CN112938511B - Clamp and stacking robot with same - Google Patents
Clamp and stacking robot with same Download PDFInfo
- Publication number
- CN112938511B CN112938511B CN202110188071.9A CN202110188071A CN112938511B CN 112938511 B CN112938511 B CN 112938511B CN 202110188071 A CN202110188071 A CN 202110188071A CN 112938511 B CN112938511 B CN 112938511B
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- support
- plate
- mounting frame
- supporting
- piece
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Classifications
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
-
- 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
- B65G57/00—Stacking of articles
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention provides a clamp and a stacking robot with the same. The anchor clamps are used for pressing from both sides to get the work piece, and the work piece includes first plate section and the second plate section that the slope set up, and anchor clamps include: a mounting frame; the first supporting piece is connected with the mounting frame and used for supporting the first plate section; the second supporting piece is connected with the mounting frame and arranged at intervals with the first supporting piece, the position of the second supporting piece relative to the mounting frame can be adjusted, and the second supporting piece is used for supporting the second plate section; the pressing piece is connected with the mounting frame and movably arranged relative to the mounting frame so as to be close to or far away from the first supporting piece, so that the pressing piece and the first supporting piece clamp or release the first plate section. The clamp provided by the invention solves the problem that the application range of the clamp in the prior art is narrow.
Description
Technical Field
The invention relates to the field of clamps, in particular to a clamp and a stacking robot with the same.
Background
At present, the pile up neatly machine people adopts the anchor clamps clamp of the type of traditionally placing to get the panel beating of bending.
However, the existing traditional placing type fixture can only clamp the metal plate with one bending angle, and when the fixture clamps the metal plate with different bending angles, different fixtures need to be replaced, so that the application range of the fixture is narrow, and the production efficiency is low.
Disclosure of Invention
The invention mainly aims to provide a clamp and a stacking robot with the same, and aims to solve the problem that the clamp in the prior art is narrow in application range.
In order to achieve the above object, according to one aspect of the present invention, there is provided a clamp for gripping a workpiece including first and second plate sections arranged obliquely, the clamp comprising: a mounting frame; the first supporting piece is connected with the mounting frame and used for supporting the first plate section; the second supporting piece is connected with the mounting frame and arranged at intervals with the first supporting piece, the position of the second supporting piece relative to the mounting frame is adjustable, and the second supporting piece is used for supporting the second plate section; the pressing piece is connected with the mounting frame and movably arranged relative to the mounting frame so as to be close to or far away from the first supporting piece, so that the pressing piece and the first supporting piece clamp or release the first plate section.
Further, the first support piece comprises a first support plate and a second support plate, the first support plate and the second support plate are both connected with the mounting frame, and the first support plate and the second support plate are arranged at a preset included angle; the first support plate is used for supporting the first plate section, and the second support plate is used for supporting the second plate section.
Furthermore, a strip-shaped hole is formed in the mounting frame, the second support piece is arranged in the strip-shaped hole in a penetrating mode, and the second support piece is movably arranged along the extending direction of the strip-shaped hole.
Furthermore, the clamp also comprises an adjusting seat, and the adjusting seat and the first supporting piece are arranged on two opposite sides of the mounting frame; the second supporting piece is fixedly connected with the adjusting seat, and the position of the adjusting seat is adjustably arranged on the mounting frame.
Further, the second support is a round bar structure.
Further, the second support member is located above the second support plate.
Furthermore, the pressing piece comprises a pressing plate and a first mounting piece connected with the pressing plate, and the first mounting piece is connected with the mounting frame and is movably arranged relative to the mounting frame; the pressing plate is arranged in parallel with the first supporting plate.
Further, anchor clamps still include the second installed part, and the second installed part is connected with the mounting bracket, and the second installed part sets up with first backup pad relatively, and the pressure is established the piece and is connected and movably setting of relative second installed part with the second installed part.
Further, the clamp further comprises a blocking member, the blocking member is arranged on the mounting frame, and the blocking member is arranged between the pressing member and the second supporting member to block the workpiece.
According to another aspect of the invention, a palletizing robot is provided, which comprises a clamp, wherein the clamp is the clamp.
