CN103318652A - Mechanical arm paw for robot palletizer and manufacturing method of mechanical arm paw - Google Patents
Mechanical arm paw for robot palletizer and manufacturing method of mechanical arm paw Download PDFInfo
- Publication number
- CN103318652A CN103318652A CN2013102947181A CN201310294718A CN103318652A CN 103318652 A CN103318652 A CN 103318652A CN 2013102947181 A CN2013102947181 A CN 2013102947181A CN 201310294718 A CN201310294718 A CN 201310294718A CN 103318652 A CN103318652 A CN 103318652A
- Authority
- CN
- China
- Prior art keywords
- pallet
- mechanical paw
- robot palletizer
- cylinder
- handgrip
- 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.)
- Granted
Links
- 238000004519 manufacturing process Methods 0.000 title description 2
- 238000001514 detection method Methods 0.000 claims description 29
- 238000009434 installation Methods 0.000 claims description 25
- 230000001939 inductive effect Effects 0.000 claims description 13
- 241000817702 Acetabula Species 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 12
- 230000006698 induction Effects 0.000 claims description 9
- 239000004677 Nylon Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 150000001875 compounds Chemical class 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 4
- 238000012856 packing Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
Images
Abstract
The invention relates to a mechanical arm paw for a robot palletizer. The mechanical arm paw comprises a connecting flange, an installing frame, supports, a sucker device, a vacuumizing control device, a height detecting device, grabbing devices and an air cylinder driving device. The connecting flange is connected with a mechanical arm of the robot palletizer, the installing frame which is in a rectangular shape is connected with the bottom surface of the connecting flange, the supports are arranged on the two sides of the middle of the installing frame, the sucker device is connected to the installing frame through a plurality of installing plates, the vacuumizing control device is arranged on one support, the height detecting device is arranged on the other support, the grabbing devices are symmetrically installed at the two ends of the installing frame, and the air cylinder driving device is installed on the installing frame. Compared with the prior art, the mechanical arm paw has the advantages of being strong in universality, high in transporting and stacking efficiency and the like, and grabbed objects cannot be damaged.
Description
Technical field
The present invention relates to pack the technical field of transloading equipment, be particularly related to a kind of robot palletizer mechanical paw, but automatic capturing stacking pallet and being well placed specifically, by vacuum ripple sucker draw package and release packing, cooperate the mechanical arm of robot palletizer to realize the transhipment of different size packing and the robot palletizer mechanical paw device of piling function.
Background technology
In recent years, along with enterprise's production automation degree is more and more higher, the application of robot palletizer is more and more general, and supporting stacking robot claw also develops rapidly with it.But the existing machinery paw mostly is rigidity gripping-type paw, fragile crawl thing, and can only once grasp a product more than the paw, the paw weight that can grasp simultaneously a plurality of products is also heavier, but has reduced weight capacity.
In addition, traditional gripping-type paw gripping limited location can only gripping side or bottom surface, and is necessary for the multiaspect gripping.When crawled thing is irregular casing, then can't grasp.Simultaneously, pile up the stacking pallet of crawled thing for manually putting, improved cost of labor, reduced transhipment piling efficient; And when crawled thing was flexible material, then the conventional robot pawl can't grasp.
Obviously, existing mechanical paw can not satisfy the at a high speed requirement of transhipment, and the crawl scope is restricted and fragile crawled thing, poor reliability.
Summary of the invention
Technical matters to be solved by this invention provides a kind of compound sucking disc type mechanical hand pawl and method of work thereof, it is suitable for controlling the spacing of described mechanical paw and pallet, and prevent crawl during stacking pallet vacuum cup directly contact with pallet and damage vacuum cup.
In order to address the above problem, the invention provides a kind of robot palletizer mechanical paw, comprise: installation frame, be located at that being used on this installation frame adsorbed the Acetabula device of thing to be palletized and for detection of the height detecting device of described thing to be palletized and Acetabula device spacing; Described height detecting device comprises: the height detection cylinder, be located at the baffle plate of the piston-rod end of this height detection cylinder, be provided with the magnet that is suitable for the piston rod upper and lower displacement in the height detection cylinder, the middle and upper part of the cylinder body of contiguous height detection cylinder is provided with magnetic induction switch; This process be suitable for preventing crawl during stacking pallet vacuum cup directly contact with pallet and damage vacuum cup.
When robot palletizer control mechanical paw be in pallet directly over the time, the piston rod of control height detection cylinder stretches out; Then control mechanical paw and descend, when described baffle plate touched pallet, the piston rod of height detection cylinder was to top offset, until magnet arrives in the induction range of described inductive switch, the inductive switch action is so that robot palletizer control mechanical paw stops to descend.This process is suitable for controlling the spacing of this mechanical paw and pallet, and prevent crawl during stacking pallet vacuum cup directly contact with pallet and damage vacuum cup.
