CN111232665A - Pile up neatly machine people tongs - Google Patents
Pile up neatly machine people tongs Download PDFInfo
- Publication number
- CN111232665A CN111232665A CN202010209967.6A CN202010209967A CN111232665A CN 111232665 A CN111232665 A CN 111232665A CN 202010209967 A CN202010209967 A CN 202010209967A CN 111232665 A CN111232665 A CN 111232665A
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- China
- Prior art keywords
- rod
- fixed
- transverse plate
- fixed transverse
- clamping
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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
Abstract
The invention discloses a robot palletizer gripper which comprises a fixed transverse plate, wherein two sides of the lower end part of the fixed transverse plate are respectively provided with opposite side connecting rods, two end parts of the two side connecting rods are respectively provided with a guide groove, a guide sliding block sliding in each guide groove is arranged in each guide groove, a transverse connecting rod is fixedly connected between the two guide sliding blocks at the same end, a side clamping plate is fixed on the lower rod wall of each transverse connecting rod, the bottom end of each side clamping plate is provided with a shovel support part, the opposite surfaces of the two side clamping plates are respectively provided with a wave-shaped air bag, the wave-shaped air bags form a bag cavity between the surfaces of the side clamping plates, and a driving mechanism capable of driving the guide sliding blocks to move in the guide grooves is arranged. The gripper has a simple structure, firmly grips and holds the articles, prevents the articles from falling, is suitable for gripping articles with different sizes, and has strong practicability.
Description
Technical Field
The invention relates to the field of robot equipment integration, in particular to a robot palletizer gripper.
Background
With the sustainable development of economy in China, the continuous increase of labor cost and the shortage of labor in various places, enterprises are forced to consider more automatic equipment, the production speed is increased, the labor cost is reduced, the maximization of benefits is pursued, and in enterprises with high labor intensity, robots are the first-choice automatic equipment of enterprises, and in the automobile manufacturing industry, robots are widely popularized and are in other industries at present, such as: the application of robots is also increasing in paper industry, food industry, pharmaceutical industry and the like.
In the fields of warehousing, logistics and the like, more and more work has been replaced by intelligent equipment, in which people only play a role in maintenance, monitoring, assistance and the like. The invention of the palletizing robot greatly lightens the manual labor force and reduces the cost, the advantages of rapidness, accuracy, high efficiency and the like are favored and supported by related enterprises, the existing robot gripper only clamps the object by clamping the side surface of the object, and the object is easy to fall off in such a clamping mode.
Disclosure of Invention
The invention aims to provide a robot palletizer gripper, which aims to solve the problem that objects grabbed by the robot gripper are easy to fall off.
In order to achieve the purpose, the invention provides the following technical scheme:
a robot palletizer gripper comprises a fixed transverse plate, wherein two sides of the lower end part of the fixed transverse plate are respectively provided with an opposite side connecting rod, two end parts of the two side connecting rods are respectively provided with a guide groove, a guide sliding block sliding in each guide groove is arranged in each guide groove, a transverse connecting rod is fixedly connected between the two guide sliding blocks at the same end, a side clamping plate is fixed on the lower rod wall of each transverse connecting rod, the bottom ends of the side clamping plates are provided with shovel support parts, the opposite surfaces of the two side clamping plates are respectively provided with a wave-shaped air bag which forms a bag cavity between the plate surfaces of the side clamping plates, the fixed transverse plate is provided with a driving mechanism which can drive the guide slide block to move in the guide groove, the driving mechanism comprises a driving hydraulic cylinder arranged at the top of the fixed transverse plate and two sliding seats arranged at the top end of the driving hydraulic cylinder, wherein two push-pull rods are hinged to the end of each sliding seat, and the other ends of the two push-pull rods are hinged to the side portion of the guide sliding block.
On the basis of the technical scheme, the invention also provides the following optional technical scheme:
in one alternative: and the four corners of the top of the fixed transverse plate are provided with connecting screws matched with bolts so as to fix the fixed transverse plate and the robot support arm.
In one alternative: the shovel support part is detachably fixed at the bottom of the side clamping plate through a fixing bolt.
In one alternative: the fixed diaphragm relative both sides portion all is provided with side centre gripping subassembly, side centre gripping subassembly includes supporting rod and the contact clamping part of setting in the supporting rod bottom, the supporting rod middle part is fixed in fixed diaphragm lateral part through the hinge connecting seat is articulated, the supporting rod top is drawn close to fixed diaphragm and is provided with the gliding seat that slides on it on the pole wall, it is provided with one end and its articulated undulant pole and the undulant pole other end and is fixed in the drive hydraulic cylinder top to slide on the seat.
In one alternative: the clamping rods are also connected to the upper end face of the fixed transverse plate through reset springs on the rod walls close to the fixed transverse plate.
