CN203125516U - Pneumatic adjustable clamping plate type manipulator claw used for stacking robot - Google Patents
Pneumatic adjustable clamping plate type manipulator claw used for stacking robot Download PDFInfo
- Publication number
- CN203125516U CN203125516U CN 201320048753 CN201320048753U CN203125516U CN 203125516 U CN203125516 U CN 203125516U CN 201320048753 CN201320048753 CN 201320048753 CN 201320048753 U CN201320048753 U CN 201320048753U CN 203125516 U CN203125516 U CN 203125516U
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- clamping plate
- plate
- pneumatic adjustable
- mechanical paw
- fixed head
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Abstract
The utility model discloses a pneumatic adjustable clamping plate type manipulator claw used for a stacking robot. The pneumatic adjustable clamping plate type manipulator claw used for the stacking robot comprises a connecting frame, a mounting plate is arranged on the connecting frame, a linear sliding rail is arranged on the mounting plate, a first slider is arranged on the linear sliding rail, a clamping plate is arranged on the first slider, a fixing plate parallel to the clamping plate is arranged on the mounting plate, a first air cylinder is further arranged on the mounting plate and drives the clamping plate to move along the linear sliding rail, and a manipulator claw device is arranged on the clamping plate and/or the fixing plate. The sliding rail adjusting type is adopted for the pneumatic adjustable clamping plate type manipulator claw used for the stacking robot, and positions of the fixing plate and the clamping plate can be flexibly adjusted to adapt to requirements for grasping products in different sizes; the pneumatic adjustable clamping plate type manipulator claw used for the stacking robot not only can grasp a plurality of case bodies synchronously but also can grasp a large-weight and long-length product in one time, and therefore transferring speed of the products can be increased by several times, and transferring efficiency are remarkably improved.
Description
Technical field
The utility model relates to packing transhipment technical field, be particularly related to a kind of adjustable clamp and get the clamping plate type mechanical paw of Package size, specifically by clamping packing and discharging packing, cooperate the palletizing mechanical arm to realize the transhipment of different size packing and the robot palletizer mechanical paw device of piling function.
Background technology
In recent years, along with enterprise's production automation degree is more and more higher, the application of robot palletizer becomes more and more general, and supporting with it robot palletizer paw also develops rapidly, has formed multiple model.But existing grab the board-like mechanical paw of clamp and mostly be single fitting strip type, the casing of normal size once can only be transported one, can not satisfy the high efficiency transhipment of nowadays stressing day by day, transports large numbers of the time at needs, and this shortcoming is particularly evident.
In addition, tradition clamping plate type mechanical paw adopts the motor-driven clamping plate to clamp more, it is slower to clamp action, finish same action and need expend more time, simultaneously motor has also increased the deadweight of whole paw, and the weight that paw can grasp casing under the robot palletizer situation that adopts same model is restricted.
Also have, existing clamping plate type mechanical paw is rigid impact when clamping release, and the reload buffer device does not clash into crawled thing easily, and reliability is relatively poor.
In view of the shortcoming of above-mentioned clamping plate type mechanical paw, existing clamping plate type paw can not satisfy the requirement of transhipment at a high speed, and weight capacity is restricted and reliability is low.
The utility model content
(1) technical problem that will solve
The technical problems to be solved in the utility model provides a kind of have transport efficacy height, rational in infrastructure, durable in use, the pneumatic adjustable splint type mechanical paw that is used for robot palletizer that makes things convenient for installation and adjusting, highly versatile, cost economic dispatch advantage.
(2) technical scheme
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is as follows:
A kind of pneumatic adjustable splint type mechanical paw for robot palletizer, comprise connecting frame, described connecting frame is provided with installing plate, described installing plate is provided with line slide rail, described line slide rail is provided with first slide block, described first slide block is provided with clamping plate, described installing plate is provided with the fixed head that be arranged in parallel with described clamping plate, also be provided with first cylinder on the described installing plate, the described clamping plate of described first air cylinder driven moves along described line slide rail, and described clamping plate and/or fixed head are provided with mechanical paw device.
Wherein, described mechanical paw device comprises hook, rotor plate, rotation seat, described hook is installed on the described rotor plate, described rotor plate is connected on the described rotation seat by revolute pair, described rotation seat is fixed on described clamping plate and/or the fixed head, and described second cylinder, one end is fixed on described clamping plate and/or the fixed head, and the other end cuts with scissors on joint, plinth is fixedly arranged on the described rotor plate, and the described joint other end is articulated on the described plinth.
Wherein, described fixed head is installed on the described line slide rail by second slide block, and described installing plate side is provided with adjustment hole, and described second slide block is provided with regulating block, and described regulating block is provided with the installing hole corresponding with described adjustment hole.
