CN112110214A - Pile up neatly hand claw and outer quick-witted handling device of air conditioner - Google Patents
Pile up neatly hand claw and outer quick-witted handling device of air conditioner Download PDFInfo
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- CN112110214A CN112110214A CN201910544733.4A CN201910544733A CN112110214A CN 112110214 A CN112110214 A CN 112110214A CN 201910544733 A CN201910544733 A CN 201910544733A CN 112110214 A CN112110214 A CN 112110214A
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- 210000000078 claw Anatomy 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 60
- 230000001105 regulatory effect Effects 0.000 claims description 34
- 229910000831 Steel Inorganic materials 0.000 claims description 25
- 239000010959 steel Substances 0.000 claims description 25
- 230000001276 controlling effect Effects 0.000 claims description 12
- 230000009471 action Effects 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 5
- 238000013016 damping Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 12
- 238000012423 maintenance Methods 0.000 abstract description 4
- 238000004806 packaging method and process Methods 0.000 description 14
- 241000274582 Pycnanthus angolensis Species 0.000 description 12
- 239000011087 paperboard Substances 0.000 description 12
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 4
- 238000012856 packing Methods 0.000 description 4
- 230000003014 reinforcing effect Effects 0.000 description 4
- 239000000123 paper Substances 0.000 description 3
- 238000003825 pressing Methods 0.000 description 3
- 230000003584 silencer Effects 0.000 description 3
- 238000005728 strengthening Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000004378 air conditioning Methods 0.000 description 1
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 1
- 229910052782 aluminium Inorganic materials 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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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
In the pile up neatly hand claw and outer quick-witted handling device of air conditioner that this application provided, mutually support through height adjustment mechanism, centre gripping actuating mechanism and swing mechanism, realize the pile up neatly operation of multiple product, can improve the stability of snatching in addition when increasing the load, it is further, pile up neatly hand claw simple structure, compactness can effectively reduce and arrange the space, reduce manufacturing and maintenance cost.
Description
Technical Field
The application relates to the technical field of industrial robots, in particular to a pile up neatly hand claw and outer machine handling device of air conditioner.
Background
For the air conditioning industry, more and more air conditioner manufacturers begin to select palletizing robots for auxiliary production. The palletizing robot grabs the products conveyed by the product production line and performs automatic stacking and transferring work, so that the labor intensity of people can be greatly reduced. In the stacking process, the stacking robot generally adopts mechanical grippers (namely stacking grippers) to clamp and hold two sides of a product packaging box.
Currently, air conditioner factories generally implement non-standard production, and air conditioner outdoor units with various external dimensions on the same production line comprise products such as household air conditioners and heat pumps, the weight of the products is from 40KG to 120KG, and the external dimensions are from 734 × 320 × 526 to 1065 × 430 × 1302, so that the requirements on the adaptability of automation are high. However, the clamping space of the existing stacking claw is generally fixed, and can only adapt to products with a single size, so that the existing stacking claw cannot adapt to a new machine type and cannot adapt to mixed line production of different machine types. Moreover, the load of the stacking paw is mostly below 75KG, which can not completely meet the load requirement of the product. In addition, when the stacking claw clamps and embraces the two sides of the paper packaging box, the paper packaging box is easily extruded, so that the appearance quality of a product is difficult to control.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a stacking paw and an air conditioner external unit carrying device, which overcome the difficulties in the prior art, can improve the load and the 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 box clamping board, a fixing plate, a paw, a swinging mechanism, a height adjusting mechanism, a clamping driving mechanism and an air channel control unit;
the fixing plate is fixedly arranged on the lower side of the code case main board, and the case clamping plate is slidably arranged on the lower side of the code case main board and is opposite to the fixing plate;
the height adjusting mechanism is mounted on the box clamping plate and connected with the paw, and is used for driving the paw to move vertically relative to the box stacking main plate;
the swing mechanism is mounted on the box clamping plate and connected with the paw, and is used for driving the paw to rotate relative to the box clamping plate;
the clamping driving mechanism is fixed on the lower side of the stacking box main board, is connected with the box clamping board and is used for driving the box clamping board to horizontally move relative to the fixed board;
and the gas circuit control unit is connected with the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism and is used for respectively controlling the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism.
