CN103802101A - Pneumatic adjustable clamping plate type mechanical gripper for stacking robot - Google Patents
Pneumatic adjustable clamping plate type mechanical gripper for stacking robot Download PDFInfo
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- CN103802101A CN103802101A CN201310033739.8A CN201310033739A CN103802101A CN 103802101 A CN103802101 A CN 103802101A CN 201310033739 A CN201310033739 A CN 201310033739A CN 103802101 A CN103802101 A CN 103802101A
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- mechanical paw
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Abstract
The invention discloses a pneumatic adjustable clamping plate type mechanical gripper for a stacking robot. The mechanical gripper comprises a connecting frame, wherein installation plates are arranged on the connecting frame, linear sliding rails are arranged on the installation plates, first sliding blocks are arranged on the linear sliding rails, clamping plates are arranged on the first sliding blocks, fixing plates parallel with the clamping plates are arranged on the installation plates, first air cylinders are also arranged on the installation plates and drive the clamping plates to move along the linear sliding rails, and mechanical gripper devices are arranged on the clamping plates and/or the fixing plates. According to the mechanical gripper, a sliding rail adjusting method is adopted, and positions of the fixing plates and the clamping plates can be adjusted flexibly, so that requirements for grip of products with different sizes are met; a plurality of boxes can be gripped simultaneously, and heavy products with large length dimensions can be gripped once, so that the product transportation speed is multiplied, and the transportation efficiency is significantly improved.
Description
Technical field
The present invention relates to packing transhipment technical field, be particularly related to a kind of clamping plate type mechanical paw of adjustable gripping Package size, specifically pack by clamping and discharge packing, coordinating palletizing mechanical arm 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 becomes more and more general, and supporting stacking robot claw also develops rapidly with it, has formed Multiple Type.But the existing board-like mechanical paw of clamp of grabbing mostly is single fitting strip type, and the casing of normal size once can only be transported one, can not meet the high efficiency transhipment of nowadays day by day stressing, to transport large numbers of time at needs, this shortcoming is particularly evident.
In addition, tradition clamping plate type mechanical paw adopts motor to drive clamping plate to clamp more, clamp action slower, complete same action and need to expend the more time, simultaneously motor has also increased the deadweight of whole paw, and the weight that paw can capture casing in the robot palletizer situation that adopts same model is restricted.
Further, existing clamping plate type mechanical paw is rigid impact while clamping release, and not reload buffer device, easily clashes into crawled thing, and reliability is poor.
In view of the shortcoming of above-mentioned clamping plate type mechanical paw, existing clamping plate type paw can not meet the requirement of transhipment at a high speed, and weight capacity is restricted and reliability is low.
Summary of the invention
(1) technical problem that will solve
The technical problem to be solved in the present invention is to provide a kind of pneumatic adjustable splint type mechanical paw for robot palletizer that transport efficacy is high, rational in infrastructure, durable in use, facilitate installation and adjusting, highly versatile, cost economic dispatch advantage that has.
(2) technical scheme
For solving the problems of the technologies described above, the technical solution adopted in the present invention is as follows:
A kind of pneumatic adjustable splint type mechanical paw for robot palletizer, comprise connecting frame, described connecting frame is provided with installing plate, described installing plate is provided with line slide rail, described line slide rail is provided with the first slide block, described the first slide block is provided with clamping plate, described installing plate is provided with the fixed head be arrangeding in parallel with described clamping plate, on described installing plate, be also provided with the first cylinder, described in described the first air cylinder driven, clamping plate moves along described line slide rail, and described clamping plate and/or fixed head are provided with mechanical paw device.
Wherein, described mechanical paw device comprises hook pawl, rotor plate, rotation seat, described hook pawl is installed on described rotor plate, described rotor plate is connected on described rotation seat by revolute pair, described rotation seat is fixed on described clamping plate and/or fixed head, and described second cylinder one end is fixed on described clamping plate and/or fixed head, and the other end cuts with scissors on joint, on described rotor plate, be fixed with plinth, the described joint other end is articulated with on described plinth.
