CN108861628A - A kind of medical device package carton stacking robot gripping apparatus - Google Patents
A kind of medical device package carton stacking robot gripping apparatus Download PDFInfo
- Publication number
- CN108861628A CN108861628A CN201810774573.8A CN201810774573A CN108861628A CN 108861628 A CN108861628 A CN 108861628A CN 201810774573 A CN201810774573 A CN 201810774573A CN 108861628 A CN108861628 A CN 108861628A
- Authority
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- China
- Prior art keywords
- fixedly connected
- screw rod
- clamping plate
- plate
- bar
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- 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.)
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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
- 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
- B65G57/16—Stacking of articles of particular shape
- B65G57/20—Stacking of articles of particular shape three-dimensional, e.g. cubiform, cylindrical
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Container Filling Or Packaging Operations (AREA)
Abstract
The invention discloses a kind of medical device package carton stacking robot gripping apparatus,Including hanger,Hanger is fixedly connected with substrate,Substrate is bolted the first deck and the second deck respectively,First deck is fixedly connected with stepper motor and the first end bearing,Second deck is fixedly connected with the second end bearing,First end bearing is interference fitted the first screw rod,Second end bearing is interference fitted the second screw rod,The output shaft of stepper motor passes through coaxially connected first screw rod of shaft coupling,First screw rod is fixedly connected with the second screw rod,First screw rod and the second screw rod distinguish one feed screw nut of clearance fit,Feed screw nut is fixedly connected with angle steel,Structure of the invention is concise,It is scientific and reasonable,By the second cylinder as motive force,It can be with free extension so that grabbing bar,Improve the effect of gripping apparatus clamping carton,Carton has good support in the handling process,Palletizing operation especially suitable for all kinds of rectangular medical device package cartons.
Description
Technical field
The present invention relates to robot palletizer technical field, specially a kind of medical device package carton stacking is grabbed with robot
Tool.
Background technique
With the continuous development of China's economy advancing by leaps and bounds with scientific and technical, so that robot is in stacking, gluing, point
The industries such as weldering, arc-welding, spraying, carrying, measurement, which have, to be quite widely applied.There are many reasons, type, work including packaging
Stacking is become the bone that one piece of difficulty is gnawed in packaging plant by factory's environment and customer demand etc..In order to overcome these difficulties, stacking is set
Standby various aspects are all improved in development, including from manipulator to its software of manipulation.
Medical instrument is generally relatively valuable, is packaged in carton with greater need for handling with care, in the prior art, robot gripping apparatus one
As grab using two and carry out crawl carton, gripping apparatus is bad to the clamping effect of carton, and carton is caused to be easy to fall, and causes economic damage
It loses.
Summary of the invention
The purpose of the present invention is to provide a kind of medical device package carton stacking robot gripping apparatus, to solve above-mentioned back
The problem of being proposed in scape technology.
To achieve the above object, the present invention provides the following technical solutions：A kind of medical device package carton stacking machine
People's gripping apparatus, including hanger, the hanger are fixedly connected with substrate, and substrate bottom end surrounding is uniformly fixedly connected with four slide bar branch
, it is fixedly connected with a slide bar two-by-two between four slide bar supports, the slide bar extends through left clamp and right clamping plate, and
And slide bar is slidably matched left clamp and right clamping plate respectively, the substrate is bolted the first deck and the second deck respectively, described
First deck is fixedly connected with stepper motor and the first end bearing, and second deck is fixedly connected with the second end bearing, and described first
End bearing is interference fitted the first screw rod, and second end bearing is interference fitted the second screw rod, and the output shaft of the stepper motor is logical
Coaxially connected first screw rod of shaft coupling is crossed, first screw rod is fixedly connected with the second screw rod, and the first screw rod and the second screw rod
Hand of spiral on the contrary, first screw rod and the second screw rod distinguish one feed screw nut of clearance fit, the left clamp and the right side
Clamping plate is fixedly connected with angle steel, and the angle steel is fixedly connected with feed screw nut, and the right Boards wall connects upper bracket, the upper branch
Seat is fixedly connected with the pedestal of the first cylinder, and the piston rod of first cylinder is fixedly connected with undersetting, and the undersetting is fixed to be connected
Connect slide plate, the right clamping plate is equipped with sliding slot, and the sliding slot is slidably matched slide plate, and the slide plate is fixedly connected with the bottom of the second cylinder
Seat, the piston rod of second cylinder are fixedly connected with push plate, and the push plate, which is fixedly connected, grabs bar, and the slide plate is equipped with groove,
The bar of grabbing is arranged in groove.