Wherein, also comprise spacing buffer unit, described spacing buffer unit comprises limit base and is installed on hydraulic bjuffer and rigid post on the described limit base that described limit base is fixed on the described installing plate.
Wherein, also be provided with range sensor on described clamping plate or the fixed head.
Wherein, described clamping plate and/or fixed head inboard are provided with rubber slab.
Wherein, described clamping plate and fixed head are welded to connect plate by the L type and are individually fixed on described first slide block and second slide block, and described L type is welded to connect plate and is provided with reinforcement.
Wherein, described connecting frame is arranged with at least 2 installing plates in parallel.
(3) beneficial effect
The utility model is compared and prior art, and it has following beneficial effect:
1, transport efficacy height.This clamping plate type mechanical paw adopts many clamping plate to place form side by side, can grasp a plurality of casings simultaneously, and transport efficacy improves greatly.
2, highly versatile.This clamping plate type mechanical paw has slide adjustment mechanism, can adapt to the casing that grasps different size, highly versatile by the adjusting slider position.
3, reliability height.This clamping plate type mechanical paw adopts the air cylinder driven mode, and project organization spare material is steel construction, and the surface is through post processing, wear resistant corrosion resistant; Clamping plate clamps action buffering, and compact conformation has higher reliability.
Description of drawings
Fig. 1 is the structural representation of the pneumatic adjustable splint type mechanical paw that is used for robot palletizer of the utility model embodiment.
Fig. 2 is the structural representation at another visual angle of the pneumatic adjustable splint type mechanical paw that is used for robot palletizer of the utility model embodiment.
Fig. 3 is the front view of the pneumatic adjustable splint type mechanical paw that is used for robot palletizer of the utility model embodiment.
Fig. 4 is the side view of the pneumatic adjustable splint type mechanical paw that is used for robot palletizer of the utility model embodiment.
Fig. 5 is the vertical view of the pneumatic adjustable splint type mechanical paw that is used for robot palletizer of the utility model embodiment.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation the utility model, but are not used for limiting scope of the present utility model.
As shown in Figure 1 to Figure 3, a kind of pneumatic adjustable splint type mechanical paw for robot palletizer, comprise connecting frame 1-7, described connecting frame 1-7 links to each other with the horse multirobot by adpting flange 1-8, described connecting frame 1-7 is provided with at least 1 group installing plate 1-6, described installing plate 1-6 is provided with line slide rail 2-7, described line slide rail 2-7 is provided with the first slide block 2-10, the described first slide block 2-10 is provided with clamping plate 1-4, described installing plate 1-6 is provided with the fixed head 1-5 that be arranged in parallel with described clamping plate 1-4, also be provided with first cylinder on the described installing plate 1-6, the described first cylinder 3-1 drives described clamping plate 1-4 and moves along described line slide rail 2-7, and described clamping plate 1-4 and/or fixed head 1-5 are provided with mechanical paw device.
As shown in Figures 1 to 4, described mechanical paw device comprises hook 4-1, rotor plate 4-2, rotation seat 4-3, hook 4-1 has the finger of constant slope, evenly be installed on the described rotor plate 4-2, quantity can change according to the extracting weight of object, described rotor plate 4-2 is connected on the described rotation seat 4-3 by revolute pair 4-7, described rotation seat 4-3 is fixed on described clamping plate 1-4 and/or the fixed head 1-5, the described second cylinder 3-8, one end is fixed on described clamping plate 1-4 and/or the fixed head 1-5, the other end cuts with scissors on joint 3-9, described rotor plate 4-2 goes up fixedly plinth 3-10, and the described joint 3-9 other end is articulated on the described plinth 3-10.
As depicted in figs. 1 and 2, described fixed head 1-5 is installed on the described line slide rail 2-7 by the second slide block 2-9, described installing plate 1-6 side is provided with adjustment hole, the described second slide block 2-9 is provided with regulating block 2-8, described regulating block 2-8 is provided with the installing hole corresponding with described adjustment hole, install with bolt in installing hole and adjustment hole, regulating block 2-8 just can pin the position of the second slide block 2-9, thereby makes the fixed-site of fixed head 1-5.By regulating regulating block 2-8 to change the position of fixed head 1-5, can realize that just the gripping size is adjustable within the specific limits.
As depicted in figs. 1 and 2, the utility model also comprises spacing buffer unit, described spacing buffer unit comprises limit base 2-3 and is installed on hydraulic bjuffer 2-1 and rigid post 2-2 on the described limit base 2-3 that described limit base 2-3 is fixed on the described installing plate 1-6.Rigid post 2-2 plays position-limiting action when clamping plate clamps action, produce rigid shock, therefore needs hydraulic bjuffer 2-1 that cushioning effect is provided.
