CN110103247A - A kind of product stacking control system - Google Patents
A kind of product stacking control system Download PDFInfo
- Publication number
- CN110103247A CN110103247A CN201910411254.5A CN201910411254A CN110103247A CN 110103247 A CN110103247 A CN 110103247A CN 201910411254 A CN201910411254 A CN 201910411254A CN 110103247 A CN110103247 A CN 110103247A
- Authority
- CN
- China
- Prior art keywords
- cylinder
- linking arm
- corpus unguis
- control system
- sliding bar
- 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
- 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
- B25J15/0206—Gripping heads and other end effectors servo-actuated comprising articulated grippers
-
- 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
- B25J15/08—Gripping heads and other end effectors having finger members
Abstract
The present invention relates to stacking control technologies, specially a kind of product stacking control system, it include: gripper structure and control panel, gripper structure includes: top plate, support frame, first cylinder, second cylinder, linking arm, sliding bar, shaft and corpus unguis, mounting of roof plate is at the top of support frame, the side of the support frame is symmetrically arranged with two sections of sliding slots, sliding bar is arranged in sliding slot and direction is slided along the chute by the driving of the first Telescopic-cylinder, the mad two sides of support are arranged in linking arm and upper end and the end of sliding bar are rotatablely connected, lower end is fixedly connected with corpus unguis, shaft is arranged between the middle part of linking arm and both ends are rotatablely connected with linking arm；Product stacking control system proposed by the present invention, it includes gripper structure the stability after gripper closes up can be improved in palletization, and connecting line and winder are provided in corpus unguis side, it can prevent article from laterally sliding in palletization, and cylinder and motor can also be cooperateed with to realize the folding of corpus unguis, it improves work efficiency.
Description
Technical field
The present invention relates to stacking control technologies, and in particular to a kind of product stacking control system.
Background technique
Stacking is exactly according to integrated unit thought, by a part material according to certain mode pile at pile, to make
The object pile of blocking realizes that logistics activities, the robot palletizers such as storage, carrying, handling transport are especially packed in industrial application
Field and logistics field are just playing increasing effect, main following points advantage: work institute is high-efficient；Operation precision
It is high；It is adaptable；Integrated application cost is low；Coordinated control can be carried out with other detection devices and production equipment, constituted existing
Generationization automatic assembly line.
Stacking gripper structure common at present generallys use retractable structure, and gripper traditional at present is usual in structure
It is arranged in a crossed manner, therefore for each other not in contact with such structure type will appear more in palletization after closing up
Serious shaking, the article that stacking is resulted even in when serious are toppled over or are damaged, equal additionally, due to current most of grippers
By the way of opposite direction folding, and it is mostly neutral gear in the side of gripper, and usually requires moving in rotation in palletization, can goes out
The case where existing article slides from the side of gripper to neutral gear.
In view of above-mentioned technical problem, applicant proposes a kind of product stacking control system.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, adapt to reality and need, and provide a kind of product stacking control
System.
In order to achieve the object of the present invention, the technical scheme adopted by the invention is as follows:
A kind of product stacking control system, comprising: gripper structure and control panel, the gripper structure include: top plate, support
Frame, the first cylinder, the second cylinder, linking arm, sliding bar, shaft and corpus unguis, the control panel are arranged on support frame, the top
Plate is mounted on the top of support frame, and the side of the support frame is symmetrically arranged with two sections of sliding slots, and the sliding bar is arranged in sliding slot
And direction is slided along the chute by the driving of the first Telescopic-cylinder, the cylinder body and telescopic rod end of second cylinder are respectively connected with
Hinge connector is connect wherein the hinge connector bottom connecting with cylinder body is fixed on support frame with telescopic rod end
Hinge connector bottom be fixed in shaft, the mad two sides of support are arranged in the linking arm and upper end and the end of sliding bar turn
Dynamic connection, lower end are fixedly connected with corpus unguis, and the shaft is arranged between the middle part of linking arm and both ends are rotated with linking arm
Connection, the sliding bar are arranged in parallel with shaft, and first cylinder and the second number of cylinders are all 2 and are one-way expansion gas
Cylinder, the control panel are separately connected and control the work of the first cylinder and the second cylinder.