Preferably, the width of the left clamp and right clamping plate is equal, and the first screw rod in left clamp and right clamping plate and
Second screw rod is equipped with two groups, and two groups of transverse central axis about left clamp are symmetrical.
Preferably, the left clamp and right clamping plate are fixedly connected with one piece of top plate, and the length of every piece of top plate is respectively less than ten lis
Rice, the width of top plate is equal to the width of left clamp, and top plate is installed vertically on the top of left clamp and right clamping plate.
Preferably, the length of the slide plate is greater than the length of sliding slot, when the piston rod of the first cylinder reaches range,
The length of right clamping plate and slide plate composition is equal to the length of left clamp.
Preferably, the bar of grabbing is equipped with centrosymmetric two groups about push plate, and two groups are respectively provided with four and grab bar, when the second gas
When the piston rod of cylinder reaches minimum stroke, grabbing bar to stretch out the length of groove is five centimetres, when the piston rod of the second cylinder reaches most
When big stroke, bar is grabbed in the grooves.
Preferably, it is described grab bar upper end be inclined surface, angle is 15 degree between inclined surface and horizontal plane, grab bar lower end and
The bottom end of right clamping plate keeps concordant.
Compared with prior art, the beneficial effects of the invention are as follows：
1. structure of the invention is concise, scientific and reasonable, by the second cylinder as motive force, allows and grab bar and freely stretch
Contracting improves the effect of gripping apparatus clamping carton, and carton has good support in the handling process, and device installation is simple, easy to use,
Palletizing operation especially suitable for all kinds of rectangular medical device package cartons；
2. the present invention improves the first cylinder as motive force, allow and grab bar and rise or fall, improves and grab bar and top plate
Clamping, the clamping effect of fixture is more preferable, this outer top panel can also avoid the first screw rod of medical device package carton impact and
Two screw rods；
3. bar upper end of grabbing of the invention is inclined surface, the angle between inclined surface and horizontal plane is 15 degree, grabs bar lower end
It is concordant with the holding of the bottom end of right clamping plate, it is easier to protrude into from Packaging Box bottom end so that grabbing bar.
Detailed description of the invention
Fig. 1 is schematic structural view of the invention；
Fig. 2 is Section A-A structural schematic diagram in Fig. 1；
Fig. 3 is Fig. 1 left view；
Fig. 4 is right clamping plate and skateboard schematic diagram in the present invention.