Compared with the prior art, the invention has the following beneficial effects:
the top of the gripper can move upwards by driving the hydraulic cylinder to extend, so that the guide sliding blocks at two ends can move towards the middle by using the two push-pull rods, the side clamping plates at two sides are driven to clamp an object, the object can be supported by the bottom of the object by the shovel supporting part at the bottom of the gripper in the process of clamping the object, the wavy air bag is extruded by the bottom of the object, the bag cavity shrinks, and larger friction force can be generated between the wavy air bag and the object, so that the object can be firmly grabbed, the object can be supported by the shovel supporting part to be placed and dropped, and the gripper is convenient to operate. The gripper has a simple structure, firmly grips and holds the articles, prevents the articles from falling, is suitable for gripping articles with different sizes, and has strong practicability.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a side view of the present invention.
FIG. 3 is a schematic view of the structure of the fixed cross plate and the side link in the present invention.
Notations for reference numerals: the device comprises a fixed transverse plate 1, a side connecting rod 2, a side clamping plate 3, a wave-shaped air bag 4, a bag cavity 5, a shovel support part 6, a guide sliding block 7, a connecting screw rod 8, a push-pull rod 9, a driving hydraulic cylinder 10, a fixing bolt 11, a transverse connecting rod 12, a clamping rod 13, a fluctuation rod 14, a contact clamping part 15, a hinged connecting seat 16, a reset spring 17, a guide groove 18 and a sliding seat 19.
Detailed Description
The present invention will be described in detail with reference to the following embodiments, wherein like or similar elements are designated by like reference numerals throughout the several views, and wherein the shape, thickness or height of the various elements may be expanded or reduced in practice. The examples are given solely for the purpose of illustration and are not intended to limit the scope of the invention. Any obvious modifications or variations can be made to the present invention without departing from the spirit or scope of the present invention.
Example 1
Referring to fig. 1 to 3, in the embodiment of the present invention, a palletizing robot gripper includes a fixed cross plate 1, opposite side connecting rods 2 are respectively disposed at two sides of a lower end portion of the fixed cross plate 1, guide grooves 18 are respectively disposed at two end portions of the two side connecting rods 2, a guide slider 7 sliding in each guide groove 18 is disposed in each guide groove 18, a cross connecting rod 12 is fixedly connected between the two guide sliders 7 at the same end, a side clamping plate 3 is fixed on a lower rod wall of each cross connecting rod 12, a shovel support portion 6 is disposed at a bottom end of each side clamping plate 3, wave-shaped air bags 4 are disposed on opposite surfaces of the two side clamping plates 3, and air bag cavities 5 are formed between plate surfaces of the side clamping plates 3, a driving mechanism capable of driving the guide sliders 7 to move in the guide grooves 18 is disposed on the fixed cross plate 1, the driving mechanism includes a driving hydraulic cylinder 10 disposed at a top portion of the fixed cross plate 1 and two sliding seats 19 disposed at a top, the end part of each sliding seat 19 is hinged with two push-pull rods 9, and the other ends of the two push-pull rods 9 are hinged with the side part of the guide sliding block 7;
when the robot-driven grabbing device works, the whole grab can move to an object under the driving of a robot, the fixing transverse plate 1 is arranged right above the object, the top of the grabbing device can move upwards by extending the driving hydraulic cylinder 10, so that the guide sliding blocks 7 at two ends can move towards the middle by utilizing the two push-pull rods 9, the side clamping plates 3 at two sides are driven to clamp the object, the object can be supported by the bottom of the object through the supporting part 6 at the bottom of the object in the process of clamping the object, the wavy air bag 4 is extruded, the air bag cavity 5 contracts, and the wavy air bag 4 and the object can generate larger friction force, so that the object can be firmly grabbed, the object can be supported by the supporting part 6 to be placed and fall off, and the operation is convenient;
all be provided with connecting screw 8 and connecting screw 8 cooperation bolt in fixed diaphragm 1 top four corners department and can be fixed with fixed diaphragm 1 and robot support arm, shovel support portion 6 can be dismantled through fixing bolt 11 and be fixed in 3 bottoms of side grip block so that dismantle the change.
Example 2
The embodiment of the invention is different from the embodiment 1 in that: the two opposite side parts of the fixed transverse plate 1 are provided with side clamping assemblies, each side clamping assembly comprises a clamping rod 13 and a contact clamping part 15 arranged at the bottom of the clamping rod 13, the middle part of the clamping rod 13 is hinged and fixed to the side part of the fixed transverse plate 1 through a hinged connecting seat 16, the top of the clamping rod 13 is close to the fixed transverse plate 1, a sliding seat 19 sliding on the clamping rod 13 is arranged on the rod wall, a fluctuation rod 14 with one end hinged with the sliding seat is arranged on the sliding seat 19, the other end of the fluctuation rod 14 is fixed to the top of the driving hydraulic cylinder 10, and the rod wall of the clamping rod 13 close to the fixed transverse plate 1 is further connected to the upper end surface of the fixed transverse plate 1 through;
and then can drive the fluctuation pole 14 when driving that the pneumatic cylinder 10 is flexible and move up make the top of supporting rod 13 stir to the outside to can promote supporting rod 13 bottom to the article be close to and can the centre gripping article lateral wall through contacting clamping part 15, thereby can follow the centre gripping article on four sides, further guarantee the firmness of snatching.
