CN112110213A - Stacking paw and air conditioner indoor unit carrying device - Google Patents
Stacking paw and air conditioner indoor unit carrying device Download PDFInfo
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- CN112110213A CN112110213A CN201910543688.0A CN201910543688A CN112110213A CN 112110213 A CN112110213 A CN 112110213A CN 201910543688 A CN201910543688 A CN 201910543688A CN 112110213 A CN112110213 A CN 112110213A
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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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Abstract
In the pile up neatly hand claw and air conditioner internal unit handling device that this application provided, through width guiding mechanism, press from both sides and embrace mechanism and hand claw swing mechanism and mutually support, realize the pile up neatly operation of multiple product, can improve the stability of snatching in addition when increasing load.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to a stacking paw and an air conditioner inner machine carrying device.
Background
To reduce the labor intensity, people have increasingly used palletizing robots to perform palletizing operations instead of manual work. The stacking robot grabs the products conveyed by the product production line through the stacking paw and performs automatic stacking and transferring work. According to the difference of grabbing modes, the stacking paw is divided into a sucking disc adsorption mode and a cylinder clamping and holding mode.
The sucking disc adsorption mode is that a plurality of small sucking discs are utilized to adsorb outer packages of products to reach vacuum, and the stacking paw is small in load and mostly below 15KG in load. And in the process of high-speed movement, the absorbed vacuum degree is easily damaged, so that the product falls off, and the grabbing is unstable. The cylinder presss from both sides the mode of embracing and utilizes cylinder mechanical cooperation to carry out the centre gripping, and the centre gripping space of this kind of pile up neatly hand claw is fixed, consequently only is fit for the product of single size. And when snatching the product external packing of paper, cause the extrusion vestige easily to the carton, and then influence the appearance quality of product.
Therefore, the two stacking claws have certain disadvantages when used, and cannot meet the requirements of stacking operation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a stacking paw and an air conditioner internal machine carrying device, which overcome the difficulties in the prior art, can improve the load and grabbing stability, and are suitable for products with different sizes.
According to one aspect of the present invention, there is provided a stacking gripper comprising: the device comprises a stacking box main board, a fixing board, a box clamping board, a width adjusting mechanism, a clamping mechanism and a paw swinging mechanism;
the fixed plate and the box clamping plate are slidably arranged below the stacking box main plate and are arranged oppositely;
the width adjusting mechanism is connected with the fixed plate and the box clamping plate and is used for adjusting the distance between the fixed plate and the box clamping plate;
the clamping and holding mechanism is connected with the box clamping plate and used for driving the box clamping plate to horizontally move relative to the fixed plate;
the gripper swinging mechanism comprises a gripper and a rotating device, the gripper is movably connected with the box clamping plate, and the rotating device is used for driving the gripper to rotate relative to the box clamping plate.
Optionally, in the stacking claw, the claw includes a finger mounting plate and a plurality of fingers, the finger mounting plate is mounted on the lower side edge of the box clamping plate, and the plurality of fingers are fixedly mounted on the finger mounting plate.
Optionally, in the pallet gripper, the rotating device includes a first cylinder and a cylinder fork assembly;
one end of the first air cylinder is fixedly arranged on one side of the box clamping plate, which deviates from the fixed plate, and the other end of the first air cylinder is fixedly connected with the finger mounting plate through the air cylinder fork seat assembly.
Optionally, in the stacking claw, the stacking claw further includes an air path control unit, and the air path control unit includes: the valve terminal, the first magnetic ring switch and the first speed regulating valve;
the valve island is arranged on the code box main board, is connected with the first cylinder through an air pipe and is used for driving the first cylinder to work;
the first magnetic ring switch is arranged on the first air cylinder and used for detecting the extension and contraction conditions of the first air cylinder;
the first speed regulating valve is arranged on the first air cylinder and used for controlling the action speed of the first air cylinder.
