A sorting rack suitable for multi-directional gripping by a robot hand
Patent Information
- Application Number
- CN202522347203.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2025-11-04
- Publication Date
- 2026-10-16
- Estimated Expiration
- 2035-11-04
AI Technical Summary
当固定夹板与滑动夹板之间所码放物品替换为小包装卫生用品时，机械手无法从理料架的两侧将小包装生用品进行抓取
[0016]Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model proposes a material sorting rack suitable for multi-directional grasping by a robotic arm. The main body of the material sorting rack is formed by assembling a base frame, a fixed clamp, and a movable clamp. The fixed clamp and the movable clamp are composed of a base plate and several clamping plates. A gap space is reserved between each pair of adjacent clamping plates, so that when several large packages of hygiene products are placed in the material sorting cavity, the robotic arm can clamp them from both sides of the material sorting cavity. When several small packages of hygiene products are placed in the material sorting cavity, the robotic arm can enter through the gap space and clamp them from both ends of the material sorting cavity, realizing multi-directional grasping by the robotic arm. This allows the robotic arm to clamp and transfer both large and small packages of hygiene products, making it more widely applicable.
Smart Images
Figure CN224857225U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of hygiene product sorting equipment technology, and in particular to a sorting rack suitable for multi-directional grasping by a robotic arm. Background Technology
[0002] Currently, common disposable hygiene products include sanitary napkins, diapers, tissues, and wet wipes. These products are widely used, leading to numerous improvements in both the products themselves and their packaging. The packaging of disposable hygiene products after manufacturing generally falls into two categories: bagging and boxing. Bagging includes individual packaging and bulk packaging after individual packaging. For example, multiple products are packaged in small individual bags to prevent contamination or moisture and to ensure individual sale and use. These smaller packages are then bundled together to form a larger package for sale. Boxing after bagging facilitates subsequent transportation.
[0003] Before boxing, packaged hygiene products are conveyed to a sorting rack for clamping and stacking. Then, a robotic arm picks up the stacked products from the sorting rack and conveys them to the boxing equipment for packaging. Existing sorting racks typically have fixed clamps at both ends to hold the packaged products, and sliding clamps that can move relative to these clamps. The stacked products are held between the fixed and sliding clamps. This type of rack is suitable for large packages of hygiene products, and the robotic arm can only pick up large packages from the sides of the rack. When the items stacked between the fixed and sliding clamps are replaced with small packages of hygiene products, the robotic arm cannot pick up the small packages from the sides of the rack. Utility Model Content
[0004] The purpose of this invention is to provide a material handling rack suitable for multi-directional grasping by robotic arms.
[0005] To achieve the above objectives, this utility model provides the following technical solution:
[0006] A material handling rack suitable for multi-directional grasping by a robotic arm is installed at the output position of a conveying device and includes a material handling rack body. The material handling rack body includes a base frame, a fixed clamp, and a movable clamp. A linear module is provided inside the base frame. The fixed clamp is fixedly mounted on one end of the base frame adjacent to the conveying device. The movable clamp is mounted on the drive end of the linear module and can move forward and backward relative to the fixed clamp under the drive of the linear module. A material handling cavity is formed between the movable clamp and the fixed clamp. Both the fixed clamp and the movable clamp include a base plate and several clamping plates arranged in a straight line on the top surface of the base plate, with a gap space reserved between each pair of adjacent clamping plates.
[0007] As a further technical solution of this utility model: the material handling rack suitable for multi-directional grasping by a robotic arm includes a support base and a swing drive mechanism installed in the support base. The bottom frame is arranged on the top of the support base and can swing towards the conveying device under the drive of the swing drive mechanism. It forms a receiving position with the material handling cavity facing the conveying device and an output position with the material handling cavity facing upward along the swing path.
[0008] As a further technical solution of this utility model: each clamping plate of the fixed clamping frame corresponds to one clamping plate of the movable clamping frame.
[0009] As a further technical solution of this utility model: the fixed clamp and the movable clamp have a stop section on the same side, and the clamp plate located in the stop section has a sliding groove on the side facing the material feeding cavity; the fixed clamp and the movable clamp are detachably installed with a baffle plate through the sliding groove, so as to block one side of the material feeding cavity.