More preferably, the corpus unguis includes connecting plate and several pawl items arranged side by side, and the connecting plate setting exists
It is fixedly connected between linking arm and with linking arm, the L-shaped bending of pawl item, the end of left and right pawl item has and can be entrenched in one
The joinery and its construction risen, wherein the top half of joinery and its construction is stitched together by the wedge block of left and right pawl item, and lower half portion is by a left side
The striped blocks of right pawl item are spliced.
More preferably, the gripper structure further includes winder, first motor and connecting line, the winder and first
Motor is arranged on the connecting arm, and described connecting line one end is entangled in winder, and the other end is connected on corpus unguis, the first motor
Positive and negative rotation drives winder folding and unfolding connecting line, and the first motor controls work by control panel.
More preferably: the connecting line quantity is at least one.
More preferably: the gripper structure further include for resisting the device that supports to code cargo, it is described to support device
Above corpus unguis and including " work " type supporting beam connected vertically and follow block, the follow block be arranged between supporting beam and with branch
Support beam one end is fixedly connected, and the supporting beam other end is fixedly connected on the connecting arm.
More preferably: two one-way telescoping air cylinders that first cylinder uses can also be by a bi-directional expansion cylinder generation
It replaces, the telescopic rod that between sliding bar and two sides are arranged in the bi-directional expansion cylinder is separately connected the sliding bar.
Product stacking control system proposed by the present invention, it includes gripper structure gripper can be improved in palletization
Stability after closing up, and it is provided with connecting line and winder in corpus unguis side, article side can be prevented in palletization
To landing, and cylinder and motor can also be cooperateed with to realize the folding of corpus unguis, improved work efficiency.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of gripper structure；
Fig. 2 is the joinery and its construction schematic diagram on corpus unguis；
Fig. 3 is control connection schematic diagram.
Specific embodiment
The present invention is further described for 1-3 and embodiment with reference to the accompanying drawing:
The present invention provides a kind of product stacking control system, including gripper structure 1 and control panel 2, in which:
It is as shown in Figure 11 overall schematic of gripper structure, the gripper structure 1 includes: top plate 3, support frame 4, the first gas
Cylinder 5, the second cylinder 6, linking arm 7, sliding bar 8, shaft 9 and corpus unguis 10, the control panel 2 are arranged on support frame 4, the top
Plate 3 is mounted on the top of support frame 4, and the side of the support frame 4 is symmetrically arranged with two sections of sliding slot 4-1, and the setting of sliding bar 8 exists
It is slided in the direction 4-1 along the chute in sliding slot 4-1 and by the flexible driving of the first cylinder 5, the cylinder body of second cylinder 6 and flexible
Boom end is respectively connected with hinge connector 11, wherein the hinge connector bottom connecting with cylinder body is fixed on support frame 4,
The hinge connector bottom connecting with telescopic rod end is fixed in shaft 9, the linking arm 7 setting in 4 two sides of support frame and
Upper end and the end of sliding bar 8 are rotatablely connected, and lower end is fixedly connected with corpus unguis 10, and the middle part of linking arm 7 is arranged in the shaft 9
Between and both ends be rotatablely connected with linking arm 7, the sliding bar 8 is arranged in parallel with shaft 9, first cylinder 5 and second
6 quantity of cylinder is all 2 and is one-way telescoping air cylinder, and the control panel 2 is separately connected and controls the first cylinder 5 and the second cylinder
6 work.
More preferably, the corpus unguis 10 includes connecting plate 10-1 and several pawl 10-2 arranged side by side, the company
Fishplate bar 10-1 is arranged between linking arm 7 and is fixedly connected with linking arm 7, the L-shaped bending of pawl 10-2, left and right pawl item
End has the joinery and its construction that can be entrenched togather, as shown in Fig. 2, wherein the top half of joinery and its construction is by left and right pawl item
Wedge block 10-3 is stitched together, and lower half portion is spliced by the striped blocks 10-4 of left and right pawl item.
