CN110759111B - Pile up neatly machine people tongs device - Google Patents
Pile up neatly machine people tongs device Download PDFInfo
- Publication number
- CN110759111B CN110759111B CN201910943004.6A CN201910943004A CN110759111B CN 110759111 B CN110759111 B CN 110759111B CN 201910943004 A CN201910943004 A CN 201910943004A CN 110759111 B CN110759111 B CN 110759111B
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- transverse
- fixed
- connecting plate
- rotating arm
- vertical
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- 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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- 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
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- 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
- B65G2201/0238—Bags
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Stacking Of Articles And Auxiliary Devices (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the field of palletizing robots, and particularly discloses a palletizing robot gripper device, which comprises a robot connecting frame, two grippers arranged below the robot connecting frame and capable of rotating through a rotating shaft, and the palletizing robot gripper device further comprises: the push rods of the two vertical cylinders are respectively hinged with one end of one vertical rotating arm, and the other end of each vertical rotating arm is respectively fixed on a rotating shaft of one gripper; the push rods of the two transverse cylinders are respectively hinged with one end of one transverse rotating arm, and the other end of each transverse rotating arm is respectively fixed on a rotating shaft of one gripper; the joint connecting plate is arranged above the two grippers; the linear guide rail is provided with a sliding block which can slide, and the sliding block is fixedly connected with one side of the joint connecting plate; a pressing plate fixed to a lower surface of the joint connection plate; and the pressing actuator is used for driving the joint connecting plate to slide up and down along the linear guide rail. The gripping device solves the problems that the gripping bag is unstable, and the material bag is easy to swing in the carrying process.
Description
Technical Field
The invention belongs to the field of stacking robots, and particularly relates to a gripper device of a stacking robot.
Background
In the existing robot palletizer gripper, as shown in fig. 1, each gripper a1 is driven by a single gripper cylinder a2, so that the gripping force of the gripper a1 is insufficient, and the pressing plate a3 is a long strip plate and is acted by 2 pressing plate cylinders a4, and due to the fact that the surface of a packaging bag is uneven, the pressing plate a3 is easily pressed to be deviated, and the pressing plate cylinder a4 is damaged.
Disclosure of Invention
The invention aims to provide a gripper device of a palletizing robot, so that the defect that the gripping force of the gripper is insufficient due to the fact that the gripper on each side is driven by a single gripper cylinder is overcome.
The invention also aims to provide the gripper device of the palletizing robot, so that the defect that the long pressing plate is easy to press and deflect due to the fact that the surface of a packaging bag is uneven is overcome.
In order to achieve the above object, the present invention provides a robot palletizer gripper device, including a robot connecting frame and two grippers rotatably disposed below the robot connecting frame through a rotating shaft, further including:
the push rods of the two vertical air cylinders are respectively hinged with one end of one vertical rotating arm, and the other end of each vertical rotating arm is respectively fixed on a rotating shaft of one gripper; the push rods of the two transverse cylinders are respectively hinged with one end of one transverse rotating arm, the other end of each transverse rotating arm is respectively fixed on a rotating shaft of one gripper, and the vertical rotating arm and the transverse rotating arm are simultaneously driven by the vertical cylinder and the transverse cylinder to drive the rotating shaft to rotate; the joint connecting plate is arranged above the two grippers; the linear sliding rail is provided with a sliding block which can slide, and the sliding block is fixedly connected with one side of the joint connecting plate; a pressing plate fixed to a lower surface of the joint connection plate; and the pressing execution element is used for driving the joint connecting plate to slide up and down along the linear sliding rail.
Preferably, in the above technical solution, the robot link includes: robot connecting plate, longeron pole, first crossbeam pole, second crossbeam pole, roof beam connecting plate, two the longeron pole is fixed in the both sides of robot connecting plate, two first crossbeam pole respectively is fixed in two the one end of longeron pole, four the roof beam connecting plate respectively is fixed in one the outside of the one end of longeron pole, two the second crossbeam pole is fixed in two correspondences respectively one side of roof beam connecting plate.
