CN204673634U - A kind of stack robot manipulator device having clamping plate and sucker concurrently - Google Patents
A kind of stack robot manipulator device having clamping plate and sucker concurrently Download PDFInfo
- Publication number
- CN204673634U CN204673634U CN201520321537.8U CN201520321537U CN204673634U CN 204673634 U CN204673634 U CN 204673634U CN 201520321537 U CN201520321537 U CN 201520321537U CN 204673634 U CN204673634 U CN 204673634U
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Abstract
The utility model discloses a kind of stack robot manipulator device having clamping plate and sucker concurrently, relate to robot palletizer technical field, comprise adpting flange, main body frame, press plate mechanism, pallet body, sucker switching mechanism; Adpting flange be fixed on main body frame with mechanical wrist part; Main body frame adopts aluminium section bar splicing composition; Slide block lower connecting plate is fixed on below main body frame; Described pallet body comprises supporting plate slide rail, supporting plate slide block, supporting plate cylinder, pallet stand, size supporting plate, and supporting plate slide rail is fixed on connecting plate; Big palette can be packed up by the rotation that rotating shaft welding body is got in holder; Can drive the connecting rod of sucker switching mechanism across the rotation of telescopic rotating shaft welding body in main body frame, the action of telescopic rotating shaft welding body is completed by the cylinder be fixed on above installing plate; Adopt the mode compressing material from top, make material steadily, reliably like this, the utility model patent is widely used in the materials such as automobile batteries and captures in piling.
Description
Technical field:
The present invention relates to robot palletizer technical field, specifically a kind of stack robot manipulator device having clamping plate and sucker concurrently.
Background technology:
Domestic and international mature robot palletizer mostly is fixed robot palletizer, generally carries out carrying work at point-to-point transmission, and single paragraph robot palletizer majority can only carry out work for particular task, therefore needs to redesign for different tasks to manufacture.This causes current robot palletizer various in style, and price is high, to the bad adaptability of environment, difficult in maintenance.Be unfavorable for enterprise's mass, standard performance.Handgrip extensively should in various manipulator stacking, and for the piling and the robot that are provided with separately pallet or clamping plate, but be just not suitable for directly applying this handgrip for shape very irregular or larger-size material, the efficiency of piling is low, and potential safety hazard is larger.
Summary of the invention:
Technical problem to be solved by this invention is to provide a kind of easy to use, sometimes need to place dividing plate in palletization in the middle of layer and layer, manpower is reduced in order to realize automation, common clamping plate piling machine handgrip with the addition of Acetabula device, thus improve piling efficiency largely, stopped to use the stack robot manipulator device having clamping plate and sucker concurrently manually placing the potential safety hazard brought simultaneously.
Solve technical problem adopt following technical scheme:
Have a stack robot manipulator device for clamping plate and sucker concurrently, it is characterized in that: comprise adpting flange, main body frame, press plate mechanism, pallet body, sucker switching mechanism and slide block lower connecting plate; Adpting flange be fixed on main body frame with mechanical wrist part; Slide block lower connecting plate is fixed on below main body frame;
Described pallet body comprises supporting plate slide rail, supporting plate slide block, supporting plate cylinder, pallet stand, big palette and little supporting plate, supporting plate slide rail is fixed on slide block lower connecting plate, supporting plate slide block is fixed on supporting plate slide rail, pallet stand can move forward and backward along pallet slide rail, tray supporter is fixed on supporting plate slide block, big palette and little supporting plate are fixed on pallet stand lower end, and the action of supporting plate cylinder is moved by pallet slide block and driven supporting plate to move forward and backward again;
Described sucker switching mechanism be holder get rotating shaft by be fixed on upper mounting plate big palette upset cylinder drive rotation big palette can be packed up, the tail end of big palette upset cylinder is fixed on pallet stand by cylinder block, and the piston rod of big palette upset cylinder is got rotating shaft by a swing arm with holder and is connected; Can drive the connecting rod of sucker switching mechanism across the rotation of telescopic rotating shaft welding body in main body frame, then complete the action of absorption, the action of telescopic rotating shaft welding body is completed by the sucker cylinder be fixed on above installing plate;
Described press plate mechanism comprises pressure bag cylinder, pressure bag cylinder connecting plate, pressure bag cylinder cushion block, withstanding tight block, and pressure bag cylinder cushion block is fixed on pressure bag cylinder connecting plate, and pressure bag cylinder is fixed on pressure bag cylinder connecting plate, and withstanding tight block is fixed on pressure bag cylinder.
Described main body frame adopts aluminium section bar splicing composition.
Operation principle of the present utility model: during beginning, each cylinder in a state of nature, when material arrives crawl line end, material is pushed on goods clamping plate by the supporting plate cylinder action capturing line side, pressing plate cylinder is started working and is compressed the upper surface of material by pressing plate simultaneously, then material is grabbed the position of specifying and carries out piling by manipulator, and pressing plate cylinder unclamps supporting plate cylinder action simultaneously and draws back supporting plate and make material be placed on pallet; At the end of one deck piling, each cylinder all revert to reset condition, and manipulator extends cardboard upper end, and big palette upset cylinder operation, falls cardboard above robot movement to pallet after sucker holds cardboard, continues next material and captures order; Sucker cylinder in a state of nature time size pallet be positioned at same plane, under this state, handgrip can capture object larger in design parameter, for the crawl of less material, supporting plate cylinder operation, piston rod stretches out and drives holder to get rotating shaft, big palette is packed up, only carries out work with little supporting plate, largely improve the reasonability of equipment work.
The invention has the beneficial effects as follows: the present invention with the addition of Acetabula device on common clamping plate piling machine handgrip, thus improves piling efficiency largely, stopped to use manually to place the potential safety hazard brought simultaneously.
Accompanying drawing illustrates:
Fig. 1 is structural representation of the present utility model.
Fig. 2 is side view of the present utility model.
Fig. 3 is top view of the present utility model.
Wherein number in the figure: 1. adpting flange, 2. presses bag cylinder, 3. main body frame, 4. pressing plate cylinder connecting plate, 5. withstanding tight block, 6. goods clamping plate, 7. slide block lower connecting plate, 8. supporting plate cylinder, 9. swing arm, 10. holder gets rotating shaft, 11. supporting plate slide rails, 12. pallet slide blocks, 13. pallet stands, 14. big palette upset cylinders, 15. big palettes, 16. little supporting plates, 17. suckers, 18. linkages, 19. sucker cylinders, 20. telescopic rotating shaft welding bodies.
Detailed description of the invention:
The technological means realized to make the present invention, creation characteristic, reaching object and effect is easy to understand, below in conjunction with concrete diagram, setting forth the present invention further.
As shown in Figure 1,2 and 3, a kind of stack robot manipulator device having clamping plate and sucker concurrently, comprise adpting flange 1, main body frame 3, press plate mechanism, pallet body, sucker switching mechanism and slide block lower connecting plate 7, adpting flange 1 is fixed on main body frame 3 and is connected with mechanical wrist part; Slide block lower connecting plate 7 is fixed on below main body frame 3; Pallet body comprises supporting plate slide rail 11, supporting plate slide block 12, supporting plate cylinder 8, pallet stand 13, big palette 15 and little supporting plate 16, supporting plate slide rail 11 to be fixed on slide block lower connecting plate 7, supporting plate slide block 12 is fixed on supporting plate slide rail 11, pallet stand 13 can move forward and backward along supporting plate slide rail 11, pallet stand 13 is fixed on supporting plate slide block 12, big palette 15 and little supporting plate 16 are fixed on pallet stand 13 lower end, and supporting plate cylinder 10 action is moved by supporting plate slide block 12 and driven supporting plate to move forward and backward again; Material is pushed on goods clamping plate 6 by supporting plate cylinder 8 action capturing line side,
Sucker switching mechanism is ask the rotation of getting rotating shaft 10 big palette 15 can be packed up, its rotation overturns cylinder 14 by the big palette be fixed on below upper mounting plate to complete, the tail end of big palette upset cylinder 14 is fixed on pallet stand 13 by cylinder block, and the piston rod of big palette upset cylinder 14 is got rotating shaft 10 by a swing arm 9 and holder and is connected; Can drive the connecting rod 18 of sucker switching mechanism across the rotation of telescopic rotating shaft welding body 20 in main body frame 3, then complete the action that sucker 17 adsorbs, the work of telescopic rotating shaft welding body 20 is completed by the sucker cylinder 19 be fixed on above installing plate;
Described press plate mechanism comprises pressure bag cylinder 2, pressure bag cylinder connecting plate 4, pressure bag cylinder cushion block, withstanding tight block 5, pressure bag cylinder cushion block is fixed on pressure bag cylinder connecting plate 4, pressure bag cylinder 2 is fixed on pressure bag cylinder connecting plate 4, and withstanding tight block 5 is fixed on pressure bag cylinder 2.
Main body frame 3 adopts aluminium section bar to splice composition.
More than show and describe general principle of the present invention and principal character and advantage of the present invention.The technical staff of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and description just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.
Claims (2)
1. have a stack robot manipulator device for clamping plate and sucker concurrently, it is characterized in that: comprise adpting flange, main body frame, press plate mechanism, pallet body, sucker switching mechanism and slide block lower connecting plate; Adpting flange be fixed on main body frame with mechanical wrist part; Slide block lower connecting plate is fixed on below main body frame;
Described pallet body comprises supporting plate slide rail, supporting plate slide block, supporting plate cylinder, pallet stand, big palette and little supporting plate, supporting plate slide rail is fixed on slide block lower connecting plate, supporting plate slide block is fixed on supporting plate slide rail, pallet stand can move forward and backward along pallet slide rail, tray supporter is fixed on supporting plate slide block, big palette and little supporting plate are fixed on pallet stand lower end, and the action of supporting plate cylinder is moved by pallet slide block and driven supporting plate to move forward and backward again;
Described sucker switching mechanism be holder get rotating shaft by be fixed on upper mounting plate big palette upset cylinder drive rotation big palette can be packed up, the tail end of big palette upset cylinder is fixed on pallet stand by cylinder block, and the piston rod of big palette upset cylinder is got rotating shaft by a swing arm with holder and is connected; Can drive the connecting rod of sucker switching mechanism across the rotation of telescopic rotating shaft welding body in main body frame, then complete the action of absorption, the action of telescopic rotating shaft welding body is completed by the sucker cylinder be fixed on above installing plate;
Described press plate mechanism comprises pressure bag cylinder, pressure bag cylinder connecting plate, pressure bag cylinder cushion block, withstanding tight block, and pressure bag cylinder cushion block is fixed on pressure bag cylinder connecting plate, and pressure bag cylinder is fixed on pressure bag cylinder connecting plate, and withstanding tight block is fixed on pressure bag cylinder.
2. a kind of stack robot manipulator device having clamping plate and sucker concurrently according to claim 1, is characterized in that, described main body frame adopts aluminium section bar splicing composition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520321537.8U CN204673634U (en) | 2015-05-18 | 2015-05-18 | A kind of stack robot manipulator device having clamping plate and sucker concurrently |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520321537.8U CN204673634U (en) | 2015-05-18 | 2015-05-18 | A kind of stack robot manipulator device having clamping plate and sucker concurrently |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204673634U true CN204673634U (en) | 2015-09-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520321537.8U Expired - Fee Related CN204673634U (en) | 2015-05-18 | 2015-05-18 | A kind of stack robot manipulator device having clamping plate and sucker concurrently |
Country Status (1)
| Country | Link |
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| CN (1) | CN204673634U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329668A (en) * | 2015-11-25 | 2016-02-17 | 中建材凯盛机器人（上海）有限公司 | Dual-purpose grab hand structure for powder packaging bags |
| CN108081295A (en) * | 2018-01-31 | 2018-05-29 | 青岛宝佳自动化设备有限公司 | The end effector of robot carried for irregular solid colloidal block shape material |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
| CN110281264A (en) * | 2019-07-29 | 2019-09-27 | 常熟智造激光装备研究院有限公司 | A kind of adjustable composite mechanical arm handgrip |
| CN115535638A (en) * | 2022-11-30 | 2022-12-30 | 云南柔控科技有限公司 | Claw clamp of battery injection molding shell unstacking and stacking robot |
-
2015
- 2015-05-18 CN CN201520321537.8U patent/CN204673634U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105329668A (en) * | 2015-11-25 | 2016-02-17 | 中建材凯盛机器人（上海）有限公司 | Dual-purpose grab hand structure for powder packaging bags |
| CN108081295A (en) * | 2018-01-31 | 2018-05-29 | 青岛宝佳自动化设备有限公司 | The end effector of robot carried for irregular solid colloidal block shape material |
| CN108081295B (en) * | 2018-01-31 | 2023-11-07 | 青岛宝佳智能装备股份有限公司 | Robotic end effector for irregular solid gel block material handling |
| CN108818507A (en) * | 2018-07-18 | 2018-11-16 | 吴晓蝶 | A kind of height-adjustable palletizing mechanical arm |
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
| CN110281264A (en) * | 2019-07-29 | 2019-09-27 | 常熟智造激光装备研究院有限公司 | A kind of adjustable composite mechanical arm handgrip |
| CN115535638A (en) * | 2022-11-30 | 2022-12-30 | 云南柔控科技有限公司 | Claw clamp of battery injection molding shell unstacking and stacking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150930 Termination date: 20170518 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |