CN205033212U - Multi -functional terminal final controlling element of automatic hacking machine of robot - Google Patents
Multi -functional terminal final controlling element of automatic hacking machine of robot Download PDFInfo
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- CN205033212U CN205033212U CN201520799630.XU CN201520799630U CN205033212U CN 205033212 U CN205033212 U CN 205033212U CN 201520799630 U CN201520799630 U CN 201520799630U CN 205033212 U CN205033212 U CN 205033212U
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Abstract
Provided is a multi -functional terminal final controlling element of automatic hacking machine of robot. Modern enterprise group ization, the loading and unloading capacity scale, the production methods (b) (b) of many varieties small batch, (B, ) (b) makes the application demand increasing (b) (b) of the automatic hacking machine of robot, (B, ) (b) also constantly improves (b) (b) to the operational capability's of robot requirement, (B, ) (b) not only requires the automatic hacking machine of robot to develop (b) (b) to the high speed direction, (B, ) (b) and require the robot to possess the ability of handling the multiple product. A multi -functional terminal final controlling element of automatic hacking machine of robot which constitutes and includes: aluminium alloy (b) (b) 1 (b) (b), aluminium alloy upper portion pass through bolt assembly respectively with the apron (b) (b) 2 (b) (b), guide rail connecting plate (b) (b) 3 (b) (b) is connected, the guide rail connecting plate is connected with tray hand claw cylinder (b) (b) 4 (b) (b), tray hand claw cylinder is connected with connecting rod (b) (b) 5 (b) (b), the one side and the pendulum rod (b) (b) 6 (b) (b) of connecting rod are connected, the connecting rod is connected with tray claw type finger (b) (b) 7 (b) (b), bottom plate (b) (b) 8 (b) (b) is installed respectively to the lower part both sides of aluminium alloy. The utility model discloses be applied to terminal final controlling element. (B, )
Description
technical field:
the utility model relates to a kind of robot automatic stacking machine multifunctional end actuating unit, does not need to change key components and parts, can realize the identification to the package of different shape, structure and size and operation.
background technology:
the mode of production of modern enterprise grouping of the world economy, production capacity scale, less volume and more variety; make the application demand of robot automatic stacking machine increasing; the requirement of robot ability to work is also improved constantly; not only require that robot automatic stacking machine is to high speed future development; and require the ability of robot process multiple product, realize the function that a machine multi-product, a machine polydisc, a machine are multi-thread.Due to form, structure, the size difference of destination object, the structure of robot automatic stacking machine end effector and also different to the mode of operation of destination object, destination object is once change, then need to change corresponding end effector, and automatic stacking machine system program also will do corresponding change, this cannot adapt to modern enterprise produce high speed, multi items, small batch present situation.
utility model content:
the purpose of this utility model is to provide a kind of robot automatic stacking machine multifunctional end actuating unit.
above-mentioned object is realized by following technical scheme:
a kind of robot automatic stacking machine multifunctional end actuating unit, its composition comprises: aluminium section bar, and described aluminium section bar top is connected with cover plate, guide rail splice respectively by bolt assembly, and described guide rail splice is connected with pallet paw cylinder, described pallet paw cylinder is connected with connecting rod
the side of described connecting rod is connected with fork, and described connecting rod is pointed with pallet claw type and is connected, and the both sides, bottom of described aluminium section bar are separately installed with base plate.
described robot automatic stacking machine multifunctional end actuating unit, the bottom of described aluminium section bar has connecting plate, described connecting plate is connected with oscillating cylinder, described connecting plate, described oscillating cylinder are connected with clamping plate respectively, described oscillating cylinder is connected with bag class paw frame, and described bag class paw frame is pointed with bag class claw type and is connected.
described robot automatic stacking machine multifunctional end actuating unit, described bag class claw type finger is provided with and inhales paper cylinder, described suction paper cylinder is connected with packing paper sucker.
described robot automatic stacking machine multifunctional end actuating unit, the top of described aluminium section bar is connected with paw terminal pad by bolt assembly, and described paw terminal pad is cap-shaped structure.
