CN105540272A - Intelligent stacking robot clamp - Google Patents
Intelligent stacking robot clamp Download PDFInfo
- Publication number
- CN105540272A CN105540272A CN201610080365.9A CN201610080365A CN105540272A CN 105540272 A CN105540272 A CN 105540272A CN 201610080365 A CN201610080365 A CN 201610080365A CN 105540272 A CN105540272 A CN 105540272A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- parting
- clamp
- plate
- clamping
- 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.)
- Granted
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
Abstract
The invention relates to an intelligent stacking robot clamp which comprises a main frame mechanism, a parting mechanism connected to the lower end of the main frame mechanism and a plurality of clamp mechanisms connected with the parting mechanism. The main frame mechanism comprises a connection flange, a slewing bearing and a rotating machine frame. The parting mechanism comprises a plurality of linear sliding rails arranged in parallel, a sliding block and a parting air cylinder. Each clamp mechanism comprises a clamp base fixed to the lower end of the sliding block. The intelligent stacking robot clamp is reasonable in structure, the slewing bearing is arranged in the main frame mechanism, the slewing bearing is utilized for controlling the clamp mechanism to rotate, the stacking placement angle can be artificially controlled in the actual production, the stacking collapse phenomenon is avoided, and the product yield is increased; the intelligent stacking robot clamp is applicable to building plates and tile blanks of different sizes due to the parting mechanism, the clamp mechanisms are reasonable in design, particularly, tile clampers can be replaced and produced in batches, and the equipment maintenance and repair cost is lowered.
Description
Technical field
The present invention relates to a kind of Smart Stacking robot clamp, for supporting the use with Smart Stacking robot, being particularly useful for building block, the vanning of brick and tile blank and stacking.
Background technology
The product of present market to various new rise strengthens attention, stacking machine Man's Demands is also constantly being promoted, market is constantly expanding, following development space is also very large, for the birth of the emerging equipment of industry-by-industry provides wide development space, the market demand also adversive stimulation the research and development of emerging equipment.
Stacking robot at home chi length is started late, technical merit and equipment performance are also failed accomplish perfection, existing stacking robot complex structure, Assembly &Disassembly is inconvenient, be unfavorable for the maintenance of equipment, cannot from Row sum-equal matrix angles when the clamp mechanism of stacking robot moves simultaneously, it is too inflexible to operate.
Summary of the invention
The object of this invention is to provide a kind of structure simple, operation Smart Stacking robot clamp more flexibly.
The technical scheme realizing the object of the invention is: a kind of Smart Stacking robot clamp, comprises body frame mechanism, is connected to the parting mechanism of body frame mechanism lower end and multiple clamp mechanism be connected with parting mechanism.
Described parting mechanism comprises many line slide rails be arranged in parallel, slide block and parting cylinder; Described line slide rail is fixed on body frame mechanism bottom surface; Described skid is connected on line slide rail; Described parting cylinder is arranged on body frame mechanism bottom surface, and the piston rod of parting cylinder is connected with outermost clamp mechanism.
Described clamp mechanism comprises the clamping fixture seat being fixed on slide block lower end; Described clamping fixture seat comprises side plate and the top board of both sides, and side plate is provided with slide bar and straight optical axis from high to low successively, and side plate interior sides is provided with gathering plate; The upper end of described gathering plate is connected with sliding bar, draws lower end and the straight optical axis sliding block joint of plate in; The top board bottom surface of described clamping fixture seat is provided with gathering cylinder block; The two ends of described gathering cylinder block are respectively equipped with gathering cylinder, and the piston rod drawing cylinder in is connected with gathering plate; Described straight optical axis slidably connects multiple brick-clamping device, and brick-clamping device is all located at the inner side that both sides draw plate in.
Described body frame mechanism comprises connecting flange, pivoting support and rotary frame; Described connecting flange is fixed on pivoting support upper end; Described rotary frame is fixed on pivoting support lower end.
Described brick-clamping device comprises clamping plate and the brick folding cylinder of both sides; Clamping plate upper end, described both sides and straight optical axis sliding block joint; The piston rod of described brick folding cylinder is connected with side clamping plate, and the cylinder of brick folding cylinder is fixed on opposite side clamping plate.The inner side clamping plate of described brick-clamping device are provided with roll adjustment cylinder, and the cylinder of roll adjustment cylinder is fixed on the clamping plate of inner side, and the nearer end clamping plate of the coupled brick-clamping device of piston rod of roll adjustment cylinder are connected.