Optionally, in the pallet paw, the width adjusting mechanism includes a motor mounting seat, a servo motor and a screw rod assembly;
the motor mounting seat is fixedly connected with the code box main board, and the servo motor is fixedly mounted on the motor mounting seat;
the screw rod assembly is arranged on the lower surface of the stacking box main board and connected with the fixed plate and the box clamping plate, and one end of the screw rod assembly is connected with an output shaft of the servo motor through a coupler.
Optionally, in the stacking paw, the clamping plate box is connected with the screw rod assembly through the clamping mechanism, and the clamping mechanism includes a cylinder block assembly and a second cylinder;
the cylinder block assembly is connected with the lead screw assembly;
one end of the second cylinder is fixedly arranged on the cylinder seat assembly, and the other end of the second cylinder is fixedly connected with the box clamping plate.
Optionally, in the stacking gripper, the width adjusting mechanism further includes a slide rail assembly, the slide rail assembly includes at least one guide rail, each guide rail is sequentially provided with a first slide block, a second slide block and a third slide block, the guide rail is fixedly installed on the lower surface of the stacking box main board, the first slide block is fixed to the fixed plate, the second slide block is fixed to the cylinder block assembly, and the third slide block is fixed to the box clamping plate.
Optionally, in the stacking gripper, the screw assembly includes a double-screw, two nut assemblies and two rolling bearing assemblies, the two nut assemblies and the two rolling bearing assemblies are disposed at two ends of the double-screw, the nut assemblies include a nut and a nut seat, nuts of the two nut assemblies are both sleeved on the double-screw and are mounted in the nut seat, the nut seat of one nut assembly is connected to the fixing plate, and the nut seat of the other nut assembly is connected to the cylinder seat assembly; the rolling bearing assembly comprises a rolling bearing and a bearing seat, the rolling bearings of the two rolling bearing assemblies are respectively fixed at two ends of the double-screw rod and are arranged in the bearing seat, and the bearing seats of the two rolling bearing assemblies are fixedly connected with the code box main board.
Optionally, in the stacking paw, the width adjusting mechanism further includes a sensor assembly, and the sensor assembly includes a plurality of micro-photoelectric sensors and an induction metal plate;
the induction metal plate is arranged between the fixed plate and the box clamping plate and is fixedly connected with the clamping mechanism; a plurality of micro photoelectric sensors are fixedly installed on the code box main board through a section bar and used for sensing the positions of the induction metal plates.
Optionally, in the stacking claw, the stacking claw includes a gas circuit control unit, the gas circuit control unit includes: the valve island, the second magnetic ring switch and the second speed regulating valve;
the valve island is arranged on the code box main board, is connected with the second cylinder through an air pipe and is used for driving the second cylinder to work;
the second magnetic ring switch is arranged on the second air cylinder and used for detecting the extension and contraction conditions of the second air cylinder;
and the second speed regulating valve is arranged on the second air cylinder and is used for controlling the action speed of the second air cylinder.
Optionally, in the pallet gripper, an elastic buffer material is disposed on one side of the box clamping plate facing the fixed plate and/or one side of the fixed plate facing the box clamping plate.
According to another aspect of the invention, an air conditioner indoor unit carrying device is provided, and the air conditioner indoor unit carrying device comprises the stacking claw.
In the stacking paw and the air conditioner indoor unit conveying device provided by the invention, the width adjusting mechanism, the clamping mechanism and the paw swinging mechanism are mutually matched, so that stacking operation of various products is realized, and the grabbing stability can be improved while the load is increased.
Drawings
The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments so that the features and advantages of the present invention will be more apparent.
FIG. 1 is a perspective view of a pallet claw according to an embodiment of the present disclosure;
FIG. 2 is an exploded view of a pallet gripper according to an embodiment of the present invention.