Optionally, in the stacking paw, the clamping driving mechanism includes a box clamping cylinder, a cylinder flange and a transverse sliding rail assembly;
the transverse sliding rail assembly comprises a first linear guide rail and a first sliding block, the first linear guide rail is transversely arranged, the first sliding block is arranged on the first linear guide rail, the box clamping plate is fixedly connected with the first sliding block and slides along the first linear guide rail through the first sliding block, and the first linear guide rail is fixedly arranged on the lower side of the code box main board;
the box clamping cylinder is transversely arranged and is fixedly connected with the code box main board through the cylinder flange, and the telescopic end of the box clamping cylinder is fixedly connected with the box clamping plate.
Optionally, in the pallet gripper, the air path control unit includes: the valve terminal, the pressure regulating valve and the first speed regulating valve;
the valve island is arranged on the code box main board, is connected with the box clamping cylinder through an air pipe and is used for driving the box clamping cylinder to work;
the pressure regulating valve is arranged on the code box main board, is connected with the box clamping cylinder and is used for regulating the air inlet pressure of the box clamping cylinder;
the first speed regulating valve is arranged on an air port of the box clamping cylinder and used for controlling the action speed of the box clamping cylinder.
Optionally, in the stacking paw, the height adjusting mechanism includes a height adjusting cylinder, a longitudinal slide rail assembly and a slide rail channel steel;
the longitudinal slide rail assembly comprises a second linear guide rail which is longitudinally arranged and a second slide block which is arranged on the second linear guide rail, the second slide block is connected with the second linear guide rail in a sliding manner, and the second linear guide rail is fixedly arranged on one side of the box clamping plate, which is far away from the fixed plate;
the slide rail channel steel corresponds to the second linear guide rail one to one, one end of the slide rail channel steel is connected with the second sliding block, and the other end of the slide rail channel steel is connected with the paw;
the height adjusting cylinder is longitudinally arranged and fixedly installed on one side, deviating from the fixed plate, of the box clamping plate, and the telescopic end of the height adjusting cylinder is connected with the paw.
Optionally, in the stacking paw, the height adjusting mechanism further includes a drag chain fixing plate, a drag chain moving plate and a drag chain;
the drag chain is flexible, one end of the drag chain is connected with the drag chain fixing plate, the other end of the drag chain is connected with the drag chain moving plate, the drag chain fixing plate is fixed on the box clamping plate, and the drag chain moving plate is fixed on the slide rail channel steel.
Optionally, in the pallet gripper, the air path control unit includes: a valve island and a second speed regulating valve;
the valve island is arranged on the code box main board, is connected with the height adjusting cylinder through an air pipe and is used for driving the height adjusting cylinder to work;
the second speed regulating valve is arranged on the air port of the height adjusting cylinder and used for controlling the action speed of the height adjusting cylinder.
Optionally, the stacking claw, the claw includes a finger mounting plate and a plurality of fingers, the finger mounting plate pass through the hinge assembly install in the downside of slide rail channel steel, a plurality of fingers fixed mounting in on the finger mounting plate.
Optionally, in the pallet gripper, the swing mechanism includes a finger cylinder and a finger cylinder socket;
the finger cylinder is longitudinally arranged and fixedly installed on one side of the box clamping plate, which deviates from the fixed plate, the telescopic end of the finger cylinder passes through the finger cylinder socket seat and is fixedly connected with the finger installation plate, and the finger cylinder socket seat performs rotary motion during telescopic motion of the finger cylinder.