Preferably, in the above technical scheme, the vertical cylinder is fixed on the second beam rod through a vertical base, and the horizontal cylinder is fixed on the first beam rod through a horizontal base.
Preferably, in the above technical solution, the other ends of the vertical rotating arm and the horizontal rotating arm are respectively fixed on the rotating shaft through a tensioning sleeve.
Preferably, in the above technical solution, the pressing actuator is a cylinder or a hydraulic cylinder.
Preferably, in the above technical scheme, the device further comprises a mounting connection plate and an actuator mounting seat, the mounting connection plate is fixed on the beam connection plate, the actuator mounting seat is fixed on the mounting connection plate, and the pressing actuator is mounted on the actuator mounting seat.
Preferably, in the above technical solution, the pressing plate is connected to the joint connecting plate through a floating joint.
Compared with the prior art, the invention has the following beneficial effects:
according to the robot palletizer gripper device, 4 cylinders are adopted to drive the gripper to grip the packages at the same time, and the cylinders are matched with the linear guide rails to press the packages, so that the problems that the gripper is unstable in gripping the packages, the packages are easy to throw in the carrying process and the like are solved.
Drawings
Fig. 1 is a structural view of a conventional robot palletizer gripper.
Fig. 2 is a block diagram of a robot palletizer according to the present invention.
Fig. 3 is a block diagram of a bale grasping mechanism according to the present invention.
Fig. 4 is a structural view of the packing mechanism according to the present invention.
The main reference numerals in fig. 2-4 illustrate:
1. robot connecting plate, 2, longeron pole, 3, roof beam connecting plate, 4, first crossbeam pole, 5, second crossbeam pole, 6, bale plucking mechanism, 61, pivot, 62, perpendicular rotor arm, 63, tight cover that rises, 64, vertical base, 65, vertical cylinder, 66, horizontal rotor arm, 67, horizontal base, 68, horizontal cylinder, 7, tongs, 8, press chartered plane structure, 81, erection joint board, 82, executor mount pad, 83, the executive component that pushes down, 84, linear slide rail, 85, slider, 86, joint connecting plate, 87, floating joint, 88, clamp plate.
Detailed Description
The following detailed description of the present invention is provided in conjunction with the accompanying drawings, but it should be understood that the scope of the present invention is not limited to the specific embodiments.
As shown in fig. 1, the robot palletizer gripper in this embodiment includes a robot link and two grippers 7 respectively disposed below the robot link in a rotatable and symmetrical manner through a rotating shaft 61, and further includes: vertical cylinder 65, horizontal cylinder 68, joint connecting plate 86, linear slide 84, pressure plate 88, lower actuator 83, mounting connecting plate 81 and actuator mount 82. The link of robot is connected on the robot, and the link of robot includes: robot connecting plate, the girder pole, first crossbeam pole, the second crossbeam pole, the roof beam connecting plate, two girder poles 2 are fixed in robot connecting plate 1's both sides, two first crossbeam poles 4 respectively are fixed in the one end of two girder poles 2, four roof beam connecting plates 3 respectively are fixed in the outside of the one end of a girder pole 2, two second crossbeam poles 5 are fixed in one side of two corresponding roof beam connecting plates 3 respectively, mounting connection board 81 is fixed in on the roof beam connecting plate 3, executive mount pad 82 is fixed in on mounting connection board 81.
With continuing reference to fig. 2 and 3, fig. 3 is a structural diagram of the bale catching mechanism 6, specifically, the push rods of two vertical air cylinders 65 are respectively hinged with one end of one vertical rotating arm 62, the other end of each vertical rotating arm 62 is respectively fixed on the rotating shaft 61 of one gripper 7, and the vertical air cylinders 65 are fixed on the second cross beam rod 5 through vertical bases 64; the push rods of two transverse cylinders 68 are each hinged to one end of a transverse rotating arm 66, the other end of each transverse rotating arm 66 is fixed to the rotating shaft 61 of one gripper 7, the transverse cylinders 68 are fixed to the first cross beam rod 4 through transverse bases 67, the vertical rotating arm 62 and the other end of each transverse rotating arm 66 are fixed to the rotating shaft 61 through tensioning sleeves 63, and the angle between the vertical cylinder 65 and the transverse cylinders 68 is preferably set to 90 °. Wherein, the vertical rotating arm 62 and the horizontal rotating arm 66 are driven by the vertical cylinder 65 and the horizontal cylinder 68 simultaneously to drive the rotating shaft 61 to rotate, so that the gripping force of the gripper 7 is larger and more stable, and the gripper space is fully utilized by the vertical and horizontal arrangement.
