CN104743356A - Self-adaptive carton gripper applicable to household appliances - Google Patents
Self-adaptive carton gripper applicable to household appliances Download PDFInfo
- Publication number
- CN104743356A CN104743356A CN201310747223.XA CN201310747223A CN104743356A CN 104743356 A CN104743356 A CN 104743356A CN 201310747223 A CN201310747223 A CN 201310747223A CN 104743356 A CN104743356 A CN 104743356A
- Authority
- CN
- China
- Prior art keywords
- rocker arm
- cylinder
- sucker
- applicable
- household appliances
- 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.)
- Pending
Links
Landscapes
- Manipulator (AREA)
Abstract
The invention relates to a self-adaptive carton gripper applicable to household appliances. The self-adaptive carton gripper comprises a fixing support, a control unit, a rocker arm mechanism, corrugated suckers, flat suckers and horizontal fixing rods, the control unit is connected with the rocker arm mechanism, both the control unit and the rocker arm mechanism are connected on the fixing support, the horizontal fixing rods are connected with the rocker arm mechanism, the corrugated suckers are connected with the horizontal fixing rods, and the flat suckers are connected to the lower side of the fixing support; the control unit controls the rocker arm mechanism to move, the rocker arm mechanism drives the corrugated suckers to grip objects, and meanwhile, the control unit controls the corrugated suckers and the flat suckers to have the objected sucked. Compared with the prior art, the self-adaptive carton gripper has the advantages of safety and reliability, good part universality, lightweight and the like.
Description
Technical field
The present invention relates to a kind of carton handgrip, especially relate to a kind of self adaptation carton handgrip being applicable to household appliances.
Background technology
At present, the robot gripper that many robot palletizer manufacturing enterprises manufacture is the user enterprise of user enterprise for bag package-type or carton size relatively little (especially carton height is not high, as beverage packets vanning etc.) mostly.For household appliances enterprise (particularly the larger-size household appliances enterprise of carton), robot palletizer does not march this market on a large scale, and major cause is the robot gripper appearance not adapting to capture large carton size.For robot palletizer manufacturing enterprise, this has missed a super large market undoubtedly.
Related documents also discloses some to the handgrip captured compared with large gauge size cartons, but they mainly rely on sucker to realize the crawl to carton.This is for highly higher carton, and in crawl process, stability is very poor, and this directly can affect production efficiency, also has the risk of defective work piece.
Summary of the invention
Object of the present invention is exactly provide a kind of safe and reliable, part universality good, light failure-free is applicable to household appliances self adaptation carton handgrip to overcome defect that above-mentioned prior art exists.
Object of the present invention can be achieved through the following technical solutions:
A kind of self adaptation carton handgrip being applicable to household appliances, comprise: fixed support, control setup, rocker arm body, ripple sucker, flat sucker and horizontal fixed link, described control setup is connected with rocker arm body, and be all connected on fixed support, described horizontal fixed link is connected with rocker arm body, described ripple sucker is connected with horizontal fixed link, and described flat sucker is connected to below fixed support;
Control setup controls rocker arm body motion, and rocker arm body drives ripple sucker to capture article, holds article with timed unit control wave line sucker and flat sucker.
Described fixed support comprises upper cover plate, lower cover, front side plate and rear quarter panel, described upper cover plate, lower cover, front side plate and rear quarter panel are enclosed to form a square space, described control setup is fixed in this square space, described front side plate is connected with rocker arm body with rear quarter panel, and described lower cover is connected with flat sucker by conversion adapter.
Described control setup comprises opto-electronic pickup, controller, cylinder, electromagnetic valve and vacuum generator, described controller connects opto-electronic pickup, electromagnetic valve and vacuum generator respectively, described electromagnetic valve is connected with cylinder, described cylinder is connected with rocker arm body, and described vacuum generator connects ripple sucker and flat sucker respectively;
When article arrive crawl section, opto-electronic pickup senses item signal and by signal feedback to controller, controller cylinder and vacuum generator operate.
Described cylinder is provided with two, and each cylinder two ends are connected to end anchor shaft and cylinder adapter shaft, and described cylinder is connected with fixed support by end anchor shaft, is connected with rocker arm body by cylinder adapter shaft.
Described rocker arm body is made up of four four joint element for bar, and four four joint element for bar are connected to fixed support both sides, and are symmetrical arranged between two.