More preferably, the gripper structure 1 further includes winder 12, first motor and connecting line 13, the winder
12 and first motor be arranged on linking arm 7, described 13 one end of connecting line is entangled in winder 12, and the other end is connected to corpus unguis 10
On, the first motor positive and negative rotation drives 12 folding and unfolding connecting line 13 of winder, and the first motor controls work by control panel 2.
More preferably: 13 quantity of connecting line is at least one, it is contemplated that on the one hand the effect of connecting line is to prevent
Only article is laterally fallen, and is on the other hand rotated and is driven in corpus unguis moving process in linking arm, winder folding and unfolding connecting line can assist
With work, therefore 13 material of connecting line can choose the flexible strand that wirerope, nylon rope etc. have some strength and rugosity.
More preferably: the gripper structure 1 further includes supporting device 14 to code cargo for resisting, described to support dress
It sets 14 and is located at 10 top of corpus unguis and including " work " type supporting beam 14-1 connected vertically and follow block 14-2, the follow block 14-2 setting
It is fixedly connected between supporting beam 14-1 and with the one end supporting beam 14-1, the supporting beam 14-1 other end is fixedly connected on connection
On arm 7.
More preferably: since sliding bar is controlled in sliding slot by the first cylinder of independent one-way expansion, with fortune
Dynamic is that internal slidably reciprocate realizes drawing close and separating for two corpus unguis horizontal directions to sliding bar along the chute, it is contemplated that in sliding bar
Between one bi-directional expansion cylinder of setting can be realized two one-way telescoping air cylinder equivalent effects, therefore first cylinder uses
Two one-way telescoping air cylinders can be replaced by bi-directional expansion cylinder, the bi-directional expansion cylinder is arranged between sliding bar
And the telescopic rod of two sides is separately connected the sliding bar.
Illustrate specific workflow below with reference to Fig. 1 and Fig. 3:
Gripper grabs process: when gripper structure is moved at article to be palletized, control panel controls the second cylinder and pushes connection
Arm is rotated centered on upper end and sliding bar tie point, so that left and right corpus unguis is fallen, with falling for left and right corpus unguis, control panel is also
First motor work can be controlled simultaneously, winder is driven to shrink connecting line, and the overturning of Collaborative Control or so corpus unguis is fallen, and works as corpus unguis
After falling to predeterminated position, control panel controls the first cylinder operation and realizes leaning on for corpus unguis so that the bar that horizontally slips is close to each other
Hold together, article is realized and is grabbed, since linking arm and corpus unguis relative position do not change during the drawing close of corpus unguis, i.e. spooler
The distance of corpus unguis is held not change.
Gripper unclamps process: after gripper structure moves the item to placement region, control panel controls the first cylinder operation,
So that the bar that horizontally slips is separated from each other, separating for corpus unguis is realized, control panel controls the second cylinder and shrinks drive linking arm rotation, real
The now expansion of left and right corpus unguis, with the expansion of left and right corpus unguis, control panel can also control first motor work simultaneously, drive spiral
Device lengthens connecting line, the expansion of Collaborative Control or so corpus unguis.
Product stacking control system proposed by the present invention, it includes gripper structure gripper can be improved in palletization
Stability after closing up, and it is provided with connecting line and winder in corpus unguis side, article side can be prevented in palletization
To landing, and cylinder and motor can also be cooperateed with to realize the folding of corpus unguis, improved work efficiency.
What the embodiment of the present invention was announced is preferred embodiment, and however, it is not limited to this, the ordinary skill people of this field
Member, easily according to above-described embodiment, understands spirit of the invention, and make different amplification and variation, but as long as not departing from this
The spirit of invention, all within the scope of the present invention.
