CN103264397B - Multifunctional robot palletizer gripper - Google Patents
Multifunctional robot palletizer gripper Download PDFInfo
- Publication number
- CN103264397B CN103264397B CN201310220685.6A CN201310220685A CN103264397B CN 103264397 B CN103264397 B CN 103264397B CN 201310220685 A CN201310220685 A CN 201310220685A CN 103264397 B CN103264397 B CN 103264397B
- Authority
- CN
- China
- Prior art keywords
- grip block
- clamping device
- robot palletizer
- grip
- multifunctional robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses Multifunctional robot palletizer gripper, this Multifunctional robot palletizer gripper comprises: support, horizontal clamping device, pallet clamping device and cardboard draw frame machine, horizontal clamping device comprises lift mechanism, and horizontal clamping device, pallet clamping device and cardboard draw frame machine are all connected to support.Multifunctional robot palletizer gripper of the present invention, has gathered crawl product, has captured pallet, has drawn cardboard function, highly versatile; Reduce machine cost; Reduce mechanical area occupied; Make the lighter in weight of whole mechanism simultaneously, greater weight product can be captured.
Description
Technical field
The present invention designs robot palletizer field, particularly relates to a kind of Multifunctional robot palletizer gripper gathered crawl product, captured pallet, draw cardboard function.
Background technology
Along with the sustainable development of China's economy, and the continuous increase of labor cost, and the labourer that various places occur is waste, force enterprise more to consider to use the equipment of automation, improve speed of production, reduce recruitment cost, pursue the maximization of interests, in the enterprise that labour intensity is large, robot is the automation equipment of enterprise's first-selection, before in auto manufacturing, robot is popularity, at present in other industry, as: paper industry, food, medicine company etc., the utilization of robot also gets more and more.
But because different clients is different for the form of the piling in rear road, this is diversified with regard to needing the function of robot gripper to obtain, integration.
The pallet used in the market, cardboard, and product is all realized by respective mechanism, pallet supply adopts the supply of automatic supplies trays machine, and cardboard is by sucking disc mechanism, and product is captured and realized by robot gripper, such design, floor space is large, and cost is high.
Summary of the invention
The object of the present invention is to provide a kind of Multifunctional robot palletizer gripper gathered crawl product, captured pallet, draw cardboard function.
To achieve these goals, Multifunctional robot palletizer gripper provided by the invention, comprise: support, horizontal clamping device, pallet clamping device and cardboard draw frame machine, horizontal clamping device comprises lift mechanism, and horizontal clamping device, pallet clamping device and cardboard draw frame machine are all connected to support; Horizontal clamping device comprises two pieces of grip blocks be arranged in parallel, and two pieces of grip blocks are by spindle gear and servo motor transmission, and two pieces of grip block relative motions, change the distance between it; Pallet clamping device comprises two pairs of holding hands, and two pairs of holding hands be arranged in parallel, and often pair of holding hand includes two handgrips be oppositely arranged; Two handgrips of often pair of holding hand relatively rotate; Cardboard draw frame machine comprises N(N >=2) individual sucker, each sucker is connected to the second rotating shaft by a linking arm, and each linking arm promotes cylinder each via one second and drives, and rotates around the second shaft axis; Lift mechanism by guiding mechanism be connected to horizontal clamping device two pieces of grip blocks or wherein outside one piece of grip block, lift mechanism promotes cylinder by one the 3rd and drives, the connected grip block relative motion of lift mechanism, its direction of motion is consistent with the direction of motion of grip block.
In some embodiments, prop up and put up " work " font, " work " font support comprises two support arms be arranged in parallel and connects the linking arm of two support arms; Be provided with two guide rails be arranged in parallel between two support arms, guide rail is perpendicular to support arm; Spindle gear comprises: be connected to the screw mandrel between two support arms, the synchronous pulley be connected with screw mandrel, be connected to the servomotor of a wherein support arm and connect the Timing Belt of servomotor and synchronous pulley.
In some embodiments, two grip blocks are connected with slide by slide block, and two grip blocks are connected with wire rod thread respectively by two contiguous blocks simultaneously, and on the contrary, guide rail and screw mandrel are perpendicular to the plane at grip block place for the hand of spiral of two contiguous blocks.
