CN107686006A - A kind of piler machinery claw and stacking system - Google Patents
A kind of piler machinery claw and stacking system Download PDFInfo
- Publication number
- CN107686006A CN107686006A CN201711030068.4A CN201711030068A CN107686006A CN 107686006 A CN107686006 A CN 107686006A CN 201711030068 A CN201711030068 A CN 201711030068A CN 107686006 A CN107686006 A CN 107686006A
- Authority
- CN
- China
- Prior art keywords
- lever arm
- piler
- main body
- machinery claw
- gripper main
- 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.)
- Withdrawn
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
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/91—Devices for picking-up and depositing articles or materials incorporating pneumatic, e.g. suction, grippers
-
- 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
- B65G57/00—Stacking of articles
- B65G57/02—Stacking of articles by adding to the top of the stack
- B65G57/03—Stacking of articles by adding to the top of the stack from above
- B65G57/04—Stacking of articles by adding to the top of the stack from above by suction or magnetic devices
-
- 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
- B65G2207/00—Indexing codes relating to constructional details, configuration and additional features of a handling device, e.g. Conveyors
- B65G2207/08—Adjustable and/or adaptable to the article size
Abstract
The present invention relates to a kind of piler machinery claw and stacking system, piler machinery claw includes gripper main body and at least two lever arms, lever arm activity is assemblied in the gripper main body, the lever arm is provided with the pick-up structure for picking up work piece, the gripper main body is provided with drive division, and the drive division with adapting to the synchronous drive mechanism of workpiece size for each lever arm position of synchronous adjustment with each lever arm by being connected.Compared with prior art, piler machinery claw provided by the invention controls each lever arm to carry out position adjustment to adapt to different workpieces size simultaneously by synchronous drive mechanism, structure is compacter and more minimizes, simultaneously, multiple motor in the prior art are replaced using single drive division, the action for more uniformly adjusting lever arm causes gripper is in course of adjustment to keep steadily of centre of gravity, beneficial to picking up work piece.
Description
Technical field
The present invention relates to a kind of piler machinery claw and stacking system.
Background technology
At work, the distribution mode of sucker is adapted to single size to Stacking Robots used by industrial production line at present
Workpiece, Stacking Robots excessively Focus, when workpiece size changes need manually adjust or change corresponding sucker
Part, not only manually adjusts with high costs, and delays industrial production, is unfavorable for the renovation and utilization of industrial production line.
Authorization Notice No. is that CN206048191U patent document discloses a kind of liquid crystal panel conveying robot human arm, should
Robot arm includes linking arm, and linking arm both ends are provided with chute, motor and forearm, and forearm one end is connected with sucker, another
End is provided with the rack in chute, and motor is provided with the travelling gear structure to be cooperated with rack.The robot arm leads to
Cross motor band carry-over bar to stretch in chute, on rack drives forearm and then adjust each sucker to correct absorption position,
Adapt to the carrying requirement of different workpieces.
Above-mentioned robot arm is to make forearm adjustment position to adapt to the size of workpiece, set on each forearm to applied to
The flexible motor of forearm is driven, not only structure is not compact enough for the arrangement, is unfavorable for the miniaturization of robot arm, and
Add manufacturing cost.
The content of the invention
It is an object of the invention to provide a kind of piler machinery claw, to solve to need to set multiple motor in the prior art
Cause structure not compact enough and be unfavorable for the technical problem of robot arm miniaturization, the present invention also provides a kind of stacking system.
To achieve the above object, the present invention provides the technical scheme 1 of piler machinery claw：A kind of piler machinery claw, including machine
Machinery claw main body and at least two lever arms, lever arm activity are assemblied in the gripper main body, and the lever arm, which is provided with, to be used
In the pick-up structure of picking up work piece, the gripper main body is provided with drive division, and the drive division passes through for each work of synchronous adjustment
Swing arm position is connected with adapting to the synchronous drive mechanism of workpiece size with each lever arm.
The beneficial effect of invention is：Compared with prior art, piler machinery claw provided by the invention passes through Synchronous Transmission machine
Structure controls each lever arm to carry out position adjustment to adapt to different workpieces size simultaneously, and structure is compacter and more minimizes,
Meanwhile multiple motor in the prior art are replaced using single drive division, the action for more uniformly adjusting lever arm causes machine
Machinery claw, which is in course of adjustment, keeps steadily of centre of gravity, beneficial to picking up work piece.