Claims (6)
1. a kind of product stacking control system characterized by comprising gripper structure and control panel, the gripper structure include:
Top plate, support frame, the first cylinder, the second cylinder, linking arm, sliding bar, shaft and corpus unguis, the control panel are arranged in support frame
On, for the mounting of roof plate at the top of support frame, the side of the support frame is symmetrically arranged with two sections of sliding slots, the sliding bar setting
Direction is slided along the chute in sliding slot and by the driving of the first Telescopic-cylinder, the cylinder body and telescopic rod end of second cylinder
It is respectively connected with hinge connector, wherein the hinge connector bottom connecting with cylinder body is fixed on support frame, with telescopic rod
The hinge connector bottom of end connection is fixed in shaft, and the linking arm setting is in the mad two sides of support and upper end and sliding bar
End rotation connection, lower end is fixedly connected with corpus unguis, the shaft be arranged between the middle part of linking arm and both ends and company
Arm rotation connection is connect, the sliding bar is arranged in parallel with shaft, and first cylinder and the second number of cylinders are all 2 and are list
To telescopic cylinder, the control panel is separately connected and controls the work of the first cylinder and the second cylinder.
2. product stacking control system as described in claim 1, which is characterized in that the corpus unguis includes connecting plate and several
Pawl item arranged side by side, the connecting plate are arranged between linking arm and are fixedly connected with linking arm, and the pawl item is L-shaped curved
Song, the end of left and right pawl item have the joinery and its construction that can be entrenched togather, and wherein the top half of joinery and its construction is by left and right pawl
The wedge block of item is stitched together, and lower half portion is spliced by the striped blocks of left and right pawl item.
3. product stacking control system as described in claim 1, which is characterized in that the gripper structure further include winder,
On the connecting arm, described connecting line one end is entangled in winder for first motor and connecting line, the winder and first motor setting
Interior, the other end is connected on corpus unguis, and the first motor positive and negative rotation drives winder folding and unfolding connecting line, and the first motor is by controlling
Making sheet controls work.
4. product stacking control system as described in claim 1, it is characterised in that: the connecting line quantity is at least one.
5. product stacking control system as described in claim 1, it is characterised in that: the gripper structure further includes for resisting
To the device that supports of code cargo, the device that supports is located above corpus unguis and including " work " type supporting beam connected vertically and supports
Plate, the follow block are arranged between supporting beam and are fixedly connected with supporting beam one end, and the supporting beam other end is fixedly connected on
On linking arm.
6. product stacking control system as described in claim 1, it is characterised in that: two of the first cylinder use are unidirectional
Telescopic cylinder can also be replaced by a bi-directional expansion cylinder, and stretching between sliding bar and two sides is arranged in the bi-directional expansion cylinder
Contracting bar is separately connected the sliding bar.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910411254.5A CN110103247A (en) | 2019-05-16 | 2019-05-16 | A kind of product stacking control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910411254.5A CN110103247A (en) | 2019-05-16 | 2019-05-16 | A kind of product stacking control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110103247A true CN110103247A (en) | 2019-08-09 |
