Side suction bottom clamp for loading and unloading robot

Abstract

The utility model provides a kind of for loading and unloading robot's side suction bottom clamp, comprising: frame;Suction nozzle device is set on frame, suction nozzle device includes multiple suction nozzles, and suction nozzle is used to suck target box, suction nozzle device moves along first direction;Bottom support device is set on frame and is located below suction nozzle device, and it can move along second direction opposite to first direction;Transmission device is equipped with two and is located two sides in length direction, and transmission device is connected suction nozzle device and bottom support device respectively to make suction nozzle device and bottom support device reverse movement simultaneously;Driving device is connected with transmission device.The utility model is by being equipped with transmission device in the length direction two sides, can force suction nozzle device and bottom support device from two sides, realize the stable movement to suction nozzle device and bottom support device, prevent uneven stress and affect bottom support device to move to the below of target box or the stability of overall structure.

Description

Technical Field

[0001] This utility model relates to industrial robots, specifically to a side-suction bottom-supporting clamp for a loading and unloading robot. Background Technology

[0002] An industrial robot is an intelligent device equipped with sensors, lenses, and electro-optical systems that can quickly sort and transport goods.

[0003] When industrial robots sort and move goods, they need to acquire images of the goods through vision sensors, identify the posture of the goods by recognizing the images, and then the industrial robot picks or moves the goods by using the loaded grippers or suction cups.

[0004] When industrial robots disassemble goods from containers with frames, such as cargo boxes, the grippers used in picking scenarios like depalletizing and palletizing are prone to falling off due to the weight of the goods, causing damage and increasing unnecessary losses, because the goods need to be gripped from the side. Utility Model Content

[0005] In view of the deficiencies in the existing technology, the purpose of this utility model is to provide a side suction bottom support clamp for loading and unloading robots.

[0006] This utility model provides a side-suction bottom-supporting clamp for a loading and unloading robot, comprising: a frame; a suction nozzle device disposed on the frame, the suction nozzle device including multiple suction nozzles, the suction nozzle device being movable along a first direction; a bottom-supporting device disposed on the frame and located below the suction nozzle device, capable of moving along a second direction, the second direction being opposite to the first direction; two transmission devices provided and located on both sides in the length direction, the transmission devices respectively connecting the suction nozzle device and the bottom-supporting device so that the suction nozzle device and the bottom-supporting device move simultaneously in opposite directions; and a drive device connected to the transmission devices.

[0007] Preferably, the drive device is located between the two transmission devices.

[0008] Preferably, the transmission device includes a drive wheel disposed at the rear end of the frame, a driven wheel disposed at the front end of the frame, and a transmission belt sleeved between the drive wheel and the driven wheel. The transmission belt is provided with a first moving block, and the first moving block is fixedly connected to the bottom support device.

[0009] Preferably, the transmission belt is further provided with a second movable block, which is fixedly connected to the suction nozzle device.

[0010] Preferably, the first moving block and the second moving block are located on opposite sides of the transmission belt in the height direction, and when the transmission belt is running to the initial state, the first moving block and the second moving block are located at both ends of the transmission belt in the first direction.

[0011] Preferably, the frame includes a first side plate located at the rear end, the drive wheel is provided with a first support block, the first support block is fixedly connected to the first side plate, and the drive wheel is rotatably mounted on the first support block; and / or, the frame includes a second side plate located at the front end, the driven wheel is provided with a second support block, the second support block is fixedly connected to the second side plate, and the driven wheel is rotatably mounted on the second support block.

[0012] Preferably, the drive device includes a rotating shaft located between the two transmission devices, and the end of the rotating shaft is connected to the drive wheel to drive the drive wheel to rotate.

[0013] Preferably, the driving device further includes a driver fixed to the frame, the driver being connected to the rotating shaft in a transmission connection.

[0014] Preferably, the driver extends along the first direction; and / or, the two transmission devices are equidistant from the driver; and / or, the driver is located at the midpoint of the support device in the length direction.

[0015] Preferably, the driving device further includes a driving gear disposed on the output shaft of the driver and a driven gear disposed on the rotating shaft, wherein the driving gear meshes with the driven gear.

[0016] Preferably, the bottom support device includes two bottom supports located on both sides in the length direction, and the first movable block is fixedly connected to the bottom supports.

[0017] Compared with the prior art, the present invention has the following beneficial effects: This invention utilizes a suction nozzle device and a bottom support device that move in opposite directions simultaneously. When the suction nozzle picks up the target box, the bottom support device extends beneath it to provide stable support, preventing the target box from falling or slipping and ensuring overall operational stability. Furthermore, by installing transmission devices on both sides along the length, force can be applied to the suction nozzle device and the bottom support device from both sides, achieving stable movement of the two devices and preventing uneven force distribution that could affect the bottom support device's movement beneath the target box or the overall structural stability. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below: Figure 1 This is a perspective view of the side suction bottom support clamp of the present invention for a loading and unloading robot; Figure 2 This is a perspective view of the side suction bottom support clamp of the present invention for a loading and unloading robot from another angle; Figure 3 This is a perspective view of the side suction bottom support clamp of the present invention for loading and unloading robots from another angle. Figure 4 This is a partial three-dimensional view of the side suction bottom support clamp of the present invention for loading and unloading robots; Figure 5 This is a partial three-dimensional view of the side suction bottom support clamp of the present invention for loading and unloading robots; Figure 6 This is a partial three-dimensional view of the side suction bottom support clamp of the present invention for loading and unloading robots; Figure 7 This is a perspective view of the drive device and transmission device of the side suction bottom support clamp for loading and unloading robots according to this utility model; Figure 8 This is a perspective view of the bottom-supporting device of the side-suction bottom-supporting clamp for loading and unloading robots according to this utility model; Figure 9 This is a perspective view of the guide plate of the side suction bottom support clamp of the present invention for a loading and unloading robot; Figure 10 This is a perspective view of the bottom support of the side suction bottom support clamp for loading and unloading robots according to this utility model; Figure 11 for Figure 8 A partial structural diagram of the bottom support device shown; Figure 12 for Figure 11 A schematic diagram of the fixing plate of the bottom support device shown; Figure 13 for Figure 12 A schematic diagram of another angle of the fixed plate shown; Figure 14 for Figure 4 A top view of part of the structure of the side suction bottom clamp shown.

