CN106276292A - A kind of piling grabbing device - Google Patents
A kind of piling grabbing device Download PDFInfo
- Publication number
- CN106276292A CN106276292A CN201610933517.5A CN201610933517A CN106276292A CN 106276292 A CN106276292 A CN 106276292A CN 201610933517 A CN201610933517 A CN 201610933517A CN 106276292 A CN106276292 A CN 106276292A
- Authority
- CN
- China
- Prior art keywords
- jaw
- piling
- grabbing device
- slide bar
- middle slide
- 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
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
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses a kind of piling grabbing device, including: a floating riser mechanism；The lifter plate being connected with bottom described floating riser mechanism；Connecting linear actuator on described lifter plate, the sliding end of described linear actuator connects jaw and fixes seat, and described jaw is fixed and is provided with jaw portion below seat.A kind of piling grabbing device disclosed by the invention, bucket for differing heights need not pre-set, first piling complete ground floor workpiece, during the dress second layer, bucket is high different also will not damage bucket by pressure, also will not damage by pressure (sliding sleeve of floating riser mechanism can travel one section of idle stroke and alleviate) even if middle slide bar continues to place downwards workpiece, very convenient, need not set bucket high every time, substantially increase work efficiency.
Description
Technical field
The present invention relates to palletizing mechanical apparatus field, be specifically related to a kind of piling grabbing device.
Background technology
Piling grabbing device under prior art, can only set bucket high, and code is to specifying position and just the most just unclamping
Fall at set-point, arrange one by one, run into the bucket of differing heights, need to reset the position of code and height；Secondly, former work
It is relatively big with space before arrangement, such bucket and bucket that part can only realize 3*3 or 4*4 by piling, and pallet space can not fully be closed
Reason utilizes；Additionally, the handgrip below jaw, jaw pedestal connected mode dismounting inconvenience, run into the workpiece needs that size is different
Professional person's dismounting exchanges suitable handgrip for, cumbersome.
Summary of the invention
For solving the problems referred to above present in prior art and practical situation, the invention provides a kind of piling and capture dress
Put.
The technique effect of the present invention is achieved through the following technical solutions:
A kind of piling grabbing device, including: a floating riser mechanism；The lifting being connected with bottom described floating riser mechanism
Plate；Connecting linear actuator on described lifter plate, the sliding end of described linear actuator connects jaw and fixes seat, described
Jaw is fixed and is provided with jaw portion below seat.
Preferably, described floating riser mechanism includes middle slide bar, and be socketed in outside described middle slide bar can be relative
The sliding sleeve of described middle sliding bar, is provided with sliding part between outside wall surface and the internal face of described sliding sleeve of described middle slide bar.
Preferably, described middle slide bar is vertical column structure, has four, front, rear, left and right wall, described sliding part bag
Include first axis of rolling of the left and right sides of the outside wall surface laying respectively at described middle slide bar, and be positioned at outside described middle slide bar
Second axis of rolling of both sides before and after wall.
Preferably, the bottom of described middle slide bar is provided with cover plate, on the internal face of described sliding sleeve, sliding in the middle of described
The bottom of bar is provided with baffle plate, is in contact with it for cover plate described in backstop and is moved further up afterwards；Described baffle plate is apart from described
Certain altitude is had, to form described cover plate with the up and down space of described middle slide bar bottom sliding sleeve；When piling grabbing device
When capturing, described cover plate abuts against described baffle plate, is in reset state.
Preferably, the outside wall surface of described middle slide bar is provided with sensor, and described sensor is connected with described controller.
Preferably, described linear actuator includes that cylinder, described cylinder be arranged in parallel with described lifter plate, described cylinder
One end be fixedly installed on described jaw and fix on seat, the other end of described cylinder is located at and is fixedly connected on described jaw and fixes seat
On linear slide rail on, can slidably reciprocate on described linear slide rail.
Preferably, described jaw portion includes that at least one jaw unit, described jaw unit include that four are arranged in cross
The jaw cylinder that row are arranged, and make the rear end of four jaw cylinders may be contained within decussation, there is bar one end away from ten
Word infall is also connected with four jaw pedestals respectively one to one, four jaw pedestals arranges four correspondingly and grabs
Hands.
Preferably, adjacent two jaw cylinders of described four jaw cylinders are provided with correspondingly first sensor,
Second sensor.
Preferably, described jaw pedestal removably connects with the rod end of described jaw cylinder.