Optionally, in the pallet gripper, the air path control unit includes: a valve island and a third speed regulating valve;
the valve island is arranged on the code box main board, is connected with the finger cylinder through an air pipe and is used for driving the finger cylinder to work;
the third speed regulating valve is arranged on an air port of the finger cylinder and used for controlling the action speed of the finger 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, the air conditioner external unit carrying device comprises the stacking claw.
In the stacking paw and the air conditioner external unit carrying device provided by the invention, the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism are mutually matched, so that stacking operation of various products is realized, the grabbing stability can be improved while the load is increased, and further, the stacking paw is simple and compact in structure, the arrangement space can be effectively reduced, and the manufacturing and maintenance cost is reduced.
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 main board
2 clamping box board
3 fixing plate
4 clamping box plate reinforcing rib
5 cylinder flange
6 finger mounting plate
7 fixed plate mounting base
8 press from both sides boxboard mount pad
9 sliding cylinder plug end seat
10 main board reinforcing rib
11 slide rail channel steel
12-finger cylinder plug end seat
13 upper hinge
14 lower hinge
15 hinge shaft
16 finger
17 drag chain fixing plate
18 drag chain moving plate
19 valve terminal
20 pressure regulating valve
21 clamping box cylinder
22 height adjusting cylinder
23 finger cylinder
24 first linear guide
25 second linear guide
26 first speed regulating valve
27 second speed regulating valve
28 elbow bend
29 quick-change connector
30 single ear ring seat
31 double toggle joint
32 silencer
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 box main board 1, a box clamping board 2, a fixing board 3, a paw, a swinging mechanism, a height adjusting mechanism, a clamping driving mechanism and an air path control unit; the fixing plate 3 is fixedly arranged at the lower side of the code case main board 1, and the box clamping plate 2 is slidably arranged at the lower side of the code case main board 1 and is opposite to the fixing plate 3; the height adjusting mechanism is mounted on the box clamping plate 2, connected with the paw and used for driving the paw to vertically move relative to the box stacking main plate 1; the swing mechanism is mounted on the box clamping plate 2, connected with the paw and used for driving the paw to rotate relative to the box clamping plate 2; the clamping driving mechanism is fixed on the lower side of the stacking box main board, is connected with the box clamping board 2 and is used for driving the box clamping board 2 to horizontally move relative to the fixed board 3; and the gas circuit control unit is connected with the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism and is used for respectively controlling the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism.
Specifically, the code box main board 1 is connected with a robot (not shown in the figure), and is driven by the robot to move. Sign indicating number case mainboard 1 has relative upper surface and the lower surface that sets up, press from both sides boxboard 2 and fixed plate 3 all install in sign indicating number case mainboard 1's lower surface and relative setting for the centre gripping box.
Centre gripping actuating mechanism is including pressing from both sides case cylinder 21, cylinder flange 5 and horizontal slide rail set spare, press from both sides case cylinder 21, cylinder flange 5 and horizontal slide rail set spare all set up in the lower surface of sign indicating number case mainboard 1. Wherein, horizontal slide rail set spare includes that two are parallel to each other and transversely set up press from both sides the first linear guide rail 24 of case cylinder 21 both sides and set up in slider (reference numeral is not shown in the figure) on the first linear guide rail 24, first linear guide rail 24 along the long limit direction of sign indicating number case mainboard 1 sets up and fixed mounting in the lower surface of sign indicating number case mainboard 1, the slider with first linear guide rail 24 sliding connection, press from both sides the case board 2 with slider fixed connection, through the slider along first linear guide rail 24 slides back and forth. Press from both sides case cylinder 21 and transversely set up, its one end (stiff end promptly) passes through cylinder flange 5 with sign indicating number case mainboard 1 fixed connection, its other end (flexible end promptly) with press from both sides 2 fixed connection of boxboard. The box clamping cylinder 21 is used for driving the box clamping plate 2 to move back and forth along the first linear guide rail 24, so as to adjust the distance between the box clamping plate 2 and the fixing plate 3.
