CN111775170A

CN111775170A - Mould frame pile up neatly machinery tongs

Info

Publication number: CN111775170A
Application number: CN202010743189.9A
Authority: CN
Inventors: 胡大宏; 杨刚; 周明; 陈利
Original assignee: Chengdu Kaijing Robot Co ltd
Current assignee: Chengdu Kaijing Robot Co ltd
Priority date: 2020-07-29
Filing date: 2020-07-29
Publication date: 2020-10-16

Abstract

The invention discloses a plastic frame stacking mechanical gripper, belongs to the technical field of stacking robots, and solves the problems that the existing plastic frame stacking mechanical gripper is low in detection precision and inaccurate in grabbing position, and the working efficiency of a machine is affected. The invention has accurate grabbing position, firm grabbing and high detection precision.

Description

Mould frame pile up neatly machinery tongs

Technical Field

The invention belongs to the technical field of stacking robots, and particularly relates to a mechanical gripper for plastic frame stacking.

Background

With the continuous development of economy and the rapid advance of science and technology in China, the robot has quite wide application in the industries of stacking, gluing, spot welding, arc welding, spraying, carrying, measuring and the like. The complicated packaging types, factory environment, customer requirements and the like change the stacking into a piece of bone which is difficult to gnaw in a packaging factory. To overcome these difficulties, various aspects of palletization plants are developing improvements, including from the manipulator to the software for operating it. The demand for flexibility in the market has increased and this trend has affected various aspects of packaging, no exception in the back end of the line.

The palletizing robot is a product of the organic combination of machinery and computer programs. Provides higher production efficiency for modern production. Palletizing machines have a fairly wide range of applications in the palletizing industry. The robot greatly saves labor force, saves space, and has flexible and accurate operation, high speed and high efficiency, high stability and high operation efficiency. The stacking robot occupies flexible and compact space. The idea of building a high-efficiency and energy-saving full-automatic block forming machine production line in a smaller floor area range can be realized.

A small-sized plastic basket stacking mechanical gripper is one of mechanisms integrated on an end effector of a stacking robot, has the advantages of simple structure and no influence on system lines during switching, but has the functions of gripping precision control and gripping detection, and is always a difficult problem that the equipment needs to overcome. The current mechanical gripper for plastic frame stacking is low in detection precision and inaccurate in gripping position, and the working efficiency of the machine is influenced.

Disclosure of Invention

The invention aims to:

the problem that the detection precision of the existing mechanical gripper for the plastic frame stacking machine is not high, the gripping position is inaccurate, and the working efficiency of the machine is affected is solved, and the mechanical gripper for the plastic frame stacking machine is provided.

The technical scheme adopted by the invention is as follows:

the utility model provides a mould frame pile up neatly machinery tongs, a serial communication port, including the link, the link bottom is connected with a plurality of modules that snatch, it includes the mounting panel to snatch the module, the bottom of mounting panel is connected with a plurality of jack catchs, the jack catch sets up along four side axises of mounting panel, and the bottom of jack catch is connected with colludes the claw, collude the claw and connect in the outer one side of jack catch towards the mounting panel, the jack catch all is connected with the execution cylinder, still be connected with spacing detection device on the mounting panel.

Furthermore, the limit detection devices are symmetrically provided with at least four along the side edge of the mounting plate, and each limit detection device comprises a limit block fixedly connected with the mounting plate.

Further, install spacing detection axle in the stopper, the stopper still is connected with detection switch, detection switch is the light signal detector.

Furthermore, the bottom of the limiting block is connected with a supporting head, the lower end of the limiting detection shaft penetrates through the supporting head to be connected with a contact head, a spring is connected between the contact head and the limiting block, and the limiting detection shaft is sleeved with the spring.

Furthermore, four groups of grabbing modules at the bottom of the connecting frame are sequentially arranged, and a mechanism connecting plate is arranged on the connecting frame.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

the grabbing module of the invention is provided with four-direction claws, the claws are driven by an execution cylinder to grab the plastic frame from the inside to the outside of the plastic frame and lift the plastic frame through the hooks, and the positions of the claws are positioned in gaps among glass bottles loaded in the plastic frame, compared with the stacking grabbing mechanism in the prior art, the structure of the invention realizes that the plastic frame is stably pressed from four directions at the inner side by the execution cylinder in the whole grabbing process instead of being lifted only by the gravity of the plastic frame, so that the control of the grabbing precision of the device of the invention is obviously improved, meanwhile, the invention is also provided with a limit detection device, a contact head at the bottom of the limit detection device is pressed with the top surface of the plastic frame through the elastic action of a spring, and the position detection condition of the plastic frame is fed back to an upper control system through the photoelectric signal of a detection switch, thereby further ensuring the stable and effective detection function in the grabbing process, the grabbing module is combined with the limiting detection device, so that the manipulator provided by the invention has the advantages that the grabbing position is accurate, the detection precision is high and the working efficiency is obviously improved when the plastic frame stacking operation is carried out.

