A gripping mechanism for robotic palletizing

Abstract

The utility model discloses a kind of grabbing mechanism for robot stacking, including grabbing mechanism main part, the box is provided in the bottom of grabbing mechanism main part, grabbing mechanism main part includes servo motor, the end portion of servo motor is screw-connected and installed with manipulator fixed seat, the bottom of manipulator fixed seat movably installs with runner, runner outside is installed with grabbing assembly, grabbing assembly includes the limiting track of fixed connection in the bottom of manipulator fixed seat, limiting track bottom is installed with passive seat, the bottom of passive seat is fixedly provided with grabbing arm.The grabbing mechanism for robot stacking, the output shaft of servo motor drives runner to rotate slowly, runner respectively drives four groups of grabbing assembly, four groups of grabbing arm on four groups of grabbing assembly are synchronized to the side close to box and move, complete the clamping and fixing work to four vertical surfaces of box, and after moving to box by manipulator, complete stacking work, realize the free grabbing work to box.

Description

Technical Field

[0001] This utility model relates to the field of gripping mechanisms, specifically a gripping mechanism for robotic palletizing. Background Technology

[0002] Palletizing machines typically use a robot gripper to grasp and position goods, then stack them sequentially into a pallet rack. The pallet rack usually consists of multiple compartments, each containing a pallet. Goods are placed on the pallets, and the robot retrieves the goods by gripping the pallets. Each compartment on the pallet rack corresponds to a specific coordinate value. Therefore, the robot can grasp the pallets based on this coordinate information using its gripper. However, over prolonged use, the robot's accuracy gradually decreases, making it prone to collisions between the gripper and the pallet during operation.

[0003] To address the aforementioned issues, a search revealed Chinese patent CN115520660A, which discloses a palletizing robot gripper with a precise positioning mechanism. The patent includes a gripper module comprising: a fixed base with a movable cavity; a movable base movably connected to the fixed base, with the fixed base located on one side of the movable cavity, and a positioning block fixedly connected to the movable base; a gripper mechanism located on the movable base for connecting a storage tray; and an adjustment mechanism located between the fixed base and the movable base, within the movable cavity.

[0004] While the aforementioned device can improve the problems of collisions and low grasping accuracy of existing palletizing robot grippers, it is still limited in practical use as the gripper cannot grasp and stack boxes. Therefore, there is an urgent need for a gripping mechanism for robot palletizing to solve these problems. Utility Model Content

[0005] The purpose of this invention is to provide a gripping mechanism for robotic palletizing to solve the problems mentioned in the background art.

[0006] To achieve the above objectives, a gripping mechanism for robotic palletizing is provided, comprising a gripping mechanism body, a housing at the bottom of the gripping mechanism body, a servo motor, a robot arm mounting base screwed to the end of the servo motor, a rotating wheel movably mounted at the bottom of the robot arm mounting base, a gripping component mounted on the outer side of the rotating wheel, and a limiting rail fixedly connected to the bottom of the robot arm mounting base, a passive seat mounted at the bottom of the limiting rail, and a gripping arm fixedly mounted at the bottom of the passive seat.

[0007] Furthermore, the robotic arm mounting base is a cross-shaped structure made of metal, and the output shaft of the servo motor passes through the robotic arm mounting base and is fixedly connected to the rotating wheel.

[0008] Furthermore, four sets of gripping components are evenly installed on the outer circumference of the rotating wheel, with an angle of 90 degrees between adjacent sets of gripping components. At the same time, the four sets of gripping components are respectively clamped and fixed to the four outer surfaces of the box, and the four sets of gripping components have the same structure.

[0009] Furthermore, the gripping assembly also includes a limiting seat, a friction pad, a rocker arm, and a transmission seat. The limiting seat is fixedly installed on the top of the passive seat. The size of the limiting seat and the limiting track are adapted to each other. The limiting seat is slidably installed inside the limiting track. The cross-section of the limiting seat is trapezoidal.

[0010] Furthermore, the gripping arm is rectangular, and two sets of slots are opened on the surface of the gripping arm. Two sets of sockets are fixedly installed on the back of the friction pad, and the two sets of sockets are respectively inserted into the two sets of slots. Multiple sets of anti-slip blocks are evenly arranged on the surface of the friction pad.

[0011] Furthermore, the transmission seat is configured on the outer ring surface of four sets of evenly fixed rotating wheels, and the end of the transmission seat is movably connected to the rocker arm through a pin. The end of the rocker arm away from the transmission seat is movably connected to the driven seat through a pin.