The clamp comprises a mounting frame, a first supporting piece, a second supporting piece and a pressing piece, wherein the first supporting piece is used for supporting a first plate section and clamping or releasing the first plate section together with the pressing piece; the second supporting piece of the clamp is adjustably arranged relative to the mounting frame in position, so that the second plate section with different included angles between the second supporting piece and the first plate section can be supported, the clamp can clamp workpieces with different included angles between the first plate section and the second plate section, the application range of the clamp is widened, the clamp does not need to be frequently replaced in production, and production efficiency is improved.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention. In the drawings:
FIG. 1 shows a front view of an embodiment of a clamp according to the present invention;
FIG. 2 shows a perspective view of an embodiment of a clamp according to the present invention;
FIG. 3 shows a side view of an embodiment of a clamp according to the present invention;
fig. 4 shows a top view of an embodiment of a clamp according to the invention.
Wherein the figures include the following reference numerals:
10. a workpiece; 11. a first plate section; 12. a second plate section; 20. a mounting frame; 21. a strip-shaped hole; 30. a first support; 31. a first support plate; 32. a second support plate; 40. a second support member; 50. pressing the piece; 51. pressing the plate; 52. a first mounting member; 60. an adjusting seat; 70. a second mount; 80. a stopper; 90. a guide rod; 100. a connecting flange; 110. a drive member.
Detailed Description
It should be noted that, in the present application, the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
The present invention provides a clamping apparatus, please refer to fig. 1 to fig. 4, for clamping a workpiece 10, wherein the workpiece 10 includes a first plate section 11 and a second plate section 12, which are obliquely arranged, and the clamping apparatus includes: a mounting frame 20; a first support 30 connected to the mounting bracket 20, the first support 30 being used for supporting the first plate section 11; a second support 40 connected to the mounting bracket 20 and spaced apart from the first support 30, the second support 40 being adjustably positionable relative to the mounting bracket 20, the second support 40 being adapted to support the second plate section 12; and the pressing piece 50 is connected with the mounting frame 20 and is movably arranged relative to the mounting frame 20 to be close to or far away from the first support piece 30, so that the pressing piece 50 and the first support piece 30 clamp or release the first plate section 11.
The clamp comprises a mounting frame 20, a first support 30, a second support 40 and a pressing piece 50, wherein the first support 30 is used for supporting the first plate section 11 and clamping or releasing the first plate section 11 together with the pressing piece 50, and the second support 40 is used for supporting the second support 40; the second supporting piece 40 of the clamp is adjustably arranged relative to the mounting frame 20, so that the second plate section 12 with different included angles between the first plate section 11 can be supported, the clamp can clamp the workpiece 10 with different included angles between the first plate section 11 and the second plate section 12, the application range of the clamp is widened, the clamp does not need to be frequently replaced in production, and production efficiency is improved.
Specifically, the workpiece 10 is a bent metal plate, and the clamp is compatible with bent metal plates at various angles.
In this embodiment, the first support member 30 includes a first support plate 31 and a second support plate 32, the first support plate 31 and the second support plate 32 are both connected to the mounting frame 20, and the first support plate 31 and the second support plate 32 are disposed at a predetermined included angle; the first support plate 31 is used to support the first plate segment 11, and the second support plate 32 is used to support the second plate segment 12.
Specifically, the mounting bracket 20 is a plate-shaped structure, and the mounting bracket 20 has a first end surface and a second end surface which are oppositely arranged; the first support plate 31 and the second support plate 32 are both connected to the mounting frame 20 perpendicularly, the first support plate 31 has a first end and a second end which are opposite to each other, the first end of the first support plate 31 is connected to the first end surface of the mounting frame 20, and the second end of the first support plate 31 extends towards one end far away from the mounting frame 20; the second support plate 32 has a first end and a second end opposite to each other, the first end of the second support plate 32 is connected to the first end surface of the mounting bracket 20, and the second end of the second support plate 32 extends toward the end away from the mounting bracket 20.
Specifically, the preset included angle is 90 degrees, and of course, the preset included angle may be any angle from 0 to 180 degrees.
In this embodiment, a strip-shaped hole 21 is disposed on the mounting frame 20, the second supporting member 40 is disposed in the strip-shaped hole 21, and the second supporting member 40 is movably disposed along the extending direction of the strip-shaped hole 21. The strip-shaped hole 21 extends from the first end face of the mounting bracket 20 to the second end face of the mounting bracket 20.
In this embodiment, the clamp further includes an adjusting seat 60, the adjusting seat 60 and the first support 30 are disposed on opposite sides of the mounting frame 20; the second supporting member 40 is fixedly connected with the adjusting seat 60, and the adjusting seat 60 is adjustably disposed on the mounting frame 20. Specifically, the adjustment seat 60 is connected to the mounting bracket 20 by a screw or a bolt and nut. The setting has short adjusting time, small adjusting difficulty and low cost.
Specifically, the fixture further includes a fixing member, the fixing member is fixedly connected to the second supporting member 40, and the second supporting member 40 is fixedly connected to the adjusting seat 60 through the fixing member. Such an arrangement facilitates the connection of the second support 40 with the adjustment seat 60.
In the present embodiment, the second supporting member 40 has a round bar structure. This arrangement provides line contact between the second support member 40 and the second plate section 12 to facilitate gripping of the workpiece 10 by the gripper.
Specifically, the second support 40 is disposed perpendicular to the mounting bracket 20.
In the present embodiment, the second support 40 is located above the second support plate 32. The arrangement is such that the second support member 40 and the second support plate 32 can support the workpiece 10 together with good supporting effect. It should be noted that when the first plate segment 11 and the second plate segment 12 form an included angle therebetween, the clamp does not support the second plate segment 12 through the second supporting plate 32, and only supports the second plate segment 12 through the second supporting member 40.
In the present embodiment, the pressing member 50 includes a pressing plate 51 and a first mounting member 52 connected to the pressing plate 51, the first mounting member 52 is connected to the mounting frame 20 and movably disposed relative to the mounting frame 20; the pressing plate 51 is disposed in parallel with the first support plate 31. Such an arrangement achieves clamping of the workpiece 10.
In this embodiment, the fixture further comprises a second mounting member 70, the second mounting member 70 is connected to the mounting frame 20, the second mounting member 70 is disposed opposite to the first support plate 31, and the pressing member 50 is connected to the second mounting member 70 and movably disposed opposite to the second mounting member 70. Such an arrangement enables the mounting of the press 50.
Specifically, the second mounting element 70 is perpendicular to the mounting bracket 20, one end of the second mounting element 70 is connected to a first end surface of the mounting bracket 20, and the other end of the second mounting element 70 extends away from the mounting bracket 20.
In this embodiment, the fixture further includes a driving member 110, the driving member 110 is disposed on the second mounting member 70, and the driving member 110 is drivingly connected to the first mounting member 52 to move the first mounting member 52.
Specifically, the driver 110 is a cylinder.
In this embodiment, the fixture further includes a guide rod 90, the guide rod 90 is disposed on the second mounting member 70, and the guide rod 90 is inserted into the guide hole of the second mounting member 70 and moves along the extending direction of the guide hole. This arrangement achieves a guiding action for the press 50.
Specifically, the guide bar 90 is plural, and the plural guide bars 90 are provided at intervals on the second mounting member 70.
In the present embodiment, the jig further includes a stopper 80, the stopper 80 being disposed on the mounting bracket 20, the stopper 80 being disposed between the press-fitting member 50 and the second supporting member 40 to stop the workpiece 10. The arrangement is such that when the workpiece 10 is gripped, the workpiece 10 is brought into direct contact with the stopper 80, so as to prevent the workpiece 10 from colliding with the mount 20 and prevent the workpiece 10 from being damaged by the mount 20.
Specifically, the stopper 80 is made of rubber.
In this embodiment, the clamp further includes a connecting flange 100, the connecting flange 100 is connected to the mounting frame 20, and the connecting flange 100 and the first support 30 are disposed at opposite sides of the mounting frame 20. Wherein the attachment flange 100 is used for attachment to an external structure.
Specifically, the connection flange 100 is connected to a second end surface of the mounting bracket 20 and extends away from the mounting bracket 20. Wherein the center line of the coupling flange 100 is perpendicular to the mounting bracket 20.
Specifically, the center line of the second support member 40 is parallel to the center line of the connection flange 100.
In this embodiment, the clamp further includes a sensing member disposed on the second mounting member 70, and a sensing head of the sensing member is disposed toward the first support member 30, so that the driving member 110 drives the pressing member 50 to move toward the first support member 30 when the sensing member detects the workpiece 10.
In particular, the sensing element is a photosensor.
The invention also provides a palletizing robot which comprises a clamp, wherein the clamp is the clamp in the embodiment.
The utility model provides a pile up neatly machine people is applicable to various products, is particularly useful for the panel beating of bending of the different angles of pile up neatly. Be different from the anchor clamps of type are placed to the tradition, the panel beating that has the angle of bending in the certain limit can be adapted to the anchor clamps of this application.
