CN203187109U - Grasping hand device of robot palletizer - Google Patents

Abstract

The utility model discloses a grasping hand device of a robot palletizer. The grasping hand device of the robot palletizer can stack boxes, grasped at one time, on a stacking plate for one or more times according to different stacking shapes. The grasping hand device of the robot palletizer comprises a fixed box clamping plate and a plurality of split moving box clamping plates, wherein the fixed box clamping plate is installed at the bottom of a grasping hand installing frame, the number of the split moving box clamping plates is the same as the number of the boxes needing to be grasped at one time, each split moving box clamping plate is movably connected with the grasping hand installing frame, each split moving box clamping plate is connected with a piston rod of a corresponding box clamping air cylinder, each corresponding split moving box clamping plate can get close to or get away from the fixed box clamping plate under drive of each box clamping air cylinder until a box between each corresponding split moving box clamping plate and the fixed box clamping plate is tightly clamped, or the box between each corresponding split moving box clamping plate and the fixed box clamping plate falls off, and each split moving box clamping plate is further provided with a box hooking device with a hooking hand.

Description

The gripper equipment of robot palletizer

Technical field

The utility model relates to robot palletizer, relates in particular to the gripper equipment of robot palletizer.

Background technology

Robot palletizer is one of visual plant of bulk storage plant, it can with single material or product as required pile be fully used in limited space, warehouse together, and provide convenience for the transportation of material or product.In the pile process, be transported to stamp on the plate and according to the buttress shape code after the gripper equipment of robot palletizer is firmly grasped the chest that needs pile in the zone to be palletized and pile up neatly to corresponding case position.The structure of the gripper equipment of traditional robot palletizer comprises: the handgrip erecting frame, the bottom of handgrip erecting frame is provided with the geometrical clamp boxboard and integral type moves the folder boxboard, captive joint with the handgrip erecting frame in the upper end of geometrical clamp boxboard, upper end and handgrip erecting frame that integral type moves the folder boxboard flexibly connect, the bottom of handgrip erecting frame is provided with folder case cylinder, and integral type moves the folder boxboard and is connected with the piston rod of folder case cylinder, under the driving of folder case cylinder, integral type moves the folder boxboard and can draw close to the geometrical clamp boxboard, or can clamp until the chest that integral type is moved between folder boxboard and the geometrical clamp boxboard away from the geometrical clamp boxboard, or the chest that integral type is moved between folder boxboard and the geometrical clamp boxboard drops.Integral type moves the length of folder boxboard and a length overall of arranging chest of required extracting adapts, to guarantee that can wholely grasp one after integral type moves the folder boxboard and the geometrical clamp boxboard cooperates arranges chest.Be example with the buttress shape of stamping plate shown in Figure 1 below, the piling mode of the gripper equipment of traditional robot palletizer is described.During piling, gripper equipment is grabbed four chests from zone to be palletized for the first time, four chests together is placed on four case positions of stamping plate A position then; Gripper equipment is grabbed three chests from zone to be palletized for the second time, three chests together is placed on three case positions of stamping plate B position then; Gripper equipment is grabbed two chests for the third time, two chests together is placed on two case positions of stamping plate C position then; Gripper equipment is grabbed three chests the 4th time, then three chests together is placed on three case positions of stamping plate D position.The shortcoming of the gripper equipment of traditional robot palletizer is as follows as can be seen from above-mentioned piling process: during pile, geometrical clamp boxboard and integral type move that the chest that once grasps of folder boxboard can only once all put down simultaneously and piling is being stamped on the plate, the form of this pile can't adapt to complicated buttress shape, and the piling inefficiency.

The utility model content

The utility model technical issues that need to address are: provide a kind of can according to different stamp chest that shape will once grasp one or more times pile to the gripper equipment of stamping the robot palletizer on the plate.

For addressing the above problem, the technical solution adopted in the utility model is: the gripper equipment of robot palletizer, comprise: the handgrip erecting frame, the bottom of handgrip erecting frame is provided with geometrical clamp boxboard and mobile folder boxboard, captive joint with the handgrip erecting frame in the upper end of geometrical clamp boxboard, described mobile folder boxboard is made up of some split type mobile folder boxboards, the quantity of split type mobile folder boxboard is identical with the quantity of the chest that needs once to grasp, the upper end of each split type mobile folder boxboard flexibly connects with the handgrip erecting frame respectively, the bottom of the handgrip erecting frame between each split type mobile folder boxboard and the geometrical clamp boxboard is provided with folder case cylinder, and each split type mobile folder boxboard is connected with the piston rod of corresponding folder case cylinder respectively, under the driving of each folder case cylinder, corresponding split type mobile folder boxboard all can be drawn close to the geometrical clamp boxboard, or all can be away from the geometrical clamp boxboard, until the split type mobile folder boxboard of correspondence and the chest between the geometrical clamp boxboard are clamped, or corresponding split type mobile folder boxboard and the chest between the geometrical clamp boxboard are dropped; All also be provided with the hook case apparatus of buckle hand on each split type mobile folder boxboard, when split type mobile folder boxboard clamps chest, the bottom that the hook hand on the corresponding hook case apparatus can hook corresponding chest.

