CN110342270A - A kind of automatic clamping and the robot device of stacking - Google Patents
A kind of automatic clamping and the robot device of stacking Download PDFInfo
- Publication number
- CN110342270A CN110342270A CN201910606711.6A CN201910606711A CN110342270A CN 110342270 A CN110342270 A CN 110342270A CN 201910606711 A CN201910606711 A CN 201910606711A CN 110342270 A CN110342270 A CN 110342270A
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- CN
- China
- Prior art keywords
- fixed
- plate
- rack
- clamping
- stacking
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0023—Gripper surfaces directly activated by a fluid
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Carriers, Traveling Bodies, And Overhead Traveling Cranes (AREA)
Abstract
The present invention relates to a kind of automatic clamping and the robot devices of stacking, including rack, loading assemblies, sliding rail, baffle, moving trolley, lifting assembly, rack and the first delivery roll；Lifting assembly includes hydraulic station, lifting cylinder, guide post, lifter plate, vertical plate, connecting plate and gripper assembly；Loading assemblies include platen, the second delivery roll, sidesway oil cylinder, blend stop, pedestal, support and rotational fuel tank；The present invention is lifted and is moved flitch by the way of machinery clamping, and clamping is quickly secured, and flitch is avoided to fall, security risk is eliminated, and realizes automatic clamping, movement and the overall process of stacking, accurate positioning, it is operated without human assistance, reduces cost of labor, improve work efficiency.
Description
Technical field
The present invention relates to a kind of automatic clamping and the robot devices of stacking.
Background technique
The enterprise of domestic production at present commonly uses the lifting of permanent-magnet electric cucurbit and carries flitch and stacking, but this when manufacturing
Method is easy that flitch is caused to be detached from suction disc because of shaking, and flitch, which is fallen, to be easy to injure worker by a crashing object, there are more serious security risk,
In addition, flitch needs worker in lifting and when stacking to assist ajusting, high labor cost, working efficiency is low, up for into one
Step is improved.
Summary of the invention
In view of the above-mentioned state of the art, quickly firm technical problem to be solved by the present invention lies in a kind of clamping is provided
Gu eliminate security risk, accurate positioning, without human assistance operate, reduce cost of labor, improve work efficiency from
The robot device of dynamic clamping and stacking.
The technical scheme of the invention to solve the technical problem is: a kind of automatic clamping and the manipulator of stacking dress
It sets, including rack, loading assemblies, sliding rail, baffle, moving trolley, lifting assembly, rack and the first delivery roll；The top of rack
Sliding rail there are two symmetrical parallel distribution is set, the moving trolley of slip is provided between two sliding rails, which is characterized in that institute
It states and is provided with lifting assembly in moving trolley；One end of the rack is provided with rack, and there are two the upside settings of the rack
The first delivery roll that can be rotated and be located in same level, the two sides of the rack are provided with a baffle, the rack
Inner end be provided with loading assemblies, the loading assemblies are set to the lower inside of rack, and the lifting assembly includes hydraulic station, rises
Oil cylinder, guide post, lifter plate, vertical plate, connecting plate and gripper assembly drop；The top of moving trolley is arranged in the hydraulic station, described
Lifting cylinder is vertically arranged in the lower section of moving trolley, and the lifting cylinder is connected by oil pipe with hydraulic station；The lifting oil
It is provided with the lifter plate of cross direction profiles below cylinder, the both ends of the lifter plate are respectively and fixedly provided with the guide post being distributed vertically, and two
The upper end of a guide post it is mobilizable it is interspersed be connected in moving trolley, it is fixed in the upper plane of the lifter plate there are two
Symmetrical vertical plate；Be fixed with connecting plate between the upper end of two vertical plates, the telescopic end of the lifting cylinder vertically to
Under be fixed on the upper center of connecting plate, be provided with gripper assembly on the downside of the lifter plate.
