CN211916869U

CN211916869U - Claw anchor clamps that pile up neatly machine people used of tearing open

Info

Publication number: CN211916869U
Application number: CN202020242684.7U
Authority: CN
Inventors: 杨灏泉; 郭红英; 李文鹏; 李亚平; 徐勤坤
Original assignee: Yunnan Roukong Technology Co ltd
Current assignee: Yunnan Roukong Technology Co ltd
Priority date: 2020-03-03
Filing date: 2020-03-03
Publication date: 2020-11-13
Anticipated expiration: 2030-03-03

Abstract

The utility model discloses a gripper anchor clamps that hacking machine used relates to industrial robot technical field. The bottom of the mounting plate of the gripper clamp is connected with a sucker device with a downward working surface, and the air bag devices are oppositely arranged on two sides of the sucker device; connecting plates are arranged on two sides of the mounting plate, the connecting plates are fixedly connected with one end of a vertical lifting mechanism, the other end of the vertical lifting mechanism is fixedly connected with an air bag device, and the vertical lifting mechanism drives the air bag device to vertically move up and down; the horizontal movement mechanism is arranged above the mounting plate, two ends of the horizontal movement mechanism are respectively connected with the connecting plates on two sides, and the horizontal movement mechanism drives the air bag device to move horizontally left and right; the horizontal linkage mechanism is arranged at the top of the mounting plate, two ends of the horizontal linkage mechanism are connected with the connecting plates on two sides, and the horizontal linkage mechanism enables the air bag devices on two sides to keep opposite movement directions and equal movement distances in the horizontal direction. The gripper clamp is simple in structure, low in requirement on machining precision of parts, greatly reduces machining difficulty, and saves time cost.

Description

Claw anchor clamps that pile up neatly machine people used of tearing open

Technical Field

The utility model relates to an industrial robot technical field, concretely relates to gripper anchor clamps that unstacking and stacking robot used.

Background

With the improvement of the mechatronic technology, robots are increasingly adopted to complete the operations of unstacking, stacking and carrying according to given procedures, tracks and requirements on modern storage, logistics and packaging lines. In particular to severe environments such as high temperature, high pressure, much dust, flammability, explosiveness, radioactivity and the like, and heavy, monotonous and frequent operations, the robot is adopted to replace a person to complete the operation, and the robot has the advantages of safety, reliability, high efficiency and low cost. The robot for detaching the stack in the prior art generally adopts a universal robot and combines a special paw clamp to complete corresponding functions. With the continuous progress of technology, vacuum chucks are increasingly used in gripper clamps.

In order to prevent the situation that the vacuum degree is weakened, the object moving speed is high or the vacuum is broken accidentally when grabbing and carrying articles such as boxes and the like from dropping, a structure that two sides are clamped or the bottom is tucked is generally adopted by combining a sucker. When the two-side clamping structure is adopted, when the box body is not positioned in the middle of the gripper clamp, the clamping structures on the two sides can cause relative displacement between the box body and the suckers during grabbing, so that the vacuum environment of the vacuum suckers is damaged, and the grabbing work of the clamp is influenced.

In order to solve the above problem, patent CN207724320U discloses a robot gripper clamp with flexible clamping and fixing functions, in which an air bag plate and a clamping air bag controlled by a link mechanism are arranged on two sides of a vacuum chuck, the air bag plate moves downward to clamp two sides of a box body, and then the air bag is inflated to increase the friction between the air bag and the side wall of the box body, so as to clamp the box body. Under this kind of structure, even the box is pressed from both sides tightly back and is deviated from the middle part of hand claw anchor clamps, the deformation of gasbag also can prevent to take place relative position between box and sucking disc, effectively avoids vacuum chuck inefficacy to cause the case accident that falls. In order to improve the adaptability of the clamping air bag, the left air bag plate, the right air bag plate and the clamping air bag are driven by a connecting rod mechanism to synchronously lift and horizontally linearly link, and the position of the left air bag plate and the right air bag plate is finely adjusted by an upper baffle plate and a lower baffle plate. Meanwhile, in the using process, the upper baffle plate and the lower baffle plate on the left side and the right side are easily damaged and need to be frequently replaced due to the influence of the vibration of the air bag during grabbing at each time, so that the working efficiency of the robot is greatly influenced, and certain potential safety hazards also exist.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a hand claw anchor clamps that hacking and stacking robot used, solve current hand claw anchor clamps and have that spare part processing accuracy requires height, the processing degree of difficulty is big and life is short, there is the problem of potential safety hazard.