[0019] In the picture: 100-Side suction bottom support clamp; 1-Frame; 11-Flange; 12-First side plate; 13-Second connecting plate; 14-First connecting plate; 15-First guide rail; 16-First slider; 17-Second guide rail; 18-Second slider; 19-Second side plate; 2-Suction nozzle device; 21-Sealing frame; 22-Suction nozzle; 23-Suction pipe; 24-Connecting frame; 25-Connecting piece; 3-Bottom support device; 31-Bottom support; 311-Protrusion; 313-First side; 314-Second side; 32 - Guide plate; 321 First groove; 322 Connecting part; 323 Third side; 325 Guide surface; 33 Fixed plate; 331 Second groove; 332 Third groove; 4 Drive device; 41 Driver; 42 Drive gear; 43 Rotating shaft; 44 Driven gear; 5 Target housing; 6 Transmission device; 61 Drive wheel; 62 Driven wheel; 63 Transmission belt; 64 First moving block; 65 Second moving block; 66 First support block; 67 Second support block. Detailed Implementation

[0020] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way. It should be noted that those skilled in the art can make several modifications and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0021] The technical solution of this utility model will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments.

[0022] The technical solutions of this utility model and this application solve the above-mentioned technical problems in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this utility model will now be described with reference to the accompanying drawings.

[0023] In one embodiment, the present invention provides a side-suction bottom-supporting clamp 100 for a loading and unloading robot, comprising: a frame 1; a suction nozzle device 2 disposed on the frame 1, the suction nozzle device 2 including a plurality of suction nozzles 22, the suction nozzles 22 being used to pick up a target box 5, the suction nozzle device 2 being movable along a first direction x; a bottom-supporting device 3 disposed on the frame 1 and located below the suction nozzle device 2, capable of moving along a second direction, the second direction being opposite to the first direction x; two transmission devices 6 provided and located on both sides in the length direction y, the transmission devices 6 respectively connecting the suction nozzle device 2 and the bottom-supporting device 3 so that the suction nozzle device 2 and the bottom-supporting device 3 move in opposite directions simultaneously; and a driving device 4 connected to the transmission devices 6, such as... Figures 1 to 14 As shown.

[0024] Preferably, the side suction bottom support clamp 100 is used on the loading and unloading robot. It can not only pick up the target box and achieve the purpose of grabbing the target box 5, but also support the target box to prevent it from falling during transportation, thus significantly improving stability and safety.

[0025] More preferably, the frame 1 is the main body of the side suction bottom support clamp 100, which supports the side suction bottom support clamp 100 and is used to connect to the end of the loading and unloading robot; furthermore, the rear end of the frame 1 is provided with a flange 11, which is fixedly connected to the end of the loading and unloading robot, such as by bolt connection, so as to realize the fixed connection between the side suction bottom support clamp 100 and the loading and unloading robot; further still, the frame 1 can be a frame structure formed by connecting multiple rods, or a frame structure formed by connecting multiple plates, or a frame architecture formed by connecting multiple rods or multiple plates, etc., which can be set as needed and are not specifically limited here; further still, the frame 1 can be rectangular, circular or other shapes, and are not specifically limited here.

[0026] Preferably, the suction nozzle 2 is used to pick up the target box 5 so as to move the target box 5 to the required position; further, the suction nozzle 2 is disposed on the frame 1 and can move with the frame 1, so that the loading and unloading robot can move the suction nozzle 2 through the frame 1, thereby moving the target box 5; even further, the suction nozzle 2 includes multiple suction nozzles 22, which are located in front of the suction nozzle 2 for picking up the target box 5. The multiple suction nozzles 22 can be arranged in a straight line or in a matrix, etc., and their specific arrangement can be set as needed, without being specifically limited here; even further, the multiple suction nozzles 22 can pick up all or part of the target box 5; even further, the suction nozzle 2 can move along the first direction x, such as Figure 1As shown, the suction nozzle device 2 can move forward or backward on the frame 1, so as to move forward to the front end to suck up the target box 5, and move backward to drag the sucked target box 5 onto the bottom support device 3.

[0027] It should be noted that: the first direction x is the direction from back to front or from front to back of the side suction bottom clamp 100.

[0028] Preferably, the bottom support device 3 is used to support the target box 5. After the suction device 2 grabs the target box 5, it drags the target box 5 onto the bottom support device 3 to prevent the target box 5 from falling during transportation. The bottom support device 3 is set on the frame 1 and can move with the frame 1 to support the grabbed target box 5. Furthermore, the bottom support device 3 is located below the suction device 2, so that when the suction device 2 picks up the target box 5, the upper surface of the bottom support device 3 abuts against the lower surface of the target box 5 to support the target box 5 and prevent the target box 5 from falling.

[0029] More preferably, the bottom support device 3 moves along a second direction, which is opposite to the first direction x. For example, when the first direction x is from back to front, the second direction is from front to back; and when the first direction x is from front to back, the second direction is from back to front, thereby ensuring that the bottom support device 3 and the suction device 2 move in opposite directions.

[0030] Furthermore, the transmission device 6 is connected to the drive device 4, and also to the suction nozzle device 2 and the bottom support device 3. Thus, the drive device 4 drives the suction nozzle device 2 and the bottom support device 3 to move in opposite directions simultaneously through the transmission device 6. That is, when grabbing the target box 5, the transmission device 6 drives the suction nozzle device 2 to move forward to the front end to suck up the target box 5, while the bottom support device 3 is driven by the drive device 4 and moves to the rear end to prevent interference with the target box 5 and thus affect the suction nozzle device 2's ability to suck up the target box 5. When dragging the target box 5, the drive device 4 drives the suction nozzle device 2 to move backward, and the suction nozzle device 2 drags the target box 5 backward. At the same time, the drive device 4 drives the bottom support device 3 to move forward so that it slides under the target box 5, thereby providing support for the target box 5.

[0031] Furthermore, the transmission device 6 is provided in two parts, located on both sides in the length direction y, so as to provide stable support for the bottom support device 3 from both sides in the length direction, so that when the bottom support device 3 supports the target box 5, it provides more stable support for the target box 5, and ensures that the force applied to the bottom support device 3 is balanced, thus ensuring the stability and service life of the structure. Furthermore, the length direction y intersects with the first direction x, preferably, the length direction y is perpendicular to the first direction x, so as to make the overall structure more stable. In this embodiment, the length direction y is perpendicular to the first direction x.

[0032] Furthermore, the drive device 4 is mounted on the frame 1 and fixedly connected to the frame 1. The frame 1 supports the drive device 4 and drives the drive device 4 to move. Furthermore, the drive device 4 is connected to the transmission device 6, thereby driving the transmission device 6 to move so as to drive the suction nozzle device 2 and the bottom support device 3 to move. Furthermore, the drive device 4 can be a motor, a motor and reducer, or other drive structure, as long as it can drive the transmission device 6 to run. No specific limitation is made here.

[0033] It should be noted that the suction nozzle device 2 and the bottom support device 3 are designed to move in opposite directions. This allows the suction nozzle device 2 to pick up the target box 5 and drag it onto the bottom support device 3, thus supporting the target box 5 and preventing it from falling during transport, making the transport safer and more reliable. Furthermore, the transmission device 6 has two parts located on both sides along the length y-direction, which applies a balanced force to the suction nozzle device 2 and the bottom support device 3. This ensures that the suction nozzle device 2 can stably push the target box 5 forward or drag it backward, and the bottom support device 3 can stably move to the bottom of the target box 5, preventing uneven force on the suction nozzle device 2 and the bottom support device 3 from affecting the structural stability and service life.

[0034] In one embodiment, the drive device 4 is disposed between the two transmission devices 6, such as... Figure 6 and Figure 7 As shown.

[0035] Preferably, in the length direction y, the two transmission devices 6 are located on both sides of the drive device 4, so that the drive device 4 can be connected to the two transmission devices 6 at the same time and drive them to run at the same time, so as to realize that the suction device 2 and the bottom support device 3 move in opposite directions at the same time.

[0036] In other embodiments, the two transmission devices 6 may also be located on one side of the drive device 4, etc., and the user can set them as needed, without making specific limitations here.

[0037] In one embodiment, the transmission device 6 includes a drive wheel 61 disposed at the rear end of the frame 1, a driven wheel 62 disposed at the front end of the frame 1, and a transmission belt 63 sleeved between the drive wheel 61 and the driven wheel 62. The transmission belt 63 is provided with a first movable block 64, and the first movable block 64 is fixedly connected to the bottom support device 3. Figures 5 to 7 As shown.

[0038] Preferably, the transmission device 6 is located below the bottom support device 3, thereby connecting with the bottom support device 3 to drive the bottom support device 3 to move in the second direction.

[0039] More preferably, the drive wheel 61 is located at the rear end of the frame 1 and is rotatably mounted on the frame 1, thereby enabling the drive wheel 61 to rotate stably at the rear end of the frame 1. The drive wheel 61 is existing technology and will not be described in detail here.

[0040] Preferably, the driven wheel 62 is disposed at the front end of the frame 1 and is rotatably disposed on the frame 1, so that the driven wheel 62 rotates stably at the rear end of the frame 1. The driven wheel 62 is prior art and will not be described in detail here.

[0041] It should be noted that the driven wheel 62 and the driving wheel 61 are located on opposite sides in the first direction x, so that the transmission belt 63 extends along the first direction x. In other embodiments, the arrangement direction of the driven wheel 62 and the driving wheel 61 forms an acute angle with the first direction x. Users can set this according to their needs, and no specific limitation is made here.

[0042] Preferably, the transmission belt 63 is fitted on the driving wheel 61 and the driven wheel 62, so that when the driving wheel 61 rotates, it drives the driven wheel 62 to rotate via the transmission belt 63, enabling it to operate normally.

[0043] More preferably, the first moving block 64 is fixedly connected to the transmission belt 63, so that during operation of the transmission belt 63, the first moving block 64 moves along the second direction to drive the bottom support device 3 to move along the second direction. The fixed connection can be by adhesive bonding, snap fastening, or other connection methods, and is not specifically limited here.

[0044] Furthermore, the first moving block 64 is fixedly connected to the bottom support device 3, so that when the first moving block 64 moves in the second direction, it drives the bottom support device 3 to move in the second direction, so as to achieve the opposite movement direction to the suction nozzle device 2.

[0045] In one embodiment, the transmission belt 63 is further provided with a second movable block 65, which is fixedly connected to the suction nozzle device 2, such as... Figures 5 to 7 As shown.

[0046] Preferably, the second movable block 65 is fixedly connected to the transmission belt 63, so that during operation of the transmission belt 63, the second movable block 65 moves along the first direction to drive the suction nozzle device 2 to move along the first direction x. The fixed connection can be by adhesive bonding, snap fastening, or other connection methods, and is not specifically limited here.

[0047] More preferably, the second moving block 65 is fixedly connected to the suction nozzle device 2, so that when the second moving block 65 moves along the first direction x, it drives the suction nozzle device 2 to move along the first direction x, so as to achieve the opposite movement direction to the bottom support device 3.

[0048] In one embodiment, the first moving block 64 and the second moving block 65 are respectively located on both sides of the transmission belt 63 in the height direction, and when the transmission belt 63 is running to the initial state, the first moving block 64 and the second moving block 65 are located at both ends of the transmission belt 63 in the first direction x, such as... Figure 7 As shown.

[0049] Preferably, the first moving block 64 and the second moving block 65 are located on opposite sides of the transmission belt 63 in the height direction, such as... Figure 7 As shown, the purpose of this design is to enable the first moving block 64 and the second moving block 65 to move in opposite directions simultaneously during the operation of the transmission belt 63, thereby enabling the suction device 2 and the bottom support device 3 to move in opposite directions simultaneously.

[0050] More preferably, in the initial state, the first moving block 64 and the second moving block 65 are located at both ends of the transmission belt 63 in the first direction x, so that during the operation of the transmission belt 63, the first moving block 64 and the second moving block 65 move stably along the first direction x on both sides of the height direction of the transmission belt 63, without one of them moving around the driving wheel 61 or the driven wheel 62 to the other side, ensuring the stability of the overall structure and realizing the suction device 2 to suck up the target box 5 and the bottom support device 3 to support the target box 5.

[0051] It should be noted that the initial state described above refers to the state when the side suction bottom support clamp 100 is not in operation. At this time, the first moving block 64 is located at the rear end of the frame 1, and the second moving block 65 is located at the front end of the frame 1. Figure 7 As shown.

[0052] In one embodiment, the frame 1 includes a first side plate 12 located at the rear end, and the drive wheel 61 is provided with a first support block 66. The first support block 66 is fixedly connected to the first side plate 12, and the drive wheel 61 is rotatably mounted on the first support block 66. Figures 5 to 7 As shown.

[0053] Preferably, the first side plate 12 is disposed at the rear end of the frame 1. The first side plate 12 can be flat or curved, etc., and the user can set it according to needs, without specific limitation. In this embodiment, the cross-section of the first side plate 12 is L-shaped. Furthermore, the first side plate 12 extends along the length direction y.

[0054] More preferably, the first support block 66 is fixed to the first side plate 12, such as the inner side, outer side, upper surface or lower surface of the first side plate 12, and its specific setting position can be set as needed, and is not specifically limited here; the first support block 66 is fixedly connected to the first side plate 12, such as by welding, bonding, bolting, etc., and is not specifically limited here; in this embodiment, the first support block 66 is fixed to the inner side of the first side plate 12.

[0055] Preferably, the drive wheel 61 is mounted on the first support block 66 so that the drive wheel 61 can rotate on the first support block 66 in order to drive the transmission belt 63.

[0056] It should be noted that the connection between the drive wheel 61 and the first support block 66 is existing technology, such as the installation of bearings between them, which will not be elaborated here.

[0057] In one embodiment, the frame 1 includes a second side plate 19 located at the front end, and the driven wheel 62 is provided with a second support block 67. The second support block 67 is fixedly connected to the second side plate 19, and the driven wheel 62 is rotatably mounted on the second support block 67. Figures 5 to 7 As shown.

[0058] Preferably, the second side plate 19 is disposed at the front end of the frame 1, the cross section of the second side plate 19 is L-shaped, and the second side plate 19 extends along the length direction y.

[0059] More preferably, the second support block 67 is fixed to the second side plate 19, and the second support block 67 is fixedly connected to the second side plate 19, such as by welding, bonding, bolting, etc. In this embodiment, the second support block 67 is fixed to the inner side surface of the second side plate 19.

[0060] More preferably, the driven wheel 62 is mounted on the second support block 67 for rotation, so that the driven wheel 62 can rotate on the second support block 67.

[0061] It should be noted that the connection between the driven wheel 62 and the second support block 67 is existing technology and will not be described in detail here.

[0062] In one embodiment, the drive device 4 includes a rotating shaft 43 located between the two transmission devices 6. The end of the rotating shaft 43 is connected to the drive wheel 61 to drive the drive wheel 61 to rotate. Figure 7 As shown.

[0063] Preferably, the rotating shaft 43 extends along the length direction y and is located at the rear end of the frame 1 so as to be connected to the transmission device 6.

[0064] More preferably, the rotating shaft 43 is disposed between the two transmission devices 6, so that the rotating shaft 43 can be connected to the transmission devices 6 on both sides at the same time, so as to drive the two transmission devices 6 to operate.

[0065] Preferably, the end of the rotating shaft 43 is connected to the driving wheel 61. For example, the rotating shaft 43 passes through the driving wheel 61 and is fixedly connected to it. The rotating shaft 43 and the driving wheel 61 are coaxially arranged so that when the rotating shaft 43 rotates, it can drive the driving wheel 61 to rotate, thereby driving the transmission belt 63 to rotate, and the driven wheel 62 to rotate accordingly.

[0066] In one embodiment, the driving device 4 further includes a driver 41 fixed to the frame 1, the driver 41 being drively connected to the rotating shaft 43, such as... Figure 7 As shown.

[0067] Preferably, the driver 41 is a rotary drive structure such as a motor, or it can be a combination of a motor and a reducer, etc., which are existing technologies and will not be described in detail here. Furthermore, the driver 41 is fixed to the frame 1, specifically: the front end of the driver 41 is fixedly connected to the second side plate 19, and the rear end of the driver 41 is fixedly connected to the first side plate 12, so as to fix the driver 41.

[0068] More preferably, the driver 41 is connected to the rotating shaft 43 in a transmission connection, so that when the output shaft of the driver 41 rotates, it drives the rotating shaft 43 to rotate accordingly, thereby driving the transmission device 6 to run, so that the suction device 2 and the bottom support device 3 can move in opposite directions at the same time.

[0069] In one embodiment, the driver 41 extends along the first direction x, such as Figures 1 to 7 As shown.

[0070] Preferably, the driver 41 extends along the first direction x and is located below the bottom support device 3, thereby reducing the space occupied above the bottom support device 3, so that the target box 5 can move backward a greater distance in order to pick up and support a larger target box 5.

[0071] More preferably, the extension of the driver 41 along the first direction x specifically means that the central axis of the driver 41 extends along the first direction x.

[0072] In one embodiment, the distances between the two transmission devices 6 and the driver 41 are the same, such as... Figure 7 As shown.

[0073] Preferably, the distance between the two transmission devices 6 and the driver 41, and the distance between the driver 41 and the two transmission devices 6, is the same, thereby ensuring that the driver 41 applies a more balanced force to the two transmission devices 6 and ensuring structural stability.

[0074] More preferably, the distance between the driver 41 and the transmission device 6 is the minimum distance between the surface of the driver 41 near the transmission device 6 and the surface of the transmission device 6 near the driver 41.

[0075] More preferably, the driver 41 extends along the first direction x, and the transmission device 6 extends along the first direction x, thereby ensuring a constant distance between the driver 41 and the transmission device 6.

[0076] In one embodiment, the driver 41 is located at the middle position of the support device 3 in the length direction y, such as... Figure 4 and Figure 5 As shown.

[0077] Preferably, the driver 41 is located in the middle of the support device 3 in the length direction y, so as to ensure that the center of gravity of the overall structure is in the middle position, which is beneficial to the stability of the structure and the stability after grabbing the target box 5.

[0078] More preferably, the driver 41 is located in the middle of the support device 3 in the length direction y, specifically: in the length direction y, the central axis of the driver 41 is collinear with the central axis of the support device 3, thereby ensuring that the centers of gravity of the two are consistent.

[0079] In one embodiment, the driving device 4 further includes a driving gear 42 disposed on the output shaft of the driver 41 and a driven gear 44 disposed on the rotating shaft 43, wherein the driving gear 42 meshes with the driven gear 44, such as... Figure 7 As shown.

[0080] Preferably, the drive gear 42 is fixed on the output shaft of the driver 41, that is, the output shaft of the driver 41 passes through the drive gear 42 and is fixedly connected to it, so that when the driver 41 drives the output shaft to rotate, it can drive the drive gear 42 to rotate.

[0081] It should be noted that, in this embodiment, the extending direction of the driver 41 is perpendicular to the extending direction of the rotating shaft 43, and the driving gear 42 is preferably a bevel gear.

[0082] More preferably, the driven gear 44 is fixed to the rotating shaft 43, that is, the rotating shaft 43 passes through the driven gear 44 and is fixedly connected to it. The central axis of the rotating shaft 43 is collinear with the central axis of the driven gear 44, so that the rotating shaft 43 is rotated by driving the driven gear 44 to rotate. The driven gear 44 is preferably a bevel gear.

[0083] Preferably, the driving gear 42 meshes with the driven gear 44 so that when the driver 41 drives the driving gear 42 to rotate, the driving gear 42 drives the driven gear 44 to rotate, which in turn drives the rotating shaft 43 to rotate, thereby realizing the driving operation of the transmission device 6.

[0084] In one embodiment, the bottom support device 3 includes two bottom supports 31, which are located on both sides in the length y direction. The first movable block 64 is fixedly connected to the bottom supports 31. Figures 4 to 7 As shown.

[0085] Preferably, the bottom support 31 is located above the frame 2 to support the target box 5.

[0086] More preferably, the base 31 can be rectangular, circular, or other geometric shapes. In this embodiment, the base 31 is trapezoidal.

[0087] Preferably, the bottom 31 is provided with two supports located on both sides in the length direction y, thereby providing support for the target box 5 from both sides in the length direction y, making the support for the target box 5 more stable and effectively preventing the target box from falling or slipping.

[0088] Preferably, the two bases 31 can have the same shape or different shapes; further, the two bases 31 can have the same size or different sizes.

[0089] More preferably, the first movable block 64 is fixedly connected to the bottom support 31.

[0090] It should be noted that the first movable block 64 and the bottom of the support 31 can be fixedly connected by welding, bolts or screws, etc.

[0091] Furthermore, the distances between the two support bases 31 and the driver 41 are equal, making the structure more stable and the force more evenly distributed. In other embodiments, the distances between the two support bases 31 and the driver 41 may be unequal, which is not specifically limited here.

[0092] In one embodiment, the frame 1 further includes a first connecting plate 14 fixed between the second side plate 19 and the first side plate 12, a first guide rail 15 fixed on the first connecting plate 14, and a first slider 16 slidably disposed on the first guide rail 15. A fixing plate 33 is fixed below the bottom of the support 31, and the fixing plate 33 is fixedly connected to the first slider 16. Figures 4 to 7 As shown.

[0093] Preferably, the first connecting plate 14 is located between the second side plate 19 and the first side plate 12. The front end of the first connecting plate 14 is fixedly connected to the second side plate 19, and the rear end of the first connecting plate 14 is fixedly connected to the first side plate 12, thereby achieving a fixed connection between the second side plate 19 and the first side plate 12. Furthermore, one, two, or more first connecting plates 14 may be provided. In this embodiment, two first connecting plates 14 are provided and located on both sides in the length direction.

[0094] More preferably, the first connecting plate 14 extends along the first direction x. Furthermore, the first connecting plate 14 can be a flat plate or a curved plate, etc.

[0095] More preferably, the first guide rail 15 is fixed to the first connecting plate 14, for example, fixed to the side of the first connecting plate 14.

[0096] Preferably, the first guide rail 15 is fixed to the first connecting plate 14, for example, fixed to the side of the first connecting plate 14.

[0097] Furthermore, the first guide rail 15 extends in the second direction, thereby enabling the bottom support 31 to move along the first guide rail 15.

[0098] Furthermore, the first slider 16 is slidably mounted on the first guide rail 15, allowing the first slider 16 to slide back and forth along the first guide rail 15, thereby driving the bottom support 31 to move in the second direction.

[0099] Furthermore, the fixing plate 33 is located below the support bottom 31 and is fixedly connected to the support bottom 31, thereby driving the support bottom 31 to move in the second direction; preferably, the fixing plate 33 extends in the second direction.

[0100] Furthermore, the fixing plate 33 is fixedly connected to the first slider 16, thereby enabling the bottom support 31 to move stably along the second direction; the first slider 16 is fixedly connected to the side of the fixing plate 33.

[0101] It should be noted that when multiple first connecting plates 14 are provided, one or more first guide rails 15 can also be provided. The number of first guide rails 15 is the same as the number of first connecting plates 14 and they correspond one-to-one.

[0102] In one embodiment, the frame 1 further includes a second connecting plate 13 fixed between the second side plate 19 and the first side plate 12, a second guide rail 17 fixed on the second connecting plate 13, and a second slider 18 slidably disposed on the second guide rail 17. The suction nozzle device 3 includes a connecting frame 24, which is fixedly connected to the second slider 18. Figures 4 to 6 As shown.

[0103] Preferably, the second connecting plate 13 is connected between the second side plate 19 and the first side plate 12 in the sea area involved in the investment, with the front end of the second connecting plate 13 fixedly connected to the second side plate 19 and the rear end of the second connecting plate 13 fixedly connected to the first side plate 12, thereby further enhancing the connection strength between the second side plate 19 and the first side plate 12.

[0104] More preferably, the second connecting plate 13 can be a flat plate or a curved plate, etc., and can be set as needed, without specific limitation here. Furthermore, the second connecting plate 13 extends along the first direction x, thereby allowing the suction nozzle device 2 to move along the first direction x. Even further, when there are two first connecting plates 14, the second connecting plate 13 is preferably disposed between the two first connecting plates 14 to achieve connection with the suction nozzle device 2.

[0105] It should be noted that: one, two or more second connecting plates 13 can be provided. When multiple second connecting plates 13 are provided, they are preferably arranged sequentially in the length direction y. In this embodiment, two second connecting plates 13 are provided.

[0106] More preferably, the second guide rail 17 extends along the first direction x. The second guide rail 17 is fixed to the side of the second connecting plate 13, or it can be fixed to the top or bottom surface of the second connecting plate 13, etc. It can be set as needed, and no specific limitation is made here.

[0107] Preferably, the second slider 18 is slidably disposed on the second guide rail 17, so that the second slider 18 moves along the first direction x on the second guide rail 17.

[0108] More preferably, the suction device 2 includes a connecting frame 24. The connecting frame 24 can be provided one or more. Furthermore, when multiple connecting frames 24 are provided, the suction device 2 also includes a connector 25 disposed between the connecting frames 24. The connector 25 is located between two adjacent connecting frames 24, and the end of the connector 25 is fixedly connected to the connecting frame 24 to enhance the stability of the connection between two adjacent connecting frames 24.

[0109] Furthermore, the lower end of the connecting frame 24 is fixedly connected to the second slider 18, thereby causing the connecting frame 24 to move along the first direction x, so as to drive the suction nozzle device 2 to move along the first direction x.

[0110] It should be noted that: such as Figures 2 to 5As shown, the suction nozzle device 2 also includes a sealing frame 21 and a suction pipe 23. The sealing frame 21 can be a cuboid, and a sealing cavity (not shown) is provided inside the sealing frame 21. The suction nozzle 22 is located at the front end of the sealing frame 21 and communicates with the interior of the sealing cavity. The suction pipe 23 is located at the rear side of the sealing frame 21. The end of the suction pipe 23 is fixed to the rear surface of the sealing frame 21 and communicates with the sealing cavity. The rear end of the suction pipe 23 is connected to a vacuum generator or other structure that draws negative pressure, so that negative pressure can be drawn into the sealing cavity, and then the target box can be adsorbed through the suction nozzle. This is existing technology and will not be described in detail here.

[0111] Furthermore, the upper end of the connecting bracket 24 is fixedly connected to the rear surface of the sealing frame 21.

[0112] In one embodiment, the front end of the base 31 is provided with a guide plate 32, and the guide plate 32 is provided with a guide surface 325 for guiding the target box 5 to slide onto the base 31. The guide surface 325 is a curved surface or an inclined surface, such as... Figure 4 , Figure 5 , Figures 8 to 12 As shown.

[0113] Preferably, the guide plate 32 extends along the length direction so as to provide stable support for the target box 5 when it slides onto the guide plate 32, and to prevent pressure concentration from damaging the guide plate 32, thereby improving the overall stability of the structure.

[0114] More preferably, the guide plate 32 is fixedly connected to the front end of the support base 31.

[0115] It should be noted that the guide plate 32 is designed so that when the suction device 2 drags the target box 5 backward and the bottom support device 3 moves forward, the bottom surface of the target box 5 can slide along the guide plate 32 to the top of the bottom support device 3. This not only guides the target box 5 but also reduces the resistance of the bottom support 31 to the target box 5, allowing the bottom support 31 to slide smoothly to the bottom of the target box 5, thus providing support for the target box 5.

[0116] Preferably, the guide surface 325 is the front surface of the guide plate 32, such as... Figure 4 As shown, the guide surface 325 is provided to guide the target box 5, so that the bottom surface of the target box 5 slides along the guide surface 325 to the top of the support device 3.

[0117] More preferably, the guide surface 325 is a smooth surface without grooves, through holes or protrusions, etc., to prevent the bottom surface of the target box 5 from being scratched when it slides on the guide surface 325.

[0118] Furthermore, the guide surface 325 is a curved surface, such as... Figure 4As shown, the curved surface bends and slopes from front to bottom and rear to top. This curved surface design makes it easier for the bottom surface of the target box 5 to slide along the guide surface 325 onto the support device 3, reducing resistance and damage to the target box 5 and resulting in a more ideal guiding effect. In other embodiments, the guide surface 325 can also be an inclined surface, i.e., a plane sloping from front to bottom and rear to top, which can also guide the target box 5, allowing it to slide across the guide surface 325 and onto the support device 3.

[0119] In one embodiment, the front end of the support base 31 has a protrusion 311, and the bottom surface of the guide plate 32 has a groove 321. The protrusion 311 is received within the groove 321 and is fixedly connected to the guide plate 32. Figures 8 to 12 As shown.

[0120] Preferably, the protrusion 311 is disposed at the front end of the support bottom 31 and is fixedly connected to the support bottom 31, such as by welding or integral molding. In this embodiment, the protrusion 311 is integrally molded with the support bottom 31.

[0121] More preferably, the protrusion 311 can be rectangular, circular, or other geometric shapes.

[0122] More preferably, the protrusion 311 can be flat, curved, or other shapes, and the user can set it according to needs, without specific limitations. In this embodiment, the protrusion 311 is flat.

[0123] Preferably, the groove 321 is disposed on the bottom surface of the guide plate 32, that is, the groove 321 is recessed inward from the bottom surface of the guide plate 32, and the shape of the groove 321 is preferably adapted to the shape of the protrusion 311 so that the protrusion 311 is received in the groove 321.

[0124] Furthermore, the protrusion 311 is received within the groove 321 and fixedly connected to the guide plate 32. For example, the protrusion 311 is welded to the guide plate 32, or several screws pass through the bottom of the protrusion 311 to achieve a fixed connection with the guide plate 32. In this case, the screws will not pass through the guide surface 325 of the guide plate 32, ensuring the smoothness of the guide surface 325.

[0125] It should be noted that the protrusion 311 is positioned below the guide plate 32, so that when the protrusion 311 is fixedly connected to the guide plate 32, it will not affect the smoothness of the guide surface 325, thus ensuring the guiding effect of the guide surface 325 on the target box 5.

[0126] In one embodiment, the fixing plate 33 is provided with a second groove 331 extending along the second direction, and a portion of the bottom support 31 is received within and fixedly connected to the second groove 331, such as...Figures 11 to 14 As shown.

[0127] Preferably, the second groove 331 is provided on the top surface of the fixing plate 33 and is located on one side in the thickness direction of the fixing plate 33, so as to receive at least a portion of the bottom of the tray 31 for fixed connection thereto.

[0128] More preferably, the second groove 331 extends along the second direction and is elongated so that the bottom of the support 31 is more fully accommodated in the second groove 331 and provides comprehensive support for the bottom of the support 31 in the second direction.

[0129] Preferably, the bottom surface of the support bottom 31 abuts against the bottom surface of the second groove 331, thereby providing stable support for the support bottom 31 through the fixing plate 33, and thus providing stable support for the target box 5.

[0130] Preferably, the second groove 331 can extend in a straight line, or in an arc or wavy line, etc., and the user can set it according to needs. No specific limitation is made here.

[0131] More preferably, after the bottom part of the support 31 is received in the second groove 331, a screw is drilled into the side of the upper end of the fixing plate 33 to achieve a fixed connection with the side of the second groove 331.

[0132] It should be noted that when the screw passes through the side of the fixing plate 33 and drills into the bottom of the support 31, it will not drill out from the upper surface of the bottom of the support 31, thus ensuring the smoothness of the upper surface of the bottom of the support 31 and preventing damage to the target box 5.

[0133] In one embodiment, a connecting portion 322 is provided below the guide plate 32, and a third groove 332 is provided at the front end of the fixing plate 33. The connecting portion 322 is at least partially received within and fixedly connected to the third groove 332. Figures 9 to 14 As shown.

[0134] Preferably, the connecting part 322 is disposed below the guide plate 32, and the connecting part 322 is fixedly connected to the guide plate 32, such as by welding or integral molding. The specific fixed connection method can be set as needed and is not specifically limited here.

[0135] Preferably, the third groove 332 is disposed at the front end of the fixing plate 33 and is located on one side in the thickness direction of the fixing plate 33, so as to accommodate the connecting part 322. The shape of the third groove 332 is adapted to the shape of the connecting part 322, so that the connecting part 322 is accommodated in the third groove 332.

[0136] Preferably, the connecting part 322 is fixedly connected to the fixing plate 33, such as by screws or bolts, or by welding or bonding. Users can set it according to their needs, and no specific limitation is made here.

[0137] It should be noted that in this embodiment, the connecting part 322 is located on one side of the fixing plate 33 in the thickness direction, so that the screw passes through the connecting part 322 from the side and drills into the fixing plate 33 to achieve a fixed connection with the fixing plate 33. This structure ensures that the screw will not drill out from the guide surface 325 of the guide plate 32, so as to ensure the smoothness of the guide surface 325.

[0138] In one embodiment, the bottom support 31 has a first side surface 313 located on the outer side and a second side surface 314 located on the inner side in the length direction y. The guide plate 32 has a third side surface 323 located on the outer side in the length direction y. The end of the first side surface 313 near the guide plate 32 is coplanar with the third side surface 323. The distance h between the first side surface 313 and the second side surface 314 varies continuously or remains constant in the first direction. Figure 14 As shown.

[0139] Preferably, the first side 313 is the outer side of the bottom support 31, and the second side 314 is the inner side of the bottom support 31 along the length direction y.

[0140] More preferably, the third side 323 is the side of the guide plate 32 located on the outer side in the length direction y.

[0141] Preferably, the end of the first side 313 near the guide plate 32 is coplanar with the third side 323, thereby preventing the end of the guide plate 32 in the length direction y from protruding from the bottom support 31 or the end of the bottom support 31 in the length direction y from protruding from the guide plate 32, so as to scrape off the binding straps on the target box 5 when the target box 5 slides onto or slides off the bottom support 31, thus achieving stable loading, unloading and support of the target box 5.

[0142] More preferably, the change in distance h between the first side 313 and the second side 314 is continuous in the first direction, thereby preventing the abrupt change in distance h from forming a step shape that would cause the target box 5 to scrape off the binding straps on the target box 5 when it slides on the bottom 31, thus ensuring its stable use and normal loading and unloading.

[0143] It should be noted that the distance h between the first side 313 and the second side 314 remains constant in the first direction, which also allows the target box 5 to slide on the bottom 31 without scraping off the binding straps on the target box 5, ensuring its stable use and normal loading and unloading.

[0144] The specific embodiments of this utility model have been described above. It should be understood that this utility model is not limited to the specific embodiments described above, and those skilled in the art can make various modifications or variations within the scope of the claims, which do not affect the substantive content of this utility model.

Claims

1. A side-suction bottom-supporting clamp for a loading and unloading robot, characterized in that, include: frame; A suction nozzle device is disposed on the frame, the suction nozzle device includes a plurality of suction nozzles, and the suction nozzle device moves along a first direction; A bottom support device, disposed on the frame and located below the suction nozzle device, is movable in a second direction, which is opposite to the first direction; The transmission device has two parts located on both sides in the length direction. The transmission device is respectively connected to the suction nozzle device and the bottom support device so that the suction nozzle device and the bottom support device move in opposite directions at the same time. A drive unit is connected to the transmission unit.

2. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 1, characterized in that, The drive unit is located between the two transmission units.

3. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 1, characterized in that, The transmission device includes a drive wheel located at the rear end of the frame, a driven wheel located at the front end of the frame, and a transmission belt sleeved between the drive wheel and the driven wheel. The transmission belt is provided with a first movable block, which is fixedly connected to the bottom support device.

4. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 3, characterized in that, The transmission belt is also provided with a second movable block, which is fixedly connected to the suction nozzle device.

5. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 4, characterized in that, The first moving block and the second moving block are respectively located on both sides of the transmission belt in the height direction, and when the transmission belt is running to the initial state, the first moving block and the second moving block are located at both ends of the transmission belt in the first direction.

6. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 5, characterized in that, The frame includes a first side plate located at the rear end, the drive wheel is provided with a first support block, the first support block is fixedly connected to the first side plate, and the drive wheel is rotatably mounted on the first support block; and / or, The frame includes a second side plate located at the front end, and the driven wheel is provided with a second support block. The second support block is fixedly connected to the second side plate, and the driven wheel is rotated on the second support block.

7. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 6, characterized in that, The drive device includes a rotating shaft located between the two transmission devices. The end of the rotating shaft is connected to the drive wheel to drive the drive wheel to rotate. The drive device also includes a driver fixed to the frame, which is connected to the rotating shaft in a transmission connection.

8. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 7, characterized in that, The driver extends along the first direction; and / or, The distances between the two transmission devices and the driver are the same; and / or, The driver is located at the middle position of the support device in the length direction.

9. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 8, characterized in that, The drive device further includes a driving gear disposed on the output shaft of the driver and a driven gear disposed on the rotating shaft, wherein the driving gear meshes with the driven gear.

10. The side-suction bottom-supporting clamp for a loading and unloading robot according to claim 9, characterized in that, The bottom support device includes two bottom supports located on both sides in the length direction, and the first movable block is fixedly connected to the bottom supports.

Images