CN103481290A - Sucking disc tongs device of robot palletizer - Google Patents

Sucking disc tongs device of robot palletizer Download PDF

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Publication number
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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CN
China
Prior art keywords
clamping plate
sucker
fixed
slide block
plate cylinder
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CN201310385257.9A
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Chinese (zh)
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CN103481290B (en
Inventor
汪存益
李卫
郭银玲
鹿拥军
周超飞
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合肥雄鹰自动化工程科技有限公司
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Priority to CN201310385257.9A priority Critical patent/CN103481290B/en
Publication of CN103481290A publication Critical patent/CN103481290A/en
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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

A kind of robot palletizer sucking disc tongs device
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.
CN201310385257.9A 2013-08-29 2013-08-29 A kind of robot palletizer sucking disc tongs device Active CN103481290B (en)

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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CN103481290B CN103481290B (en) 2016-12-28

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Cited By (15)

* Cited by examiner, † Cited by third party
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
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
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
CN108890668A (en) * 2018-06-13 2018-11-27 天津大学 A kind of scalable and rotation end effector
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

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Publication number Priority date Publication date Assignee Title
JPH01129089U (en) * 1988-02-27 1989-09-04
JP2004025326A (en) * 2002-06-24 2004-01-29 Okura Yusoki Co Ltd Grasping device and transfer machine
US20050008469A1 (en) * 2003-07-07 2005-01-13 Jae Hwan Jung Apparatus for manipulating a vehicle body panel
CN201179652Y (en) * 2008-04-15 2009-01-14 深圳市大族激光科技股份有限公司 Automatic catching mechanism for workpiece
CN202379474U (en) * 2011-12-31 2012-08-15 常州市常衡精工自动化设备有限公司 Gripper for stacking robot
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
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
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

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH01129089U (en) * 1988-02-27 1989-09-04
JP2004025326A (en) * 2002-06-24 2004-01-29 Okura Yusoki Co Ltd Grasping device and transfer machine
US20050008469A1 (en) * 2003-07-07 2005-01-13 Jae Hwan Jung Apparatus for manipulating a vehicle body panel
CN201179652Y (en) * 2008-04-15 2009-01-14 深圳市大族激光科技股份有限公司 Automatic catching mechanism for workpiece
CN202379474U (en) * 2011-12-31 2012-08-15 常州市常衡精工自动化设备有限公司 Gripper for stacking robot
CN102674018A (en) * 2012-04-24 2012-09-19 常州新区中策机械设备有限公司 Palletizing robot
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
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

Cited By (20)

* Cited by examiner, † Cited by third party
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
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
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
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
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
CN108890668A (en) * 2018-06-13 2018-11-27 天津大学 A kind of scalable and rotation end effector
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

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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.