[0012] Compared with the prior art, the beneficial effects of this utility model are as follows: the output shaft of the servo motor drives the rotating wheel to rotate slowly, and the rotating wheel drives four sets of gripping components. The four gripping arms on the four gripping components move synchronously towards the side closer to the box, completing the clamping and fixing work on the four sides of the box. After the robot moves the box, the stacking work is completed, realizing the free gripping of the box. The synchronous drive design reduces the complex coordination of multiple power sources, simplifies the overall structure, and reduces the failure rate and maintenance difficulty. The gripping force and range can be flexibly adjusted by the servo motor to adapt to different specifications of boxes, realize free gripping, and enhance the versatility and adaptability of the equipment. Attached Figure Description

[0013] Figure 1 This is a front view schematic diagram of the structure of this utility model;

[0014] Figure 2 for Figure 1 Top view;

[0015] Figure 3 This is a schematic diagram of the main structure of the gripping mechanism of this utility model;

[0016] Figure 4 This is a top view of the main body of the gripping mechanism of this utility model;

[0017] Figure 5 This is a schematic diagram of the gripping component structure of this utility model;

[0018] Figure 6 for Figure 5 A bottom view;

[0019] Figure 7 for Figure 5 Side view.

[0020] The following are the labeling elements in the diagram: 100, main body of the gripping mechanism; 11, servo motor; 12, robot arm mounting base; 13, rotating wheel; 14, gripping assembly; 141, limit track; 142, limit seat; 143, passive seat; 144, gripping arm; 145, friction pad; 146, rocker arm; 147, transmission seat; 200, housing. Detailed Implementation

[0021] Please see Figure 1-7 This utility model provides a gripping mechanism for robot palletizing, including a gripping mechanism body 100, a housing 200 at the bottom of the gripping mechanism body 100, a servo motor 11, a robot arm mounting base 12 screwed to the end of the servo motor 11, a rotating wheel 13 movably mounted at the bottom of the robot arm mounting base 12, a gripping component 14 mounted on the outside of the rotating wheel 13, the gripping component 14 including a limiting rail 141 fixedly connected to the bottom of the robot arm mounting base 12, a passive seat 143 mounted at the bottom of the limiting rail 141, and a gripping arm 144 fixedly mounted at the bottom of the passive seat 143.

[0022] Working principle: In actual use, the robotic arm mounting base 12 is fixed to the robotic arm. The device can be operated through the external robotic arm. The external switch of the servo motor 11 is turned on, and the output shaft of the servo motor 11 drives the rotating wheel 13 to rotate slowly. The rotating wheel 13 drives the four gripping components 14 respectively. The four gripping arms 144 on the four gripping components 14 move synchronously to the side close to the box 200, completing the clamping and fixing work on the four sides of the box 200. After the box 200 is moved by the robotic arm, the stacking work is completed, realizing the free gripping work of the box 200.

[0023] As a preferred embodiment, the robot arm mounting base 12 is a cross-shaped structure made of metal, and the output shaft of the servo motor 11 passes through the robot arm mounting base 12 and is fixedly connected to the rotating wheel 13.

[0024] Four sets of gripping components 14 are evenly installed on the outer circumference of the rotating wheel 13. The angle between two adjacent sets of gripping components 14 is 90 degrees. At the same time, the four sets of gripping components 14 are clamped and fixed on the four outer surfaces of the box 200, and the four sets of gripping components 14 have the same structure.

[0025] like Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 5 As shown: The servo motor 11 drives the rotating wheel 13, synchronously driving the gripping arms 144 of the four gripping components 14 to move towards one side of the box 200 to achieve clamping and fixation. Together with the robotic arm, it completes the movement, stacking, and free gripping. Utilizing the precise control characteristics of the servo motor 11, the high synchronization of the movement of the four gripping arms 144 is ensured, which can form a stable clamp on the four sides of the box 200, avoiding the box 200 from tilting or falling off during the gripping process, and improving gripping stability. The synchronous drive design reduces the complex coordination of multiple power sources, simplifies the overall structure, and reduces the failure rate and maintenance difficulty. The gripping force and range can be flexibly adjusted by the servo motor 11 to adapt to different specifications of box 200, achieving free gripping and enhancing the versatility and adaptability of the equipment. Together with the robotic arm to complete stacking and other processes, it can realize automated continuous operation, improve production efficiency, reduce manual intervention, and reduce labor costs and the risk of operational errors.

[0026] In a preferred embodiment, the gripping assembly 14 also includes a limiting seat 142, a friction pad 145, a rocker arm 146, and a transmission seat 147. The limiting seat 142 is fixedly installed on the top of the passive seat 143. The size of the limiting seat 142 and the limiting track 141 are adapted to each other. The limiting seat 142 is slidably disposed inside the limiting track 141. The cross-section of the limiting seat 142 is trapezoidal.