Beneficial effect:
Having the beneficial effects that of a kind of piling grabbing device disclosed by the invention:
On the one hand, the bucket of differing heights need not pre-set, first piling complete ground floor workpiece, and during the dress second layer, bucket is high to differ
Sample also will not damage bucket by pressure, even if middle slide bar continuation placement workpiece downwards also will not damage by pressure, (sliding sleeve of floating riser mechanism can be gone
Sail one section of idle stroke to alleviate), very convenient, it is not necessary to set bucket high every time, substantially increase work efficiency；The opposing party
Face, drives jaw transverse shifting by controlling linear slide rail, can realize the dislocation to workpiece (bucket) and place, make full use of pallet
Space, is unlikely to allow a pallet only place several workpiece (bucket that particularly some size diameter are the biggest)；Another further aspect, jaw
The connected mode of the jaw pedestal at lower gripper is detachable, in order to change various sizes of jaw handgrip, usual one
Lineman people can directly remove and install more convenient fast, time saving and energy saving；Finally, moreover it is possible to realize the crawl of different size bucket, nothing
Replacing jaw portion, convenient intelligence need to be changed for various sizes of bucket frequency, have much practicality.
Accompanying drawing explanation
Fig. 1 is piling effect schematic diagram under prior art；
Fig. 2 is the piling effect schematic diagram of a kind of piling grabbing device of the embodiment of the present invention；
Fig. 3 is the main TV structure schematic diagram of a kind of piling grabbing device of the embodiment of the present invention；
Fig. 4 is the side-looking structural representation of the latter half of a kind of piling grabbing device of the embodiment of the present invention；
Fig. 5 is the plan structure schematic diagram of a kind of piling grabbing device of the embodiment of the present invention；
Fig. 6 is structural representation during the non-seized condition of the elevating mechanism part of a kind of piling grabbing device of the embodiment of the present invention
Figure；
Fig. 7 is the structural representation during decline state of the elevating mechanism part of a kind of piling grabbing device of the embodiment of the present invention
Figure；
A kind of structural representation during the crawl process of the elevating mechanism part of the piling grabbing device of Fig. 8 embodiment of the present invention；
Fig. 9 is the jaw pedestal connected mode schematic diagram of a kind of piling grabbing device of the embodiment of the present invention；
Figure 10 is the part A structure for amplifying schematic diagram of accompanying drawing 9.
Wherein:
10, elevating mechanism；13, jaw unit；131, handgrip；132, jaw cylinder；132a, first sensor；132b, the second biography
Sensor；135, jaw pedestal；101, sensor；110, middle slide bar；120, sliding sleeve；121, handgrip；122a, first axis of rolling；
122b, second axis of rolling；123, the first axis of rolling bearing；124a, cover plate；124b, baffle plate；20, lifter plate；21, cylinder；22、
Linear slide rail；
S0, elevating mechanism reset state；S1, elevating mechanism decline state.
Detailed description of the invention
Technical solution of the present invention is discussed in detail below in conjunction with the accompanying drawings.
As shown in figs. 3-10, the open a kind of piling grabbing device of the present invention, including: a floating riser mechanism 10；With floating
The lifter plate 20 that the bottom of dynamic elevating mechanism 10 connects；Connecting linear actuator on lifter plate 20, linear actuator is even
Connecing jaw and fix seat, jaw is fixed and is provided with jaw portion below seat.
Further, floating riser mechanism includes middle slide bar 110, and be socketed in outside middle slide bar 110 can be relative
The sliding sleeve 120 that middle slide bar 110 slides, is provided with sliding part between outside wall surface and the internal face of sliding sleeve 120 of middle slide bar 110.
Further, middle slide bar 110 is vertical column structure, has four, front, rear, left and right wall, and sliding part includes point
It is not positioned at the first axis of rolling 122a of the left and right sides of the outside wall surface of middle slide bar 110, and is positioned at the outer wall of middle slide bar 110
Second axis of rolling 122b of both sides before and after face.As a kind of embodiment, the quantity of the first axis of rolling 122a is four, point
It is not positioned at the left and right sides of the outside wall surface of middle slide bar 110, and is symmetrical arranged；Correspondingly, the quantity of the second axis of rolling 122b is
Four, before and after laying respectively at the outside wall surface of middle slide bar 110, lateral symmetry is arranged；First axis of rolling near same position
The height of 122a is slightly below the rational height of the second axis of rolling 122b.Certainly, sliding part can also is that other forms, such as roller
And rail groove matches form, the present invention does not limits at this.