The two ends of described installation frame are arranged with the grabbing device for the crawl stacking pallet.
Described Acetabula device comprises: a pair of sucker of being located on the described installation frame both sides of the edge connects baffle plate, is uniformly distributed in a plurality of sucker mount pads on the sucker connection baffle plate, and each sucker mount pad is provided with the vacuum ripple sucker; Sucker connects baffle plate and is connected on the described installation frame by the polylith adapter plate; Described adapter plate is provided with a plurality of mounting holes, to regulate the spacing of two groups of Acetabula devices.
Described grabbing device comprises: a pair ofly symmetrically arrangedly be hook-shaped pallet handgrip, connect this adapter shaft to pallet handgrip top, connect this to the crank shaft of the middle and upper part of pallet handgrip.
For the ease of adjusting the spacing of described a pair of pallet handgrip, this is installed in the two ends of adapter shaft by axle permanent seat symmetry to the pallet handgrip, and the end of adapter shaft is threaded with the axle permanent seat, and the axle permanent seat is fixed by a plurality of bolts and pallet handgrip.
Described pallet handgrip is connected by expansion sleeve with crank shaft; Described jack shaft bearing is matched with on the pair of bearing of installation frame end.
With nylon sheath wire, the friction force when grasping stacking pallet to improve the pallet handgrip also prevents from damaging pallet on described each pallet handgrip.
For realizing the grasping movement of described a pair of pallet handgrip, this mechanical paw also comprises: drive the cylinder driver of described pallet handgrip action, this cylinder driver comprises the cylinder of being located on the installation frame, and the piston rod of cylinder and the crank arm of crank shaft are hinged.
The above-mentioned robot palletizer method of work of mechanical paw comprises:
A. first by robot palletizer control mechanical paw be in pallet directly over, cylinder driver drives each pallet handgrip and opens, and the piston rod of control height detection cylinder stretches out; Then control mechanical paw and descend, when described baffle plate touched pallet, the piston rod of height detection cylinder was to top offset, until magnet arrives in the induction range of described inductive switch, the inductive switch action is so that robot palletizer control mechanical paw stops to descend;
B, cylinder driver drive each pallet handgrip gripping stacking pallet, then by mechanical arm stacking pallet is placed on the default piling station, then cylinder driver drives each pallet handgrip and opens, and mechanical paw moved to thing to be palletized top, and the piston rod of control height detection cylinder is to shrinking;
C, robot palletizer control mechanical paw adopts vacuum cup to adsorb thing to be palletized, and is transported to thing to be palletized on the stacking pallet and carries out piling.
Described robot palletizer also comprises: regulate distance between two groups of Acetabula devices according to thing size to be palletized, again according to the stacking pallet size, come distance between the adjusting tray handgrip by adjusting shaft permanent seat and expansion sleeve with the method for work of mechanical paw.
Robot palletizer of the present invention has the following advantages with respect to prior art with mechanical paw:
1) highly versatile.This compound sucking disc type mechanical hand pawl adopts large suction vacuum ripple sucker to draw mode, only needs sucker to be adsorbed on crawled thing end face and can transport piling, and to compare Applicable scope wider with traditional gripping-type mechanical paw, and commonality is higher.
2) do not damage crawled thing.This compound sucking disc type mechanical hand pawl is drawn product and is adopted vacuum ripple sucker, with the product end face be flexible contact, compare with traditional gripping-type mechanical paw rigidity crawl and do not damage crawled thing.
3) transhipment piling efficient is high.This compound sucking disc type mechanical hand pawl can be regulated two groups of sucker distances, and can draw simultaneously a plurality of products; In addition, but this paw automatic capturing stacking pallet and piling up, and comparing with the conventional robot pawl does not need manually to place stacking pallet, so that transhipment piling efficient is higher.
Description of drawings
For content of the present invention is more likely to be clearly understood, below the specific embodiment and by reference to the accompanying drawings of basis, the present invention is further detailed explanation, wherein
Fig. 1 is the structural representation that the robot palletizer of the embodiment of the invention is used mechanical paw;
Fig. 2 is another structural representation of above-mentioned mechanical paw.
The specific embodiment
See Fig. 1-2, robot palletizer mechanical paw of the present invention, comprise: the butt flange 2 that links to each other with the mechanical arm of robot palletizer, the installation frame 1 that links to each other with these butt flange 2 bottom surfaces, this installation frame 1 is rectangular, be located at the support of both sides, installation frame 1 middle part, be connected in Acetabula device 3 on the described installation frame 1 by polylith adapter plate 6, be located at and vacuumize control setup 4 on the support, be located at the height detecting device on another support 7, symmetry is installed in the grabbing device 5 at the two ends of installation frame 1, is located at the cylinder driver 9 on the installation frame 1.
Described Acetabula device 3 comprises: a pair of sucker of being located on described installation frame 1 both sides of the edge connects baffle plate 3-1, is uniformly distributed in ten to 20 sucker mount pad 3-3 on the sucker connection baffle plate 3-1, and each sucker mount pad 3-3 is provided with vacuum ripple sucker 3-2; Described adapter plate 6 is provided with a plurality of mounting holes, to change the installation site and to regulate the spacing that sucker connects baffle plate 3-1.
Vacuumizing control setup 4 comprises: vacuum generator 4-1, pressure switch 4-2 and electromagnetic valve 4-3.Vacuum generator 4-1 links to each other with the top bleeding point of each vacuum cup 3-2 by pipeline, be used for making vacuum cup 3-2 to produce required negative pressure, pressure switch 4-2 is used for that control vacuum generator 4-1 produces negative pressure of vacuum and detected pressures prevents gas leakage, and electromagnetic valve 4-3 control vacuum cup 3-2 inhales to be put and the action of cylinder driver 9.
Described grabbing device 5 comprises: a pair ofly symmetrically arrangedly be hook-shaped pallet handgrip 5-1, connect this adapter shaft 5-3 to pallet handgrip 5-1 top, connect this to the crank shaft 5-2 of the middle and upper part of pallet handgrip 5-1; This is installed in the two ends of adapter shaft 5-3 by axle permanent seat 5-4 symmetry to pallet handgrip 5-1, the end of adapter shaft 5-3 is threaded with axle permanent seat 5-4, change the spacing of pallet handgrip 5-1 by the position of adjusting shaft permanent seat 5-4 on adapter shaft 5-3, at last, axle permanent seat 5-4 is fixed by a plurality of bolts and pallet handgrip 5-1; Described pallet handgrip 5-1 is connected by expansion sleeve 5-5 with crank shaft 5-2; Described crank shaft 5-2 bearing fit is on the pair of bearing 1-1 of installation frame 1 end; Described each pallet handgrip 5-1 is upper with nylon sheath wire 5-6, and the friction force when grasping stacking pallet to improve pallet handgrip 5-1 also prevents from damaging pallet.
Described height detecting device comprises: height detection cylinder 8-1, be located at the baffle plate 8-2 of the piston-rod end of this height detection cylinder 8-1, be provided with the magnet that is suitable for the piston rod upper and lower displacement in the height detection cylinder 8-1, the middle and upper part of the cylinder body of contiguous height detection cylinder 8-1 is provided with magnetic induction switch, when robot palletizer control mechanical paw be in pallet directly over the time, the piston rod of control height detection cylinder 8-1 stretches out; Then controlling mechanical paw descends, when baffle plate 8-2 touches pallet, the piston rod of height detection cylinder 8-1 is to top offset, until magnet arrives in the induction range of described inductive switch, the inductive switch action, the controller control mechanical paw of the robot palletizer that links to each other with this inductive switch stops to descend, and two couples of pallet handgrip 5-1 that control simultaneously mechanical paw draw in and the crawl stacking pallet, and pallet is moved to the piling station; This process be suitable for preventing crawl during stacking pallet vacuum cup 3-2 directly contact with pallet and damage vacuum cup 3-2.In the piling process, the object that only will be carried by sucker absorption also is deposited on the pallet.
Described cylinder driver 9 comprises the cylinder of being located on the installation frame, and the crank arm of the piston rod of cylinder and crank shaft 5-2 is hinged, controls each pallet handgrip 5-1 pick-and-place stacking pallet by cylinder.
The above-mentioned robot palletizer method of work of mechanical paw comprises:
A. first by robot palletizer control mechanical paw be in pallet directly over, cylinder driver 9 drives each pallet handgrip 5-1 and opens, and the piston rod of control height detection cylinder 8-1 stretches out; Then controlling mechanical paw descends, when described baffle plate 8-2 touched pallet, the piston rod of height detection cylinder 8-1 was to top offset, until magnet arrives in the induction range of described inductive switch, the inductive switch action is so that robot palletizer control mechanical paw stops to descend;
B, cylinder driver 9 drive each pallet handgrip 5-1 gripping stacking pallet, then by mechanical arm stacking pallet is placed on the default piling station, then cylinder driver 9 each pallet handgrip 5-1 of driving open, and mechanical paw moved to thing to be palletized top, and the piston rod of control height detection cylinder 8-1 is to shrinking;
C, robot palletizer control mechanical paw adopts vacuum cup 3-2 to adsorb thing to be palletized, and is transported to thing to be palletized on the stacking pallet and carries out piling.
The described robot palletizer method of work of mechanical paw, also comprise: regulate distance between two groups of Acetabula devices 3 according to thing size to be palletized, according to the stacking pallet size, come distance between the adjusting tray handgrip by adjusting shaft permanent seat 5-4 and expansion sleeve 5-5 again.
The robot palletizer mechanical paw of the present embodiment, have simple in structure, have highly versatile, reliability is high, transport efficacy is high, rational in infrastructure, make things convenient for installation and adjusting, cost economic dispatch advantage.
Obviously, above-described embodiment only is for example of the present invention clearly is described, and is not to be restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here need not also can't give all embodiments exhaustive.And these belong to apparent variation or the change that spirit of the present invention extended out and still are among protection scope of the present invention.
Claims (10)
1. robot palletizer mechanical paw, it is characterized in that comprising: installation frame (1), be located at that being used on this installation frame (1) adsorbed the Acetabula device (3) of thing to be palletized and for detection of the height detecting device of described thing to be palletized and Acetabula device (3) spacing;
Described height detecting device comprises: height detection cylinder (8-1), be located at the baffle plate (8-2) of the piston-rod end of this height detection cylinder (8-1), be provided with the magnet that is suitable for the piston rod upper and lower displacement in the height detection cylinder (8-1), the middle and upper part of the cylinder body of contiguous height detection cylinder (8-1) is provided with magnetic induction switch;
When robot palletizer control mechanical paw be in pallet directly over the time, the piston rod of control height detection cylinder (8-1) stretches out; Then controlling mechanical paw descends, when described baffle plate (8-2) when touching pallet, the piston rod of height detection cylinder (8-1) is to top offset, until magnet arrives in the induction range of described inductive switch, the inductive switch action is so that robot palletizer control mechanical paw stops to descend.
2. robot palletizer mechanical paw according to claim 1 is characterized in that: the two ends of described installation frame (1) are arranged with the grabbing device (5) for the crawl stacking pallet.
3. robot palletizer mechanical paw according to claim 1, it is characterized in that: described Acetabula device (3) comprising: a pair of sucker of being located on described installation frame (1) both sides of the edge connects baffle plate (3-1), be uniformly distributed in a plurality of sucker mount pads (3-3) on the sucker connection baffle plate (3-1), each sucker mount pad (3-3) is provided with vacuum ripple sucker (3-2);
Sucker connects baffle plate (3-1) and is connected on the described installation frame (1) by polylith adapter plate (6);
Described adapter plate (6) is provided with a plurality of mounting holes, connects the spacing of baffle plate (3-1) to regulate sucker.
4. robot palletizer mechanical paw according to claim 2, it is characterized in that: described grabbing device (5) comprising: a pair ofly symmetrically arrangedly be hook-shaped pallet handgrip (5-1), connect this adapter shaft (5-3) to pallet handgrip (5-1) top, connect this to the crank shaft (5-2) of the middle and upper part of pallet handgrip (5-1).
5. robot palletizer mechanical paw according to claim 4, it is characterized in that: this is installed in the two ends of adapter shaft (5-3) by axle permanent seat (5-4) symmetry to pallet handgrip (5-1), the end of adapter shaft (5-3) is threaded with axle permanent seat (5-4), and axle permanent seat (5-4) is fixing by a plurality of bolts and pallet handgrip (5-1).
6. robot palletizer mechanical paw according to claim 5, it is characterized in that: described pallet handgrip (5-1) is connected by expansion sleeve (5-5) with crank shaft (5-2); Described crank shaft (5-2) bearing fit is on the pair of bearing (1-1) of installation frame (1) end.
7. robot palletizer mechanical paw according to claim 6 is characterized in that: have nylon sheath wire (5-6) on described each pallet handgrip (5-1).
8. robot palletizer mechanical paw according to claim 4, it is characterized in that this mechanical paw also comprises: the cylinder driver (9) that drives described pallet handgrip (5-1) action, this cylinder driver (9) comprises the cylinder of being located on the installation frame (1), and the crank arm of the piston rod of cylinder and crank shaft (5-2) is hinged.
