CN108098805A - A kind of robot palletizer grabbing device - Google Patents
A kind of robot palletizer grabbing device Download PDFInfo
- Publication number
- CN108098805A CN108098805A CN201711434227.7A CN201711434227A CN108098805A CN 108098805 A CN108098805 A CN 108098805A CN 201711434227 A CN201711434227 A CN 201711434227A CN 108098805 A CN108098805 A CN 108098805A
- Authority
- CN
- China
- Prior art keywords
- fixed
- cylinder
- sides
- robot palletizer
- rod
- 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- Withdrawn
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Classifications
-
- 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
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
-
- 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
- B25J15/02—Gripping heads and other end effectors servo-actuated
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot palletizer grabbing devices, including fixed frame, the lower end of the fixed frame is fixed with mounting blocks, the both sides of the fixed frame are respectively and fixedly provided with fixed link, the lower end of the fixed link is rotatably connected to the first cylinder, the lower end both sides of the fixed frame are rotatablely connected there are two clamping limb, and it is fixed with connecting rod between two clamping limbs, the piston-rod end of first cylinder is rotatably connected in connecting rod, the one side of two clamping limbs is fixed with the first supporting rod jointly, cavity is equipped in the mounting blocks, bottom in the cavity is fixed with the second cylinder, through setting, there are two screws for two bottom sides in the cavity, and the lower end of four screws is respectively and fixedly provided with fixed block.The present invention facilitates robot palletizer and different size of article is clamped, and improves the efficiency of clamping and transhipment, just is inconvenient to clamp when solving the problems, such as to encounter smaller article, suitable for promoting.
Description
Technical field
The present invention relates to robot palletizer crawl technical field more particularly to a kind of robot palletizer grabbing devices.
Background technology
Palletizing mechanical arm is the new architecture developed, and stable quality is cost-effective.Needed in the program of palletizing mechanical arm
To be positioned only 2 points, 1 is to pick up a little, and 1 is placed point, between this 2 points beyond track controlled entirely by computer,
Computer, which be can do by myself, finds this 2 points most rational track to move, so teaching methodology is extremely simple.Belong in manipulator principle
In linear motion, this equipment is adapted to the automatic manufacturing enterprise such as chemical industry, beverage, food, beer, plastics；To various cartons, bag
The variously-shaped packagings such as dress, canned, beer case all adapt to, but the existing clamping device in robot palletizer only can be right
Larger article carries out just being inconvenient to clamp when smaller article is encountered in clamping transfer, for this purpose, we have proposed a kind of stacking machines
Device people grabbing device solves the above problems.
The content of the invention
The purpose of the present invention is to solve shortcoming in the prior art, and a kind of robot palletizer crawl proposed
Device.
To achieve these goals, present invention employs following technical solutions：
A kind of robot palletizer grabbing device, including fixed frame, the lower end of the fixed frame is fixed with mounting blocks, the fixed frame
Both sides be respectively and fixedly provided with fixed link, the lower end of the fixed link is rotatably connected to the first cylinder, the lower end both sides of the fixed frame
Rotation connection is there are two clamping limb, and connecting rod is fixed between two clamping limbs, the piston-rod end of first cylinder
It being rotatably connected in connecting rod, the one side of two clamping limbs is fixed with the first supporting rod jointly, and cavity is equipped in the mounting blocks,
Bottom in the cavity is fixed with the second cylinder, and the two bottom sides in the cavity are through setting there are two screw, and four
The lower end of screw is respectively and fixedly provided with fixed block, and the lower end of four fixed blocks is fixed with loading plate, the both sides of the loading plate etc. jointly
Spacing is fixed there are four installing plate, and the one side of four installing plates is fixed with fixed plate jointly, and the one side of the fixed plate is fixed
There are two the 3rd cylinder being mutually parallel, and the piston-rod end of two the 3rd cylinders is fixed with the second supporting rod jointly.
Preferably, the installing plate is equipped with the first tapped through hole, and the both sides of the loading plate are equipped with and the first screw thread
Corresponding second tapped through hole of through hole runs through in first tapped through hole and is equipped with bolt, and one end of the bolt extends to the
In two tapped through holes.