In some embodiments, wherein a grip block is connected with slide by slide block, the grip block be connected with guide rail is connected with wire rod thread by a contiguous block simultaneously, and guide rail and screw mandrel are perpendicular to the plane at grip block place, and another grip block is fixedly connected on a wherein support arm.
In some embodiments, lift mechanism comprises holder hand and lever arm; Lever arm is connected to the outer side-lower of a wherein grip block by guiding mechanism, promotes cylinder be simultaneously connected between lever arm with this grip block by the 3rd; Holder hand is vertically connected at the side side of lever arm near this grip block; Lift mechanism is when this grip block, and the Plane intersects at holder hand and this grip block place, when lift mechanism is away from this grip block, the plane at holder hand and this grip block place is non-intersect.
In some embodiments, pallet clamping device also comprises two first rotating shafts, and two first rotating shafts are connected between two support arms, and two first rotating shafts are perpendicular to support arm; Two handgrips of often pair of holding hand are connected to two first ends, rotating shaft two ends, handgrip and the first rotating shaft geo-stationary, and handgrip is positioned at outside two grip blocks; Handgrip becomes " J " shape, and its one end is provided with lifts hook, and handgrip does not arrange the one end of lifting hook and is fixedly connected with the first rotating shaft.
In some embodiments, two first rotating shafts are connected to the first toothed disc, and the first toothed disc is positioned at outside grip block, the first rotating shaft and the first toothed disc geo-stationary; Also be provided with the first gear bar be meshed with the first toothed disc in addition, one end of the first gear bar is connected with the first promotion cylinder; Slidably connect the first guide pad outside first gear bar, the first guide pad is fixedly connected with grip block.
In some embodiments, pallet clamping device also comprises positioner, and positioner comprises: positioning cylinder, the alignment pin be connected with positioning cylinder and be located at the dowel hole of handgrip, and alignment pin is driven by positioning cylinder, coordinate with dowel hole, realize handgrip location.
In some embodiments, comprise four suckers, four suckers are connected to two second roller end respectively by linking arm, the second rotating shaft and linking arm geo-stationary; Two second rotating shafts are connected between two support arms, and two second rotating shafts are perpendicular to support arm; Linking arm is positioned at outside two grip blocks.
In some embodiments, two second rotating shafts are connected to the second toothed disc, and the second toothed disc is positioned at outside grip block, the second rotating shaft and the second toothed disc geo-stationary; Also be provided with the second gear bar be meshed with the second toothed disc in addition, one end of the second gear bar connects second and promotes cylinder; Slidably connect the second guide pad outside second gear bar, the second guide pad is fixedly connected with grip block.
Multifunctional robot palletizer gripper of the present invention compared with prior art, has the following advantages:
1. Multifunctional robot palletizer gripper of the present invention, has gathered crawl product, has captured pallet, has drawn cardboard function, highly versatile; Reduce machine cost; Reduce mechanical area occupied.
2. Multifunctional robot palletizer gripper of the present invention, mechanism design is reasonable, makes the lighter in weight of whole mechanism, can capture greater weight product.
3. Multifunctional robot palletizer gripper of the present invention, its horizontal clamping device adopts driven by servomotor, control, realizes stepless time adjustment, highly versatile; Employing Timing Belt drives, and reduces noise, decreases the pollution to product; Adopt screw rod transmission, achieve rotation priming and be converted into rectilinear motion, mechanism is reasonable, decreases machinery weight, reduces the load of machinery.
4. Multifunctional robot palletizer gripper of the present invention, it is provided with lift mechanism, prevents the gripping object landing of horizontal clamping device, and make the versatility of whole equipment stronger, the applicability for flexible package or weight is stronger.
5. Multifunctional robot palletizer gripper of the present invention, it is provided with lift mechanism, is modular design, according to different products, can realize the quick-replaceable lifting block, rational in infrastructure, convenient.
6. Multifunctional robot palletizer gripper of the present invention, its pallet clamping device drives linear gear rack, the action of linear gear rack driven gear dish by promoting cylinder, thus driving handgrip action, structure is simple, reasonable in design, integrated model lightweight, reduces the load of device.
7. Multifunctional robot palletizer gripper of the present invention, the modularized design of its pallet clamping device, according to different pallets, realizes changing fast, easily.
8. Multifunctional robot palletizer gripper of the present invention, its cardboard draw frame machine drives linear gear rack, the action of linear gear rack driven gear dish by promoting cylinder, thus driving linking arm action, structure is simple, reasonable in design, integrated model lightweight, reduces the load of device.
Accompanying drawing explanation
Fig. 1 is the structural representation of the Multifunctional robot palletizer gripper of one embodiment of the present invention.
Fig. 2 is the structural representation of clamping device horizontal in the Multifunctional robot palletizer gripper shown in Fig. 1.
Fig. 3 is the structural representation of lift mechanism in the Multifunctional robot palletizer gripper shown in Fig. 1.
Fig. 4 is the structural representation of pallet clamping device in the Multifunctional robot palletizer gripper shown in Fig. 1.
Fig. 5 is the station schematic diagram of the pallet clamping device shown in Fig. 4.
Fig. 6 is the structural representation of cardboard draw frame machine in the Multifunctional robot palletizer gripper shown in Fig. 1.
Fig. 7 and Fig. 8 is the station schematic diagram of the cardboard draw frame machine shown in Fig. 6.
Fig. 9 is the use reference diagram of the Multifunctional robot palletizer gripper of one embodiment of the present invention.
Detailed description of the invention
Explanation that the present invention is described in further detail below in conjunction with drawings and the specific embodiments.
Embodiment 1:
Fig. 1 to Fig. 9 show schematically show the Multifunctional robot palletizer gripper according to one embodiment of the present invention.
As shown in Figure 1, Multifunctional robot palletizer gripper of the present invention, comprising: support 5, horizontal clamping device 1, pallet clamping device 2 and cardboard draw frame machine 3, and horizontal clamping device 1, pallet clamping device 2 and cardboard draw frame machine 3 are all connected to support 5.Horizontal clamping device 1 comprises lift mechanism 11.
As shown in Figure 1, horizontal clamping device 1 comprises two pieces of grip blocks be arranged in parallel, 101, two pieces of grip blocks 101 by spindle gear 10 and servomotor 4 transmission, and the relative motion of two pieces of grip blocks 101, changes the distance between it.Lift mechanism 11 be connected to horizontal clamping device 1 two pieces of grip blocks 101 or wherein outside one piece of grip block 101, (in this embodiment of the present invention, lift mechanism 11 is connected to wherein outside a grip block 101), lift mechanism 11 promotes cylinder by one the 3rd and drives, the relative motion of lift mechanism 11 connected grip block 101, its direction of motion is consistent with the direction of motion of grip block 101.Pallet clamping device 2 comprises two pairs of holding hands, 201, two pairs of holding hands 201 and be arranged in parallel, and often pair of holding hand 201 includes two handgrips be oppositely arranged 2011; Two handgrips 2011 of often pair of holding hand 201 relatively rotate.Cardboard draw frame machine 3 comprises N(N >=2) individual sucker 301, (in this embodiment of the present invention, cardboard draw frame machine 3 comprises 4 suckers 301), each sucker 301 is connected to the second rotating shaft 3021 by a linking arm 302, each linking arm 302 promotes cylinder each via one second and drives, and rotates around the second rotating shaft 3021 axis.
Horizontal clamping device 1:
As shown in Figure 2,5 one-tenth, support " work " font, " work " font support 5 comprises two support arms be arranged in parallel 501 and connects the linking arm 502 of two support arms 501.As shown in the figure, be provided with two guide rails be arranged in parallel 102 between two support arms 501, guide rail 102 is perpendicular to support arm 501.Spindle gear 10 comprises: be connected to the screw mandrel 503 between two support arms 501, the synchronous pulley be connected with screw mandrel 503, be connected to the servomotor 4 of a wherein support arm 501 and connect the Timing Belt 41 of servomotor 4 and synchronous pulley.Screw mandrel 503 and synchronous pulley geo-stationary.
Grip block 101 comprises the first grip block 1011 and the second grip block 1012.In this embodiment of the present invention, the first grip block 1011 is slidably connected by slide block 103 and two guide rails 102, and the first grip block 1011 is threaded with screw mandrel 503 by a contiguous block 1013 simultaneously.Guide rail 102 and screw mandrel 503 are perpendicular to the plane at the first grip block 1011 place.Second grip block 1012 is fixedly connected on a wherein support arm 501.
Thus, servomotor 4 drives synchronous pulley to rotate by Timing Belt 41, screw mandrel 503 and synchronous pulley synchronous axial system, because contiguous block 1013 is threaded with screw mandrel 503, the convert rotational motion of servomotor 4 is along the rectilinear motion on screw mandrel 503 length direction by contiguous block 1013, by the guide effect of two guide rails 102, thus the first grip block 1011 is driven to move horizontally along screw mandrel 503 length direction.Realize two grip blocks 101 by distance adjustable, adapt to the product of different size.
Lift mechanism 11:
As shown in Figure 3, lift mechanism 11 comprises holder hand 112 and lever arm 113, and holder hand 112 is many and lifts rod.Lever arm 113 is connected to the outer side-lower of the first grip block 1011 by two ends guiding mechanism 110, promotes cylinder 111 be simultaneously connected between lever arm 113 with the first grip block 1011 by the 3rd; Holder hand 112 is vertically connected at the side side of lever arm 113 near the first grip block 1011.Lift mechanism 11 is when the first grip block 1011, and holder hand 112 and the Plane intersects at this grip block 101 place, when lift mechanism 11 is away from the first grip block 1011, ask hand 112 non-intersect with the plane at this grip block 101 place.
Thus, after horizontal clamping device 1 motion puts in place, the 3rd in lift mechanism 11 promotes cylinder 111 action, is led by two ends guiding mechanism 110, below the product that holder hand 112 is moved between horizontal clamping device 1, realizes lifting function.Therefore, clamp softer or relatively in product time, can assist and lift, realize product safety carrying.
Pallet clamping device 2:
As shown in Figure 4 and Figure 5, pallet clamping device 2 comprises two first rotating shafts 202 and two pairs of holding hands 201.Two first rotating shafts 202 are connected between two support arms 501, and two first rotating shafts 202 are perpendicular to support arm 501.Two handgrips 2011 of often pair of holding hand 201 are connected to two first ends, rotating shaft 202 two ends, and handgrip 2011 and the first rotating shaft 202 geo-stationary, handgrip 2011 is positioned at outside two grip blocks 101.
Handgrip 2011 one-tenth " J " shape, its one end is provided with lifts hook 0111, and handgrip 2011 does not arrange the one end of lifting hook 0111 and is fixedly connected with the first rotating shaft 202.
Two first rotating shafts 202 connect one end of the second grip block 1012, are connected to the first toothed disc 2021, first toothed disc 2021 and are positioned at outside the second grip block 1012, the first rotating shaft 202 and the first toothed disc 2021 geo-stationary.The one end being also provided with the first gear bar 2101, the first gear bar 2101 be meshed with the first toothed disc 2021 is in addition connected with the first promotion cylinder 2012, first and promotes cylinder 2012 and be horizontally disposed with.Slidably connect the first guide pad 2102, first guide pad 2102 outside first gear bar 2101 to be fixedly connected with the second grip block 1012.
Pallet clamping device 2 also comprises positioner 203, positioner 203 comprises: with the vertically disposed positioning cylinder 2031 of support arm 501, the alignment pin 2032 be connected with positioning cylinder 2031 and two dowel holes 2033 being located at handgrip 2011, alignment pin 2032 is driven by positioning cylinder 2031, coordinate with dowel hole 2033, realize handgrip 2011 and locate.
As shown in Figure 5, wherein A station is holding fix, and B station is for preparing station, and C station is for capturing station, and during A station, handgrip is horizontally disposed with, and during C station, lifts hook 0111 and is horizontally disposed with.
During work, first promotes cylinder 2012 drives the first gear bar 2101 action, and the first gear bar 2101 drives the first toothed disc 2021 action, realizes transform linear motion rotary motion, thus drives each handgrip 2011 to move to C station from A station.
During without the need to holding tray, first promotes cylinder 2012 drives handgrip 2011 to A station, and positioning cylinder 2031 drives alignment pin 2032 to insert the first dowel hole 3301, and handgrip 2011 is positioned A station.When holding tray, first promotes cylinder 2012 drives handgrip 2011 to B station, governor motion makes two pairs of holding hand 201 to pallet both sides, first promotes cylinder 2012 drives handgrip 2011 to C station, simultaneously, positioning cylinder 2031 drives alignment pin 2032 to insert the second dowel hole 3302, and handgrip 2011 is positioned C station, the effect of the accurate holding tray of phenomenon.
Cardboard draw frame machine 3:
As shown in Fig. 1, Fig. 6 to Fig. 8, cardboard draw frame machine 3 comprises 4 suckers 301, and each sucker 301 is connected to the second rotating shaft 3021 end by a linking arm 302, the second rotating shaft 3021 and linking arm 302 geo-stationary.Two second rotating shafts 3021 are connected between two support arms 501, and two second rotating shafts 3021 are perpendicular to support arm 501, and linking arm 302 is positioned at outside two grip blocks.
Two second rotating shafts 3021 connect one end of the second grip block 1012, are connected to the second toothed disc 3023, second toothed disc 3023 and are positioned at outside grip block 101, the second rotating shaft 3021 and the second toothed disc 3023 geo-stationary; The one end being also provided with the second gear bar 2301, the second gear bar 2301 be meshed with the second toothed disc 3023 in addition connects second and promotes cylinder 3022, second and promote cylinder 3022 and be horizontally disposed with.Slidably connect the second guide pad 2302, second guide pad 2302 outside second gear bar 2301 to be fixedly connected with grip block 101, each linking arm 302 promotes cylinder 3022 each via one second and drives, and rotates around the second rotating shaft 3021 axis.
As shown in Figure 7 and Figure 8, M station is that light bar draws station, and N station is for drawing station, and its M station place, linking arm 302 is horizontally disposed with, and N station place linking arm 302 is vertically arranged.
During work, second promotes cylinder 3022 drives the second gear bar 2301 action, second gear bar 2301 drives the second toothed disc 3023 action, realize transform linear motion rotary motion, thus drive each linking arm 302 to move to N station from M station, at N station place, vacuumize absorption cardboard by sucker 301, realize the carrying of cardboard.
Horizontal clamping device 1 in the present invention, pallet clamping device 2 and cardboard draw frame machine 3 and lift mechanism 11 are all controlled by PLC control system.
Embodiment 2:
The Multifunctional robot palletizer gripper of the second embodiment of the present invention, its structure is substantially identical with the structure in embodiment, and its difference is:
In horizontal clamping device, first grip block and the second grip block are connected with slide respectively by slide block, simultaneously two grip blocks are connected with wire rod thread respectively by two contiguous blocks, and on the contrary, guide rail and screw mandrel are perpendicular to the plane at grip block place for the hand of spiral of two contiguous blocks.
Thus, the bidirectional-movement of the first grip block and the second grip block is realized.
As described in Figure 9, Multifunctional robot palletizer gripper of the present invention is connected to robot 22 arm end by linking arm 502.
To sum up, Multifunctional robot palletizer gripper of the present invention, has gathered crawl product, has captured pallet, has drawn cardboard function, highly versatile; Reduce machine cost; Reduce mechanical area occupied; Make the lighter in weight of whole mechanism simultaneously, greater weight product can be captured.
Claims (9)
1. Multifunctional robot palletizer gripper, it is characterized in that, comprise: support (5), horizontal clamping device (1), pallet clamping device (2) and cardboard draw frame machine (3), described horizontal clamping device (1) comprises lift mechanism (11), and described horizontal clamping device (1), pallet clamping device (2) and cardboard draw frame machine (3) are all connected to described support (5);
Described horizontal clamping device (1) comprises two pieces of grip blocks be arranged in parallel (101), two pieces of described grip blocks (101) are by spindle gear (10) and servomotor (4) transmission, the relative motion of two pieces of described grip blocks (101), changes the distance between it;
Described pallet clamping device (2) comprises two pairs of holding hands (201), and two pairs of holding hands (201) be arranged in parallel, and often pair of described holding hand (201) includes two handgrips be oppositely arranged (2011); Two handgrips (2011) of often pair of described holding hand (201) relatively rotate;
Described cardboard draw frame machine (3) comprises at least 2 suckers (301), each described sucker (301) is connected to the second rotating shaft (3021) by a linking arm (302), each described linking arm (302) promotes cylinder (3022) each via one second and drives, and rotates around described second rotating shaft (3021) axis;
Described lift mechanism (11) is connected to two pieces of grip blocks (101) or wherein one piece of grip block (101) outside of described horizontal clamping device (1) by guiding mechanism (110), described lift mechanism (11) promotes cylinder (111) by one the 3rd and drives, described lift mechanism (11) connected grip block (101) relative motion, its direction of motion is consistent with the direction of motion of described grip block (101);
Described support (5) becomes " work " font, and described " work " font support (5) comprise two support arms be arranged in parallel (501) and connect the linking arm (502) of two support arms (501);
Be provided with two guide rails be arranged in parallel (102) between described two support arms (501), described guide rail (102) is perpendicular to described support arm (501);
Described spindle gear (10) comprising: be connected to the screw mandrel (503) between described two support arms (501), the synchronous pulley be connected with described screw mandrel (503), the servomotor (4) being connected to a wherein support arm (501) and the Timing Belt connecting servomotor (4) and synchronous pulley.
2. Multifunctional robot palletizer gripper according to claim 1, it is characterized in that, described two grip blocks (101) are slidably connected by slide block (103) and described guide rail (102), described two grip blocks (101) are threaded with described screw mandrel (503) respectively by two contiguous blocks simultaneously, the hand of spiral of described two contiguous blocks is contrary, and described guide rail (102) and screw mandrel (503) are perpendicular to the plane at described grip block (101) place.
3. Multifunctional robot palletizer gripper according to claim 1, it is characterized in that, wherein grip block described in (101) is slidably connected by slide block (103) and described guide rail (102), the grip block (101) be connected with described guide rail (102) is threaded with described screw mandrel (503) by a contiguous block simultaneously, described guide rail (102) and screw mandrel (503) are perpendicular to the plane at described grip block (101) place, and another grip block (101) is fixedly connected on a wherein support arm (501).
4. the Multifunctional robot palletizer gripper according to Claims 2 or 3, is characterized in that, described lift mechanism (11) comprises holder hand (112) and lever arm (113); Described lever arm (113) is connected to a wherein grip block (101) outer side-lower by described guiding mechanism (110), promotes cylinder (111) be simultaneously connected between described lever arm (113) with this grip block (101) by the described 3rd; Described holder hand (112) is vertically connected at the side side of described lever arm (113) near this grip block (101); Described lift mechanism (11) is when this grip block (101), the Plane intersects at described holder hand (112) and this grip block (101) place, when described lift mechanism (11) is away from this grip block (101), described holder hand (112) is non-intersect with the plane at this grip block (101) place.
5. Multifunctional robot palletizer gripper according to claim 4, it is characterized in that, described pallet clamping device (2) also comprises two first rotating shafts (202), described two first rotating shafts (202) are connected between described two support arms (501), and described two first rotating shafts (202) are perpendicular to described support arm (501);
Two handgrips (2011) of described often pair of holding hand (201) are connected to described two first rotating shaft (202) ends, two ends, described handgrip (2011) and described first rotating shaft (202) geo-stationary, described handgrip (2011) is positioned at described two grip blocks (101) outside;
Described handgrip (2011) becomes " J " shape, and its one end is provided with lifts hook (0111), and described handgrip (2011) does not arrange the one end of lifting hook (0111) and is fixedly connected with described first rotating shaft (202).
6. Multifunctional robot palletizer gripper according to claim 5, it is characterized in that, described two first rotating shafts (202) are connected to the first toothed disc (2021), described first toothed disc (2021) is positioned at described grip block (101) outside, described first rotating shaft (202) and described first toothed disc (2021) geo-stationary;
Also be provided with the first gear bar (2101) be meshed with described first toothed disc (2021) in addition, one end of described first gear bar (2101) is connected with the first promotion cylinder (2012);
Slidably connect the first guide pad (2102) outside described first gear bar (2101), described first guide pad (2102) is fixedly connected with described grip block (101).