Reference numerals
1 yard case mainboard
2 fixing plate
3 clamping box board
4 finger mounting plate
5 nut seat
6 bearing seat
7 cylinder block subassembly
8 splint mounting seat
9 yard case nut seat
10 upper hinge
11 lower hinge
12 hinge shaft
13 finger
14 motor mounting seat
15 finger cylinder fork seat
16 induction sheet metal
17 sensor fixing plate
18 cylinder seat cushion plate
19 double-screw lead screw
20 nut
21 rolling bearing
22 slide rail
23 micro photoelectric sensor
24 section bar
25T type nut
26 compressing cylinder
27 clamping cylinder
28 shaft coupling
29 electric machine
30 speed regulating valve
31 valve terminal
32 right-angle quick-change connector
33 second magnetic ring switch
34 first magnetic ring switch
Detailed Description
Hereinafter, a detailed description will be given of embodiments of the present invention. While the invention will be described and illustrated in connection with certain specific embodiments thereof, it should be understood that the invention is not limited to those embodiments. Rather, modifications and equivalents of the invention are intended to be included within the scope of the claims.
Furthermore, in the following detailed description, numerous specific details are set forth in order to provide a better understanding of the present invention. It will be understood by those skilled in the art that the present invention may be practiced without these specific details. In other instances, well-known structures and components are not shown in detail in order not to obscure the subject matter of the invention.
The technical solutions of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments so that the features and advantages of the present invention will be more apparent.
Please refer to fig. 1 and 2, which are schematic structural views of a pallet claw according to an embodiment of the present invention. As shown in fig. 1 and 2, the pallet gripper 100 comprises: the device comprises a stacking main board 1, a fixed board 2, a box clamping board 3, a width adjusting mechanism, a clamping mechanism and a paw swinging mechanism; the fixed plate 2 and the box clamping plate 3 are slidably mounted below the stacking box main board 1 and are arranged oppositely; the width adjusting mechanism is connected with the fixed plate 2 and the box clamping plate 3 and is used for adjusting the distance between the fixed plate 2 and the box clamping plate 3; the clamping and holding mechanism is connected with the box clamping plate 3 and is used for driving the box clamping plate 3 to horizontally move relative to the fixed plate 2; the gripper swinging mechanism comprises a gripper and a rotating device, the gripper is movably connected with the box clamping plate 3, and the rotating device is used for driving the gripper to rotate relative to the box clamping plate 3.
Specifically, the code box main board 1 is horizontally and transversely arranged and is provided with an upper surface and a lower surface which are oppositely arranged. The lower surface of code case mainboard 1 is provided with a slide rail set spare, slide rail set spare includes two parallel arrangement's linear guide 22, linear guide 22 along code case mainboard 1's long limit direction set up and fixed mounting in code case mainboard 1's lower surface all is provided with three slider (the sign omits in the picture) on every linear guide 22, the slider with linear guide 22 sliding connection can along linear guide 22 makes a round trip to slide.
Fixed plate 2 and the equal sliding connection of double-layered case board 3 in the lower surface of sign indicating number case mainboard 1 can be along linear guide 22's length direction round trip movement, and both set up relatively for the centre gripping box.
As shown in fig. 2, the fixing plate 2 and the box clamping plate 3 are both vertically arranged on the lower surface of the code box main board 1, the fixing plate 2 is fixedly connected with the first pair of sliding blocks on the two linear guide rails 22 through the clamping plate mounting seat 8, and the box clamping plate 3 is fixedly connected with the third pair of sliding blocks on the two linear guide rails 22 through the clamping plate mounting seat 8.
Wherein, splint mount pad 8 has mutually perpendicular's first connecting face (vertical direction setting) and second connecting face (horizontal direction setting), fixed plate 2 with splint mount pad 8's first connecting face fixed connection, last first pair of slider of linear guide 22 with splint mount pad 8's second connecting face fixed connection. Thereby, the fixed plate 2 is fixedly connected to the first pair of sliders on the linear guide 22 via the cleat installation seat 8.
Similarly, the box clamping plate 3 is fixedly connected to the first connecting surface of the clamping plate mounting seat 8, and the third pair of sliding blocks on the linear guide rail 22 is fixedly connected to the second connecting surface of the clamping plate mounting seat 8. Thus, the box clamping plate 3 is fixedly connected with the third pair of sliding blocks on the linear guide rail 22 through the clamping plate mounting seat 8.
