CN110255185A - A kind of clamping device - Google Patents
A kind of clamping device Download PDFInfo
- Publication number
- CN110255185A CN110255185A CN201910678082.8A CN201910678082A CN110255185A CN 110255185 A CN110255185 A CN 110255185A CN 201910678082 A CN201910678082 A CN 201910678082A CN 110255185 A CN110255185 A CN 110255185A
- Authority
- CN
- China
- Prior art keywords
- feed tank
- body feed
- clamping device
- backing board
- backplate
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G1/00—Storing articles, individually or in orderly arrangement, in warehouses or magazines
- B65G1/02—Storage devices
- B65G1/04—Storage devices mechanical
-
- 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
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/02—Articles
- B65G2201/0235—Containers
- B65G2201/0258—Trays, totes or bins
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of clamping devices, and wherein gripping width is adjusted according to the size and shape information of body feed tank in the clamping device, and clamping the body feed tank with collet absorption and two sides prevents body feed tank from falling off；It includes backplate, backing board, vacuum chuck and fixture flange, and the upper surface of backing board is arranged in for adsorbing body feed tank disposed thereon in the vacuum chuck, and backplate is located at the two sides of backing board；The clamping device is connected with driving mechanism by fixture flange.Backplate, which clamps the body feed tank, prevents sliding transfer in body feed tank moving process, and collet absorption and the clamping of two side guard plates are used singly or in combination according to actual conditions such as body feed tank size and characteristics.
Description
Technical field
The present invention relates to clamp arts, more particularly to a kind of clamping device.
Background technique
With the quickening of modern life rhythm, contemporary logistic industry rapid development, the demand of logistics equipment is got over by society
Come it is bigger, and the type of demand also come it is more complicated.
And in modern warehousing system body feed tank specification it is more and more diversified.
Only clamping movement can be carried out for the body feed tank of same specification in the clamping device used both at home and abroad at present, and sent
Extremely single shelf, therefore the body feed tank of products of different specifications needs annular bin, clamping device and the peripheral equipment of mating different size
It adapts to, this reduces the service efficiency of equipment, virtually increases area of mill site, corresponding equipment input cost
Height, and result in equipment management complication.Thus, it is desirable to present a kind of clamping device that can adapt to various body feed tank sizes.
Summary of the invention
It aiming at the problems existing in the prior art, can be extensive it is an object of the invention to propose a kind of clamping device
Ground be applied to electric business, logistics in factory, on automatic production line the body feed tanks such as turnover box, carton clamping transfer.The present invention can be certainly
The clamping of the body feed tank of dynamic compatible products of different specifications is carried, and has good compatibility, high flexibility and adaptivity, is being needed
Pallet quantity can be reduced to greatest extent under the operating condition for wanting the storage of multi items body feed tank to pick and place, to reduce input cost and factory
Room occupied area.Also, the present invention is suitable for narrow space, and convenient for disassembly and assembly, has good Products Compatibility, reduces
It changes and produces the time and change production workload, be conducive to the access speed for improving body feed tank, while alleviating worker's labour cost.
Technical scheme is as follows:
Gripping width can be adjusted according to the size and shape information of body feed tank, with collet in a kind of clamping device
Absorption and two sides, which clamp the body feed tank, prevents body feed tank from falling off；It includes backplate, backing board, vacuum chuck and fixture method
The upper surface of backing board is arranged in for adsorbing body feed tank disposed thereon in orchid, the vacuum chuck, and backplate is located at backing board
Two sides；The clamping device is connected with driving mechanism by fixture flange；Backplate, which clamps the body feed tank, prevents body feed tank from moving
Sliding transfer during dynamic, and collet absorption and two side guard plates clamp and are used alone or are combined according to the actual conditions of body feed tank
It uses.
Preferably, the clamping device includes jig frame, and the outside of jig frame, fixture is arranged in the fixture flange
Flange is connected with six-joint robot.
Preferably, guide rail is provided on the inside of the jig frame, the guide rail includes right guide rail and left rail；The right side
The right sliding block moved along right guide rail is provided on guide rail, right sliding block is the first sliding block.It is moved on left rail along left rail
Left slider, the left slider are the second sliding block.
Preferably, backing board is connected to the lower end of second side of jig frame.