Wherein, described fixed head is installed on described line slide rail by the second slide block, and described installing plate side is provided with adjustment hole, and described the second slide block is provided with regulating block, and described regulating block is provided with the installing hole corresponding with described adjustment hole.
Wherein, also comprise limit damper, described limit damper comprises limit base and is installed on hydraulic bjuffer and the rigid post on described limit base, and described limit base is fixed on described installing plate.
Wherein, on described clamping plate or fixed head, be also provided with range sensor.
Wherein, described clamping plate and/or fixed head inner side are provided with rubber slab.
Wherein, described clamping plate and fixed head are welded to connect plate by L-type and are individually fixed on described the first slide block and the second slide block, and described L-type is welded to connect plate and is provided with reinforcement.
Wherein, described connecting frame is arranged with at least 2 installing plates in parallel.
(3) beneficial effect
The present invention compares and prior art, and it has following beneficial effect:
1, transport efficacy is high.This clamping plate type mechanical paw adopts many clamping plate to place side by side form, can capture multiple casings simultaneously, and transport efficacy improves greatly.
2, highly versatile.This clamping plate type mechanical paw has slide adjustment mechanism, can adapt to capture the casing of different size, highly versatile by adjusting slider position.
3, reliability is high.This clamping plate type mechanical paw adopts air cylinder driven mode, and project organization part material is steel construction, and surface is through post processing, wear resistant corrosion resistant; Clamping plate clamps action buffering, and compact conformation, has higher reliability.
Accompanying drawing explanation
Fig. 1 is the structural representation of the pneumatic adjustable splint type mechanical paw for robot palletizer of the embodiment of the present invention.
Fig. 2 is the structural representation at another visual angle of the pneumatic adjustable splint type mechanical paw for robot palletizer of the embodiment of the present invention.
Fig. 3 is the front view of the pneumatic adjustable splint type mechanical paw for robot palletizer of the embodiment of the present invention.
Fig. 4 is the side view of the pneumatic adjustable splint type mechanical paw for robot palletizer of the embodiment of the present invention.
Fig. 5 is the top view of the pneumatic adjustable splint type mechanical paw for robot palletizer of the embodiment of the present invention.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1 to Figure 3, a kind of pneumatic adjustable splint type mechanical paw for robot palletizer, comprise connecting frame 1-7, described connecting frame 1-7 is connected with horse multirobot by adpting flange 1-8, described connecting frame 1-7 is provided with at least 1 group installing plate 1-6, described installing plate 1-6 is provided with line slide rail 2-7, described line slide rail 2-7 is provided with the first slide block 2-10, described the first slide block 2-10 is provided with clamping plate 1-4, described installing plate 1-6 is provided with the fixed head 1-5 be arrangeding in parallel with described clamping plate 1-4, on described installing plate 1-6, be also provided with the first cylinder, described the first cylinder 3-1 drives described clamping plate 1-4 to move along described line slide rail 2-7, described clamping plate 1-4 and/or fixed head 1-5 are provided with mechanical paw device.
As shown in Figures 1 to 4, described mechanical paw device comprises hook pawl 4-1, rotor plate 4-2, rotation seat 4-3, hook the finger that pawl 4-1 has constant slope, evenly be arranged on described rotor plate 4-2, quantity can change according to captured weight of object, described rotor plate 4-2 is connected on described rotation seat 4-3 by revolute pair 4-7, described rotation seat 4-3 is fixed on described clamping plate 1-4 and/or fixed head 1-5, described second cylinder 3-8 one end is fixed on described clamping plate 1-4 and/or fixed head 1-5, the other end cuts with scissors on joint 3-9, on described rotor plate 4-2, be fixed with plinth 3-10, the described joint 3-9 other end is articulated with on described plinth 3-10.