In this embodiment, the box clamping cylinder 21 is a one-way extending locking cylinder, so that the safety and reliability of the clamping box can be ensured.
In this embodiment, the box stacking main board 1 is horizontally and transversely disposed, so the first linear guide rail 24 is also horizontally and transversely disposed, and the box clamping board 2 moves back and forth along the horizontal direction.
The clamping driving mechanism further comprises a single-lug ring seat 30 and a double-toggle joint 31, the single-lug ring seat 30 is fixedly installed on the box clamping plate 2, the double-toggle joint 31 is connected between the box clamping cylinder 21 and the single-lug ring seat 30, and the telescopic end of the box clamping cylinder 21 is fixedly connected with the double-toggle joint 31.
Referring to fig. 2, the fixing plate 3 is fixedly mounted on the lower surface of the code box main board 1 through a fixing plate mounting seat 7, the fixing plate mounting seat 7 has a first connecting surface (arranged in a vertical direction) and a second connecting surface (arranged in a horizontal direction) perpendicular to each other, the first connecting surface is used for connecting the fixing plate 3, and the second connecting surface is used for connecting the code box main board 1. Press from both sides boxboard 2 through pressing from both sides boxboard mount pad 8 with slider on the first linear slide rail 24 is connected, splint mount pad 8 has mutually perpendicular's first connection face (vertical direction setting) and second connection face (horizontal direction setting), first connection face is used for connecting press from both sides boxboard 2, the second is connected the face and is used for connecting slider on the first linear guide rail 24. Thereby, the box clamping plate 2 is slidably mounted on the lower surface of the box main plate 1.
Preferably, one side of the box clamping plate 2 facing the fixing plate 3 is provided with an elastic buffer material, and one side of the fixing plate 3 facing the box clamping plate 2 is provided with an elastic buffer material. Set up elasticity buffer material (for example sponge) on fixed plate 3 and the double-layered boxboard 2, can be right the clamp force that fixed plate 3 and double-layered boxboard 2 applyed on the product packing box cushions, avoids the paper packing box of product to appear the extrusion vestige.
Height adjustment mechanism includes height control cylinder 22, vertical slide rail set spare and slide rail channel-section steel 11, height control cylinder 22, vertical slide rail set spare, slide rail channel-section steel 11 all set up in press from both sides deviating from of boxboard 2 one side of fixed plate 3. The longitudinal slide rail assembly comprises two second linear guide rails 25 which are parallel to each other and longitudinally distributed on two sides of the height adjusting cylinder 22 and second sliding blocks (reference numerals are not shown in the drawing) arranged on the second linear guide rails 25, the second linear guide rails 25 are arranged along the long side direction of the box clamping plate 2 and fixedly connected with the box clamping plate 2, two second sliding blocks are arranged on each second linear guide rail 25 and are in sliding connection with the second linear guide rails 25, and the second linear guide rails 25 can slide back and forth. The slide rail channel-section steel 11 is equally along the long limit direction setting of pressing from both sides boxboard 2, just slide rail channel-section steel 11 with second linear guide 25 one-to-one, slide rail channel-section steel 11's one end is connected rather than two second sliders on the corresponding second linear guide 25, slide rail channel-section steel 11's the other end with the hand claw is connected. Height adjusting cylinder 22 vertically sets up, and it has relative stiff end and the flexible end that sets up, the stiff end is close to sign indicating number case mainboard 1, flexible end is kept away from sign indicating number case mainboard 1 and with the hand claw is connected. The height adjusting cylinder 22 drives the paw to move back and forth along the second linear guide rail 25 during expansion, so as to adjust the height of the paw.
