CN201253848Y - Stack robot manipulator - Google Patents

Stack robot manipulator Download PDF

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Publication number
CN201253848Y
CN201253848Y CNU2008201534398U CN200820153439U CN201253848Y CN 201253848 Y CN201253848 Y CN 201253848Y CN U2008201534398 U CNU2008201534398 U CN U2008201534398U CN 200820153439 U CN200820153439 U CN 200820153439U CN 201253848 Y CN201253848 Y CN 201253848Y
Authority
CN
China
Prior art keywords
finger
frame
handgrip
robot palletizer
cylinder
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
CNU2008201534398U
Other languages
Chinese (zh)
Inventor
童上高
李文艺
许艳
张昊
苏微微
周斌
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shanghai Aodi Automation Equipment Co., Ltd.
Original Assignee
Shanghai Triowin Tech Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shanghai Triowin Tech Co Ltd filed Critical Shanghai Triowin Tech Co Ltd
Priority to CNU2008201534398U priority Critical patent/CN201253848Y/en
Application granted granted Critical
Publication of CN201253848Y publication Critical patent/CN201253848Y/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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Abstract

The utility model relates to a hand grip of a palletizing robot, comprising a main bracket, a top plate, a finger mechanism and a box-pressing mechanism; the top plate, the finger mechanism and the box-pressing mechanism are all arranged on the main bracket, and the top plate is used for connecting the hand grip and the palletizing robot; the finger mechanism comprises a plurality of bearing supports, a plurality of L-shaped fingers and a pair of light-duty air cylinders; the bearing supports are distributed at the two sides of the main bracket, and the L-shaped fingers are respectively connected to the bearing supports by rotating bearings, and finger tips point to the outer side of the main bracket. One ends of a pair of the light-duty air cylinders are fixed to the main bracket, the other ends thereof are respectively connected with the L-shaped fingers at one side. The box-pressing mechanism is vertically arranged on the main bracket by driving by the air cylinders for fixing the box bodies gripped. A circulating box, openings at the edges of which are opened, is gripped very stable by the hand grip of the palletizing robot, in addition, as the finger mechanism can be adjusted, the hand grip can carry a plurality of the box bodies at the same time, thus greatly improving the working efficiency and having high economic benefit.

Description

The robot palletizer handgrip
Technical field
The utility model relates to a kind of handgrip, relates in particular to a kind of robot palletizer handgrip that grasps the Turnover Box of limit upper shed.
Background technology
At present, user enterprise selects four kinds of piling modes to carry out piling usually: the one, and the mode of employing hand stowage; The 2nd, adopt traditional stacking machine; The 3rd, adopt robot palletizer to carry out piling; The 4th, adopt full-automatic piling equipment to finish piling.Robot palletizer carries out in the process of piling in occupation of consequence very in enterprise, and the quality of its handgrip directly has influence on the quality of robot palletizer work.
China Patent No. is that 200620040811.5 utility model patent discloses a kind of piling and carries servo handgrip.See also Fig. 1, this piling is carried servo handgrip and is mainly comprised upper frame 1, pair of guide rails 2, motor clamp mechanism 3, decides clamping plate 4, moves clamping plate transmission connecting mechanism 5, moves clamping plate 6, holds in the palm pin upset cylinder 7 and holder needle assemblies 8.Pair of guide rails 2 symmetries be installed in upper frame 1 below.Motor clamp mechanism 3 comprises servomotor 31, reductor 32 and ball-screw 33,33 order transmissions link to each other with ball-screw for servomotor 31, reductor 32, servomotor 31 is installed in an end of upper frame 1, and the outer end of ball-screw 33 is installed in rotation on the other end of upper frame 1.Decide clamping plate 4 and be vertically connected on the below of upper frame 1 one ends one end of servomotor 31 (near).Moving clamping plate 6, holder pin upset cylinder 7 and holder needle assemblies 8 are installed in upper frame 1 below by moving clamping plate transmission connecting mechanism 5, wherein moving clamping plate 6 are positioned at the inboard and are installed in the inboard of a pair of A-frame 54, and the holder needle assemblies is positioned at the outside and the upper and lower settings transmission links to each other for holder pin upset cylinder 7, hold in the palm pin overturn the stiff end of cylinder 7 be movably connected in connecting plate 51 below.Holder needle assemblies 8 comprises connecting axle 81, holder pin framework 82 and the L shaped holder pin 83 of Duo Gen, and connecting axle 81 laterally is installed in the lower end of a pair of A-frame 54.Holder pin upset cylinder 7 can drive whole holder needle assemblies upset.
But above-mentioned piling is carried servo handgrip in the Turnover Box that grasps the limit upper shed, and in the time of the Turnover Box of especially interior dress breakables such as beer case, because general also out-of-flatness around the Turnover Box, the reliability of its carrying is not high, easily causes casing to come off.Above-mentioned in addition piling is carried servo handgrip and is inconvenient to grasp a plurality of Turnover Boxes, and it is not high to cause grasping efficient.
The utility model content
At above-mentioned defective, the purpose of this utility model is to provide a kind of robot palletizer handgrip, the not high defective of reliability when grasping the Turnover Box of limit upper shed to solve traditional handgrip.
Another purpose of the present utility model is to provide a kind of robot palletizer handgrip, the not high defective of efficient when grasping the Turnover Box of limit upper shed to solve traditional handgrip.
The utility model proposes a kind of robot palletizer handgrip, comprise body frame, top board and finger mechanism, top board and finger mechanism are arranged on the described body frame, top board is in order to link to each other handgrip with robot palletizer, it is characterized in that, finger mechanism comprises some bearing spiders, some L shaped fingers and a pair of light-duty cylinder, those bearing spiders are distributed in described body frame both sides, those L shaped fingers are articulated to those bearing spiders respectively by swivel bearing, and finger tip points to the outside of described body frame, should be fixed to described body frame to light-duty cylinder one end, the other end then links to each other with the L shaped finger of a side respectively.
According to the described robot palletizer handgrip of the utility model preferred embodiment, comprise that also one presses the punch-out equipment structure, press the punch-out equipment structure to comprise a pair of have bar cylinder and pressure box assembly, press the finger mechanism of box assembly and both sides to be arranged in parallel, and place in the middle of the finger mechanism, should be to there being bar cylinder one end to be vertically fixed on the body frame, the other end is connected to presses the box assembly upper surface.
According to the described robot palletizer handgrip of the utility model preferred embodiment, press the bottom of box assembly to adopt flexible material to make.
According to the described robot palletizer handgrip of the utility model preferred embodiment, also comprise an inductor, inductor is arranged on the outside of the arbitrary side of finger mechanism by the induction support.
According to the described robot palletizer handgrip of the utility model preferred embodiment, this also is provided with sensor to light-duty tail cylinder.
According to the described robot palletizer handgrip of the utility model preferred embodiment, inductor is a proximity transducer.
According to the described robot palletizer handgrip of the utility model preferred embodiment, also comprise one in order to control the terminal box of each cylinder and valve, this terminal box is arranged on the described body frame.
The utility model catches on Turnover Box opening on every side because its finger mechanism can just strut, so Turnover Box is difficult for dropping, and be arranged so that by what press the punch-out equipment structure Turnover Box is more steady in handling process, in addition because the adjustable setting of its finger mechanism, make the utility model can carry a plurality of casings simultaneously, improve the efficient of work greatly, had very high economic benefit.
Description of drawings
Fig. 1 carries the three-dimensional structure diagram of servo handgrip for existing piling;
Fig. 2 is the front view of a kind of robot palletizer handgrip of the utility model embodiment;
Fig. 3 is the side view of a kind of robot palletizer handgrip of the utility model embodiment;
Fig. 4 is the vertical view of a kind of robot palletizer handgrip of the utility model embodiment.
The specific embodiment