Drawings

FIG. 1 is a schematic structural diagram of a plastic frame stacking manipulator of the invention when grabbing a plastic frame;

FIG. 2 is a top view of FIG. 1;

FIG. 3 is a left side view of FIG. 1;

FIG. 4 is a block diagram of a capture module according to the present invention;

FIG. 5 is a top view of the gripper module;

FIG. 6 is a view showing the structure of a position limit detecting device;

fig. 7 is a left side view of fig. 6.

The labels in the figure are: 1-connecting frame, 2-mounting plate, 3-clamping jaw, 4-hooking jaw, 5-executing cylinder, 6-limit detection device, 7-limit block, 8-limit detection shaft, 9-detection switch, 10-supporting head, 11-grabbing module, 12-contact head, 13-spring and 14-mechanism connecting plate.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

Example 1

The utility model provides a mould frame pile up neatly machinery tongs, a serial communication port, including

link

1, 1 bottom of link is connected with a plurality of modules 11 that snatch, it includes mounting panel 2 to snatch module 11, the bottom of mounting panel 2 is connected with a plurality of jack catchs 3, jack catch 3 sets up along four side axisymmetrics of mounting panel 2, the bottom of jack catch 3 is connected with colludes claw 4, collude claw 4 and connect in 3 outer one sides of mounting panel of jack catch towards mounting panel 2, jack catch 3 all is connected with execution cylinder 5, still be connected with spacing detection device 6 on the mounting panel 2.

The grabbing module 11 is internally provided with four-direction claws 3, the plastic frame is grabbed by the driving of the execution cylinder 5 from inside to outside of the plastic frame, and the plastic frame is lifted by the hook claws 4.

Example 2

On embodiment 1's basis, spacing detection device 6 is provided with four at least along mounting panel 2's side symmetry, spacing detection device 6 include with mounting panel 2 fixed connection's stopper 7, install spacing detection axle 8 in the stopper 7, stopper 7 still is connected with detection switch 9, detection switch 9 is the light signal detector, the bottom of stopper 7 is connected with and supports head 10, spacing detection axle 8's lower extreme passes and supports head 10 and be connected with contact 12, be connected with spring 13 between contact 12 and the stopper 7, spring 13 overlaps and locates on spacing detection axle 8.

The contact 12 at the bottom of the limit detection device 6 is tightly pressed with the top surface of the plastic frame through the elastic force of the spring 13, the position detection condition of the plastic frame is fed back to an upper control system through a photoelectric signal of the detection switch 9, the detection function in the grabbing process is further ensured to be stable and effective all the time, and the grabbing module 11 is combined with the limit detection device 6, so that the manipulator provided by the invention has the advantages of accurate grabbing position and high detection precision when plastic frame stacking operation is carried out, and the working efficiency is obviously improved.

Example 3

On the basis of embodiment 1, four groups of grabbing modules 11 at the bottom of the connecting frame 1 are sequentially arranged, and a mechanism connecting plate 14 is installed on the connecting frame 1.

Preferably, when four groups of grabbing modules 11 are arranged, the assembly can grab 1 to 4 plastic frames, and each grabbing module 11 corresponds to a single plastic frame; the execution cylinder 5 drives the clamping jaws 3 to outwards press four sides of the plastic frame from the inner side of the plastic frame, the plastic frame is grabbed through the hook claws 4 on the clamping jaws 3, and the positions of the clamping jaws 3 are positioned in gaps among glass bottles loaded in the plastic frame. The limit detection shaft 8 is pressed on the top surface of the plastic frame through a spring 13, and the state of the plastic frame is fed back to an upper control system through a photoelectric signal of a detection switch 9 at the upper end.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a mould frame pile up neatly machinery tongs, a serial communication port, includes link (1), link (1) bottom is connected with a plurality of modules (11) that snatch, it includes mounting panel (2) to snatch module (11), the bottom of mounting panel (2) is connected with a plurality of jack catchs (3), four side axisymmetric settings along mounting panel (2) are followed in jack catch (3), and the bottom of jack catch (3) is connected with colludes claw (4), collude claw (4) and connect in jack catch (3) towards the outer one side of mounting panel (2), jack catch (3) all are connected with execution cylinder (5), still be connected with spacing detection device (6) on mounting panel (2).

2. A mechanical gripper for plastic frame stacking according to claim 1, characterized in that at least four limit detection devices (6) are symmetrically arranged along the side of the mounting plate (2), and each limit detection device (6) comprises a limit block (7) fixedly connected with the mounting plate (2).

3. The mechanical gripper for plastic frame stacking according to claim 2, wherein a limiting detection shaft (8) is mounted in the limiting block (7), the limiting block (7) is further connected with a detection switch (9), and the detection switch (9) is an optical signal detector.

4. The mechanical gripper for plastic frame stacking according to claim 2, wherein a support head (10) is connected to the bottom of the limit block (7), a contact head (12) is connected to the lower end of the limit detection shaft (8) through the support head (10), a spring (13) is connected between the contact head (12) and the limit block (7), and the limit detection shaft (8) is sleeved with the spring (13).

5. The mechanical gripper for plastic frame stacking as claimed in claim 1, characterized in that the gripping modules (11) at the bottom of the connecting frame (1) are arranged in four groups in sequence, and a mechanism connecting plate (14) is installed on the connecting frame (1).