A food palletizing robot gripper

Abstract

The utility model discloses a kind of food stacking robot gripper, belong to stacking robot technical field, its technical key points include roof, the bottom left side of the roof is fixedly installed with cylinder one, the movable end of cylinder one is fixedly connected with paw, the front and back sides of paw are equipped with sliding assembly, the bottom right side of the roof is fixedly installed with electric push rod, the movable end of electric push rod is fixedly connected with push plate, the top of the roof is rotatably connected with two U-shaped plates by bearing seat, the other end of U-shaped plate is fixedly connected with limit push rod, the top of the roof is equipped with the drive assembly for driving U-shaped plate rotation.The utility model is set through electric push rod, push plate, U-shaped rod and limit push rod, realizes in the process of placing food box, the adjacent two sides of food box at the top corner of stack body are adhered with other food boxes, thereby avoid the gap between goods at the top corner of stack body and other goods.

Description

Technical Field

[0001] This utility model belongs to the field of palletizing robot technology, specifically relating to a gripper for a food palletizing robot. Background Technology

[0002] A palletizing robot is an industrial robot whose main function is to automatically and neatly stack goods, cartons, bags, and other products onto pallets according to a preset pattern, in order to prepare for outbound, inbound, or transportation operations. The gripper is the core execution component that enables the palletizing robot to perform its functions. It comes into direct contact with various goods and safely, stably, and efficiently completes the gripping and releasing operations of products through methods such as clamping, adsorption, or lifting.

[0003] A search revealed Chinese patent CN219771191U, which discloses a gripper for a palletizing robot. When the gripper is working, it pushes the goods out of its gripper through a pushing device, making the placed goods fit tightly together and preventing them from tilting. However, this palletizing robot gripper can only fit one side of the goods tightly with other goods; the side held by the gripper still cannot fit with other goods. This results in gaps between the goods at the top corner of the stack and other goods, which can easily lead to poor overall stability during the palletizing process. For some food packaging that requires high palletizing accuracy and stability, this is difficult to meet the actual production needs. Utility Model Content

[0004] The purpose of this invention is to provide a gripper for a food palletizing robot to solve the problem mentioned in the background art where there are gaps between goods at the top corner of the pallet and other goods.

[0005] To achieve the above objectives, this utility model provides the following technical solution: a gripper for a food palletizing robot, comprising a top plate, a cylinder fixedly installed on the bottom left side of the top plate, a gripper fixedly connected to the movable end of the cylinder, sliding components provided on the front and rear sides of the gripper, an electric push rod fixedly installed on the bottom right side of the top plate, a push plate fixedly connected to the movable end of the electric push rod, two U-shaped plates rotatably connected to the top of the top plate via bearing seats, a limit push rod fixedly connected to the other end of the U-shaped plates, and a drive component for driving the U-shaped plates to rotate on the top of the top plate.

[0006] Preferably, the drive assembly includes two self-locking geared motors fixed to the top of the top plate, and the output shafts of the two self-locking geared motors are fixedly connected to the U-shaped plate via a coupling.

[0007] Preferably, the sliding assembly includes two support plates fixedly connected to the bottom of the top plate, two guide rails fixedly installed between the two support plates, and sliders slidably connected to the outside of the two guide rails. The sliders are fixedly connected to the front and rear sides of the gripper.

[0008] Preferably, the top of the top plate is fixedly connected to a mounting plate via a connecting frame, and the top of the mounting plate has a plurality of mounting holes.

[0009] Preferably, a sliding groove is provided on the right side of the interior of the top plate, and a baffle is slidably connected inside the sliding groove. Two cylinders are fixedly installed on the left side of the baffle and at the top of the top plate, and the movable ends of the two cylinders are fixedly connected to the baffle through a connecting block.

[0010] Preferably, the outer side of the baffle is fitted to the inner wall of the chute, and limit blocks are fixedly installed on the front and rear sides of the baffle.

[0011] Preferably, the end of the claw has a bevel.