Below in conjunction with accompanying drawing, specify the utility model.
See also Fig. 1, Fig. 2 and Fig. 3, it is the three-view diagram of the utility model one embodiment.This robot palletizer handgrip comprises body frame 100, top board 200, finger mechanism 300, presses punch-out equipment structure 400 and induction installation 500, and wherein top board 200, finger mechanism 300, pressure punch-out equipment structure 400 and induction installation 500 all are arranged on the body frame 100.
Body frame 100 is high duty metal frameworks of pair of lamina rectangular configuration, in order to connect each assembly.Top board 200 is in order to be connected with the robot palletizer arm, and the connection between them is dismountable, and as linking to each other by nut etc., it is arranged on the top of body frame 100, and it can be assembled with body frame 100 and be connected, and can certainly be integrated.
Finger mechanism 300 is core of the present utility model places, and it comprises: some bearing spiders 301, some L shaped fingers 302 and a pair of light-duty cylinder 303.In the present embodiment, bearing spider 301 is provided with four, and it is evenly distributed in the both sides of body frame 100, and 301 of the two bearings bearings of homonymy are provided with a bearing 304.L shaped finger 302 promptly is located on the bearing 304, can rotate with bearing 304.In actual use, can change long bearing and add more L shaped finger, grasp a plurality of Turnover Boxes simultaneously with realization, thereby increase work efficiency according to actual conditions.Be somebody's turn to do light-duty cylinder 303 for fixing, present embodiment has been fixed a cylinder in the other both sides of body frame 100 respectively by nut and has been connected base 305, and this just connects base 305 by this to cylinder to light-duty cylinder 303 and is fixed on the body frame 100.The piston end of light-duty cylinder 303 is a shape, its by bolt can be arranged on bearing 304 upper connectors 306 and link to each other, rotate and promptly can drive L shaped finger 302 thereby can drive bearing 304 around bearing 304 swings.Light-duty in addition cylinder 303 afterbodys also are provided with an inductor (proximity transducer, do not illustrate among the figure), when the L shaped finger 2 of light-duty cylinder 303 drivings hooks Turnover Box, if inductor is not sensed the piston of light-duty cylinder 303, represent that then light-duty cylinder 303 does not also launch fully, L shaped finger 302 does not also stretch, under this situation, L shaped finger 302 may firmly not hook Turnover Box, and inductor can trigger warning device.Avoid falling the danger of case midway.
For reliability and the security that guarantees that this robot palletizer handgrip grasps, present embodiment has also been installed one and has been pressed punch-out equipment structure 400 on body frame 100.This pressure punch-out equipment structure 400 comprises a pair of have bar cylinder 401 and pressure box assembly 402, wherein, press the finger mechanism of box assembly 402 and its both sides to be arranged in parallel, it is positioned at the centre (as shown in Figure 3) of finger mechanism, should the one end be fixed on the upper layer bracket of body frame 100 by cylinder Connection Block 403 401 in bar cylinder is arranged, its another piston end is connected to the upper surface of pressing box assembly.By said structure, when this robot palletizer handgrip was caught Turnover Box, pressure box assembly 402 can prop up the upper surface of Turnover Box under the effect that bar cylinder 401 is arranged, thereby the more reliable Turnover Box of fixing prevents that it from dropping in handling process.In order to prevent to press the damage of box assembly to article, flexible material can be selected in its end, as flexible plastic etc.
The robot palletizer handgrip of present embodiment also comprises an induction installation 500, and it comprises two induction frame 501, induction rod 502 and some inductors 503.Induction rod 502 need be set in parallel in the outside of finger mechanism 300 arbitrary sides, in order to achieve the above object, induction frame 501 in the present embodiment is designed to rectangular-shaped, by two induction framves 501 induction rod 502 is connected with body frame 100, can just place the outside of finger mechanism 300 simultaneously again.Corresponding L shaped finger 302 is provided with some inductors 503 on the induction rod 501, selects proximity transducer in the present embodiment for use, and its quantity is identical with the quantity of Turnover Box to be crawled.Certainly, induction rod 502 and inductor 503 also can increase length according to actual needs or accelerate.
Because the utility model relates to and is applied to a plurality of cylinders, so its magnetic valve and pressure-reducing valve need a controlling organization to be controlled, in the present embodiment, inventor's body frame 100 upsides one end is provided with a terminal box, in order to the various valves that will use in the control present embodiment.
The robot palletizer handgrip of present embodiment is in work, it moves to the Turnover Box top with mechanical arm, this moment, L shaped finger 302 was rocked to the inboard, and along with handgrip is displaced downwardly to the Turnover Box opening part, the side oscillation outward under the drive of light-duty cylinder 303 of L shaped then finger 302 is pressed box assembly 402 down to move simultaneously and is propped up Turnover Box to catch on Turnover Box.When Turnover Box arrived assigned address along with mechanical arm after, L shaped finger 302 inside swings pressed box assembly 402 to move upward simultaneously, and handgrip disengaging Turnover Box begins to prepare carrying next time.Because the existence of inductor 503 when this robot palletizer handgrip is not caught Turnover Box, when inductor is sensed this position for sky, can trigger warning device, thereby make things convenient for the staff manually to adjust.In like manner, when this robot palletizer handgrip unloading, when sensing this position for sky, also can trigger warning device as if inductor.
By the fit applications of above-mentioned various devices, make robot palletizer handgrip of the present utility model when work, can carry Turnover Box reliably, and have very high operating efficiency.
More than disclosed only be several specific embodiment of the present utility model, but the utility model is not limited thereto, any those skilled in the art can think variation, all should drop in the protection domain of the present utility model.

