CN112248021A - Robot-based pneumatic chuck clamping device - Google Patents
Robot-based pneumatic chuck clamping device Download PDFInfo
- Publication number
- CN112248021A CN112248021A CN202011047361.3A CN202011047361A CN112248021A CN 112248021 A CN112248021 A CN 112248021A CN 202011047361 A CN202011047361 A CN 202011047361A CN 112248021 A CN112248021 A CN 112248021A
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- Prior art keywords
- robot
- double
- corrugated board
- groove
- clamping
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- 238000003860 storage Methods 0.000 claims abstract description 18
- 239000000463 material Substances 0.000 claims description 2
- 230000003139 buffering effect Effects 0.000 claims 5
- 238000000034 method Methods 0.000 abstract description 3
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 239000011087 paperboard Substances 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000032258 transport Effects 0.000 description 3
- 239000011111 cardboard Substances 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000123 paper Substances 0.000 description 2
- 238000010586 diagram Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/02—Gripping heads and other end effectors servo-actuated
- B25J15/0253—Gripping heads and other end effectors servo-actuated comprising parallel grippers
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a robot-based control pneumatic chuck clamping device, which structurally comprises: the clamping head machine body, the pneumatic arm, the control box and the electric power storage unit, when the equipment is used, the clamping head mechanism is arranged, so that the double-layer corrugated board clamping device can prevent the clamping equipment from clamping and transporting the double-layer corrugated board, because of the special concave-convex structure of the double-layer corrugated board, the normal clamping head can not be positioned more accurately, so that the groove of the double-layer corrugated board can be extruded excessively, so as to crush the groove structure of the double-layer corrugated board, damage the corrugated board and be not beneficial to the next synthetic processing procedure, the equipment can clamp the double-layer corrugated board more coincidently by aiming at the characteristic of different two sides of the double-layer corrugated board through the special groove contact device and flat touch board device structure, simultaneously can follow its recess through contact block device and buffer layer and fix a position the centre gripping, effectively protect the integrality of corrugated container board original structure, more intelligent.
Description
Technical Field
The invention discloses a robot-control-based pneumatic chuck clamping device, and belongs to the field of clamping devices.
Background
Along with the rapid development of the times, when carrying some article, adopt intelligent modularized's clamp to get the haulage equipment and replace traditional transport mode gradually, through intelligent robot's autonomy, more efficient carries out the centre gripping to article, convenience more.
The prior art has the following defects: when centre gripping equipment carries out the centre gripping transportation to double-deck corrugated container board, because its special concave-convex structure of double-deck corrugated container board, normal holding head can't be comparatively accurate fix a position, consequently can produce excessive extrusion to its recess, and then collapses its groove structure for the cardboard receives the damage, is unfavorable for going on of synthetic manufacturing procedure on next step.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a robot-based pneumatic chuck clamping device, so as to solve the problem that when the clamping device clamps and transports a double-layer corrugated board, the grooves of the double-layer corrugated board are excessively extruded due to the fact that a normal clamping head cannot be accurately positioned due to the special concave-convex structure of the double-layer corrugated board, and the grooves of the double-layer corrugated board are collapsed, so that the corrugated board is damaged, and the next synthetic processing procedure is not facilitated.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an equipment is got to pneumatic chuck clamp based on robot control, its structure includes: the clamping head machine body comprises a clamping head machine body, a pneumatic arm, a control box, an electric power storage unit, a motor wheel group, a cylinder device, a support frame and a main swing arm, wherein the clamping head machine body is installed at the tail end of the pneumatic arm and is in locking connection with the pneumatic arm, the main swing arm is arranged on the inner side of the pneumatic arm and is movably connected with the pneumatic arm, the main swing arm is installed above the support frame and is in locking connection with the support frame, the cylinder device is arranged below the support frame, the control box is arranged on the front side of the cylinder device and is installed above the electric power storage unit and is in locking connection with the electric power storage unit, the motor wheel group is arranged below the electric power storage unit and is in locking connection with the electric power storage unit, the clamping head machine body comprises a groove contact device, an embedded groove, a protective cover, a flat contact plate device, a connecting sleeve head and a loading bin, the embedded, the loading bin is characterized in that protective covers are arranged on two sides of the loading bin, one end of the loading bin is provided with a groove contact device and is movably connected with the groove contact device, the other end of the loading bin is provided with a flat touch plate device, and the flat touch plate device is movably connected with the loading bin.