Preferably, between right backplate and left backplate, body feed tank is placed on backing board backing board, and passes through the vacuum
Sucker is adsorbed, and right backplate and left backplate prevent body feed tank from living into middle sliding transfer or falling mobile.
It preferably, further include motor in clamping device, the motor is connected with screw rod main shaft, and motor movement drives screw rod master
Axis rotates, and is respectively arranged with right swivel nut seat and left swivel nut seat on screw rod main shaft, right swivel nut seat and left swivel nut seat are in backing board
Two sides；Right backplate is connected to right swivel nut seat, and left backplate is connected to left swivel nut seat.
Preferably, left swivel nut seat with a distance from the left side of backing board with right swivel nut seat with a distance from the right side of backing board phase
Deng.
Preferably, the side of the close body feed tank of the jig frame, the vacuum on backing board is arranged in the backing board
Sucker is equidistantly set gradually along the upper surface of backing board；The fixture flanged joint to the jig frame separate material
The side of case.
Preferably in the body feed tank includes carton, turnover box and/or body feed tank.
Compared with the prior art, the advantages of the present invention are as follows:
The present invention its can be widely used in electric business, logistics in factory, the body feed tanks such as turnover box, carton on automatic production line
Clamping transfer.The present invention can be compatible with automatically the body feed tank of products of different specifications clamping carry, have it is good compatibility,
High flexibility and adaptivity can reduce pallet quantity under the operating condition for needing the storage of multi items body feed tank to pick and place to greatest extent,
To reduce input cost and area of mill site.Also, the present invention is suitable for narrow space, and convenient for disassembly and assembly, tool
There is good Products Compatibility, reduction, which is changed, to be produced the time and change production workload, is conducive to the access speed for improving body feed tank, is subtracted simultaneously
Light worker's labour cost.
Detailed description of the invention
The advantages of above-mentioned and/or additional aspect of the invention, will be apparent from the description of the embodiment in conjunction with the following figures
Be readily appreciated that, in which:
Fig. 1 is the structural schematic diagram of the first embodiment of clamping device according to the present invention.
Fig. 2 is the second structural schematic diagram of the first embodiment of clamping device according to the present invention.
Fig. 3 is the structural schematic diagram of clamping device second embodiment according to the present invention.
Fig. 4 is the structural schematic diagram with one of the shelf structure of clamping device according to the present invention cooperation.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawing and specific real
Applying mode, the present invention is further described in detail.It should be noted that in the absence of conflict, the implementation of the application
Feature in example and embodiment can be combined with each other.
Fig. 1 shows the structural schematic diagram of clamping device according to an embodiment of the present invention into Fig. 3.The clamping device can
It is adjusted according to the dimension information of body feed tank, clamping the body feed tank with collet absorption and two sides prevents body feed tank from falling off.Shield
Body feed tank described in board clamping prevents body feed tank, for example, carton, turnover box or other cabinets, sliding transfer in moving process, and bottom
Support absorption and the clamping of two side guard plates do not coexist, but according to body feed tank size, the actual conditions such as characteristic can be used alone or
It is applied in combination.
The clamping device 4 includes right backplate 401, backing board 402, vacuum chuck 403, right swivel nut seat 404, right sliding block
405, right guide rail 406, jig frame 407, screw rod main shaft 408, left backplate 409, fixture flange 410, left rail 411, left swivel nut
Seat 412, left slider 413, bearing 414 and motor 415.The specific location of bearing 414 is as shown in Figure 3.
The outside of jig frame 407, i.e. the first side, fixture flange 410 and six-joint robot phase is arranged in fixture flange 410
Even.
The inside of jig frame 407, i.e. second side are provided with guide rail, and the guide rail includes the first guide rail and the second guide rail,
Wherein the first guide rail is right guide rail 406, and the second guide rail is left rail 411.It is provided on the right guide rail 406 along right guide rail
The right sliding block 405 of 406 movements, right sliding block 405 are the first sliding block.The left slider moved on left rail 411 along left rail 411
413, the left slider 413 is the second sliding block.
Backing board 402 is connected to the lower end of second side of jig frame 407.
