CN103481290A - Sucking disc tongs device of robot palletizer - Google Patents
Sucking disc tongs device of robot palletizer Download PDFInfo
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- CN103481290A CN103481290A CN201310385257.9A CN201310385257A CN103481290A CN 103481290 A CN103481290 A CN 103481290A CN 201310385257 A CN201310385257 A CN 201310385257A CN 103481290 A CN103481290 A CN 103481290A
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Abstract
The invention discloses a sucking disc tongs device of a robot palletizer. The sucking disc tongs device comprises a connecting flange, a main body frame, a clamping plate mechanism, a width adjusting mechanism and a sucking unit, wherein the clamping plate mechanism comprises a clamping plate air cylinder slide rail, a clamping plate air cylinder slide block, a clamping plate air cylinder, a clamping plate support, a clamping plate air cylinder rotating shaft and a clamping plate air cylinder swing arm; the clamping plate air cylinder slide rail is fixed on the main body frame; the clamping plate air cylinder slide block is fixed on the clamping plate air cylinder slide rail; a clamping plate is fixed on the clamping plate air cylinder rotating shaft; the clamping plate air cylinder rotating shaft is fixedly connected with the clamping plate air cylinder by the clamping plate air cylinder swing arm. The adopted sucking unit can be moved on a sucking plate slide block, the position of the sucking unit can be changed according to the size of a box material, a box or a plurality of boxes of materials can be sucked at one step according to needs, and the blocking distance of the clamping plate is changed synchronously through changing the position of the sucking disc and adjusting a screw rod.
Description
Technical field
The present invention relates to sucking disc tongs device, specifically belong to a kind of robot palletizer sucking disc tongs device.
Background technology
Sucker gripper is widely used in various manipulator stackings, for capturing the case kind article material, play an important role, but traditional sucker gripper just carries out sucking action by the sucker unit, manipulator is steadily unreliable at the process of crawl raising middle flask class material, the phenomenon arbitrarily swung easily occurs; In traditional sucker gripper, sucker is all that its position of fixing can't be changed.
Summary of the invention
The purpose of this invention is to provide a kind of robot palletizer sucking disc tongs device, increased a set of clamp mechanism, can effectively guarantee that manipulator is steadily reliable at the process of crawl raising middle flask class material, the phenomenon that more not there will be random swing, the suction unit adopted can move on the sucker slide block, so just can change according to the size of case kind article material the position of sucker, and can once draw one the case as required or many casees material, carry out the gear distance of synchronous change clamping plate when changing the sucker position by regulating screw mandrel.
Technical scheme of the present invention is as follows:
A kind of robot palletizer sucking disc tongs device, comprise adpting flange, main body frame, clamping plate mechanism, width adjustment mechanism, suction unit, clamping plate mechanism comprises clamping plate cylinder slide rail, clamping plate cylinder slide block, the clamping plate cylinder, the clamping plate support, clamping plate cylinder rotating shaft, the clamping plate swinging arms of cylinder, clamping plate cylinder slide rail is fixed on main body frame, clamping plate cylinder slide block is fixed on the clamping cylinder slide rail, clamping plate is fixed on clamping plate cylinder rotating shaft, clamping plate cylinder rotating shaft is fixedly connected with the clamping plate cylinder by the clamping plate swinging arms of cylinder, the clamping plate cylinder is fixed on the clamping plate support by cylinder block, the clamping plate support is fixed on clamping plate cylinder slide block, the clamping plate be fixedly connected with it thereby mobile clamping plate cylinder slide block drive clamping plate support moves forward and backward also moves thereupon, thereby regulate two distances between clamping plate, described width adjustment mechanism comprises screw mandrel, feed screw nut, the feed screw nut is divided into left-handed feed screw nut and dextrorotation feed screw nut, the screw mandrel two ends have respectively left hand thread and the right-handed thread coordinated with left-handed feed screw nut and dextrorotation feed screw nut, left-handed feed screw nut and dextrorotation feed screw nut are fixed on the clamping plate support, by rotary screw rod, can regulate two gear distances between clamping plate, described suction unit comprises sucker fixed head and sucker, sucker is fixed on the sucker fixed head, the sucker fixed head is fixed on the sucker slide block, the sucker slide block is fixed on the sucker guide rail, the sucker guide rail is fixed on the aluminium section bar of main body frame equally, can drive sucker by manual mobile sucker slide block and move left and right on the sucker guide rail.
Described main body frame adopts the aluminium section bar splicing to form.
Described adpting flange is fixed on main body frame and is fixedly connected with mechanical wrist part.
Operation principle of the present invention: during beginning, clamping cylinder in a state of nature, when the casing material arrives sucking disc tongs device, the clamping cylinder action is also started working casing clamping while sucker and is drawn casing, then manipulator is drawn to casing the position of appointment, and the position of eight groups of sucker unit just can arbitrarily be regulated according to the size of casing material.
The present invention has increased a set of clamp mechanism, can effectively guarantee that manipulator is steadily reliable at the process of crawl raising middle flask class material, the phenomenon that more not there will be random swing, the suction unit adopted can move on the sucker slide block, so just can change according to the size of case kind article material the position of sucker, and can once draw one the case as required or many casees material, carry out the gear distance of synchronous change clamping plate when changing the sucker position by regulating screw mandrel.
The accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
The B-B cutaway view that Fig. 2 is Fig. 1.
Number in the figure wherein: 1. adpting flange, 2 aluminium section bars, 3. clamping plate cylinder slide block, 4. clamping plate cylinder slide rail 5. feed screw nuts, 6. clamping plate support, 7. clamping plate cylinder rotating shaft, 8. screw mandrel, 9. clamping plate, 10. clamping plate swinging arms of cylinder 11. clamping plate cylinders, 12. sucker guide rails, 13. sucker slide blocks, 14. the sucker fixed head, 15. suckers.
The specific embodiment
Referring to accompanying drawing, a kind of robot palletizer sucking disc tongs device, comprise adpting flange 1, main body frame, clamping plate mechanism, width adjustment mechanism, suction unit, main body frame adopts aluminium section bar 2 splicings to form, adpting flange 1 is fixed on main body frame and is fixedly connected with mechanical wrist part, clamping plate mechanism comprises clamping plate cylinder slide rail 4, clamping plate cylinder slide block 3, clamping plate cylinder 11, clamping plate support 6, clamping plate cylinder rotating shaft 7, clamping plate swinging arms of cylinder 10, clamping plate cylinder slide rail 4 is fixed on main body frame, clamping plate cylinder slide block 3 is fixed on clamping cylinder slide rail 4, clamping plate 9 is fixed on clamping plate cylinder rotating shaft 7, clamping plate cylinder rotating shaft 7 is fixedly connected with clamping plate cylinder 11 by clamping plate swinging arms of cylinder 10, clamping plate cylinder 11 is fixed on clamping plate support 6 by cylinder block, clamping plate support 6 is fixed on clamping plate cylinder slide block 3, the clamping plate 9 be fixedly connected with it thereby mobile clamping plate cylinder 11 slide blocks drive clamping plate supports 6 move forward and backward also moves thereupon, thereby regulate two distances between clamping plate 9, described width adjustment mechanism comprises screw mandrel 8, feed screw nut 5, feed screw nut 5 is divided into left-handed feed screw nut and dextrorotation feed screw nut, screw mandrel 8 two ends have respectively left hand thread and the right-handed thread coordinated with left-handed feed screw nut and dextrorotation feed screw nut, left-handed feed screw nut and dextrorotation feed screw nut are fixed on the clamping plate support, by rotary screw rod, can regulate two gear distances between clamping plate, described suction unit comprises sucker fixed head 14 and sucker 15, sucker 15 is fixed on sucker fixed head 14, sucker fixed head 14 is fixed on sucker slide block 13, sucker slide block 13 is fixed on sucker guide rail 12, sucker guide rail 12 is fixed on the aluminium section bar 2 of main body frame equally, can drive sucker by manual mobile sucker slide block and move left and right on the sucker guide rail.
Claims (3)
1. a robot palletizer sucking disc tongs device, is characterized in that, comprises adpting flange, main body frame, clamping plate mechanism, width adjustment mechanism, suction unit, clamping plate mechanism comprises clamping plate cylinder slide rail, clamping plate cylinder slide block, the clamping plate cylinder, the clamping plate support, clamping plate cylinder rotating shaft, the clamping plate swinging arms of cylinder, clamping plate cylinder slide rail is fixed on main body frame, clamping plate cylinder slide block is fixed on the clamping cylinder slide rail, clamping plate is fixed on clamping plate cylinder rotating shaft, clamping plate cylinder rotating shaft is fixedly connected with the clamping plate cylinder by the clamping plate swinging arms of cylinder, the clamping plate cylinder is fixed on the clamping plate support by cylinder block, the clamping plate support is fixed on clamping plate cylinder slide block, the clamping plate be fixedly connected with it thereby mobile clamping plate cylinder slide block drive clamping plate support moves forward and backward also moves thereupon, thereby regulate two distances between clamping plate, described width adjustment mechanism comprises screw mandrel, feed screw nut, the feed screw nut is divided into left-handed feed screw nut and dextrorotation feed screw nut, the screw mandrel two ends have respectively left hand thread and the right-handed thread coordinated with left-handed feed screw nut and dextrorotation feed screw nut, left-handed feed screw nut and dextrorotation feed screw nut are fixed on the clamping plate support, by rotary screw rod, can regulate two gear distances between clamping plate, described suction unit comprises sucker fixed head and sucker, sucker is fixed on the sucker fixed head, the sucker fixed head is fixed on the sucker slide block, the sucker slide block is fixed on the sucker guide rail, the sucker guide rail is fixed on the aluminium section bar of main body frame equally, can drive sucker by manual mobile sucker slide block and move left and right on the sucker guide rail.
2. robot palletizer sucking disc tongs device according to claim 1, is characterized in that, described main body frame adopts the aluminium section bar splicing to form.
3. robot palletizer sucking disc tongs device according to claim 1, is characterized in that, described adpting flange is fixed on main body frame and is fixedly connected with mechanical wrist part.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310385257.9A CN103481290B (en) | 2013-08-29 | 2013-08-29 | A kind of robot palletizer sucking disc tongs device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310385257.9A CN103481290B (en) | 2013-08-29 | 2013-08-29 | A kind of robot palletizer sucking disc tongs device |
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| CN103481290A true CN103481290A (en) | 2014-01-01 |
| CN103481290B CN103481290B (en) | 2016-12-28 |
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Cited By (26)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103818582A (en) * | 2014-02-28 | 2014-05-28 | 广东赛因迪科技股份有限公司 | Mechanism for preventing wall and floor tiles from sliding on packaging conveying line |
| CN104400791A (en) * | 2014-12-05 | 2015-03-11 | 重庆朗正科技有限公司 | Clamping device of manipulator |
| 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 |
| CN105252542A (en) * | 2015-10-30 | 2016-01-20 | 无锡大东机械制造有限公司 | Double-position adjustable robot palletizer clamp |
| CN105270696A (en) * | 2015-10-29 | 2016-01-27 | 苏州博众精工科技有限公司 | Lifting device |
| CN105397828A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Large-size variable-diameter robot clamp used for processing tubular pile end plates |
| CN105500390A (en) * | 2014-10-10 | 2016-04-20 | 上海沃迪自动化装备股份有限公司 | Parallel robot sucker gripper device |
| CN105666510A (en) * | 2016-04-13 | 2016-06-15 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Bottle moving manipulator sucker |
| CN106956287A (en) * | 2017-04-01 | 2017-07-18 | 佛山华数机器人有限公司 | A kind of adjustable robot draws fixture |
| CN106965530A (en) * | 2017-04-28 | 2017-07-21 | 江门市联兴高频设备有限公司 | A kind of sucker adjusting apparatus of double high frequency binding machine |
| CN107867566A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Automatic grasper for stacking |
| CN108260620A (en) * | 2017-12-28 | 2018-07-10 | 芜湖瑞思机器人有限公司 | Steamed bun transshipment acitivity |
| CN108285047A (en) * | 2017-12-30 | 2018-07-17 | 芜湖瑞思机器人有限公司 | A kind of disk loading system and its application method of steamed bun |
| CN108340403A (en) * | 2018-01-09 | 2018-07-31 | 重庆电子工程职业学院 | A kind of industrial robot tool hand elasticity calibrating and positioning device |
| CN108466838A (en) * | 2018-05-28 | 2018-08-31 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN108725910A (en) * | 2018-08-08 | 2018-11-02 | 佛山华数机器人有限公司 | A kind of modular automatic paper feeding board machine people |
| CN108890668A (en) * | 2018-06-13 | 2018-11-27 | 天津大学 | A kind of scalable and rotation end effector |
| CN108946189A (en) * | 2018-05-30 | 2018-12-07 | 广州市永合祥自动化设备科技有限公司 | Palletizing apparatus, stacking jig and palletizing method |
| CN108942998A (en) * | 2018-06-14 | 2018-12-07 | Tcl王牌电器(惠州)有限公司 | Sucker clamp device |
| CN109048965A (en) * | 2018-10-08 | 2018-12-21 | 广州工程技术职业学院 | The adjustable clamp device of robot spacing |
| CN109531613A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot gripper |
| CN112497251A (en) * | 2020-12-11 | 2021-03-16 | 平江县鼎峰激光模具有限公司 | Adjustable fixture |
| CN113427307A (en) * | 2021-06-26 | 2021-09-24 | 山东省智能机器人应用技术研究院 | Industrial robot end effector for gripping caterpillar links and palletizing method |
| CN113460714A (en) * | 2020-03-31 | 2021-10-01 | 深圳配天智能技术研究院有限公司 | Material moving equipment |
| CN113843821A (en) * | 2021-10-18 | 2021-12-28 | 浙江工业大学 | Multi-sucker movable manipulator for sorting materials and control system thereof |
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| CN203449318U (en) * | 2013-08-29 | 2014-02-26 | 合肥雄鹰自动化工程科技有限公司 | Stacking robot sucker gripper device |
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| US20050008469A1 (en) * | 2003-07-07 | 2005-01-13 | Jae Hwan Jung | Apparatus for manipulating a vehicle body panel |
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Cited By (32)
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| CN103818582A (en) * | 2014-02-28 | 2014-05-28 | 广东赛因迪科技股份有限公司 | Mechanism for preventing wall and floor tiles from sliding on packaging conveying line |
| CN104908032A (en) * | 2014-03-10 | 2015-09-16 | 珠海格力电器股份有限公司 | Integrated manipulator structure |
| CN105500390A (en) * | 2014-10-10 | 2016-04-20 | 上海沃迪自动化装备股份有限公司 | Parallel robot sucker gripper device |
| CN104400791A (en) * | 2014-12-05 | 2015-03-11 | 重庆朗正科技有限公司 | Clamping device of manipulator |
| CN104400791B (en) * | 2014-12-05 | 2015-11-18 | 重庆朗正科技有限公司 | A kind of manipulator clamping device |
| CN104669285A (en) * | 2015-02-06 | 2015-06-03 | 合肥工业大学 | Adjustable sheet part-grabbing manipulator |
| CN105270696A (en) * | 2015-10-29 | 2016-01-27 | 苏州博众精工科技有限公司 | Lifting device |
| CN105252542A (en) * | 2015-10-30 | 2016-01-20 | 无锡大东机械制造有限公司 | Double-position adjustable robot palletizer clamp |
| CN105397828A (en) * | 2015-11-27 | 2016-03-16 | 大连理工大学 | Large-size variable-diameter robot clamp used for processing tubular pile end plates |
| CN105397828B (en) * | 2015-11-27 | 2017-03-29 | 大连理工大学 | A kind of large scale variable diameters robot clamp for pile end board processing |
| CN105666510A (en) * | 2016-04-13 | 2016-06-15 | 双峰格雷斯海姆医药玻璃（丹阳）有限公司 | Bottle moving manipulator sucker |
| CN106956287A (en) * | 2017-04-01 | 2017-07-18 | 佛山华数机器人有限公司 | A kind of adjustable robot draws fixture |
| CN106965530B (en) * | 2017-04-28 | 2019-07-30 | 江门市联兴高频设备有限公司 | A kind of sucker adjustment device of double-station high frequency binding machine |
| CN106965530A (en) * | 2017-04-28 | 2017-07-21 | 江门市联兴高频设备有限公司 | A kind of sucker adjusting apparatus of double high frequency binding machine |
| CN107867566A (en) * | 2017-12-08 | 2018-04-03 | 海安交睿机器人科技有限公司 | Automatic grasper for stacking |
| CN108260620A (en) * | 2017-12-28 | 2018-07-10 | 芜湖瑞思机器人有限公司 | Steamed bun transshipment acitivity |
| CN108285047A (en) * | 2017-12-30 | 2018-07-17 | 芜湖瑞思机器人有限公司 | A kind of disk loading system and its application method of steamed bun |
| CN108340403A (en) * | 2018-01-09 | 2018-07-31 | 重庆电子工程职业学院 | A kind of industrial robot tool hand elasticity calibrating and positioning device |
| CN108466838A (en) * | 2018-05-28 | 2018-08-31 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN108946189A (en) * | 2018-05-30 | 2018-12-07 | 广州市永合祥自动化设备科技有限公司 | Palletizing apparatus, stacking jig and palletizing method |
| CN108890668A (en) * | 2018-06-13 | 2018-11-27 | 天津大学 | A kind of scalable and rotation end effector |
| CN108942998A (en) * | 2018-06-14 | 2018-12-07 | Tcl王牌电器(惠州)有限公司 | Sucker clamp device |
| CN108725910A (en) * | 2018-08-08 | 2018-11-02 | 佛山华数机器人有限公司 | A kind of modular automatic paper feeding board machine people |
| CN108725910B (en) * | 2018-08-08 | 2024-09-24 | 佛山华数机器人有限公司 | Modularized automatic paper feeding paperboard robot |
| CN109048965A (en) * | 2018-10-08 | 2018-12-21 | 广州工程技术职业学院 | The adjustable clamp device of robot spacing |
| CN109048965B (en) * | 2018-10-08 | 2020-04-14 | 广州工程技术职业学院 | Device is got to interval adjustable clamp for robot |
| CN109531613A (en) * | 2018-11-09 | 2019-03-29 | 无锡威卓智能机器人有限公司 | A kind of robot gripper |
| CN109531613B (en) * | 2018-11-09 | 2021-04-20 | 无锡威卓智能机器人有限公司 | Robot gripper |
| CN113460714A (en) * | 2020-03-31 | 2021-10-01 | 深圳配天智能技术研究院有限公司 | Material moving equipment |
| CN112497251A (en) * | 2020-12-11 | 2021-03-16 | 平江县鼎峰激光模具有限公司 | Adjustable fixture |
| CN113427307A (en) * | 2021-06-26 | 2021-09-24 | 山东省智能机器人应用技术研究院 | Industrial robot end effector for gripping caterpillar links and palletizing method |
| CN113843821A (en) * | 2021-10-18 | 2021-12-28 | 浙江工业大学 | Multi-sucker movable manipulator for sorting materials and control system thereof |
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| CN103481290B (en) | 2016-12-28 |
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Address after: 230000 Peach Blossom Industrial Park Development Zone, Jingkai District, Hefei City, Anhui Province, east of Wenshan Road and south of Yulan Avenue Patentee after: Hefei Saimo Xiongying Automation Engineering Technology Co., Ltd Address before: 231202, No. 10, Pu Pu Road, Changan industrial gathering area, peach blossom Town, Hefei, Anhui, Feixi Patentee before: HEFEI EAGLE AUTOMATION ENGINEERING TECHNOLOGY Co.,Ltd. |
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