Preferably, the gripper assembly includes cleat assembly, clamping oil cylinder, swing bar, connection strap, traction item, base item, hangs
Plate, guiding piece and guide sleeve, it is fixed there are two the clamping oil cylinder being distributed vertically on the lower plane of the lifter plate, the hanging plate
It is fixed on the lower plane of lifter plate and is located between two clamping oil cylinders vertically；The guide sleeve is fixed on the one of hanging plate vertically
Side interts in the guide sleeve and is provided with the base item being distributed vertically, and the lower end of the base item is fixed with the guiding piece of cross direction profiles,
The telescopic end of two clamping oil cylinders is fixed on the both ends of guiding piece straight down respectively, and the side of the base item is provided with two
A symmetrical and rotatable traction item, accordingly, there are two symmetrically and rotatably put for the other side setting of the hanging plate
The outer end downside of dynamic item, two swing bars is respectively and fixedly provided with a connection strap, and the outer end of two traction items can turn respectively
The dynamic side for being connected to two connection straps；The lower end of two connection straps is provided with the clamping plate being symmetrically distributed
Component.
Preferably, the gripper assembly further includes positive stop strip and limited block, the side of the hanging plate be further fixed on two it is right
Claim and the positive stop strip that is distributed vertically, is respectively and fixedly provided with a limited block on two positive stop strips, two limited blocks are set respectively
In the lower section of two traction items.
Preferably, the cleat assembly includes clamp bar, fixed board, adjustable plate, the first screw and the second screw；The fixed board is solid
It is scheduled on the lower end side of connection strap, one end of the adjustable plate is rotatably coupled on fixed board by the first screw, described fixed
Arc groove is offered on plate, second screw is bolted through adjustable plate and is inserted into and is connected in arc groove, so that the adjusting
Plate can arcuately slot be swung centered on the first screw, and the outer end of the adjustable plate is fixed with clamp bar.
Preferably, the loading assemblies include platen, the second delivery roll, sidesway oil cylinder, blend stop, pedestal, support and rotation
Oil cylinder；One end two sides of the platen are provided with a rotatable pedestal, and two pedestals are each attached on support, institute
The inner end that support is fixed on rack is stated, the fixing end of the rotational fuel tank is rotatably coupled to the bottom of rack, the rotation
The telescopic end of oil cylinder is rotatably coupled to the other end of platen, and multiple equidistant and positions are provided in the upper plane of the platen
In the second delivery roll in same level.
Preferably, the side of the platen it is fixed there are two the sidesway oil cylinders of cross direction profiles, accordingly, the platen it is another
Side is fixed, and there are two the blend stops being distributed vertically；The telescopic end of two sidesway oil cylinders is horizontally installed on the top of platen.
Compared with the prior art, the advantages of the present invention are as follows: the present invention lifts and moves material by the way of machinery clamping
Plate, clamping is quickly secured, avoids flitch from falling, eliminates security risk, and realizes automatic clamping, movement and stacking
Overall process, accurate positioning operate without human assistance, reduce cost of labor, improve work efficiency.
Detailed description of the invention
Fig. 1 is structure chart of the invention；
Fig. 2 is the structure chart of gripper assembly of the invention.
Specific embodiment
As shown in Fig. 1~2, the robot device of a kind of automatic clamping and stacking, including rack 3, loading assemblies, sliding rail 5,
Baffle 4, moving trolley 7, lifting assembly, rack 9 and the first delivery roll 10；There are two symmetrical parallel point for the top setting of rack 3
The sliding rail 5 of cloth is provided with the moving trolley 7 of slip between two sliding rails 5, is provided with lifting assembly in moving trolley 7；Rack
3 one end is provided with rack 9, and there are two the first delivery rolls that can be rotated and be located in same level for the upside setting of rack 9