Four described joint element for bar comprise head rod, the second pipe link, the 3rd pipe link and the 4th pipe link, described first connecting rod is connected with fixed support, the second described pipe link, the 3rd pipe link be arranged in parallel, the two ends of the second pipe link, the 3rd pipe link connect head rod and the 4th pipe link by screw rod respectively, and the 4th described pipe link connects cylinder respectively and is connected with horizontal fixed link; Air cylinder driven the 4th pipe link moves, and then drives whole four joint element for bar motions.
Described horizontal fixed link is provided with two, and each horizontal fixed link connects the 4th pipe link of two four joint element for bar of the same side.
Described ripple sucker is provided with four, is connected to the end of two horizontal fixed links.
Described ripple sucker is provided with spring buffer pole, and ripple sucker is connected with horizontal fixed link by this spring buffer pole.
Described fixed support, rocker arm body and horizontal fixed link are made up of aluminum alloy materials.
Compared with prior art, the present invention has the following advantages:
One, range of use is wide: this self adaptation carton handgrip can adapt to polytype carton and capture, its great advantage can capture highly higher carton and good stability (especially for household electric appliances), carton is reliable in crawl, strong adaptability, the change of corresponding functional parameter can be made according to customer requirement, reach customer requirement;
Two, safe and reliable: in invention, vacuum generator and cylinder have all taken into full account safety in utilization; Electromagnetic valve can control air pressure flexibly, and cylinder is provided with double seal and is furnished with flow regulating valve, ensures that cylinder interior gas pressure changes within the specific limits, avoids the flattening because inside and outside differential pressure causes and damage phenomenon by pressure;
Three, part universality is good: this invention does not have weldment, convenient disassembly, can directly change during damage of components, can not affect production;
Four, reliably light: material used in the present invention is aluminum alloy, quality is light, and intensity is high, and not only attractive in appearance but also be suitable for, operating cycles is long.
Accompanying drawing explanation
Fig. 1 is front view of the present invention;
Fig. 2 is birds-eye view of the present invention;
Fig. 3 is lateral plan of the present invention.
Shown in number in the figure: 1, upper cover plate, 2, lower cover, 3, front side plate, 4, rear quarter panel, 5, head rod, the 6, second pipe link, the 7, the 3rd pipe link, 8, the 4th pipe link, 9, horizontal fixed link, 10, ripple sucker, 11, flat sucker, 12, cylinder, 13, end anchor shaft, 14, conversion adapter, 15, spring buffer pole, 16, cylinder adapter shaft, 17, corrosion-resistant steel planchet, 18, upper and lower cover plates screw rod, 19, adapter plate screw, 20, four rod sleeves, 21, cylinder standing screw, 22, stainless steel bomb pad.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.The present embodiment is implemented premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1-Figure 3, a kind of self adaptation carton handgrip being applicable to household appliances, comprise fixed support, control setup, rocker arm body, ripple sucker 10, flat sucker 11 and horizontal fixed link 9, described control setup is connected with rocker arm body, and be all connected on fixed support, described horizontal fixed link is connected with rocker arm body, and described ripple sucker is connected with horizontal fixed link, and described flat sucker is connected to below fixed support.
Described fixed support comprises upper cover plate 1, lower cover 2, front side plate 3 and rear quarter panel 4, upper cover plate 1 is connected by upper and lower cover plates screw rod 18 with lower cover 2, described upper cover plate 1, lower cover 2, front side plate 3 and rear quarter panel 4 are enclosed to form a square space, described control setup is fixed in this square space, described front side plate 3 is connected with rocker arm body with rear quarter panel 4, and described lower cover 2 is connected with flat sucker 11 by conversion adapter 14.Upper cover plate 1 is connected with corrosion-resistant steel planchet 17, corrosion-resistant steel planchet 17 is provided with multiple stainless steel bomb pad 22.
Described control setup comprises opto-electronic pickup, controller, cylinder 12, electromagnetic valve and vacuum generator, described controller connects opto-electronic pickup, electromagnetic valve and vacuum generator respectively, described electromagnetic valve is connected with cylinder, described cylinder 12 is connected with rocker arm body, and described vacuum generator connects ripple sucker and flat sucker respectively.Described cylinder 12 is provided with two, each cylinder 12 two ends are connected to end anchor shaft 13 and cylinder adapter shaft 16, described cylinder 12 is connected with fixed support by end anchor shaft 13, be connected with rocker arm body by cylinder adapter shaft 16, end anchor shaft 13 is fixedly connected with by cylinder standing screw 21 with fixed support.
Described rocker arm body is made up of four four joint element for bar, and four four joint element for bar are connected to fixed support both sides, and are symmetrical arranged between two.Four described joint element for bar comprise head rod 5, second pipe link 6, the 3rd pipe link 7 and the 4th pipe link 8, described first connecting rod 5 is connected with fixed support, the second described pipe link 6, the 3rd pipe link 7 be arranged in parallel, the two ends of the second pipe link 6, the 3rd pipe link 7 connect head rod 5 and the 4th pipe link 8 by screw rod respectively, the 4th described pipe link 8 connects cylinder 12 respectively and is connected with horizontal fixed link 9, and the junction of each pipe link is provided with four rod sleeves 20 and axle spring washer; Cylinder 12 drives the 4th pipe link 8 to move, and then drives whole four joint element for bar motions.
Described horizontal fixed link 9 is provided with two, and each horizontal fixed link 9 connects the 4th pipe link 8 of two four joint element for bar of the same side by adapter plate screw (M6X32) 19.
Described ripple sucker 10 is provided with four, is connected to the end of two horizontal fixed links 9.Ripple sucker 10 is provided with spring buffer pole 15, and ripple sucker 10 is connected with horizontal fixed link 9 by this spring buffer pole 15, and is fixed by nut M20X13.
Described fixed support, rocker arm body and horizontal fixed link are made up of aluminum alloy materials.
Above-mentioned self adaptation carton handgrip, by the cooperation of cylinder, vacuum generator and sucker, is realized capturing freely carton by the constrained input air pressure of optical sensing equipment control cylinder and the break-make of vacuum generator.After crawl puts in place, vacuum generator starts to bleed, until stop bleeding when carton is put into assigned address, handgrip unclamps.This handgrip applied range, can be applied in a lot of occasion.
In process of production, when carton arrives crawl section, photo-sensor feedback signal is to controller, controller control cylinder and vacuum generator, realize the crawl to carton, its sequencing is that handgrip is when putting in place, the flat sucker 11 at lower cover 2 place is pressed on carton, then controller drives cylinder 12 to cause rocker arm body action, make to push down carton both sides by ripple sucker 10, at this moment vacuum generator is started working, until when carton crawl puts in place, controller stops vacuum generator, then cylinder 12 is driven to unclamp the playback of carton handgrip, so repeatedly realize piling function.
Claims (10)
1. one kind is applicable to the self adaptation carton handgrip of household appliances, it is characterized in that, comprise: fixed support, control setup, rocker arm body, ripple sucker, flat sucker and horizontal fixed link, described control setup is connected with rocker arm body, and be all connected on fixed support, described horizontal fixed link is connected with rocker arm body, and described ripple sucker is connected with horizontal fixed link, and described flat sucker is connected to below fixed support;
Control setup controls rocker arm body motion, and rocker arm body drives ripple sucker to capture article, holds article with timed unit control wave line sucker and flat sucker.
2. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 1, it is characterized in that, described fixed support comprises upper cover plate, lower cover, front side plate and rear quarter panel, described upper cover plate, lower cover, front side plate and rear quarter panel are enclosed to form a square space, described control setup is fixed in this square space, described front side plate is connected with rocker arm body with rear quarter panel, and described lower cover is connected with flat sucker by conversion adapter.
3. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 1, it is characterized in that, described control setup comprises opto-electronic pickup, controller, cylinder, electromagnetic valve and vacuum generator, described controller connects opto-electronic pickup, electromagnetic valve and vacuum generator respectively, described electromagnetic valve is connected with cylinder, described cylinder is connected with rocker arm body, and described vacuum generator connects ripple sucker and flat sucker respectively;
When article arrive crawl section, opto-electronic pickup senses item signal and by signal feedback to controller, controller cylinder and vacuum generator operate.
4. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 3, it is characterized in that, described cylinder is provided with two, each cylinder two ends are connected to end anchor shaft and cylinder adapter shaft, described cylinder is connected with fixed support by end anchor shaft, is connected with rocker arm body by cylinder adapter shaft.
5. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 3, it is characterized in that, described rocker arm body is made up of four four joint element for bar, and four four joint element for bar are connected to fixed support both sides, and are symmetrical arranged between two.
6. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 5, it is characterized in that, four described joint element for bar comprise head rod, the second pipe link, the 3rd pipe link and the 4th pipe link, described first connecting rod is connected with fixed support, the second described pipe link, the 3rd pipe link be arranged in parallel, the two ends of the second pipe link, the 3rd pipe link connect head rod and the 4th pipe link by screw rod respectively, and the 4th described pipe link connects cylinder respectively and is connected with horizontal fixed link; Air cylinder driven the 4th pipe link moves, and then drives whole four joint element for bar motions.
7. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 6, it is characterized in that, described horizontal fixed link is provided with two, and each horizontal fixed link connects the 4th pipe link of two four joint element for bar of the same side.
8. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 7, it is characterized in that, described ripple sucker is provided with four, is connected to the end of two horizontal fixed links.
9. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 1, it is characterized in that, described ripple sucker is provided with spring buffer pole, and ripple sucker is connected with horizontal fixed link by this spring buffer pole.
10. a kind of self adaptation carton handgrip being applicable to household appliances according to claim 1, it is characterized in that, described fixed support, rocker arm body and horizontal fixed link are made up of aluminum alloy materials.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310747223.XA CN104743356A (en) | 2013-12-30 | 2013-12-30 | Self-adaptive carton gripper applicable to household appliances |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310747223.XA CN104743356A (en) | 2013-12-30 | 2013-12-30 | Self-adaptive carton gripper applicable to household appliances |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104743356A true CN104743356A (en) | 2015-07-01 |
Family
ID=53583753
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310747223.XA Pending CN104743356A (en) | 2013-12-30 | 2013-12-30 | Self-adaptive carton gripper applicable to household appliances |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104743356A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017181337A1 (en) * | 2016-04-19 | 2017-10-26 | Abb Schweiz Ag | A gripping device, a de-palletizing system, a gripping method and a de-palletizing method |
-
2013
- 2013-12-30 CN CN201310747223.XA patent/CN104743356A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017181337A1 (en) * | 2016-04-19 | 2017-10-26 | Abb Schweiz Ag | A gripping device, a de-palletizing system, a gripping method and a de-palletizing method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203652769U (en) | Adaptive carton gripper for household electrical appliance products | |
| CN205419077U (en) | Electricity rice cooker carton transport anchor clamps | |
| CN102874595A (en) | Combined type material picking hand device | |
| CN108000547A (en) | A kind of cargo grabbing device for industrial robot | |
| CN104875211A (en) | Clamping, picking and absorbing combined device at mechanical arm end | |
| CN204172041U (en) | A kind of robot gripper | |
| CN102717392A (en) | Multifunctional clamp for component encapsulating robot | |
| CN203127182U (en) | End product cartoning mechanical arm | |
| CN204183564U (en) | A kind of parallel robot sucking disc tongs device | |
| CN103482360A (en) | Automatic gripping device of production line of pet paper diaper | |
| CN202828939U (en) | Combined material taking hand device | |
| CN205674220U (en) | A kind of sucker gripper | |
| CN104743356A (en) | Self-adaptive carton gripper applicable to household appliances | |
| CN204772572U (en) | Pneumatic electro -magnet mechanical gripper | |
| CN204018341U (en) | A kind of photovoltaic solar board cleaning machine folding swing arm and dust suction dust exhaust | |
| CN203359523U (en) | Grabbing mechanism | |
| CN202784837U (en) | Automatic transportation device of a chip packaging machine for transporting negative and positive polar plates | |
| CN201859856U (en) | Bonding press block device | |
| CN205870567U (en) | Pressfitting and pick up integrative general end effector device of industrial robot | |
| CN202640367U (en) | Multifunctional clamp for assembly packaging robot | |
| CN208648131U (en) | A kind of material fetching mechanism increase clamping jaw movement device | |
| CN205852830U (en) | A kind of mechanical hand for transfer robot | |
| CN206383160U (en) | A kind of multi-function robot clamping jaw | |
| CN204772573U (en) | Vacuum chuck mechanical gripper | |
| CN204622068U (en) | A kind of manipulator end clamping, pickup, adsorption combined device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150701 |