CN117699129A - Clamping jaw of box-entering robot, robot and clamping method - Google Patents

Abstract

The invention provides an improved clamping mechanism capable of realizing grabbing and automatic box loading, which simultaneously has the performance of work stack unstacking operation, correspondingly improves the automation level of a production line and maximizes the carrying capacity of conveying equipment such as AGVs, thereby achieving the purposes of effectively improving the box loading operation efficiency and accuracy of the clamping mechanism and the robot applying the clamping mechanism, optimizing carrying, grabbing and box loading continuous operation control and realizing intelligentization of flow control. The clamping jaw of the box entering robot comprises an upper frame assembly, wherein a group of thrust assemblies and a front blocking assembly, a group of left clamping jaw assemblies and a group of right clamping jaw assemblies are respectively arranged on the upper frame assembly in a vertical cross manner along the horizontal direction; the push component and the front blocking component clamp and position the proposed product from two sides along the linear direction, and the left clamping jaw component and the right clamping jaw component clamp and transfer the appointed product from two sides along the linear direction.

Description

Clamping jaw of box-entering robot, robot and clamping method

Technical Field

The invention relates to a box feeding robot clamping jaw for intelligent operation of clamping products into boxes and unstacking a material frame, a robot and a clamping method using the robot, and belongs to the field of logistics conveying and automatic control.

Background

The existing electronic commerce and express industry use various automatic package collecting and conveying equipment on the package conveying site to cooperate with operators to implement operations of small package packing, unpacking and stacking and concentrated unpacking, the processing capacity and the operation efficiency of bulk goods are high, and the operation pressure of an operation end robot or a manipulator is obviously increased.

At present, the box entering process of the new energy storage battery pack production line still adopts a mode of manually controlling a forklift to enter a box, so that the efficiency is low, the improvement of the automation level of the production line is not facilitated due to higher operation cost, and the assembly process needs to gradually change the operation mode of the semi-automatic production line matched with the mechanical clamping jaw. Under the technical background, the existing mechanical clamping jaw is difficult to adapt to the use requirement, particularly difficult to achieve the fine operation in the process of grabbing and automatically feeding the battery packs into the box, and meanwhile, the capability of coping with the disassembly and stacking of the material rack is not achieved. The clamping force is difficult to accurately adjust during batch box feeding operation, the box body is easy to damage, and the box feeding space positioning accuracy is not high.

In view of this, the present patent application is specifically filed.

Disclosure of Invention

The invention provides a clamping jaw of a box feeding robot, a robot and a clamping method, and aims to solve the problems in the prior art, and provides an improved clamping mechanism capable of realizing grabbing and automatic box feeding.

The clamping jaw of the box-entering robot comprises an upper frame assembly, wherein a group of thrust assemblies and a front blocking assembly, a group of left clamping jaw assemblies and a group of right clamping jaw assemblies are respectively arranged on the upper frame assembly, and the thrust assemblies and the front blocking assemblies are vertically and crosswise distributed along the horizontal direction; the pushing component and the front blocking component clamp and position the proposed product from two sides along the linear direction, and the left clamping jaw component and the right clamping jaw component clamp and transfer the appointed product from two sides along the linear direction; the left clamping jaw assembly and the right clamping jaw assembly have the same structure and are symmetrically distributed along the two sides of the upper frame assembly; the left clamping jaw assembly comprises a clamping jaw support, a second sliding block which is used for being connected with the upper frame assembly in a sliding mode is arranged at the top of the clamping jaw support, and a group of guide wheel assemblies, roller bars and floating connectors which are used for being connected with a driving device on the upper frame assembly are respectively connected to the side parts of the clamping jaw support.

Further, the clamping jaw support is connected with the material rack grabbing component through a supporting leg extending outwards, the material rack grabbing component comprises a second air cylinder, the output end of the second air cylinder is connected to one end of a second clamping arm in a driving mode, and a gasket made of soft materials is arranged at the other end of the second clamping arm.