It is subject to improvement on the basis of piler machinery claw technical scheme 1 and obtains technical scheme 2：The synchronous drive mechanism is
Rack and pinion drive mechanism, rack and pinion drive mechanism include being driven the gear structure that rotates and each described by the drive division
The rack segments that lever arm is provided with, gear structure are connected by meshing transmission with each rack segments.Realized by rack and pinion drive mechanism
Each lever arm position of synchronous adjustment, simple in structure and low in cost.
It is subject to improvement on the basis of piler machinery claw technical scheme 2 and obtains technical scheme 3：Piler machinery claw includes four
Lever arm, two in four lever arms are arranged parallel to form the first lever arm group, and two other lever arm is mutual
Parallel arrangement forms the second lever arm group, and the first lever arm group staggers with the second lever arm component layers.Two lever arm group phases
Mutually parallel to ensure to interfere when lever arm moves, the arrangement that two lever arm component layers stagger avoids
The problem of lever arm in different lever arm groups interferes.
It is subject to improvement on the basis of piler machinery claw technical scheme 3 and obtains technical scheme 4：Set in the gripper main body
Have and spacing position limiting structure is carried out to it when the lever arm moves to extreme position.Prevent lever arm from moving to extreme position
When depart from and the drive connection of gear structure and uncontrollable lever arm.
It is subject to improvement on the basis of piler machinery claw technical scheme 4 and obtains technical scheme 5：The position limiting structure includes institute
The spring eye that lever arm is provided with is stated, spring is disposed with spring eye, spring is provided with ball, and the position limiting structure also includes machine
The ball when perforate that machinery claw main body is provided with, perforate move to extreme position with lever arm is corresponding so that ball part is in
Carried out in the gripper main body and then to lever arm spacing.When lever arm move to extreme position make rack segments will be disengaged from
During the drive connection of gear structure, in ball moving to perforate, lever arm lock spacing, prevent that rack segments from departing from and tooth
The drive connection of wheel construction, if also, controlling organization break down and make motor continue to rotate, ball can also detach perforate and avoid
Electric motor short circuit damages.
It is subject to improvement on the basis of piler machinery claw technical scheme 1 or 2 or 3 or 4 or 5 and obtains technical scheme 6：The machine
Machinery claw main body is provided with the weight sensor for being used for measuring picking up work piece weight, and weight sensor, which has, to be used to export picking up work piece
The signal output portion of weight.The weight of workpiece is transferred to the control system of correlation by weight sensor by signal output portion
System, can determine whether workpiece is qualified by weight, and workpiece species can be judged according to weight, be transported using control system control
Workpiece is carried out classification stacking by system.
It is subject to improvement on the basis of piler machinery claw technical scheme 1 or 2 or 3 or 4 or 5 and obtains technical scheme 7：It is described to pick up
It is Suction cup assembly to take structure, and Suction cup assembly has the negative port for being used for connecting negative pressure system.
It is subject to improvement on the basis of piler machinery claw technical scheme 1 or 2 or 3 or 4 or 5 and obtains technical scheme 8：The machine
Machinery claw main body is provided with motor, and the drive division is the power output shaft of the motor.
The present invention provides the technical scheme 1 of stacking system：Including control system and transport system, transport system includes stacking
Gripper, piler machinery claw include gripper main body and at least two lever arms, and lever arm activity is assemblied in the gripper master
On body, the lever arm is provided with the pick-up structure for picking up work piece, and the gripper main body is provided with drive division, the driving
Portion with adapting to the synchronous drive mechanism of workpiece size for each lever arm position of synchronous adjustment with each lever arm by being connected.
It is subject to improvement on the basis of stacking system technical scheme 1 and obtains technical scheme 2：The synchronous drive mechanism is tooth
Rack gear is taken turns, rack and pinion drive mechanism includes driving the gear structure rotated and each work by the drive division
The rack segments that swing arm is provided with, gear structure are connected by meshing transmission with each rack segments.
It is subject to improvement on the basis of stacking system technical scheme 2 and obtains technical scheme 3：Piler machinery claw includes four work
Swing arm, two in four lever arms are arranged parallel to form the first lever arm group, and two other lever arm is mutually flat
Row arrangement forms the second lever arm group, and the first lever arm group staggers with the second lever arm component layers.
It is subject to improvement on the basis of stacking system technical scheme 3 and obtains technical scheme 4：The gripper main body is provided with
Spacing position limiting structure is carried out to it when the lever arm moves to extreme position.
It is subject to improvement on the basis of stacking system technical scheme 4 and obtains technical scheme 5：The position limiting structure includes described
The spring eye that lever arm is provided with, spring is disposed with spring eye, spring is provided with ball, and the position limiting structure also includes machinery
The ball when perforate that pawl main body is provided with, perforate move to extreme position with lever arm is corresponding so that ball part is in institute
State in gripper main body and then lever arm is carried out spacing.
It is subject to improvement on the basis of stacking system technical scheme 1 or 2 or 3 or 4 or 5 and obtains technical scheme 6：The machinery
Pawl main body is provided with the weight sensor for being used for measuring picking up work piece weight, and weight sensor, which has, to be used to export picking up work piece weight
The signal output portion of amount.
It is subject to improvement on the basis of stacking system technical scheme 1 or 2 or 3 or 4 or 5 and obtains technical scheme 7：The pickup
Structure is Suction cup assembly, and Suction cup assembly has the negative port for being used for connecting negative pressure system.
It is subject to improvement on the basis of stacking system technical scheme 1 or 2 or 3 or 4 or 5 and obtains technical scheme 8：The machinery
Pawl main body is provided with motor, and the drive division is the power output shaft of the motor.
Brief description of the drawings
Fig. 1 provides the structural representation of piler machinery claw embodiment 1 for the present invention；
Fig. 2 is the structural representation of piler machinery claw embodiment shown in Fig. 11（Gripper main body is not shown）；
In accompanying drawing：1- gripper main bodys, 2- lever arms, 3- adpting flanges, 4- Suction cup assemblies, 5- motors, 6- balls, 7- gear knots
Structure.
Embodiment
Embodiments of the present invention are described further below in conjunction with the accompanying drawings.
The present invention provide piler machinery claw embodiment 1, as shown in Fig. 1 to 2, piler machinery claw include gripper main body 1,
Adpting flange 3 that gripper main body 1 is provided with, four lever arms 2 in circumferential uniform gripper main body 1, in gripper main body
The drive division being provided with and the synchronous drive mechanism with the drive connection of each lever arm, adpting flange 3 are used for and corresponding transport system
Connection, drive division are specially the output shaft of motor 5, and synchronous drive mechanism is specially rack and pinion drive mechanism, and rack-and-pinion passes
The rack segments that the gear structure 9 and lever arm that the output shaft driving of motivation structure including motor 5 rotates are provided with, gear structure with
Rack segments are connected by meshing transmission.Lever arm 2 is slidedly assemblied in gripper main body 1, and lever arm 2 is provided with for picking up work piece
Pick-up structure, pick-up structure are specially Suction cup assembly 4, and Suction cup assembly 4 has the negative port for being used for connecting negative pressure system.Wherein
Two lever arms 2 are parallel to each other to form the first lever arm group, and two other lever arm 2 is parallel to each other to form the second lever arm group,
First and second lever arm component layers stagger.The arrangement that first and second lever arm component layers stagger causes four lever arms
2 can be driven cooperation with gear structure 7 simultaneously on the premise of not interfering mutually, realize and control four using a motor 5
The flexible purpose of individual lever arm 2, and then the span length between sucker structure is adjusted to adapt to different workpieces size, make gripper
Structure it is compacter, and more uniformly adjust lever arm 2 action so that gripper be in course of adjustment keep center of gravity
It is stable, beneficial to picking up work piece.
Wherein, gripper main body 1 is provided with the spacing knot for carrying out block to it when lever arm 2 moves to extreme position
Structure, position limiting structure are specifically included in the spring eye that lever arm 2 is provided with, the spring and ball 6 that are provided with spring eye, gripper master
Body 1 is provided with corresponding perforate, and ball is corresponding when perforate moves to extreme position with lever arm 2.When lever arm 2 moves extremely
When extreme position makes the rack segments will be disengaged from the drive connection with gear structure, ball 6 is moved in perforate and part enters machinery
In pawl main body 1, lever arm 2 is locked, prevents rack segments from departing from the drive connection with gear structure, if also, control machine
Structure, which breaks down, makes motor 5 persistently rotate, and ball 6 can also detach perforate and avoid the Damage by Short Circuit of motor 5.