In figure：1 hanger, 2 substrates, 3 slide bar supports, 4 slide bars, 5 left clamps, 6 right clamping plates, 7 first decks, 8 second decks,
9 stepper motors, 10 first end bearings, 11 second end bearings, 12 first screw rods, 13 second screw rods, 14 feed screw nuts, 15 angle steel,
Bar, 24 grooves, 25 are grabbed in 16 upper brackets, 17 first cylinders, 18 undersettings, 19 slide plates, 20 sliding slots, 21 second cylinders, 22 push plates, 23
Top plate.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-4 is please referred to, the present invention provides a kind of technical solution：A kind of medical device package carton stacking is grabbed with robot
Tool, including hanger 1, hanger 1 are fixedly connected with substrate 2, and 2 bottom end surrounding of substrate is uniformly fixedly connected with four slide bar supports 3, four cunnings
A slide bar 4 is fixedly connected between rod bearing 3 two-by-two, slide bar 4 extends through left clamp 5 and right clamping plate 6, and slide bar 4 is distinguished
The left clamp that is slidably matched 5 and right clamping plate 6, substrate 2 are bolted the first deck 7 and the second deck 8 respectively, and the first deck 7 is fixed
Connection stepper motor 9 and the first end bearing 10, the second deck 8 are fixedly connected with the second end bearing 11, and 10 interference of the first end bearing is matched
The first screw rod 12 is closed, the second end bearing 11 is interference fitted the second screw rod 13, and the output shaft of stepper motor 9 is coaxially connected by shaft coupling
The first screw rod 12 is connect, the first screw rod 12 is fixedly connected with the second screw rod 13, and the screw thread side of the first screw rod 12 and the second screw rod 13
To on the contrary, the first screw rod 12 and the second screw rod 13 distinguish one feed screw nut 14 of clearance fit, left clamp 5 and right clamping plate 6 are solid
Determine angle cleat 15, angle steel 15 is fixedly connected with feed screw nut 14, and right clamping plate 6 is fixedly connected with upper bracket 16, and upper bracket 16 is fixed to be connected
The pedestal of the first cylinder 17 is connect, the piston rod of the first cylinder 17 is fixedly connected with undersetting 18, and undersetting 18 is fixedly connected with slide plate 19,
Right clamping plate 6 is equipped with sliding slot 20, and sliding slot 20 is slidably matched slide plate 19, and slide plate 19 is fixedly connected with the pedestal of the second cylinder 21, the second gas
The piston rod of cylinder 21 is fixedly connected with push plate 22, and push plate 22, which is fixedly connected, grabs bar 23, and slide plate 19 is equipped with groove 24, grabs bar 23 and wears
In groove 24.
Further, left clamp 5 is equal with the width of right clamping plate 6, and the first screw rod in left clamp 5 and right clamping plate 6
12 and second screw rod 13 be equipped with two groups, and two groups of transverse central axis about left clamp 5 are symmetrical, two group of first screw rod 12
It is driven with the second screw rod 13, so that the clamping effect of left clamp 5 and right clamping plate 6 is more preferable.
Further, left clamp 5 and right clamping plate 6 are fixedly connected with one piece of top plate 25, and the length of every piece of top plate 25 is respectively less than
Ten centimetres, the width of top plate 23 is equal to the width of left clamp 5, and top plate 25 is installed vertically on left clamp 5 and right clamping plate 6
Top, top plate 25 avoid medical device package carton impact the first screw rod 12 and the second screw rod 13.
Further, the length of slide plate 19 is greater than the length of sliding slot 20, when the piston rod of the first cylinder 17 reaches maximum row
The length that Cheng Shi, right clamping plate 6 and slide plate 19 form is equal to the length of left clamp 5, so that the piston rod of the first cylinder 17 reaches most
When big stroke, left clamp 5 is concordant with the holding of the bottom end of right clamping plate 6.
Further, it grabs bar 23 to be equipped with about 22 centrosymmetric two groups of push plate, two groups are respectively provided with four and grab bar 23, when the
When the piston rod of two cylinders 21 reaches minimum stroke, grabbing bar 23 to stretch out the length of groove 24 is five centimetres, when the second cylinder 21
It when piston rod reaches range, grabs bar 23 and is located in groove 24, so that effectively avoiding grabbing bar 23 stops the right clamping of clamping plate 6 packet
Cartoning.
Further, the lower end for grabbing bar 23 is inclined surface, and angle is 15 degree between inclined surface and horizontal plane, is grabbed under bar 23
End is concordant with the holding of the bottom end of right clamping plate 6, is easier to protrude into from Packaging Box bottom end so that grabbing bar 23.
Working principle：The robotic arm of robot is fixedly connected with hanger 1, when Packaging Box is placed in the horizontal plane, benefit
With mechanical arm hanger 1 is declined, until slide plate 19 abuts horizontal plane, starts stepper motor 9, the output shaft band of stepper motor 9
Coaxially connected the first screw rod 12 and the rotation of the second screw rod 13 are moved, due to the hand of spiral phase of the first screw rod 12 and the second screw rod 13
Instead, according to screw rod transmission principle, the feed screw nut 14 on the first screw rod 12 and the second screw rod 13 is moved toward one another, due to left clamp
5 and be slidably matched slide bar 4, left clamp 5 and the right clamping plate 6 of right clamping plate 6 moved toward one another in the bottom end of substrate 2, when Packaging Box is put
When setting between left clamp 5 and right clamping plate 6, left clamp 5 and right clamping plate 6 can handle Packaging Box with stabilization clamp.
Then start the second cylinder 21, the piston rod of the second cylinder 21 shrinks and push push plate 22, and push plate 22 will grab bar 23
Push Packaging Box to, grab 23 upper end of bar be inclined surface, the angle between inclined surface and horizontal plane is 15 degree, grab 23 lower end of bar and
The bottom end of right clamping plate 6 keeps concordant, and grabbing bar 23 can protrude into from Packaging Box bottom end, starts the first cylinder 17, the first cylinder 17
Piston rod pull slide plate 19 move up, until Packaging Box abut top plate 25.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (6)
1. a kind of medical device package carton stacking robot gripping apparatus, it is characterised in that：Including hanger (1), the hanger (1)
It is fixedly connected substrate (2), substrate (2) bottom end surrounding is uniformly fixedly connected with four slide bar supports (3), four slide bar branch
It is fixedly connected with a slide bar (4) two-by-two between seat (3), the slide bar (4) extends through left clamp (5) and right clamping plate (6), and
Slide bar (4) is slidably matched left clamp (5) and right clamping plate (6) respectively, the substrate (2) be bolted respectively the first deck (7) and
Second deck (8), first deck (7) are fixedly connected with stepper motor (9) and the first end bearing (10), second deck
(8) it is fixedly connected the second end bearing (11), first end bearing (10) is interference fitted the first screw rod (12), the second end axis
(11) interference fit the second screw rod (13) is held, the output shaft of the stepper motor (9) passes through coaxially connected first screw rod of shaft coupling
(12), first screw rod (12) is fixedly connected the second screw rod (13), and the spiral shell of the first screw rod (12) and the second screw rod (13)
Line is contrary, first screw rod (12) and the second screw rod (13) difference one feed screw nut (14) of clearance fit, the left side
Clamping plate (5) and right clamping plate (6) are fixedly connected with angle steel (15), and the angle steel (15) is fixedly connected with feed screw nut (14), the right side
Clamping plate (6) is fixedly connected upper bracket (16), and the upper bracket (16) is fixedly connected with the pedestal of the first cylinder (17), first gas
The piston rod of cylinder (17) is fixedly connected undersetting (18), and the undersetting (18) is fixedly connected slide plate (19), the right clamping plate (6)
Equipped with sliding slot (20), the sliding slot (20) is slidably matched slide plate (19), and the slide plate (19) is fixedly connected with the second cylinder (21)
The piston rod of pedestal, second cylinder (21) is fixedly connected push plate (22), and the push plate (22), which is fixedly connected, grabs bar (23), institute
Slide plate (19) are stated equipped with groove (24), the bar (23) of grabbing is arranged in groove (24).
2. a kind of medical device package carton stacking robot gripping apparatus according to claim 1, it is characterised in that：It is described
The width of left clamp (5) and right clamping plate (6) is equal, and the first screw rod (12) and second in left clamp (5) and right clamping plate (6)
Screw rod (13) is equipped with two groups, and two groups of transverse central axis about left clamp (5) are symmetrical.
3. a kind of medical device package carton stacking robot gripping apparatus according to claim 2, it is characterised in that：It is described
Left clamp (5) and right clamping plate (6) are fixedly connected with one piece of top plate (25), and the length of every piece of top plate (25) is respectively less than ten centimetres, top
The width of plate (23) is equal to the width of left clamp (5), and top plate (25) is installed vertically on left clamp (5) and right clamping plate (6)
Top.
4. a kind of medical device package carton stacking robot gripping apparatus according to claim 1, it is characterised in that：It is described
The length of slide plate (19) is greater than the length of sliding slot (20), when the piston rod of the first cylinder (17) reaches range, right clamping plate
(6) and slide plate (19) composition length be equal to left clamp (5) length.