Family
ID=67490656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910411254.5A Pending CN110103247A (en) | 2019-05-16 | 2019-05-16 | A kind of product stacking control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110103247A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745569A (en) * | 2019-11-13 | 2020-02-04 | 潘叶珍 | Mechanical blanking clamping jaw for stacking |
| CN112047119A (en) * | 2020-07-07 | 2020-12-08 | 辽宁省交通高等专科学校 | Round bale stacking device and working method |
| CN112092012A (en) * | 2020-10-14 | 2020-12-18 | 德清世锦智能科技有限公司 | Mechanical arm convenient to adjust |
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| DE69306083T2 (en) * | 1992-10-19 | 1997-04-03 | Newtec Int | Gripper for handling loads such as sacks, palletizing device with such a gripper and palletizing process |
| CN101362329A (en) * | 2008-09-24 | 2009-02-11 | 上海沃迪科技有限公司 | Stacking robot |
| US20100201143A1 (en) * | 2009-02-06 | 2010-08-12 | Columbia-Okura Llc | Harsh environment robot end effector |
| CN202828979U (en) * | 2012-06-26 | 2013-03-27 | 牧羊有限公司 | Stacking robot gripping hand |
| CN203497751U (en) * | 2013-09-26 | 2014-03-26 | 常州力马包装科技有限公司 | Gripper device of robot palletizer |
| CN204054074U (en) * | 2014-08-27 | 2014-12-31 | 涂宇扬 | A kind of adjustable mechanical grasping mechanism |
| CN104803203A (en) * | 2015-04-24 | 2015-07-29 | 广西壮族自治区农业机械研究院 | Vacuum suction-lift unstacking mechanism of soft bagged package |
| CN205169854U (en) * | 2015-11-17 | 2016-04-20 | 广西职业技术学院 | Automatic pile up neatly machine people's material is got and is put device |
| CN106836459A (en) * | 2016-12-30 | 2017-06-13 | 南京安透可智能系统有限公司 | Foreign matter cleaning mechanism and the cleaning car with it |
| CN206886190U (en) * | 2017-06-19 | 2018-01-16 | 青岛啤酒(日照)有限公司 | A kind of stacking machine handgrip clamping plate of transformation |
| CN207877133U (en) * | 2018-01-03 | 2018-09-18 | 江苏美之好机器人有限公司 | A kind of stack robot manipulator |
-
2019
- 2019-05-16 CN CN201910411254.5A patent/CN110103247A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE69306083T2 (en) * | 1992-10-19 | 1997-04-03 | Newtec Int | Gripper for handling loads such as sacks, palletizing device with such a gripper and palletizing process |
| CN101362329A (en) * | 2008-09-24 | 2009-02-11 | 上海沃迪科技有限公司 | Stacking robot |
| US20100201143A1 (en) * | 2009-02-06 | 2010-08-12 | Columbia-Okura Llc | Harsh environment robot end effector |
| CN202828979U (en) * | 2012-06-26 | 2013-03-27 | 牧羊有限公司 | Stacking robot gripping hand |
| CN203497751U (en) * | 2013-09-26 | 2014-03-26 | 常州力马包装科技有限公司 | Gripper device of robot palletizer |
| CN204054074U (en) * | 2014-08-27 | 2014-12-31 | 涂宇扬 | A kind of adjustable mechanical grasping mechanism |
| CN104803203A (en) * | 2015-04-24 | 2015-07-29 | 广西壮族自治区农业机械研究院 | Vacuum suction-lift unstacking mechanism of soft bagged package |
| CN205169854U (en) * | 2015-11-17 | 2016-04-20 | 广西职业技术学院 | Automatic pile up neatly machine people's material is got and is put device |
| CN106836459A (en) * | 2016-12-30 | 2017-06-13 | 南京安透可智能系统有限公司 | Foreign matter cleaning mechanism and the cleaning car with it |
| CN206886190U (en) * | 2017-06-19 | 2018-01-16 | 青岛啤酒(日照)有限公司 | A kind of stacking machine handgrip clamping plate of transformation |
| CN207877133U (en) * | 2018-01-03 | 2018-09-18 | 江苏美之好机器人有限公司 | A kind of stack robot manipulator |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110745569A (en) * | 2019-11-13 | 2020-02-04 | 潘叶珍 | Mechanical blanking clamping jaw for stacking |
| CN110745569B (en) * | 2019-11-13 | 2021-08-24 | 章文中 | Mechanical blanking clamping jaw for stacking |
| CN112047119A (en) * | 2020-07-07 | 2020-12-08 | 辽宁省交通高等专科学校 | Round bale stacking device and working method |
| CN112092012A (en) * | 2020-10-14 | 2020-12-18 | 德清世锦智能科技有限公司 | Mechanical arm convenient to adjust |
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Application publication date: 20190809 |