9. a robot palletizer comprises with the method for work of mechanical paw:
A. first by robot palletizer control mechanical paw be in pallet directly over, cylinder driver 9 drives each pallet handgrip (5-1) and opens, and the piston rod of control height detection cylinder (8-1) stretches out; Then controlling mechanical paw descends, when described baffle plate (8-2) when touching pallet, the piston rod of height detection cylinder (8-1) is to top offset, until magnet arrives in the induction range of described inductive switch, the inductive switch action is so that robot palletizer control mechanical paw stops to descend;
B, cylinder driver 9 drive each pallet handgrip (5-1) gripping stacking pallet, then by mechanical arm stacking pallet is placed on the default piling station, then cylinder driver (9) drives each pallet handgrip (5-1) and opens, and mechanical paw moved to thing to be palletized top, and the piston rod of control height detection cylinder (8-1) is to shrinking;
C, robot palletizer control mechanical paw adopts vacuum cup (3-2) to adsorb thing to be palletized, and is transported to thing to be palletized on the stacking pallet and carries out piling.
10. robot palletizer according to claim 9 is with the method for work of mechanical paw, also comprise: regulate distance between two groups of Acetabula devices (3) according to thing size to be palletized, according to the stacking pallet size, come distance between the adjusting tray handgrip by adjusting shaft permanent seat (5-4) and expansion sleeve (5-5) again.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310294718.1A CN103318652B (en) | 2013-01-21 | 2013-07-15 | Mechanical claw for robot palletizer |
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310022025 | 2013-01-21 | ||
| CN201310022025.7 | 2013-01-21 | ||
| CN2013100220257 | 2013-01-21 | ||
| CN201310294718.1A CN103318652B (en) | 2013-01-21 | 2013-07-15 | Mechanical claw for robot palletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103318652A true CN103318652A (en) | 2013-09-25 |
| CN103318652B CN103318652B (en) | 2015-09-16 |
Family
ID=49187763
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310294718.1A Active CN103318652B (en) | 2013-01-21 | 2013-07-15 | Mechanical claw for robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103318652B (en) |
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552849A (en) * | 2013-10-29 | 2014-02-05 | 北京航空航天大学 | Robot gripper for box body stacking and unstacking |
| CN103922135A (en) * | 2014-04-18 | 2014-07-16 | 上汽通用五菱汽车股份有限公司 | Main assembly unloading flexible sling device |
| CN104649023A (en) * | 2015-02-06 | 2015-05-27 | 广东五星太阳能股份有限公司 | Stacker crane with automatic delivery of single station for flat plate collector |
| CN104669285A (en) * | 2015-02-06 | 2015-06-03 | 合肥工业大学 | Adjustable sheet part-grabbing manipulator |
| CN104908032A (en) * | 2014-03-10 | 2015-09-16 | 珠海格力电器股份有限公司 | Integrated manipulator structure |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN105880856A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Automatic welding device for hub of electric car |
| CN105880894A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Complete equipment of welding robot and welding jig |
| CN105904143A (en) * | 2016-06-08 | 2016-08-31 | 佛山市联智新创科技有限公司 | Intelligent welding equipment |
| CN105905620A (en) * | 2016-06-07 | 2016-08-31 | 广东伊雪松机器人设备有限公司 | Stacking robot for carrying workpieces efficiently and operation method of stacking robot for carrying workpieces efficiently |
| CN106494668A (en) * | 2016-12-19 | 2017-03-15 | 山东力诺特种玻璃股份有限公司 | Glass tubing stacking machine |
| WO2017026893A3 (en) * | 2015-08-08 | 2017-04-20 | Frank Peter Johan Strijbos | A method for grasping a row of multiple blocks of frozen food originating from a plate freezer, and various uses thereof |
| CN107187865A (en) * | 2017-07-17 | 2017-09-22 | 中国汽车工业工程有限公司 | One kind winding bottle no marking automatic grabbing device |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of composite fixture of Palletised carry robot |
| CN107598956A (en) * | 2017-10-30 | 2018-01-19 | 广东科德智能装备有限公司 | A kind of robot for carrying and piling mechanical paw |
