A palletizing robot gripper

Abstract

The utility model discloses a kind of stacking robot gripper, it is related to the technical field of gripper, including mounting plate, gripping mechanism and position adjusting mechanism, quick-change disc connected with the end effector of stacking robot is equipped on mounting plate, gripping mechanism is equipped on mounting plate and is used to carry out gripping to material, position adjusting mechanism is equipped on mounting plate and is used to adjust the distance between the two clamping jaws of gripping mechanism.The present application realizes the quick adjustment of the distance between clamping jaws by position adjusting mechanism, without disassembling complex components, just need to take down bolt on sliding plate, can along slide bar sliding movement plate;Combined with the scale on fixed plate and the pointer of insertion rod end, operator can intuitively, accurately locate the distance between clamping jaws, avoid experience error, and the adjustment precision is significantly better than existing no-reference adjustment structure, the design can be adapted to different sizes of material, without replacing clamping jaw assembly, substantially improve the versatility of gripper.

Description

Technical Field

[0001] This utility model relates to the technical field of cleaning grippers, specifically to a palletizing robot gripper. Background Technology

[0002] With the increasing automation in industries such as logistics, food, and chemicals, palletizing robots are widely used in material stacking operations at the end of production lines due to their efficient and stable material handling capabilities. As the core execution component of palletizing robots, the performance of the gripper directly determines the palletizing efficiency and the safety of material handling. Currently, most palletizing robot grippers on the market use a fixed-gap gripper structure, or require disassembling multiple connectors and replacing gripper components to adjust the gripper spacing. This operation is cumbersome and time-consuming, and it is difficult to adapt to materials of different sizes, resulting in poor versatility. Some adjustable-gap grippers lack precise positioning references and rely solely on the operator's experience to judge the spacing, leading to low adjustment accuracy and easy deviations between the gripper and the material, causing problems such as unstable material gripping or damage to the material. Summary of the Invention

[0003] The purpose of this invention is to provide a palletizing robot gripper to overcome the aforementioned defects in the prior art.

[0004] A palletizing robot gripper includes a mounting plate, a gripping mechanism, and a position adjustment mechanism. The mounting plate is provided with a quick-change disc connected to the end effector of the palletizing robot. The gripping mechanism is mounted on the mounting plate and is used to grip materials. The position adjustment mechanism is mounted on the mounting plate and is used to adjust the distance between the two grippers of the gripping mechanism.

[0005] Preferably, the gripping mechanism includes a moving plate, a driving cylinder, and a clamping cylinder. The bottom of the moving plate is provided with a fixed frame, and a rotating shaft is rotatably connected to the fixed frame. Side support plates are provided at both ends of the moving plate. Each side support plate is provided with a limiting component at both ends for limiting the baffle on the rotating shaft. Several connecting plates are provided on the rotating shaft and connected to the grippers. The cylinder body of the driving cylinder is hinged to the cylinder mounting seat at the bottom of the moving plate by a pin. The piston rod end of the driving cylinder is hinged to the connecting plate on the grippers by a pin. The connecting plate is connected to the rotating shaft. The clamping cylinder is vertically disposed at the bottom of the moving plate and a pressure plate is provided at the lower end of its piston rod.

[0006] Preferably, the position adjustment mechanism includes a slide rod, a sliding plate, and a fixed plate. The sliding plate is slidably connected to the slide rod at the bottom of the mounting plate. The sliding plate is located on one side of the sliding plate and has a first strip groove thereon. The fixed plate is located at the bottom of the mounting plate and has a second strip groove thereon. The sliding plate has a bolt that passes through the first strip groove and connects to the fixed plate. The sliding plate has a rod that is inserted into the second strip groove.

[0007] Preferably, the limiting component includes a threaded post and a rubber stop. The threaded post is threadedly connected to a fixing seat on the side support plate and fixed to the fixing seat by nuts on both sides. The threaded post is connected to the rubber stop through a connecting rod.

[0008] Preferably, the fixing plate has a scale on the side of the second strip groove.

[0009] Preferably, the end of the insertion rod is provided with a pointer for pointing to the scale.

[0010] Preferably, the top of the movable plate is slidably connected to the slide rod via several sliders.