[0010] As a further technical solution of this utility model: the clamping plate located in the stop section has a locking hole connected to the slide groove on the side away from the material feeding chamber, so that after the baffle plate slides along the slide groove to the preset position of the stop section, a bolt is inserted from the locking hole of the clamping plate located at that position to screw the baffle plate in place.
[0011] As a further technical solution of this utility model: the baffle plate is formed with a long slider that matches the chute and a baffle body connected to the side of the long slider facing the material feeding chamber.
[0012] As a further technical solution of this utility model: the length of the long slider is greater than the width of the gap space.
[0013] As a further technical solution of this utility model: both the fixed clamp and the movable clamp have a fixing groove on the side of the clamp plate away from the material feeding cavity, and the fixing rod is installed in the fixing groove.
[0014] As a further technical solution of this utility model: the clamping plate has a number of openings that pass through both sides of it.
[0015] As a further technical solution of this utility model: the bottom frame includes a square frame, a base plate arranged along the central axis inside the square frame, and a reinforcing plate connecting the bottom surface of the base plate with the two side frames of the square frame.
[0016] Compared with the prior art, the beneficial effects of this utility model are as follows: This utility model proposes a material sorting rack suitable for multi-directional grasping by a robotic arm. The main body of the material sorting rack is formed by assembling a base frame, a fixed clamp, and a movable clamp. The fixed clamp and the movable clamp are composed of a base plate and several clamping plates. A gap space is reserved between each pair of adjacent clamping plates, so that when several large packages of hygiene products are placed in the material sorting cavity, the robotic arm can clamp them from both sides of the material sorting cavity. When several small packages of hygiene products are placed in the material sorting cavity, the robotic arm can enter through the gap space and clamp them from both ends of the material sorting cavity, realizing multi-directional grasping by the robotic arm. This allows the robotic arm to clamp and transfer both large and small packages of hygiene products, making it more widely applicable. Attached Figure Description
[0017] Figure 1 This is a schematic diagram of the installation of a material handling rack suitable for multi-directional grasping by a robotic arm at the output position of a conveying device.
[0018] Figure 2 This is a comparison diagram of the material handling rack, which is suitable for multi-directional grasping by robotic arms, rotating to the receiving position and the discharging position.
[0019] Figure 3 This is a first-person view diagram of a material handling rack suitable for multi-directional grasping by a robotic arm.
[0020] Figure 4 This is a second-view schematic diagram of a material handling rack suitable for multi-directional grasping by a robotic arm.
[0021] Figure 5 for Figure 4 A magnified view of a portion of the image.
[0022] Figure 6 This is a cross-sectional view of a material handling rack suitable for multi-directional gripping by a robotic arm.
[0023] Figure 7 This is a schematic diagram of the baffle.
[0024] Figure 8 This is a schematic diagram of the clamping plate for the gear shift section. Detailed Implementation
[0025] The specific embodiments of this utility model will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit the scope of protection of this utility model.
[0026] Please see Figure 1 , Figure 2A material handling rack suitable for multi-directional grasping by a robotic arm is installed at the output position 102 of a conveying device 101. It includes a support base 10, a material handling rack body 20 installed on the top of the support base 10, and a swing drive mechanism 30 installed in the support base 10. The material handling rack body 20 is provided with a material handling cavity 201. The material handling rack body 20 can swing towards the conveying device 101 under the drive of the swing drive mechanism 30, and form a receiving position 103 with the material handling cavity 201 facing the conveying device 101 and a discharging position 104 with the material handling cavity 201 facing upward along the swing path.
[0027] See also Figure 3 , Figure 4 The material handling rack body 20 includes a base frame 21, a fixed clamp 22, and a movable clamp 23. The base frame 21 is rotatable towards the conveying device 101 and is mounted on the top of the support base 10. A linear module 24 is arranged along the central axis or parallel to the central axis inside the base frame 21. The fixed clamp 22 is fixedly mounted on one end of the base frame 21 near the conveying device 101. The movable clamp 23 is mounted on the drive end of the linear module 24 and can move forward and backward relative to the fixed clamp 22 under the drive of the linear module 24, so that the material handling cavity 201 is formed between the movable clamp 23 and the fixed clamp 22.
[0028] See also Figure 5 Both the fixed clamp 22 and the movable clamp 23 include a base plate 41 and several clamping plates 42 arranged in a straight line on the top surface of the base plate 41. A gap space 401 is reserved between each pair of adjacent clamping plates 42, and each clamping plate 42 of the fixed clamp 22 corresponds to a clamping plate 42 of the movable clamp 23.
[0029] Understandably, the method of using a material handling rack suitable for multi-directional gripping by a robotic arm, as described in this utility model, includes the following steps: First, the main body 20 of the material handling rack swings to the receiving position 103 under the drive of the swing drive mechanism 30. The packaged product is input from the conveying device 101 into the material handling cavity 201. The fixed clamp 22 supports the packaged product. Subsequently, the linear module 24 drives the movable clamp 23 to move towards the fixed clamp 22, narrowing the material handling cavity 201, so that the clamping plates 42 of the fixed clamp 22 and the movable clamp 23 clamp the packaged product. In the second step, the main body 20 of the sorting rack swings to the discharge position 104 under the drive of the swing drive mechanism 30. When the packaged item is a large package of hygiene products, the robot can clamp it from both sides of the sorting cavity 201. When the packaged item is a small package of hygiene products, the robot can enter through the gap space 401 and clamp it from both ends of the sorting cavity 201. After the robot completes the clamping, the linear module 24 drives the movable clamp 23 to move away from the fixed clamp 22 and remove the packaged product from the sorting cavity 201.
[0030] For further details, please refer to Figure 5In this embodiment, the fixed clamp 22 and the movable clamp 23 have a stop section 402 on the same side. The clamp 42 located in the stop section 402 has a sliding groove 421 on the side facing the material handling cavity 201. The fixed clamp 22 and the movable clamp 23 are detachably installed with a baffle 43 through the sliding groove 421. The baffle 43 blocks one side of the material handling cavity 201 and is suitable for packaging products of different specifications.
[0031] Furthermore, in conjunction with reference Figure 8 In this embodiment, the clamping plate 42 located in the stop section 402 has a locking hole 422 on the side away from the material handling chamber 201 that connects to the slide groove 421. After the baffle plate 43 slides along the slide groove 421 to the preset position of the stop section 402, a bolt is inserted through the locking hole 422 of the clamping plate 42 located at that position to press and fix the baffle plate 43.
[0032] Furthermore, in conjunction with reference Figure 7 In this embodiment, the baffle plate 43 is formed with a long slider 431 that matches the slide groove 421 and a baffle body 432 connected to the side of the long slider 431 facing the material handling chamber 201; the length of the long slider 431 is greater than the width of the gap space 401 to prevent the long slider 431 from falling out during the sliding process.
[0033] Furthermore, in this embodiment, the groove 421 and the long slider 431 are convex in shape.
[0034] Furthermore, in this embodiment, please refer to Figure 3 , Figure 4 and Figure 6 Both the fixed clamp 22 and the movable clamp 23 have a fixed groove 423 on the side of the clamping plate 42 away from the material handling chamber 201. By installing a number of fixed rods 44 into the fixed groove 423, the stability of the fixed clamp 22 and the movable clamp 23 is improved.
[0035] Furthermore, in this embodiment, a plurality of fixing holes 441 are provided at intervals on the fixing rod 44; the clamping plate 42 is provided with connecting holes 424 corresponding to the fixing holes 441 in the fixing groove 423, so that bolts can be inserted into the fixing holes 441 and the connecting holes 424 to fix the fixing rod 44.
[0036] Furthermore, in this embodiment, the clamping plate 42 has several openings 425 that pass through both sides of it to reduce weight, so that the material handling rack body 20 can swing towards the conveying device 101 under the drive of the swing drive mechanism 30.
[0037] Furthermore, in this embodiment, the substrate 41 has mounting holes at the mounting positions of each clamp 42, and the clamp 42 is fixed on the substrate 41 by inserting bolts through the mounting holes and the bottom of the clamp 42.
[0038] Furthermore, in this embodiment, the bottom frame 21 includes a square frame 211, a base plate 212 arranged along the central axis inside the square frame 211, and a reinforcing plate 213 connecting the bottom surface of the base plate 212 with the two side frames of the square frame 211; the square frame 211 is hinged to the top of the support base 10 with the two side frames; the straight module 24 is arranged on the base plate 212; the fixed clamp 22 has two connecting seats 221 opposite each other at the bottom, and the two connecting seats 221 are connected to the inner two sides of the square frame 211 near the end of the conveying device 101.
[0039] Furthermore, in this embodiment, the swing drive mechanism 30 adopts a lifting structure that is hinged to the bottom frame 21.
[0040] In summary, the material handling rack of this utility model, suitable for multi-directional grasping by a robotic arm, is assembled into a material handling rack body 20 by a base frame 21, a fixed clamp 22, and a movable clamp 23. The fixed clamp 22 and the movable clamp 23 are composed of a base plate 41 and several clamping plates 42. A gap space 401 is reserved between each pair of adjacent clamping plates 42, so that when several large packages of hygiene products are placed in the material handling cavity 201, the robotic arm can clamp them from both sides of the material handling cavity 201, and when several small packages of hygiene products are placed in the material handling cavity 201, the robotic arm can clamp them from both ends of the material handling cavity 201 through the gap space 401, realizing multi-directional grasping by the robotic arm. This allows the robotic arm to clamp and transfer both large and small packages of hygiene products, and has a wider range of applications.
[0041] Any combination of different embodiments of this utility model, provided it does not violate the inventive concept of this utility model, shall be considered as the disclosure of this utility model; any simple modifications to the technical solution and any combination of different embodiments within the scope of the inventive concept of this utility model, without violating the inventive concept of this utility model, shall be within the protection scope of this utility model.
Claims
1. A material handling rack suitable for multi-directional grasping by a robotic arm, installed at the output position (102) of a conveying device (101), characterized in that: The system includes a material handling rack body (20); the material handling rack body (20) includes a bottom frame (21), a fixed clamp (22) and a movable clamp (23); a linear module (24) is provided inside the bottom frame (21); the fixed clamp (22) is fixed on one end of the bottom frame (21) near the conveying device (101); the movable clamp (23) is set on the driving end of the linear module (24) and can move forward and backward relative to the fixed clamp (22) under the drive of the linear module (24); a material handling cavity (201) is formed between the movable clamp (23) and the fixed clamp (22); both the fixed clamp (22) and the movable clamp (23) include a base plate (41) and several clamping plates (42) arranged in a straight line on the top surface of the base plate (41), and a gap space (401) is reserved between each two adjacent clamping plates (42).
2. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 1, characterized in that: Includes a support base (10) and a swing drive mechanism (30) installed in the support base (10). The bottom frame (21) is located on the top of the support base (10) and can swing towards the conveying device (101). It can swing towards the conveying device (101) under the drive of the swing drive mechanism (30), and forms a receiving position (103) with the material handling chamber (201) facing the conveying device (101) and a discharge position (104) with the material handling chamber (201) facing upward along the swing path.
3. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 1, characterized in that: Each clamp (42) of the fixed clamp (22) corresponds to a clamp (42) of the movable clamp (23).
4. The material handling rack suitable for multi-directional grasping by a robotic arm according to claim 1, characterized in that: The fixed clamp (22) and the movable clamp (23) have a stop section (402) on the same side. The clamp plate (42) located in the stop section (402) has a sliding groove (421) on the side facing the material handling cavity (201). The fixed clamp (22) and the movable clamp (23) are detachably installed with a baffle plate (43) through the sliding groove (421) so as to block one side of the material handling cavity (201).
5. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 4, characterized in that: The clamping plate (42) located in the stop section (402) has a locking hole (422) on the side away from the material handling chamber (201) that connects to the slide groove (421). After the baffle plate (43) slides along the slide groove (421) to the preset position of the stop section (402), a bolt is inserted from the locking hole (422) of the clamping plate (42) located at that position to screw the baffle plate (43) in place.
6. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 5, characterized in that: The baffle (43) has a long slider (431) that matches the slide (421) and a baffle body (432) connected to the side of the long slider (431) facing the material handling chamber (201).
7. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 6, characterized in that: The length of the long slider (431) is greater than the width of the gap space (401).
8. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 1, characterized in that: Both the fixed clamp (22) and the movable clamp (23) have a fixed groove (423) on the side of the clamp plate (42) away from the material handling chamber (201) for installing the fixing rod (44).
9. The material handling rack suitable for multi-directional gripping by a robotic arm according to claim 1, characterized in that: The clamp (42) has several openings (425) that pass through its two sides.
10. The material handling rack suitable for multi-directional grasping by a robotic arm according to claim 1, characterized in that: The bottom frame (21) includes a square frame (211), a base plate (212) arranged along the central axis inside the square frame (211), and a reinforcing plate (213) connecting the bottom surface of the base plate (212) with the two side frames of the square frame (211).