Vacuum chuck 403 is provided on backing board 402, backing board is between right backplate 401 and left backplate 409, material
Case is placed on backing board 402, and is adsorbed by the vacuum chuck, and right backplate 401 and left backplate 409 prevent body feed tank 2
It falls off from two sides.Motor 415 is connected with screw rod main shaft 408, specifically, the output shaft of motor 415 and the first of screw rod main shaft 408
End is connected, and motor movement drives screw rod main shaft 408 to rotate, and is respectively arranged with right swivel nut seat 404 and left swivel nut on screw rod main shaft 408
Seat 412, right swivel nut seat 404 and left swivel nut seat 412 are in the two sides of backing board 402, a left left side of the swivel nut seat 412 from backing board 402
The distance of side is equidistant with right right side of the swivel nut seat 412 from backing board 402.Right backplate 401 is connected to right swivel nut seat 404,
Left backplate 409 is connected to left swivel nut seat 412.
Preferably, the quantity of the left rail 411 is two, and described two left rails are parallel to each other, and left slider is connected to
Two left rails.
Preferably, the quantity of the right guide rail 406 is two, and described two right guide rails are parallel to each other, and left slider is connected to
Two are done guide rail.
Preferably, each one of bearing 414 or so, is separately fixed at the both ends of 407 jig frames, is used to support screw rod main shaft
408。
Preferably, when body feed tank specification disparity range produced is little, the second of the structure of clamping device 4 is real
It applies for example shown in Fig. 4.Clamping device 4 described in second embodiment according to the present invention need are provided with backing board 402, vacuum is inhaled
Disk 403, jig frame 407 and fixture flange 410 can meet function.The one of the close body feed tank of the jig frame 407
Side is provided with backing board 402, and vacuum chuck 403 is provided on backing board 402, it is preferable that the vacuum chuck is arranged in collet
The upper surface of plate 402.Preferably, the vacuum chuck 403 is equidistantly set gradually along the upper surface of backing board 402.It is described
Fixture flange 410 is connected to the side of the separate body feed tank of the jig frame 407, and the fixture flange 410 is used for and fixture
Driving device, for example, mechanical arm is attached.
Preferably, the fixture flange has first surface and second surface.The first surface of the fixture flange 410 is
Cirque structure is provided with the first connecting hole on the cirque structure, and first connecting hole is on the first surface along circle
Week is evenly arranged.
The second surface of the fixture flange 410 is rectangular, second surface and jig frame 407 company of fixture flange 410
It connects, the second surface is provided centrally with through-hole, and the second connecting hole is provided with around through-hole.Preferably, the second connection
Hole is uniformly arranged along the circumferential direction of the through-hole.
It is provided with connection floor between fixture flange first surface and fixture flange second surface, is set on the connection floor
It is equipped with slot, to mitigate the whole weight of clamping device.
Clamping device of the invention can be used in the body feed tank storage of various warehousing systems and various shelf, it is preferable that
The present invention can be used in the access body feed tank of each single-row shelf of annular bin.As shown in figure 4, wherein annular bin includes multiple lists
Column shelf 301, multiple single-row shelf 301 arrangements circularize, the single-row shelf arrangements at annular there is inlet and outlet, the disengaging
Mouth is the inlet and outlet of annular bin.Multiple goods yards 302 are provided on single-row shelf 301, goods yard 302 is along single-row shelf 301
Short transverse is arranged, multiple multiple cushion blocks 303 that goods yard direction is passed in and out along body feed tank 2, multiple pads are provided on the goods yard
Block 303 is parallel to each other, and when to realize that different size type body feed tank picks and places in goods yard 302, has suitable space that clamping is allowed to fill
Set 4 disengaging.
Further, the single-row shelf 301 include column, it is preferable that the quantity of the column is four.
The top of single-row shelf 301 is provided with the fixed cross beam of arranged crosswise, to keep the steady of the single-row shelf 301
It is qualitative.
The cant beam of more inclination arrangements is respectively set in the two sides of each single-row shelf 301 and rear portion.
Preferably, goods yard 303 and single-row shelf are affixed, and the rear side of each single-row shelf 301 is provided with support beam, described
The rear end in goods yard 302 is placed in the support beam, is further supported to each goods yard 303.
Further, clamping device 4 of the invention its can be suitable for annular bin, straight line storehouse or polygon storehouse.It is preferred that
Ground, clamping device 4 of the invention its can be suitable for robot storehouse.
Preferably, the backing board 402 of clamping device 4, for example, support tooth, can be cushion block with the interference fit of shelf, it can also
To be the empty avoiding design of shelf itself, for example, avoiding hollow groove.
Wherein, the sucker on support tooth and left backplate and right backplate, purpose is to prevent cabinet, for example, carton, turnover
Case or other cabinets generate sliding transfer in moving process, therefore according to the practical feelings such as the product size of body feed tank, inertia
Condition, backplate can be used alone or are applied in combination with suctorial structure.
Preferably, body feed tank of the invention includes that chest bottom is smooth；And/or chest bottom is uneven；And/or chest
Side is without protrusion but can hold in the palm edge；And/or there is protrusion in chest side and can hold in the palm edge.
Preferably, for chest bottom is smooth and/or chest side is without protrusion but the case where can hold in the palm edge, the clamping is filled
The structure that backing board 402 and vacuum chuck 403 can be used is set, cancels left backplate and right backplate and respective movement is adjusted
Save mechanism.
Preferably, for chest bottom is smooth and/or chest side is without protrusion but the case where can hold in the palm edge, the clamping is filled
Setting can be used backing board and adds the structure of left backplate and right backplate and its motion adjustment mechanism of left and right backplate, cancel vacuum chuck
Structure.
Preferably, smooth and/or the case where there is protrusion in chest side but can hold in the palm edge for chest bottom, the clamping fills
The structure that backing board and vacuum chuck can be used is set, left backplate and right backplate and respective motor adjustment machine are cancelled
Structure.Such situation, the clamping device can also use left backplate and right backplate and respective motion adjustment mechanism,
Cancel the structure of backing board and vacuum chuck.
Preferably, described for chest bottom is uneven and/or chest side is without protrusion and the case where can hold in the palm edge
Clamping device can be used backing board and add the structure of left backplate and right backplate and its motion adjustment mechanism of left and right backplate, cancel true
The structure of suction disk.
Preferably, uneven and/or the case where there is protrusion in chest side and can hold in the palm edge for chest bottom, it is described
Clamping device can also cancel backing board and true using left backplate and right backplate and respective motion adjustment mechanism
The structure of suction disk 403.
The present invention can be compatible with different classes of and specification cabinet, and specifically, different size body feed tank is that size is different
Body feed tank, different classes of hopper refer to, for example, carton, turnover box etc..The present invention is applicable not only to annular layout, is also suitable
It is laid out in straight line or other polygons；Fixture assembly can adaptively adjust the mode of crawl hopper according to hopper classification and specification.
It is understood that the principle that embodiment of above is intended to be merely illustrative of the present and the exemplary implementation that uses
Mode, however the present invention is not limited thereto.Those skilled in the art should understand that: it still can be to aforementioned implementation
Technical solution documented by example is modified, or is equivalently replaced to part of or all technical features；And these are repaired
Change or replaces, the range for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
In the description of the present invention, it should be noted that the orientation or positional relationship of the instructions such as term " on ", "lower" is base
In orientation or positional relationship shown in the drawings, it is merely for convenience of description of the present invention and simplification of the description, rather than indication or suggestion
Signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to this
The limitation of invention.In addition, term " first ", " second " are used for description purposes only, it is not understood to indicate or imply relatively heavy
The property wanted.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation " " connects
It is logical ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can
To be mechanical connection, it is also possible to be electrically connected；It can be direct connection, can also be can be by intermediary indirect communication
Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition
Concrete meaning in invention.In addition, in the description of the present invention, unless otherwise indicated, " at least three " be meant that two or
It is more than two.
The foregoing is merely presently preferred embodiments of the present invention, is not intended to limit the invention, it is all in spirit of the invention and
Within principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (9)
1. a kind of clamping device, which is characterized in that it is wide that clamping can be adjusted in it according to the size and shape information of body feed tank
Degree, clamping the body feed tank with collet absorption and two sides prevents body feed tank from falling off；It include backplate, backing board, vacuum chuck with
And the upper surface of backing board is arranged in for adsorbing body feed tank disposed thereon in fixture flange, the vacuum chuck, backplate is located at
The two sides of backing board；The clamping device is connected with driving mechanism by fixture flange；Backplate clamps the body feed tank and prevents
Sliding transfer in body feed tank moving process, and collet absorption and the clamping of two side guard plates individually make according to the actual conditions of body feed tank
With or be applied in combination.