In described multiple clamp mechanism, the lateral surface of the both sides clamp mechanism of outermost end is provided with multiple hold-down mechanism; Described hold-down mechanism comprises compression cylinder and clamping frame, and the two ends of clamping frame are connected with the piston rod of both sides compression cylinder.
The side that described clamp mechanism matches with adjoining clips mechanism is provided with position-limited lever.
Line slide rail in described parting mechanism is at least provided with 4.
The clamping fixture seat of described clamp mechanism is provided with keel; Described keel is fixed on the lower end of slide block.
The present invention has positive effect: (1) the present invention is rational in infrastructure, parting mechanism makes the present invention be applicable to building block and the brick and tile blank of different volumes, clamp mechanism is reasonable in design, especially brick-clamping device can realize batch replacement and production, reduces the cost of overhaul of the equipments and maintenance.
(2) be provided with pivoting support in body frame mechanism of the present invention, utilize pivoting support to control the rotation of clamp mechanism, in actual production can manual control stacking time placed angle, the phenomenon of collapsing when avoiding stacking, improves the yield rate of product.
(3) inside brick-clamping device of the present invention, clamping plate are provided with roll adjustment cylinder, the distance between each brick-clamping device can be adjusted by control roll adjustment cylinder operation person, can realize the gripping of building block to a pile different volumes size or brick and tile blank, range of use is more extensive.
(4) lateral surface of the both sides clamp mechanism of outermost end of the present invention is provided with multiple hold-down mechanism, and hold-down mechanism can make the goods upper end of gripping more plain, collapsing when preventing stacking further.
Accompanying drawing explanation
In order to make content of the present invention more easily be clearly understood, below according to specific embodiment also by reference to the accompanying drawings, the present invention is further detailed explanation, wherein
Fig. 1 is structural representation of the present invention.
Fig. 2 is the lateral plan of Fig. 1.
Fig. 3 is the birds-eye view of Fig. 1.
Detailed description of the invention
(embodiment 1)
As shown in Figure 1 to Figure 3, Smart Stacking robot clamp of the present invention, comprises body frame mechanism 1, is connected to the parting mechanism 2 of body frame mechanism 1 lower end, multiple clamp mechanism 3 of being connected with parting mechanism 2 and hold-down mechanism 4.
Body frame mechanism 1 comprises connecting flange 1-1, pivoting support 1-2 and rotary frame 1-3.Connecting flange 1-1 is fixed on pivoting support 1-2 upper end, and rotary frame 1-3 is fixed on pivoting support 1-2 lower end.
Parting mechanism 2 comprises many line slide rail 2-1 be arranged in parallel, slide block 2-2 and parting cylinder 2-3.Line slide rail 2-1 is at least provided with 4.Line slide rail 2-1 is fixed on body frame mechanism 1 bottom surface, and slide block 2-2 is slidably connected on line slide rail 2-1.Parting cylinder 2-3 is arranged on body frame mechanism 1 bottom surface, and the piston rod of parting cylinder 2-3 is connected with outermost clamp mechanism 3.
Clamp mechanism 3 comprises the clamping fixture seat 3-1 being fixed on slide block 2-2 lower end.Clamping fixture seat 3-1 comprises side plate 3-1-1 and the top board 3-1-2 of both sides, and side plate 3-1-1 is provided with slide bar 3-2 and straight optical axis 3-3 from high to low successively, is provided with and draws plate 3-4 in inside side plate 3-1-1.Draw upper end and the slide bar 3-2 sliding block joint of plate 3-4 in, draw lower end and the straight optical axis 3-3 sliding block joint of plate 3-4 in.The top board 3-1-2 bottom surface of clamping fixture seat 3-1 is provided with draws cylinder block 3-5 in, the two ends of gathering cylinder block 3-5 is respectively equipped with and draws cylinder 3-6 in, and the piston rod drawing cylinder 3-6 in is connected with gathering plate 3-4.Straight optical axis 3-3 slidably connects multiple brick-clamping device 3-7, brick-clamping device 3-7 is all located at the inner side that both sides draw plate 3-6 in.
Brick-clamping device 3-7 comprises clamping plate 3-7-1 and the brick folding cylinder 3-7-2 of both sides.Clamping plate 3-7-1 upper end, both sides and straight optical axis 3-3 sliding block joint, the piston rod of brick folding cylinder 3-7-2 is connected with side clamping plate 3-7-1, and the cylinder of brick folding cylinder 3-7-2 is fixed on opposite side clamping plate 3-7-1.The inner side clamping plate 3-7-1 of brick-clamping device 3-7 is provided with roll adjustment cylinder 3-7-3, and the cylinder of roll adjustment cylinder 3-7-3 is fixed on the clamping plate 3-7-1 of inner side, and the nearer end clamping plate 3-7-1 of the coupled brick-clamping device 3-7 of piston rod of roll adjustment cylinder 3-7-3 is connected.