Claims (7)

1, a kind of robot palletizer handgrip, comprise body frame, top board and finger mechanism, described top board and finger mechanism are arranged on the described body frame, described top board is in order to link to each other handgrip with described robot palletizer, it is characterized in that, described finger mechanism comprises some bearing spiders, some L shaped fingers and a pair of light-duty cylinder, more described bearing spider is distributed in described body frame both sides, more described L shaped finger is articulated to more described bearing spider respectively by swivel bearing, and finger tip points to the outside of described body frame, described a pair of light-duty cylinder one end is fixed to described body frame, and the other end then links to each other with the L shaped finger of a side respectively.
2, robot palletizer handgrip as claimed in claim 1, it is characterized in that, comprise that also one presses the punch-out equipment structure, described pressure punch-out equipment structure comprises a pair of have bar cylinder and pressure box assembly, the described finger mechanism of described pressure box assembly and both sides be arranged in parallel, and place in the middle of the described finger mechanism, described a pair ofly have bar cylinder one end to be vertically fixed on the described body frame, and the other end is connected to described pressure box assembly upper surface.
3, robot palletizer handgrip as claimed in claim 2 is characterized in that, the bottom of described pressure box assembly adopts flexible material to make.
4, robot palletizer handgrip as claimed in claim 1 is characterized in that, also comprises an inductor, and described inductor is arranged on the outside of the arbitrary side of described finger mechanism by the induction support.
5, robot palletizer handgrip as claimed in claim 1 is characterized in that, described a pair of light-duty tail cylinder also is provided with sensor.
6, as claim 4 or 5 described robot palletizer handgrips, it is characterized in that described inductor is a proximity transducer.
7, robot palletizer handgrip as claimed in claim 1 is characterized in that, also comprises one in order to control the terminal box of each cylinder and valve, and described terminal box is arranged on the described body frame.
CNU2008201534398U 2008-09-24 2008-09-24 Stack robot manipulator Expired - Lifetime CN201253848Y (en)

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Application Number Priority Date Filing Date Title
CNU2008201534398U CN201253848Y (en) 2008-09-24 2008-09-24 Stack robot manipulator

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Application Number Priority Date Filing Date Title
CNU2008201534398U CN201253848Y (en) 2008-09-24 2008-09-24 Stack robot manipulator

Publications (1)

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CN201253848Y true CN201253848Y (en) 2009-06-10

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CNU2008201534398U Expired - Lifetime CN201253848Y (en) 2008-09-24 2008-09-24 Stack robot manipulator

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Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102602707A (en) * 2012-03-22 2012-07-25 王庆起 Hydraulic drive stacker for cement products
CN102662156A (en) * 2012-06-01 2012-09-12 重庆市电力公司电力科学研究院 Electric energy meter turnover box clamping mechanism
CN102923477A (en) * 2012-11-05 2013-02-13 苏州安控机械制造有限公司 Full-pneumatic transporter for turnover boxes
CN103419207A (en) * 2013-08-08 2013-12-04 上海星路机械设备有限公司 Robot self-adaptation hand grab for stacking box piece
CN104128923A (en) * 2013-05-03 2014-11-05 宁波如意股份有限公司 Special flexible frame carrying device of manual tray carriage for manipulator
CN105150230A (en) * 2015-07-28 2015-12-16 中国科学院自动化研究所(洛阳)机器人与智能装备创新研究院 Novel clamp used for palletizing robot
CN105729464A (en) * 2016-02-04 2016-07-06 深圳市芯海互联技术有限公司 Anti-rotation clamp structure of vending machine
CN106425421A (en) * 2016-08-26 2017-02-22 广州福耀玻璃有限公司 Automatic ring taking device
CN107521783A (en) * 2017-09-05 2017-12-29 武汉华星光电技术有限公司 Holding mechanism and glass bale breaker
CN108545250A (en) * 2018-04-23 2018-09-18 河南浩德科技有限公司 A kind of stacking machine
CN111069957A (en) * 2019-12-23 2020-04-28 东莞市蓝企信息科技有限公司 Material clamping robot for three-way pipe joint

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102602707A (en) * 2012-03-22 2012-07-25 王庆起 Hydraulic drive stacker for cement products
CN102662156A (en) * 2012-06-01 2012-09-12 重庆市电力公司电力科学研究院 Electric energy meter turnover box clamping mechanism
CN102923477A (en) * 2012-11-05 2013-02-13 苏州安控机械制造有限公司 Full-pneumatic transporter for turnover boxes
CN104128923A (en) * 2013-05-03 2014-11-05 宁波如意股份有限公司 Special flexible frame carrying device of manual tray carriage for manipulator
CN104128923B (en) * 2013-05-03 2016-02-17 宁波如意股份有限公司 The flexible Handling device of manual pallet vehicle carriage that a kind of manipulator is special
CN103419207B (en) * 2013-08-08 2016-02-03 上海星路机械设备有限公司 For the robot self adaptation handgrip of piling box member
CN103419207A (en) * 2013-08-08 2013-12-04 上海星路机械设备有限公司 Robot self-adaptation hand grab for stacking box piece
CN105150230A (en) * 2015-07-28 2015-12-16 中国科学院自动化研究所(洛阳)机器人与智能装备创新研究院 Novel clamp used for palletizing robot
CN105729464A (en) * 2016-02-04 2016-07-06 深圳市芯海互联技术有限公司 Anti-rotation clamp structure of vending machine
CN106425421A (en) * 2016-08-26 2017-02-22 广州福耀玻璃有限公司 Automatic ring taking device
CN106425421B (en) * 2016-08-26 2019-03-26 广州福耀玻璃有限公司 It is a kind of to take coil apparatus automatically
CN107521783A (en) * 2017-09-05 2017-12-29 武汉华星光电技术有限公司 Holding mechanism and glass bale breaker
CN108545250A (en) * 2018-04-23 2018-09-18 河南浩德科技有限公司 A kind of stacking machine
CN111069957A (en) * 2019-12-23 2020-04-28 东莞市蓝企信息科技有限公司 Material clamping robot for three-way pipe joint
CN111069957B (en) * 2019-12-23 2021-03-19 深圳市明战精密科技有限公司 Material clamping robot for three-way pipe joint

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C14 Grant of patent or utility model
GR01 Patent grant
ASS Succession or assignment of patent right

Owner name: SHANGHAI TRIOWIN PACKING TECHNOLOGY CO.,LTD.

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Effective date: 20100809

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TR01 Transfer of patent right

Effective date of registration: 20100809

Address after: 200023, 201H, room 1, Lane 258, Dapu Road, Shanghai, Luwan District

Patentee after: Shanghai TRIOWIN Packaging Technology Co., Ltd.

Address before: Jinshan District Fengjing town Maple Road 201114 Shanghai City No. 2556 -1

Patentee before: Shanghai Triowin Tech. Co., Ltd.

C41 Transfer of patent application or patent right or utility model
C41 Transfer of patent application or patent right or utility model
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Effective date of registration: 20110421

Address after: Jinshan District Fengjing town Maple Road 201114 Shanghai City No. 2556 -1

Patentee after: Shanghai Triowin Tech. Co., Ltd.

Address before: 200023, 201H, room 1, Lane 258, Dapu Road, Shanghai, Luwan District

Patentee before: Shanghai TRIOWIN Packaging Technology Co., Ltd.

COR Change of bibliographic data

Free format text: CORRECT: ADDRESS; FROM: 200023 ROOM 201H, NO. 1, LANE 258, DAPU ROAD, LUWAN DISTRICT, SHANGHAI TO: 201114 NO. 2556-1, CHAOFENG ROAD, FENGJING TOWN, JINSHAN DISTRICT, SHANGHAI

ASS Succession or assignment of patent right

Owner name: SHANGHAI TRIOWIN TECH. CO., LTD.

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Address after: 201506 No. 5899 Ting Wei Road, Shanghai, Jinshan District

Patentee after: Shanghai Aodi Automation Equipment Co., Ltd.

Address before: Jinshan District Fengjing town Maple Road 201114 Shanghai City No. 2556 -1

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CX01 Expiry of patent term
CX01 Expiry of patent term

Granted publication date: 20090610