The height adjusting mechanism further comprises a box clamping plate reinforcing rib 4, a sliding cylinder plug end seat 9, a drag chain fixing plate 17, a drag chain moving plate 18 and a drag chain (not shown in the figure). The box clamping plate reinforcing ribs 4 are fixed on one side, deviating from the fixing plate 3, of the box clamping plate 2 and used for increasing the structural strength of the box clamping plate 2 and preventing the box clamping plate from deforming. Slide cylinder socket 9 with slide rail channel-section steel 11 sets up just perpendicularly slide cylinder socket 9's both ends respectively with two slide rail channel-section steels 11 fixed connection, height adjusting cylinder 22's flexible end connect in slide cylinder socket 9's intermediate position, height adjusting cylinder 22 passes through slide cylinder socket 9 prescribes a limit to its flexible position of end. One end of the drag chain fixing plate 17 is fixedly connected with the box clamping plate 2, the other end of the drag chain fixing plate 17 is used for connecting one end of a drag chain, one end of the drag chain moving plate 18 is fixedly connected with the slide rail channel steel 11, the other end of the drag chain moving plate 18 is used for connecting the other end of the drag chain (not shown in the figure), namely, the two ends of the drag chain are respectively connected with the drag chain fixing plate 17 and the drag chain moving plate 18.
When the height adjusting cylinder 22 works, the telescopic end of the height adjusting cylinder 22 drives the slide rail channel steel 11 to move up and down through the sliding cylinder socket seat 9, at the moment, the tow chain moving plate 18 moves up and down along with the slide rail channel steel 11, namely, one end of the tow chain is fixed, and the other end of the tow chain moves up and down along with the action of the height adjusting cylinder 22. The drag chain has scalability, and the air pipe (including the air inlet pipe and the air outlet pipe) is bound on the drag chain and moves along with the drag chain.
With reference to fig. 2, the gripper includes a finger mounting plate 6 and a plurality of fingers 16, a plurality of mounting holes are formed in the finger mounting plate 6 at intervals along the length direction, and the plurality of fingers 16 are fixedly mounted on the finger mounting plate 6 through the plurality of mounting holes. Finger mounting panel 6 pass through the hinge subassembly install in slide rail channel-section steel 11's downside, the hinge subassembly include hinge 13, lower hinge 14 and with go up hinge 13 and the hinge axle 15 that lower hinge 14 links to each other, it can center on with lower hinge 14 to go up hinge 13 hinge 15 rotary motion. The upper hinge 13 is fixedly connected with the lower end of the sliding rail channel steel 11, the lower hinge 14 is fixedly connected with the finger mounting plate 6, and therefore the paw can swing back and forth relative to the sliding rail channel steel 11.
Swing mechanism is including pointing cylinder 23 and pointing cylinder socket 12, point cylinder 23 fixed mounting in press from both sides deviating from of boxboard 2 one side of fixed plate 3, point cylinder 23 to have the stiff end and the flexible end of relative setting, the stiff end is close to sign indicating number case mainboard 1, flexible end is kept away from sign indicating number case mainboard 1 and through point cylinder socket 12 with point mounting panel 6 is connected. When the finger cylinder 23 stretches out and draws back, the finger cylinder socket 12 is forced to rotate and drives the finger mounting plate 6 to rotate in the same direction, so as to drive the paw to rotate 90 degrees relative to the box clamping plate 2. Therefore, the gripper can hold the gripped product packaging box from the bottom during gripping operation, and further improves the gripping stability.
In this embodiment, the finger 16 is L-shaped, one of the sections of the L-shaped finger is an installation section, the other section is a bending section, and the joint of the installation section and the bending section is the joint of the L-shaped finger. 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.
Preferably, the paw is made of high-strength aluminum, the fingers 16 are arranged in parallel at equal intervals, and joints of the L-shaped fingers cannot move. Thus, the paw bears more weight and has higher reliability.