The above description is only for the specific embodiments of the present disclosure, but the scope of the present disclosure is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present disclosure, and all the changes or substitutions should be covered within the scope of the present disclosure. Therefore, the protection scope of the present disclosure shall be subject to the protection scope of the claims.
Claims (5)
1. A robot palletizer gripper comprises a fixed transverse plate (1), wherein two sides of the lower end part of the fixed transverse plate (1) are respectively provided with an opposite side connecting rod (2), the robot palletizer gripper is characterized in that two end parts of the two side connecting rods (2) are respectively provided with a guide groove (18), each guide groove (18) is internally provided with a guide slide block (7) which slides in the guide groove, a transverse connecting rod (12) is fixedly connected between the two guide slide blocks (7) at the same end, a side clamping plate (3) is fixed on the lower rod wall of each transverse connecting rod (12), the bottom end of each side clamping plate (3) is provided with a shovel support part (6), the opposite surfaces of the two side clamping plates (3) are respectively provided with a wave-shaped air bag (4), the wave-shaped air bag (4) forms a bag cavity (5) between the plate surfaces of the side clamping plates (3), and the fixed transverse plate (1) is provided with a driving mechanism which can, the driving mechanism comprises a driving hydraulic cylinder (10) arranged at the top of the fixed transverse plate (1) and two sliding seats (19) arranged at the top end of the driving hydraulic cylinder (10), wherein the end part of each sliding seat (19) is hinged with two push-pull rods (9), and the other ends of the two push-pull rods (9) are hinged with the side part of the guide sliding block (7).
2. The robot palletizer gripper as claimed in claim 1, wherein connecting screws (8) are arranged at four corners of the top of the fixed transverse plate (1), and the fixed transverse plate (1) and the robot boom can be fixed by the connecting screws (8) in cooperation with bolts.
3. Robot palletizer gripper according to claim 1, characterized in that said scooping portion (6) is removably fixed to the bottom of the side clamping plate (3) by means of a fixing bolt (11).
4. The robot palletizer gripper according to any one of claims 1 to 3, wherein side clamping assemblies are arranged on two opposite side portions of the fixed transverse plate (1), each side clamping assembly comprises a clamping rod (13) and a contact clamping portion (15) arranged at the bottom of the clamping rod (13), the middle of each clamping rod (13) is hinged and fixed on the side portion of the fixed transverse plate (1) through a hinged connecting seat (16), the top of each clamping rod (13) is close to the fixed transverse plate (1), a sliding seat (19) sliding on the clamping rod is arranged on the rod wall, a fluctuating rod (14) with one end hinged to the fluctuating rod is arranged on the sliding seat (19), and the other end of the fluctuating rod (14) is fixed on the top of the driving hydraulic cylinder (10).
5. The palletizing robot gripper according to claim 4, characterized in that the gripping lever (13) is further connected to the upper end surface of the fixed transverse plate (1) by means of a return spring (17) on the lever wall close to the fixed transverse plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010209967.6A CN111232665A (en) | 2020-03-23 | 2020-03-23 | Pile up neatly machine people tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010209967.6A CN111232665A (en) | 2020-03-23 | 2020-03-23 | Pile up neatly machine people tongs |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111232665A true CN111232665A (en) | 2020-06-05 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010209967.6A Pending CN111232665A (en) | 2020-03-23 | 2020-03-23 | Pile up neatly machine people tongs |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111232665A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH041838U (en) * | 1990-04-19 | 1992-01-09 | ||
| EP1452469A1 (en) * | 2003-02-28 | 2004-09-01 | Windmöller & Hölscher KG | Palletizer |
| CN205187331U (en) * | 2015-10-20 | 2016-04-27 | 舞阳九泰新型建材有限公司 | It quivers to take precautions against earthquakes embraces brick clamp |
| CN106426236A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Mechanical arm clamping device |
| 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 |
| CN109230874A (en) * | 2018-08-29 | 2019-01-18 | 安徽省无为天成纺织有限公司 | One kind spins reel crawl handgrip |
| CN209440187U (en) * | 2018-12-14 | 2019-09-27 | 江苏惟德智能工程技术有限公司 | A kind of robotic arm stacking clamping device |
-
2020
- 2020-03-23 CN CN202010209967.6A patent/CN111232665A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH041838U (en) * | 1990-04-19 | 1992-01-09 | ||
| EP1452469A1 (en) * | 2003-02-28 | 2004-09-01 | Windmöller & Hölscher KG | Palletizer |
| CN205187331U (en) * | 2015-10-20 | 2016-04-27 | 舞阳九泰新型建材有限公司 | It quivers to take precautions against earthquakes embraces brick clamp |
| CN106426236A (en) * | 2016-12-12 | 2017-02-22 | 南陵宝恒野生葛种植专业合作社 | Mechanical arm clamping device |
| 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 |
| CN109230874A (en) * | 2018-08-29 | 2019-01-18 | 安徽省无为天成纺织有限公司 | One kind spins reel crawl handgrip |
| CN209440187U (en) * | 2018-12-14 | 2019-09-27 | 江苏惟德智能工程技术有限公司 | A kind of robotic arm stacking clamping device |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20200605 |
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| RJ01 | Rejection of invention patent application after publication |