7. Multifunctional robot palletizer gripper according to claim 6, it is characterized in that, described pallet clamping device (2) also comprises positioner (203), described positioner (203) comprising: positioning cylinder (2031), the alignment pin (2032) be connected with described positioning cylinder (2031) and the dowel hole (2033) being located at described handgrip (2011), described alignment pin (2032) is driven by described positioning cylinder (2031), coordinate with described dowel hole (2033), realize handgrip (2011) location.
8. the Multifunctional robot palletizer gripper according to claim 1 or 7, it is characterized in that, comprise four described suckers (301), described four suckers (301) are connected to the second rotating shaft (3021) end described in two respectively by linking arm (302), described second rotating shaft (3021) and described linking arm (302) geo-stationary;
Described two second rotating shafts (3021) are connected between described two support arms (501), and described two second rotating shafts (3021) are perpendicular to described support arm (501);
Described linking arm (302) is positioned at described two grip blocks (101) outside.
9. Multifunctional robot palletizer gripper according to claim 8, it is characterized in that, described two second rotating shafts (3021) are connected to the second toothed disc (3023), described second toothed disc (3023) is positioned at described grip block (101) outside, described second rotating shaft (3021) and described second toothed disc (3023) geo-stationary;
Also be provided with the second gear bar (2301) be meshed with described second toothed disc (3023) in addition, one end of described second gear bar (2301) connects described second and promotes cylinder (3022);
Slidably connect the second guide pad (2302) outside described second gear bar (2301), described second guide pad (2302) is fixedly connected with described grip block (101).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310220685.6A CN103264397B (en) | 2013-06-05 | 2013-06-05 | Multifunctional robot palletizer gripper |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310220685.6A CN103264397B (en) | 2013-06-05 | 2013-06-05 | Multifunctional robot palletizer gripper |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103264397A CN103264397A (en) | 2013-08-28 |
| CN103264397B true CN103264397B (en) | 2015-07-29 |
Family
ID=49008083
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310220685.6A Active CN103264397B (en) | 2013-06-05 | 2013-06-05 | Multifunctional robot palletizer gripper |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103264397B (en) |
Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707306A (en) * | 2013-12-13 | 2014-04-09 | 广州达意隆包装机械股份有限公司 | Multi-box-type applicable clamp |
| CN104057460B (en) * | 2014-06-20 | 2016-03-23 | 苏州大学 | Multi-function robot paw |
| CN105108729B (en) * | 2015-08-07 | 2017-04-12 | 上海交通大学 | Two-door-structured six-degree-of-freedom loading/unloading robot |
| CN105347027B (en) * | 2015-11-30 | 2018-05-25 | 博众精工科技股份有限公司 | Capture lifting apparatus |
| CN105922246B (en) * | 2016-05-30 | 2018-07-10 | 哈尔滨理工大学 | A kind of babinet palletizing mechanical arm |
| CN106005680A (en) * | 2016-06-17 | 2016-10-12 | 苏州华驰机械有限公司 | Supporting rod for tray |
| CN109178958B (en) * | 2018-10-09 | 2023-07-28 | 长春融成智能设备制造股份有限公司 | Integrated stacker crane and stacking method thereof |
| CN109178957B (en) * | 2018-10-09 | 2023-09-19 | 长春知和智能包装设备有限公司 | Integrated stacker crane control system and control method |
| CN111319030B (en) * | 2020-03-20 | 2020-12-22 | 无锡恒久安泰智能制造有限公司 | Multifunctional heavy-load truss manipulator |
| CN113070891A (en) * | 2021-03-19 | 2021-07-06 | 宁波新松机器人科技有限公司 | Multifunctional grabbing mechanism and grabbing robot |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960276A (en) * | 1974-03-09 | 1976-06-01 | G. Siempelkamp And Co. | Transporter for flat workpieces |
| JPH09141588A (en) * | 1995-11-21 | 1997-06-03 | Mitsubishi Electric Corp | Grip device for industrial robot |
| CN2789192Y (en) * | 2005-01-26 | 2006-06-21 | 云南紫金科贸有限公司 | Unstacker robot suction disc clamp with auxiliary clasp |