With continued reference to fig. 2, the gas circuit control unit includes: valve island 19, pressure regulating valve 20, quarter bend 28, first speed valve 26, second speed valve 27 and third speed valve (not shown in the figure). The valve island 19 is an integrated valve island, is mounted on the code box main board 1, and is connected to the box clamping cylinder 21, the height adjusting cylinder 22 and the finger cylinder 23 through air pipes (not shown), respectively, for driving the box clamping cylinder 21, the height adjusting cylinder 22 and the finger cylinder 23 to work. The quick-change coupling 29 is arranged on the valve island 19 for connection to an air manifold (not shown). The pressure regulating valve 20 is mounted on the code box main board 1, connected with the box clamping cylinder 21, and used for regulating the air pressure of the inlet air and further regulating the clamping pressure of the box clamping cylinder 21. The pressure regulating valve 20 is provided with two right-angle bends 28, wherein one right-angle bend 28 is used for connecting an air inlet pipe, and the other right-angle bend 28 is used for connecting an air outlet pipe. The first speed regulating valve 26 is arranged on an air port of the box clamping cylinder 21 and is used for controlling the action speed of the box clamping cylinder 21. The second speed regulating valve 27 is disposed on an air port of the height adjusting cylinder 22, and is used for controlling the operating speed of the height adjusting cylinder 22. The third speed regulating valve is arranged on an air port of the finger cylinder 23 and is used for controlling the action speed of the finger cylinder 23.
The gas circuit control unit further comprises: mainboard strengthening rib 10 and silencer 32, mainboard strengthening rib 10 is fixed in as the valve island mounting panel the upper surface of ink recorder mainboard 1, valve island 19 install in on the mainboard strengthening rib 10, silencer 32 set up in on the valve island 19 for reduce noise.
In this embodiment, the air ports of the box clamping air cylinder 21, the height adjusting air cylinder 22 and the finger air cylinder 23 are all provided with speed regulating valves, so that the action speeds of the air cylinders can be conveniently regulated and controlled. The first speed regulating valve 26, the second speed regulating valve 27 and the third speed regulating valve are all double-control electromagnetic valves.
The main working process of the stacking gripper 100 comprises the following steps:
firstly, the robot drives the stacking claw 100 to move to a grabbing position;
then, the valve island 19 drives the box clamping cylinder 21 to work, the box clamping cylinder 21 extends to drive the box clamping plate 2 to be away from the fixed plate 3 until the distance between the fixed plate 3 and the box clamping plate 2 is a preset distance, and the preset distance is adjusted according to the size of the product packaging box;
then, the valve island 19 drives the box clamping cylinder 21 to work, the box clamping cylinder 21 contracts to drive the box clamping plate 2 to approach to the fixing plate 3 until the product packaging box is clamped, and the box clamping plate 2 and the fixing plate 3 form a certain clamping force on the product packaging box to prevent the product packaging box from moving in the moving process; at the moment, the finger cylinder 23 is driven to work through the valve island 19, the finger cylinder 23 extends to drive the paw to swing downwards (clockwise) to change from an open state to a closed state, 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;
the finger cylinder 23 is driven to work through the valve island 19, the finger cylinder 23 contracts, and the paw is driven to swing upwards (anticlockwise) to change from a closed state to an open state; at this time, the process of the present invention,
the box clamping cylinder 21 is driven to work through the valve island 19, the box clamping cylinder 21 extends to drive the box clamping plate 2 to be away from the fixed plate 3 until the distance between the fixed plate 3 and the box clamping plate 2 is a preset distance, and then a product packaging box is loosened;
and finishing one time of box stacking work. The code box works in this cycle.
In addition, before the stacking claw 100 works, the height of the claw can be adjusted according to the size of a product packing box so as to adapt to different products. The adjusting process comprises the following steps: the valve island 19 drives the height adjusting cylinder 22 to work, and the height adjusting cylinder 22 extends or contracts, so that the paw is driven to ascend or descend.