described robot automatic stacking machine multifunctional end actuating unit, is connected with clamping plate cylinder between described clamping plate.
the beneficial effects of the utility model:
1. the utility model adopts that pneumatic driving structure is simple, reliability is high, the air pressure of long service life drives, utilize clamping device, grasping mechanism, holding mechanism realize the packages such as carton, carton class, bag class, bucket class, packing paper (or backing plate), pallet and adminicle gripping, crawl, absorption, the automatic stacking action such as carry and pile up.By clamping device, grasping mechanism and adsorbing mechanism, realize the actions such as the clamping of all kinds of package and pallet and packing paper etc., crawl, sticking.
2. the information such as profile and physical dimension of the target such as package, pallet that detects according to vision system of the utility model robot automatic stacking machine, pass to end effector controller, drive the technological operation of end effector realization to case class, bucket class, bag class package and pallet.When package type and appearance and size thereof change, the executive mode of the convertible end effector of robot automatic stacking machine, and adjust parameter of actuating mechanism, completes accurately getting bag, putting package operation of Different Package part.
the utility model, for reducing costs, makes end effector compact overall structure, and clamping device and bag class grasping mechanism are designed to one, and in the paw packet capturing of bag class and handling process, clamping plate can play the effect of clip pack and location, prevent phenomenon of substitute.In packet capturing, put in packet procedures, the folding of bag class paw is realized by oscillating cylinder, and oscillating cylinder has the advantages such as light structure, pendulum angle is adjustable, torque is larger.Compared with conventional termination actuator, it is simple, novel, compact, applied widely that this robot automatic stacking machine multifunctional end effector has structure, bulk strength is high, lighter weight, low cost and other advantages, modern production demand can be adapted to, there is good application prospect.
accompanying drawing illustrates:
accompanying drawing 1 is structural representation of the present utility model.
detailed description of the invention:
embodiment 1:
a kind of robot automatic stacking machine multifunctional end actuating unit, its composition comprises: aluminium section bar 1, described aluminium section bar top is connected with cover plate 2, guide rail splice 3 respectively by bolt assembly, described guide rail splice is connected with pallet paw cylinder 4, described pallet paw cylinder is connected with connecting rod 5, the side of described connecting rod is connected with fork 6, and described connecting rod and pallet claw type are pointed 7 and be connected, and the both sides, bottom of described aluminium section bar are separately installed with base plate 8.
embodiment 2:
robot automatic stacking machine multifunctional end actuating unit according to embodiment 1, the bottom of described aluminium section bar has connecting plate 9, described connecting plate is connected with oscillating cylinder 10, described connecting plate, described oscillating cylinder are connected with clamping plate 11 respectively, described oscillating cylinder is connected with bag class paw frame 12, and described bag class paw frame is pointed 13 with bag class claw type and is connected.
embodiment 3:
robot automatic stacking machine multifunctional end actuating unit according to embodiment 1 or 2, described bag class claw type finger is provided with and inhales paper cylinder 14, described suction paper cylinder is connected with packing paper sucker 15.
embodiment 4:
robot automatic stacking machine multifunctional end actuating unit according to embodiment 1 or 2 or 3, the top of described aluminium section bar is connected with paw terminal pad 16 by bolt assembly, and described paw terminal pad is cap-shaped structure.
embodiment 5:
robot automatic stacking machine multifunctional end actuating unit according to embodiment 1 or 2 or 3 or 4, is connected with clamping plate cylinder 17 between described clamping plate.
embodiment 6:
clamping device
this mechanism forms primarily of clamping plate, connecting plate, aluminium section bar, U-shaped slide rail, slide block, synchronous pulley, Timing Belt and cylinder.U-shaped slide rail is arranged on aluminium section bar side, and slide block slides in U-lag, and clamping plate are linked together by connecting plate and slide block, and clamping plate cylinder barrel is arranged on below aluminium section bar, and piston rod is connected with left side clamping plate by runners.When piston rod is retracted, drag left side clamping plate and move right along slide rail, drive right side clamping plate to be moved to the left by synchronous cog belt, make two clamping plates close, realize holding action.There is provided enough axial compressive forces by source of the gas and cylinder, guarantee that clamping plate produce enough clamping forces.Otherwise piston rod stretches out, make clamping plate unclamp package, complete piling up of package.
grasping mechanism
when this multi-functional end effector process bag class package and pallet, all adopt paw to capture, because operand type is different, the structure of paw and drive form are also different.
bag class paw
bag class package entirety is comparatively soft, and when therefore capturing, paw answers the whole sack of envelope.Bag class paw is primarily of claw type finger, paw frame, vane-type pneumatic rotary actuator composition.Oscillating cylinder central shaft and paw frame are connected, compressed air-driven blade band central shaft forward or reverse, and the claw type finger realized on paw frame opens or closes.For the packaging bag making bag class paw can capture different in width smoothly, be arranged on the two clamping plates of left and right respectively by two bag class paws, along with moving back and forth of clamping plate, paw spacing also changes the change adapting to packaging bag width thereupon.Meanwhile, at the bag class paw grabs bag period of the day from 11 p.m. to 1 a.m, clamping plate can play the effect of location and clip pack, prevent from substitute.
pallet paw
pallet dimension is comparatively large, and there is entry side plate side, therefore picks up pallet from side plate easier.Pallet paw is primarily of the composition such as claw type finger, paw axle, fork, connecting rod, cylinder.Cylinder piston rod by connector and fork hinged, fork and claw type finger are all packed on paw axle, for guaranteeing that pallet claw type finger can open with closed simultaneously, adopt contra-parallelogram linkage, the claw type finger of both sides is coupled together by connecting rod.
embodiment 7:
the profile such as corrugated case and carton be cubical package be applicable to adopt method of clamping, package appearance and size and quality larger time, adopt folder, holder combination.Bucket class package diameter and quality less time, adopt method of clamping, can adopt time larger folder, hold in the palm combination.Bag class package outward appearance is smooth not and comparatively soft, is applicable to adopting the mode captured.Pallet packing paper or backing plate quality softness frivolous, be applicable to adopting sticking mode.Pallet dimension is comparatively large, and has gap between bed board, be not suitable for the mode with clamping or sticking, but pallet has entry, utilizes paw just can be easy to catch the side plate of side, entry place.Holding action can drive 2 pieces of clamping plate to realize by cylinder, hydraulic cylinder, rack-and-pinion, leading screw or Timing Belt etc.; Sticking action utilizes vacuum cup to realize, and whether sucker acts on by solenoid control; Bag class package and the grabbing of pallet, put action, cylinder can be utilized to drive paw to produce intermittent reciprocating in conjunction with executing agency and swing, paw can be realized closed and open.
Claims (5)
1. a robot automatic stacking machine multifunctional end actuating unit, its composition comprises: aluminium section bar, it is characterized in that: described aluminium section bar top is connected with cover plate, guide rail splice respectively by bolt assembly, described guide rail splice is connected with pallet paw cylinder, described pallet paw cylinder is connected with connecting rod, the side of described connecting rod is connected with fork, and described connecting rod is pointed with pallet claw type and is connected, and the both sides, bottom of described aluminium section bar are separately installed with base plate.
2. robot according to claim 1 automatic stacking machine multifunctional end actuating unit, it is characterized in that: the bottom of described aluminium section bar has connecting plate, described connecting plate is connected with oscillating cylinder, described connecting plate, described oscillating cylinder are connected with clamping plate respectively, described oscillating cylinder is connected with bag class paw frame, and described bag class paw frame is pointed with bag class claw type and is connected.
3. robot according to claim 2 automatic stacking machine multifunctional end actuating unit, is characterized in that: described bag class claw type finger is provided with and inhales paper cylinder, described suction paper cylinder is connected with packing paper sucker.
4. robot according to claim 3 automatic stacking machine multifunctional end actuating unit, it is characterized in that: the top of described aluminium section bar is connected with paw terminal pad by bolt assembly, described paw terminal pad is cap-shaped structure.
