Grabbing device of robot palletizer

Abstract

The grabbing device of the stacking robot relates to the field of stacking grabbing technology and comprises a supporting plate, a moving part and a plurality of clamping plates, the clamping plates are located below the supporting plate, and two first rectangular blocks are arranged at the lower end of the supporting plate and located on the two sides of the supporting plate in the width direction correspondingly; the first rectangular block is slidably connected with the supporting plate in the width direction of the supporting plate, a sliding groove is vertically formed in the lower end of the first rectangular block, a second rectangular block is arranged in the sliding groove, a connecting block is fixedly arranged at the lower end of the second rectangular block, a moving groove is formed in the lower end of the connecting block in the length direction, and a plurality of sliding blocks are arranged in the moving groove. The clamping plate is fixedly connected to the lower end of the sliding block, two connecting pieces are arranged below the supporting plate, a plurality of first air cylinders are fixedly arranged at the lower end of the supporting plate, and the same pressing plate is fixedly arranged at the output ends of the first air cylinders located on the same side. The method has the effect of improving the stability in the goods grabbing and carrying process.

Description

Technical Field

[0001] This application relates to the field of palletizing gripping technology, and in particular to a gripping device for a palletizing robot. Background Technology

[0002] Currently, palletizing grippers can be grippers used in robots or automated systems. These grippers can work in conjunction with robots, automated systems, or robotic arms to achieve efficient and accurate palletizing operations. This can improve production line efficiency, reduce the need for manual operation, and ensure the safety and stability of palletizing.

[0003] Related technology can be found in Chinese patent application CN220519537U, which discloses a gripping device for a palletizing machine. The device includes a top plate, a hydraulic component I housed inside the top plate, a connecting block I fixedly connected to the bottom wall of the top plate, a sliding groove inside the connecting block I, a slider on the outer wall of the connecting block I, a fixing clip fixedly connected to the outer wall of the slider, a reinforcing block fixedly connected to the bottom wall of the connecting block I, a connecting plate I fixedly connected to the bottom wall of the reinforcing block, a protective shell fixedly connected to the top wall of the connecting plate I, a hydraulic component II housed inside the protective shell, and a connecting block II fixedly connected to the output end of the hydraulic component II. In this invention, the distance between the clamping plates is adjustable through the cooperation of the hydraulic component I, the connecting block I, the support plate, and the clamping plates.

[0004] Regarding the aforementioned technologies, the gripping device can be adjusted according to the width of the goods. However, when the goods are long, the sides of the goods are suspended in the air during the gripping and handling process. Especially when handling soft, bulk objects, the sides will droop and sway, which can easily cause some of the goods to fall off. The stability during the gripping and handling process is poor. Utility Model Content

[0005] To improve the stability of the cargo gripping and handling process, this application provides a gripping device for a palletizing robot.

[0006] This application provides a gripping device for a palletizing robot, which adopts the following technical solution:

[0007] A gripping device for a palletizing robot includes a support plate, a movable component, and several clamping plates located below the support plate for gripping goods. A connecting flange is fixed to the upper end of the support plate, and two first rectangular blocks are located on opposite sides of the support plate along its width. The first rectangular blocks are slidably connected to the support plate along its width. The movable component moves the two first rectangular blocks closer together or further apart. A sliding groove is vertically formed at the lower end of each first rectangular block, and a second rectangular block is slidably connected to the first rectangular block along its vertical direction within the sliding groove. An adjusting component is provided within the sliding groove to adjust the relative positions of the first and second rectangular blocks. The system includes a connecting block fixed at the lower end of the second rectangular block, which is horizontally arranged along the length of the support plate. A moving groove is opened at the lower end of the connecting block along the length direction, and several sliders are provided in the moving groove. The sliders are slidably connected to the connecting block along the length direction of the moving groove. The clamping plates correspond one-to-one with the sliders and are fixedly connected to the lower end of the sliders. Two connecting pieces are provided below the support plate, which are located on both sides of the support plate along the width direction. The connecting pieces are used to drive the clamping plates to move closer or further apart. Several first cylinders are fixed at the lower end of the support plate, which are located on both sides of the support plate along the width direction and between the two first rectangular blocks. The output end of the first cylinders on the same side is fixed with the same pressure plate.