[0012] Preferably, the push plate has two sliding sleeves connected through it, and a sliding rod is slidably connected inside the sliding sleeve, with one end of the sliding rod fixedly connected to the support plate.

[0013] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model, through the setting of electric push rod, push plate, U-shaped rod and limiting push rod, realizes that during the placement of food boxes, the two adjacent sides of the food box at the top corner of the stack are fitted with other food boxes, thereby avoiding gaps between the goods at the top corner of the stack and other goods, ensuring the overall stability of the stack, and meeting the actual production needs.

[0014] 2. This utility model, by providing a second cylinder and a baffle, can block the goods during the gripping process of the food box, so that the gripper can insert into the bottom of the food box, and the baffle can cooperate with the gripper to clamp and fix the food box, ensuring the stability of the food box during the handling process.

[0015] 3. This utility model, by providing a mounting plate and mounting holes, facilitates a precise, stable, and efficient connection between the robot and the gripper, thereby ensuring that the movement of the robot body is transmitted to the end effector without damage. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention; Figure 2 This is a schematic diagram of the top structure of this utility model; Figure 3 This is a schematic diagram of the sliding component structure of this utility model.

[0017] In the diagram: 1. Top plate; 2. Cylinder 1; 3. Gripper; 4. Support plate; 5. Electric push rod; 6. Push plate; 7. Slide rod; 8. Cylinder 2; 9. Baffle; 10. Self-locking geared motor; 11. U-shaped plate; 12. Limit push rod; 13. Mounting plate; 16. Slider; 17. Guide rail. Detailed Implementation

[0018] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0019] Please see Figures 1-3 This utility model provides a gripper for a food palletizing robot. The gripper includes a top plate 1. A cylinder 2 is fixedly installed on the bottom left side of the top plate 1. A gripper 3 is fixedly connected to the movable end of the cylinder 2. Sliding components are provided on the front and rear sides of the gripper 3. An electric push rod 5 is fixedly installed on the bottom right side of the top plate 1. A push plate 6 is fixedly connected to the movable end of the electric push rod 5. Two U-shaped plates 11 are rotatably connected to the top of the top plate 1 through bearing seats. A limit push rod 12 is fixedly connected to the other end of the U-shaped plates 11. A drive component for driving the U-shaped plates 11 to rotate is provided on the top of the top plate 1. A sliding groove is opened on the inner right side of the top plate 1. A baffle 9 is slidably connected inside the sliding groove. Two cylinders 8 are fixedly installed on the left side of the baffle 9 and on the top of the top plate 1. The movable ends of the two cylinders 8 are fixedly connected to the baffle 9 through connecting blocks. The outer side of the baffle 9 fits against the inner wall of the sliding groove, and limit blocks are fixedly installed on the front and rear sides of the baffle 9.

[0020] Specifically, when grabbing the food box, cylinder 2 8 drives baffle 9 to block one side of the food box, and then cylinder 1 2 can drive the gripper 3 to insert into the bottom of the food box, and the gripper 3 can cooperate with baffle 9 to clamp and fix the food box, thus realizing the grabbing of the food box. When stacking and placing food boxes, the push plate 6 can block the food boxes and prevent them from moving with the gripper 3. At the same time, the electric push rod 5 can drive the push rod to push one side of the food box, so that the other side of the food box is closely attached to other food boxes. The drive component can drive the U-shaped plate 11 to rotate, and the U-shaped plate 11 can drive the limit push rod 12 to further push the food box to attach to other food boxes. This avoids gaps between goods at the top corner of the stack and other goods, ensuring the overall stability of the stack and meeting actual production needs. The outer side of the baffle 9 fits against the inner wall of the slide groove to guide the baffle 9, and the limiting blocks on the front and rear sides of the baffle 9 can limit the baffle 9 to prevent the baffle 9 from being pulled out of the slide groove under the drive of the cylinder 8.