Also be provided with range sensor 4-4 on described clamping plate 1-4 or the fixed head 1-5, by divergent-ray, whether grasped product and judged whether product is in a suitable clamped position to detect mechanical paw.
Described clamping plate 1-4 and/or fixed head 1-5 inboard are provided with rubber slab 2-5, the stability when improving the paw extracting.
Described clamping plate 1-4 and fixed head 1-5 are welded to connect plate 3-2 by the L type and are individually fixed on the described first slide block 2-10 and the second slide block 2-9, and described L type is welded to connect plate 3-2 and is provided with reinforcement 3-3.Be welded to connect plate 3-2 and weld to improve the rigidity of structure with welding reinforcement 3-3.
The entire cylinder drive unit is led magnetic valve 5-2 control on the 4-6 by being installed in valve, and valve is led 4-6 and led installing plate 5-3 by valve and be installed on the connecting frame 1-7.
Pneumatic adjustable splint type mechanical paw of the present utility model is when work, according to being adjusted distance between the second slide block 2-9 and the first slide block 2-10 by the size of gripping thing by the position of regulating rigid post 2-2 in adjustment seat 2-8 and the stopping means, and then change the distance between clamping plate 1-4 and the fixed head 1-5; Clamping plate 1-4 moves to the direction away from fixed head under the effect of the first cylinder 3-1 then, and mechanical paw device launches under the effect of the second cylinder 3-8 simultaneously; Then paw moves down, make workpiece between clamping plate and fixed head, and control the first cylinder 3-1 and shrink drive clamping plate 1-4 clamping, clamping work pieces just under the position-limiting action of rigid post 2-2, then driving the second cylinder 3-8 makes mechanical paw device turn over pawl downwards, lift workpiece, mobile paw is to assigned address, and extracting work is finished.After arriving assigned address, release mechanism paw device, the first cylinder 3-1 drive clamping plate 1-4 to be loosened, and just can put down workpiece.
The above only is preferred embodiment of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (8)
1. pneumatic adjustable splint type mechanical paw that is used for robot palletizer, it is characterized in that: comprise connecting frame, described connecting frame is provided with installing plate, described installing plate is provided with line slide rail, described line slide rail is provided with first slide block, described first slide block is provided with clamping plate, described installing plate is provided with the fixed head that be arranged in parallel with described clamping plate, also be provided with first cylinder on the described installing plate, the described clamping plate of described first air cylinder driven moves along described line slide rail, and described clamping plate and/or fixed head are provided with mechanical paw device.
2. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 1, it is characterized in that: described mechanical paw device comprises hook, rotor plate, rotation seat, described hook is installed on the described rotor plate, described rotor plate is connected on the described rotation seat by revolute pair, described rotation seat is fixed on described clamping plate and/or the fixed head, described second cylinder, one end is fixed on described clamping plate and/or the fixed head, the other end cuts with scissors on joint, plinth is fixedly arranged on the described rotor plate, and the described joint other end is articulated on the described plinth.
3. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 2, it is characterized in that: described fixed head is installed on the described line slide rail by second slide block, described installing plate side is provided with adjustment hole, described second slide block is provided with regulating block, and described regulating block is provided with the installing hole corresponding with described adjustment hole.
4. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 3, it is characterized in that: also comprise spacing buffer unit, described spacing buffer unit comprises limit base and is installed on hydraulic bjuffer and rigid post on the described limit base that described limit base is fixed on the described installing plate.
5. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 3 is characterized in that: also be provided with range sensor on described clamping plate or the fixed head.
6. according to claim 4 or 5 described pneumatic adjustable splint type mechanical paws for robot palletizer, it is characterized in that: described clamping plate and/or fixed head inboard are provided with rubber slab.
7. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 6, it is characterized in that: described clamping plate and fixed head are welded to connect plate by the L type and are individually fixed on described first slide block and second slide block, and described L type is welded to connect plate and is provided with reinforcement.