Further, the bottom of middle slide bar 110 is provided with cover plate 124a, on the internal face of sliding sleeve 120, near middle sliding
The bottom of bar 110 is provided with baffle plate 124b, is in contact with it for backstop cover plate 124a and continues to move up afterwards；Baffle plate 124b distance
Certain altitude is had, to form cover plate 124a with the up and down space of middle slide bar 110 bottom sliding sleeve 120.
Further, the outside wall surface of middle slide bar 110 is provided with sensor 101, and sensor 101 is connected with controller.
When piling grabbing device captures (Fig. 6), cover plate 124a abuts against baffle plate 124b, is in reset state
S0。
Crawl process (Fig. 8): when piling grabbing device captures, during crawl, when jaw puts off till downwards barrel,
Middle slide bar 110 performs crawl after stopping；Crawl terminates slide bar 110 in the middle of rear and rises, and outside sliding sleeve 120 declines (walks one section of sky
Stroke), wait bottom cover plate 124a of middle slide bar 110 to contact with baffle plate 124b and (the two can not have phase para-position again against rear
Move), capture bucket the most again and be lifted off pipeline.
Decline and put a barrel process S1 state (Fig. 7) after crawl: when jaw band bucket piling, middle slide bar 110 decline (according to
The stroke set), when jaw puts off till barrel, middle slide bar 110 continues to decline (because having set stroke, according to setting
Stroke also needs to continue to decline), now jaw is limited by bucket and cannot be declined that (it is high, such as that bucket compares the position height originally set
When carrying out the piling of two floor heights), outside sliding sleeve 120 just rises (walking one section of idle stroke), until the biography in sliding sleeve 120 outside wall surface
Sensor 101 is detected switch when detecting, stops immediately, performs to put bucket.It should be noted that sensor 101 and detection switch
Position (not shown) need according to calculating after, set at the level altitude of the outside wall surface of middle slide bar.
Further, the linear actuator (Fig. 3) of piling grabbing device includes cylinder 21, and cylinder 21 is flat with lifter plate 20
Row is arranged, and one end of cylinder 21 is fixedly installed on jaw and fixes on seat, and the other end of cylinder 21 is located at and is fixedly connected on jaw admittedly
On linear slide rail 22 in reservation, can slidably reciprocate on linear slide rail 22.So, cylinder 21 above jaw portion and linear
Slide rail 22, is arranged by machine, make jaw portion capture has placed first row workpiece complete after pass through linear slide rail 22 slide, carry
Dynamic lower section jaw can transverse shifting, then front position therewith, work piece position can misplace discharge (Fig. 2), takes full advantage of pallet sky
Between (the piling effect of comparison diagram 1 and Fig. 2, under equal area, can go out more workpiece by code by the present invention, and is easy to parcel and tightens up,
Convenient transport), little pallet can also be knocked off part more, thus reach a kind of platform can be with time-code various ways.Require supplementation with
It is under prior art, to realize common piling, as described in Figure 1, does not the most save space, and after piling terminates, outer wrapping
Film is received the tightest, it has not been convenient to transport.As another embodiment of the present invention, linear actuator can also is that hydraulic jack, again
Or linear actuator can also is that motor coordinates with gear, rack structure that (tooth bar can be fixedly installed on jaw and fix seat
On), it is achieved fixing at jaw and do linear reciprocal movement on seat, the present invention does not limits at this.
Further, as shown in Fig. 3 and 5, the jaw portion of piling grabbing device includes at least one jaw unit 13, jaw
Unit 13 includes four jaw cylinders 132 arranged in cross-shaped arrangement, and the rear end of four jaw cylinders 132 is all provided with
It is placed at decussation, has bar one end to be connected away from decussation and the most one to one with four jaw pedestals 135, four
Arranging four handgrips 131 on individual jaw pedestal 135 correspondingly, handgrip 131 is both connected to the piston rod of jaw cylinder 132 and stretches
Go out end.So, four jaw cylinders 132 of apparatus control stretch out simultaneously and capture bucket, bucket is placed complete after, control four
Individual jaw cylinder 132 is regained simultaneously, is in pawl return state.