Also, weight sensor is additionally provided with gripper main body 1, weight sensor, which has, to be used to export picking up work piece weight
The signal output portion of signal, signal output portion connect with corresponding control system.Work is judged according to the weight control system of workpiece
The type of part, and control transport system that piler machinery claw is moved into corresponding stacked location, realize workpiece automatic identification and
Classification is stacked.
The present invention provides the embodiment 2 of piler machinery claw, and the present embodiment and the difference of embodiment 1 essentially consist in, lever arm
Section be T-shaped, the lever arm of the shape increases the bearing capacity of lever arm in the vertical direction, in other embodiments
Lever arm section can be arranged to other shapes to adapt to different operating scene demand.
The present invention provides the embodiment 3 of piler machinery claw, and the present embodiment and the difference of embodiment 1 essentially consist in, piler
Machinery claw includes three lever arms, and three mutual layered arrangements of lever arm are arranged in gripper main body and with set angle.At it
It can increase or reduce the quantity of lever arm in his embodiment according to work requirements.
The present invention provides the embodiment 4 of piler machinery claw, and the present embodiment and the difference of embodiment 1 essentially consist in, this implementation
Pick-up structure in example is gripper jaw, and in the workpiece of stacking some surface irregularities, Suction cup assembly is often unable to reach well
Pickup force, multiple clampings are grabbed can pick up and carry such workpiece by mutual cooperation.In other embodiments can be according to work need
Ask and mechanism for picking is replaced by other pick-up structures such as electromagnetic type, coupling type.
The present invention provides the embodiment 5 of piler machinery claw, and the present embodiment and the difference of embodiment 1 essentially consist in, spacing knot
Structure is the projection that lever arm is provided with and is provided with gripper main body to exist with raised corresponding Stop structure, the position limiting structure
Lever arm reach capacity movement position when it is carried out spacing, ensure that lever arm will not skid off gripper main body, and then ensure to pick up
The workpiece taken will not fall off and cause potential safety hazard.
The present invention provides the embodiment 6 of piler machinery claw, and the present embodiment and the difference of embodiment 1 essentially consist in, lever arm
One end is provided with adjustment gear structure, and adjustment gear structure rolling assembling engages in gripper main body and with gear structure.This reality
Apply example drives lever arm to rotate by gear structure, and then makes lever arm drive pick-up structure adjustment relative position to adapt to workpiece
Size.
The present invention also provides a kind of embodiment of stacking system, and stacking system includes control system and transport system, transported
System includes piler machinery claw, and the data such as the workpiece weight of collection can be handled and control is sent to transport system by control system
Signal processed, transport system can drive piler machinery claw to move to reach the structure of the purpose of stacking, wherein piler machinery claw
It is identical with the structure of piler machinery claw in above-described embodiment, it will not be repeated here.
Claims (10)
1. a kind of piler machinery claw, including gripper main body and at least two lever arms, lever arm activity are assemblied in the machinery
In pawl main body, the lever arm is provided with the pick-up structure for picking up work piece, it is characterised in that：Set in the gripper main body
Have drive division, the drive division by for each lever arm position of synchronous adjustment with adapt to the synchronous drive mechanism of workpiece size with it is each
Lever arm is connected.
2. piler machinery claw according to claim 1, it is characterised in that：The synchronous drive mechanism is rack pinion
Mechanism, rack and pinion drive mechanism include driving the gear structure rotated and each lever arm to be provided with by the drive division
Rack segments, gear structure is connected by meshing transmission with each rack segments.
3. piler machinery claw according to claim 2, it is characterised in that：Piler machinery claw includes four lever arms, four
Two in the lever arm are arranged parallel to form the first lever arm group, and two other lever arm is arranged parallel to be formed
Second lever arm group, the first lever arm group stagger with the second lever arm component layers.
4. piler machinery claw according to claim 3, it is characterised in that：The gripper main body, which is provided with, works as the activity
Arm carries out spacing position limiting structure to it when moving to extreme position.
5. piler machinery claw according to claim 4, it is characterised in that：The position limiting structure includes setting on the lever arm
Some spring eyes, spring is disposed with spring eye, spring is provided with ball, and the position limiting structure also includes setting in gripper main body
Ball when some perforates, perforate move to extreme position with lever arm is corresponding so that ball part is in the gripper master
Carry out in vivo and then to lever arm spacing.