8. the pneumatic adjustable splint type mechanical paw for robot palletizer according to claim 7, it is characterized in that: described connecting frame is arranged with at least 2 installing plates in parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320048753 CN203125516U (en) | 2013-01-25 | 2013-01-25 | Pneumatic adjustable clamping plate type manipulator claw used for stacking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320048753 CN203125516U (en) | 2013-01-25 | 2013-01-25 | Pneumatic adjustable clamping plate type manipulator claw used for stacking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203125516U true CN203125516U (en) | 2013-08-14 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201320048753 Withdrawn - After Issue CN203125516U (en) | 2013-01-25 | 2013-01-25 | Pneumatic adjustable clamping plate type manipulator claw used for stacking robot |
Country Status (1)
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103707308A (en) * | 2013-12-25 | 2014-04-09 | 衢州中科数字化工程技术有限公司 | Lateral package grabbing paw |
| CN103802101A (en) * | 2013-01-25 | 2014-05-21 | 常州先进制造技术研究所 | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot |
| CN105459095A (en) * | 2016-01-26 | 2016-04-06 | 安徽理工大学 | Three-freedom-degree series-parallel omni-directional mobile transfer robot |
| CN105835079A (en) * | 2016-05-31 | 2016-08-10 | 佛山科学技术学院 | Stacking manipulator |
| CN105966930A (en) * | 2016-07-11 | 2016-09-28 | 苏州长鼎兴智能科技有限公司 | Stacking machine |
| CN106006063A (en) * | 2016-07-11 | 2016-10-12 | 苏州长鼎兴智能科技有限公司 | Gripper for stacking machine |
| CN107378421A (en) * | 2017-06-02 | 2017-11-24 | 珠海格力智能装备有限公司 | Heat exchanger clamping mechanism and air conditioner processing device with same |
| CN107598956A (en) * | 2017-10-30 | 2018-01-19 | 广东科德智能装备有限公司 | A kind of robot for carrying and piling mechanical paw |
| CN107618870A (en) * | 2017-10-18 | 2018-01-23 | 上海赛今机器人有限公司 | A kind of fixture |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN108284454A (en) * | 2018-04-27 | 2018-07-17 | 葛成燕 | A kind of logistics package Intelligent transfer robot handgrip |
| CN109178922A (en) * | 2018-07-26 | 2019-01-11 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN109573610A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of robot gripper used for logistics transportation convenient for operation |
| CN109866204A (en) * | 2017-12-01 | 2019-06-11 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of injection system based on tow-armed robot |
-
2013
- 2013-01-25 CN CN 201320048753 patent/CN203125516U/en not_active Withdrawn - After Issue
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103802101A (en) * | 2013-01-25 | 2014-05-21 | 常州先进制造技术研究所 | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot |
| CN103802101B (en) * | 2013-01-25 | 2016-04-27 | 常州先进制造技术研究所 | For the pneumatic adjustable splint type mechanical paw of robot palletizer |
| CN103707308A (en) * | 2013-12-25 | 2014-04-09 | 衢州中科数字化工程技术有限公司 | Lateral package grabbing paw |
| CN105459095B (en) * | 2016-01-26 | 2019-03-15 | 安徽理工大学 | Three-freedom-degree hybrid formula Omni-mobile transfer robot |
| CN105459095A (en) * | 2016-01-26 | 2016-04-06 | 安徽理工大学 | Three-freedom-degree series-parallel omni-directional mobile transfer robot |
| CN105835079A (en) * | 2016-05-31 | 2016-08-10 | 佛山科学技术学院 | Stacking manipulator |
| CN105966930A (en) * | 2016-07-11 | 2016-09-28 | 苏州长鼎兴智能科技有限公司 | Stacking machine |
| CN106006063A (en) * | 2016-07-11 | 2016-10-12 | 苏州长鼎兴智能科技有限公司 | Gripper for stacking machine |
| CN107378421A (en) * | 2017-06-02 | 2017-11-24 | 珠海格力智能装备有限公司 | Heat exchanger clamping mechanism and air conditioner processing device with same |
| CN107618870A (en) * | 2017-10-18 | 2018-01-23 | 上海赛今机器人有限公司 | A kind of fixture |
| CN107738248A (en) * | 2017-10-20 | 2018-02-27 | 深圳市精实机电科技有限公司 | A kind of manipulator and its control method with two-pawl structure |
| CN107598956A (en) * | 2017-10-30 | 2018-01-19 | 广东科德智能装备有限公司 | A kind of robot for carrying and piling mechanical paw |
| CN109866204A (en) * | 2017-12-01 | 2019-06-11 | 沈阳自动化研究所(昆山)智能装备研究院 | A kind of injection system based on tow-armed robot |
| CN108284454A (en) * | 2018-04-27 | 2018-07-17 | 葛成燕 | A kind of logistics package Intelligent transfer robot handgrip |
| CN109178922A (en) * | 2018-07-26 | 2019-01-11 | 珠海格力智能装备有限公司 | Clamp apparatus |
| CN109573610A (en) * | 2019-01-22 | 2019-04-05 | 辽宁科技大学 | A kind of robot gripper used for logistics transportation convenient for operation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20130814 Effective date of abandoning: 20160427 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |