CN204160486U - For the vacuum type mechanical grip hand of robot for carrying and piling - Google Patents

For the vacuum type mechanical grip hand of robot for carrying and piling Download PDF

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Publication number
CN204160486U
CN204160486U CN201420420299.1U CN201420420299U CN204160486U CN 204160486 U CN204160486 U CN 204160486U CN 201420420299 U CN201420420299 U CN 201420420299U CN 204160486 U CN204160486 U CN 204160486U
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CN
China
Prior art keywords
ambulatory splint
assembly
sucker
guide rod
robot
Prior art date
Application number
CN201420420299.1U
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Chinese (zh)
Inventor
张聪
李艳平
林立雪
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广州南联实业有限公司
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Priority to CN201420420299.1U priority Critical patent/CN204160486U/en
Application granted granted Critical
Publication of CN204160486U publication Critical patent/CN204160486U/en

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Abstract

The utility model discloses a kind of vacuum type mechanical grip hand for robot for carrying and piling, comprise pedestal, horizontal slide assemblies, fixation side assembly and active side assembly, horizontal movable component is located at base bottom, horizontal slide assemblies two ends are located at respectively by fixation side assembly and active side assembly, active side assembly comprises ambulatory splint, first sucker and the first valve, ambulatory splint top is connected with horizontal slide assemblies one end, ambulatory splint is provided with the first air flue, ambulatory splint side is provided with the first valve, first air flue is by the external extraction sector of the first valve, first sucker is located on ambulatory splint, through hole on first sucker is communicated with the first air flue.This vacuum chamber mechanical grip palmistry, for existing band claw manipulator, decreases claw mechanism, structure is simplified compact, reaches again the effect that clamping is stable simultaneously, and no matter the casing package of quality size is all applicable.

Description

For the vacuum type mechanical grip hand of robot for carrying and piling
Technical field
The utility model relates to industrial robot carrying palletizing technology field, particularly a kind of vacuum type mechanical grip hand for robot for carrying and piling.
Background technology
In the subsequent packages production line of the productions such as food, beverage, daily-use chemical industry, electronic apparatus, the work such as applicable industry robot carries out casing, carry, piling is increasingly extensive.Realize carrying and the robot type of piling function is identical substantially, but for different packaged form (as packed, case dress, canned etc.), robot needs supporting different mechanical paw, could smooth grasp handling article.
Casing (particularly carton) packaging is a kind of packaged form generally applied, and when carrying this class package, traditional method mainly contains two kinds of forms: one, adopts vacuum cup directly to draw carton upper surface from top to bottom; Its two, adopt the corresponding two sides of the mechanical grip hand of clamping plate type clamping carton.
If when wrap quality is less, above-mentioned two kinds of methods are all applicable.
But time wrap quality if comparatively large (as beverage, tinned food etc.), then easily there is following defect in above-mentioned two kinds of methods: when adopting vacuum cup form, easy stretcher strain during sucker suction box surface, even pull open carton upper surface leatheroid, therefore which is substantially inapplicable; When adopting the corresponding two sides of mechanical grip hand clamping carton, package is due to overweight and frictional force that is that easily overcome both sides clamping plate glides, and therefore which needs to improve.
For the mechanical grip hand of clamping plate type, current existing improved procedure as shown in Figure 1, mainly sets up claw 1 and claw cylinder 2 on the ambulatory splint of casing side, after casing 3 clamped by clamping plate, claw cylinder stretches out downwards, drives claw to rotate counterclockwise around fulcrum, support bottom half; By the support of claw, even if the larger casing of quality also there will not be downslide phenomenon.
But, although the mechanical grip hand with claw solves the problem that casing glides, but its structure is relatively complicated, and it is compact not, the mutual interference avoiding claw and other conveying devices and package is needed during work, equipment runs and easily breaks down, and affects the normal operation of packaging production line, reduces production efficiency.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, for the rectangular package that wrap quality is larger, provide a kind of structure simple, clamp the stable vacuum type mechanical grip hand for robot for carrying and piling.
The technical solution of the utility model is: a kind of vacuum type mechanical grip hand for robot for carrying and piling, comprise pedestal, horizontal slide assemblies, fixation side assembly and active side assembly, horizontal movable component is located at base bottom, horizontal slide assemblies two ends are located at respectively by fixation side assembly and active side assembly, active side assembly comprises ambulatory splint, first sucker and the first valve, ambulatory splint top is connected with horizontal slide assemblies one end, ambulatory splint is provided with the first air flue, ambulatory splint side is provided with the first valve, first air flue is by the external extraction sector of the first valve, first sucker is located on ambulatory splint, through hole on first sucker is communicated with the first air flue.
In described active side assembly, the first sucker is distributed with multiple through hole be communicated with the first air flue, each through hole is respectively trumpet-shaped bellmouth.The sucker suction power of this version is comparatively strong, can improve the clamping effect of ambulatory splint preferably, effectively prevent casing from coming off; Wherein, through hole number can flexible design, determines, be generally no less than 4 according to body side area and FCL weight.
In described active side assembly, ambulatory splint is in vertically arranging, and the side that ambulatory splint is relative with fixation side assembly is provided with concave surface, and the first sucker is embedded in concave surface; Concave surface is provided with multiple connection and as the groove of the first air flue, each through hole on the first sucker is communicated with groove; Ambulatory splint and the opposing side of fixation side assembly are provided with the first valve, and the first valve is communicated with the first air flue through after ambulatory splint.Wherein, the degree of depth of concave surface can be equal with the gross thickness of the first sucker, also can be less than the gross thickness of the first sucker, the length and width size of concave surface and sucker form fit, and each groove is as the first air flue; The concave surface that first sucker embeds ambulatory splint assembles and bonds fastening, be connected between each first air flue, each through hole of the first sucker is all communicated, during use, as long as the first valve connects vacuum tube, then the whole through holes on the first sucker can be made all to be in the state of bleeding by the first air flue, thus realize the vacuum clamping to body side.
Described ambulatory splint top is provided with fixed block and slide block, and fixed block is positioned in the middle part of ambulatory splint, and fixed block both sides are respectively equipped with slide block.
According to actual needs, horizontal slide assemblies can adopt following 2 kinds of versions:
(1) described horizontal slide assemblies comprises cylinder, guide rod and guide rod seat, cylinder is horizontally placed on base bottom, the output of cylinder is connected with fixed block, cylinder both sides are respectively equipped with guide rod, each guide rod and cylinder be arranged in parallel, each guide rod is fixed on base bottom by guide rod seat, ambulatory splint by skid on guide rod.During use, promote fixed block by cylinder, thus drive ambulatory splint motion, ambulatory splint is slidably reciprocated on guide rod by slide block.
(2) described horizontal slide assemblies comprises drive motors, ball-screw, guide rod and guide rod seat, base bottom is located at by ball-screw, ball-screw one end is connected with drive motors, the fixed block at ambulatory splint top is connected with the nut on ball-screw, ball-screw both sides are respectively equipped with guide rod, each guide rod and ball-screw be arranged in parallel, and each guide rod is fixed on base bottom by guide rod seat, ambulatory splint by skid on guide rod.During use, motor driven ball screws is moved, and drive ambulatory splint motion by fixed block, ambulatory splint is slidably reciprocated on guide rod by slide block.
According to actual needs, fixation side assembly also can adopt following 2 kinds of versions:
(1) described fixation side assembly comprises flat strap, and strap is fixedly connected with base bottom, and strap and ambulatory splint be arranged in parallel.This structure is simple, and equipment cost is also relatively low.
(2) described fixation side assembly comprises strap, the second sucker and the second valve, strap top is fixedly connected with pedestal, strap is provided with the second air flue, strap side is provided with the second valve, second air flue is by the external extraction sector of the second valve, second sucker is located on strap, and the through hole on the second sucker is communicated with the second air flue.In fact, in this version, fixation side assembly and active side assembly are formed and pile structure, and wherein, the concrete structure of strap, the second sucker, the second valve is identical with the concrete structure of ambulatory splint, the first sucker, the first valve respectively.When this structure uses, more stable to the clamping of casing, be applicable to the very large casing of weight.
The conveniently installation of this mechanical holding hand, described pedestal top is provided with mount pad.
As a kind of preferred version, described extraction sector is vacuum tube.
When this vacuum chamber mechanical grip hand uses, its principle is: when vacuum type mechanical grip is done by hand, active side assembly is under the driving of horizontal slide assemblies, direction to fixation side assembly is drawn close, after clamping casing, extraction sector vacuumizes (when the structure that fixation side assembly adopts strap and the second sucker to coordinate to ambulatory splint and the first sucker, also vacuumize) simultaneously, the first sucker is made to suck body side, prevent casing from gliding, even if the larger casing of quality is also difficult to overcome side pull of vacuum and occur downslide phenomenon.
The utility model, relative to prior art, has following beneficial effect:
This vacuum chamber mechanical grip palmistry, for existing band claw manipulator, decreases claw mechanism, structure is simplified compact, reaches again the effect that clamping is stable simultaneously, and no matter the casing package of quality size is all applicable.In addition, need the defect of the mutual interference avoiding claw and other conveying devices and package when overcoming existing equipment work, effectively can reduce equipment failure rate, ensure the normal operation of packaging production line, enhance productivity.
Accompanying drawing explanation
Principle schematic when Fig. 1 is the use of existing band claw mechanical grip hand.
Fig. 2 is the structural representation of this vacuum chamber mechanical grip hand embodiment 1.
Fig. 3 is the structural representation of active side assembly.
Fig. 4 is the A-A direction view of Fig. 3.
Fig. 5 is the structural representation of the first sucker.
Fig. 6 is the structural representation of ambulatory splint.
Fig. 7 is the B direction view of Fig. 2.
Principle schematic when Fig. 8 is the use of vacuum chamber mechanical grip hand.
Fig. 9 is the structural representation of this vacuum chamber mechanical grip hand embodiment 2.
Detailed description of the invention
Below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail, but embodiment of the present utility model is not limited thereto.
Embodiment 1
A kind of vacuum type mechanical grip hand for robot for carrying and piling of the present embodiment, as shown in Figure 2, comprise pedestal 4, horizontal slide assemblies, fixation side assembly and active side assembly, horizontal movable component is located at base bottom, horizontal slide assemblies two ends are located at respectively by fixation side assembly and active side assembly, as shown in Figure 3 or Figure 4, active side assembly comprises ambulatory splint 5, first sucker 6 and the first valve 7, ambulatory splint top is connected with horizontal slide assemblies one end, as shown in Figure 6, ambulatory splint is provided with the first air flue 8, ambulatory splint side is provided with the first valve, first air flue is by the external extraction sector of the first valve, first sucker is located on ambulatory splint, through hole on first sucker is communicated with the first air flue.
In active side assembly, as shown in Fig. 5 or Fig. 3, the first sucker is distributed with multiple through hole 9 be communicated with the first air flue, each through hole is respectively trumpet-shaped bellmouth.The sucker suction power of this version is comparatively strong, can improve the clamping effect of ambulatory splint preferably, effectively prevent casing from coming off; Wherein, through hole number can flexible design, determines, be generally no less than 4 according to body side area and FCL weight.
In active side assembly, as shown in Figure 6, ambulatory splint is in vertically arranging, and the side that ambulatory splint is relative with fixation side assembly is provided with concave surface, and the first sucker is embedded in concave surface; Concave surface is provided with multiple connection and as the groove of the first air flue, each through hole on the first sucker is communicated with groove; Ambulatory splint and the opposing side of fixation side assembly are provided with the first valve, and the first valve is communicated with the first air flue through after ambulatory splint.Wherein, the degree of depth of concave surface can be equal with the gross thickness of the first sucker, also can be less than the gross thickness of the first sucker, the length and width size of concave surface and sucker form fit, and each groove is as the first air flue; The concave surface that first sucker embeds ambulatory splint assembles and bonds fastening, be connected between each first air flue, each through hole of the first sucker is all communicated, during use, as long as the first valve connects vacuum tube, then the whole through holes on the first sucker can be made all to be in the state of bleeding by the first air flue, thus realize the vacuum clamping to body side.
As shown in Figure 6, ambulatory splint top is provided with fixed block 10 and slide block 11, and fixed block is positioned in the middle part of ambulatory splint, and fixed block both sides are respectively equipped with slide block.
As shown in Fig. 2 or Fig. 7, horizontal slide assemblies comprises cylinder 12, guide rod 13 and guide rod seat 14, cylinder is horizontally placed on base bottom, the output of cylinder is connected with fixed block, cylinder both sides are respectively equipped with guide rod, each guide rod and cylinder be arranged in parallel, and each guide rod is fixed on base bottom by guide rod seat, ambulatory splint by skid on guide rod.During use, promote fixed block by cylinder, thus drive ambulatory splint motion, ambulatory splint is slidably reciprocated on guide rod by slide block.
As shown in Figure 2, fixation side assembly is flat strap 15, and strap is fixedly connected with base bottom, and strap and ambulatory splint be arranged in parallel.This structure is simple, and equipment cost is also relatively low.
The conveniently installation of this mechanical holding hand, pedestal top is provided with mount pad 16.
Extraction sector is vacuum tube.
When this vacuum chamber mechanical grip hand uses, its principle is: when vacuum type mechanical grip is done by hand, active side assembly is under the driving of horizontal slide assemblies, direction to fixation side assembly is drawn close, as shown in Figure 8, after clamping casing 3, extraction sector vacuumizes ambulatory splint and the first sucker, make the first sucker suck body side, prevent casing from gliding, even if the larger casing of quality is also difficult to overcome side pull of vacuum and occur downslide phenomenon.
Embodiment 2
A kind of vacuum type mechanical grip hand for robot for carrying and piling of the present embodiment, as shown in Figure 9, compared with embodiment 1, its difference is, fixation side assembly comprises strap 15, second sucker and the second valve, strap top is fixedly connected with pedestal, strap is provided with the second air flue, and strap side is provided with the second valve, and the second air flue is by the external extraction sector of the second valve, second sucker is located on strap, and the through hole on the second sucker is communicated with the second air flue.In fact, in this version, fixation side assembly and active side assembly are formed and pile structure, and wherein, the concrete structure of strap, the second sucker, the second valve is identical with the concrete structure of ambulatory splint, the first sucker, the first valve respectively.When this structure uses, more stable to the clamping of casing, be applicable to the very large casing of weight.
When this vacuum chamber mechanical grip hand uses, its principle is: when vacuum type mechanical grip is done by hand, active side assembly is under the driving of horizontal slide assemblies, direction to fixation side assembly is drawn close, after clamping casing, extraction sector vacuumizes ambulatory splint and the first sucker, also strap and the second sucker are vacuumized simultaneously, the first sucker and the second sucker is made to suck casing two sides respectively, prevent casing from gliding, even if the larger casing of quality is also difficult to overcome side pull of vacuum and occur downslide phenomenon.
Embodiment 3
A kind of vacuum type mechanical grip hand for robot for carrying and piling of the present embodiment, compared with embodiment 1, its difference is, horizontal slide assemblies comprises drive motors, ball-screw, guide rod and guide rod seat, base bottom is located at by ball-screw, ball-screw one end is connected with drive motors, the fixed block at ambulatory splint top is connected with the nut on ball-screw, ball-screw both sides are respectively equipped with guide rod, each guide rod and ball-screw be arranged in parallel, each guide rod is fixed on base bottom by guide rod seat, ambulatory splint by skid on guide rod.During use, motor driven ball screws is moved, and drive ambulatory splint motion by fixed block, ambulatory splint is slidably reciprocated on guide rod by slide block.
As mentioned above, just can realize the utility model preferably, above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model; Namely all equalizations done according to the utility model content change and modify, all by the utility model claim scope required for protection is contained.

Claims (10)

1. for the vacuum type mechanical grip hand of robot for carrying and piling, comprise pedestal, horizontal slide assemblies, fixation side assembly and active side assembly, horizontal movable component is located at base bottom, horizontal slide assemblies two ends are located at respectively by fixation side assembly and active side assembly, it is characterized in that, active side assembly comprises ambulatory splint, first sucker and the first valve, ambulatory splint top is connected with horizontal slide assemblies one end, ambulatory splint is provided with the first air flue, ambulatory splint side is provided with the first valve, first air flue is by the external extraction sector of the first valve, first sucker is located on ambulatory splint, through hole on first sucker is communicated with the first air flue.
2. according to claim 1 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, in described active side assembly, the first sucker is distributed with multiple through hole be communicated with the first air flue, each through hole is respectively trumpet-shaped bellmouth.
3. according to claim 2 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, in described active side assembly, ambulatory splint is in vertically arranging, the side that ambulatory splint is relative with fixation side assembly is provided with concave surface, and the first sucker is embedded in concave surface; Concave surface is provided with multiple connection and as the groove of the first air flue, each through hole on the first sucker is communicated with groove; Ambulatory splint and the opposing side of fixation side assembly are provided with the first valve, and the first valve is communicated with the first air flue through after ambulatory splint.
4., according to claim 1 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described ambulatory splint top is provided with fixed block and slide block, and fixed block is positioned in the middle part of ambulatory splint, and fixed block both sides are respectively equipped with slide block.
5. according to claim 4 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described horizontal slide assemblies comprises cylinder, guide rod and guide rod seat, cylinder is horizontally placed on base bottom, the output of cylinder is connected with fixed block, and cylinder both sides are respectively equipped with guide rod, and each guide rod and cylinder be arranged in parallel, each guide rod is fixed on base bottom by guide rod seat, ambulatory splint by skid on guide rod.
6. according to claim 4 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described horizontal slide assemblies comprises drive motors, ball-screw, guide rod and guide rod seat, base bottom is located at by ball-screw, ball-screw one end is connected with drive motors, the fixed block at ambulatory splint top is connected with the nut on ball-screw, ball-screw both sides are respectively equipped with guide rod, each guide rod and ball-screw be arranged in parallel, each guide rod is fixed on base bottom by guide rod seat, ambulatory splint by skid on guide rod.
7., according to claim 1 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described fixation side assembly comprises flat strap, and strap is fixedly connected with base bottom, and strap and ambulatory splint be arranged in parallel.
8. according to claim 1 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described fixation side assembly comprises strap, the second sucker and the second valve, strap top is fixedly connected with pedestal, strap is provided with the second air flue, and strap side is provided with the second valve, and the second air flue is by the external extraction sector of the second valve, second sucker is located on strap, and the through hole on the second sucker is communicated with the second air flue.
9., according to claim 1 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described pedestal top is provided with mount pad.
10., according to claim 1 for the vacuum type mechanical grip hand of robot for carrying and piling, it is characterized in that, described extraction sector is vacuum tube.
CN201420420299.1U 2014-07-28 2014-07-28 For the vacuum type mechanical grip hand of robot for carrying and piling CN204160486U (en)

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Application Number Priority Date Filing Date Title
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Cited By (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104924292A (en) * 2015-06-09 2015-09-23 青岛润泽工业装备有限公司 Clamping-holding manipulator, clamping-holding device provided with clamping-holding manipulator and method
CN105291121A (en) * 2015-10-27 2016-02-03 宁夏共享机床辅机有限公司 Stacker crane fixture
CN105347026A (en) * 2015-11-30 2016-02-24 苏州博众精工科技有限公司 Grabbing and lifting device
CN105459140A (en) * 2015-12-31 2016-04-06 上海君屹工业自动化股份有限公司 Servo grip of cell module
CN105983976A (en) * 2015-03-03 2016-10-05 上海电气自动化设计研究所有限公司 Device and method for plugging in and pulling out server cabinet board card
CN106426251A (en) * 2016-08-26 2017-02-22 天津利福特电梯部件有限公司 Elevator balancing weight clamp
CN106956939A (en) * 2017-03-23 2017-07-18 严传玉 A kind of clamp for stacking
WO2017181337A1 (en) * 2016-04-19 2017-10-26 Abb Schweiz Ag A gripping device, a de-palletizing system, a gripping method and a de-palletizing method
CN108946011A (en) * 2018-07-26 2018-12-07 安徽物宝光电材料有限公司 A kind of semi-automatic turnaround system of mobile phone tempered glass film

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105983976A (en) * 2015-03-03 2016-10-05 上海电气自动化设计研究所有限公司 Device and method for plugging in and pulling out server cabinet board card
CN105983976B (en) * 2015-03-03 2019-02-12 上海电气自动化设计研究所有限公司 A kind of device and method of pluggable server cabinet board
CN104924292A (en) * 2015-06-09 2015-09-23 青岛润泽工业装备有限公司 Clamping-holding manipulator, clamping-holding device provided with clamping-holding manipulator and method
CN105291121A (en) * 2015-10-27 2016-02-03 宁夏共享机床辅机有限公司 Stacker crane fixture
CN105347026A (en) * 2015-11-30 2016-02-24 苏州博众精工科技有限公司 Grabbing and lifting device
CN105459140A (en) * 2015-12-31 2016-04-06 上海君屹工业自动化股份有限公司 Servo grip of cell module
CN105459140B (en) * 2015-12-31 2018-02-27 上海君屹工业自动化股份有限公司 A kind of battery core module servo handgrip
CN108602633B (en) * 2016-04-19 2019-08-30 Abb瑞士股份有限公司 Clamping device, destacking system, clamp method and unload stacking method
WO2017181337A1 (en) * 2016-04-19 2017-10-26 Abb Schweiz Ag A gripping device, a de-palletizing system, a gripping method and a de-palletizing method
CN108602633A (en) * 2016-04-19 2018-09-28 Abb瑞士股份有限公司 Clamping device, destacking system, clamp method and unload stacking method
CN106426251A (en) * 2016-08-26 2017-02-22 天津利福特电梯部件有限公司 Elevator balancing weight clamp
CN106956939A (en) * 2017-03-23 2017-07-18 严传玉 A kind of clamp for stacking
CN108946011A (en) * 2018-07-26 2018-12-07 安徽物宝光电材料有限公司 A kind of semi-automatic turnaround system of mobile phone tempered glass film

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Granted publication date: 20150218

Termination date: 20170728