CN213445073U

CN213445073U - Flexible grabbing device of loading and unloading car robot

Info

Publication number: CN213445073U
Application number: CN202021746048.4U
Authority: CN
Inventors: 杨远才; 李宏亮
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-08-20
Filing date: 2020-08-20
Publication date: 2021-06-15
Anticipated expiration: 2030-08-20

Abstract

The utility model discloses a flexible grabbing device of loading and unloading car robot belongs to flexible grabbing device technical field, when the grabbing device who solves among the prior art adopted mechanical type clamping structure, unstacks to piling up goods, can destroy the problem of lower floor's goods. The utility model discloses a braced frame, set up on braced frame, be used for grabbing the goods of pile up neatly and breaking a jam and put grabbing put the device to and cooperate with external equipment, carry out the conveyer that conveys to grabbing the goods of putting the device pile up neatly and breaking a jam, the in-process of conveyer conveying goods is grabbed and is put the device and hide between braced frame and conveyer, grabs when putting the device and grabs and put the goods, grabs and puts the device and stretch out conveyer. The utility model is used for the flexible goods of grabbing put and conveying.

Description

Flexible grabbing device of loading and unloading car robot

Technical Field

A flexible grabbing device of a loading and unloading vehicle robot is used for flexibly grabbing, placing and conveying goods and belongs to the technical field of flexible grabbing devices.

Background

A mechanical clamping structure is adopted in a common grabbing device of a stack-disassembling and stacking robot.

If CN201821892476.0 discloses a mechanical type fixture, including jack catch, dabber, clamping head and set up frustum and the taper valve isotructure in the clamping head, only need through the simple trigger operation of peripheral equipment to the dabber, can realize the quick centre gripping of jack catch to processing part and release. The special structure design of the frustum and the cone flaps, in the process that the mandrel pushes the frustum to rise, the frustum pushes the cone flaps to open, so that the cone flaps drive the clamping jaws to open outwards to release parts; after the release, the mandrel resets under the action of the spring to drive the frustum to reset downwards, and the cone flaps are folded towards the circle center under the action of the cover body of the frustum to clamp parts. The whole process is simple to trigger, high in efficiency and high in speed, and the production efficiency is greatly improved. And the installation and maintenance cost is reduced, the floor space area of the equipment is reduced, and the energy conservation and consumption reduction are facilitated. The structure has high strength and good adaptability to heavy goods in the stacking process.

However, the gripping device adopts a mechanical clamping structure, and the following technical problems exist:

the unstacking of stacked goods cannot be adapted, and the unstacking process can damage the goods on the lower layer;

secondly, the space size is large, and the device cannot adapt to narrow space;

thirdly, the size adaptability to the types of goods is poor;

fourthly, the structure is complex.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a flexible grabbing device of loading and unloading car robot, when the grabbing device who solves among the prior art adopted mechanical type clamping structure, unstacks to piling up goods, can destroy the problem of lower floor's goods.

In order to realize the purpose, the utility model discloses a technical scheme be:

the utility model provides a flexible grabbing device of loading and unloading car robot, includes braced frame, sets up on braced frame, is used for grabbing the device of putting of grabbing that the goods of pile up neatly and breaking a jam was put to and cooperate with external equipment, carry out the conveyer that conveys to grabbing the goods of putting the device pile up neatly and breaking a jam, the in-process of conveyer conveying goods is grabbed and is put the device and hide between braced frame and conveyer, when grabbing and putting the device and grab and put the goods, grab and put the device and stretch out conveyer.

Further, the support frame comprises a bottom plate, side plates arranged on opposite sides of the bottom plate, and a connecting frame connected with the bottom plate and the two side plates and used for connecting external equipment.

Furthermore, the side plate is of a trapezoidal structure, the side plate is connected with one end of the connecting frame and one end of the bottom plate, the included angle between the side plate and the end connected with the connecting frame and the bottom plate is 90 degrees, and the included angle between the side plate and the other end connected with the connecting frame and the bottom plate is 15-25 degrees.

Furthermore, the grabbing and releasing device comprises a rack arranged on the supporting frame, a front-back guide rail, a gear matched with the rack, a motor arranged on the gear and matched with the driving gear and the rack, and a vacuum chuck connected with the motor and used for grabbing and releasing goods, wherein the front-back guide rail and the gear are provided with limit blocks at two ends of the rack.

Further, the motor is connected with the vacuum chuck through a longitudinal connecting mechanism;

the longitudinal connecting mechanism comprises a connecting piece arranged on the motor, a semicircular guide rail sliding block assembly arranged on the connecting piece, a connecting flange arranged on the semicircular guide rail sliding block assembly, and a hinge connected with the connecting flange, wherein the hinge is connected with the vacuum chuck, the semicircular guide rail sliding block assembly drives the vacuum chuck to perform longitudinal adjustment and course attitude fine adjustment, and the hinge drives the vacuum chuck to perform pitching attitude fine adjustment.

Further, the rack and the front-to-back guide rail are disposed on the base plate.

Furthermore, the conveying device comprises a conveying plate arranged on the supporting frame, a sliding groove for accommodating the vacuum chuck to be slidingly hidden between the supporting frame and the conveying device or to be slidingly extended out of the conveying device and a conveying mechanism which is arranged on the conveying plate, matched with external equipment and used for conveying the goods stacked by the grabbing and placing device and unstacked are arranged on the conveying plate.

Further, the conveying plate is respectively connected with the connecting frame and one side of the top end of the two side plates.

Further, transport mechanism is including setting up the multiunit transfer gear on the conveying board, setting up the conveyer belt on each group transfer gear to and set up on bottom plate one side, be used for driving the pivoted driving motor of multiunit transfer gear.

Further, the side plates and the connecting frame are of a frame structure.

Compared with the prior art, the utility model has the advantages of:

the grabbing device realizes the movement of the vacuum chuck by arranging the grabbing device, realizes hidden grabbing, namely when the conveying device conveys goods, the vacuum chuck is hidden between the supporting frame and the conveying device, so that the vacuum chuck is prevented from blocking the conveying of the goods, when the grabbing device needs to grab the goods, the vacuum chuck slides out of the conveying plate to grab the goods and slides upwards passively, when the goods are grabbed to the synchronous belt, the chuck is hidden downwards, the hidden grabbing device adopts hidden grabbing, and in the process of disassembling, stacking and stacking, the lower-layer goods cannot be damaged;

secondly, the angle of the side plate at one end for grabbing and placing the goods is 15-25 degrees, so that the side plate can adapt to different goods heights in the unstacking process, the posture of a vacuum chuck is guaranteed, the vacuum chuck can easily suck the goods onto a conveying device, and the vacuum chuck can easily place the goods to a corresponding position in the stacking process;

thirdly, when the grabbing and releasing device of the utility model is provided with the front and rear guide rails, the longitudinal connecting mechanism and the hinge, the vacuum chuck has four degrees of freedom, and only one motor is needed to drive the vacuum chuck to move on the front and rear guide rails, the vacuum chuck can realize passive lifting within a certain moving range based on the longitudinal connecting mechanism in the stacking and unstacking processes, namely longitudinal adjustment, which is beneficial to dragging goods onto a conveyor belt more stably, and the course attitude of the vacuum chuck can also be finely adjusted within a small range based on the longitudinal connecting mechanism, and the pitching attitude of the vacuum chuck can be finely adjusted within a small range based on the hinge, so that the vacuum chuck can be finely adjusted within a small range, which is beneficial to the adhesion of the chuck and the goods, and can grab;

fourthly, the utility model provides a curb plate and link are frame construction, and its purpose reduces invalid load for weight reduction to be favorable to outdoor environment to reduce the wind-load.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to these drawings without inventive efforts.

Fig. 1 is a schematic perspective view of the present invention;

FIG. 2 is a schematic structural view of a support frame according to the present invention;

fig. 3 is a schematic structural view of the middle grabbing and releasing device of the present invention.

In the figure: the device comprises a supporting frame 1, a conveying device 2, a grabbing and releasing device 3, a bottom plate 1-1, side plates 1-2, a connecting frame 1-3, a motor 3-1, a gear 3-2, a rack 3-3, a connecting piece 3-4, a hinge 3-5, a vacuum chuck 3-6, a front guide rail, a rear guide rail 3-7, a connecting flange 3-8 and a semicircular guide rail sliding block assembly 3-9.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts belong to the protection scope of the present invention.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the position or positional relationship based on the position or positional relationship shown in the drawings, or the position or positional relationship which is usually placed when the product of the present invention is used, the description is only for convenience of description and simplification, but the indication or suggestion that the device or element to be referred must have a specific position, be constructed and operated in a specific position, and thus, cannot be understood as a limitation of the present invention.

Furthermore, the appearances of the terms "first," "second," "third," and the like, if any, are only used to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

Furthermore, the terms "horizontal", "vertical", "overhang" and the like do not require that the components be absolutely horizontal or overhang, but may be slightly inclined. For example, "horizontal" merely means that the direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.

In the description of the present invention, it should be further noted that unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

It should be noted that the features of the embodiments of the present invention may be combined with each other without conflict.

As shown in fig. 1, the flexible grabbing device of the loading and unloading robot comprises a supporting frame 1, a grabbing and placing device 3 and a conveying device 2, wherein the grabbing and placing device 3 is arranged on the supporting frame 1 and used for grabbing and placing stacked and unstacked goods, the conveying device 2 is matched with external equipment and used for conveying the stacked and unstacked goods of the grabbing and placing device 3, the grabbing and placing device 3 is hidden between the supporting frame 1 and the conveying device 2 in the process of conveying the goods by the conveying device 2, and when the grabbing and placing device 3 grabs and places the goods, the grabbing and placing device 3 extends out of the conveying device 2.

In the practical process, when stacking is needed, goods are transmitted to the conveying device 2 through external equipment, the conveying device 2 drives the goods to move forward in the stacking direction, and after the goods move forward, when the goods need to be grabbed, the grabbing and releasing device stretches out of the conveying device to grab the goods and places the goods at a corresponding position for stacking; when needing to be unstacked, stretch out conveyer through grabbing to put the device and grab the goods that will correspond and get and place on conveyer, grab simultaneously and put the device and retrieve, and hide between braced frame 1 and conveyer 2, conveyer 2 conveys the goods to external equipment again to the realization is unstacked.

As shown in fig. 2, the support frame 1 includes a bottom plate 1-1, side plates 1-2 disposed at opposite sides of the bottom plate 1-1, and a coupling frame 1-3 coupled to the bottom plate 1-1 and the two side plates for coupling to an external device.

The side plate 1-2 is in a trapezoidal structure, the side plate 1-2 is connected with one end of the connecting frame 1-3 and one end of the bottom plate 1-1, the included angle between the end connected with the connecting frame 1-3 and the bottom plate 1-1 and the side plate 1-2 is 90 degrees, other angles can be not excluded, and the included angle between the other end connected with the connecting frame 1-3 and the bottom plate 1-1 and the side plate 1-2 is 15 degrees to 25 degrees, such as 16 degrees, 17 degrees, 18 degrees, 19 degrees, 20 degrees, 21 degrees, 22 degrees, 23 degrees and 24 degrees.

Or

The side plate 1-2 is of a triangular structure, the side plate 1-2 is connected with one end of the connecting frame 1-3 and one end of the bottom plate 1-1, one end connected with the connecting frame 1-3 and the bottom plate 1-1 is positioned at one side of the bottom plate, the included angle of the side plate 1-2 is 90 degrees, other angles are not excluded, and the included angle of the other end connected with the connecting frame 1-3 and the bottom plate 1-1 and the included angle of the side plate 1-2 is 15 degrees to 25 degrees, such as 16 degrees, 17 degrees, 18 degrees, 19 degrees, 20 degrees, 21 degrees, 22 degrees, 23 degrees and 24 degrees. Or

The side plates can also be of a square structure, and the height of the side plates needs to be limited when the side plates are of the square structure, so that the side plates can be better stacked or unstacked.

In practice, the side plates are preferably trapezoidal in shape for better subsequent mounting of the conveyor. Damage to the goods may occur due to the sharp edges of the triangular structure. The square structure is inconvenient for arranging other structures.

The side plates and the connecting frame can be arranged to be hollow structures, particularly as shown in figure 2, so that the weight can be reduced, the ineffective load can be reduced, and the wind load can be reduced in an outdoor environment.

As shown in figure 3, the grabbing and releasing device 3 comprises a rack 3-3 arranged on a supporting frame 1, a front-back guide rail 3-7 with two end parts provided with limit blocks, a gear 3-2 matched with the rack 3-3, a motor 3-1 arranged on the gear 3-2 and matched with a driving gear 3-2 and the rack 3-3, and a vacuum sucker 3-6 connected with the motor 3-1 and used for grabbing and releasing goods.

In practice, the gear 3-2 is arranged on an output shaft of the motor 3-1, the motor 3-1 drives the gear 3-2 to be matched with the rack 3-3, and the gear 3-2 drives the motor 3-1 and the vacuum chuck 3-6 to slide on the rack 3-3. When stacking is needed, the vacuum chuck extends out of the conveying device, absorbs goods conveyed by the conveying device, drives the gear 3-2 to slide on the rack 3-3 through the motor 3-1 so as to move to a stacking position, namely, the vacuum chuck or the goods are pushed to a specified position to realize stacking; when the unstacking is needed, the vacuum chuck extends out of the conveying device, adsorbs goods on the unstacking position, and then drives the gear 3-2 to slide on the rack 3-3 through the motor 3-1 so as to move towards the conveying device, so that the unstacking is realized.

In order to make the goods more stably dragged to the conveying device; the posture of the vacuum sucker can be passively adjusted, so that the sucker can be attached to goods more conveniently, and the goods can be grabbed more firmly, and the motor 3-1 and the vacuum sucker 3-6 are connected with each other through a longitudinal connecting mechanism, a connecting flange 3-8 and a hinge 3-5;

the longitudinal connecting mechanism comprises a connecting piece 3-4 arranged on the motor 3-1, a semicircular guide rail sliding block component 3-9 arranged on the connecting piece 3-4, a connecting flange 3-8 arranged on the semicircular guide rail sliding block component 3-9, and a hinge 3-5 connected with the connecting flange 3-8, wherein the hinge 3-5 is connected with a vacuum sucker 3-6, the semicircular guide rail sliding block component drives the vacuum sucker 3-6 to perform longitudinal adjustment and course attitude fine adjustment, and the hinge 3-5 drives the vacuum sucker 3-6 to perform pitching attitude fine adjustment. Wherein, the semicircular guide rail sliding block components 3-9 are of the existing structure.

The rack 3-3 and the front and back guide rails 3-7 are arranged on the bottom plate 1-1; in some embodiments, it is not excluded that it may be provided on the side plates.

The conveying device 2 comprises a conveying plate arranged on the supporting frame 1, a sliding groove for accommodating the vacuum chucks 3-6 to be slidingly hidden between the supporting frame 1 and the conveying device 2 or to be slidingly extended out of the conveying device 2 and a conveying mechanism which is arranged on the conveying plate, is matched with external equipment and is used for conveying goods which are piled and unstacked by the grabbing and placing device 3 are arranged on the conveying plate.

The conveying plate is respectively connected with the connecting frame 1-3 and one side of the top end of the two side plates 1-2, so that the goods can be conveyed conveniently.

The conveying mechanism comprises a plurality of groups of conveying wheels arranged on the conveying plate, conveying belts arranged on the groups of conveying wheels, and a driving motor arranged on one side of the bottom plate and used for driving the groups of conveying wheels to rotate.

Examples

Will the utility model provides a flexible grabbing device installs and stacks pile up neatly machine people on the back, stacks up and the pile up neatly in-process tears open, the utility model provides a flexible grabbing device's concrete implementation process specifically as follows.

The implementation process of unstacking comprises the following steps: the motor 3-1 drives the gear 3-2 to be matched with the rack 3-3, the gear 3-2 drives the motor 3-1 and the vacuum chuck 3-6 to slide out of the conveying device on the rack 3-3, after goods are grabbed by the vacuum chuck 3-6, the goods move along the inclined plane of the supporting frame 1, the vacuum chuck 3-6 moves upwards along with the goods and is finely adjusted in course attitude and pitching attitude, when the goods reach the conveying belt and the conveying belt conveys the goods, the vacuum chuck 3-6 releases pressure, the vacuum chuck 3-6 descends under the action of gravity and is hidden inside the supporting frame 1, namely between the supporting frame 1 and the conveying device, the goods are conveyed backwards, and at the moment, one-time unstacking action is completed. And by parity of reasoning, the repeated unstacking actions are completed.

The implementation process of the stacking comprises the following steps: when the conveyer conveys goods to a specified position, the motor 3-1 drives the gear 3-2 to be matched with the rack 3-3, the gear 3-2 drives the motor 3-1 and the vacuum chuck 3-6 to slide out of the conveyer on the rack 3-3, the vacuum chuck 3-6 pushes the goods to the specified position when being pushed out by the motor 3-1, and the goods do not need to move with four degrees of freedom in the stacking process and only need to be pushed successively.

Claims

1. The utility model provides a flexible grabbing device of loading and unloading car robot which characterized in that: including braced frame (1), set up on braced frame (1), be used for grabbing to put device (3) of grabbing that pile up neatly and the goods of breaking a jam are grabbed to and cooperate with external equipment, carry out conveyer (2) that convey to grabbing the goods of putting device (3) pile up neatly and breaking a jam, conveyer (2) the in-process of conveying goods, grab and put device (3) and hide between braced frame (1) and conveyer (2), when grabbing and put device (3) and grab and put the goods, grab and put device (3) and stretch out conveyer (2).

2. The flexible gripping device of a lift truck robot of claim 1 wherein: the supporting frame (1) comprises a bottom plate (1-1), side plates (1-2) arranged on the opposite sides of the bottom plate (1-1), and a connecting frame (1-3) connected with the bottom plate (1-1) and the two side plates and used for connecting external equipment.

3. A lift truck robotic flexible gripping apparatus as claimed in claim 2, wherein: the side plates (1-2) are of a trapezoidal structure, the side plates (1-2) are connected with one ends of the connecting frames (1-3) and the bottom plate (1-1), the included angle between the end connected with the connecting frames (1-3) and the bottom plate (1-1) and the side plates (1-2) is 90 degrees, and the included angle between the other end connected with the connecting frames (1-3) and the bottom plate (1-1) and the included angle between the side plates (1-2) is 15-25 degrees.

4. A lift truck robotic flexible gripping apparatus as claimed in claim 3, wherein: the grabbing and placing device (3) comprises a rack (3-3) arranged on the supporting frame (1), front and rear guide rails (3-7) with limiting blocks arranged at two ends, a gear (3-2) matched with the rack (3-3), a motor (3-1) arranged on the gear (3-2) and matched with the driving gear (3-2) and the rack (3-3), and a vacuum sucker (3-6) connected with the motor (3-1) and used for grabbing and placing goods.

5. A lift truck robotic flexible gripping apparatus as claimed in claim 4, wherein: the motor (3-1) is connected with the vacuum chuck (3-6) through a longitudinal connecting mechanism;

the longitudinal connecting mechanism comprises a connecting piece (3-4) arranged on the motor (3-1), a semicircular guide rail sliding block assembly (3-9) arranged on the connecting piece (3-4), a connecting flange (3-8) arranged on the semicircular guide rail sliding block assembly (3-9), and a hinge (3-5) connected with the connecting flange (3-8), wherein the hinge (3-5) is connected with the vacuum chuck (3-6), the semicircular guide rail sliding block assembly drives the vacuum chuck (3-6) to perform longitudinal adjustment and course attitude fine adjustment, and the hinge (3-5) drives the vacuum chuck (3-6) to perform pitching attitude fine adjustment.

6. A lift truck robotic flexible gripping apparatus as claimed in claim 4, wherein: the rack (3-3) and the front and back guide rails (3-7) are arranged on the bottom plate (1-1).

7. A lift truck robotic flexible gripping apparatus as claimed in any one of claims 2 to 6, wherein: the conveying device (2) comprises a conveying plate arranged on the supporting frame (1), a sliding groove which is used for accommodating the vacuum chuck (3-6) to be slidingly hidden between the supporting frame (1) and the conveying device (2) or to be slidingly extended out of the conveying device (2) and a conveying mechanism which is arranged on the conveying plate, matched with external equipment and used for conveying goods stacked and unstacked by the grabbing and placing device (3) are arranged on the conveying plate.

8. A lift truck robotic flexible gripping apparatus as claimed in claim 7, wherein: the conveying plate is respectively connected with the connecting frame (1-3) and one side of the top end of the two side plates (1-2).

9. A lift truck robotic flexible gripping apparatus as claimed in claim 8, wherein: the conveying mechanism comprises a plurality of groups of conveying wheels arranged on the conveying plate, conveying belts arranged on the groups of conveying wheels, and a driving motor arranged on one side of the bottom plate and used for driving the groups of conveying wheels to rotate.

10. A lift truck robotic flexible gripping apparatus as claimed in claim 2 or 3, wherein: the side plates (1-2) and the connecting frames (1-3) are of frame structures.