Further, the gripper equipment of aforesaid robot palletizer, wherein, the structure of hook case apparatus comprises: rotating shaft, the two ends of rotating shaft freely-movable bearing respectively press from both sides the outside, boxboard lower end split type the movement, be set with hook hand and connecting rod assembly in the rotating shaft, the upper end of hook case cylinder is hinged on the outside of split type mobile folder boxboard, captive joint with the connecting rod assembly in the rotating shaft in the end of hook case cylinder piston rod, when the piston rod of hook case cylinder outwards extends, connecting rod assembly can drive rotating shaft and rotate, and the hook hand in rotating shaft inwardly overturns and hooks the chest bottom.

The beneficial effects of the utility model: mobile folder boxboard is made up of several split type mobile folder boxboards, and each moves the folder boxboard by independent vanning air cylinder driven, can be placed on several times according to the chest that the quantity of putting case will once be picked up when putting case like this and stamp on the corresponding case of the plate position, this stacking form can adapt to the different shapes of stamping, and has improved stacking capability and the pile efficient of robot palletizer greatly.

Description of drawings

Fig. 1 stamps to stamp the shape scheme drawing on the plate.

Fig. 2 is the structural representation of the gripper equipment of robot palletizer described in the utility model.

Fig. 3 is the structural representation of Fig. 2 left side apparent direction.

The specific embodiment

Be described in further detail below in conjunction with accompanying drawing and the utility model of optimum embodiment.

As Fig. 2, shown in Figure 3, the gripper equipment of robot palletizer, comprise: handgrip erecting frame 1, the bottom of handgrip erecting frame 1 is provided with geometrical clamp boxboard 2 and mobile folder boxboard, captive joint with handgrip erecting frame 1 in the upper end of geometrical clamp boxboard 2, described mobile folder boxboard is made up of some split type mobile folder boxboards 3, the quantity of split type mobile folder boxboard 3 is identical with the quantity of the chest that needs once to grasp, be that example describes so that four blocks of split type mobile folder boxboards 3 to be set in the present embodiment, the upper end of each split type mobile folder boxboard 3 flexibly connects with the bottom of handgrip erecting frame 1 respectively, the bottom of the handgrip erecting frame 1 between each split type mobile folder boxboard 3 and the geometrical clamp boxboard 2 is provided with folder case cylinder 4, and each split type mobile folder boxboard 3 is connected with the piston rod of corresponding folder case cylinder 4 respectively, under the driving of each folder case cylinder 4, corresponding split type mobile folder boxboard 3 all can be drawn close to geometrical clamp boxboard 2, or all can be away from geometrical clamp boxboard 2, clamp until the split type mobile chest 5 that presss from both sides between boxboard 3 and the geometrical clamp boxboard 2 with correspondence, or corresponding split type mobile folder boxboard 3 and the chest 5 between the geometrical clamp boxboard 2 are dropped; In order to prevent that chest 5 from moving to the motion process of stamping plate and drop from grabbing the case position, all also be provided with the hook case apparatus of buckle hand 7 on each split type mobile folder boxboard 3, when split type mobile folder boxboard 3 clamps chest 5, hook hand 7 on the corresponding hook case apparatus can inwardly overturn, and the bottom of hooking corresponding chest 5, the structure of described hook case apparatus comprises: rotating shaft 6, the two ends of rotating shaft 6 freely-movable bearing respectively press from both sides the outside, boxboard 3 lower ends split type the movement, be set with hook hand 7 and connecting rod assembly 8 in the rotating shaft 6, the upper end of hook case cylinder 9 is hinged on the outside of split type mobile folder boxboard 3, captive joint with the connecting rod assembly 8 in the rotating shaft 6 in the end of hook case cylinder 9 piston rods, when the piston rod of hook case cylinder 9 outwards extends, connecting rod assembly 8 can drive rotating shaft 6 and rotate, and the hook hand 7 in rotating shaft 6 hooks the bottom of chest 5.

