A palletizing robot and its gripper mechanism

Abstract

This utility model discloses a palletizing robot and its gripper mechanism, relating to the field of robot gripper technology. The palletizing robot gripper mechanism includes a connecting seat, a buffer mechanism at the lower end of the connecting seat, and a flange connection between the connecting seat and the buffer mechanism. A vacuum generator is installed at the lower end of the buffer mechanism, and an adsorption seat is located below the vacuum generator. The adsorption seat has partitions on both sides, dividing its interior into three chambers. An adsorption plate with several suction holes is installed on the lower surface of the adsorption seat. The adsorption seat and the vacuum generator are connected via a distribution pipe, with three branch pipes at the lower end of the distribution pipe respectively connected to the three chambers within the adsorption seat. This solution solves the problem that existing mechanisms cannot adjust the adsorption area and adsorption force, resulting in low adaptability to goods of different weights.

Description

Technical Field

[0001] This utility model relates to the field of robot gripper technology, specifically a palletizing robot and its gripper mechanism. Background Technology

[0002] Palletizing robots are a product of the organic combination of mechanics and computer programs, providing higher production efficiency for modern manufacturing. Palletizing machines have a wide range of applications in the palletizing industry, greatly saving both labor and space. To adapt to the gripping needs of different products, two mainstream models are currently designed on the market: mechanical grippers and suction cup grippers. However, specific structures and operating methods need to be designed for different product gripping characteristics.

[0003] In daily use, to save production space and reduce costs, the same palletizing robot is often needed to adapt to the palletizing requirements of products of different sizes. This is usually achieved by changing the gripper. For example, using a universal gripper for suction-type products presents certain problems when dealing with smaller products. When smaller items are gripped, the suction cup cannot be fully covered, resulting in insufficient suction and waste. Furthermore, when releasing the goods onto the pallet stack, the remaining suction force can easily pull on already neatly stacked goods, causing the goods to shift and shake, creating safety hazards.

[0004] Existing technology discloses a suction cup gripper for palletizing robots. This gripper allows users to adjust the distance of the suction cups to grip items of different sizes and lengths when palletizing goods, increasing the efficiency of the robot. However, in practical use, it has been found that the adjustable air chamber suction cup is prone to fatigue, leading to poor sealing and damage. Therefore, this invention proposes a new technical solution. Utility Model Content

[0005] The purpose of this invention is to provide a palletizing robot and its gripper mechanism to solve the problem mentioned in the background art that the existing mechanisms cannot adjust the adsorption area and adsorption force, and have low adaptability to goods of different weights.

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

[0007] A palletizing robot gripper mechanism includes a connecting seat for fixing to the palletizing robot robotic arm. The lower end of the connecting seat is provided with a buffer mechanism, and the connecting seat is connected to the flange of the buffer mechanism. The lower end of the buffer mechanism is equipped with a vacuum generator, which is used to control the adsorption seat located below it to grip materials.

[0008] The interior of the adsorption seat is divided into three chambers by a partition. An adsorption plate is provided on the lower surface of the adsorption seat, and several suction holes are distributed on the adsorption plate. The adsorption seat is connected to the vacuum generator by a split pipe. The split pipe is connected to the three chambers in the adsorption seat by three branch pipes respectively. An electric control valve for controlling the gas path opening and closing is provided on the branch pipes connected to the two chambers inside the adsorption seat.

[0009] The vacuum generator is equipped with an air inlet connector and an exhaust pipe, and a Laval nozzle is installed inside the vacuum generator. A negative pressure chamber is installed at the rear end of the Laval nozzle. The negative pressure chamber forms a negative pressure in the adsorption seat through a diverter pipe, thereby achieving the adsorption of materials.

[0010] In a preferred embodiment of the above scheme, the four corners of the upper end of the adsorption seat are connected to the vacuum generator via brackets, thereby improving its connection stability.

[0011] Preferably, in the above scheme, a receiving pipe is provided at the rear end of the negative pressure chamber, and the receiving pipe is connected to the exhaust pipe. Considering the exhaust noise problem, the exhaust pipe is a silencer exhaust pipe.

[0012] Preferably, in the above scheme, the partition protrudes from the bottom surface of the adsorption plate, and an auxiliary edge ring is provided around the periphery of the adsorption plate, thereby forming a partition at the bottom of the adsorption plate to avoid the influence of negative pressure in each suction hole.

[0013] Preferably, the buffer mechanism includes an upper plate, a shock-absorbing connecting rod, and a lower plate. The four corners of the upper plate are connected to the lower plate through the shock-absorbing connecting rod. The shock-absorbing connecting rod consists of an internal damping rod and an external spring. The lower plate is connected to a vacuum generator.