10, the two sides of rack 3 are provided with a baffle 4, and the inner end of rack 9 is provided with loading assemblies, and loading assemblies are set to rack 3
Lower inside, lifting assembly include hydraulic station 6, lifting cylinder 8, guide post 32, lifter plate 17, vertical plate 18, connecting plate 19 and clamping
Component；The top of moving trolley 7 is arranged in hydraulic station 6, and lifting cylinder 8 is vertically arranged in the lower section of moving trolley 7, lifting cylinder
8 are connected by oil pipe with hydraulic station 6；The lower section of lifting cylinder 8 is provided with the lifter plate 17 of cross direction profiles, the both ends of lifter plate 17
Be respectively and fixedly provided with the guide post being distributed vertically 32, the upper end of two guide posts 32 it is mobilizable it is interspersed be connected in moving trolley 7,
It is fixed in the upper plane of lifter plate 17 that there are two symmetrical vertical plates 18；Connecting plate is fixed between the upper end of two vertical plates 18
19, the telescopic end of lifting cylinder 8 is fixed on the upper center of connecting plate 19 straight down, and the downside of lifter plate 17 is provided with clamping
Component；Gripper assembly includes cleat assembly, clamping oil cylinder 20, swing bar 21, connection strap 22, traction item 28, base item 29, hanging plate
25, guiding piece 30, positive stop strip 31, guide sleeve 33 and limited block 34, fixed on the lower plane of lifter plate 17 there are two vertical distributions
Clamping oil cylinder 20, hanging plate 25 is fixed on the lower plane of lifter plate 17 vertically and is located between two clamping oil cylinders 20；It leads
It is fixed on the side of hanging plate 25 vertically to set 33, interts in guide sleeve 33 and be provided with the base item 29 being distributed vertically, under base item 29
End is fixed with the guiding piece 30 of cross direction profiles, and the telescopic end of two clamping oil cylinders 20 is fixed on guiding piece 30 straight down respectively
Both ends, the side setting of base item 29 is there are two symmetrical and rotatable traction item 28, and accordingly, the other side of hanging plate 25 is provided with
Two symmetrical and rotatable swing bars 21, are respectively and fixedly provided with a connection strap 22 on the downside of the outer end of two swing bars 21, and two
The outer end of a traction item 28 is rotatably coupled to the side of two connection straps 22 respectively；The lower end of two connection straps 22 is respectively provided with
There is the cleat assembly being symmetrically distributed；The side of hanging plate 25 is further fixed on two positive stop strips that are symmetrical and being distributed vertically
31, a limited block 34 is respectively and fixedly provided on two positive stop strips 31, and two limited blocks 34 are respectively arranged on the lower section of two traction items 28；
Cleat assembly includes clamp bar 2, fixed board 23, adjustable plate 24, the first screw 26 and the second screw 27；Fixed board 23 is fixed on connection strap 22
Lower end side, one end of adjustable plate 24 is rotatably coupled on fixed board 23 by the first screw 26, is offered on fixed board 23
Arc groove 231, the second screw 27 be bolted through adjustable plate 24 and be inserted into be connected in arc groove 231, enable adjustable plate 24 with
Arcuately slot 231 is swung centered on first screw 26, and the outer end of adjustable plate 24 is fixed with clamp bar 2；Loading assemblies include platen 1,
Second delivery roll 14, sidesway oil cylinder 15, blend stop 16, pedestal 11, support 12 and rotational fuel tank 13；One end two sides of platen 1 are all provided with
It is equipped with a rotatable pedestal 11, two pedestals 11 are each attached on support 12, and support 12 is fixed on the inner end of rack 9, are turned
The fixing end of dynamic oil cylinder 13 is rotatably coupled to the bottom of rack 3, and the telescopic end of rotational fuel tank 13 is rotatably coupled to platform
The other end of plate 1 is provided with the second delivery roll 14 that is multiple equidistant and being located in same level in the upper plane of platen 1,
The side of platen 1 is fixed, and there are two the sidesway oil cylinders 15 of cross direction profiles, and accordingly, the other side of platen 1 is fixed, and there are two vertical
The blend stop 16 of distribution；The telescopic end of two sidesway oil cylinders 15 is horizontally installed on the top of platen 1.