As depicted in figs. 1 and 2, described fixed head 1-5 is installed on described line slide rail 2-7 by the second slide block 2-9, described installing plate 1-6 side is provided with adjustment hole, described the second slide block 2-9 is provided with regulating block 2-8, described regulating block 2-8 is provided with the installing hole corresponding with described adjustment hole, in installing hole and adjustment hole, install with bolt, regulating block 2-8 just can pin the position of the second slide block 2-9, thereby the position of fixed head 1-5 is fixed.By regulating regulating block 2-8 to change the position of fixed head 1-5, just can realize gripping size adjustable within the specific limits.
As depicted in figs. 1 and 2, the present invention also comprises limit damper, and described limit damper comprises limit base 2-3 and be installed on hydraulic bjuffer 2-1 and the rigid post 2-2 on described limit base 2-3, and described limit base 2-3 is fixed on described installing plate 1-6.Rigid post 2-2 plays position-limiting action in the time that clamping plate clamps action, produces rigid shock, therefore needs hydraulic bjuffer 2-1 that cushioning effect is provided.
On described clamping plate 1-4 or fixed head 1-5, be also provided with range sensor 4-4, by divergent-ray, whether captured product and judged that whether product is in a suitable clamped position to detect mechanical paw.
Described clamping plate 1-4 and/or fixed head 1-5 inner side are provided with rubber slab 2-5, the stability while improving paw crawl.
Described clamping plate 1-4 and fixed head 1-5 are welded to connect plate 3-2 by L-type and are individually fixed on described the first slide block 2-10 and the second slide block 2-9, and described L-type is welded to connect plate 3-2 and is provided with reinforcement 3-3.Be welded to connect plate 3-2 and weld to improve the rigidity of structure with welding reinforcement 3-3.
Whole cylinder driver is controlled by being arranged on the magnetic valve 5-2 that valve leads on 4-6, and valve is led 4-6 and led installing plate 5-3 by valve and be arranged on connecting frame 1-7.
Pneumatic adjustable splint type mechanical paw of the present invention is in the time of work, according to being adjusted the distance between the second slide block 2-9 and the first slide block 2-10 by the size of gripping thing by the position that regulates rigid post 2-2 in adjustment seat 2-8 and stopping means, and then change the distance between clamping plate 1-4 and fixed head 1-5; Then clamping plate 1-4 moves to the direction away from fixed head under the effect of the first cylinder 3-1, and mechanical paw device launches under the effect of the second cylinder 3-8 simultaneously; Then paw moves down, make workpiece between clamping plate and fixed head, and control the first cylinder 3-1 and shrink drive clamping plate 1-4 clamping, clamping work pieces just under the position-limiting action of rigid post 2-2, then drive the second cylinder 3-8 to make mechanical paw device turn over pawl downwards, lift workpiece, mobile paw is to assigned address, and crawl work completes.Arrive after assigned address, release mechanism paw device, the first cylinder 3-1 drives clamping plate 1-4 to loosen, and just can put down workpiece.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, do not departing under the prerequisite of the technology of the present invention principle; can also make some improvements and modifications, these these improvements and modifications also should be considered as protection scope of the present invention.
Claims (8)
1. the pneumatic adjustable splint type mechanical paw for robot palletizer, it is characterized in that: comprise connecting frame, described connecting frame is provided with installing plate, described installing plate is provided with line slide rail, described line slide rail is provided with the first slide block, described the first slide block is provided with clamping plate, described installing plate is provided with the fixed head be arrangeding in parallel with described clamping plate, on described installing plate, be also provided with the first cylinder, described in described the first air cylinder driven, clamping plate moves along described line slide rail, and described clamping plate and/or fixed head are provided with mechanical paw device.
2. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 1, it is characterized in that: described mechanical paw device comprises hook pawl, rotor plate, rotation seat, described hook pawl is installed on described rotor plate, described rotor plate is connected on described rotation seat by revolute pair, described rotation seat is fixed on described clamping plate and/or fixed head, described second cylinder one end is fixed on described clamping plate and/or fixed head, the other end cuts with scissors on joint, on described rotor plate, be fixed with plinth, the described joint other end is articulated with on described plinth.
3. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 2, it is characterized in that: described fixed head is installed on described line slide rail by the second slide block, described installing plate side is provided with adjustment hole, described the second slide block is provided with regulating block, and described regulating block is provided with the installing hole corresponding with described adjustment hole.
4. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 3, it is characterized in that: also comprise limit damper, described limit damper comprises limit base and is installed on hydraulic bjuffer and the rigid post on described limit base, and described limit base is fixed on described installing plate.
5. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 3, is characterized in that: on described clamping plate or fixed head, be also provided with range sensor.
6. according to the pneumatic adjustable splint type mechanical paw for robot palletizer described in claim 4 or 5, it is characterized in that: described clamping plate and/or fixed head inner side are provided with rubber slab.
7. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 6, it is characterized in that: described clamping plate and fixed head are welded to connect plate by L-type and are individually fixed on described the first slide block and the second slide block, and described L-type is welded to connect plate and is provided with reinforcement.
8. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 7, is characterized in that: described connecting frame is arranged with at least 2 installing plates in parallel.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310033739.8A CN103802101B (en) | 2013-01-25 | 2013-01-25 | For the pneumatic adjustable splint type mechanical paw of robot palletizer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310033739.8A CN103802101B (en) | 2013-01-25 | 2013-01-25 | For the pneumatic adjustable splint type mechanical paw of robot palletizer |
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| CN103802101A true CN103802101A (en) | 2014-05-21 |
| CN103802101B CN103802101B (en) | 2016-04-27 |
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| CN201310033739.8A Active CN103802101B (en) | 2013-01-25 | 2013-01-25 | For the pneumatic adjustable splint type mechanical paw of robot palletizer |
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Cited By (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417142A (en) * | 2015-12-02 | 2016-03-23 | 合肥奥博特自动化设备有限公司 | Clamping plate gripper |
| CN106514187A (en) * | 2016-12-16 | 2017-03-22 | 安徽江淮汽车集团股份有限公司 | Cylinder cover moving and clamping device |
| CN107618870A (en) * | 2017-10-18 | 2018-01-23 | 上海赛今机器人有限公司 | A kind of fixture |
| CN108044543A (en) * | 2018-01-16 | 2018-05-18 | 天津中钢联科技发展有限公司 | A kind of hot rolled strip attachment device |
| CN108163560A (en) * | 2018-02-06 | 2018-06-15 | 太仓全众智能装备有限公司 | The double handgrips of robot |
| 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 |
| CN108284454A (en) * | 2018-04-27 | 2018-07-17 | 葛成燕 | A kind of logistics package Intelligent transfer robot handgrip |
| CN109051756A (en) * | 2018-08-28 | 2018-12-21 | 镇江成泰自动化技术有限公司 | Manipulator is used in a kind of carrying of power battery module |
| CN109466939A (en) * | 2018-11-26 | 2019-03-15 | 广东顶固集创家居股份有限公司 | Palletizing mechanical arm and stacking machine |
| CN109557327A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Grab a glass judgment method |
| CN109573610A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of robot gripper used for logistics transportation convenient for operation |
| CN109866382A (en) * | 2017-12-01 | 2019-06-11 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of adapted to injection system based on tow-armed robot |