In clamp mechanism 3, the lateral surface of the both sides clamp mechanism 3 of outermost end is provided with multiple hold-down mechanism 4; Hold-down mechanism 4 comprises compression cylinder 4-1 and clamping frame 4-2, and the two ends of clamping frame 4-2 are connected with the piston rod of both sides compression cylinder 4-1.The side that clamp mechanism 3 matches with adjoining clips mechanism 3 is provided with position-limited lever 3-8.The clamping fixture seat 3-1 of clamp mechanism 3 is provided with keel 3-9; Described keel 3-9 is fixed on the lower end of slide block 2-2.
During use, control program opens parting cylinder 2-3, the piston rod of parting cylinder 2-3 adjusts the position of outermost clamp mechanism 3, open again and draw cylinder 3-6 in, the piston rod drawing cylinder 3-6 in drives and draws plate 3-4 gathering in, make clamp mechanism 3 on horizontal and vertical with want gripping object size to match, now control program opens the roll adjustment cylinder 3-7-3 on brick-clamping device 3-7, adjust the relative position between each brick-clamping device 3-7, after brick-clamping device 3-7 puts in place, control program opens brick folding cylinder 3-7-2 again, the clamping plate 3-7-1 be connected with its piston rod tightens up by brick folding cylinder 3-7-2, clamping plate 3-7-1 clamps the two sides of object.Then control program opens the piston rod driving clamping frame 4-2 of compression cylinder 4-1, compression cylinder 4-1 to being mobile objects after the upper side compression of the object clamped, and time mobile, the rotation of control pivoting support 1-2 can realize the stacking object of multi-angle.
Above-described specific embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only specific embodiments of the invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (8)
1. a Smart Stacking robot clamp, is characterized in that: comprise body frame mechanism (1), be connected to the parting mechanism (2) of body frame mechanism (1) lower end and multiple clamp mechanism (3) be connected with parting mechanism (2);
Described parting mechanism (2) comprises many line slide rails be arranged in parallel (2-1), slide block (2-2) and parting cylinder (2-3); Described line slide rail (2-1) is fixed on body frame mechanism (1) bottom surface; Described slide block (2-2) is slidably connected on line slide rail (2-1); Described parting cylinder (2-3) is arranged on body frame mechanism (1) bottom surface, and the piston rod of parting cylinder (2-3) is connected with outermost clamp mechanism (3);
Described clamp mechanism (3) comprises the clamping fixture seat (3-1) being fixed on slide block (2-2) lower end; Described clamping fixture seat (3-1) comprises side plate (3-1-1) and the top board (3-1-2) of both sides, side plate (3-1-1) is provided with from high to low successively slide bar (3-2) and straight optical axis (3-3), side plate (3-1-1) inner side is provided with draws plate (3-4) in; The upper end of described gathering plate (3-4) and slide bar (3-2) sliding block joint, draw lower end and straight optical axis (3-3) sliding block joint of plate (3-4) in; Top board (3-1-2) bottom surface of described clamping fixture seat (3-1) is provided with draws cylinder block (3-5) in; The two ends of described gathering cylinder block (3-5) are respectively equipped with and draw cylinder (3-6) in, the piston rod drawing cylinder (3-6) in is connected with gathering plate (3-4); Described straight optical axis (3-3) slidably connects multiple brick-clamping device (3-7), brick-clamping device (3-7) is all located at the inner side that both sides draw plate (3-6) in.
2. a kind of Smart Stacking robot clamp according to claim 1, is characterized in that: described body frame mechanism (1) comprises connecting flange (1-1), pivoting support (1-2) and rotary frame (1-3); Described connecting flange (1-1) is fixed on pivoting support (1-2) upper end; Described rotary frame (1-3) is fixed on pivoting support (1-2) lower end.
3. a kind of Smart Stacking robot clamp according to claim 1, is characterized in that: described brick-clamping device (3-7) comprises clamping plate (3-7-1) and the brick folding cylinder (3-7-2) of both sides; Clamping plate (3-7-1) upper end, described both sides and straight optical axis (3-3) sliding block joint; The piston rod of described brick folding cylinder (3-7-2) is connected with side clamping plate (3-7-1), and the cylinder of brick folding cylinder (3-7-2) is fixed on opposite side clamping plate (3-7-1).