[0008] By adopting the above technical solution, the support plate is connected to the palletizing robot through the connecting flange. The support plate supports the moving parts, which drive the first rectangular blocks to move closer or further apart. When the goods are high, the adjusting parts cause the second rectangular block to slide in the sliding groove, thereby adjusting the relative position of the first and second rectangular blocks. When the second rectangular block moves, it drives the connecting block to move. The connecting block supports the clamping plate. When the connecting parts rotate, they drive multiple clamping plates to move closer or further apart. The clamping plates drive the slider to move in the moving groove, thereby adjusting the gripping length of the gripping device. When the goods are placed in the designated position, since there will be a bulge in the middle of the goods, the first cylinder extends, driving the pressure plate to squeeze the goods, restoring the shape of the goods and improving the stability of the goods gripping and handling process.

[0009] Optionally, the moving part includes a drive motor and a bidirectional lead screw. The drive motor is fixedly connected to the lower end of the support plate and located on one side of the support plate along the width direction. The bidirectional lead screw is coaxially fixedly connected to the output end of the drive motor. The bidirectional lead screw passes through two first rectangular blocks and is threadedly connected to the two first rectangular blocks.

[0010] By adopting the above technical solution, the drive motor rotates, which in turn drives the bidirectional lead screw to rotate. The bidirectional lead screw causes the two first rectangular blocks to move closer or further apart, thus improving the ease of movement of the first rectangular blocks.

[0011] Optionally, the adjusting component includes a rack, a gear, and a rotating rod. The rack is fixedly connected to one side of the second rectangular block along its length and is arranged vertically. The gear is located between the rack and the first rectangular block, and the rack meshes with the gear. The rotating rod is located outside the first rectangular block, passes through the first rectangular block, and is fixedly connected to the gear on the same axis. The rotating rod is rotatably connected to the first rectangular block.

[0012] By adopting the above technical solution, the rotating rod drives the gear to rotate, and the gear and rack work together to move the second rectangular block vertically, thereby adjusting the overall height of the gripping device and improving the convenience of adjusting the height of the gripping device.

[0013] Optionally, the lower end of the connecting block has two grooves that communicate with the moving groove. The two grooves are arranged along the length of the moving groove and are located on both sides of the width of the moving groove. Several balls are provided in the grooves and are arranged along the length of the grooves. The lower end of the slider fits against the balls and is in rolling connection with the balls.

[0014] By adopting the above technical solution, when the slider moves, the slider contacts the ball, and the ball rotates in the groove, which helps to reduce the friction between the slider and the connecting block and improves the convenience of slider movement.

[0015] Optionally, the connector includes several telescopic plates 1 and several telescopic plates 2. The telescopic plates 1 and 2 rotate intersectingly to form a telescopic joint. One telescopic plate 1 of one telescopic joint is rotatably connected to the telescopic plate 2 of another telescopic joint. The connection point of adjacent telescopic joints is connected to a clamping plate. The clamping plate is provided with a driving component, which is used to drive the telescopic plates 1 and 2 to move closer or further apart.

[0016] By adopting the above technical solution, the driving component acts at the connection point of adjacent telescopic sections, causing telescopic plate one and telescopic plate two to move closer to each other. When telescopic plate one and telescopic plate two move closer to each other, they drive the adjacent clamping plates to move away from each other, thereby increasing the overall gripping length of the gripping device and improving the convenience of adjusting the gripping length of the gripping device.

[0017] Optionally, the drive unit includes an electric actuator and two connecting rods. The two connecting rods are rotatably connected to the connection points of adjacent telescopic sections. The connecting rods are located between the telescopic section and the clamping plate. The upper connecting rod is fixedly connected to the clamping plate, and the lower connecting rod is slidably connected to the clamping plate vertically. The electric actuator is located below the connecting rods, and the output end of the electric actuator is fixedly connected to the lower connecting rod.

[0018] By adopting the above technical solution, the connecting rod supports the first telescopic plate and the second telescopic plate, and the electric push rod pushes the connecting rod below, causing the connecting rod to be lifted vertically, thereby bringing the first telescopic plate and the second telescopic plate closer to each other, improving the convenience of adjusting the distance between the first telescopic plate and the second telescopic plate.