Preferably, the groove contact device comprises a contact block device, a buffer layer, a vent cylinder and a telescopic plate device, the contact block device is installed on the inner side of the telescopic plate device and is fastened with the telescopic plate device, the buffer layer is arranged on the side edge of the contact block device, the vent cylinder is arranged on the rear side of the telescopic plate device, and the vent cylinder is fastened with the telescopic plate device.
Preferably, the contact block device comprises a positioning strip, a buffer ring and a fixing sheet, the positioning strip is installed on the inner side of the buffer ring and is fastened with the buffer ring, the fixing sheet is arranged on the outer side of the buffer ring, and the fixing sheet is locked with the buffer ring.
Preferably, the flat touch panel device comprises a sponge plate, a movable frame and an outer frame, wherein the sponge plate is arranged on the front side of the movable frame and is fastened with the movable frame, and the movable frame is embedded into the inner side of the outer frame.
Preferably, the outer shape of the buffer layer is arranged according to the inner grooves of the corrugated board, and the buffer layer is made of rubber materials.
Preferably, a spring structure is arranged in the buffer ring, and can provide buffer support for the positioning strip.
Preferably, the chimney is adapted to provide a connection to a pneumatic arm to urge the expansion plate means inwardly to deploy when clamping is required.
Preferably, the positioning strip surface is provided with a plurality of groups of groove particle textures, so that the surface fitness of corrugated paper is higher.
Preferably, when the equipment runs, the electric power support is provided through the electric power storage unit, the motor-driven wheel set can automatically advance along a preset movable track under the cooperation of the control box, the main swing arm can drive the pneumatic arm to swing at a corresponding target angle through the cooperation of the air cylinder device and the support frame, when the double-layer corrugated board arrives at a clamping destination, the double-layer corrugated board is embedded along the embedded groove in a lateral direction, at the moment, under the mutual cooperation of the connecting sleeve head and the loading bin, one end of the double-layer corrugated board is matched with the air cylinder device, so that the movable frame in the outer frame pushes the sponge board to move inwards, meanwhile, the groove contact device on the other side can also perform clamping action along the other side of the paper board groove, when the groove contact device needs to be clamped, the telescopic board device is pushed inwards through the cooperation of the air cylinder, at the moment, the positioning strip can be matched with the buffer layer to, the pressure of its contact jaw then can be adjusted in a flexible way to buffer ring and stationary blade, makes it be in a balanced stress state, and then stable carries out the centre gripping to double-deck corrugated container board grooved surface and fixes, just no longer exerts pressure when arriving and predetermineeing clamping pressure, effectively protects double-deck corrugated container board structure's integrality, carries out the transportation that corresponds to the cardboard through motor wheelset this moment, has higher intellectuality.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that: when pressing from both sides when getting equipment and carrying out the centre gripping to double-deck corrugated container board and transporting, through specific recess contact device and flat touch panel device structure, to the characteristic that its double-deck corrugated container board two sides differs, can carry out comparatively anastomotic clamp to it and get, can follow its recess through contact block device and buffer layer simultaneously and fix a position the centre gripping, effectively protect the integrality of the original structure of corrugated container board, more intellectuality.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
fig. 1 is a schematic diagram of an appearance structure of a robot-controlled pneumatic chuck gripping device according to the present invention.
Fig. 2 is a side view of the gripping head body according to the present invention.
FIG. 3 is a schematic top view of the flat touch panel device of the present invention.
Fig. 4 is a schematic view of the internal structure of the groove contact device of the present invention.
Fig. 5 is a schematic bottom view of the contact block device of the present invention.
In the figure: the clamping head device comprises a clamping head machine body-1, a pneumatic arm-2, a control box-3, an electric power storage unit-4, a power-driven wheel set-5, a cylinder device-6, a support frame-7, a main swing arm-8, a groove contact device-a, an embedded groove-b, a protective cover-c, a flat contact plate device-d, a connecting sleeve head-e, a loading bin-f, a contact block device-a 1, a buffer layer-a 2, a ventilation cylinder-a 3, a telescopic plate device-a 4, a positioning strip-a 11, a buffer ring-a 12, a fixing piece-a 13, a sponge plate-d 1, a movable frame-d 2 and an outer frame-d 3.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
The first embodiment:
referring to fig. 1 to 3, the present invention provides a robot-based pneumatic chuck gripping apparatus, which comprises: the structure includes: press from both sides and get first organism 1, pneumatic arm 2, control box 3, electric power storage unit 4, motor wheelset 5, cylinder device 6, support frame 7, main swing arm 8, press from both sides and get first organism 1 and install in the terminal lock joint with pneumatic arm 2 of pneumatic arm 2 in pneumatic arm 2, 2 inboards of pneumatic arm are equipped with main swing arm 8, main swing arm 8 and pneumatic arm 2 swing joint, main swing arm 8 is installed in support frame 7 top and with support frame 7 lock joint, support frame 7 below is equipped with cylinder device 6, cylinder device 6 front side is equipped with control box 3, control box 3 is installed in electric power storage unit 4 top and with electric power storage unit 4 lock joint, electric power storage unit 4 below is equipped with motor wheelset 5, motor wheelset 5 and electric power storage unit 4 lock joint, press from both sides and get first organism 1 and include recess contact device a, embedded groove b, safety cover c, flat touch panel device d, connection sleeve head, Load storehouse f, embedded groove b installs in loading storehouse f medial side, it is equipped with connecting sleeve head e to load storehouse f top, connecting sleeve head e with load storehouse f lock joint, it is equipped with safety cover c to load storehouse f both sides, it is equipped with recess contact device an and with recess contact device a swing joint to load storehouse f one end, it is equipped with flat touch panel device d to load the other one end in storehouse f, flat touch panel device d with load storehouse f swing joint.
Flat touch panel device d includes sponge board d1, adjustable shelf d2, frame d3, sponge board d1 install in adjustable shelf d2 front side and with adjustable shelf d2 lock joint, adjustable shelf d2 imbeds in frame d3 inboard, flat touch panel device d carries out buffer protection to the smooth one side of corrugated paper through sponge board d1, reduces single stress point.
The invention is mainly characterized in that: when the equipment is operated, the electric power support is provided through the electric power storage unit 4, the motor-driven wheel set 5 can automatically advance along a preset movable track under the coordination of the control box 3, the air cylinder device 6 is matched with the support frame 7, so that the main swing arm 8 can drive the pneumatic arm 2 to swing at a corresponding target angle, when a clamping destination is reached, the double-layer corrugated board is embedded along the embedding groove b in the lateral direction, at the moment, under the mutual coordination of the connecting sleeve head e and the loading bin f, one end of the double-layer corrugated board can be matched with the air cylinder device 6, so that the movable frame d2 in the outer frame d3 pushes the sponge board d1 to move inwards, meanwhile, the groove contact device a on the other side can also clamp the other side of the paper board groove, when the preset clamping pressure is reached, the pressure is not applied any more, the integrity of the double-layer corrugated board structure is effectively protected, at the moment, the motor-, has higher intelligence.
Second embodiment:
referring to fig. 4-5, the present invention provides a robot-based pneumatic chuck gripping apparatus, comprising: the structure includes: the groove contact device a comprises a contact block device a1, a buffer layer a2, a breather tube a3 and a telescopic plate device a4, wherein the contact block device a1 is installed on the inner side of the telescopic plate device a4 and is buckled with the telescopic plate device a4, the buffer layer a2 is arranged on the side edge of the contact block device a1, the breather tube a3 is arranged on the rear side of the telescopic plate device a4, and the breather tube a3 is buckled with the telescopic plate device a 4.
The contact block device a1 comprises a positioning strip a11, a buffer ring a12 and a fixing piece a13, wherein the positioning strip a11 is arranged on the inner side of the buffer ring a12 and is buckled with the buffer ring a12, the fixing piece a13 is arranged on the outer side of the buffer ring a12, the fixing piece a13 is locked with the buffer ring a12, and the contact block device a1 can position and clamp the groove of the paperboard more conveniently through the positioning strip a 11.
The invention is mainly characterized in that: when the groove contact device a needs to be clamped, the telescopic plate device a4 is pushed out inwards through the matching of the vent cylinder a3, the positioning strip a11 is in matching contact with the buffer layer a2 at the corresponding groove of the double-layer corrugated board, the buffer ring a12 and the fixing piece a13 can flexibly adjust the pressure of the contact end of the buffer ring a12 and the fixing piece a13, so that the buffer ring is in a balanced stress state, and the groove surface of the double-layer corrugated board is stably clamped and fixed.
According to the invention, through the mutual combination of the components, when the equipment is used, the clamping head mechanism is arranged, so that the problem that when the clamping equipment clamps and transports the double-layer corrugated board, the groove of the double-layer corrugated board is excessively extruded due to the fact that the normal clamping head cannot be accurately positioned due to the special concave-convex structure of the double-layer corrugated board, and the groove structure is collapsed, so that the corrugated board is damaged, and the next synthetic processing procedure is not facilitated is solved.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. The utility model provides an equipment is got to pneumatic chuck clamp based on robot control, its structure includes: press from both sides and get first organism (1), pneumatic arm (2), control box (3), electric power storage unit (4), motor wheel group (5), cylinder device (6), support frame (7), main swing arm (8), press from both sides and get first organism (1) and install in pneumatic arm (2) end and with pneumatic arm (2) lock joint, pneumatic arm (2) inboard is equipped with main swing arm (8), main swing arm (8) and pneumatic arm (2) swing joint, its characterized in that:
the main swing arm (8) is mounted above the support frame (7) and is in locking connection with the support frame (7), a cylinder device (6) is arranged below the support frame (7), a control box (3) is arranged on the front side of the cylinder device (6), the control box (3) is mounted above the electric power storage unit (4) and is in locking connection with the electric power storage unit (4), and a power wheel set (5) is arranged below the electric power storage unit (4);
press from both sides and get first organism (1) and include recess contact means (a), embedded groove (b), safety cover (c), flat touch panel device (d), connecting sleeve head (e), load storehouse (f), embedded groove (b) is installed and is being leaned on in loading storehouse (f), it is equipped with connecting sleeve head (e) to load storehouse (f) top, connecting sleeve head (e) with load storehouse (f) lock joint, it is equipped with safety cover (c) to load storehouse (f) both sides, it is equipped with recess contact means (a) and with recess contact means (a) swing joint to load storehouse (f) one end, it is equipped with flat touch panel device (d) to load storehouse (f) other one end.
2. The robot-based controlled air chuck gripper apparatus of claim 1, wherein: the groove contact device (a) comprises a contact block device (a 1), a buffer layer (a 2), an air cylinder (a 3) and a telescopic plate device (a 4), wherein the contact block device (a 1) is mounted on the inner side of the telescopic plate device (a 4), the buffer layer (a 2) is arranged on the side edge of the contact block device (a 1), and the air cylinder (a 3) is arranged on the rear side of the telescopic plate device (a 4).
3. The robot-based controlled air chuck gripper apparatus of claim 2, wherein: contact block device (a 1) includes location strip (a 11), buffering circle (a 12), stationary blade (a 13), location strip (a 11) are installed in buffering circle (a 12) inboard and with buffering circle (a 12) lock joint, buffering circle (a 12) outside is equipped with stationary blade (a 13), stationary blade (a 13) and buffering circle (a 12) lock joint.
4. The robot-based controlled air chuck gripper apparatus of claim 1, wherein: the flat touch panel device (d) comprises a sponge plate (d 1), a movable frame (d 2) and an outer frame (d 3), wherein the sponge plate (d 1) is installed on the front side of the movable frame (d 2), and the movable frame (d 2) is embedded into the inner side of the outer frame (d 3).
5. The robot-based controlled air chuck gripper apparatus of claim 2, wherein: the external shape of the buffer layer (a 2) is arranged according to the internal grooves of the corrugated board, and the buffer layer (a 2) is made of rubber materials.
6. The robot-based controlled air chuck gripper apparatus of claim 3, wherein: the inside of the buffer ring (a 12) is provided with a spring structure which can provide buffer support for the positioning strip (a 11).
7. The robot-based controlled air chuck gripper apparatus of claim 2, wherein: the air funnel (a 3) is used for providing a connection relation with the pneumatic arm (2) and can inwards promote the expansion plate device (a 4) to be unfolded when clamping is needed.
8. The robot-based controlled air chuck gripper apparatus of claim 3, wherein: the surface of the positioning strip (a 11) is provided with a plurality of groups of groove grain textures, so that the surface fitness of corrugated paper can be higher.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011047361.3A CN112248021B (en) | 2020-09-29 | 2020-09-29 | Robot-based pneumatic chuck clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011047361.3A CN112248021B (en) | 2020-09-29 | 2020-09-29 | Robot-based pneumatic chuck clamping device |
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| Publication Number | Publication Date |
|---|---|
| CN112248021A true CN112248021A (en) | 2021-01-22 |
| CN112248021B CN112248021B (en) | 2022-10-21 |
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| CN202011047361.3A Active CN112248021B (en) | 2020-09-29 | 2020-09-29 | Robot-based pneumatic chuck clamping device |
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| CN112248021B (en) | 2022-10-21 |
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Application publication date: 20210122 Assignee: Beihai Haicheng District Xingda Electronics Co.,Ltd. Assignor: BEIHAI VOCATIONAL College Contract record no.: X2023980045925 Denomination of invention: A pneumatic chuck gripping device based on robot control Granted publication date: 20221021 License type: Common License Record date: 20231103 |
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