[0011] The beneficial effects achieved by this utility model are as follows: This application achieves rapid adjustment of the gripper spacing through a position adjustment mechanism. It eliminates the need to disassemble complex components; simply removing the bolts on the sliding plate allows the plate to slide along the sliding rod. Combined with the scale on the fixed plate and the pointer at the end of the insertion rod, operators can intuitively and accurately position the gripper spacing, avoiding experience-based errors. The adjustment accuracy is significantly superior to existing non-referenced adjustment structures. This design is adaptable to materials of different sizes without requiring replacement of the gripper assembly, greatly improving the gripper's versatility and reducing equipment adjustment costs and time when changing materials on the production line. Furthermore, the grippers and clamping cylinders of the gripping mechanism hold and fix the materials. Attached Figure Description

[0012] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0013] Figure 2 for Figure 1 A magnified view of a portion of point A in the middle.

[0014] Figure 3 This is a front view of the present invention.

[0015] Figure 4 This is a schematic diagram of the bottom structure of this utility model.

[0016] Figure 5 This is a schematic diagram of the gripping mechanism and position adjustment mechanism of this utility model.

[0017] Figure 6 This is a front view of the gripping mechanism and position adjustment mechanism of this utility model.

[0018] In the diagram: 1. Mounting plate; 2. Quick-change disc; 3. Gripping mechanism; 31. Gripper; 32. Moving plate; 33. Fixing frame; 34. Rotating shaft; 341. Baffle; 35. Side support plate; 36. Limiting assembly; 361. Threaded post; 362. Fixing seat; 363. Connecting rod; 364. Rubber stop; 37. Connecting plate one; 38. Drive cylinder; 381. Connecting plate two; 39. Clamping cylinder; 391. Pressure plate; 4. Position adjustment mechanism; 41. Slide rod; 42. Sliding plate; 421. Slot one; 43. Fixing plate; 431. Slot two; 432. Scale; 44. Insert rod; 441. Pointer. Detailed Implementation To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims and drawings of this application are intended to cover non-exclusive inclusion.

[0020] The term "embodiment" as used herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of the phrase "embodiment" in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0021] like Figure 1-6 As shown, this utility model provides a palletizing robot gripper, including a mounting plate 1, a gripping mechanism 3 and a position adjustment mechanism 4. The mounting plate 1 is provided with a quick-change disc 2 connected to the end effector of the palletizing robot. In addition, the gripping mechanism 3 is mounted on the mounting plate 1 and is used to grip materials. The gripping mechanism 3 includes a moving plate 32, a driving cylinder 38 and a pressing cylinder 39. The bottom of the moving plate 32 is provided with a fixed frame 33, and a rotating shaft 34 is rotatably connected to the fixed frame 33. Side support plates 35 are provided at both ends of the moving plate 32. In addition, each side support plate 35 is provided with a limiting component 36 at both ends for limiting the baffle 341 on the rotating shaft 34. The limiting component 36 includes a threaded post 361 and a rubber stop 364. The threaded post 361 is threaded to the fixing seat 362 on the side support plate 35 and fixed to the fixing seat 362 by nuts on both sides. The threaded post 361 is connected to the rubber stop 364 through a connecting rod 363. The rubber stop 364 is made of elastic material. When the baffle 341 of the rotating shaft 34 comes into contact with the rubber stop 364, the rubber can absorb the impact force. However, the rotating shaft 34 is provided with several connecting plates 37 connected to the gripper 31. The cylinder body of the driving cylinder 38 is hinged to the cylinder mounting seat at the bottom of the moving plate 32 by a pin. The piston rod end of the driving cylinder 38 is hinged to the connecting plate 381 on the gripper 31 by a pin. The connecting plate 381 is connected to the rotating shaft 34. The pressing cylinder 39 is vertically arranged at the bottom of the moving plate 32 and a pressure plate 391 is provided at the lower end of its piston rod.

[0022] In addition, the position adjustment mechanism 4 is mounted on the mounting plate 1 and is used to adjust the distance between the two grippers 31 of the gripping mechanism 3. The position adjustment mechanism 4 includes a sliding rod 41, a sliding plate 42 and a fixed plate 43. The top of the moving plate 32 is slidably connected to the sliding rod 41 at the bottom of the mounting plate 1 through several sliders. The sliding plate 42 is located on one side of the moving plate 32 and has a first strip groove 421. The fixed plate 43 is located at the bottom of the mounting plate 1 and has a second strip groove 431. The fixed plate 43 has a scale 432 on the side of the second strip groove 431. The scale 432 can intuitively display the specific distance value corresponding to the position of the gripper 31 driven by the moving plate 32. When adjusting, the worker does not need to use additional measuring tools and can directly read the distance between the two grippers 31, avoiding errors caused by adjustment based on experience. The sliding plate 42 is provided with bolts that pass through the strip groove 421 and connect to the fixed plate 43. After adjustment, tightening the bolts will fix it. There is no need to disassemble or replace parts. The operation is simple and convenient, reducing the difficulty of operation for workers and improving adjustment efficiency. The sliding plate 42 is provided with a rod 44 that is inserted into the strip groove 431. The end of the rod 44 is provided with a pointer 441 for pointing to the scale 432. The pointer 441 at the end of the rod 44 is small in size and has a clear directionality, which can accurately align with the scale line of the scale 432 and avoid errors caused by the relatively thick rod 44 itself. Detailed implementation methods and principles: When it is necessary to adjust the distance between the two grippers 31, remove the bolts on the sliding plate 42 from the sliding plate 42 and the fixed plate 43, then move the sliding plate 32 on the sliding rod 41 so that the pointer 441 on the insertion rod 44 points to the corresponding position, and then insert the bolts into the strip groove 421 of the sliding plate 42 and the fixed plate 43 to fix the sliding plate 42 and the fixed plate 43. The palletizing robot moves the gripper of this application to the material location. The piston rod of the drive cylinder 38 drives the connecting plate 381 to rotate, causing the two grippers 31 to open. The rubber stops 364 on both sides of the side support plate 35 limit the baffle 341 on the rotating shaft 34, and place the material between the two grippers 31. The piston rod of the drive cylinder 38 is controlled to move in the opposite direction, so that the two grippers 31 grasp the material. Then, the piston rod of the pressing cylinder 39 is controlled to extend, driving the pressure plate 391 to press the material between the two grippers 31. Finally, the material is transferred to the corresponding position.

[0023] The embodiments of this utility model described above do not constitute a limitation on the scope of protection of this utility model. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this utility model should be included within the scope of protection of the claims of this utility model.

Claims

1. A palletizing robot gripper, characterized in that: The device includes a mounting plate (1), a gripping mechanism (3), and a position adjustment mechanism (4). The mounting plate (1) is equipped with a quick-change disc (2) connected to the end effector of the palletizing robot. The gripping mechanism (3) is mounted on the mounting plate (1) and is used to grip materials. The position adjustment mechanism (4) is mounted on the mounting plate (1) and is used to adjust the distance between the two grippers (31) of the gripping mechanism (3).

2. The palletizing robot gripper according to claim 1, characterized in that: The gripping mechanism (3) includes a moving plate (32), a driving cylinder (38), and a clamping cylinder (39). The bottom of the moving plate (32) is provided with a fixed frame (33), and a rotating shaft (34) is rotatably connected to the fixed frame (33). Side support plates (35) are provided at both ends of the moving plate (32). Each side support plate (35) is provided with a limiting component (36) at both ends for limiting the baffle (341) on the rotating shaft (34). The rotating shaft (34) is provided with several The connecting plate 1 (37) is connected to the gripper (31). The cylinder body of the driving cylinder (38) is hinged to the cylinder mounting seat at the bottom of the moving plate (32) by a pin. The piston rod end of the driving cylinder (38) is hinged to the connecting plate 2 (381) on the gripper (31) by a pin. The connecting plate 2 (381) is connected to the rotating shaft (34). The pressing cylinder (39) is vertically arranged at the bottom of the moving plate (32) and its piston rod has a pressure plate (391) at the lower end.

3. A palletizing robot gripper according to claim 2, characterized in that: The position adjustment mechanism (4) includes a slide rod (41), a sliding plate (42) and a fixed plate (43). The movable plate (32) is slidably connected to the slide rod (41) at the bottom of the mounting plate (1). The sliding plate (42) is located on one side of the movable plate (32) and has a first strip groove (421) thereon. The fixed plate (43) is located at the bottom of the mounting plate (1) and has a second strip groove (431) thereon. The sliding plate (42) has a bolt that passes through the first strip groove (421) and connects to the fixed plate (43). The sliding plate (42) has a rod (44) that is inserted into the second strip groove (431).

4. A palletizing robot gripper according to claim 2, characterized in that: The limiting component (36) includes a threaded post (361) and a rubber stop (364). The threaded post (361) is threadedly connected to a fixing seat (362) on the side support plate (35) and fixed to the fixing seat (362) by nuts on both sides. The threaded post (361) is connected to the rubber stop (364) by a connecting rod (363).

5. A palletizing robot gripper according to claim 3, characterized in that: The fixing plate (43) has a scale (432) on the side of the strip groove (431).

6. A palletizing robot gripper according to claim 5, characterized in that: The end of the insert (44) is provided with a pointer (441) for pointing to the scale (432).

7. A palletizing robot gripper according to claim 3, characterized in that: The top of the movable plate (32) is slidably connected to the slide bar (41) by several sliders.

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