With continued reference to fig. 2 and 4, fig. 4 is a structural view of the bale pressing mechanism 8, in particular, the joint connecting plate 86 is arranged above the space between the two grippers 7; the linear slide rail 84 is fixed on the mounting connection plate 81 and is provided with a slide block 85 capable of sliding, and the slide block 85 is fixedly connected with one side of the joint connection plate 81; a pressing plate 88 is fixed to the lower surface of the joint connection plate 86 through a floating joint 87; the pressing actuator 83 is mounted on the actuator mounting seat 82 and used for driving the joint connecting plate 86 to slide up and down along the linear sliding rail 84, the pressing actuator 83 pushes the pressing plate 88 to press down, the main stress is on the linear sliding block, the influence on the cylinder is small, and the pressure bag can be stabilized. The push actuator 83 is a pneumatic or hydraulic cylinder.
When grabbing the package, the pile up neatly machine people tongs is the initial open mode, treat the sign indicating number region when the material package gets into, the pile up neatly machine people controls tongs 7 and reachs the position of grabbing, vertical cylinder 65 and horizontal cylinder 68 release, make pile up neatly machine people tongs embrace the material package, push down the cylinder simultaneously and release, make clamp plate 88 push down the material package, prevent the package drunkenness, the pile up neatly machine people controls the tongs and snatchs the material package, and carry appointed pile up neatly position, vertical cylinder 65, horizontal cylinder 68 and push down the cylinder and withdraw simultaneously, the appointed pile up neatly position is freely fallen to the material package, the pile up neatly tongs gets back to wait to grab a package position.
The foregoing descriptions of specific exemplary embodiments of the present invention have been presented for purposes of illustration and description. It is not intended to limit the invention to the precise form disclosed, and obviously many modifications and variations are possible in light of the above teaching. The exemplary embodiments were chosen and described in order to explain certain principles of the invention and its practical application to enable one skilled in the art to make and use various exemplary embodiments of the invention and various alternatives and modifications as are suited to the particular use contemplated. It is intended that the scope of the invention be defined by the claims and their equivalents.
Claims (1)
1. The utility model provides a pile up neatly machine people tongs device, includes the robot link and locates through the pivot with can rotating respectively two tongs of the below of robot link, its characterized in that still includes:
the push rods of the two vertical air cylinders are respectively hinged with one end of one vertical rotating arm, and the other end of each vertical rotating arm is respectively fixed on a rotating shaft of one gripper;
the push rods of the two transverse cylinders are respectively hinged with one end of a transverse rotating arm, the other end of each transverse rotating arm is fixed on a rotating shaft of the gripper, the vertical cylinder and the transverse cylinders simultaneously drive the vertical rotating arm and the transverse rotating arm to drive the rotating shafts to rotate, the angle between the vertical cylinder and the transverse cylinders is set to be 90 degrees, and the other ends of the vertical rotating arm and the transverse rotating arm are respectively fixed on the rotating shafts through tensioning sleeves;
the joint connecting plate is arranged above the two grippers;
the linear sliding rail is provided with a sliding block which can slide, and the sliding block is fixedly connected with one side of the joint connecting plate;
a pressing plate fixed to a lower surface of the joint connection plate; and
the pressing execution element is used for driving the joint connecting plate to slide up and down along the linear sliding rail;