In order to solve the technical problem, the utility model adopts the following technical scheme: the utility model provides a hand claw anchor clamps that unstacking and stacking robot used which characterized in that: the air bag lifting device comprises a mounting plate, a sucker device, an air bag device, a vertical lifting mechanism, a horizontal movement mechanism and a horizontal linkage mechanism, wherein the bottom of the mounting plate is connected with the sucker device with a working surface facing downwards, and the air bag device is oppositely arranged at two sides of the sucker device; connecting plates are arranged on two sides of the mounting plate, the connecting plates are fixedly connected with one end of a vertical lifting mechanism, the other end of the vertical lifting mechanism is fixedly connected with an air bag device, and the vertical lifting mechanism drives the air bag device to vertically move up and down; the horizontal movement mechanism is arranged above the mounting plate, two ends of the horizontal movement mechanism are respectively connected with the connecting plates on two sides, and the horizontal movement mechanism drives the air bag device to move horizontally left and right; the horizontal linkage mechanism is arranged at the top of the mounting plate, two ends of the horizontal linkage mechanism are connected with the connecting plates on two sides, and the horizontal linkage mechanism enables the air bag devices on two sides to keep opposite movement directions and equal movement distances in the horizontal direction.

The further technical scheme is that the horizontal linkage mechanism is composed of a linkage plate and connecting rods, the symmetric center of the linkage plate is connected with the mounting plate through a fixed shaft, two ends of the linkage plate are hinged with one end of each connecting rod, and the other end of each connecting rod is hinged to the corresponding connecting plate.

The horizontal linkage mechanism is further characterized by comprising a centering gear and a rack, wherein the symmetric center of the centering gear is connected with the mounting plate through a fixed shaft, the racks are oppositely arranged on two sides of the centering gear, and the rack and the horizontal movement mechanism are arranged in parallel and are meshed with the centering gear; the tail end of the rack is fixedly connected with the connecting plate.

The further technical scheme is that one side of the rack, which is not meshed with the centering gear, is contacted with a bearing, and the bearing is connected with the mounting plate through a shaft.

The further technical scheme is that the horizontal movement mechanism is composed of a first cylinder and a first guide rail, an end cover of the first cylinder is fixed to the top of the connecting plate on one side through a mounting frame, a piston rod of the first cylinder is hinged to a fixing frame arranged on the top of the connecting plate on the other side, the first guide rail is arranged at the bottom of the connecting plate and moves linearly in a first guide rail groove, and the first guide rail groove is horizontally arranged on the top of the mounting plate.

The further technical scheme is that the vertical lifting mechanism is composed of a second cylinder and a second guide rail, an end cover of the second cylinder is fixedly connected with the connecting plate, a piston rod of the second cylinder is fixedly connected with the air bag device, the second guide rail is fixedly connected with the air bag device through a fixing plate, the second guide rail moves linearly in a second guide rail groove, and the second guide rail groove is fixed on the connecting plate through a mounting plate.

The further technical scheme is that the top of the sucker device is connected with the mounting plate through a floating mechanism.

The air bag device is further characterized by comprising an air bag mounting plate and an air bag, wherein the air bag is mounted on one side of the air bag mounting plate.

The working principle is as follows: taking stacking as an example, under the driving of a robot, the sucker device moves to the top of the box body and sucks the box body, then the second cylinder acts to drive the air bag device to vertically move downwards along the guide rail, then the first cylinder acts to drive the air bag device to horizontally move towards the middle until the air bag device is contacted with the two sides of the box body, and after the air bag is inflated to clamp the box body, the robot acts to convey the box body. After the robot reaches the designated position, the air bag is deflated, the clamp is released, the box body is released by the sucker, and the box body is placed at the designated position to realize stacking.