The width adjustment mechanism includes a motor mount 14, a servo motor 29, and a lead screw assembly. The motor mounting base 14 has a first connecting surface (arranged in the vertical direction) and a second connecting surface (arranged in the horizontal direction) which are perpendicular to each other, the first connecting surface (arranged in the vertical direction) is used for fixedly mounting the servo motor 29, and the second connecting surface (arranged in the horizontal direction) is used for being fixedly connected with the code box main board 1. The motor mounting seat 14 is fixedly connected with the code box main board 1 through a second connecting surface of the motor mounting seat 14, and the servo motor 29 is mounted on the first connecting surface of the motor mounting seat 14, so that the servo motor 29 is fixedly connected with the code box main board 1 through the motor mounting seat 14.
The lead screw assembly is along the long edge direction setting of sign indicating number case mainboard 1, and with sign indicating number case mainboard 1 is parallel to each other. The screw assembly comprises a double-screw 19, two nut assemblies and two rolling bearing assemblies, the two nut assemblies and the two rolling bearing assemblies are arranged at two ends of the double-screw 19, each nut assembly comprises a nut 20 and a nut seat 5, the nuts 20 of the two nut assemblies are sleeved on the double-screw 19 and are arranged in the nut seats 5, the nut seats 5 of one nut assembly are connected with the fixing plate 2, and the nut seats 5 of the other nut assembly are connected with the cylinder seat assembly 7; the rolling bearing assembly comprises a rolling bearing 21 and a bearing seat 6, the rolling bearings 21 of the two groups of rolling bearing assemblies are respectively fixed at two ends of the double-screw rod 19 and are arranged in the bearing seat 6, and the bearing seats 6 of the two groups of rolling bearing assemblies are fixedly connected with the code box main board 1.
One end of the double-screw rod 19 is connected with an output shaft of the servo motor 29 through a coupler 28. When the servo motor 29 works, the double-screw rod 19 can be driven to rotate forward or backward, and the fixing plate 2 and the clamping and holding mechanism are driven to move in the same direction or move back to back. Because the box clamping plate 3 is connected with the clamping and holding mechanism, when the clamping and holding mechanism moves, the box clamping plate 3 moves along with the clamping and holding mechanism. Thereby, the fixing plate 2 and the box clamping plate 3 move in the same direction or in the opposite direction under the driving of the servo motor 29. When moving in the same direction, the distance between the fixed plate 2 and the box clamping plate 3 is reduced. When the box clamping plate moves backwards, the distance between the fixing plate 2 and the box clamping plate 3 is increased.
In this embodiment, the linear guide 22 is horizontally and horizontally disposed, and the dual-screw 19 is disposed parallel to the linear guide 22. Therefore, the fixed plate 2 and the box-clamping plate 3 both move back and forth in the horizontal direction.
The width adjusting mechanism further comprises a sensor assembly, wherein the sensor assembly comprises an induction metal plate 16, a plurality of micro photoelectric sensors 23, a plurality of sensor fixing plates 17 and a section bar 24. The induction metal plate 16 is arranged between the fixed plate and the box clamping plate and fixedly mounted on the cylinder seat assembly 7 of the clamping mechanism, and the induction metal plate 16 can move back and forth under the driving of the cylinder seat assembly 7. The plurality of micro photoelectric sensors 23 are fixedly mounted on the section bar 24 through corresponding sensor fixing plates 17 respectively, the section bar 24 is in a long strip shape, and the section bar 24 is fixedly mounted on the lower surface of the code box main board 1 through a T-shaped nut 25. The plurality of micro photoelectric sensors 23 correspond to the positions of the induction sheet metal 16 and are used for sensing the positions of the induction sheet metal 16.
In this embodiment, the number of the micro photoelectric sensors 23 is three, and the sensors are arranged in a straight line. Accordingly, the width adjustment mechanism may sense three positions via the sensor assembly. Namely, when the first micro-photoelectric sensor 23 is opposite to the induction sheet metal 16, the system senses the position 1; when the two micro-photoelectric sensors 23 are opposite to the induction sheet metal 16, the system senses the position 2; when the three micro-photoelectric sensors 23 are opposite to the induction sheet metal 16, the system senses the position as No. 3.
It should be noted that the number, arrangement and positions of the micro photoelectric sensors 23 are merely examples, and are not limited, and those skilled in the art can set the number, arrangement and positions of the micro photoelectric sensors 23 according to actual requirements.
The clamping mechanism comprises a cylinder seat assembly 7 and a first cylinder 26, the cylinder seat assembly 7 comprises a horizontally arranged main body and a connecting part vertically arranged with the main body, and two ends of the main body are fixedly connected with a second pair of sliding blocks on the two linear guide rails 22, so that the cylinder seat assembly 7 can move back and forth along the linear guide rails 22.
A cylinder block base plate 18 is arranged between the cylinder block assembly 7 and the second pair of sliding blocks, and the cylinder block base plate 18 is used for heightening the mounting surface of the cylinder block assembly 7, so that the upper mounting surface of the cylinder block assembly 7 is flush with the lower mounting surface of the nut block 5, and the nut block 5 is conveniently mounted on the cylinder block assembly 7.
In this embodiment, the cylinder block shim plate 18 and the cylinder block assembly 7 are formed separately, and the two are fixedly connected through a connecting member (e.g., a rivet or a stud), so that the processing difficulty and the processing cost can be reduced. In other embodiments, the cylinder block gasket 18 is integrally formed with the cylinder block assembly 7, which simplifies the assembly process.
The first air cylinder 26 is arranged on one side of the air cylinder seat assembly 7, which is far away from the stacking box main board 1, and is horizontally and transversely arranged, one end of the first air cylinder is fixedly arranged on a connecting part of the air cylinder seat assembly 7, the other end of the first air cylinder is fixedly connected with the box clamping plate 3, and the first air cylinder 26 drives the box clamping plate 3 to move when stretching, so that the first air cylinder is close to or far away from the fixed plate 2.
The paw swing mechanism comprises a paw and a rotating device. Wherein, the hand claw includes finger mounting panel 4 and a plurality of finger 13, finger mounting panel 4 install in the downside edge of pressing from both sides boxboard 3, be provided with a plurality of mounting hole along the length direction interval on the finger mounting panel 4, a plurality of finger 13 passes through a plurality of mounting hole fixed mounting in on the finger mounting panel 4. The fingers 13 are L-shaped, one section of the L-shaped fingers is an installation section, the other section of the L-shaped fingers is a bending section, and the joint of the installation section and the bending section is the joint of the L-shaped fingers. Wherein, the joint of the L-shaped finger is not movable, thus bearing larger weight. In this embodiment, the paw adopts the aluminum product of high strength to make, a plurality of finger 13 is parallel equidistance setting.
The rotating means comprises a hinge assembly and a second cylinder 27. The second cylinder 27 is vertically arranged, one end of the second cylinder is fixedly mounted on one side of the box clamping plate 3, which is far away from the fixed plate 2, the other end of the second cylinder is connected with the finger mounting plate 4 through the cylinder fork seat assembly 15, and the second cylinder 27 drives the cylinder fork seat assembly 15 and the finger mounting plate 4 to move when extending and retracting, so that the gripper is driven to rotate up and down relative to the box clamping plate 3. Therefore, the gripper can hold the object to be grabbed from the bottom during grabbing operation, and the grabbing stability is improved.
The hinge assembly comprises an upper hinge 10, a lower hinge 11 and a hinge shaft 12, wherein the upper hinge 10 and the lower hinge 11 are connected through the hinge shaft 12, and the upper hinge 10 and the lower hinge 11 can rotate around the hinge shaft 12. The upper hinge 10 is fixedly connected with the lower end of the box clamping plate 3, and the lower hinge 11 is fixedly connected with the finger mounting plate 4, so that the paw can swing back and forth relative to the box clamping plate 3.
The paw is before the swing, and the installation section of L shape finger is the level setting, and the bending section of L shape finger is vertical setting. The paw is after the swing, and the installation section of L shape finger is vertical setting, and the bending section of L shape finger is the level setting.
The air path control unit comprises a valve island 31, a right-angle quick-change connector 32, a first magnetic ring switch 34, a second magnetic ring switch 33 and a plurality of speed regulating valves 30. Wherein the right-angle quick-change connector 32 is arranged on the valve island 31 and is used for connecting a general air inlet source air pipe (not shown in the figure). The valve island 31 is installed on the upper surface of the code box main board 1 and is used for respectively driving the first cylinder 26 and the second cylinder 27 to work. The plurality of speed control valves 30 include a first speed control valve and a second speed control valve, the first speed control valve is installed on the air port of the first cylinder 26, and the second speed control valve is installed on the air port of the second cylinder 27, and is used for respectively controlling the action speeds of the first cylinder 26 and the second cylinder 27. The first magnetic ring switch 34 is mounted on the body of the first cylinder 26 for detecting the extension and contraction of the first cylinder 26. The second magnetic ring switch 33 is installed on the body of the second cylinder 27, and is used for detecting the extension and contraction conditions of the second cylinder 27.
The main working process of the stacking gripper 100 comprises the following steps:
firstly, the servo motor 29 drives the double-screw rod 19 to rotate forwards or backwards, the double-screw rod 19 drives the fixed plate 2 and the box clamping plate 3 to horizontally move to a preset position, and the preset position is adjusted according to the size of an object to be grabbed (such as a product packing box);
then, the first air cylinder 26 is driven to work through the valve island 31, the first air cylinder 26 extends to drive the box clamping plate 3 to horizontally move to a grabbing position, and the grabbing position is sensed through the sensor assembly and can be a No. 1 position, a No. 2 position or a No. 3 position;
when a product packing box is grabbed, the first air cylinder 26 retracts to drive the box clamping plate 3 to approach to the fixed plate 2 until the product packing box is clamped, and the box clamping plate 3 and the fixed plate 2 form a certain clamping force on the product packing box to prevent the product packing box from moving in the moving process; meanwhile, the second air cylinder 27 is driven to work through the valve island 31, the second air cylinder 27 extends to drive the paw to swing downwards, the open state is changed into the closed state, namely the L-shaped finger rotates 90 degrees relative to the box clamping plate, so that the compressing and supporting effect on the object to be grabbed is formed, and the paw is supported at the bottom of the product packaging box to prevent the product packaging box from falling;
after grabbing successfully, the robot drives the stacking claw 100 to leave the production line and move to the stacking position;
then, the second air cylinder 27 is driven to work through the valve island 31, the second air cylinder 27 retracts, and the paw is driven to swing upwards to change from a closed state to an open state; meanwhile, the first air cylinder 26 extends to drive the box clamping plate 3 to be far away from the fixing plate 2 until the box clamping plate returns to the initial position, and then the product packaging box is loosened;
and finishing one time of box stacking work. The code box works in this cycle.
In this embodiment, the stacking gripper 100 uses compressed air as driving power, and the first cylinder 26 and the second cylinder 27 cooperate to clamp and convey the product packaging box. The stacking paw 100 is simple and compact in structure, capable of effectively reducing arrangement space and reducing manufacturing and maintenance cost, and large in load, and the maximum load can reach 50 kg.
In addition, the pallet gripper 100 is provided with a width adjusting mechanism, and can adjust the size of the gripping space according to the size of the packaging box, so that the pallet gripper can be compatible with various packaging boxes with different sizes. In this embodiment, the height of the packing box is 450 mm-680 mm, the length is 700 mm-920 mm, and the width is 300 mm-400 mm.
The stacking gripper 100 provided by the embodiment is suitable for stacking operation of an air conditioner production line. For example, a palletizing operation is performed on the air conditioner internal unit.
Preferably, one side of the box clamping plate 3 facing the fixed plate 2 is provided with an elastic buffer material, and one side of the fixed plate 2 facing the box clamping plate 3 is provided with an elastic buffer material. Set up elastic buffer material (for example sponge) on fixed plate 2 and the double-layered boxboard 3, can be right the clamp force that fixed plate 2 and double-layered boxboard 3 applyed on the packing box cushions, avoids the paper packing box of air conditioner internal unit to appear the extrusion vestige.
Correspondingly, the invention further provides an air conditioner indoor unit carrying device which comprises the stacking claw 100. Please refer to the above, which is not described herein.
In conclusion, the stacking paw and the air conditioner indoor unit carrying device are matched with each other through the width adjusting mechanism, the clamping mechanism and the paw swinging mechanism, stacking operation of various products is achieved, and grabbing stability can be improved while load is increased.
The foregoing is a more detailed description of the present application in connection with specific preferred embodiments and it is not intended that the present application be limited to these specific details. For those skilled in the art to which the present application pertains, several simple deductions or substitutions may be made without departing from the concept of the present application, and all should be considered as belonging to the protection scope of the present application.
Claims (12)
1. A stacking gripper, comprising: the device comprises a stacking box main board, a fixing board, a box clamping board, a width adjusting mechanism, a clamping mechanism and a paw swinging mechanism;
the fixed plate and the box clamping plate are slidably arranged below the stacking box main plate and are arranged oppositely;
the width adjusting mechanism is connected with the fixed plate and the box clamping plate and is used for adjusting the distance between the fixed plate and the box clamping plate;
the clamping and holding mechanism is connected with the box clamping plate and used for driving the box clamping plate to horizontally move relative to the fixed plate;
the gripper swinging mechanism comprises a gripper and a rotating device, the gripper is movably connected with the box clamping plate, and the rotating device is used for driving the gripper to rotate relative to the box clamping plate.
2. The pallet claw of claim 1 including a finger mounting plate mounted to the underside edge of the box clamp plate and a plurality of fingers fixedly mounted to the finger mounting plate.
3. The pallet hand of claim 2, wherein the rotating means comprises a first cylinder and cylinder yoke block assembly;
one end of the first air cylinder is fixedly arranged on one side of the box clamping plate, which deviates from the fixed plate, and the other end of the first air cylinder is fixedly connected with the finger mounting plate through the air cylinder fork seat assembly.
4. The stacking gripper of claim 3, further comprising an air circuit control unit, the air circuit control unit comprising: the valve terminal, the first magnetic ring switch and the first speed regulating valve;
the valve island is arranged on the code box main board, is connected with the first cylinder through an air pipe and is used for driving the first cylinder to work;
the first magnetic ring switch is arranged on the first air cylinder and used for detecting the extension and contraction conditions of the first air cylinder;
the first speed regulating valve is arranged on the first air cylinder and used for controlling the action speed of the first air cylinder.
5. The pallet hand of any one of claims 1 to 4, wherein the width adjustment mechanism comprises a motor mount, a servo motor and a lead screw assembly;
the motor mounting seat is fixedly connected with the code box main board, and the servo motor is fixedly mounted on the motor mounting seat;
the screw rod assembly is arranged on the lower surface of the stacking box main board and connected with the fixed plate and the box clamping plate, and one end of the screw rod assembly is connected with an output shaft of the servo motor through a coupler.
6. The pallet hand of claim 5, wherein the pallet magazine is coupled to the lead screw assembly via the clamp mechanism, the clamp mechanism including a cylinder block assembly and a second cylinder;
the cylinder block assembly is connected with the lead screw assembly;
one end of the second cylinder is fixedly arranged on the cylinder seat assembly, and the other end of the second cylinder is fixedly connected with the box clamping plate.
7. The stacking gripper of claim 6, wherein the width adjustment mechanism further comprises a track assembly, the track assembly comprises at least one track, each track is sequentially provided with a first slide block, a second slide block and a third slide block, the track is fixedly arranged on the lower surface of the main plate of the stacking box, the first slide block is fixed with the fixing plate, the second slide block is fixed with the cylinder seat assembly, and the third slide block is fixed with the box clamping plate.
8. The pallet hand claw of claim 6 or 7 wherein the screw assembly comprises a double screw and two sets of nut assemblies and two sets of rolling bearing assemblies disposed at opposite ends of the double screw, the nut assemblies comprising a nut and a nut seat, the nuts of the two sets of nut assemblies each fitting over the double screw and being mounted in the nut seat, the nut seat of one set of nut assemblies being connected to the fixed plate and the nut seat of the other set of nut assemblies being connected to the cylinder seat assembly; the rolling bearing assembly comprises a rolling bearing and a bearing seat, the rolling bearings of the two rolling bearing assemblies are respectively fixed at two ends of the double-screw rod and are arranged in the bearing seat, and the bearing seats of the two rolling bearing assemblies are fixedly connected with the code box main board.
9. The pallet hand of claim 5, wherein the width adjustment mechanism further comprises a sensor assembly including a plurality of micro-opto-electrical sensors and sensing sheet metal;
the induction metal plate is arranged between the fixed plate and the box clamping plate and is fixedly connected with the clamping mechanism; a plurality of micro photoelectric sensors are fixedly installed on the code box main board through a section bar and used for sensing the positions of the induction metal plates.
10. The stacking gripper of claim 6, wherein the stacking gripper comprises an air circuit control unit comprising: the valve island, the second magnetic ring switch and the second speed regulating valve;
the valve island is arranged on the code box main board, is connected with the second cylinder through an air pipe and is used for driving the second cylinder to work;
the second magnetic ring switch is arranged on the second air cylinder and used for detecting the extension and contraction conditions of the second air cylinder;
and the second speed regulating valve is arranged on the second air cylinder and is used for controlling the action speed of the second air cylinder.
11. The pallet gripper of claim 1, wherein the side of the clamping plate facing the fixing plate and/or the side of the fixing plate facing the clamping plate is provided with a resilient damping material.
12. An air conditioner internal unit handling device, characterized by comprising the pallet gripper as claimed in any one of claims 1 to 11.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910543688.0A CN112110213A (en) | 2019-06-21 | 2019-06-21 | Stacking paw and air conditioner indoor unit carrying device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910543688.0A CN112110213A (en) | 2019-06-21 | 2019-06-21 | Stacking paw and air conditioner indoor unit carrying device |
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| CN112110213A true CN112110213A (en) | 2020-12-22 |
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| CN201910543688.0A Pending CN112110213A (en) | 2019-06-21 | 2019-06-21 | Stacking paw and air conditioner indoor unit carrying device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114229497A (en) * | 2022-01-14 | 2022-03-25 | 靖江新舟合金材料有限公司 | Automatic pile up neatly special fixture of alloy spindle |
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| CN105835079A (en) * | 2016-05-31 | 2016-08-10 | 佛山科学技术学院 | Stacking manipulator |
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
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| DE69125534D1 (en) * | 1990-06-28 | 1997-05-15 | Hughes Aircraft Co | 3-D weather display for digital railing radar simulation |
| ES2167310T3 (en) * | 1990-10-24 | 2002-05-16 | Ibm | APPLIANCE AND METHOD FOR PERFORMING MANUFACTURED RETOKS BY COMPUTER. |
| DE50210152D1 (en) * | 2001-02-27 | 2007-06-28 | Focke & Co | Device for supplying packaging machines with packaging material |
| CN103802101A (en) * | 2013-01-25 | 2014-05-21 | 常州先进制造技术研究所 | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot |
| CN105835079A (en) * | 2016-05-31 | 2016-08-10 | 佛山科学技术学院 | Stacking manipulator |
| CN109129537A (en) * | 2017-06-28 | 2019-01-04 | 上海昱庄机械科技有限公司 | Handling gripper manipulator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114229497A (en) * | 2022-01-14 | 2022-03-25 | 靖江新舟合金材料有限公司 | Automatic pile up neatly special fixture of alloy spindle |
| CN114229497B (en) * | 2022-01-14 | 2022-09-23 | 靖江新舟合金材料有限公司 | Automatic pile up neatly special fixture of alloy spindle |
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Application publication date: 20201222 |