[0021] It should be noted that cylinder 2 and cylinder 8 in this application are power actuators that convert the pressure energy of compressed air into mechanical energy. They can be connected to external air pipes and solenoid valves and drive the piston to perform linear reciprocating motion by controlling the gas inlet and outlet. They can be used in conjunction with magnetic switches, proximity switches or photoelectric switches to achieve precise control of the extension and retraction displacement of the cylinder piston rod. Those skilled in the art can set them according to actual needs, which will not be elaborated here. The electric push rod 5 in this application can be used with a magnetic switch, proximity switch or photoelectric switch to achieve precise control of the push rod's extension and retraction displacement. Those skilled in the art can set it according to actual needs, which will not be elaborated here.

[0022] In this embodiment, the drive assembly includes two self-locking geared motors 10 fixed to the top of the top plate 1, and the output shafts of the two self-locking geared motors 10 are fixedly connected to the U-shaped plate 11 through a coupling.

[0023] Specifically, when it is necessary to rotate the U-shaped plate 11, the self-locking geared motor 10 is started. The self-locking geared motor 10 can drive the U-shaped plate 11 to rotate through the output shaft and coupling. The U-shaped plate 11 can drive the limit push rod 12 to further push the food box.

[0024] It should be noted that the self-locking geared motor 10 is existing technology. It is a speed reduction transmission device that integrates self-locking function. Its core feature is that it achieves "reverse self-locking" through mechanical structure (such as worm gear), that is, the output shaft (load end) can only be driven to rotate by the input shaft (motor end), and the load reaction force of the output shaft cannot make the input shaft rotate in the opposite direction. Those skilled in the art can set it according to actual needs, which will not be elaborated here.

[0025] In addition, during the handling of food boxes, the control system of the palletizing robot can send the same motion command to the two self-locking geared motors 10. Since the self-locking geared motors 10 are servo motors equipped with encoders, they can form a closed loop through real-time encoder feedback to ensure that the output shafts of the two self-locking geared motors 10 rotate synchronously, so that the limit push rod 12 pushes the food box at a uniform speed. After the push is completed, the self-locking geared motors 10 stop and the limit push rod 12 realizes the position limit of the food box, further improving the stability of the food box during the gripping and handling process.

[0026] In this embodiment, the sliding assembly includes two support plates 4 fixedly connected to the bottom of the top plate 1. Two guide rails 17 are fixedly installed between the two support plates 4. A slider 16 is slidably connected to the outside of the two guide rails 17. The slider 16 is fixedly connected to the front and rear sides of the gripper 3.

[0027] Specifically, the guide rail 17 and slider 16 in the sliding assembly can guide the movement of the gripper 3, ensuring that the gripper 3 moves smoothly and accurately along the predetermined trajectory, and preventing the gripper 3 from deviating or shaking during the movement.

[0028] In this embodiment, the top of the top plate 1 is fixedly connected to the mounting plate 13 by a connecting bracket, and the top of the mounting plate 13 has a plurality of mounting holes.

[0029] Specifically, the mounting plate 13 and mounting holes facilitate precise, stable and efficient connection between the robot and the gripper, thereby ensuring that the robot's motion is transmitted to the end effector without loss.

[0030] In this embodiment, the end of the claw 3 is provided with a bevel.

[0031] Specifically, the design of the inclined surface allows the gripper 3 to fit more closely to the edge of the food box when grasping it, increasing the contact area and thus effectively dispersing the gripping force, avoiding damage to the food box due to excessive local force.

[0032] In this embodiment, two sliding sleeves are connected through the inside of the push plate 6, and a sliding rod 7 is slidably connected inside the sliding sleeve. One end of the sliding rod 7 is fixedly connected to the support plate 4.

[0033] Specifically, the cooperation between the sliding sleeve and the sliding rod 7 provides a stable guide for the movement of the push plate 6, so that the push plate 6 can move in a straight line along the direction of the sliding rod 7 when subjected to external force, without deviating or shaking.