4. a kind of Smart Stacking robot clamp according to claim 3, it is characterized in that: the inner side clamping plate (3-7-1) of described brick-clamping device (3-7) are provided with roll adjustment cylinder (3-7-3), the cylinder of roll adjustment cylinder (3-7-3) is fixed on inner side clamping plate (3-7-1), and the nearer end clamping plate (3-7-1) of the coupled brick-clamping device of piston rod (3-7) of roll adjustment cylinder (3-7-3) are connected.
5. a kind of Smart Stacking robot clamp according to claim 1, is characterized in that: in described multiple clamp mechanism (3), and the lateral surface of the both sides clamp mechanism (3) of outermost end is provided with multiple hold-down mechanism (4); Described hold-down mechanism (4) comprises compression cylinder (4-1) and clamping frame (4-2), and the two ends of clamping frame (4-2) are connected with the piston rod of both sides compression cylinder (4-1).
6. a kind of Smart Stacking robot clamp according to claim 1, is characterized in that: the side that described clamp mechanism (3) matches with adjoining clips mechanism (3) is provided with position-limited lever (3-8).
7. a kind of Smart Stacking robot clamp according to claim 1, is characterized in that: the line slide rail (2-1) on described parting mechanism (2) is at least provided with 4.
8. a kind of Smart Stacking robot clamp according to claim 1, is characterized in that: the clamping fixture seat (3-1) of described clamp mechanism (3) is provided with keel (3-9); Described keel (3-9) is fixed on the lower end of slide block (2-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610080365.9A CN105540272B (en) | 2016-02-04 | 2016-02-04 | A kind of Smart Stacking robot clamp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610080365.9A CN105540272B (en) | 2016-02-04 | 2016-02-04 | A kind of Smart Stacking robot clamp |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105540272A true CN105540272A (en) | 2016-05-04 |
| CN105540272B CN105540272B (en) | 2019-03-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610080365.9A Active CN105540272B (en) | 2016-02-04 | 2016-02-04 | A kind of Smart Stacking robot clamp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105540272B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161715A (en) * | 2017-07-14 | 2017-09-15 | 陕西宝深机械(集团)有限公司 | The code base grip device of base function is pressed from both sides with pressure stubble |
| CN111070198A (en) * | 2019-12-30 | 2020-04-28 | 丹阳琦瑞机械有限公司 | Battery tray loading manipulator |
| CN112278418A (en) * | 2020-11-23 | 2021-01-29 | 河北省机电一体化中试基地 | Multilayer carton blank unstacking clamp |
| CN114799352A (en) * | 2022-04-08 | 2022-07-29 | 中船黄埔文冲船舶有限公司 | Auxiliary device for batch cutting of angle steel and using method |
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| CN203319290U (en) * | 2013-06-04 | 2013-12-04 | 江西振大机械制造科技有限公司 | Blank clamping manipulator mechanism capable of clamping and distributing blanks during blank stacking |
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| CN205500303U (en) * | 2016-02-04 | 2016-08-24 | 江苏三工建材科技有限公司 | Robot clamp is piled up to intelligence |
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| SU770801A1 (en) * | 1978-11-03 | 1980-10-15 | Всесоюзный Научно-Исследовательский Проектно- Конструкторский Технологический Институт Механизации Труда В Черной Металлургии И Ремонтно-Механических Работ | Apparatus for multicolumn laying of raw bricks |
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| CN102152973A (en) * | 2011-01-04 | 2011-08-17 | 马鞍山科达机电有限公司 | Brick grasping two-way closing device of unburned brick stacking machine |
| CN202016753U (en) * | 2011-04-07 | 2011-10-26 | 信阳雄狮建材设备制造有限公司 | Gripping mechanism of automatic green brick stacking device |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107161715A (en) * | 2017-07-14 | 2017-09-15 | 陕西宝深机械(集团)有限公司 | The code base grip device of base function is pressed from both sides with pressure stubble |
| CN107161715B (en) * | 2017-07-14 | 2023-09-22 | 陕西宝深机械(集团)有限公司 | Blank stacking fixture device with stubble pressing and blank clamping functions |
| CN111070198A (en) * | 2019-12-30 | 2020-04-28 | 丹阳琦瑞机械有限公司 | Battery tray loading manipulator |
| CN112278418A (en) * | 2020-11-23 | 2021-01-29 | 河北省机电一体化中试基地 | Multilayer carton blank unstacking clamp |
| CN114799352A (en) * | 2022-04-08 | 2022-07-29 | 中船黄埔文冲船舶有限公司 | Auxiliary device for batch cutting of angle steel and using method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105540272B (en) | 2019-03-15 |
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