5. a kind of medical device package carton stacking robot gripping apparatus according to claim 1, it is characterised in that：It is described
It grabs bar (23) to be equipped with centrosymmetric two groups about push plate (22), two groups are respectively provided with four and grab bar (23), when the second cylinder (21)
Piston rod when reaching minimum stroke, grabbing bar (23) to stretch out the length of groove (24) is five centimetres, when the work of the second cylinder (21)
When stopper rod reaches range, grabs bar (23) and be located in groove (24).
6. a kind of medical device package carton stacking robot gripping apparatus according to claim 1, it is characterised in that：It is described
The lower end for grabbing bar (23) is inclined surface, and angle is 15 degree between inclined surface and horizontal plane, grabs bar (23) lower end and right clamping plate (6)
Bottom end keeps concordant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810774573.8A CN108861628A (en) | 2018-07-16 | 2018-07-16 | A kind of medical device package carton stacking robot gripping apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810774573.8A CN108861628A (en) | 2018-07-16 | 2018-07-16 | A kind of medical device package carton stacking robot gripping apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108861628A true CN108861628A (en) | 2018-11-23 |
Family
ID=64301974
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810774573.8A Pending CN108861628A (en) | 2018-07-16 | 2018-07-16 | A kind of medical device package carton stacking robot gripping apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108861628A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228706A (en) * | 2019-06-19 | 2019-09-13 | 孔潇箫 | A kind of adjust automatically gripper of industrial robot |
| CN110817444A (en) * | 2020-01-13 | 2020-02-21 | 佛山隆深机器人有限公司 | Stacking assembly for closed or semi-closed confined spaces |
| CN111136676A (en) * | 2020-01-19 | 2020-05-12 | 上海松盛机器人系统有限公司 | Width self-adaptive box type clamp for annular library robot |
| CN111252561A (en) * | 2020-01-14 | 2020-06-09 | 党金文 | A robot tongs mechanism that is used for fluid goods in bags to break a jam |
| CN112103801A (en) * | 2020-11-17 | 2020-12-18 | 东营政阳自动化科技有限公司 | Combined switch cabinet for oil field exploitation |
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| CN204473893U (en) * | 2014-10-30 | 2015-07-15 | 中国电器科学研究院有限公司 | A kind of flexible robot's clamp for stacking |
| CN206720354U (en) * | 2017-05-24 | 2017-12-08 | 湖北众与和智能装备科技有限公司 | A kind of stepped cigarette parcel post intelligence handgrip |
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| JPH08216079A (en) * | 1995-02-10 | 1996-08-27 | Sekisui Chem Co Ltd | Robot hand for cargo handling work |
| JPH10235585A (en) * | 1997-02-26 | 1998-09-08 | Yamashita Tekko Kk | Conveyor system |
| CN201253849Y (en) * | 2008-09-24 | 2009-06-10 | 上海沃迪科技有限公司 | Stack robot manipulator |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228706A (en) * | 2019-06-19 | 2019-09-13 | 孔潇箫 | A kind of adjust automatically gripper of industrial robot |
| CN110228706B (en) * | 2019-06-19 | 2020-12-18 | 建湖国创机械制造有限公司 | Automatic adjusting industrial robot gripper |
| CN110817444A (en) * | 2020-01-13 | 2020-02-21 | 佛山隆深机器人有限公司 | Stacking assembly for closed or semi-closed confined spaces |
| CN110817444B (en) * | 2020-01-13 | 2020-07-03 | 佛山隆深机器人有限公司 | Stacking assembly for closed or semi-closed confined spaces |
| CN111252561A (en) * | 2020-01-14 | 2020-06-09 | 党金文 | A robot tongs mechanism that is used for fluid goods in bags to break a jam |
| CN111136676A (en) * | 2020-01-19 | 2020-05-12 | 上海松盛机器人系统有限公司 | Width self-adaptive box type clamp for annular library robot |
| CN112103801A (en) * | 2020-11-17 | 2020-12-18 | 东营政阳自动化科技有限公司 | Combined switch cabinet for oil field exploitation |
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