In this embodiment, the stacking gripper 100 uses compressed air as driving power, and clamps and carries the product packaging box through the cooperation of the box clamping cylinder 21, the height adjusting cylinder 22 and the finger cylinder 23. 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 120 kg.
In addition, the stacking claw 100 is matched with the clamping driving mechanism to adjust the size of the grabbing space according to the size of the product packaging box by arranging the height adjusting mechanism to adjust the height of the claw, so that the stacking claw can be compatible with various product packaging boxes with different sizes. In the embodiment, the height range of the product packing box is 450 mm-1300 mm, the length range is 730 mm-1065 mm, and the width range is 320 mm-470 mm.
The stacking gripper 100 provided by the embodiment is suitable for stacking operation of an air conditioner production line. For example, the palletizing operation is performed on the air conditioner external unit. The method is suitable for severe production environment, has higher adaptability and is more favorable for the automatic development of the air conditioner industry.
Correspondingly, the invention further provides an air conditioner external 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 external unit carrying device are matched with each other through the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism, stacking operation of various products is achieved, the grabbing stability can be improved while the load is increased, and further the stacking paw is simple and compact in structure, can effectively reduce the arrangement space, and reduces the manufacturing and maintenance cost.
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 (11)
1. A stacking gripper, comprising: the device comprises a stacking box main board, a box clamping board, a fixing plate, a paw, a swinging mechanism, a height adjusting mechanism, a clamping driving mechanism and an air channel control unit;
the fixing plate is fixedly arranged on the lower side of the code case main board, and the case clamping plate is slidably arranged on the lower side of the code case main board and is opposite to the fixing plate;
the height adjusting mechanism is mounted on the box clamping plate and connected with the paw, and is used for driving the paw to move vertically relative to the box stacking main plate;
the swing mechanism is mounted on the box clamping plate and connected with the paw, and is used for driving the paw to rotate relative to the box clamping plate;
the clamping driving mechanism is fixed on the lower side of the stacking box main board, is connected with the box clamping board and is used for driving the box clamping board to horizontally move relative to the fixed board;
and the gas circuit control unit is connected with the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism and is used for respectively controlling the height adjusting mechanism, the clamping driving mechanism and the swinging mechanism.
2. The pallet hand of claim 1 wherein the clamp drive mechanism includes a clamp box cylinder, a cylinder flange and a transverse slide rail assembly;
the transverse sliding rail assembly comprises a first linear guide rail and a first sliding block, the first linear guide rail is transversely arranged, the first sliding block is arranged on the first linear guide rail, the box clamping plate is fixedly connected with the first sliding block and slides along the first linear guide rail through the first sliding block, and the first linear guide rail is fixedly arranged on the lower side of the code box main board;
the box clamping cylinder is transversely arranged and is fixedly connected with the code box main board through the cylinder flange, and the telescopic end of the box clamping cylinder is fixedly connected with the box clamping plate.
3. The pallet gripper of claim 2, wherein the pneumatic control unit comprises: the valve terminal, the pressure regulating valve and the first speed regulating valve;
the valve island is arranged on the code box main board, is connected with the box clamping cylinder through an air pipe and is used for driving the box clamping cylinder to work;
the pressure regulating valve is arranged on the code box main board, is connected with the box clamping cylinder and is used for regulating the air inlet pressure of the box clamping cylinder;
the first speed regulating valve is arranged on an air port of the box clamping cylinder and used for controlling the action speed of the box clamping cylinder.
4. The pallet hand of claim 1 or 2 wherein the height adjustment mechanism comprises a height adjustment cylinder, a longitudinal slide rail assembly and a slide rail channel;
the longitudinal slide rail assembly comprises a second linear guide rail which is longitudinally arranged and a second slide block which is arranged on the second linear guide rail, the second slide block is connected with the second linear guide rail in a sliding manner, and the second linear guide rail is fixedly arranged on one side of the box clamping plate, which is far away from the fixed plate;
the slide rail channel steel corresponds to the second linear guide rail one to one, one end of the slide rail channel steel is connected with the second sliding block, and the other end of the slide rail channel steel is connected with the paw;
the height adjusting cylinder is longitudinally arranged and fixedly installed on one side, deviating from the fixed plate, of the box clamping plate, and the telescopic end of the height adjusting cylinder is connected with the paw.