6. piler machinery claw as claimed in any of claims 1 to 5, it is characterised in that：In the gripper main body
Provided with the weight sensor for measuring picking up work piece weight, weight sensor has the signal for being used for exporting picking up work piece weight
Output section.
7. piler machinery claw as claimed in any of claims 1 to 5, it is characterised in that：The pick-up structure is suction
Disk component, Suction cup assembly have the negative port for being used for connecting negative pressure system.
8. piler machinery claw as claimed in any of claims 1 to 5, it is characterised in that：In the gripper main body
Provided with motor, the drive division is the power output shaft of the motor.
9. a kind of stacking system, including control system and transport system, transport system includes piler machinery claw, piler machinery claw bag
Gripper main body and at least two lever arms are included, lever arm activity is assemblied in the gripper main body, set on the lever arm
There is the pick-up structure for picking up work piece, it is characterised in that：The gripper main body is provided with drive division, the drive division by using
It is connected in each lever arm position of synchronous adjustment with adapting to the synchronous drive mechanism of workpiece size with each lever arm.
10. stacking system according to claim 9, it is characterised in that：The synchronous drive mechanism is rack pinion
Mechanism, rack and pinion drive mechanism include driving the gear structure rotated and each lever arm to be provided with by the drive division
Rack segments, gear structure is connected by meshing transmission with each rack segments.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711030068.4A CN107686006A (en) | 2017-10-27 | 2017-10-27 | A kind of piler machinery claw and stacking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711030068.4A CN107686006A (en) | 2017-10-27 | 2017-10-27 | A kind of piler machinery claw and stacking system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107686006A true CN107686006A (en) | 2018-02-13 |
Family
ID=61154637
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711030068.4A Withdrawn CN107686006A (en) | 2017-10-27 | 2017-10-27 | A kind of piler machinery claw and stacking system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107686006A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902389A (en) * | 2019-12-10 | 2020-03-24 | 江西富益特显示技术有限公司 | Display screen polaroid suction means |
| CN111002156A (en) * | 2019-12-10 | 2020-04-14 | 江西富益特显示技术有限公司 | Display screen polaroid equipment of polishing |
| CN114084682A (en) * | 2021-10-09 | 2022-02-25 | 宁波至信汽车零部件制造有限公司 | Magnetic opener for workpiece |
| CN114955550A (en) * | 2022-06-28 | 2022-08-30 | 清远市志豪兴工程玻璃有限公司 | Grab and inhale integrative glass and inhale piece device |
| CN115535116A (en) * | 2022-09-19 | 2022-12-30 | 北京华新凯业物资再生有限公司 | Production process for disassembling scrapped cars |
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| CN202272511U (en) * | 2011-10-19 | 2012-06-13 | 中国建材国际工程集团有限公司 | Sucker support of mechanical arm glass stacking system |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110902389A (en) * | 2019-12-10 | 2020-03-24 | 江西富益特显示技术有限公司 | Display screen polaroid suction means |
| CN111002156A (en) * | 2019-12-10 | 2020-04-14 | 江西富益特显示技术有限公司 | Display screen polaroid equipment of polishing |
| CN114084682A (en) * | 2021-10-09 | 2022-02-25 | 宁波至信汽车零部件制造有限公司 | Magnetic opener for workpiece |
| CN114955550A (en) * | 2022-06-28 | 2022-08-30 | 清远市志豪兴工程玻璃有限公司 | Grab and inhale integrative glass and inhale piece device |
| CN114955550B (en) * | 2022-06-28 | 2023-10-03 | 清远市志豪兴工程玻璃有限公司 | Glass suction sheet device integrating grabbing and suction |
| CN115535116A (en) * | 2022-09-19 | 2022-12-30 | 北京华新凯业物资再生有限公司 | Production process for disassembling scrapped cars |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20191031 Address after: 461500 No.19, west side of South section of Weiwu Road, heshiqiao Town, mayor of Xuchang, Henan Province Applicant after: Henan Senyuan Zhongfeng Intelligent Manufacturing Co.,Ltd. Address before: Changge City, Xuchang City, Henan province 461500 Weiwu Road, South West Applicant before: HENAN SENYUAN ELECTRIC Co.,Ltd. |
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| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180213 |