| CN107745971A (en) * | 2017-11-02 | 2018-03-02 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp with clamping and suction function |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN107758364A (en) * | 2017-11-02 | 2018-03-06 | 广东利迅达机器人系统股份有限公司 | A kind of oil heater palletizing system and its control method |
| CN107922131A (en) * | 2015-08-14 | 2018-04-17 | 福德码科私人有限公司 | Stacking machine |
| CN108356841A (en) * | 2018-02-01 | 2018-08-03 | 安徽东旭康图太阳能科技有限公司 | Utilize the method for Manipulator Transportation photovoltaic module |
| CN108818604A (en) * | 2018-08-23 | 2018-11-16 | 重庆朗正科技有限公司 | A kind of more product rule goods and materials catching robots |
| CN108820906A (en) * | 2018-08-23 | 2018-11-16 | 重庆朗正科技有限公司 | A kind of more product rule stack of supplies devices |
| CN108972599A (en) * | 2018-08-01 | 2018-12-11 | 王定安 | Blade tooth distance regulating mechanism and robot gripper for robot gripper |
| CN109160274A (en) * | 2018-10-31 | 2019-01-08 | 天津泰华易而速机器人科技有限公司 | A kind of pneumatic claw hook type handgrip |
| CN109205331A (en) * | 2017-07-07 | 2019-01-15 | 上海烟草集团有限责任公司 | Equipment and its operational method for de-stacking, distribution |
| CN109305566A (en) * | 2017-07-28 | 2019-02-05 | 云南卓沛科技有限公司 | A kind of heap stacking machine, grabbing device and catching mechanism |
| CN111069774A (en) * | 2019-12-31 | 2020-04-28 | 广东凤铝铝业有限公司 | Clamping device for aluminum profile |
| CN111908097A (en) * | 2020-09-08 | 2020-11-10 | 吴裕华 | Control method of material feeding and discharging conveying equipment and material feeding and discharging conveying equipment |
| CN112660840A (en) * | 2020-12-09 | 2021-04-16 | 北新集团建材股份有限公司 | Automatic mineral wool board semi-finished product stacking system and method |
| CN114029988A (en) * | 2021-12-08 | 2022-02-11 | 中航西安飞机工业集团股份有限公司 | Grabbing device for grabbing plates at tail end of robot and using method |
| CN115990907A (en) * | 2023-03-23 | 2023-04-21 | 中航西安飞机工业集团股份有限公司 | Pneumatic clamping device for aircraft parts |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110962153A (en) * | 2019-11-14 | 2020-04-07 | 华南智能机器人创新研究院 | Industrial stacking mechanical gripper |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63171732A (en) * | 1987-09-14 | 1988-07-15 | Kyodo Printing Co Ltd | Robot hand |
| JPH11199054A (en) * | 1998-01-07 | 1999-07-27 | Sekisui Chem Co Ltd | Sheet material sucking and carrying device and method thereof |
| US20050008469A1 (en) * | 2003-07-07 | 2005-01-13 | Jae Hwan Jung | Apparatus for manipulating a vehicle body panel |
| CN201010369Y (en) * | 2007-03-28 | 2008-01-23 | 福建海源自动化机械设备有限公司 | Palletizer with mechanical arm protecting equipment |
| CN102358515A (en) * | 2011-07-08 | 2012-02-22 | 武汉人天包装技术有限公司 | Adsorption clamping manipulator |
| CN102502276A (en) * | 2011-10-17 | 2012-06-20 | 兰州理工大学 | Special fixture used for stacking robot of continuous casting production line of aluminum ingots |
| CN203033461U (en) * | 2013-01-21 | 2013-07-03 | 江苏中科友特机器人科技有限公司 | Mechanical arm claw for robot palletizer |
-
2013
- 2013-07-15 CN CN201310294718.1A patent/CN103318652B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63171732A (en) * | 1987-09-14 | 1988-07-15 | Kyodo Printing Co Ltd | Robot hand |
| JPH11199054A (en) * | 1998-01-07 | 1999-07-27 | Sekisui Chem Co Ltd | Sheet material sucking and carrying device and method thereof |
| US20050008469A1 (en) * | 2003-07-07 | 2005-01-13 | Jae Hwan Jung | Apparatus for manipulating a vehicle body panel |
| CN201010369Y (en) * | 2007-03-28 | 2008-01-23 | 福建海源自动化机械设备有限公司 | Palletizer with mechanical arm protecting equipment |
| CN102358515A (en) * | 2011-07-08 | 2012-02-22 | 武汉人天包装技术有限公司 | Adsorption clamping manipulator |
| CN102502276A (en) * | 2011-10-17 | 2012-06-20 | 兰州理工大学 | Special fixture used for stacking robot of continuous casting production line of aluminum ingots |
| CN203033461U (en) * | 2013-01-21 | 2013-07-03 | 江苏中科友特机器人科技有限公司 | Mechanical arm claw for robot palletizer |
Cited By (39)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103552849A (en) * | 2013-10-29 | 2014-02-05 | 北京航空航天大学 | Robot gripper for box body stacking and unstacking |
| CN103552849B (en) * | 2013-10-29 | 2015-10-21 | 北京航空航天大学 | For the robot hand of casing piling-de-stacking |
| CN104908032A (en) * | 2014-03-10 | 2015-09-16 | 珠海格力电器股份有限公司 | Integrated manipulator structure |
| CN103922135A (en) * | 2014-04-18 | 2014-07-16 | 上汽通用五菱汽车股份有限公司 | Main assembly unloading flexible sling device |
| CN104649023A (en) * | 2015-02-06 | 2015-05-27 | 广东五星太阳能股份有限公司 | Stacker crane with automatic delivery of single station for flat plate collector |
| CN104669285A (en) * | 2015-02-06 | 2015-06-03 | 合肥工业大学 | Adjustable sheet part-grabbing manipulator |
| US10712086B2 (en) | 2015-08-08 | 2020-07-14 | Frank Peter Johan Strijbos | Method for grasping a row of multiple blocks of frozen food originating from a plate freezer, and various uses thereof |
| WO2017026893A3 (en) * | 2015-08-08 | 2017-04-20 | Frank Peter Johan Strijbos | A method for grasping a row of multiple blocks of frozen food originating from a plate freezer, and various uses thereof |
| US11353260B2 (en) | 2015-08-08 | 2022-06-07 | Frank Peter Johan Strijbos | Method for grasping a row of multiple blocks of frozen food originating from a plate freezer, and various uses thereof |
| CN107922131A (en) * | 2015-08-14 | 2018-04-17 | 福德码科私人有限公司 | Stacking machine |
| CN105905620B (en) * | 2016-06-07 | 2019-03-26 | 广东伊雪松机器人设备有限公司 | The robot palletizer and its operating method of high efficiency carrying workpiece |
| CN105905620A (en) * | 2016-06-07 | 2016-08-31 | 广东伊雪松机器人设备有限公司 | Stacking robot for carrying workpieces efficiently and operation method of stacking robot for carrying workpieces efficiently |
| CN105855769B (en) * | 2016-06-08 | 2019-06-25 | 江门金力五金实业有限公司 | A kind of Intelligent welding robot |
| CN105880856A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Automatic welding device for hub of electric car |
| CN105904143A (en) * | 2016-06-08 | 2016-08-31 | 佛山市联智新创科技有限公司 | Intelligent welding equipment |
| CN105855769A (en) * | 2016-06-08 | 2016-08-17 | 佛山市联智新创科技有限公司 | Intelligent welding robot |
| CN105880894A (en) * | 2016-06-08 | 2016-08-24 | 佛山市联智新创科技有限公司 | Complete equipment of welding robot and welding jig |
| CN106494668A (en) * | 2016-12-19 | 2017-03-15 | 山东力诺特种玻璃股份有限公司 | Glass tubing stacking machine |
| CN106494668B (en) * | 2016-12-19 | 2018-12-25 | 山东力诺特种玻璃股份有限公司 | glass tube stacking machine |
| CN109205331A (en) * | 2017-07-07 | 2019-01-15 | 上海烟草集团有限责任公司 | Equipment and its operational method for de-stacking, distribution |
| CN107187865A (en) * | 2017-07-17 | 2017-09-22 | 中国汽车工业工程有限公司 | One kind winding bottle no marking automatic grabbing device |
| CN109305566A (en) * | 2017-07-28 | 2019-02-05 | 云南卓沛科技有限公司 | A kind of heap stacking machine, grabbing device and catching mechanism |
| CN107381078A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of composite fixture of Palletised carry robot |
| CN107598956A (en) * | 2017-10-30 | 2018-01-19 | 广东科德智能装备有限公司 | A kind of robot for carrying and piling mechanical paw |
| CN107745971A (en) * | 2017-11-02 | 2018-03-02 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp with clamping and suction function |
| CN107758364A (en) * | 2017-11-02 | 2018-03-06 | 广东利迅达机器人系统股份有限公司 | A kind of oil heater palletizing system and its control method |
| CN107745972A (en) * | 2017-11-24 | 2018-03-02 | 天津商业大学 | A kind of vacuum adsorption type end effector for being used for single double case crawls |
| CN108356841A (en) * | 2018-02-01 | 2018-08-03 | 安徽东旭康图太阳能科技有限公司 | Utilize the method for Manipulator Transportation photovoltaic module |
| CN108972599B (en) * | 2018-08-01 | 2021-09-17 | 王定安 | Claw tooth interval adjusting mechanism for robot gripper and robot gripper |
| CN108972599A (en) * | 2018-08-01 | 2018-12-11 | 王定安 | Blade tooth distance regulating mechanism and robot gripper for robot gripper |
| CN108818604A (en) * | 2018-08-23 | 2018-11-16 | 重庆朗正科技有限公司 | A kind of more product rule goods and materials catching robots |
| CN108820906A (en) * | 2018-08-23 | 2018-11-16 | 重庆朗正科技有限公司 | A kind of more product rule stack of supplies devices |
| CN109160274A (en) * | 2018-10-31 | 2019-01-08 | 天津泰华易而速机器人科技有限公司 | A kind of pneumatic claw hook type handgrip |
| CN111069774A (en) * | 2019-12-31 | 2020-04-28 | 广东凤铝铝业有限公司 | Clamping device for aluminum profile |
| CN111069774B (en) * | 2019-12-31 | 2021-12-28 | 佛山市三水凤铝铝业有限公司 | Clamping device for aluminum profile |
| CN111908097A (en) * | 2020-09-08 | 2020-11-10 | 吴裕华 | Control method of material feeding and discharging conveying equipment and material feeding and discharging conveying equipment |