| CN101537996A (en) * | 2008-03-18 | 2009-09-23 | 上海力进铝质工程有限公司 | Rotary type vacuum loading hoisting machine |
| CN201634241U (en) * | 2010-03-18 | 2010-11-17 | 贵阳普天物流技术股份有限公司 | Clamp for stacking standard boxes |
| CN102357895A (en) * | 2011-09-30 | 2012-02-22 | 温京亚 | Tooth-shaped mechanical claw |
| CN202296417U (en) * | 2011-10-20 | 2012-07-04 | 浙江省电力公司 | Stacker robot fixture |
| CN103042534A (en) * | 2013-01-18 | 2013-04-17 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
-
2013
- 2013-06-05 CN CN201310220685.6A patent/CN103264397B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3960276A (en) * | 1974-03-09 | 1976-06-01 | G. Siempelkamp And Co. | Transporter for flat workpieces |
| JPH09141588A (en) * | 1995-11-21 | 1997-06-03 | Mitsubishi Electric Corp | Grip device for industrial robot |
| CN2789192Y (en) * | 2005-01-26 | 2006-06-21 | 云南紫金科贸有限公司 | Unstacker robot suction disc clamp with auxiliary clasp |
| CN101537996A (en) * | 2008-03-18 | 2009-09-23 | 上海力进铝质工程有限公司 | Rotary type vacuum loading hoisting machine |
| CN201634241U (en) * | 2010-03-18 | 2010-11-17 | 贵阳普天物流技术股份有限公司 | Clamp for stacking standard boxes |
| CN102357895A (en) * | 2011-09-30 | 2012-02-22 | 温京亚 | Tooth-shaped mechanical claw |
| CN202296417U (en) * | 2011-10-20 | 2012-07-04 | 浙江省电力公司 | Stacker robot fixture |
| CN103042534A (en) * | 2013-01-18 | 2013-04-17 | 江苏中科友特机器人科技有限公司 | Multifunctional manipulator claw |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103264397A (en) | 2013-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103264397B (en) | Multifunctional robot palletizer gripper | |
| CN105033090B (en) | The full-automatic body maker of integration-in-one | |
| CN204054077U (en) | A kind of transfer robot | |
| CN206798604U (en) | It is a kind of to grip material head for forming machine and pick and place the manipulator of finished product | |
| CN104175312B (en) | A kind of mechanical hand producing precast concrete wall panel | |
| CN206509700U (en) | One kind rotation rises material device | |
| CN204733049U (en) | A kind of stator built-in line automatic assembly line process units | |
| CN207522189U (en) | A kind of numerically-controlled machine tool gripper | |
| CN203558235U (en) | Ninety-degree turnover clamping and clasping machine for air energy water heater | |
| CN106624943A (en) | Double-tool-magazine machining center | |
| CN203218245U (en) | Mechanical hand capable of automatically taking and placing wafer | |
| CN109160258A (en) | A kind of automatic thread replacing mechanism of production line part | |
| CN207127873U (en) | ONLINE RECOGNITION captures locking machine device people | |
| CN206029856U (en) | Lifting device for manipulator | |
| CN203956148U (en) | Six axle tetrads move Multifunctional deep-hole drilling machines | |
| CN205837978U (en) | A kind of duplex list drives grabbing device | |
| CN201960749U (en) | Novel screw press | |
| CN105856206A (en) | Intelligent connecting rod type manipulator | |
| CN207375307U (en) | Stock and transfer device | |
| CN205167656U (en) | Box press feeder manipulator | |
| CN204197960U (en) | Bar conveyor | |
| CN204505250U (en) | A kind of robot device | |
| CN208868924U (en) | A kind of automatic thread replacing mechanism of production line part | |
| CN204473863U (en) | Clamp device | |
| CN208343787U (en) | A kind of finishing impression processing unit (plant) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C53 | Correction of patent for invention or patent application | ||
| CB02 | Change of applicant information |
Address after: 226000 Nantong City, Gangzha province city gate road, No. 117, No. Applicant after: Nantong Tong Ji Company Limited by Shares Address before: 226000 Nantong City, Gangzha province city gate road, No. 117, No. Applicant before: Nantong Universal Machinery Co., Ltd. |
|
| COR | Change of bibliographic data |
Free format text: CORRECT: APPLICANT; FROM: NANTONG UNIVERSAL MACHINERY MANUFACTURING CO., LTD. TO: NANTONG UNIVERSALMACHINERY CO., LTD. |
|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |