CN103481290B - A kind of robot palletizer sucking disc tongs device - Google Patents
A kind of robot palletizer sucking disc tongs device Download PDFInfo
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- CN103481290B CN103481290B CN201310385257.9A CN201310385257A CN103481290B CN 103481290 B CN103481290 B CN 103481290B CN 201310385257 A CN201310385257 A CN 201310385257A CN 103481290 B CN103481290 B CN 103481290B
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- clamping plate
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Abstract
The invention discloses a kind of robot palletizer sucking disc tongs device, including adpting flange, main body frame, clamping plate mechanism, width adjustment mechanism, suction unit；Clamping plate mechanism includes clamping plate cylinder slide rail, clamping plate cylinder slide block, clamping plate cylinder, clamping plate support, clamping plate cylinder rotary shaft, 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 clamping cylinder slide rail, clamping plate is fixed in clamping plate cylinder rotary shaft, clamping plate cylinder rotary shaft is connected by clamping plate swinging arms of cylinder and clamping plate cylinder are fixing, the suction unit used can move on sucker slide block, the position of sucker thus can be changed according to the size of case kind article material, and can once draw one case as required or many casees material, change while sucker position by regulation screw mandrel come the gear of synchronous change clamping plate away from.
Description
Technical field
The present invention relates to sucking disc tongs device, particularly belong to a kind of robot palletizer sucking disc tongs device.
Background technology
Sucker gripper is widely used in various manipulator stacking, plays an important role for capturing case kind article material, but
That traditional sucker gripper is simply carried out sucking action by sucker unit, mechanical hand during capturing, case kind article material is unstable can
Lean on, the phenomenon arbitrarily swung easily occurs；Its position that in traditional sucker gripper, sucker is all fixing cannot be changed.
Summary of the invention
It is an object of the invention to provide a kind of robot palletizer sucking disc tongs device, add a set of clamp system, it is possible to
It is effectively guaranteed mechanical hand case kind article material during capturing steadily reliable, does not more have the phenomenon of arbitrarily swing, use
Suction unit can move on sucker slide block, thus can change the position of sucker according to the size of case kind article material, and
Can once draw one case as required or many casees material, while changing sucker position, carry out synchronous change by regulation screw mandrel
The gear of clamping plate away from.
Technical scheme is as follows:
A kind of robot palletizer sucking disc tongs device, including adpting flange, main body frame, clamping plate mechanism, width adjusting machine
Structure, suction unit；Clamping plate mechanism includes clamping plate cylinder slide rail, clamping plate cylinder slide block, clamping plate cylinder, clamping plate support, clamping plate cylinder
Rotary shaft, clamping plate swinging arms of cylinder, clamping plate cylinder slide rail is fixed on main body frame, and it is sliding that clamping plate cylinder slide block is fixed on clamping cylinder
On rail, clamping plate is fixed in clamping plate cylinder rotary shaft, and clamping plate cylinder rotary shaft is solid with clamping plate cylinder by clamping plate swinging arms of cylinder
Fixed connection, clamping plate cylinder is fixed on clamping plate support by cylinder block, and clamping plate support is fixed on clamping plate cylinder slide block, mobile folder
Plate cylinder slide block thus the clamping plate that drives clamping plate support movable and be secured to connect also move, thus regulate two
Distance between block clamping plate；Described width adjustment mechanism includes screw mandrel, feed screw nut, and feed screw nut is divided into left-handed feed screw nut
With dextrorotation feed screw nut, screw mandrel two ends are respectively provided with the left hand thread and the right side coordinated with left-handed feed screw nut and dextrorotation feed screw nut
Rotation screw thread, left-handed feed screw nut and dextrorotation feed screw nut are fixed on clamping plate support, by rotary screw rod scalable two pieces clamping
Gear between plate away from；Described suction unit includes sucker fixed plate and sucker, and sucker is fixed in sucker fixed plate, and sucker is fixed
Plate is fixed on sucker slide block, and sucker slide block is fixed on sucker guide rail, and sucker guide rail is fixed on the aluminium profiles of main body frame equally
On material, manually move sucker slide block and sucker can be driven to move left and right on sucker guide rail.
Described main body frame uses aluminium section bar splicing composition.
Described adpting flange is fixed on main body frame be connected fixing with mechanical wrist part.
The operation principle of the present invention: during beginning, clamping cylinder is in a state of nature, when casing material arrives sucker gripper dress
When putting, casing clamping sucker simultaneously is also begun to work and carries out drawing casing by clamping cylinder action, and then casing is inhaled by mechanical hand
Getting the position specified, the position of eight groups of sucker unit just arbitrarily can regulate according to the size of casing material.
Invention increases a set of clamp system, it is possible to be effectively guaranteed mechanical hand case kind article material during capturing and put down
Steady reliable, more do not have the phenomenon of arbitrarily swing, the suction unit of employing can move on sucker slide block, the most permissible
Size according to case kind article material changes the position of sucker, and can once draw one case as required or many casees material, changes
While sucker position by regulation screw mandrel come the gear of synchronous change clamping plate away from.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the B-B sectional view of Fig. 1.
Wherein label in figure: 1. adpting flange, 2 aluminium section bars, 3. clamping plate cylinder slide block, 4. clamping plate cylinder slide rail 5. screw mandrel
Nut, 6. clamping plate support, 7. clamping plate cylinder rotary shaft, 8. screw mandrel, 9. clamping plate, 10. clamping plate swinging arms of cylinder 11. clamping plate cylinder,
12. sucker guide rails, 13. sucker slide blocks, 14. sucker fixed plates, 15. suckers.
Detailed description of the invention
See accompanying drawing, a kind of robot palletizer sucking disc tongs device, including adpting flange 1, main body frame, clamping plate mechanism,
Width adjustment mechanism, suction unit；Main body frame use aluminium section bar 2 splicing composition, adpting flange 1 be fixed on main body frame with
Mechanical wrist part is fixing to be connected, and clamping plate mechanism includes that clamping plate cylinder slide rail 4, clamping plate cylinder slide block 3, clamping plate cylinder 11, clamping plate prop up
Frame 6, clamping plate cylinder rotary 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 are fixed on clamping cylinder slide rail 4, and clamping plate 9 is fixed in clamping plate cylinder rotary shaft 7, and clamping plate cylinder rotary shaft 7 passes through clamping plate
Swinging arms of cylinder 10 is fixing with clamping plate cylinder 11 to be connected, and clamping plate cylinder 11 is fixed on clamping plate support 6 by cylinder block, clamping plate support
6 are fixed on clamping plate cylinder slide block 3, move clamping plate cylinder 11 slide block thus drive clamping plate support 6 movable and be secured to
The clamping plate 9 connected also moves, thus regulates the distance between two pieces of clamping plates 9；Described width adjustment mechanism includes silk
Bar 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 to be respectively provided with left-handed
Left hand thread and right-handed thread, left-handed feed screw nut and dextrorotation feed screw nut that feed screw nut and dextrorotation feed screw nut coordinate fix
On clamping plate support, by the gear between two pieces of clamping plates of rotary screw rod scalable away from；Described suction unit includes that sucker is fixed
Plate 14 and sucker 15, sucker 15 is fixed in sucker fixed plate 14, and sucker fixed plate 14 is fixed on sucker slide block 13, and sucker is sliding
Block 13 is fixed on sucker guide rail 12, and sucker guide rail 12 is fixed on the aluminium section bar 2 of main body frame equally, manually mobile suction
Dish slide block can drive sucker to move left and right on sucker guide rail.
Claims (3)
1. a robot palletizer sucking disc tongs device, it is characterised in that include adpting flange, main body frame, clamping plate mechanism, width
Degree governor motion, suction unit；Clamping plate mechanism include clamping plate cylinder slide rail, clamping plate cylinder slide block, clamping plate cylinder, clamping plate support,
Clamping plate cylinder rotary shaft, clamping plate swinging arms of cylinder, clamping plate cylinder slide rail is fixed on main body frame, and clamping plate cylinder slide block is fixed on folder
On tight cylinder slide rail, clamping plate is fixed in clamping plate cylinder rotary shaft, and clamping plate cylinder rotary shaft passes through clamping plate swinging arms of cylinder and folder
Plate cylinder is fixing to be connected, and clamping plate cylinder is fixed on clamping plate support by cylinder block, and clamping plate support is fixed on clamping plate cylinder slide block
On, mobile clamping plate cylinder slide block thus the clamping plate that drives clamping plate support movable and be secured to connect also move,
Thus regulate the distance between two pieces of clamping plates；Described width adjustment mechanism includes screw mandrel, feed screw nut, and feed screw nut is divided into a left side
Rotation feed screw nut and dextrorotation feed screw nut, screw mandrel two ends are respectively provided with the left side coordinated with left-handed feed screw nut and dextrorotation feed screw nut
Rotation screw thread and right-handed thread, left-handed feed screw nut and dextrorotation feed screw nut are fixed on clamping plate support, adjustable by rotary screw rod
Save gear between two pieces of clamping plates away from；Described suction unit includes sucker fixed plate and sucker, and sucker is fixed on sucker fixed plate
On, sucker fixed plate is fixed on sucker slide block, and sucker slide block is fixed on sucker guide rail, and sucker guide rail is fixed on main body equally
On the aluminium section bar of framework, manually move sucker slide block and sucker can be driven to move left and right on sucker guide rail.
Robot palletizer sucking disc tongs device the most according to claim 1, it is characterised in that described main body frame uses
Aluminium section bar splicing composition.
Robot palletizer sucking disc tongs device the most according to claim 1, it is characterised in that described adpting flange is fixed on
Fix with mechanical wrist part on main body frame and be connected.
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 |
Applications Claiming Priority (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 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103481290A CN103481290A (en) | 2014-01-01 |
| CN103481290B true CN103481290B (en) | 2016-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310385257.9A Active CN103481290B (en) | 2013-08-29 | 2013-08-29 | A kind of robot palletizer sucking disc tongs device |
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| CN (1) | CN103481290B (en) |
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| 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 |
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| 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 |
| CN108942998B (en) * | 2018-06-14 | 2022-08-30 | Tcl王牌电器(惠州)有限公司 | Suction cup 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 |
| 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 |
| 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 |
| CN113427307B (en) * | 2021-06-26 | 2022-08-09 | 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 |
| CN113843821B (en) * | 2021-10-18 | 2024-07-02 | 浙江工业大学 | Multi-sucker movable mechanical arm for sorting materials and control system thereof |
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| CN103481290A (en) | 2014-01-01 |
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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. |