 37. Two shaft cylinders 31 are fixedly connected to the left and right sides of the frame 1. The shaft rod 32 is slidably inserted into the shaft cylinder 31, and the first clamping plate 34 is connected to the end of the shaft rod 32. The second cylinder 33 is fixedly connected to the side of the frame 1 between the two shaft cylinders 31, and the output end of the second cylinder 33 is connected to the first clamping plate 34. Sliding holes 11 are provided near the ends on the left and right sides of the frame 1. The third cylinder 37 is fixedly connected to the left and right sides of the frame 1 behind the sliding holes 11. The two ends of the connecting rod 36 pass through the sliding holes 11 and are respectively connected to the output ends of the third cylinder 37 on the left and right sides of the frame 1. The second clamping plate 35 is connected to the connecting rod 36.

[0041] It should be noted that when the second cylinder 33 extends, the first clamping plates 34 located on both sides inside the frame 1 will move closer to each other, thereby sorting and clamping the product; when the third cylinder 37 retracts, it will drive the second clamping plate 35 to move closer to the first clamping plate 34 through the connecting rod 36, thereby sorting and clamping the product in another direction.

[0042] As shown in Figures 4, 9, and 10, the pressing device 4 of this utility model includes a fourth cylinder 41, a second connecting rod 42, a third connecting rod 43, and a pressing rod 44. The fourth cylinder 41 is fixedly connected to both the left and right sides of the frame 1 away from the second clamping plate 35. The output end of the fourth cylinder 41 is hinged to the second connecting rod 42, and the other end of the second connecting rod 42 is hinged to the third connecting rod 43. The third connecting rod 43 is rotatably connected to the side of the frame 1. The two ends of the pressing rod 44 are respectively fixed to the ends of the two third connecting rods 43.

[0043] It should be noted that when the fourth cylinder 41 extends, it will drive the clamping rod 44 to press closer to the second clamping plate 35 through the second connecting rod 42 and the third connecting rod 43, thereby realizing the sorting and clamping of the product.

[0044] As shown in Figures 2 and 11, the placement device 5 of this utility model includes a conveyor chain 51, a conveyor shaft 52, a slide groove 53, a motor 54, a reducer 55, a gear 56, and a transmission shaft 57. The slide groove 53 is circumferentially connected to the edges of the left and right sides inside the frame 1. The conveyor chain 51 is slidably connected in the slide groove 53. Multiple conveyor shafts 52 are connected to the two conveyor chains 51 at the bottom of the frame 1. Two transmission shafts 57 are rotatably connected to both sides of the frame 1. Gears 56 are fixedly connected to both ends of each transmission shaft 57, and the gears 56 mesh with the conveyor chains 51. The reducer 55 is fixed to one side of the frame 1. The output end of the reducer 55 is connected to one of the transmission shafts 57 to drive the transmission shaft 57 to rotate. The motor 54 is mounted on the reducer 55.

[0045] It should be noted that during use, the upper end of the frame 1 is connected to the robotic arm of the palletizing robot; the conveyor belt pushes the products onto the conveyor shaft 52, and the products are sorted and pressed in four directions by the clamping and sorting device 3 and the pressing device 4; the gripper hook 24 of the composite gripper 2 grabs the pallet and moves it to the palletizing position through the robotic arm of the palletizing robot, and the suction cup 25 of the composite gripper 2 picks up the partition and places it on the pallet. At this time, the motor 54 drives the transmission shaft 57 to rotate through the reducer 55, and drives the chain to move in the slide 53 through the gear 56, thereby removing the conveyor shaft 52 from the bottom of the frame 1. The products on the conveyor shaft 52 will fall onto the partition. The above actions are repeated to realize the product palletizing and stacking.

[0046] This utility model's robotic palletizing composite gripper can grasp, suck up, and sort and press multiple products. It has a simple structure, diverse and practical functions, and effectively improves the shortcomings of existing grippers, thereby increasing production efficiency and quality.

[0047] Referring further to Figure 11, the placement device 5 of this utility model also includes a first tension bearing 58 and a second tension bearing 59; the first tension bearing 58 is rotatably connected to both sides of the frame 1, and the second tension bearing 59 is rotatably connected to both sides of the first tension bearing 58 on the side of the frame 1; the first tension bearing 58 presses against the top of the conveyor chain 51, and the second tension bearing 59 presses against the bottom of the conveyor chain 51; the composite grippers 2 located on both sides of the frame 1 are symmetrically arranged.

[0048] As can be seen from the above description, the advantages of this utility model are:

[0049] This utility model relates to a robotic palletizing composite gripper. In use, the upper end of the frame is connected to the robotic arm of a palletizing robot. A conveyor belt pushes products onto a conveyor shaft, where a clamping and pressing device arranges and presses the products in four directions. The composite gripper's hooks grab the pallet and move it to the palletizing position via the robotic arm. The gripper's suction cups then pick up a partition and place it on the pallet. Simultaneously, a motor drives a transmission shaft to rotate via a reducer, and a chain moves through a groove via gears, removing the conveyor shaft from the bottom of the frame. The products on the conveyor shaft fall onto the partition. This process is repeated to achieve product palletizing and stacking. This utility model can grasp, pick up, and arrange and press multiple products. It has a simple structure, diverse functions, and is practical, effectively improving upon the shortcomings of existing grippers and enhancing production efficiency and quality.

[0050] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.

Claims

1. A robotic palletizing composite gripper, characterized in that, The device includes a frame (1), a composite gripper (2), a clamping and sorting device (3), a pressing device (4), and a placement device (5). The composite gripper (2) includes a first rotating shaft (21), a first cylinder (22), a first connecting rod (23), a gripping hook (24), a suction cup (25), and a vacuum connector (26). The first rotating shaft (21) is rotatably connected to both the left and right sides of the frame (1). Two gripping hooks (24) are fixedly connected to the first rotating shaft (21). The gripping hooks (24) are L-shaped. The suction cup (25) is fixedly connected to the lower end of the gripping hooks (24). A vacuum connector communicating with the suction cup (25) is connected to the side of the gripping hooks (24). 26), the vacuum connector (26) is used to connect to a vacuum device; a first connecting rod (23) is fixedly connected on the first rotating shaft (21) between the two grippers (24), the other end of the first connecting rod (23) is hinged to the output end of the first cylinder (22), and the other end of the first cylinder (22) is hinged to the side of the frame (1); the clamping and sorting device (3) includes a shaft cylinder (31), a shaft rod (32), a second cylinder (33), a first clamping plate (34), a second clamping plate (35), a connecting rod (36), and a third cylinder (37); two shaft cylinders (31) are fixedly connected to both the left and right sides of the frame (1), the shaft cylinder ( 31) The shaft (32) is slidably inserted, and the first clamping plate (34) is connected to the end of the shaft (32); the second cylinder (33) is fixedly connected to the side of the frame (1) between the two shaft cylinders (31), and the output end of the second cylinder (33) is connected to the first clamping plate (34); the left and right sides of the frame (1) are provided with sliding holes (11) near the ends, and the third cylinder (37) is fixedly connected to the left and right sides of the frame (1) behind the sliding holes (11), and the two ends of the connecting rod (36) pass through the sliding holes (11) and are respectively connected to the output ends of the third cylinder (37) on the left and right sides of the frame (1). The connecting rod (36) is connected to the second clamping plate (35); the pressing device (4) includes a fourth cylinder (41), a second connecting rod (42), a third connecting rod (43) and a pressing rod (44). The fourth cylinder (41) is fixedly connected to the left and right sides of the frame (1) away from the second clamping plate (35). The output end of the fourth cylinder (41) is hinged to the second connecting rod (42), and the other end of the second connecting rod (42) is hinged to the third connecting rod (43). The third connecting rod (43) is rotatably connected to the side of the frame (1). The two ends of the pressing rod (44) are respectively fixed to the ends of the two third connecting rods (43).The placement device (5) includes a conveyor chain (51), a conveyor shaft (52), a chute (53), a motor (54), a reducer (55), a gear (56), and a transmission shaft (57); the chute (53) is connected around the edges of the left and right sides inside the frame (1), and the conveyor chain (51) is slidably connected in the chute (53). Multiple conveyor shafts (52) are connected to the two conveyor chains (51) at the bottom of the frame (1); the placement device (57) includes a conveyor chain (51), a conveyor shaft (52), a transmission shaft (57), a transmission shaft (58), a transmission shaft (59), a transmission shaft (50), a transmission shaft (51), a transmission shaft (52), a transmission shaft (51), a transmission shaft (52), a transmission shaft (53), a transmission shaft (54), a transmission shaft (55), a transmission shaft (56), and a transmission shaft (57). Two drive shafts (57) are rotatably connected to both sides of the frame (1). Gears (56) are fixedly connected to both ends of each drive shaft (57), and the gears (56) mesh with the transmission chain (51). A reducer (55) is fixed to one side of the frame (1), and the output end of the reducer (55) is connected to one of the drive shafts (57) to drive the drive shaft (57) to rotate. A motor (54) is mounted on the reducer (55).

2. The robotic palletizing composite gripper according to claim 1, characterized in that, The placement device (5) further includes a first tension bearing (58) and a second tension bearing (59); the first tension bearing (58) is rotatably connected to both sides of the frame (1), and the second tension bearing (59) is rotatably connected to both sides of the first tension bearing (58) on the side of the frame (1); the first tension bearing (58) presses against the top of the conveyor chain (51), and the second tension bearing (59) presses against the bottom of the conveyor chain (51).

3. The robotic palletizing composite gripper according to claim 1, characterized in that, The composite grippers (2) located on both sides of the frame (1) are arranged symmetrically.

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