[0034] The working principle of this utility model: When it is necessary to grab the food box, cylinder 2 8 drives the baffle 9 to block one side of the food box, and then cylinder 1 2 can drive the gripper 3 to insert into the bottom of the food box. The gripper 3 can cooperate with the baffle 9 to clamp and fix the food box, thus grabbing the food box. When stacking and placing food boxes, cylinder 2 is activated again to move gripper 3 out of the bottom of the food box. At the same time, push plate 6 can block the food box to prevent it from moving with gripper 3. Electric push rod 5 can drive push rod to push one side of the food box so that the other side of the food box is tightly attached to other food boxes and completely separated from gripper 3. Furthermore, the self-locking geared motor 10 can drive the U-shaped plate 11 to rotate through the output shaft and coupling. The U-shaped plate 11 can drive the limit push rod 12 to further push the food box to shift left and right positions and fit with other food boxes. This avoids gaps between goods at the top corner of the stack and other goods, ensuring the overall stability of the stack and meeting actual production needs.

[0035] Finally, the following points should be noted: In the description of this application, it should be noted that, unless otherwise specified and limited, the terms "installation", "connection" and "linkage" should be interpreted broadly, and can be mechanical or electrical connection, or internal connection between two components, or direct connection. "Up", "down", "left", "right", etc. are only used to indicate relative positional relationship. When the absolute position of the described object changes, the relative positional relationship may change. The electronic components and modules used in this utility model can all be parts that are commonly used in the market and can achieve the specific functions in this case. The specific models and sizes can be selected and adjusted according to actual needs. The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of this utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. A gripper for a food palletizing robot, comprising a top plate (1), characterized in that: A cylinder (2) is fixedly installed on the bottom left side of the top plate (1). A gripper (3) is fixedly connected to the movable end of the cylinder (2). Sliding components are provided on the front and rear sides of the gripper (3). An electric push rod (5) is fixedly installed on the bottom right side of the top plate (1). A push plate (6) is fixedly connected to the movable end of the electric push rod (5). Two U-shaped plates (11) are rotatably connected to the top of the top plate (1) through a bearing seat. A limit push rod (12) is fixedly connected to the other end of the U-shaped plate (11). A drive component for driving the U-shaped plate (11) to rotate is provided on the top of the top plate (1).

2. The gripper for a food palletizing robot according to claim 1, characterized in that: The drive assembly includes two self-locking geared motors (10) fixed to the top of the top plate (1), and the output shafts of the two self-locking geared motors (10) are fixedly connected to the U-shaped plate (11) by a coupling.

3. The gripper for a food palletizing robot according to claim 1, characterized in that: The sliding assembly includes two support plates (4) fixedly connected to the bottom of the top plate (1), two guide rails (17) fixedly installed between the two support plates (4), and sliders (16) slidably connected to the outside of the two guide rails (17). The sliders (16) are fixedly connected to the front and rear sides of the gripper (3).

4. The gripper for a food palletizing robot according to claim 1, characterized in that: The top of the top plate (1) is fixedly connected to the mounting plate (13) by a connecting frame, and the top of the mounting plate (13) has several mounting holes.

5. The gripper for a food palletizing robot according to claim 1, characterized in that: The top plate (1) has a sliding groove on the right side inside, and a baffle (9) is slidably connected inside the sliding groove. Two cylinders (8) are fixedly installed on the left side of the baffle (9) and at the top of the top plate (1). The movable ends of the two cylinders (8) are fixedly connected to the baffle (9) through a connecting block.

6. The gripper for a food palletizing robot according to claim 5, characterized in that: The outer side of the baffle (9) is in contact with the inner wall of the chute, and limit blocks are fixedly installed on the front and rear sides of the baffle (9).

7. The gripper for a food palletizing robot according to claim 1, characterized in that: The end of the claw (3) is provided with a bevel.

8. The gripper for a food palletizing robot according to claim 1, characterized in that: The push plate (6) has two sliding sleeves connected through it, and a sliding rod (7) is slidably connected inside the sliding sleeve. One end of the sliding rod (7) is fixedly connected to the support plate (4).

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