Certainly, jaw unit 13 can also only comprise two jaw cylinders and handgrip；Or, jaw unit 13 can wrap
Containing three jaw cylinders and handgrip, place as long as the crawl to workpiece can be realized；Correspondingly, container (workpiece) is captured the most not
Must be stereotypedly barrel-shaped, it is also possible to be set to rectangular bucket or other shapes according to demand, specifically can be according to actual work
Condition is selected flexibly.
Further, adjacent two jaw cylinders 132 of four jaw cylinders 132 are provided with the first sensing correspondingly
Device 132a, the second sensor 132b.Wherein, first sensor 132a, the second sensor 132b can be positioning and locking screw
Fixed magnetic switch (sensitive switch).Function is, for adapt to different-diameter bucket, when capture bucket the signal that puts in place after,
First sensor 132a and the second sensor 132b mono-controls to open, and one controls to receive, mutually echoes control so that it is be adjusted to
Screw (with the diameter of bucket matches) can be tightened after best placement.Consequently, it is possible to be equivalent to " remember " bucket footpath, convenient next time is straight
Connect the bucket to identical bore to capture.When to capture the bucket of other models, it is again with above-mentioned steps, remembers new bucket
Footpath, carries out grasping manipulation the most again.
As shown in Figure 9, Figure 10, for convenience of using, jaw pedestal 135 removably connects with the rod end of jaw cylinder 132.
So, it is simple to change various sizes of jaw handgrip 121, will move on at latch on guide pin bushing during dismounting, a usual lineman
It is very convenient convenient that people can directly remove and install, time saving and energy saving.
Having the beneficial effects that of a kind of piling grabbing device disclosed by the invention:
On the one hand, the bucket of differing heights need not pre-set, first piling complete ground floor workpiece, and during the dress second layer, bucket is high to differ
Sample also will not damage bucket by pressure, even if middle slide bar continuation placement workpiece downwards also will not damage by pressure, (sliding sleeve of floating riser mechanism can be gone
Sail one section of idle stroke to alleviate), very convenient, it is not necessary to set bucket high every time, substantially increase work efficiency；The opposing party
Face, drives jaw transverse shifting by controlling linear slide rail, can realize the dislocation to workpiece (bucket) and place, make full use of pallet
Space, is unlikely to allow a pallet only place several workpiece (bucket that particularly some size diameter are the biggest)；Another further aspect, jaw
The connected mode of the jaw pedestal at lower gripper is detachable, in order to change various sizes of jaw handgrip, usual one
Lineman people can directly remove and install more convenient fast, time saving and energy saving；Finally, moreover it is possible to realize the crawl of different size bucket, nothing
Replacing jaw portion, convenient intelligence need to be changed for various sizes of bucket frequency, have much practicality.
Finally it is noted that the foregoing is only the preferred embodiments of the present invention, it is not limited to the present invention,
Although being described in detail the present invention with reference to previous embodiment, for a person skilled in the art, it still may be used
So that the technical scheme described in foregoing embodiments to be modified, or wherein portion of techniques feature is carried out equivalent.
All within the spirit and principles in the present invention, any modification, equivalent substitution and improvement etc. made, should be included in the present invention's
Within protection domain.
Claims (9)
1. a piling grabbing device, it is characterised in that including: a floating riser mechanism；At the bottom of described floating riser mechanism
The lifter plate that portion connects；Connecting linear actuator on described lifter plate, the sliding end of described linear actuator connects folder
Pawl fixes seat, and described jaw is fixed and is provided with jaw portion below seat.
Piling grabbing device the most according to claim 1, it is characterised in that described floating riser mechanism includes middle sliding
Bar, and be socketed in outside described middle slide bar can the sliding sleeve of the most described middle sliding bar, the outer wall of described middle slide bar
It is provided with sliding part between the internal face of face and described sliding sleeve.
Piling grabbing device the most according to claim 2, it is characterised in that described middle slide bar is vertical column structure, tool
Having four, front, rear, left and right wall, described sliding part includes laying respectively at the left and right sides of the outside wall surface of described middle slide bar
First axis of rolling, and it is positioned at second axis of rolling of both sides before and after the outside wall surface of described middle slide bar.
Piling grabbing device the most according to claim 3, it is characterised in that the bottom of described middle slide bar is provided with cover plate,
On the internal face of described sliding sleeve, it is provided with baffle plate in the bottom near described middle slide bar, is in contact with it for cover plate described in backstop
It is moved further up afterwards；Described baffle plate has certain altitude bottom described sliding sleeve, to form described cover plate with in described
Between the up and down space of slide bar；
When piling grabbing device captures, described cover plate abuts against described baffle plate, is in reset state.