Further, the guide wheel assembly is provided with a plurality of groups of guide wheel groups which are sequentially arranged along a straight line, and each group of guide wheel groups is connected to the side part of the clamping jaw bracket through at least 1 group of second guide shafts and second linear bearings in a penetrating manner.

Further, the roller bar is provided with a plurality of groups of roller groups which are sequentially arranged along a straight line, and the contact surface of each roller is vertically upwards distributed.

Further, the upper frame assembly comprises a group of welding frames formed by splicing sectional materials, a flange plate used for connecting the tail ends of the six-axis robot operation parts is fixedly arranged at the top of each welding frame, and a first linear guide rail and a second linear guide rail are vertically and mutually vertically crossed and arranged at the bottom of each welding frame; the side part of the welding frame is respectively connected with two groups of side pushing cylinders, a servo motor and a speed reducer which respectively drive the left clamping jaw assembly and the right clamping jaw assembly, and a screw rod which is axially and drivingly connected by the servo motor and the speed reducer through a coupler.

Further, a Y-shaped joint 52 is connected between the two sets of driving air paths of the side pushing cylinders 12 of the left clamping jaw assembly 9 and the right clamping jaw assembly 10, and the two driving air paths are communicated in the same pneumatic pipeline.

Further, the thrust component and the front blocking component are arranged at two ends of the first linear guide rail along the X axis or the Y axis of the upper frame component, the thrust component comprises a push plate support, a first sliding block which is connected to the first linear guide rail in a sliding manner is arranged at the top of the push plate support, and a screw rod nut which is sleeved on the screw rod along the axial direction.

Further, the front blocking assembly comprises a first air cylinder arranged on the upper frame assembly, the output end of the first air cylinder is in driving connection with one end of the first clamping arm, and the other end of the first clamping arm is provided with a liner made of soft materials.

Based on the structural design of the box-entering robot clamping jaw, the application simultaneously provides a novel robot which comprises a six-axis robot operating part which slides on a ground rail, wherein the box-entering robot clamping jaw which is structurally designed is connected with the tail end of the six-axis robot operating part, and an air source component which is connected with one side of the ground rail and used for providing pneumatic conveying for the box-entering robot clamping jaw is arranged on one side of the ground rail.

Based on the structural design of the clamping jaw of the box-entering robot and the robot, the application simultaneously provides the following robot clamping method: the six-axis robot operation part conveys clamping jaws of the box-entering robot to the vertical upper part of a station to be clamped of the material taking station along the ground rail;

the second code scanning gun positioned on the upper frame assembly scans the bar codes on the surface of the appointed product, if the bar codes are successfully identified, the subsequent operation is executed, and if the bar codes are not successfully identified, the subsequent operation is alarmed to be interfered by manual operation;

the two groups of side pushing cylinders respectively drive the left clamping jaw assembly and the right clamping jaw assembly to clamp a specified product in place along the middle of the two lateral directions;

the six-axis robot operation part vertically lifts the clamping jaw of the box-entering robot until the roller strips of the left clamping jaw assembly and the right clamping jaw assembly are contacted with the bottom of the appointed product;

the thrust component pushes the appointed product from the front under the drive of the servo motor, and the appointed product is respectively and linearly slid on the roller bars until the appointed product is contacted with the gasket of the front blocking component;

in the process of clamping and executing the subsequent box loading operation, the appointed product is always simultaneously blocked and limited by the thrust component and the front blocking component in the front-back direction and is clamped and driven by the left clamping jaw component and the right clamping jaw component in the left-right direction;

the clamping jaw of the box-entering robot clamps the appointed product to finish the box-entering operation.