[0019] Optionally, a fork plate is rotatably connected to the lower end of the clamping plate near the driving member, and a second cylinder is vertically hinged to the side of the clamping plate near the driving member, with the output shaft of the second cylinder vertically hinged to the fork plate.

[0020] By adopting the above technical solution, when it is necessary to pick up the goods during the gripping process, the second cylinder extends, drives the fork plate to rotate, and positions it below the clamping plate, thereby picking up the goods, which improves the convenience of the gripping device in changing the gripping mode.

[0021] Optionally, an anti-slip pad is fixed on the side of the clamping plate away from the driving component, and a weight reduction opening is opened along the thickness direction of the clamping plate, which penetrates the anti-slip pad.

[0022] By adopting the above technical solutions, the weight reduction port is used to reduce the overall mass of the clamping plate, and the anti-slip pad is used to increase the friction between the clamping plate and the goods, thereby improving the stability during the gripping and handling process.

[0023] In summary, this application includes at least one of the following beneficial technical effects:

[0024] 1. When the cargo is high, rotate the rotating rod. The rotating rod drives the gear to rotate. The gear and rack work together to move the second rectangular block vertically, which increases the overall height of the gripping device and improves the convenience of adjusting the height of the gripping device.

[0025] 2. When the overall length of the goods is long, the electric push rod pushes the connecting rod below to move upward, so that the first telescopic plate and the second telescopic plate move closer to each other. During the process of the first telescopic plate and the second telescopic plate moving closer to each other, the adjacent clamping plates move away from each other, thereby increasing the overall gripping length of the gripping device and improving the convenience of adjusting the gripping length of the gripping device.

[0026] 3. When the gripping process requires picking up goods, the second cylinder extends, driving the fork plate to rotate and position itself below the clamping plate. The first rectangular blocks move closer together, causing the fork plates on both sides to move closer together, thereby picking up the goods. This improves the convenience of changing the gripping method of the gripping device. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the gripping device of a palletizing robot.

[0028] Figure 2 This is a schematic diagram designed to highlight the connection between the first and second rectangular blocks.

[0029] Figure 3 This is a schematic diagram designed to highlight the internal structure of the connecting block.

[0030] Explanation of reference numerals in the attached drawings: 1. Support plate; 11. First rectangular block; 12. Second rectangular block; 13. Connecting block; 131. Moving groove; 132. Slider; 133. Groove; 134. Ball bearing; 14. Clamping plate; 15. Fork plate; 16. Second cylinder; 17. Anti-slip pad; 18. Weight reduction port; 19. Connecting flange; 2. Moving part; 21. Drive motor; 22. Two-way lead screw; 3. Adjusting part; 31. Rack; 32. Gear; 33. Rotating rod; 4. Connecting part; 41. Telescopic plate one; 42. Telescopic plate two; 5. Driving part; 51. Electric actuator; 52. Connecting rod; 6. First cylinder; 61. Pressure plate. Detailed Implementation

[0031] The present application will be further described in detail below with reference to all the accompanying drawings.

[0032] This application discloses a gripping device for a palletizing robot. Example

[0033] Reference Figure 1 A gripping device for a palletizing robot includes a support plate 1 and multiple clamping plates 14. A connecting flange 19 is fixedly provided at the upper end of the support plate 1, and the support plate 1 is connected to the palletizing robot through the connecting flange 19. The clamping plates 14 are used to clamp goods. Two first rectangular blocks 11 are provided at the lower end of the support plate 1. The two first rectangular blocks 11 are located on both sides of the support plate 1 along the width direction and are slidably connected to the support plate 1 along the width direction. A moving part 2 is provided at the lower end of the support plate 1, and the moving part 2 is used to drive the two first rectangular blocks 11 to move closer or further away from each other.

[0034] Reference Figure 1 and Figure 2 The moving part 2 includes a drive motor 21 and a bidirectional lead screw 22. The drive motor 21 is fixedly connected to the lower end of the support plate 1 and is located on one side of the support plate 1 along the width direction. The bidirectional lead screw 22 is coaxially fixedly connected to the output end of the drive motor 21. The bidirectional lead screw 22 passes through two first rectangular blocks 11 and is threadedly connected to the two first rectangular blocks 11. When the drive motor 21 rotates, the drive motor 21 drives the bidirectional lead screw 22 to rotate. The bidirectional lead screw 22 drives the two first rectangular blocks 11 to move closer or further away from each other, which improves the ease of movement of the first rectangular blocks 11.

[0035] Reference Figure 1 The lower end of the first rectangular block 11 is provided with a sliding groove along the vertical direction. The sliding groove contains a second rectangular block 12. The second rectangular block 12 is slidably connected to the first rectangular block 11 along the vertical direction. By adjusting the relative positional relationship between the first rectangular block 11 and the second rectangular block 12, the overall height of the gripping device can be adjusted.

[0036] Reference Figure 1 and Figure 2An adjusting component 3 is provided within the sliding groove. The adjusting component 3 is used to adjust the relative positional relationship between the first rectangular block 11 and the second rectangular block 12. The adjusting component 3 includes a rack 31, a gear 32, and a rotating rod 33. The rack 31 is fixedly connected to one side of the second rectangular block 12 along its length and is vertically positioned. The gear 32 is located between the rack 31 and the first rectangular block 11, meshing with the rack 31. When the gear 32 rotates, it drives the second rectangular block 12 to move via the rack 31. The rotating rod 33 is located outside the first rectangular block 11, passing through the first rectangular block 11 and fixedly coaxially with the gear 32. The rotating rod 33 is rotatably connected to the first rectangular block 11. Rotating the rotating rod 33 drives the gear 32 to rotate, and the gear 32, in conjunction with the rack 31, drives the second rectangular block 12 to move vertically, thereby adjusting the overall height of the gripping device.

[0037] Reference Figure 1 and Figure 3 A connecting block 13 is fixedly provided at the lower end of the second rectangular block 12. The connecting block 13 is horizontally arranged along the length direction of the support plate 1, and the second rectangular block 12 supports the connecting block 13. A moving groove 131 is provided at the lower end of the connecting block 13 along the length direction. Multiple sliders 132 are provided in the moving groove 131. The sliders 132 are slidably connected to the connecting block 13 along the length direction of the moving groove 131. The clamping plate 14 corresponds to the sliders 132 one by one and is fixedly connected to the lower end of the sliders 132. Two connecting pieces 4 are provided below the support plate 1. The two connecting pieces 4 are located on both sides of the support plate 1 along the width direction. The connecting pieces 4 are used to drive the multiple clamping plates 14 to move closer or further away from each other. When the connecting pieces 4 rotate, they drive the multiple clamping plates 14 to move closer or further away from each other. The clamping plates 14 drive the sliders 132 to move in the moving groove 131, thereby adjusting the gripping length of the gripping device.

[0038] Reference Figure 3 The lower end of the connecting block 13 has two grooves 133 that communicate with the moving groove 131. The two grooves 133 are arranged along the length of the moving groove 131 and are located on both sides of the moving groove 131 along the width. Multiple balls 134 are provided in the grooves 133. The multiple balls 134 are arranged along the length of the grooves 133. The lower end of the slider 132 is in contact with the balls 134 and is in rolling contact with the balls 134. When the slider 132 moves, the slider 132 contacts the balls 134 and the balls 134 rotate in the grooves 133, which helps to reduce the friction between the slider 132 and the connecting block 13.

[0039] Reference Figure 1 and Figure 3The connecting component 4 includes multiple telescopic plates 41 and multiple telescopic plates 42. The telescopic plates 41 and 42 rotate intersectingly to form a telescopic joint. One telescopic plate 41 of one telescopic joint is rotatably connected to the telescopic plate 42 of another telescopic joint. The connection point of adjacent telescopic joints is connected to the clamping plate 14. The clamping plate 14 is provided with a driving component 5. The driving component 5 acts on the connection point of adjacent telescopic joints, causing the telescopic plates 41 and 42 to move closer to each other. When the telescopic plates 41 and 42 move closer to each other, they drive the adjacent clamping plates 14 to move away from each other, thereby increasing the overall gripping length of the gripping device and improving the convenience of adjusting the gripping length of the gripping device.

[0040] Reference Figure 3 The driving component 5 includes an electric actuator 51 and two connecting rods 52. The two connecting rods 52 are rotatably connected to the connection points of adjacent telescopic sections. The connecting rods 52 are located between the telescopic section and the clamping plate 14. The upper connecting rod 52 is fixedly connected to the clamping plate 14, and the lower connecting rod 52 is slidably connected to the clamping plate 14 in a vertical direction. The electric actuator 51 is located below the connecting rods 52, and the output end of the electric actuator 51 is fixedly connected to the lower connecting rod 52. The connecting rods 52 support the first telescopic plate 41 and the second telescopic plate 42. The electric actuator 51 pushes the lower connecting rod 52, causing the connecting rod 52 to rise vertically, thereby bringing the first telescopic plate 41 and the second telescopic plate 42 closer to each other.

[0041] Reference Figure 1 A fork plate 15 is rotatably connected to the lower end of the clamping plate 14 near the drive member 5. A second cylinder 16 is vertically hinged to the side of the clamping plate 14 near the drive member 5. The output shaft of the second cylinder 16 is vertically hinged to the fork plate 15. When it is necessary to pick up the goods during the gripping process, the second cylinder 16 extends, driving the fork plate 15 to rotate and position it below the clamping plate 14, thereby picking up the goods. An anti-slip pad 17 is fixed on the side of the clamping plate 14 away from the drive member 5. A weight-reducing opening 18 is opened in the thickness direction of the clamping plate 14, which penetrates the anti-slip pad 17. The weight-reducing opening 18 is used to reduce the overall weight of the clamping plate 14, and the anti-slip pad 17 is used to increase the friction between the clamping plate 14 and the goods, thereby improving the stability during the gripping and handling process.

[0042] Reference Figure 1 Multiple first cylinders 6 are fixedly installed at the lower end of the support plate 1. The multiple first cylinders 6 are located on both sides of the support plate 1 along the width direction and between the two first rectangular blocks 11. The output end of the first cylinder 6 located on the same side is fixedly provided with the same pressure plate 61. When the goods are placed in the designated position, since there will be a bulge in the middle of the goods, the first cylinder 6 extends and drives the pressure plate 61 to squeeze the goods, so that the shape of the goods is restored, which is conducive to improving the regularity and convenience of subsequent stacking.

[0043] The implementation principle of the palletizing robot gripping device in this application embodiment is as follows: When the height of the goods is high, the rotating rod 33 is rotated, and the rotating rod 33 drives the gear 32 to rotate. The gear 32 and the rack 31 cooperate to make the second rectangular block 12 slide in the sliding groove, thereby adjusting the relative position relationship of the first rectangular block 11 and the second rectangular block 12, so as to increase the overall gripping height of the gripping device. When the gripped goods are long, the electric push rod 51 and the connecting rod 52 cooperate to make the first telescopic plate 41 and the second telescopic plate 42 move closer to each other, thereby making the multiple clamping plates 14 move further apart, thereby increasing the overall gripping length of the gripping device. When the goods are placed in the designated position, since there will be a bulge in the middle of the goods, the first cylinder 6 extends, driving the pressure plate 61 to squeeze the goods, so that the shape of the goods is restored and the stability of the goods gripping and handling process is improved.

[0044] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A gripping device for a palletizing robot, comprising a support plate (1), a moving part (2), and a plurality of clamping plates (14), wherein the plurality of clamping plates (14) are located below the support plate (1) for gripping goods, characterized in that: The upper end of the support plate (1) is fixed with a connecting flange (19), and the lower end of the support plate (1) is provided with two first rectangular blocks (11). The two first rectangular blocks (11) are located on both sides of the support plate (1) along the width direction. The first rectangular blocks (11) are slidably connected to the support plate (1) along the width direction. The moving part (2) is used to drive the two first rectangular blocks (11) to move closer or further away from each other. The lower end of the first rectangular block (11) is provided with a sliding groove along the vertical direction. The sliding groove is provided with a second rectangular block (12). The second rectangular block (12) is slidably connected to the first rectangular block (11) along the vertical direction. The sliding groove is provided with an adjusting part (3). The adjusting part (3) is used to adjust the relative position relationship between the first rectangular block (11) and the second rectangular block (12). The lower end of the second rectangular block (12) is fixed with a connecting block (13). The connecting block (13) is horizontal along the length direction of the support plate (1). The connecting block (13) is provided with a moving groove (131) along the length direction at the lower end. Several sliders (132) are provided in the moving groove (131). The sliders (132) are slidably connected to the connecting block (13) along the length direction of the moving groove (131). The clamping plate (14) corresponds to the slider (132) one by one. The clamping plate (14) is fixedly connected to the lower end of the slider (132). Two connecting pieces (4) are provided below the support plate (1). The two connecting pieces (4) are located on both sides of the support plate (1) along the width direction. The connecting pieces (4) are used to drive the several clamping plates (14) to move closer or further away from each other. Several first cylinders (6) are fixedly provided at the lower end of the support plate (1). The several first cylinders (6) are located on both sides of the support plate (1) along the width direction and between two first rectangular blocks (11). The output end of the first cylinder (6) located on the same side is fixedly provided with the same pressure plate (61).

2. The gripping device for a palletizing robot according to claim 1, characterized in that: The moving part (2) includes a drive motor (21) and a bidirectional lead screw (22). The drive motor (21) is fixedly connected to the lower end of the support plate (1) and located on one side of the support plate (1) along the width direction. The bidirectional lead screw (22) is coaxially fixedly connected to the output end of the drive motor (21). The bidirectional lead screw (22) passes through two first rectangular blocks (11) and is threadedly connected to the two first rectangular blocks (11).

3. The gripping device for a palletizing robot according to claim 1, characterized in that: The adjusting component (3) includes a rack (31), a gear (32), and a rotating rod (33). The rack (31) is fixedly connected to one side of the second rectangular block (12) along the length direction and is arranged vertically. The gear (32) is located between the rack (31) and the first rectangular block (11). The rack (31) meshes with the gear (32). The rotating rod (33) is located outside the first rectangular block (11). The rotating rod (33) passes through the first rectangular block (11) and is coaxially fixedly connected with the gear (32). The rotating rod (33) is rotatably connected to the first rectangular block (11).

4. The gripping device for a palletizing robot according to claim 1, characterized in that: The lower end of the connecting block (13) has two grooves (133) that communicate with the moving groove (131). The two grooves (133) are arranged along the length of the moving groove (131) and are located on both sides of the moving groove (131) along the width. The grooves (133) are provided with a number of balls (134). The balls (134) are arranged along the length of the grooves (133). The lower end of the slider (132) is in contact with the balls (134) and is in rolling connection with the balls (134).

5. The gripping device for a palletizing robot according to claim 1, characterized in that: The connector (4) includes several telescopic plates (41) and several telescopic plates (42). The telescopic plates (41) and the telescopic plates (42) rotate intersectingly to form a telescopic joint. One telescopic plate (41) of one telescopic joint is rotatably connected to the telescopic plate (42) of another telescopic joint. The connection point of adjacent telescopic joints is connected to the clamping plate (14). The clamping plate (14) is provided with a driving member (5). The driving member (5) is used to drive the telescopic plates (41) and the telescopic plates (42) to move closer or further apart.

6. The gripping device for a palletizing robot according to claim 5, characterized in that: The driving component (5) includes an electric push rod (51) and two connecting rods (52). The two connecting rods (52) are rotatably connected to the connection points of adjacent telescopic joints. The connecting rods (52) are located between the telescopic joints and the clamping plate (14). The upper connecting rod (52) is fixedly connected to the clamping plate (14), and the lower connecting rod (52) is slidably connected to the clamping plate (14) in the vertical direction. The electric push rod (51) is located below the connecting rods (52), and the output end of the electric push rod (51) is fixedly connected to the lower connecting rod (52).

7. The gripping device for a palletizing robot according to claim 5, characterized in that: The clamping plate (14) is rotatably connected to a fork plate (15) on the side of its lower end near the driving member (5). A second cylinder (16) is vertically hinged to the side of the clamping plate (14) near the driving member (5). The output shaft of the second cylinder (16) is vertically hinged to the fork plate (15).

8. The gripping device for a palletizing robot according to claim 5, characterized in that: The clamping plate (14) is fixed with an anti-slip pad (17) on the side away from the driving member (5). The clamping plate (14) has a weight reduction opening (18) along the thickness direction, and the weight reduction opening (18) passes through the anti-slip pad (17).

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