5. according to the piling grabbing device described in claim 2-4 any one, it is characterised in that the outer wall of described middle slide bar
Face is provided with sensor, and described sensor is connected with described controller.
Piling grabbing device the most according to claim 1, it is characterised in that described linear actuator includes cylinder, institute
Stating cylinder to be arranged in parallel with described lifter plate, one end of described cylinder is fixedly installed on described jaw and fixes on seat, described cylinder
The other end be located at and be fixedly connected on the linear slide rail that described jaw is fixed on seat, can slide back and forth on described linear slide rail
Dynamic.
Piling grabbing device the most according to claim 1, it is characterised in that described jaw portion includes at least one jaw list
Unit, described jaw unit includes four jaw cylinders arranged in cross-shaped arrangement, and makes the rear end of four jaw cylinders
May be contained within decussation, have bar one end away from decussation and being connected with four jaw pedestals one to one respectively,
Four handgrips are set on four jaw pedestals correspondingly.
Piling grabbing device the most according to claim 7, it is characterised in that adjacent two folders of described four jaw cylinders
First sensor, the second sensor it is provided with correspondingly on pawl cylinder.
9. according to the piling grabbing device described in claim 7 or 8, it is characterised in that described jaw pedestal and described jaw gas
The rod end of cylinder removably connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610933517.5A CN106276292A (en) | 2016-11-01 | 2016-11-01 | A kind of piling grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610933517.5A CN106276292A (en) | 2016-11-01 | 2016-11-01 | A kind of piling grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106276292A true CN106276292A (en) | 2017-01-04 |
Family
ID=57719294
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610933517.5A Pending CN106276292A (en) | 2016-11-01 | 2016-11-01 | A kind of piling grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106276292A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021308A (en) * | 2021-03-24 | 2021-06-25 | 广东博智林机器人有限公司 | Mechanical gripper and lifting device |
-
2016
- 2016-11-01 CN CN201610933517.5A patent/CN106276292A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113021308A (en) * | 2021-03-24 | 2021-06-25 | 广东博智林机器人有限公司 | Mechanical gripper and lifting device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN207121227U (en) | A kind of closed guard gate's stacker | |
| CN105583818B (en) | A kind of packed packing materials automatic loading manipulator | |
| CN205187177U (en) | Work piece conveying equipment | |
| CN107081582A (en) | A kind of production line for automatically assembling of barrel of handle and drum | |
| CN107081581A (en) | A kind of positioning assembling device of barrel of handle and drum | |
| CN105921969B (en) | A kind of upper slide rail supply arrangement | |
| CN106276292A (en) | A kind of piling grabbing device | |
| CN102514936B (en) | Plate gripping device and method for gripping plates by using same | |
| JPS642907A (en) | Storage system for palletized load | |
| CN202935637U (en) | Glove on-line demolding counting machine | |
| CN105645102B (en) | Automatic pallet transceiver | |
| CN207104224U (en) | A kind of production line for automatically assembling of barrel of handle and drum | |
| CN110002234A (en) | A kind of curb transports palletizing apparatus and its working method automatically | |
| CN203092554U (en) | Robot clamping jaw device | |
| CN206278695U (en) | A kind of stacking grabbing device | |
| CN205616257U (en) | Automatic pile up neatly transfer chain of elevator layer door plant automatic transportation line and elevator layer door plant | |
| CN106697964A (en) | Brick stacking device, method for controlling arrangement manner of stacked bricks and brick stacking machine | |
| CN206770983U (en) | A kind of gas bomb concentrates rack | |
| CN207985270U (en) | Small dimension aluminium coil packing device | |
| CN202201502U (en) | No-falling head type conveying and stacking paper clamping device | |
| CN207104222U (en) | A kind of positioning assembling device of barrel of handle and drum | |
| CN210788614U (en) | Steel tilting machine | |
| CN107414548A (en) | Sheet material parts machining mechanical clamp platform | |
| CN209226151U (en) | A kind of high speed piling machine | |
| CN106144629B (en) | The palletizing system of multiple groups parallel connection |
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 |
Application publication date: 20170104 |
|
| RJ01 | Rejection of invention patent application after publication |