[0027] The gripping arm 144 is rectangular, and two sets of slots are opened on the surface of the gripping arm 144. Two sets of sockets are fixedly installed on the back of the friction pad 145, and the two sets of sockets are respectively inserted into the two sets of slots. Multiple sets of anti-slip blocks are evenly distributed on the surface of the friction pad 145.

[0028] The transmission seat 147 is set on the outer ring surface of four sets of evenly fixed rotating wheels 13. The end of the transmission seat 147 is movably connected to the rocker arm 146 through a pin. The end of the rocker arm 146 away from the transmission seat 147 is movably connected to the driven seat 143 through a pin.

[0029] like Figure 6 and Figure 7As shown: Rubber friction pads 115 are positioned and installed on the gripping arm 144 via two sets of sockets and slots. Multiple anti-slip blocks are provided on the surface of the friction pads 145. The advantages of this design are that the positioning structure of the sockets and slots ensures that the friction pads 145 are firmly installed and accurately positioned, preventing them from shifting or falling off during gripping and affecting the gripping effect. The rubber material itself has good elasticity and friction, which, combined with the anti-slip blocks, significantly increases the friction with the surface of the housing 200, preventing the housing 200 from slipping during gripping and movement. Simultaneously, the elasticity of the rubber buffers the impact force during gripping, preventing squeezing damage to the surface of the housing 200. Furthermore, this installation structure facilitates the quick disassembly and replacement of the friction pads 145, allowing for timely maintenance after wear, ensuring long-term stable gripping performance.

[0030] The gripping component 14 works as follows: when the wheel 13 rotates, the rocker arm 146 can drive the passive seat 143 to move laterally. When the passive seat 143 moves, it can be slidably set inside the limit track 141 by the limit seat 142, which can limit and guide the laterally moving passive seat 143 and gripping arm 144 to prevent the gripping arm 144 from tilting when it moves laterally.

Claims

1. A gripping mechanism for robotic palletizing, comprising a gripping mechanism body (100), characterized in that: The gripping mechanism body (100) has a housing (200) at the bottom. The gripping mechanism body (100) includes a servo motor (11). A robot arm mounting base (12) is screwed to the end of the servo motor (11). A rotating wheel (13) is movably mounted at the bottom of the robot arm mounting base (12). A gripping component (14) is mounted on the outside of the rotating wheel (13). The gripping component (14) includes a limiting rail (141) fixedly connected to the bottom of the robot arm mounting base (12). A passive seat (143) is mounted at the bottom of the limiting rail (141). A gripping arm (144) is fixedly mounted at the bottom of the passive seat (143).

2. The gripping mechanism for robotic palletizing according to claim 1, characterized in that: The robotic arm mounting base (12) is a cross-shaped structure made of metal. The output shaft of the servo motor (11) passes through the robotic arm mounting base (12) and is fixedly connected to the rotating wheel (13).

3. A gripping mechanism for robotic palletizing according to claim 2, characterized in that: Four sets of gripping components (14) are evenly installed on the outer circumference of the rotating wheel (13). The angle between two adjacent sets of gripping components (14) is 90 degrees. At the same time, the four sets of gripping components (14) are clamped and fixed on the four outer surfaces of the box (200). The four sets of gripping components (14) have the same structure.

4. A gripping mechanism for robotic palletizing according to claim 3, characterized in that: The gripping assembly (14) also includes a limiting seat (142), a friction pad (145), a rocker arm (146), and a transmission seat (147). The limiting seat (142) is fixedly installed on the top of the passive seat (143). The size of the limiting seat (142) and the limiting track (141) are compatible. The limiting seat (142) is slidably installed inside the limiting track (141). The cross section of the limiting seat (142) is trapezoidal.

5. A gripping mechanism for robotic palletizing according to claim 4, characterized in that: The gripping arm (144) is rectangular, and two sets of slots are opened on the surface of the gripping arm (144). Two sets of sockets are fixedly provided on the back of the friction pad (145). The two sets of sockets are respectively inserted into the two sets of slots. Multiple sets of anti-slip blocks are evenly provided on the surface of the friction pad (145).

6. A gripping mechanism for robotic palletizing according to claim 4, characterized in that: The transmission seat (147) is set on the outer ring surface of four sets of uniformly fixed rotating wheels (13). The end of the transmission seat (147) is movably connected to the rocker arm (146) through a pin. The end of the rocker arm (146) away from the transmission seat (147) is movably connected to the driven seat (143) through a pin.

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