Principle of work of the present utility model is as follows: when grabbing case, robot palletizer moves to zone to be palletized with gripper equipment, then according to required quantity (can grasp four chests in the present embodiment at most) and position of grabbing case, start whole in four folder case cylinders 4 or part wherein respectively, folder case cylinder 4 drives corresponding split type mobile folder boxboard 3 respectively and draws close to geometrical clamp boxboard 2, until the split type mobile folder boxboard 3 of correspondence and the chest 5 between the geometrical clamp boxboard 2 are clamped, start corresponding hook luck cylinder 9 more respectively, and the piston rod that drives on the hook luck cylinder 9 outwards extends respectively, thereby driving corresponding rotating shaft 6 respectively rotates, hook hand 7 in rotating shaft 6 inwardly overturns, and the bottom of hooking corresponding chest 5, be about to corresponding chest 5 and pick up.The robot palletizer gripper equipment that will grab chest 5 moves to the top of stamping plate then, and make corresponding chest 5 be positioned at the top, case position of needs piling according to the shape of stamping of required piling, put the quantity of case and the position of putting case more as required, start corresponding hook luck cylinder 9 respectively, and the piston rod that drives on the hook luck cylinder 9 inwardly shortens respectively, thereby driving corresponding rotating shaft 6 rotates, hook hand 7 in corresponding rotating shaft 6 outwards rotates, thereby throw off with the bottom of corresponding chest 5, restart corresponding folder case cylinder 4 and make it drive corresponding split type mobile folder boxboard 3 away from geometrical clamp boxboard 2, thereby on the corresponding case position that makes corresponding chest 5 drop into respectively to stamp on the plate.Because each split type mobile folder boxboard 3 is driven by independent folder case cylinder 4, can chest 5 can be put down several times according to stamping shape by driving corresponding folder case cylinder 4 respectively when putting case.Be example with the shape of stamping shown in Figure 1, carry out the piling explanation.Gripper equipment is grabbed four chests 5 from zone to be palletized for the first time, then four chests 5 is placed on four case positions at the A position of stamping on the plate; Gripper equipment is grabbed four chests from zone to be palletized for the second time, then three in four chests is placed on three case positions of stamping B position on the plate, another one is placed on the case position of stamping C position on the plate again; Gripper equipment is also grabbed four chests for the third time, and on three case positions that wherein three are placed on the D position, another one is placed on the remaining case position at C position, has so just finished the pile of stamping plate last layer chest.

Advantage of the present utility model is: mobile folder boxboard is made up of several split type mobile folder boxboards 3, and each split type mobile folder boxboard 3 drives by independent vanning cylinder 4, when putting case, can be placed on several times according to the chest 5 that the quantity of putting case will once be picked up and stamp on the corresponding case of the plate position, this stacking form can adapt to the different shapes of stamping, and has improved stacking capability and the pile efficient of robot palletizer greatly.

Claims (2)

1. the gripper equipment of robot palletizer, comprise: the handgrip erecting frame, the bottom of handgrip erecting frame is provided with geometrical clamp boxboard and mobile folder boxboard, captive joint with the handgrip erecting frame in the upper end of geometrical clamp boxboard, it is characterized in that: described mobile folder boxboard is made up of some split type mobile folder boxboards, the quantity of split type mobile folder boxboard is identical with the quantity of the chest that needs once to grasp, the upper end of each split type mobile folder boxboard flexibly connects with the handgrip erecting frame respectively, the bottom of the handgrip erecting frame between each split type mobile folder boxboard and the geometrical clamp boxboard is provided with folder case cylinder, and each split type mobile folder boxboard is connected with the piston rod of corresponding folder case cylinder respectively, under the driving of each folder case cylinder, corresponding split type mobile folder boxboard all can be drawn close to the geometrical clamp boxboard, or all can be away from the geometrical clamp boxboard, until the split type mobile folder boxboard of correspondence and the chest between the geometrical clamp boxboard are clamped, or corresponding split type mobile folder boxboard and the chest between the geometrical clamp boxboard are dropped; All also be provided with the hook case apparatus of buckle hand on each split type mobile folder boxboard, when split type mobile folder boxboard clamps chest, the bottom that the hook hand on the corresponding hook case apparatus can hook corresponding chest.

2. the gripper equipment of robot palletizer according to claim 1, it is characterized in that: the structure of hook case apparatus comprises: rotating shaft, the two ends of rotating shaft freely-movable bearing respectively press from both sides the outside, boxboard lower end split type the movement, be set with hook hand and connecting rod assembly in the rotating shaft, the upper end of hook case cylinder is hinged on the outside of split type mobile folder boxboard, captive joint with the connecting rod assembly in the rotating shaft in the end of hook case cylinder piston rod, when the piston rod of hook case cylinder outwards extends, connecting rod assembly can drive rotating shaft and rotate, and the hook hand in rotating shaft inwardly overturns, and hook bottom the chest.

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