| CN112660840A (en) * | 2020-12-09 | 2021-04-16 | 北新集团建材股份有限公司 | Automatic mineral wool board semi-finished product stacking system and method |
| CN114029988A (en) * | 2021-12-08 | 2022-02-11 | 中航西安飞机工业集团股份有限公司 | Grabbing device for grabbing plates at tail end of robot and using method |
| CN115990907A (en) * | 2023-03-23 | 2023-04-21 | 中航西安飞机工业集团股份有限公司 | Pneumatic clamping device for aircraft parts |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103318652B (en) | 2015-09-16 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203033461U (en) | Mechanical arm claw for robot palletizer | |
| CN103318652B (en) | Mechanical claw for robot palletizer | |
| CN204160486U (en) | For the vacuum type mechanical grip hand of robot for carrying and piling | |
| CN103737606B (en) | A kind of Mechanical claw for robot palletizer | |
| CN103802101A (en) | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot | |
| CN108609391A (en) | One kind tearing stacking vacuum fixture, robot and de-stacking, palletizing method open | |
| CN109850585A (en) | A kind of fiber spinning cake crawl fixture, automation spinning cake palletizing system and method | |
| CN111332778A (en) | Robot composite clamp for carrying turnover box and carton box | |
| CN109229621A (en) | A kind of automatic plastic bag sealing machine, control device and system | |
| CN214736378U (en) | Automatic yarn hanging device | |
| CN104692081B (en) | Lifting transplantation device | |
| CN107344362A (en) | Workpiece grabbing system | |
| CN212024035U (en) | Gantry type sucker hoisting device | |
| CN214878578U (en) | Pile up neatly machinery tongs | |
| CN209480771U (en) | A kind of carton palletizing mechanical arm suction disc type hand is grabbed | |
| CN211895149U (en) | Automatic sign indicating number of robot device of breaking a jam | |
| CN207127907U (en) | Compound stack robot manipulator | |
| CN211761624U (en) | Robot gripper for unstacking box | |
| CN215797131U (en) | AB-position stacking device | |
| CN208665657U (en) | A kind of packaging bag arranging-in-row device | |
| CN107775626A (en) | One kind has suctorial manipulator mechanism | |
| CN213616775U (en) | Sheet metal part gripping tool | |
| CN220200714U (en) | Robot clamp for disassembling and stacking cigarettes | |
| CN211254388U (en) | End effector of whole-support egg boxing and carrying robot | |
| CN106985155A (en) | A kind of high mechanical gripper mechanism of reliability |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 213164 Jiangsu city of Changzhou province Chang Wu Road No. 801 South Building Science City Hui research building Patentee after: JIANGSU ZHONGKE ROBOT SCIENCE & TECHNOLOGY CO., LTD. Address before: 213164 Jiangsu city of Changzhou province Chang Wu Road No. 801 South Building Science City Hui research building Patentee before: Jiangsu Zhongke Youte Robot Technology Co., Ltd. |
|
| CP01 | Change in the name or title of a patent holder | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Mechanical arm paw for robot palletizer and manufacturing method of mechanical arm paw Effective date of registration: 20170322 Granted publication date: 20150916 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: JIANGSU ZHONGKE ROBOT SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2017990000227 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20180517 Granted publication date: 20150916 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: JIANGSU ZHONGKE ROBOT SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2017990000227 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of invention: Mechanical arm paw for robot palletizer and manufacturing method of mechanical arm paw Effective date of registration: 20180517 Granted publication date: 20150916 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: JIANGSU ZHONGKE ROBOT SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2018990000373 |
|
| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20191216 Granted publication date: 20150916 Pledgee: Jiangsu Jiangnan Rural Commercial Bank Limited by Share Ltd Pledgor: JIANGSU ZHONGKE ROBOT SCIENCE & TECHNOLOGY CO., LTD. Registration number: 2018990000373 |
|
| PC01 | Cancellation of the registration of the contract for pledge of patent right |