When use: the telescopic end of driving rotational fuel tank 13 drives platen 1 to dip down around pedestal 11 to contract
Tiltedly, then flitch is placed on two the first delivery rolls 10 and is inwardly elapsed, until the inner end of flitch can slowly be moved to platform
The top of plate 1, with being pushed further into for flitch, the lower plane of flitch starts successively to contact multiple second delivery rolls 14, and can be according to
Bottom is slided into along multiple second delivery rolls 14 by gravity, then drives the telescopic end of rotational fuel tank 13 protruding, so that platform
Plate 1 tends to be horizontal, while driving the telescopic end of two sidesway oil cylinders 15 protruding, and then pushes flitch towards two blend stops 16
Direction it is mobile, until the other side of flitch resists two blend stops 16, so that flitch accurate positioning；Then, moving trolley 7
It drives lifting assembly to be moved to the tops of loading assemblies along two sliding rails 5, then drives the telescopic end of lifting cylinder 8 to overhanging
Out, and then by connecting plate 19 and two vertical plates 18 it drives lifter plate 17 and two guide posts 32 to decline together, is drawn until two
The downside of item 28 is respectively held against two limited blocks 34, and two clamp bars 2 at this time are located at the two sides of flitch；Two folders are driven again
It takes the telescopic end of oil cylinder 20 to contract, and then drives base item 29 to move straight up along guide sleeve 33 by guiding piece 30, from
And the outer end of two traction items 28 is inwardly swung, and then two connection straps 22 is driven inwardly to swing, to drive two pendulum
The outer end of dynamic item 21 is also inwardly swung, and the inside swing of two connection straps 22 can drive two fixed boards 23 inwardly to swing respectively, into
And drive two clamp bars 2 inwardly to swing by two adjustable plates 24 respectively, until clamping flitch；Then lifting cylinder 8 is driven
Telescopic end to more than contract mentioning flitch, meanwhile, moving trolley 7 drives flitch to be moved to the another of rack 3 along two sliding rails 5
End, then drive the telescopic end of lifting cylinder 8 protruding to decline flitch to appropriate height；Finally drive two clamping oil cylinders 20
Telescopic end it is protruding, and then drive two traction items 28 to lower swing by guiding piece 30, to drive two connection straps
22 swing out, and then two fixed boards 23 is driven to swing out respectively, to drive two folders by two adjustable plates 24 respectively
Item 2 is swung out, and then unclamps flitch, realizes stacking；Baffle 4 plays protective action；Hydraulic station 6 is lifting cylinder 8
Operation provides oil hydraulic power；If the size of flitch changes, need the corresponding angle for adjusting two clamp bars 2 with good
Adaptation flitch, when adjusting, first unscrew in the second screw 27, then can be swung up and down around the first screw 26 using adjustable plate 24
Connection type adjustable plate 24 is swung up and down into appropriate angle, finally tighten the second screw 27.
The enterprise of domestic production at present commonly uses the lifting of permanent-magnet electric cucurbit and carries flitch and stacking, but this when manufacturing
Method is easy that flitch is caused to be detached from suction disc because of shaking, and flitch, which is fallen, to be easy to injure worker by a crashing object, there are more serious security risk,
In addition, flitch in lifting and when stacking needs worker to assist ajusting, high labor cost, working efficiency is low；The present invention uses
The mode of machinery clamping lifts and moves flitch, and clamping is quickly secured, avoids flitch from falling, eliminates security risk, and
Automatic clamping, movement and the overall process of stacking are realized, accurate positioning operates without human assistance, reduces cost of labor, mention
High working efficiency.
Finally, it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of skill in the art that it still can be right
Technical solution documented by foregoing embodiments is modified, or is replaced on an equal basis to part of technical characteristic；And this
It modifies or replaces, the spirit and model of technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (6)
1. a kind of automatic clamping and the robot device of stacking, including rack, loading assemblies, sliding rail, baffle, moving trolley, liter
It comes down to a lower group part, rack and the first delivery roll；The sliding rail there are two symmetrical parallel distribution is arranged in the top of rack, sets between two sliding rails
It is equipped with the moving trolley of slip, which is characterized in that be provided with lifting assembly in the moving trolley；One end of the rack is set
It is equipped with rack, there are two the first delivery roll that can be rotated and be located in same level, the machines for the upside setting of the rack
The two sides of frame are provided with a baffle, and the inner end of the rack is provided with loading assemblies, and the loading assemblies are set to rack
Lower inside, the lifting assembly include hydraulic station, lifting cylinder, guide post, lifter plate, vertical plate, connecting plate and gripper assembly；Institute
The top that moving trolley is arranged in hydraulic station is stated, the lifting cylinder is vertically arranged in the lower section of moving trolley, the lifting oil
Cylinder is connected by oil pipe with hydraulic station；The lifter plate of cross direction profiles is provided with below the lifting cylinder, the lifter plate
Both ends are respectively and fixedly provided with the guide post being distributed vertically, and the upper end of two guide posts is mobilizable interspersed to be connected to moving trolley
In, it is fixed in the upper plane of the lifter plate that there are two symmetrical vertical plates；It is fixed between the upper end of two vertical plates
Connecting plate, the telescopic end of the lifting cylinder are fixed on the upper center of connecting plate straight down, set on the downside of the lifter plate
It is equipped with gripper assembly.