| CN109866204A (en) * | 2017-12-01 | 2019-06-11 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of injection system based on tow-armed robot |
| CN110014446A (en) * | 2018-01-09 | 2019-07-16 | 中石化石油工程技术服务有限公司 | A kind of rig floor manipulator clamping mechanism |
| CN112110213A (en) * | 2019-06-21 | 2020-12-22 | 上海海立电器有限公司 | Stacking paw and air conditioner indoor unit carrying device |
| CN112659173A (en) * | 2020-12-24 | 2021-04-16 | 苏州华数机器人有限公司 | Paw with workpiece position detection |
| CN112722836A (en) * | 2020-12-24 | 2021-04-30 | 烽禾升医疗设备（昆山）有限公司 | Mechanical arm for grabbing stacked packing box paper sheets |
| CN112720209A (en) * | 2020-12-31 | 2021-04-30 | 升励五金（深圳）有限公司 | Intelligent polishing system and intelligent polishing method |
| CN113878602A (en) * | 2021-10-08 | 2022-01-04 | 晋江新建兴机械设备有限公司 | Manipulator and clamping stable type clamp |
| CN114474138A (en) * | 2022-01-17 | 2022-05-13 | 闽南理工学院 | Robot end effector device suitable for food grabbing |
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Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105417142A (en) * | 2015-12-02 | 2016-03-23 | 合肥奥博特自动化设备有限公司 | Clamping plate gripper |
| CN106514187A (en) * | 2016-12-16 | 2017-03-22 | 安徽江淮汽车集团股份有限公司 | Cylinder cover moving and clamping device |
| CN109557327B (en) * | 2017-09-26 | 2022-04-29 | 深圳市新产业生物医学工程股份有限公司 | Cup grabbing judgment method |
| CN109557327A (en) * | 2017-09-26 | 2019-04-02 | 深圳市新产业生物医学工程股份有限公司 | Grab a glass judgment method |
| CN107618870A (en) * | 2017-10-18 | 2018-01-23 | 上海赛今机器人有限公司 | A kind of fixture |
| CN109866204A (en) * | 2017-12-01 | 2019-06-11 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of injection system based on tow-armed robot |
| CN109866382B (en) * | 2017-12-01 | 2021-03-30 | 沈阳自动化研究所(昆山)智能装备研究院 | Injection molding system based on double-arm robot |
| CN109866382A (en) * | 2017-12-01 | 2019-06-11 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of adapted to injection system based on tow-armed robot |
| 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 |
| CN110014446A (en) * | 2018-01-09 | 2019-07-16 | 中石化石油工程技术服务有限公司 | A kind of rig floor manipulator clamping mechanism |
| CN108044543A (en) * | 2018-01-16 | 2018-05-18 | 天津中钢联科技发展有限公司 | A kind of hot rolled strip attachment device |
| CN108163560A (en) * | 2018-02-06 | 2018-06-15 | 太仓全众智能装备有限公司 | The double handgrips of robot |
| CN108284454A (en) * | 2018-04-27 | 2018-07-17 | 葛成燕 | A kind of logistics package Intelligent transfer robot handgrip |
| CN109051756A (en) * | 2018-08-28 | 2018-12-21 | 镇江成泰自动化技术有限公司 | Manipulator is used in a kind of carrying of power battery module |
| CN109051756B (en) * | 2018-08-28 | 2024-04-12 | 江苏成泰自动化科技有限公司 | Manipulator for carrying power battery module |
| CN109466939A (en) * | 2018-11-26 | 2019-03-15 | 广东顶固集创家居股份有限公司 | Palletizing mechanical arm and stacking machine |
| CN109573610A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of robot gripper used for logistics transportation convenient for operation |
| CN112110213A (en) * | 2019-06-21 | 2020-12-22 | 上海海立电器有限公司 | Stacking paw and air conditioner indoor unit carrying device |
| CN112659173A (en) * | 2020-12-24 | 2021-04-16 | 苏州华数机器人有限公司 | Paw with workpiece position detection |
| CN112722836A (en) * | 2020-12-24 | 2021-04-30 | 烽禾升医疗设备（昆山）有限公司 | Mechanical arm for grabbing stacked packing box paper sheets |
| CN112722836B (en) * | 2020-12-24 | 2022-07-29 | 烽禾升医疗设备（昆山）有限公司 | Mechanical arm for grabbing stacked packing box paper sheets |
| CN112720209A (en) * | 2020-12-31 | 2021-04-30 | 升励五金（深圳）有限公司 | Intelligent polishing system and intelligent polishing method |
| CN113878602A (en) * | 2021-10-08 | 2022-01-04 | 晋江新建兴机械设备有限公司 | Manipulator and clamping stable type clamp |
| CN114474138A (en) * | 2022-01-17 | 2022-05-13 | 闽南理工学院 | Robot end effector device suitable for food grabbing |
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