Wherein, the robot link includes: the robot comprises a robot connecting plate, longitudinal beam rods, first transverse beam rods, second transverse beam rods and beam connecting plates, wherein the two longitudinal beam rods are fixed on two sides of the robot connecting plate, the two first transverse beam rods are respectively fixed at one end of the two longitudinal beam rods, the four beam connecting plates are respectively fixed on the outer side of one end of one longitudinal beam rod, the two second transverse beam rods are respectively fixed on one side of the two corresponding beam connecting plates, the vertical cylinder is fixed on the second transverse beam rod through a vertical base, and the transverse cylinder is fixed on the first transverse beam rods through a transverse base;
the pressing execution element is a cylinder or a hydraulic cylinder;
the beam connecting plate is fixed on the beam connecting plate, the executive component mounting seat is fixed on the beam connecting plate, and the pressing executive element is mounted on the executive component mounting seat;
the pressing plate is connected with the joint connecting plate through a floating joint.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910943004.6A CN110759111B (en) | 2019-09-30 | 2019-09-30 | Pile up neatly machine people tongs device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910943004.6A CN110759111B (en) | 2019-09-30 | 2019-09-30 | Pile up neatly machine people tongs device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110759111A CN110759111A (en) | 2020-02-07 |
| CN110759111B true CN110759111B (en) | 2022-02-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910943004.6A Active CN110759111B (en) | 2019-09-30 | 2019-09-30 | Pile up neatly machine people tongs device |
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| CN (1) | CN110759111B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111252654B (en) * | 2020-02-18 | 2021-07-13 | 合肥市春华起重机械有限公司 | Automatic crane cargo falling prevention device and using method thereof |
| CN112709741B (en) * | 2021-01-19 | 2023-06-23 | 爱孚迪(上海)制造系统工程有限公司 | Self-adaptive gripper applied to automatic bonding system of vehicle door sealing rubber strip |
| CN114955529B (en) * | 2022-07-01 | 2023-06-23 | 杭州国领科技有限公司 | High efficiency pile up neatly machine people anchor clamps |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0320499A2 (en) * | 1985-07-25 | 1989-06-14 | Alfred Winter | Gripper for an industrial robot |
| JPH054186A (en) * | 1991-06-26 | 1993-01-14 | Murata Mach Ltd | Work grip hand of loader |
| CN105781737A (en) * | 2014-12-23 | 2016-07-20 | 熊惠霖 | Power unit combined crank planet gear engine |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN207669346U (en) * | 2017-12-27 | 2018-07-31 | 中天智能装备有限公司 | A kind of thin material cutting mechanism |
| CN208117878U (en) * | 2018-03-19 | 2018-11-20 | 上海福赛特机器人有限公司 | A kind of robot gripper stacked with buckle workpiece |
| CN208683907U (en) * | 2018-06-29 | 2019-04-02 | 中建材凯盛机器人（上海）有限公司 | Material is supported to push away, grab dual-purpose device |
-
2019
- 2019-09-30 CN CN201910943004.6A patent/CN110759111B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0320499A2 (en) * | 1985-07-25 | 1989-06-14 | Alfred Winter | Gripper for an industrial robot |
| JPH054186A (en) * | 1991-06-26 | 1993-01-14 | Murata Mach Ltd | Work grip hand of loader |
| CN105781737A (en) * | 2014-12-23 | 2016-07-20 | 熊惠霖 | Power unit combined crank planet gear engine |
| CN105945950A (en) * | 2016-06-03 | 2016-09-21 | 广东伊雪松机器人设备有限公司 | Fixture capable of facilitating carrying of workpieces, palletizing robot and operation method of palletizing robot |
| CN207669346U (en) * | 2017-12-27 | 2018-07-31 | 中天智能装备有限公司 | A kind of thin material cutting mechanism |
| CN208117878U (en) * | 2018-03-19 | 2018-11-20 | 上海福赛特机器人有限公司 | A kind of robot gripper stacked with buckle workpiece |
| CN208683907U (en) * | 2018-06-29 | 2019-04-02 | 中建材凯盛机器人（上海）有限公司 | Material is supported to push away, grab dual-purpose device |
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| Publication number | Publication date |
|---|---|
| CN110759111A (en) | 2020-02-07 |
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