2. a kind of automatic clamping according to claim 1 and the robot device of stacking, which is characterized in that the clamping group
Part includes cleat assembly, clamping oil cylinder, swing bar, connection strap, traction item, base item, hanging plate, guiding piece and guide sleeve, the liter
The clamping oil cylinder being distributed vertically there are two fixing on the lower plane of plate, the lower plane for being fixed on lifter plate vertically of the hanging plate drop
It goes up and is located between two clamping oil cylinders；The guide sleeve is fixed on the side of hanging plate vertically, interts setting in the guide sleeve
Have a base item being distributed vertically, the lower end of the base item is fixed with the guiding piece of cross direction profiles, two clamping oil cylinders it is flexible
End is fixed on the both ends of guiding piece straight down respectively, and there are two symmetrical and rotatable tractions for the side setting of the base item
Item, accordingly, the setting of the other side of the hanging plate there are two symmetrical and rotatable swing bar, two swing bars
It is respectively and fixedly provided with a connection strap on the downside of outer end, the outer end of two traction items is rotatably coupled to two connection straps respectively
Side；The lower end of two connection straps is provided with the cleat assembly being symmetrically distributed.
3. a kind of automatic clamping according to claim 2 and the robot device of stacking, which is characterized in that the clamping group
Part further includes positive stop strip and limited block, and the side of the hanging plate is further fixed on two positive stop strips that are symmetrical and being distributed vertically, and two
A limited block is respectively and fixedly provided on the positive stop strip, two limited blocks are respectively arranged on the lower section of two traction items.
4. a kind of automatic clamping according to claim 2 and the robot device of stacking, which is characterized in that the clamping plate group
Part includes clamp bar, fixed board, adjustable plate, the first screw and the second screw；The fixed board is fixed on the lower end side of connection strap, described
One end of adjustable plate is rotatably coupled on fixed board by the first screw, offers arc groove on the fixed board, and described second
Screw be bolted through adjustable plate and be inserted into be connected in arc groove, enable the adjustable plate centered on the first screw arcuately
Slot is swung, and the outer end of the adjustable plate is fixed with clamp bar.
5. a kind of automatic clamping according to claim 1 and the robot device of stacking, which is characterized in that the feeding group
Part includes platen, the second delivery roll, sidesway oil cylinder, blend stop, pedestal, support and rotational fuel tank；One end two sides of the platen are equal
It is provided with a rotatable pedestal, two pedestals are each attached on support, and the support is fixed on the inner end of rack, institute
The fixing end for stating rotational fuel tank is rotatably coupled to the bottom of rack, and the telescopic end of the rotational fuel tank is rotatably coupled to
The other end of platen is provided with the second transmission that are multiple equidistant and being located in same level in the upper plane of the platen
Roller.
6. a kind of automatic clamping according to claim 5 and the robot device of stacking, which is characterized in that the platen
Side is fixed, and there are two the sidesway oil cylinders of cross direction profiles, and accordingly, the other side of the platen is fixed, and there are two be distributed vertically
Blend stop；The telescopic end of two sidesway oil cylinders is horizontally installed on the top of platen.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606711.6A CN110342270A (en) | 2019-07-06 | 2019-07-06 | A kind of automatic clamping and the robot device of stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910606711.6A CN110342270A (en) | 2019-07-06 | 2019-07-06 | A kind of automatic clamping and the robot device of stacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110342270A true CN110342270A (en) | 2019-10-18 |
Family
ID=68177887
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910606711.6A Pending CN110342270A (en) | 2019-07-06 | 2019-07-06 | A kind of automatic clamping and the robot device of stacking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110342270A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276648A (en) * | 2020-11-17 | 2021-01-29 | 宁波金凤焊割机械制造有限公司 | Magnetic suction type feeding device for metal ribbon board |
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| EP1298081A1 (en) * | 2001-09-27 | 2003-04-02 | Nedcon Magazijninrichting B.V. | Device for stacking or destacking of transport pallets |
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| CN204604341U (en) * | 2015-05-18 | 2015-09-02 | 三峡大学 | A kind of cylinder clamping device |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112276648A (en) * | 2020-11-17 | 2021-01-29 | 宁波金凤焊割机械制造有限公司 | Magnetic suction type feeding device for metal ribbon board |
| CN112276648B (en) * | 2020-11-17 | 2022-04-12 | 宁波金凤焊割机械制造有限公司 | Magnetic suction type feeding device for metal ribbon board |
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Application publication date: 20191018 |
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