From the above description, it can be seen that the above-described embodiments of the present invention achieve the following technical effects:
the clamp comprises a mounting frame 20, a first support 30, a second support 40 and a pressing piece 50, wherein the first support 30 is used for supporting the first plate section 11 and clamping or releasing the first plate section 11 together with the pressing piece 50, and the second support 40 is used for supporting the second support 40; the second supporting piece 40 of the clamp is adjustably arranged relative to the mounting frame 20, so that the second plate section 12 with different included angles between the first plate section 11 can be supported, the clamp can clamp the workpiece 10 with different included angles between the first plate section 11 and the second plate section 12, the application range of the clamp is widened, the clamp does not need to be frequently replaced in production, and production efficiency is improved.
It should be noted that the terms "first," "second," and the like in the description and claims of this application and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the application described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For ease of description, spatially relative terms such as "over 8230," "upper surface," "above," and the like may be used herein to describe the spatial positional relationship of one device or feature to other devices or features as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if a device in the figures is turned over, devices described as "above" or "on" other devices or configurations would then be oriented "below" or "under" the other devices or configurations. Thus, the exemplary terms "at 8230; \8230; 'above" may include both orientations "at 8230; \8230;' above 8230; 'at 8230;' below 8230;" above ". The device may be otherwise variously oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. A gripper for gripping a workpiece (10), the workpiece (10) comprising a first plate section (11) and a second plate section (12) arranged obliquely, characterized in that the gripper is adapted for use in a palletizing robot, the gripper comprising:
a mounting frame (20);
a first support (30) connected to the mounting frame (20), the first support (30) being configured to support the first plate section (11);
a second support (40) connected to the mounting frame (20) and spaced from the first support (30), the second support (40) being adjustably positionable relative to the mounting frame (20), the second support (40) being for supporting the second plate section (12);
a pressing piece (50) connected with the mounting frame (20) and movably arranged relative to the mounting frame (20) to be close to or far away from the first support piece (30) so that the pressing piece (50) and the first support piece (30) clamp or release the first plate section (11);
the first supporting piece (30) comprises a first supporting plate (31) and a second supporting plate (32), the first supporting plate (31) and the second supporting plate (32) are connected with the mounting rack (20), and the first supporting plate (31) and the second supporting plate (32) are arranged at a preset included angle; the first support plate (31) is used for supporting the first plate segment (11), and the second support plate (32) is used for supporting the second plate segment (12);
the pressing piece (50) comprises a pressing plate (51) and a first mounting piece (52) connected with the pressing plate (51), and the first mounting piece (52) is connected with the mounting frame (20) and movably arranged relative to the mounting frame (20); the pressing plate (51) is arranged in parallel with the first supporting plate (31).
2. The clamp according to claim 1, characterized in that the mounting frame (20) is provided with a strip-shaped hole (21), the second support member (40) is arranged in the strip-shaped hole (21) in a penetrating manner, and the second support member (40) is movably arranged along the extending direction of the strip-shaped hole (21).
3. The clamp according to claim 2, further comprising an adjustment seat (60), said adjustment seat (60) and said first support (30) being disposed on opposite sides of said mounting frame (20); the second supporting piece (40) is fixedly connected with the adjusting seat (60), and the position of the adjusting seat (60) is adjustably arranged on the mounting frame (20).
4. A clamp as claimed in claim 1, characterized in that said second support (40) is a round bar structure.
5. The clamp according to claim 1, characterized in that said second support (40) is located above said second support plate (32).
6. A clamp according to claim 1, further comprising a second mounting member (70), said second mounting member (70) being connected to said mounting frame (20), said second mounting member (70) being arranged opposite said first support plate (31), said press member (50) being connected to said second mounting member (70) and being movably arranged relative to said second mounting member (70).
7. The clamp according to any one of claims 1 to 6, characterized in that it further comprises a stop (80), said stop (80) being provided on said mounting frame (20), said stop (80) being provided between said press (50) and said second support (40) to stop said workpiece (10).
8. A palletizing robot comprising a gripper, characterized in that the gripper is as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110188071.9A CN112938511B (en) | 2021-02-18 | 2021-02-18 | Clamp and stacking robot with same |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110188071.9A CN112938511B (en) | 2021-02-18 | 2021-02-18 | Clamp and stacking robot with same |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112938511A CN112938511A (en) | 2021-06-11 |
| CN112938511B true CN112938511B (en) | 2023-02-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110188071.9A Active CN112938511B (en) | 2021-02-18 | 2021-02-18 | Clamp and stacking robot with same |
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| CN (1) | CN112938511B (en) |
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