5. robot according to claim 4 automatic stacking machine multifunctional end actuating unit, is characterized in that: be connected with clamping plate cylinder between described clamping plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520799630.XU CN205033212U (en) | 2015-10-16 | 2015-10-16 | Multi -functional terminal final controlling element of automatic hacking machine of robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520799630.XU CN205033212U (en) | 2015-10-16 | 2015-10-16 | Multi -functional terminal final controlling element of automatic hacking machine of robot |
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| CN205033212U true CN205033212U (en) | 2016-02-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520799630.XU Expired - Fee Related CN205033212U (en) | 2015-10-16 | 2015-10-16 | Multi -functional terminal final controlling element of automatic hacking machine of robot |
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| CN (1) | CN205033212U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105600429A (en) * | 2016-03-04 | 2016-05-25 | 宁夏机械研究院股份有限公司 | Novel multifunctional grabbing manipulator |
| CN108015790A (en) * | 2017-11-16 | 2018-05-11 | 常州嘉业智能装备科技有限公司 | Pole plate grasping mechanism |
| CN108545245A (en) * | 2018-04-28 | 2018-09-18 | 苏州鸿博斯特超净科技股份有限公司 | Anti-rock sacked goods transfer robot |
| CN108545258A (en) * | 2018-04-28 | 2018-09-18 | 苏州鸿博斯特超净科技股份有限公司 | Automate the secondary bagging equipment of sacked goods and its bagging method |
| CN109132585A (en) * | 2018-10-09 | 2019-01-04 | 长春知和智能包装设备有限公司 | A kind of stacking machine integrates pawl tool and grasping means |
| CN110255175A (en) * | 2019-08-02 | 2019-09-20 | 义乌紫英机械科技有限公司 | A kind of oil barrel conveyor fixture and its handling device |
| CN111924519A (en) * | 2020-08-31 | 2020-11-13 | 知行机器人科技（苏州）有限公司 | Multifunctional material taking manipulator |
| CN117428814A (en) * | 2023-12-19 | 2024-01-23 | 山西依依星科技有限公司 | Ore grabbing mechanical equipment |
-
2015
- 2015-10-16 CN CN201520799630.XU patent/CN205033212U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105600429A (en) * | 2016-03-04 | 2016-05-25 | 宁夏机械研究院股份有限公司 | Novel multifunctional grabbing manipulator |
| CN105600429B (en) * | 2016-03-04 | 2018-04-24 | 宁夏机械研究院股份有限公司 | It is multi-functional to grab reclaimer robot |
| CN108015790A (en) * | 2017-11-16 | 2018-05-11 | 常州嘉业智能装备科技有限公司 | Pole plate grasping mechanism |
| CN108545245A (en) * | 2018-04-28 | 2018-09-18 | 苏州鸿博斯特超净科技股份有限公司 | Anti-rock sacked goods transfer robot |
| CN108545258A (en) * | 2018-04-28 | 2018-09-18 | 苏州鸿博斯特超净科技股份有限公司 | Automate the secondary bagging equipment of sacked goods and its bagging method |
| CN108545245B (en) * | 2018-04-28 | 2023-10-10 | 苏州鸿博斯特超净科技股份有限公司 | Anti-shaking bagged article carrying robot |
| CN108545258B (en) * | 2018-04-28 | 2023-11-17 | 苏州鸿博斯特超净科技股份有限公司 | Automatic bagged article secondary bagging equipment and bagging method thereof |
| CN109132585A (en) * | 2018-10-09 | 2019-01-04 | 长春知和智能包装设备有限公司 | A kind of stacking machine integrates pawl tool and grasping means |
| CN110255175A (en) * | 2019-08-02 | 2019-09-20 | 义乌紫英机械科技有限公司 | A kind of oil barrel conveyor fixture and its handling device |
| CN111924519A (en) * | 2020-08-31 | 2020-11-13 | 知行机器人科技（苏州）有限公司 | Multifunctional material taking manipulator |
| CN117428814A (en) * | 2023-12-19 | 2024-01-23 | 山西依依星科技有限公司 | Ore grabbing mechanical equipment |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160217 Termination date: 20161016 |