[0014] The vacuum generator has mounting grooves on both sides of its upper end. A slider is installed inside the mounting groove, and the slider has through holes of the same specifications as the mounting holes, thereby enabling the adjustment of the mounting position of the vacuum generator and the lower plate.

[0015] Furthermore, the upper end of the connector is connected to the six-axis robot via a flange.

[0016] This utility model also provides a palletizing robot, which is equipped with the above-mentioned palletizing robot gripper mechanism for gripping materials, including bagged powder or workpieces with a gripping surface.

[0017] Compared with the prior art, the beneficial effects of this utility model are:

[0018] (1) The adsorption seat of the gripper mechanism of this utility model is divided into three chambers. The three chambers are controlled by an electric valve and connected to a vacuum generator. During use, different gripping areas can be configured according to objects of different weights:

[0019] For small goods, the electric control valves on both sides of the branch pipe can be closed, and air can be supplied to the air inlet of the vacuum generator through the air pump installed on the robot. A certain vacuum is formed in the vacuum generator, and the chamber in the center of the adsorption seat is drawn in by the branch pipe. The small goods are adsorbed and grabbed by the adsorption plate on the bottom of the central chamber.

[0020] For large cargo, the electric control valves on the branch pipes on both sides of the diversion pipe can be opened to increase the power of the air pump and supply air to the vacuum generator. At this time, because the diversion pipe is connected to the two cavities in the adsorption seat, the vacuum generator can simultaneously draw in three cavities, thereby increasing the adsorption area and realizing the gripping operation of large cargo.

[0021] This solves the problem that existing mechanisms cannot adjust the adsorption area and adsorption force, resulting in low adaptability to goods of different weights.

[0022] (2) By setting auxiliary strips at corresponding positions on the bottom surface of the adsorption plate and the partition, and setting auxiliary edge rings at the edge of the adsorption plate, the auxiliary strips and auxiliary edge rings are sponge pads or electromagnets.

[0023] When the auxiliary edge ring and auxiliary strip are made of sponge pads, the sponge pads can make the adsorption joints tighter through their flexibility during the vacuum adsorption process.

[0024] When the auxiliary strip and auxiliary edge ring are electromagnets, different gripping methods can be configured according to the different properties of the objects. For example, for non-magnetic goods, different adsorption areas can be determined by combining weight and adsorption surface, and different air pump working pressures can be adjusted and controlled to meet the appropriate needs. For magnetic goods, a combination of magnetic and vacuum adsorption can be used. For example, magnetic metal objects can be gripped by vacuum suction and magnetic force. During the lowering process, the electromagnet only needs to be cut off to achieve the lowering, further improving the gripping flexibility.

[0025] (3) Compared with the prior art, this utility model not only solves the problems of adjustable adsorption area and adsorption force, but also takes into account the convenient operation and easy maintenance of the equipment, effectively improving the problems of material damage caused by long-term adjustment or poor chamber sealing caused by use of the prior art. This utility model can quickly open and close the chamber through an electric control valve, which is convenient to operate and has stronger applicability. Attached Figure Description

[0026] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0027] Figure 2 This is a schematic diagram of the bottom structure of this utility model;

[0028] Figure 3This is a schematic diagram of the internal structure of the vacuum generator of this utility model;

[0029] Figure 4 This is a schematic diagram of the top surface structure of the vacuum generator of this utility model;

[0030] Figure 5 This is a schematic diagram of the connection structure between the gripper mechanism of this utility model and the palletizing robot;

[0031] In the diagram: 1. Connecting seat; 2. Buffer mechanism; 201. Upper plate; 202. Shock-absorbing connecting rod; 203. Lower plate; 204. Mounting hole; 3. Vacuum generator; 301. Exhaust pipe; 302. Air inlet connector; 303. Laval nozzle; 304. Negative pressure chamber; 305. Receiving pipe; 306. Mounting groove; 307. Slider; 4. Adsorption seat; 401. Partition plate; 402. Adsorption plate; 403. Auxiliary strip; 5. Auxiliary side ring; 6. Diverter pipe; 601. Electrically controlled valve; 7. Six-axis robot. Detailed Implementation

[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments.

[0033] Example 1: A palletizing robot gripper mechanism includes a connecting seat 1, a buffer mechanism 2 at the lower end of the connecting seat 1, and a flange connection between the connecting seat 1 and the buffer mechanism 2. A vacuum generator 3 is installed at the lower end of the buffer mechanism 2, and an adsorption seat 4 is installed below the vacuum generator 3. Partitions 401 are provided on both sides of the interior of the adsorption seat 4, dividing the interior of the adsorption seat 4 into three chambers. An adsorption plate 402 is installed on the lower surface of the adsorption seat 4, and several suction holes are provided on the adsorption plate 402. The adsorption seat 4 and the vacuum generator 3 are connected by a distribution pipe 6. Three branches at the lower end of the distribution pipe 6 are respectively connected to the three chambers inside the adsorption seat 4. The chambers are connected, and the branch pipes connecting the two chambers are equipped with electric control valves 601. The four corners of the upper end of the adsorption seat 4 are connected to the vacuum generator 3 through brackets. The front end of the vacuum generator 3 is equipped with an air inlet connector 302, and the vacuum generator 3 is connected to the air pump through the air inlet connector 302. The rear end of the vacuum generator 3 is equipped with an exhaust pipe 301. The vacuum generator 3 is equipped with a Laval nozzle 303 inside. The rear end of the Laval nozzle 303 is equipped with a negative pressure chamber 304, and the main pipe at the upper end of the diverter pipe 6 is connected to the negative pressure chamber 304. The rear end of the negative pressure chamber 304 is equipped with a receiving pipe 305. The upper end of the connecting seat 1 is connected to the six-axis robot 7 through a flange.

[0034] During operation, the six-axis robot 7 controls the movement of the gripper mechanism, bringing it close to the goods to be gripped for subsequent gripping operations. During gripping, the gripper mechanism's suction base 4 is divided into three chambers, which are controlled by an electronically controlled valve 601 and connected to a vacuum generator 3. Different gripping areas can be configured according to the weight of the object.

[0035] For small goods, the electric control valves 601 on both sides of the branch pipes of the diversion pipe 6 can be closed, and air can be supplied to the air inlet 302 of the vacuum generator 3 through the air pump (not shown in the figure) installed on the robot. The incoming gas passes through the Laval nozzle 303 and is compressed by the Laval nozzle 303 to generate a high-speed jet. This causes a suction flow at the outlet of the Laval nozzle 303. Under the suction effect, the air around the nozzle outlet is continuously sucked away, causing the air pressure in the negative pressure chamber 304 to drop below atmospheric pressure, forming a certain degree of vacuum. This allows the diversion pipe 6 to suck the chamber at the center of the adsorption seat 4, and the adsorption plate 402 on the bottom surface of the central chamber to adsorb and grab the small goods.

[0036] For large cargo, the electric control valves 601 on the branch pipes on both sides of the diversion pipe 6 can be opened to increase the power of the air pump and supply air to the vacuum generator 3. At this time, since the diversion pipe is connected to the two cavities in the adsorption seat 4, the vacuum generator 3 can simultaneously draw in three cavities, thereby increasing the adsorption area and realizing the gripping operation of large cargo.

[0037] Please see Figure 2 An auxiliary strip 403 is provided at the corresponding position of the bottom surface of the adsorption plate 402 and the partition plate 401. An auxiliary edge ring 5 is provided at the edge of the adsorption plate 402. The auxiliary strip 403 and the auxiliary edge ring 5 are made of sponge pads. When the auxiliary edge ring 5 and the auxiliary strip 403 are sponge pads, the sponge pads can make the adsorption connection tighter through their flexibility during the vacuum adsorption process.

[0038] Please see Figure 1 and Figure 4 The buffer mechanism 2 includes an upper plate 201, a shock-absorbing connecting rod 202, and a lower plate 203. The four corners of the upper plate 201 are connected to the lower plate 203 through the shock-absorbing connecting rod 202. The shock-absorbing connecting rod 202 consists of an internal damping rod and an external spring. The lower plate 203 is provided with four mounting holes 204. The upper end of the vacuum generator 3 is provided with mounting grooves 306 on both sides. The mounting grooves 306 on both sides are provided with two sliders 307. The sliders 307 are provided with through holes of the same specifications as the mounting holes 204. The upper mounting block is a slider 307 structure, which can slide along the groove 306, thereby adapting to buffer mechanisms 2 of different sizes and improving installation flexibility.

[0039] Example 2: A palletizing robot gripper mechanism includes a connecting seat 1, a buffer mechanism 2 at the lower end of the connecting seat 1, and a flange connection between the connecting seat 1 and the buffer mechanism 2. A vacuum generator 3 is installed at the lower end of the buffer mechanism 2, and an adsorption seat 4 is installed below the vacuum generator 3. Partitions 401 are provided on both sides of the adsorption seat 4, dividing the interior of the adsorption seat 4 into three chambers. An adsorption plate 402 is installed on the lower surface of the adsorption seat 4, and several suction holes are provided on the adsorption plate 402. The adsorption seat 4 and the vacuum generator 3 are connected by a distribution pipe 6. Three branch pipes at the lower end of the distribution pipe 6 are respectively connected to the three chambers inside the adsorption seat 4. The chambers are connected, and an electric control valve 601 is installed on the branch pipe connecting the two chambers. The four corners of the upper end of the adsorption seat 4 are connected to the vacuum generator 3 through the bracket. The front end of the vacuum generator 3 is equipped with an air inlet connector 302, and the vacuum generator 3 is connected to the air pump through the air inlet connector 302. The rear end of the vacuum generator 3 is equipped with an exhaust pipe 301. The vacuum generator 3 is equipped with a Laval nozzle 303 inside. The rear end of the Laval nozzle 303 is equipped with a negative pressure chamber 304, and the main pipe at the upper end of the diverter pipe 6 is connected to the negative pressure chamber 304. The rear end of the negative pressure chamber 304 is equipped with a receiving pipe 305. The upper end of the connecting seat 1 is connected to the six-axis robot 7 through a flange.

[0040] Furthermore, an auxiliary strip 403 is provided at the corresponding position of the bottom surface of the adsorption plate 402 and the partition plate 401, and an auxiliary edge ring 5 is provided at the edge of the adsorption plate 402. Please refer to the figure. The auxiliary strip 403 and the auxiliary edge ring 5 are provided as electromagnets.

[0041] When the auxiliary strip 403 and the auxiliary side ring 5 are electromagnets, different gripping methods can be configured according to the different properties of the objects. For example, for non-magnetic goods, different adsorption areas can be determined by combining weight and adsorption surface, and different air pump working pressures can be adjusted and controlled to meet the appropriate needs. For magnetic goods, a combination of magnetic and vacuum adsorption can be used. For example, the gripping of magnetic metal objects can be met by using vacuum suction and magnetic force. During the lowering process, it is only necessary to cut off the electromagnet to achieve the lowering, further improving the gripping flexibility.

[0042] 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 gripper, comprising a connection seat (1) for fixation with a palletizing robot arm, characterized in that, The lower end of the connecting seat (1) is provided with a buffer mechanism (2), and the connecting seat (1) is flange-connected to the buffer mechanism (2). The lower end of the buffer mechanism (2) is equipped with a vacuum generator (3), which is used to control the adsorption seat (4) located below it to grab the material. The interior of the adsorption seat (4) is divided into three chambers by a partition (401). An adsorption plate (402) is provided on the lower surface of the adsorption seat (4), and several suction holes are distributed on the adsorption plate (402). The adsorption seat (4) is connected to the vacuum generator (3) by a split pipe (6). The split pipe (6) is connected to the three chambers in the adsorption seat (4) by three branch pipes respectively. An electric control valve (601) for controlling the gas path opening and closing is provided on the branch pipes connected to the two chambers inside the adsorption seat (4). The vacuum generator (3) is provided with an air inlet connector (302) and an exhaust pipe (301), and the vacuum generator (3) is provided with a Laval nozzle (303) inside. The rear end of the Laval nozzle (303) is provided with a negative pressure chamber (304). The negative pressure chamber (304) forms a negative pressure in the adsorption seat (4) through the diversion pipe (6), thereby realizing the adsorption of materials.

2. The palletizing robotic gripper of claim 1, wherein, The four corners of the upper end of the adsorption seat (4) are connected to the vacuum generator (3) through brackets.

3. The palletizing robotic gripper of claim 1, wherein, The negative pressure chamber (304) is provided with a receiving pipe (305) at its rear end. The receiving pipe (305) is connected to the exhaust pipe (301), which is a silencer exhaust pipe.

4. The palletizing robotic gripper of claim 1, wherein, The partition (401) protrudes from the bottom surface of the adsorption plate (402), and an auxiliary edge ring (5) is provided around the periphery of the adsorption plate (402).

5. The palletizing robotic gripper of claim 1, wherein: The buffer mechanism (2) includes an upper plate (201), a shock-absorbing connecting rod (202), and a lower plate (203). The four corners of the upper plate (201) are connected to the lower plate (203) through the shock-absorbing connecting rod (202). The shock-absorbing connecting rod (202) is composed of an internal damping rod and an external spring. The lower plate (203) is connected to the vacuum generator (3).

6. The palletizing robotic gripper of claim 1, wherein: The vacuum generator (3) has mounting grooves (306) on both sides of its upper end. A slider (307) is provided inside the mounting groove (306), and the slider (307) has a through hole of the same specification as the mounting hole (204).

7. The palletizing robotic gripper of claim 1, wherein: The upper end of the connecting seat (1) is connected to the six-axis robot (7) via a flange.

8. A palletizing robot, characterized in that The palletizing robot is equipped with a palletizing robot gripper mechanism as described in any one of claims 1-7.

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