5. The pallet paw of claim 4, wherein the height adjustment mechanism further comprises a tow chain fixing plate, a tow chain moving plate and a tow chain;
the drag chain is flexible, one end of the drag chain is connected with the drag chain fixing plate, the other end of the drag chain is connected with the drag chain moving plate, the drag chain fixing plate is fixed on the box clamping plate, and the drag chain moving plate is fixed on the slide rail channel steel.
6. The pallet gripper of claim 4, wherein the pneumatic control unit comprises: a valve island and a second speed regulating valve;
the valve island is arranged on the code box main board, is connected with the height adjusting cylinder through an air pipe and is used for driving the height adjusting cylinder to work;
the second speed regulating valve is arranged on the air port of the height adjusting cylinder and used for controlling the action speed of the height adjusting cylinder.
7. The stacking claw of claim 4, wherein the claw includes a finger mounting plate mounted to an underside of the channel rail by a hinge assembly and a plurality of fingers fixedly mounted to the finger mounting plate.
8. The pallet hand of claim 7 wherein the swing mechanism includes a finger cylinder and a finger cylinder spigot;
the finger cylinder is longitudinally arranged and fixedly installed on one side of the box clamping plate, which deviates from the fixed plate, the telescopic end of the finger cylinder passes through the finger cylinder socket seat and is fixedly connected with the finger installation plate, and the finger cylinder socket seat performs rotary motion during telescopic motion of the finger cylinder.
9. The pallet gripper of claim 8, wherein the pneumatic control unit comprises: a valve island and a third speed regulating valve;
the valve island is arranged on the code box main board, is connected with the finger cylinder through an air pipe and is used for driving the finger cylinder to work;
the third speed regulating valve is arranged on an air port of the finger cylinder and used for controlling the action speed of the finger cylinder.
10. 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.
11. An air conditioner outdoor unit handling device, comprising the pallet gripper of any one of claims 1 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910544733.4A CN112110214A (en) | 2019-06-21 | 2019-06-21 | Pile up neatly hand claw and outer quick-witted handling device of air conditioner |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910544733.4A CN112110214A (en) | 2019-06-21 | 2019-06-21 | Pile up neatly hand claw and outer quick-witted handling device of air conditioner |
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| Publication Number | Publication Date |
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| CN112110214A true CN112110214A (en) | 2020-12-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910544733.4A Pending CN112110214A (en) | 2019-06-21 | 2019-06-21 | Pile up neatly hand claw and outer quick-witted handling device of air conditioner |
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| CN (1) | CN112110214A (en) |
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| CN208022396U (en) * | 2018-01-19 | 2018-10-30 | 深圳市大疆百旺科技有限公司 | Mobile palletizing mechanical and its clamping jaw |
| CN109879067A (en) * | 2018-11-12 | 2019-06-14 | 盐城中鑫生物有限公司 | A kind of regulating device of palletizing mechanical arm |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| IT8348663A0 (en) * | 1983-07-11 | 1983-07-11 | Cf Di Concetti Teodoro & Giuse | PALLETIZER OF OBJECTS, IN PARTICULAR CONTAINERS SUCH AS BAGS AND THE SIMILAR |
| CN203185354U (en) * | 2013-04-27 | 2013-09-11 | 青岛智能机器人工程技术中心有限公司 | Robot tong |
| CN203845469U (en) * | 2014-06-05 | 2014-09-24 | 国家电网公司 | Paper pass box stacking and un-stacking device for automated verification system of electric energy meter |
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Application publication date: 20201222 |
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