CN211366243U

CN211366243U - Carton pile up neatly end effector and arm

Info

Publication number: CN211366243U
Application number: CN201921641120.4U
Authority: CN
Inventors: 王阳
Original assignee: Shenzhen Dorabot Robotics Co ltd
Current assignee: Shenzhen Lan pangzi machine intelligence Co., Ltd
Priority date: 2019-09-27
Filing date: 2019-09-27
Publication date: 2020-08-28
Anticipated expiration: 2029-09-27

Abstract

The utility model discloses a carton stacking end effector and an mechanical arm, belonging to the technical field of mechanical grippers, wherein the carton stacking end effector comprises a main vacuum suction assembly and an auxiliary vacuum suction assembly, the adsorption direction of the auxiliary vacuum suction assembly is perpendicular to the adsorption direction of the main vacuum suction assembly, so that the main vacuum suction assembly adsorbs the top end of a carton from top to bottom, and the auxiliary vacuum suction assembly adsorbs the side wall of the carton from the side; the auxiliary vacuum suction assembly is arranged on the main vacuum suction assembly and comprises an auxiliary vacuum suction tool, a multi-link mechanism for driving the auxiliary vacuum suction tool to perform telescopic motion in the vertical direction and a horizontal telescopic mechanism for driving the auxiliary vacuum suction tool to perform telescopic motion in the horizontal direction together with the multi-link mechanism. This technical scheme, it can effectively solve among the prior art carton pile up neatly end effector and only carry out the grabbing transport operation of carton through the vacuum adsorption mode and appear rocking in handling easily and lead to snatching the technical problem who fails.

Description

Carton pile up neatly end effector and arm

Technical Field

The utility model relates to a machinery tongs technical field, in particular to carton pile up neatly end effector and arm.

Background

At present, in the pile up neatly project of robot, carton pile up neatly end effector among the prior art often only carries out the transport operation that snatchs of carton through the vacuum adsorption mode, because the carton size is at 100 ~ 1000mm, and weight is in the scope of 1 ~ 40kg, to the carton that the focus is low on the average like this, often appears rocking easily in handling, leads to vacuum suction tool and box to break away from, finally snatchs the failure.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a carton pile up neatly end effector and arm, it aims at solving among the prior art carton pile up neatly end effector and only carries out snatching of carton through the vacuum adsorption mode and carry the handling operation easy to appear rocking in handling and lead to snatching the technical problem of failure.

In order to solve the technical problem, the utility model provides a carton stacking end effector, the carton stacking end effector comprises a main vacuum suction assembly and an auxiliary vacuum suction assembly, the adsorption direction of the auxiliary vacuum suction assembly is perpendicular to the adsorption direction of the main vacuum suction assembly, so that the main vacuum suction assembly adsorbs the top end of a carton from top to bottom, and the auxiliary vacuum suction assembly adsorbs the side wall of the carton from the side; the auxiliary vacuum suction assembly is arranged on the main vacuum suction assembly and comprises an auxiliary vacuum suction tool, a multi-link mechanism for driving the auxiliary vacuum suction tool to perform telescopic motion in the vertical direction and a horizontal telescopic mechanism for driving the auxiliary vacuum suction tool and the multi-link mechanism to perform telescopic motion in the horizontal direction.

Optionally, the multi-link mechanism includes a multi-link telescopic frame body and a power structure for driving the multi-link telescopic frame body to extend and retract, and the auxiliary vacuum suction tool is installed on the multi-link telescopic frame body.

Optionally, the multi-link telescopic frame body comprises a plurality of first links and a plurality of second links; one end of the first connecting rod is rotatably connected to one end of the power structure, and the other end of the first connecting rod is sequentially rotatably connected with the rest first connecting rods; one end of the second connecting rod is rotatably connected to the other end of the power structure, and the other end of the second connecting rod is sequentially rotatably connected with the rest second connecting rods; the first connecting rods and the second connecting rods are in one-to-one correspondence, staggered and rotary connection.

Optionally, the auxiliary vacuum chuck comprises a plurality of auxiliary vacuum chucks, and each auxiliary vacuum chuck is installed on a rotary connection node.

Optionally, the power structure includes a cylinder mounting base, a sliding rod, a first slider, a first cylinder for driving the first slider to slide on the sliding rod, a second slider, and a second cylinder for driving the second slider to slide on the sliding rod, the first cylinder, and the second cylinder are respectively mounted on the cylinder mounting base, and the cylinder axis stretching direction of the first cylinder and the cylinder axis stretching direction of the second cylinder are opposite, the first slider is slidably connected to one end of the sliding rod, and the first slider is rotatably connected to one end of the corresponding first connecting rod, the second slider is slidably connected to the other end of the sliding rod, and the second slider is rotatably connected to one end of the corresponding second connecting rod.

Optionally, the power structure includes cylinder installation pedestal, the body of rod that slides, first slider, drive first slider is in gliding first cylinder and fixed block on the body of rod that slides, the body of rod that slides reaches first cylinder is installed respectively on the cylinder installation pedestal, first slider sliding connection in the one end of the body of rod that slides, just first slider and corresponding the one end of first connecting rod is rotated and is connected, the fixed block set firmly in the other end of the body of rod that slides, just the fixed block with corresponding the one end of second connecting rod is rotated and is connected.

Optionally, the horizontal telescopic mechanism comprises two power cylinders arranged on the top side of the main vacuum suction assembly, and a cylinder shaft of each power cylinder is fixedly connected with the power structure.

Optionally, the main vacuum suction assembly includes a connection base and a plurality of main vacuum suction devices, the main vacuum suction devices are arranged side by side on the bottom side of the connection base, and each main vacuum suction device includes a main suction cup mounting base and a plurality of main vacuum suction cups arranged in an array on the bottom side of the main suction cup mounting base.

Optionally, the main vacuum suction assembly further comprises a plurality of translation mechanisms for driving the main vacuum suction assembly to move horizontally relative to the connecting base, each translation mechanism comprises a plurality of horizontal sliding seats and a screw power mechanism fixedly arranged on the top side of the connecting base, the connecting base is in sliding connection with the horizontal sliding seats through the matching of sliding rails and sliding grooves, each horizontal sliding seat is in fastening connection with the main vacuum suction assembly, and the screw power mechanism drives the main vacuum suction assembly to move horizontally relative to the connecting base through the matching of a screw and a screw nut.

Furthermore, in order to solve the technical problem, the utility model also provides a mechanical arm, the mechanical arm includes arm main part and foretell carton pile up neatly end effector, carton pile up neatly end effector locates the end of arm main part.

The utility model provides a carton pile up neatly end effector and arm, its carton pile up neatly end effector include that the main vacuum inhales an subassembly and vice vacuum inhales an subassembly, and the absorption direction of the main vacuum of the absorption direction perpendicular to of vice vacuum inhales an subassembly inhales the absorption direction of an subassembly for the top of carton is adsorbed from top to bottom to the main vacuum inhales an subassembly, and vice vacuum inhales the lateral wall that an subassembly adsorbed the carton by side. Thus, after the main vacuum suction assembly adsorbs the carton from top to bottom, the auxiliary vacuum suction assembly adsorbs and fixes the side wall of the carton from the side at the same time, so that the cartons with different sizes and different weights are further adsorbed and fixed, and the carton is prevented from shaking in the carrying process. Meanwhile, the auxiliary vacuum suction assembly comprises an auxiliary vacuum suction tool, a multi-link mechanism for driving the auxiliary vacuum suction tool to perform telescopic motion in the vertical direction and a horizontal telescopic mechanism for driving the auxiliary vacuum suction tool and the multi-link mechanism to perform telescopic motion in the horizontal direction, so that the auxiliary vacuum suction tool can better adapt to cartons of different sizes and weights to further adsorb and fix, and the cartons are prevented from shaking in the carrying process. Therefore, the carton stacking end effector and the mechanical arm can effectively solve the technical problem that in the prior art, the carton stacking end effector only performs grabbing and carrying operations of cartons in a vacuum adsorption mode, and shaking is easy to cause grabbing failure in a carrying process.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is the utility model discloses carton pile up neatly end effector's of arm schematic structure view.

Fig. 2 is a schematic view of a secondary vacuum chuck assembly of the carton palletizing end effector shown in fig. 1.

Detailed Description

The following describes the present invention with reference to the accompanying drawings. It should be noted that the description of the embodiments is provided to help understanding of the present invention, but the present invention is not limited thereto. In addition, the technical features related to the embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

As shown in fig. 1 and 2, the present embodiment provides a robot arm including a carton stacking end effector 100 and a robot main body (not shown), wherein the carton stacking end effector 100 is disposed at an end of the robot main body. The carton palletizing end effector 100 specifically includes a main vacuum suction assembly 110 and an auxiliary vacuum suction assembly 120, wherein an adsorption direction of the auxiliary vacuum suction assembly 120 is perpendicular to an adsorption direction of the main vacuum suction assembly 110, so that the main vacuum suction assembly 110 adsorbs a top end of a carton from top to bottom, and the auxiliary vacuum suction assembly 120 adsorbs a side wall of the carton from a side. The sub-vacuum chuck assembly 120 is installed on the main vacuum chuck assembly 110, and the sub-vacuum chuck assembly 120 includes a sub-vacuum chuck 121, a multi-link mechanism 122 driving the sub-vacuum chuck 121 to perform telescopic movement in a vertical direction, and a horizontal telescopic mechanism 123 driving the sub-vacuum chuck 121 and the multi-link mechanism 122 to perform telescopic movement in a horizontal direction.

In the present embodiment, as shown in fig. 2, the multi-link mechanism 122 includes a multi-link telescopic frame body and a power structure for driving the multi-link telescopic frame body to extend and retract, and the sub-vacuum suction tool 121 is mounted on the multi-link telescopic frame body. Specifically, the multi-link telescopic frame body includes a plurality of first links 1221 and a plurality of second links 1222; one end of a first connecting rod 1221 is rotatably connected to one end of the power structure, and the other end of the first connecting rod 1221 is sequentially rotatably connected to the rest of the first connecting rods 1221; one end of a second link 1222 is rotatably connected to the other end of the power structure, and the other end is rotatably connected to all the remaining second links 1222; the first connecting rods 1221 are rotatably connected with the second connecting rods 1222 in a one-to-one correspondence staggered manner. The sub-vacuum chuck 121 includes a plurality of sub-vacuum chucks 1211, and each sub-vacuum chuck 1211 is installed on a rotation connection node. The power structure comprises a cylinder mounting base 1223, a sliding rod 1224, a first slider 1225, a first cylinder 1226 for driving the first slider 1225 to slide on the sliding rod 1224, a second slider 1227, and a second cylinder 1228 for driving the second slider 1227 to slide on the sliding rod 1224, wherein the sliding rod 1224, the first cylinder 1226, and the second cylinder 1228 are respectively mounted on the cylinder mounting base 1223, the cylinder axis stretching direction of the first cylinder 1226 is opposite to the cylinder axis stretching direction of the second cylinder 1228, the first slider 1225 is slidably connected to one end of the sliding rod 1224, the first slider 1225 is rotatably connected to one end of the corresponding first link 1221, the second slider 1227 is slidably connected to the other end of the sliding rod 1224, and the second slider 1227 is rotatably connected to one end of the corresponding second link 1222. At this time, the first cylinder 1226 drives the first sliding block 1225 to slide on the sliding rod 1224, and the second cylinder 1228 drives the second sliding block 1227 to slide on the sliding rod 1224, so that the telescopic function of the multi-link telescopic frame body can be achieved. For those skilled in the art, in this embodiment, the two cylinders drive the two sliders to move in opposite directions or away from each other to achieve the telescopic function of the multi-link telescopic frame, and one of the cylinders can be independently controlled to drive the corresponding slider to move on the sliding rod body according to actual needs to achieve the telescopic function of the multi-link telescopic frame. In addition, also can only use a cylinder drive, adopt one end fixed promptly, the other end makes a round trip the translation through a cylinder drive slider and realizes the flexible function of many connecting rods telescopic frame body, at this moment, this power structure (not shown) includes cylinder installation pedestal, the slip body of rod, first slider, drive first slider gliding first cylinder and fixed block on the slip body of rod, the slip body of rod and first cylinder are installed respectively on cylinder installation pedestal, first slider sliding connection is in the one end of the slip body of rod, and first slider rotates with the one end of corresponding first connecting rod to be connected, the fixed block sets firmly in the other end of the slip body of rod, and the fixed block rotates with the one end of corresponding second connecting rod to be connected.

As shown in fig. 1 and 2, the horizontal telescoping mechanism 123 includes two power cylinders 1231 disposed on the top side of the main vacuum chuck assembly 110, and a cylinder shaft of each power cylinder 1231 is tightly connected to the power structure 122. Specifically, the cylinder shaft of each power cylinder 1231 is fastened to the cylinder mounting base 1223 of the power structure 122, and the multi-link mechanism 122 and the auxiliary vacuum suction tool 121 are driven to perform telescopic motion in the horizontal direction by the telescopic motion of the cylinder shaft of the power cylinder 1231.

As shown in fig. 1, the main vacuum chuck assembly 110 includes a connecting base 111 and a plurality of main vacuum chucks 112, the plurality of main vacuum chucks 112 are disposed side by side on a bottom side of the connecting base 111, and each main vacuum chuck 112 includes a main chuck mounting base and a plurality of main vacuum chucks arranged in an array on the bottom side of the main chuck mounting base. With such a configuration, the maximum suction force of a single main vacuum suction tool 112 is 50kg, and the carton palletizing end effector 100 specifically adopts three main vacuum suction tools 112 to suck 150kg of cartons at the maximum.

In addition, as shown in fig. 1, the main vacuum chuck assembly 110 further includes a translation mechanism 113 for driving the main vacuum chucks 112 to move horizontally relative to the connecting base 111, the translation mechanism 113 includes a plurality of horizontal slides 1131 and a lead screw power mechanism 1132 fixedly disposed on a top side of the connecting base 1131, the connecting base 111 is slidably connected to the plurality of horizontal slides 1131 through the matching of the slide rails and the slide grooves, each horizontal slide 1131 is fastened to one of the main vacuum chucks 112, and the lead screw power mechanism 1132 drives the plurality of main vacuum chucks 112 to move horizontally relative to the connecting base 111 through the matching of the lead screw and the lead screw nut. Specifically, the lead screw power mechanism 1132 includes a lead screw, a plurality of lead screw nuts and a servo motor, the outer surface of the lead screw nut is fixedly connected to the horizontal slide 1131, the lead screw is driven by the servo motor to rotate, the plurality of lead screw nuts are driven to make linear motion on the lead screw, and then the plurality of horizontal slides 1131 are driven to move horizontally on the slide rail connected to the seat body 111. Further, the lead screw comprises a bi-directional threaded lead screw, such that the horizontal carriages 1131 and their fixedly connected main vacuum chuck 112 can move linearly in opposite directions. When the end effector is provided with two main vacuum suction tools 112, the two main vacuum suction tools 112 are respectively arranged in different thread section stroke ranges of the bidirectional screw rod; when the end effector is provided with three main vacuum suction tools 112, the middle main vacuum suction tool 112 is fixedly arranged on the connecting seat body 111, and the main vacuum suction tools 112 at two sides are respectively arranged in different thread section stroke ranges of the bidirectional screw rod; when the end effector is provided with four main vacuum suction tools 112, two main vacuum suction tools 112 are respectively arranged in different thread section stroke ranges of the bidirectional screw rod; when there are more main vacuum suction devices 112, the distribution is repeated, so that the main vacuum suction devices 112 can be close to or away from each other, and for the integrated end effector, the position where the main vacuum suction devices 112 suck the box body can be adjusted. Therefore, the distribution of the grabbing force can be planned according to the surface size of the box body, and the box body can be grabbed more stably.

In operation, as shown in fig. 1, the robot arm body drives the carton stacking end effector 100 to come to a position right above a carton to be gripped, the main vacuum suction assembly 110 starts to operate, the carton is sucked by the bottom side thereof, then the auxiliary vacuum suction assembly 120 starts to operate, the horizontal telescopic mechanism 123 drives the auxiliary vacuum suction assembly 121 and the multi-link mechanism 122 to translate outwards together, meanwhile, the multi-link mechanism 122 drives the multi-link frame body to drive the auxiliary vacuum suction assembly 121 to move in an extending manner so as to extend the auxiliary vacuum suction assembly 121 to a proper position, at this time, the auxiliary vacuum suction assembly 121 sucks and fixes the side wall of the carton from the side to further suck and fix cartons of different sizes and weights, and the carton is prevented from shaking during transportation.

The embodiment of the utility model provides a carton pile up neatly end effector and arm, its carton pile up neatly end effector include that main vacuum inhales an subassembly and vice vacuum inhales an subassembly, and vice vacuum inhales the absorption direction of the main vacuum of absorption direction perpendicular to of an subassembly and inhales the absorption direction of an subassembly for main vacuum inhales the top that the subassembly from top to bottom adsorbed the carton, vice vacuum inhales the lateral wall that the subassembly adsorbed the carton by side. Thus, after the main vacuum suction assembly adsorbs the carton from top to bottom, the auxiliary vacuum suction assembly adsorbs and fixes the side wall of the carton from the side at the same time, so that the cartons with different sizes and different weights are further adsorbed and fixed, and the carton is prevented from shaking in the carrying process. Meanwhile, the auxiliary vacuum suction assembly comprises an auxiliary vacuum suction tool, a multi-link mechanism for driving the auxiliary vacuum suction tool to perform telescopic motion in the vertical direction and a horizontal telescopic mechanism for driving the auxiliary vacuum suction tool and the multi-link mechanism to perform telescopic motion in the horizontal direction, so that the auxiliary vacuum suction tool can better adapt to cartons of different sizes and weights to further adsorb and fix, and the cartons are prevented from shaking in the carrying process. Therefore, the carton stacking end effector and the mechanical arm can effectively solve the technical problem that in the prior art, the carton stacking end effector only performs grabbing and carrying operations of cartons in a vacuum adsorption mode, and shaking is easy to cause grabbing failure in a carrying process.

The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. It will be apparent to those skilled in the art that various changes, modifications, substitutions and alterations can be made in the embodiments without departing from the principles and spirit of the invention, and the scope of the invention is to be accorded the full scope of the claims.

Claims

1. The carton stacking end effector is characterized by comprising a main vacuum suction assembly and an auxiliary vacuum suction assembly, wherein the suction direction of the auxiliary vacuum suction assembly is perpendicular to the suction direction of the main vacuum suction assembly, so that the main vacuum suction assembly sucks the top end of a carton from top to bottom, and the auxiliary vacuum suction assembly sucks the side wall of the carton from the side; the auxiliary vacuum suction assembly is arranged on the main vacuum suction assembly and comprises an auxiliary vacuum suction tool, a multi-link mechanism for driving the auxiliary vacuum suction tool to perform telescopic motion in the vertical direction and a horizontal telescopic mechanism for driving the auxiliary vacuum suction tool and the multi-link mechanism to perform telescopic motion in the horizontal direction.

2. Carton palletizing end effector according to claim 1, wherein the multi-link mechanism comprises a multi-link telescopic frame on which the secondary vacuum suction is mounted, and a power structure for driving the multi-link telescopic frame to telescope.

3. The carton palletizing end effector as claimed in claim 2, wherein the multi-link telescoping body comprises a plurality of first links and a plurality of second links; one end of the first connecting rod is rotatably connected to one end of the power structure, and the other end of the first connecting rod is sequentially rotatably connected with the rest first connecting rods; one end of the second connecting rod is rotatably connected to the other end of the power structure, and the other end of the second connecting rod is sequentially rotatably connected with the rest second connecting rods; the first connecting rods and the second connecting rods are in one-to-one correspondence, staggered and rotary connection.

4. Carton palletizing end effector according to claim 3, wherein said secondary vacuum suction means comprise a plurality of secondary vacuum suction cups, each of which is mounted on a rotary connection node.

5. A carton stacking end effector as claimed in claim 3, wherein the power structure comprises a cylinder mounting base, a sliding rod, a first slide, a first cylinder driving the first slide to slide on the sliding rod, a second slide, and a second cylinder driving the second slide to slide on the sliding rod, the sliding rod body, the first cylinder and the second cylinder are respectively arranged on the cylinder mounting base body, the telescopic direction of the cylinder shaft of the first cylinder is opposite to the telescopic direction of the cylinder shaft of the second cylinder, the first slide block is connected to one end of the sliding rod body in a sliding manner, and the first sliding block is rotatably connected with one corresponding end of the first connecting rod, the second sliding block is slidably connected with the other end of the sliding rod body, and the second sliding block is rotatably connected with one corresponding end of the second connecting rod.

6. The carton stacking end effector of claim 3, wherein the power structure comprises a cylinder mounting base, a sliding rod, a first slider, a first cylinder for driving the first slider to slide on the sliding rod, and a fixing block, the sliding rod and the first cylinder are respectively mounted on the cylinder mounting base, the first slider is slidably connected to one end of the sliding rod, the first slider is rotatably connected to one end of the corresponding first connecting rod, the fixing block is fixedly arranged at the other end of the sliding rod, and the fixing block is rotatably connected to one end of the corresponding second connecting rod.

7. A carton palletizing end effector according to claim 3, wherein the horizontal telescopic mechanism comprises two power cylinders arranged on the top side of the main vacuum suction assembly, the cylinder shaft of each power cylinder being fixedly connected with the power structure.

8. Carton palletizing end effector according to any one of claims 1 to 7, wherein the main vacuum suction assembly comprises a connecting seat and a plurality of main vacuum suction devices arranged side by side on a bottom side of the connecting seat, each main vacuum suction device comprising a main suction cup mounting seat and a plurality of arrays of main vacuum suction cups arranged on the bottom side of the main suction cup mounting seat.

9. The carton stacking end effector of claim 8, wherein the main vacuum suction assembly further comprises a translation mechanism for driving a plurality of main vacuum suction devices to move horizontally relative to the connecting base, the translation mechanism comprises a plurality of horizontal sliding seats and a screw power mechanism fixedly arranged on the top side of the connecting base, the connecting base is in sliding connection with the horizontal sliding seats through the matching of sliding rails and sliding grooves, each horizontal sliding seat is in fastening connection with one main vacuum suction device, and the screw power mechanism drives a plurality of main vacuum suction devices to move horizontally relative to the connecting base through the matching of screws and screw nuts.

10. A robot arm, characterized in that the robot arm comprises a robot arm body and a carton palletizing end effector as claimed in any one of claims 1 to 9, which is provided at an end of the robot arm body.