2. clamping device as described in claim 1, which is characterized in that the clamping device includes jig frame, the fixture
The outside of jig frame is arranged in flange, and fixture flange is connected with six-joint robot.
3. clamping device as claimed in claim 2, which is characterized in that guide rail is provided on the inside of the jig frame, it is described
Guide rail includes right guide rail and left rail；The right sliding block moved along right guide rail is provided on the right guide rail, right sliding block is first
Sliding block；The left slider moved on left rail along left rail, the left slider are the second sliding block.
4. clamping device as claimed in claim 3, which is characterized in that backing board is connected under second side of jig frame
End.
5. clamping device as claimed in claim 4, which is characterized in that backing board is between right backplate and left backplate, material
Case is placed on backing board, and is adsorbed by the vacuum chuck, and right backplate and left backplate prevent body feed tank in moving process
Middle sliding transfer is fallen.
6. clamping device as claimed in claim 5, which is characterized in that it further include motor in clamping device, the motor and spiral shell
Bar main shaft is connected, and motor movement drives screw rod main axis, is respectively arranged with right swivel nut seat and left swivel nut seat on screw rod main shaft, right
Swivel nut seat and left swivel nut seat are in the two sides of backing board；Right backplate is connected to right swivel nut seat, and left backplate is connected to left swivel nut seat.
7. clamping device as claimed in claim 6, which is characterized in that left swivel nut seat with a distance from the left side of backing board with right spiral shell
Right side of the block set from backing board is equidistant.
8. clamping device as claimed in claim 7, which is characterized in that the close of the jig frame is arranged in the backing board
The side of body feed tank, the vacuum chuck on backing board are equidistantly set gradually along the upper surface of backing board；The fixture flange
It is connected to the side of the separate body feed tank of the jig frame.
9. clamping device as claimed in claim 8, which is characterized in that the body feed tank includes carton, turnover box and/or material
Case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910678082.8A CN110255185A (en) | 2019-07-25 | 2019-07-25 | A kind of clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910678082.8A CN110255185A (en) | 2019-07-25 | 2019-07-25 | A kind of clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110255185A true CN110255185A (en) | 2019-09-20 |
Family
ID=67928283
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910678082.8A Pending CN110255185A (en) | 2019-07-25 | 2019-07-25 | A kind of clamping device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110255185A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111136677A (en) * | 2020-01-19 | 2020-05-12 | 上海松盛机器人系统有限公司 | Special lifting clamp for boxes |
| 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 |
| CN112573052A (en) * | 2019-09-27 | 2021-03-30 | 江苏华章物流科技股份有限公司 | Automatic access system and access method |
| CN112978374A (en) * | 2021-04-06 | 2021-06-18 | 昆山联枭智能化工程有限公司 | Material taking and placing device for material barrel |
| CN113148632A (en) * | 2021-04-06 | 2021-07-23 | 昆山联枭智能化工程有限公司 | Square barrel stacker crane |
| CN115092669A (en) * | 2022-02-22 | 2022-09-23 | 国网江苏省电力有限公司营销服务中心 | Electric energy meter turnover device and using method thereof |
-
2019
- 2019-07-25 CN CN201910678082.8A patent/CN110255185A/en active Pending
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112573052A (en) * | 2019-09-27 | 2021-03-30 | 江苏华章物流科技股份有限公司 | Automatic access system and access method |
| CN111136677A (en) * | 2020-01-19 | 2020-05-12 | 上海松盛机器人系统有限公司 | Special lifting clamp for boxes |
| 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 |
| CN112978374A (en) * | 2021-04-06 | 2021-06-18 | 昆山联枭智能化工程有限公司 | Material taking and placing device for material barrel |
| CN113148632A (en) * | 2021-04-06 | 2021-07-23 | 昆山联枭智能化工程有限公司 | Square barrel stacker crane |
| CN113148632B (en) * | 2021-04-06 | 2022-08-26 | 联枭智能科技(江苏)有限公司 | Square barrel stacker crane |
| CN115092669A (en) * | 2022-02-22 | 2022-09-23 | 国网江苏省电力有限公司营销服务中心 | Electric energy meter turnover device and using method thereof |
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