Preferably, it is coated with rubber layer on first supporting rod and the second supporting rod.
Preferably, connector is fixed in the connecting rod, the piston-rod end of first cylinder is rotatably connected on company
On fitting.
Preferably, the fixed frame is made of carbon steel.
In the present invention, in use, fixed frame is mounted on mechanical arm, it is necessary to when being clamped to large article, the first gas
Cylinder is rotated by the flexible drive clamping limb of piston rod, is then pressed from both sides article by the relative motion of two the first supporting rods
Hold, it is necessary to when being clamped to smaller article, the second cylinder by the flexible drive fixed block of piston rod and loading plate to
Lower movement, screw keep stablizing movement, the 3rd cylinder by two the second supporting rod relative motions of flexible drive of piston rod, from
And clamp smaller article, the present invention facilitates robot palletizer and different size of article is clamped, and improves
Clamping and the efficiency of transhipment, just are inconvenient to clamp when solving the problems, such as to encounter smaller article, suitable for promoting.
Description of the drawings
Fig. 1 is a kind of structure diagram of robot palletizer grabbing device proposed by the present invention；
Fig. 2 is a kind of the second supporting rod structure diagram of robot palletizer grabbing device proposed by the present invention；
Fig. 3 is a kind of the first supporting rod structure diagram of robot palletizer grabbing device proposed by the present invention.
In figure：1 fixed link, 2 first cylinders, 3 clamping limbs, 4 first supporting rods, 5 fixed frames, 6 second cylinders, 7 screws, 8
Fixed block, 9 installing plates, 10 connecting plates, 11 loading plates, 12 bolts, 13 second supporting rods, 14 the 3rd cylinders, 15 connecting rods, 16 connect
Fitting.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.
With reference to Fig. 1-3, a kind of robot palletizer grabbing device, including fixed frame 5, the lower end of fixed frame 5 is fixed with installation
Block, the both sides of fixed frame 5 are respectively and fixedly provided with fixed link 1, and the lower end of fixed link 1 is rotatably connected to the first cylinder 2, under fixed frame 5
End both sides are rotatablely connected there are two clamping limb 3, and connecting rod 15 is fixed between two clamping limbs 3, the piston of the first cylinder 2
Bar end is rotatably connected in connecting rod 15, and the one side of two clamping limbs 3 is fixed with the first supporting rod 4 jointly, is set in mounting blocks
There is cavity, it is necessary to when being clamped to large article, the first cylinder 2 is rotated by the flexible drive clamping limb 3 of piston rod, is then passed through
The relative motion of two the first supporting rods 4 clamps article, and the bottom in cavity is fixed with the second cylinder 6, in cavity
Two bottom sides are through setting there are two screw 7, and the lower end of four screws 7 is respectively and fixedly provided with fixed block 8, under four fixed blocks 8
End is fixed with loading plate 11 jointly, and the both sides of loading plate 11 are equidistantly fixed there are four installing plate 9, and the one of four installing plates 9
Side is fixed with fixed plate, the 3rd cylinder 14 that there are two the one side fixations of fixed plate is mutually parallel, and two the 3rd cylinders jointly
14 piston-rod end is fixed with the second supporting rod 13, it is necessary to when being clamped to smaller article jointly, and the second cylinder 6 passes through
The flexible drive fixed block 8 and loading plate 11 of piston rod move down, and screw 7 keeps stablizing movement, and the 3rd cylinder 14 passes through
Two 13 relative motions of the second supporting rod of flexible drive of piston rod.
In the present invention, installing plate 9 is equipped with the first tapped through hole, and the both sides of loading plate 11 are equipped with and the first tapped through hole
Corresponding second tapped through hole, the first tapped through hole is interior to be run through equipped with bolt 12, and one end of bolt 12 extends to the second screw thread and leads to
In hole, auxiliary is fixed, and is coated with rubber layer on the first supporting rod 4 and the second supporting rod 13, connection is fixed in connecting rod 15
Part 16, the piston-rod end of the first cylinder 2 are rotatably connected on connector 16, and fixed frame 5 is made of carbon steel.
In the present invention, in use, fixed frame 5 is mounted on mechanical arm, it is necessary to when being clamped to large article, the first gas
Cylinder 2 is rotated by the flexible drive clamping limb 3 of piston rod, then by the relative motions of two the first supporting rods 4 by article into
, it is necessary to when being clamped to smaller article, the second cylinder 6 is by the flexible drive fixed block 8 of piston rod and holds for row clamping
Support plate 11 moves down, and screw 7 keeps stablizing movement, two the second supporting rods of flexible drive that the 3rd cylinder 14 passes through piston rod
13 relative motions, so as to which smaller article be clamped.
More than, it is merely preferred embodiments of the present invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art in the technical scope disclosed by the present invention, technique according to the invention scheme and its invention
Design is subject to equivalent substitution or change, should be covered by the protection scope of the present invention.
Claims (5)
1. a kind of robot palletizer grabbing device, including fixed frame（5）, which is characterized in that the fixed frame（5）Lower end fix
There are mounting blocks, the fixed frame（5）Both sides be respectively and fixedly provided with fixed link（1）, the fixed link（1）Lower end be rotatably connected to
One cylinder（2）, the fixed frame（5）Lower end both sides be rotatablely connected there are two clamping limb（3）, and two clamping limbs（3）It
Between be fixed with connecting rod（15）, first cylinder（2）Piston-rod end be rotatably connected on connecting rod（15）On, two clampings
Arm（3）One side be fixed with the first supporting rod jointly（4）, it is equipped with cavity in the mounting blocks, the bottom in the cavity is fixed
There is the second cylinder（6）, through setting, there are two screws for the two bottom sides in the cavity（7）, and four screws（7）Lower end it is equal
It is fixed with fixed block（8）, four fixed blocks（8）Lower end be fixed with loading plate jointly（11）, the loading plate（11）Both sides
It is equidistantly fixed that there are four installing plates（9）, and four installing plates（9）One side be fixed with fixed plate jointly, the fixed plate
There are two the 3rd cylinders being mutually parallel for one side fixation（14）, and two the 3rd cylinders（14）Piston-rod end be fixed with jointly
Second supporting rod（13）.
A kind of 2. robot palletizer grabbing device according to claim 1, which is characterized in that the installing plate（9）On set
There are the first tapped through hole, the loading plate（11）Both sides be equipped with the second tapped through hole corresponding with the first tapped through hole, institute
It states to run through in the first tapped through hole and is equipped with bolt（12）, the bolt（12）One end extend in the second tapped through hole.
A kind of 3. robot palletizer grabbing device according to claim 1, which is characterized in that first supporting rod（4）
With the second supporting rod（13）On be coated with rubber layer.
A kind of 4. robot palletizer grabbing device according to claim 1, which is characterized in that the connecting rod（15）It is upper solid
Surely there is connector（16）, first cylinder（2）Piston-rod end be rotatably connected on connector（16）On.
A kind of 5. robot palletizer grabbing device according to claim 1, which is characterized in that the fixed frame（5）Using
Carbon steel is made.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711434227.7A CN108098805A (en) | 2017-12-26 | 2017-12-26 | A kind of robot palletizer grabbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711434227.7A CN108098805A (en) | 2017-12-26 | 2017-12-26 | A kind of robot palletizer grabbing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108098805A true CN108098805A (en) | 2018-06-01 |
Family
ID=62213220
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711434227.7A Withdrawn CN108098805A (en) | 2017-12-26 | 2017-12-26 | A kind of robot palletizer grabbing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108098805A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820224A (en) * | 2018-07-31 | 2018-11-16 | 拓攻（南京）机器人有限公司 | A kind of grasping mechanism and unmanned plane for unmanned plane |
-
2017
- 2017-12-26 CN CN201711434227.7A patent/CN108098805A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108820224A (en) * | 2018-07-31 | 2018-11-16 | 拓攻（南京）机器人有限公司 | A kind of grasping mechanism and unmanned plane for unmanned plane |
| CN108820224B (en) * | 2018-07-31 | 2024-01-16 | 拓攻（南京）机器人有限公司 | Grabbing mechanism for unmanned aerial vehicle and unmanned aerial vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20180601 |