Compared with the prior art, the beneficial effects of the utility model are that: the utility model provides a simple structure, convenient operation's gripper anchor clamps that hacking robot used, realize the absorption to the box through sucking disc device, realize the up-and-down motion of gasbag device through vertical lift mechanism, horizontal motion mechanism realizes the horizontal motion of gasbag device, in order to realize pressing from both sides tight to the box both sides, make both sides gasbag device unanimous at the movement distance of horizontal direction through horizontal link gear, realize the straight line linkage of gasbag on the horizontal direction, realize pressing from both sides tight to the box, avoid appearing falling the case accident. The vertical lifting mechanism and the horizontal motion control device are independently arranged, so that the gripper clamp is simple in structure, low in requirement on part machining precision, greatly reduced in machining difficulty and saved in time cost.

The vertical lifting mechanism and the horizontal movement mechanism are driven by the air cylinder, and the linear movement is realized by combining the guide rail and the guide rail groove, so that the structure is simple, and the production efficiency is greatly improved by assembling corresponding parts through purchasing.

The horizontal linkage mechanism is realized through the linkage plate and the connecting rod, the linkage plate is of a central symmetrical structure, and the symmetrical center of the linkage plate is connected with the center of the mounting plate through the fixed shaft.

The horizontal linkage mechanism can also meet the requirement of equal horizontal movement distance through the meshing of the gear and the rack, and in order to ensure that the horizontal movement direction of the rack does not deviate, the movement direction of the rack can be controlled on the other side of the horizontal linkage mechanism through a bearing, so that the deviation of the movement direction of the rack is avoided.

The sucker device is connected with the mounting plate through the floating mechanism, so that when the box body is slightly moved due to the fact that the air bag clamps the box body, the sucker device is buffered through the floating mechanism, and the sucker is prevented from losing efficacy due to relative displacement of the sucker and the box body.

Drawings

Fig. 1 is a schematic structural view of a gripper clamp for a middle unstacking and stacking robot according to the present invention.

Fig. 2 is another schematic structural diagram of a gripper clamp for a middle unstacking and stacking robot according to the present invention.

Fig. 3 is a side view of fig. 1.

In the figure: 1-mounting plate, 2-sucker device, 3-air bag device, 301-air bag mounting plate, 302-air bag, 4-vertical lifting mechanism, 401-second air cylinder, 402-second guide rail, 403-fixing plate, 5-horizontal movement mechanism, 501-first air cylinder, 502-first guide rail, 503-mounting plate, 6-horizontal linkage mechanism, 601-linkage plate, 602-connecting rod, 603-fixing shaft, 604-centering gear, 605-rack, 606-bearing, 7-connecting plate, 8-first guide rail groove, 9-second guide rail groove and 10-floating mechanism.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and 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

Fig. 1 and 3 show a gripper clamp structure for an unstacking and stacking robot, which comprises a mounting plate 1, a sucker device 2, an air bag device 3, a vertical lifting mechanism 4, a horizontal movement mechanism 5 and a horizontal linkage mechanism 6.

The sucking disc device 2 is a sponge vacuum sucking disc and is connected with a vacuum pump through a sucking disc electromagnetic directional valve, when the directional valve is opened, the vacuum pump pumps out air in the sucking disc, a vacuum environment is generated in the sucking disc to tightly suck the box body, and after the directional valve acts again, the sucking disc loses vacuum and releases the box body. In order to conveniently grab objects with different sizes or grab a plurality of objects, the suckers can be controlled by a plurality of groups.

The sucker device 2 can be fixedly connected to the bottom of the mounting plate 1 and can also be connected with the mounting plate 1 through a floating mechanism. As shown in fig. 3, the floating mechanism is composed of a mounting seat, a bracket, a guide rod and a compression spring, the mounting seat is fixed on the top of the sucker device 1, the mounting seat is connected with the guide rod in a sliding manner, two ends of the guide rod are connected with the bottom of the mounting plate 1 through the bracket, and the compression spring is sleeved on the guide rod on two sides of the mounting seat. When the sucker device 2 slightly moves due to the clamping of the airbag devices 3 on the two sides, the sucker device 2 is buffered through the floating mechanism, and the sucker failure caused by the relative displacement of the sucker and the box body is avoided.

The mounting panel 1 both sides are provided with connecting plate 7, and connecting plate 7 and 4 one end fixed connection of vertical lift mechanism, the 4 other ends of vertical lift mechanism and 3 fixed connection of gasbag device, the vertical lift mechanism 4 drive gasbag device 3 vertical up-and-down motion. The airbag device 3 is constituted by an airbag mounting plate 301 and an airbag 302. The vertical lift mechanism 4 is constituted by a second cylinder 401 and a second guide rail 402. The second cylinder 401 is vertically arranged, the end part of a piston rod of the second cylinder is fixedly connected with the side wall of the air bag mounting plate 301, an end cover of the second cylinder 401 is fixedly connected with the connecting plate 7, the second guide rails 402 are arranged on the front side and the rear side of the second cylinder 401 and linearly move up and down in the second guide rail grooves 9, and the second guide rail grooves 9 are vertically fixed on the connecting plate 7 through the mounting plate. The piston rod of the second cylinder 401 moves up and down along the cylinder under the driving of the gas, and drives the airbag 302 to move up and down. To ensure the vertical movement, the moving direction of the airbag device 3 is further controlled by the guide rail and the vertically arranged guide rail groove.

The horizontal movement mechanism 5 is arranged above the mounting plate 1, two ends of the horizontal movement mechanism are respectively connected with the connecting plates 7 on two sides, and the horizontal movement mechanism 5 drives the air bag device 3 to horizontally move left and right. The horizontal movement mechanism 5 is composed of a first air cylinder 501 and a first guide rail 502, an end cover of the first air cylinder 501 is fixed to the top of the connecting plate 7 on one side through a mounting frame 503, a piston rod of the first air cylinder 501 is hinged to a fixing frame 701 arranged on the top of the connecting plate 7 on the other side, the first guide rail 502 is arranged at the bottom of the connecting plate 7, the first guide rail 502 moves in a horizontal line in the first guide rail groove 8, and the first guide rail groove 8 is horizontally arranged at the top of the mounting plate 1. The first cylinder 501 is horizontally arranged, a piston rod of the first cylinder moves horizontally and linearly, and the piston rod drives the connecting plate 7 to move horizontally, so that the airbag mounting plate 301 is driven to move horizontally and linearly. To further ensure the horizontal movement direction, the movement direction of the airbag device 3 is controlled by a horizontally arranged guide rail and a guide rail groove.

In order to ensure the consistent movement distance of the air bag devices 3 on the two sides, a horizontal linkage mechanism 6 is arranged on the top of the mounting plate 1. The horizontal linkage mechanism 6 is composed of a linkage plate 601 and a connecting rod 602, the symmetric center of the linkage plate 601 is connected with the mounting plate 1 through a fixed shaft 603, two ends of the linkage plate 601 are hinged with one end of the connecting rod 602, and the other end of the connecting rod 602 is hinged on the connecting plate 7. The linkage plate 601 is of a central symmetrical structure, the symmetrical center of the linkage plate is connected with the center of the mounting plate 1 through the fixing shaft 603, and therefore when the air bag device moves horizontally, the linkage plate 601 rotates around the fixing shaft 603, and horizontal displacement of the linkage plate is equal due to the fact that the linkage plate rotates around the symmetrical center, movement distances of the air bag device 3 in the horizontal direction are consistent, and the requirement of clamp centering movement is greatly met.

Example 2

Fig. 2 shows another structure of a horizontal linkage mechanism 6, wherein the horizontal linkage mechanism 6 is composed of a centering gear 604 and a rack 605, the center of symmetry of the centering gear 604 is connected with the mounting plate 1 through a fixed shaft 603, the rack 605 is oppositely arranged at two sides of the centering gear 604, and the rack 605 is arranged in parallel with the horizontal movement mechanism 5 and is meshed with the centering gear 604; the tail end of the rack 605 is fixedly connected with the connecting plate 7. The side of the rack 605 not engaged with the centering gear 604 is in contact with a bearing 606, and the bearing 606 is connected to the mounting plate 1 through a shaft. When the centering gear 604 rotates, the rack 605 moves towards the opposite direction, and the moving distances of the rack 605 and the centering gear 604 are consistent, so that when a box body needs to be grabbed, the air bag devices 3 on the two sides approach towards the box body at the same speed, and the grabbing is convenient. While, to further ensure that the rack 605 moves in the horizontal direction, the rack 604 is disposed intermediate the bearing 606 and the centering gear 604.

Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the spirit and scope of the principles of this invention. More particularly, various variations and modifications are possible in the component parts and/or arrangements within the scope of the disclosure, the drawings and the appended claims. In addition to variations and modifications in the component parts and/or arrangements, other uses will also be apparent to those skilled in the art.

Claims

1. The utility model provides a hand claw anchor clamps that unstacking and stacking robot used which characterized in that: the air bag type air conditioner comprises a mounting plate (1), a sucker device (2), an air bag device (3), a vertical lifting mechanism (4), a horizontal movement mechanism (5) and a horizontal linkage mechanism (6), wherein the sucker device (2) with a working surface facing downwards is connected to the bottom of the mounting plate (1), and the air bag device (3) is oppositely arranged on two sides of the sucker device (2); connecting plates (7) are arranged on two sides of the mounting plate (1), the connecting plates (7) are fixedly connected with one end of a vertical lifting mechanism (4), the other end of the vertical lifting mechanism (4) is fixedly connected with the air bag device (3), and the vertical lifting mechanism (4) drives the air bag device (3) to vertically move up and down; the horizontal movement mechanism (5) is arranged above the mounting plate (1), two ends of the horizontal movement mechanism are respectively connected with the connecting plates (7) on two sides, and the horizontal movement mechanism (5) drives the air bag device (3) to horizontally move left and right; the horizontal linkage mechanism (6) is arranged at the top of the mounting plate (1), two ends of the horizontal linkage mechanism (6) are connected with the connecting plates (7) on two sides, and the horizontal linkage mechanism (6) enables the air bag devices (3) on two sides to keep opposite movement directions and equal movement distances in the horizontal direction.

2. A gripper jaw clamp for an unstacking robot according to claim 1, characterized in that: the horizontal linkage mechanism (6) is composed of a linkage plate (601) and a connecting rod (602), the symmetric center of the linkage plate (601) is connected with the mounting plate (1) through a fixed shaft (603), two ends of the linkage plate (601) are hinged with one end of the connecting rod (602), and the other end of the connecting rod (602) is hinged on the connecting plate (7).

3. A gripper jaw clamp for an unstacking robot according to claim 1, characterized in that: the horizontal linkage mechanism (6) is composed of a centering gear (604) and a rack (605), the symmetric center of the centering gear (604) is connected with the mounting plate (1) through a fixed shaft (603), the rack (605) is oppositely arranged at two sides of the centering gear (604), and the rack (605) is arranged in parallel with the horizontal movement mechanism (5) and is meshed with the centering gear (604); the tail end of the rack (605) is fixedly connected with the connecting plate (7).

4. A gripper jaw clamp for an unstacking robot according to claim 3, characterized in that: the side of the rack (605) which is not meshed with the centering gear (604) is contacted with a bearing (606), and the bearing (606) is connected with the mounting plate (1) through a shaft.

5. A gripper jaw clamp for an unstacking robot according to claim 1, characterized in that: horizontal movement mechanism (5) comprise first cylinder (501) and first guide rail (502), the end cover of first cylinder (501) passes through mounting bracket (503) and fixes at connecting plate (7) top of one side, the piston rod of first cylinder (501) is articulated with mount (701) that connecting plate (7) top of opposite side set up, connecting plate (7) bottom is provided with first guide rail (502), linear motion in first guide rail groove (8) is first guide rail (502), first guide rail groove (8) level sets up at mounting panel (1) top.

6. A gripper jaw clamp for an unstacking robot according to claim 1, characterized in that: the vertical lifting mechanism (4) is composed of a second cylinder (401) and a second guide rail (402), an end cover of the second cylinder (401) is fixedly connected with the connecting plate (7), a piston rod of the second cylinder (401) is fixedly connected with the air bag device (3), the second guide rail (402) is fixedly connected with the air bag device (3) through a fixing plate (403), the second guide rail (402) moves linearly in a second guide rail groove (9), and the second guide rail groove (9) is fixed on the connecting plate (7) through a mounting plate.

7. A gripper jaw clamp for an unstacking robot according to any one of claims 1 to 6, characterized in that: the top of the sucker device (2) is connected with the mounting plate (1) through a floating mechanism (10).

8. A gripper jaw clamp for an unstacking robot according to any one of claims 1 to 6, characterized in that: the airbag device (3) is composed of an airbag mounting plate (301) and an airbag (302), and the airbag (302) is mounted on one side of the airbag mounting plate (301).