In summary, the clamping jaw of the box-entering robot, the robot and the clamping method have the advantages that:

1. the automatic feeding device can be suitable for conveying various feeding modes including AGV, the clamping jaw can accurately and rapidly carry out small packing box grabbing and box loading operation, and the stacking and disassembling function is realized aiming at the feeding material rack, so that the feeding material box loading operation is obviously promoted once by maximally utilizing the existing conveying capacity, the overall operation efficiency is higher, and the production cost is lower; 2. the clamping jaw provided by the application is provided with the grabbing visual guide device, and the 2D camera can quickly capture the incoming material gesture of the small packing box, so that the clamping jaw has the performances of randomly adjusting the gesture of the clamping jaw and quickly and accurately grabbing, and is beneficial to improving the clamping efficiency and protecting the packing box from being damaged;

3. the clamping jaw that this application provided possesses cluster frame vision guide setting, can shoot fast with the coordinate point of placing of each layer of location cluster frame through the 3D camera to realize that the smallclothes packing box is more-accurately to enter the case location, it is higher to once enter the case success rate, reaches full automatization's intelligent operation requirement.

4. The clamping jaw that this application provided has the function of breaking a jam of coming work or material rest concurrently, is favorable to promoting the conveying ability such as handling equipment such as AGV, promotes the holistic transport operating efficiency of packaging production line effectively.

Drawings

The invention will now be further described with reference to the following drawings.

FIG. 1 is a schematic illustration of a robot employing the in-box robot gripper described herein;

FIG. 2-1 is a schematic plan view of a cartoning robotic gripper as described herein;

FIG. 2-2 is an isometric view of the jaws of the in-box robot;

FIGS. 2-3 are side schematic views of the jaws of the in-box robot;

FIG. 3-1 is a schematic plan view of the upper frame assembly;

FIG. 3-2 is an isometric view of the upper frame assembly;

FIG. 4-1 is a side view of a thrust assembly;

FIG. 4-2 is a top view of the thrust assembly;

FIG. 5-1 is a front view of the front barrier assembly;

FIG. 5-2 is a side view of the front barrier assembly;

FIG. 6-1 is a front view of the left jaw assembly;

FIG. 6-2 is a side view of the left jaw assembly;

FIG. 7-1 is a front view of a rack grabbing assembly;

FIG. 7-2 is a side view of the rack gripping assembly;

FIG. 8-1 is a top view of the guide wheel assembly;

FIG. 8-2 is a front view of the guide wheel assembly;

FIG. 9-1 is a front view of the right jaw assembly;

FIG. 9-2 is a side view of the right jaw assembly;

FIG. 10-1 is a schematic forward view of a reclaimer station assembly employing a robot as described herein for performing a grab and box operation;

FIG. 10-2 is a schematic plan view of the structure shown in FIG. 10-1;

FIG. 11-1 is a side view of a left guide mechanism of the reclaimer station assembly;

FIG. 11-2 is a front view of the structure shown in FIG. 11-1;

in the drawings, a 1-ground rail, a 2-six-axis robot operation part, a 3-box-in robot clamping jaw, a 4-base and a 5-air source assembly are arranged;

6-upper frame assembly, 7-thrust assembly, 8-front blocking assembly, 9-left clamping jaw assembly, 10-right clamping jaw assembly;

the device comprises a welding frame, a 12-side pushing cylinder, a 13-speed reducer mounting plate, a 14-servo motor, a 15-speed reducer, a 16-2D camera, a 17-2D camera mounting plate, a 18-3D camera, a 19-coupler, a 20-first bar, a 21-flange plate, a 22-screw rod, a 23-first linear guide rail, a 24-second linear guide rail, a 25-screw support, a 26-first slider, a 27-push plate support, a 28-pressure sensor, a 29-first guide shaft, a 30-push plate, a 31-first linear bearing, a 32-screw nut, a 33-cylinder mounting seat, a 34-first cylinder, a 35-cushion, a 34-1-first clamping arm, a 36-clamping jaw support, a 37-second slider, a 38-guide wheel assembly, a 39-material frame grabbing assembly, a 40-roller bar, a 41-leg, a 42-second guide shaft, a 43-guide wheel assembly, a 44-second linear bearing, a 45-silicon rubber pad, a 46-second cylinder, a 46-1-second clamping arm, a 47-floating joint, a 48-floating joint, a 49-second bar, a 49-fixing axis, a 50-fixed axis, a Y-bar, and a 51-type joint;

53-material taking station left guide assembly, 54-material taking station right guide assembly, 55-battery pack, 56-material rack, 57-AGV trolley, 58-welding bracket, 59-roller and 60-installation base.

Detailed Description

Embodiment 1, as shown in fig. 1 to 9-2, the present application proposes a novel robot applicable to the in-box operation process of a new energy storage battery pack production line, the robot includes a six-axis robot operation part 2 running on a ground rail 1 in a sliding manner through a base 4, an in-box robot clamping jaw 3 for battery pack grabbing and in-box operation is connected to the end of the six-axis robot operation part 2, and an air source assembly 5 connected to one side of the ground rail 1 and used for providing pneumatic conveying for the in-box robot clamping jaw 3 is provided.

For achieving the purpose of the invention, the box-in robot clamping jaw 3 comprises an upper frame assembly 6 for connecting the six-axis robot operation part 2, wherein a group of thrust assemblies 7 and a front blocking assembly 8, a group of left clamping jaw assemblies 9 and a right clamping jaw assembly 10 are respectively and symmetrically connected to the upper frame assembly 6;

specifically, the upper frame assembly 6 is a main body bearing part of the box-entering robot clamping jaw 3, and comprises a group of welding frames 11 formed by splicing profiles, a flange plate 21 for connecting the tail ends of the six-axis robot operating part 2 is fixedly arranged at the top of the welding frames 11, and a first linear guide rail 23 and a second linear guide rail 24 which are vertically and mutually vertically and crosswise arranged at the bottom of the welding frames 11;

two groups of side pushing cylinders 12 which respectively drive the left clamping jaw assembly 9 and the right clamping jaw assembly 10, a group of 3D cameras 18, a first code scanning gun 20, a second code scanning gun 50, a servo motor 14 and a speed reducer 15 which are fixedly connected through a speed reducer mounting plate 13, and a screw rod 22 which is suspended in the radial direction through a screw rod support 25 are respectively connected to the side parts of the welding frame 11, and an output shaft of the speed reducer 15 is connected to the screw rod 22 in the axial direction through a coupling 19.

Further, in order to improve the action consistency of the two groups of side pushing cylinders 12 respectively driving the left clamping jaw assembly 9 and the right clamping jaw assembly 10 in the clamping and grabbing process, Y-shaped connectors 52 are connected between the driving gas paths of the two groups of side pushing cylinders 12, so that the two driving gas paths are communicated in the same pneumatic pipeline; on the premise that the air source assembly 5 provides the same internal environment pressure, the action direction of the left side pushing air cylinder 12 and the action direction of the right side pushing air cylinder 12 are coordinated with the working stroke by adjusting the air cylinder speed adjusting valve.

Further, to ensure consistency of travel distances of the left jaw assembly 9 and the right jaw assembly 10 on both sides for gripping the battery pack 55, two sets of stoppers 49 are symmetrically installed at the bottom of the upper frame assembly 6 to limit and block and buffer the left jaw assembly 9 and the right jaw assembly 10, respectively.

The thrust component 7 and the front blocking component 8 are arranged at two ends of the first linear guide rail 23 along the X axis or the Y axis of the welding frame 11, and comprises a push plate support 27, a first sliding block 26 which is connected to the first linear guide rail 23 in a sliding way and a screw nut 32 which is sleeved on the screw rod 22 along the axial direction are arranged at the top of the push plate support 27; thus, under the drive of the servo motor 14 and the speed reducer 15, the thrust assembly 7 integrally reciprocates along the linear direction of the welding frame 11 through the push plate support 27 so as to push the battery pack 55 to realize the box-in operation; at the same time, the first slider 2 is in sliding engagement with the first linear guide 23 to provide an auxiliary guide for the linear movement of the thrust assembly 7;

further, in order to optimize the pushing force against the battery pack 55, a push plate 30 is coupled to the front end of the push plate holder 27 through at least one set of a first guide shaft 29 and a first linear bearing 31. Thereby, the contact area with the battery pack 55 and the thrust force distribution can be increased and equalized.

Further, in order to prevent the thrust assembly 7 from being too jammed or even jammed during the process of pushing the battery pack 55, a pressure sensor 28 is connected between the push plate support 27 and the push plate 30; thus, the pressure sensor 28 can detect the reverse transmission thrust value from the battery pack 55 in real time, and the servo motor 14 immediately stops working and alarms when the thrust exceeds the pressure safety range so as to prevent the battery pack 55 from being crushed.

The front blocking component 8 is used for clamping and positioning the battery pack 55 from the opposite side of the thrust component 7 so as to prevent the battery pack 55 from bouncing back and forth due to inertia in the process of moving after being grabbed; the front blocking assembly 8 comprises a first air cylinder 34 which is arranged on the welding frame 11 through an air cylinder mounting seat 33, wherein the output end of the first air cylinder 34 is in driving connection with one end of a first clamping arm 34-1, and the other end of the first clamping arm 34-1 is provided with a buffer cushion 35; thus, when the battery pack 55 is gripped by the left jaw assembly 9 and the right jaw assembly 10, the first cylinder 34 outputs compressed air to drive the first clamping arm 34-1 to rotate 90 ° so as to flip the cushion pad 35 originally at the bottom upwards to the highest point, and the surface of the cushion pad 35 can be relatively parallel to the opposite side push plate 30; then, the thrust component 7 pushes the battery pack 55 from one side until the battery pack 55 contacts with the buffer cushion 35 and is limited under the driving of the servo motor 14, and the two ends of the battery pack 55 are respectively subjected to the pressure of the thrust component 7 and the resistance of the front blocking component 8, so that the battery pack 55 can be kept in a relatively stable state in the grabbing and moving process, and the bouncing and slipping cannot occur.

The left clamping jaw assembly 9 and the right clamping jaw assembly 10 have the same structural design and are symmetrically distributed along two sides of the upper frame assembly 6, taking the left clamping jaw assembly 9 as an example, the left clamping jaw assembly comprises a clamping jaw bracket 36, a second sliding block 37 which is used for being slidingly connected with a second linear guide rail 24 and driving the left clamping jaw assembly 9 to move linearly along one side of the upper frame assembly 6 to the other side is arranged at the top of the clamping jaw bracket 36, and a group of material frame grabbing assemblies 39, guide wheel assemblies 38, roller bars 40 and floating joints 47 are respectively connected to the side of the clamping jaw bracket 36;

the clamping jaw support 36 is connected with the material frame grabbing component 39 through a supporting leg 41 extending outwards, the material frame grabbing component 39 comprises a second air cylinder 46, the output end of the second air cylinder 46 is in driving connection with one end of a second clamping arm 46-1, and a silica gel pad 45 is arranged at the other end of the second clamping arm 46-1;

the guide wheel assembly 38 is provided with a plurality of groups of guide wheel groups 43 which are sequentially arranged along a straight line, and each group of guide wheel groups 43 is connected to the side part of the clamping jaw bracket 36 in a penetrating way through 2 groups of second guide shafts 42 and second linear bearings 44; thus, during the grabbing movement of the battery pack 55, the friction force between the two is correspondingly reduced by the guide wheel assembly 38, and the guiding effect of the linear motion is provided;

the roller bar 40 is provided with a plurality of groups of roller groups which are sequentially arranged along a straight line, and the contact surface of each group of rollers is vertically upwards distributed; during the gripping movement of the battery pack 55, the contact area of the two is reduced by the roller bar 40 and the sliding friction is converted into rolling friction to reduce the friction force therebetween.

The floating joint 47 is connected with the output end of the side pushing cylinder 12 on the upper frame assembly 6, and the left clamping jaw assembly 9 reciprocates between the original position and the working position under the drive of the side pushing cylinder 12 so as to realize the clamping, grabbing or releasing operation of the battery pack 55; the driving principle of the right jaw assembly 10 is the same as that and will not be described again.

Based on the structural design of the robot and the box-in robot clamping jaw 3, as shown in fig. 10-1 and 10-2, the application realizes the following clamping method:

the six-axis robot operation part 2 conveys the box-entering robot clamping jaw 3 to the vertical upper part of a station to be clamped of the material taking station along the ground rail 1;

the second code scanning gun 50 positioned on the upper frame assembly 6 scans the bar codes on the surface of the battery pack 55, if the bar codes are successfully identified, the subsequent operation is executed, and if the bar codes are not successfully identified, an alarm is given to intervene by manual operation;

the two sets of side pushing cylinders 12 respectively drive the left clamping jaw assembly 9 and the right clamping jaw assembly 10 to clamp the battery pack 55 in place along the middle of the two lateral directions, specifically, the guide wheel sets 43 on the left clamping jaw assembly 9 and the right clamping jaw assembly 10 keep a gap of 1mm with the two sides of the battery pack 55 so as to ensure that the battery pack 55 moves along the approximately straight line direction in the pushing process of the pushing assembly 7, thereby effectively preventing the battery pack 55 from tilting and jamming;

the six-axis robot operating part 2 vertically lifts the box-in robot clamping jaw 3 until the roller strips 40 of the left clamping jaw assembly 9 and the right clamping jaw assembly 10 are contacted with the bottom of the battery pack 55;

the thrust assembly 7 pushes the battery pack 55 from the front under the driving of the servo motor 14, and slides it on the roller bars 40 linearly to contact with the cushion pads 35 of the front blocking assembly 8, respectively;

in the process of clamping and executing the subsequent box-in operation, the battery pack 55 is always subjected to the blocking limit of the thrust component 7 and the front blocking component 8 in the front-back direction and the clamping driving action of the left clamping jaw component 9 and the right clamping jaw component 10 in the left-right direction at the same time; therefore, the battery pack 55 can be effectively prevented from bouncing and slipping due to inertia during the whole moving-in operation;

the boxing robot clamping jaw 3 clamps the battery pack 55 to finish boxing operation.

Further, when the thrust component 7 and the front blocking component 8 block the limit battery pack 55 along the front-rear direction, the pressure sensor 28 detects the reverse transmitted thrust value from the battery pack 55 in real time, and when the thrust exceeds the pressure safety range, the servo motor 14 stops working and alarms, so as to prevent the battery pack 55 from being crushed.

As shown in fig. 10-1 to 11-2, the material taking station for carrying out the box-in operation is symmetrically provided with a material taking station left guide assembly 53 and a material taking station right guide assembly 54 which have the same structure at the bottom thereof;

taking the left guide component 53 of the material taking station as an example, the material taking station comprises a welding bracket 58 which forms a main body structure frame and is fixed on the ground through a mounting base 60, and a plurality of groups of rollers 59 which are sequentially arranged along a straight line are arranged on the inner side of the welding bracket 58;

further, before the robot clamping jaw 3 clamps the battery pack, the AGV trolley 57 conveys the plurality of groups of material frames 56 carrying the battery pack 55 to the material taking station side;

the AGV trolley 57 enters a station to be clamped of the material taking station under the positioning guide provided by the material taking station left guide assembly 53 and the material taking station right guide assembly 54 from two sides; specifically, the left guide component 53 of the material taking station and the right guide component 54 of the material taking station are reserved and installed to maintain a precise distance, when the AGV trolley 57 enters the material taking station, the left guide component 53 of the material taking station and the right guide component 54 of the material taking station are all within 10mm from the material rack 56, so that the positioning error of the materials conveyed by the AGV trolley 57 is prevented from being too large, and the 2D camera 16 is caused to exceed the visual field range of the photographing positioning battery pack 55.

Further, a ranging sensor 48 is provided on the upper frame assembly 6;

before the robot clamping jaw 3 clamps the battery pack, the ranging sensor 48 detects the vertical distance between the battery pack and the top of the battery pack 55;

if the vertical distance between the two is beyond the preset height range, the six-axis robot operation part 2 adjusts the vertical position of the whole robot clamping jaw 3;

when the vertical distance between the two sets of 2D cameras 16 is within the preset height range, the two sets of 2D cameras respectively shoot pictures on the top of a battery pack 55; two feature points of the top outline of the battery pack 55 are determined through superposition comparison of the two pictures; such as feature points may be preferred for the end corners of the top profile of the battery pack 55;

the two characteristic points which are grasped together by the two groups of 2D cameras 16 are compared from two sides to determine the position coordinates of the center of the same battery pack 55 in the horizontal direction and the rotation angle Az of the contour edge and the horizontal center line thereof, so as to determine the clamping coordinate points of the left clamping jaw assembly 9 and the right clamping jaw assembly 10 along the X axis and the Y axis in the horizontal direction;

meanwhile, a Z-axis coordinate point of the top of the current battery pack 55 in the vertical direction is acquired by the ranging sensor 48;

and the clamping coordinate points of the X axis, the Y axis and the Z axis are uploaded to the six-axis robot operating part 2, and the box-entering robot clamping jaw 3 moves to the clamping position corresponding to the three-axis coordinate point.

Further, after the above-mentioned in-box robot gripping jaw 3 grips the battery pack 55 and finishes the in-box operation, the six-axis robot operating unit 2 drives the robot gripping jaw 3 to move to the side of the material rack 56;

the coordinate points of the X axis and the Y axis of the center point of the same material rack 56 in the horizontal direction are identified and determined by the two groups of 2D cameras 16 together;

acquiring a Z-axis coordinate point of the top of the current material rack 56 along the vertical direction by the distance measuring sensor 48;

uploading the three-axis coordinate points of the material rack 56 to the six-axis robot operation part 2, and moving the box-entering robot clamping jaw 3 to a corresponding clamping position;

the material rack grabbing components 39 of the left clamping jaw assembly 9 and the right clamping jaw assembly 10 clamp the material rack 56 together from two sides and place the material rack 56 in a designated cache position; the process is repeated a plurality of times until all of the work racks 56 are unstacked, and the empty work racks 56 that are unstacked are transferred from the buffer position by the AGV trolley 57.

In summary, the embodiments presented in connection with the figures are only preferred. It will be obvious to those skilled in the art that other alternative structures which are in accordance with the design concept of the present invention can be directly deduced and are also within the scope of the present invention.

Claims (10)

1. The utility model provides a income case robot clamping jaw which characterized in that: the device comprises an upper frame assembly, wherein a group of thrust assemblies and a front blocking assembly, a group of left clamping jaw assemblies and a group of right clamping jaw assemblies are respectively arranged on the upper frame assembly, and are vertically and crosswise distributed along the horizontal direction;

the pushing component and the front blocking component clamp and position the proposed product from two sides along the linear direction, and the left clamping jaw component and the right clamping jaw component clamp and transfer the appointed product from two sides along the linear direction;

the left clamping jaw assembly and the right clamping jaw assembly have the same structure and are symmetrically distributed along the two sides of the upper frame assembly;

the left clamping jaw assembly comprises a clamping jaw support, a second sliding block which is used for being connected with the upper frame assembly in a sliding mode is arranged at the top of the clamping jaw support, and a group of guide wheel assemblies, roller bars and floating connectors which are used for being connected with a driving device on the upper frame assembly are respectively connected to the side parts of the clamping jaw support.

2. The cartoning robotic gripper of claim 1, wherein: the clamping jaw support is connected with the material rack grabbing component through a supporting leg extending outwards, the material rack grabbing component comprises a second air cylinder, the output end of the second air cylinder is connected with one end of a second clamping arm in a driving mode, and a gasket made of soft materials is arranged at the other end of the second clamping arm.

3. The cartoning robotic gripper of claim 1, wherein: the guide wheel assembly is provided with a plurality of groups of guide wheel groups which are sequentially arranged along a straight line, and each group of guide wheel groups is connected to the side part of the clamping jaw bracket through at least 1 group of second guide shafts and second linear bearings in a penetrating manner.

4. The cartoning robotic gripper of claim 1, wherein: the roller bar is provided with a plurality of groups of roller groups which are sequentially arranged along a straight line, and the contact surface of each roller is vertically and upwards distributed.

5. The cartoning robotic gripper of claim 1, wherein: the upper frame assembly comprises a group of welding frames formed by splicing sectional materials, a flange plate used for connecting the tail ends of the six-axis robot operation parts is fixedly arranged at the top of each welding frame, and a first linear guide rail and a second linear guide rail are vertically and mutually vertically crossed and arrayed at the bottom of each welding frame;

the side part of the welding frame is respectively connected with two groups of side pushing cylinders, a servo motor and a speed reducer which respectively drive the left clamping jaw assembly and the right clamping jaw assembly, and a screw rod which is axially and drivingly connected by the servo motor and the speed reducer through a coupler.

6. The cartoning robotic gripper of claim 5, wherein: y-shaped connectors 52 are connected between the driving air paths of the side pushing cylinders 12 of the two groups of the left clamping jaw assemblies 9 and the right clamping jaw assemblies 10, and the two driving air paths are communicated in the same pneumatic pipeline.

7. The cartoning robotic gripper of claim 1, wherein: the thrust component is arranged at two ends of the first linear guide rail along the X axis or the Y axis of the upper frame component and the front blocking component, and comprises a push plate support, a first sliding block which is slidably connected to the first linear guide rail is arranged at the top of the push plate support, and a screw rod nut which is axially sleeved on the screw rod.

8. The cartoning robotic gripper of claim 7, wherein: the front blocking assembly comprises a first air cylinder arranged on the upper frame assembly, the output end of the first air cylinder is in driving connection with one end of a first clamping arm, and a gasket made of soft materials is arranged at the other end of the first clamping arm.

9. A robot, characterized in that: the robot clamping jaw for the in-box comprises a six-axis robot operating part which slides on a ground rail, wherein the tail end of the six-axis robot operating part is connected with the robot clamping jaw for the in-box according to any one of claims 1 to 8, and an air source component which is connected with one side of the ground rail and is used for providing pneumatic conveying for the robot clamping jaw for the in-box is arranged on one side of the ground rail.

10. A robot clamping method is characterized in that: the six-axis robot operation part conveys clamping jaws of the box-entering robot to the vertical upper part of a station to be clamped of the material taking station along the ground rail;

the second code scanning gun positioned on the upper frame assembly scans the bar codes on the surface of the appointed product, if the bar codes are successfully identified, the subsequent operation is executed, and if the bar codes are not successfully identified, the subsequent operation is alarmed to be interfered by manual operation;

the two groups of side pushing cylinders respectively drive the left clamping jaw assembly and the right clamping jaw assembly to clamp a specified product in place along the middle of the two lateral directions;

the six-axis robot operation part vertically lifts the clamping jaw of the box-entering robot until the roller strips of the left clamping jaw assembly and the right clamping jaw assembly are contacted with the bottom of the appointed product;

the thrust component pushes the appointed product from the front under the drive of the servo motor, and the appointed product is respectively and linearly slid on the roller bars until the appointed product is contacted with the gasket of the front blocking component;

in the process of clamping and executing the subsequent box loading operation, the appointed product is always simultaneously blocked and limited by the thrust component and the front blocking component in the front-back direction and is clamped and driven by the left clamping jaw component and the right clamping jaw component in the left-right direction;

the clamping jaw of the box-entering robot clamps the appointed product to finish the box-entering operation.