CN-224226192-U - Palletizing robot grabbing device and palletizing robot

CN224226192UCN 224226192 UCN224226192 UCN 224226192UCN-224226192-U

Abstract

The utility model discloses a stacking robot grabbing device and a stacking robot, wherein the grabbing device comprises a mounting frame, a sucker used for sucking materials is mounted on the mounting frame, a holding claw is rotatably mounted on the mounting frame, the holding claw is positioned on the periphery of the sucker, the material is rotatably held, a plurality of pairs of parallel suckers are arranged, and a width adjusting driving assembly is mounted on the mounting frame to drive the plurality of pairs of suckers to be close to each other and far away from each other. The stacking robot comprises a manipulator, a grabbing device for grabbing materials is arranged at the tail end of the manipulator, the manipulator drives the grabbing device to stack the materials, and the grabbing device is specifically described above. When adsorbing the less material of width, transfer wide actuating mechanism drive multiunit sucking disc and be close to each other and make multiunit sucking disc all can adsorb on the material, thereby provide enough strong adsorption affinity for the material. When adsorbing the great material of width, transfer wide actuating mechanism drive multiunit sucking disc and keep away from each other, on dispersing the adsorption affinity of multiunit sucking disc to the different positions of material, avoid causing the material fracture because of the adsorption affinity is too concentrated.

Inventors

CAI FENG
Wen Zhengfei
TANG JIANBIN
XU CHENGDONG
HE LUXU

Assignees

欧派家居集团股份有限公司

Dates

Publication Date: 20260512
Application Date: 20241111

Claims (10)

1. The palletizing robot grabbing device comprises a mounting frame, wherein a sucker used for sucking materials is mounted on the mounting frame, a holding claw is further rotatably mounted on the mounting frame, the holding claw is located on the periphery of the sucker, and the holding claw rotates to hold the materials.
2. The material grabbing device as claimed in claim 1, wherein the suction cups are at least two pairs, and the width adjusting driving assembly comprises a bi-directional transmission mechanism, and the bi-directional transmission mechanism drives the two pairs of suction cups to move in opposite directions so as to enable the two pairs of suction cups to be close to each other and far away from each other.
3. The material grabbing device as claimed in claim 2, wherein the bidirectional transmission mechanism is a synchronous belt transmission mechanism, wherein the forward motion section of the bidirectional transmission mechanism drives one of the sub-sucking discs to move forward, and the reverse motion section of the bidirectional transmission mechanism drives the other sub-sucking disc to move reversely.
4. The material grabbing device as claimed in claim 3, wherein the width adjusting driving assembly comprises a width adjusting driving motor in driving connection with the synchronous belt transmission mechanism.
5. The material grabbing device as claimed in claim 1, wherein the clamping claws are provided with at least two pairs of clamping claws which are respectively arranged on two opposite sides of the sucker, and the clamping claws are rotated until the tail ends of the clamping claws are close to each other to clamp the material.
6. The material grabbing device as claimed in claim 5, wherein the width adjusting driving assembly drives the two pairs of holding claws to translate so that the two pairs of holding claws are close to each other and far away from each other.
7. The material grabbing device as claimed in claim 1, wherein the mounting frame is provided with a material grabbing sensing mechanism for sensing a grabbing state of the material.
8. The material grabbing device as claimed in claim 7, wherein the material grabbing sensing mechanism comprises a movable column and a sensor, the movable column is movably mounted on the mounting frame, the grabbed material is pushed up, and the sensor senses the movement state of the movable column.
9. The palletizing robot comprises a manipulator, wherein a grabbing device for grabbing materials is arranged at the tail end of the manipulator, and the manipulator drives the grabbing device to palletize the materials, and the palletizing robot is characterized in that the grabbing device is specifically as claimed in any one of claims 1-8.
10. The palletizing robot according to claim 9, wherein the palletizing robot comprises a controller, the controller is used for controlling and connecting the manipulator and the grabbing device, the sucker of the grabbing device is a vacuum sucker, the palletizing robot is provided with a vacuum generator for providing negative pressure for the vacuum sucker, the holding claw of the grabbing device is a pneumatic holding claw, and the palletizing robot is provided with an air compressor in driving connection with the pneumatic holding claw.

Description

Palletizing robot grabbing device and palletizing robot Technical Field The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot material grabbing device and a palletizing robot. Background The palletizing robot comprises a manipulator and a grabbing device arranged at the tail end of the manipulator, the grabbing device comprises a mounting frame, a downward sucker is fixedly arranged on the mounting frame, and two pairs of holding claws are respectively and rotatably arranged on the left side and the right side of the sucker. When grabbing the material, the manipulator drives the grabbing device to be close to the material until the sucker of the grabbing device sucks the material, then drives the grabbing device to move upwards to drive the material to rise to a certain height, and the two pairs of holding claws of the grabbing device rotate to the lower part of the material to hold the material, so that the grabbing of the material is realized. When stacking, the manipulator drives the grabbing device to transfer the materials to the upper part of the stacking area, then the two pairs of holding claws of the grabbing device rotate and spread, in this state, the materials are still adsorbed by the sucking discs of the grabbing device and cannot fall directly, after the holding claws spread, the manipulator drives the grabbing device to place the materials in the stacking area to stack the materials, and after stacking, the sucking discs stop adsorbing the materials. Different materials have different thicknesses and widths. Because the holding claw of the grabbing device is rotationally arranged on the mounting frame, the holding claw can be used for holding materials with different thicknesses and different widths by adjusting the rotation amplitude of the holding claw, for example, the thickness of the materials is smaller and the width of the materials is also smaller, then the rotation amplitude of the holding claw is increased, the holding claw is enabled to be closer to the sucking disc after rotating, the tail ends of the two pairs of holding claws are closer to the central position of the mounting frame, and therefore the holding claw can hold the materials adsorbed on the sucking disc. However, since the suction cup is fixedly installed on the installation frame, the position is fixed, so that a strong enough adsorption force can be provided for materials with smaller width, the suction cup is installed at the center of the installation frame as intensively as possible, and when the materials with larger width are adsorbed, the centralized adsorption mode can cause the adsorption force to be too concentrated, so that the materials are easy to crack. Disclosure of utility model The utility model aims to solve the technical problem of providing a grabbing device of a palletizing robot, and a sucker of the grabbing device can provide strong enough adsorption force for materials with smaller width and can disperse the adsorption force when adsorbing materials with larger width. The utility model also provides a palletizing robot, and the sucker of the grabbing device of the palletizing robot can not only provide strong enough adsorption force for materials with smaller width, but also disperse the adsorption force when adsorbing materials with larger width. In order to solve the technical problems, the palletizing robot grabbing device comprises a mounting frame, wherein a sucker for sucking materials is mounted on the mounting frame, a holding claw is rotatably mounted on the mounting frame and is positioned on the periphery of the sucker, the material is rotatably held by the holding claw, a plurality of pairs of parallel suckers are arranged on the sucker, and a width adjusting driving assembly is mounted on the mounting frame to drive the plurality of pairs of suckers to be close to each other and far away from each other. Further, the sucker has at least two pairs, and the width adjusting driving assembly comprises a bidirectional transmission mechanism, and the bidirectional transmission mechanism drives the two pairs of suckers to move in opposite directions so as to enable the two pairs of suckers to be close to each other and far away from each other. Further, the bidirectional transmission mechanism is a synchronous belt transmission mechanism, the forward motion section of the bidirectional transmission mechanism drives one of the auxiliary suckers to move forward, and the reverse motion section of the bidirectional transmission mechanism drives the other auxiliary sucker to move reversely. Further, the width adjusting driving assembly comprises a width adjusting driving motor which is in driving connection with the synchronous belt transmission mechanism. Further, the holding claws are provided with at least two pairs which are respectively arranged on two opposite sides of the sucker, and the two pairs of holding claws rotate to the ta