CN205238064U - A tongs structure for huge flat -sheet material of pile up neatly - Google Patents
A tongs structure for huge flat -sheet material of pile up neatly Download PDFInfo
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- CN205238064U CN205238064U CN201521009570.3U CN201521009570U CN205238064U CN 205238064 U CN205238064 U CN 205238064U CN 201521009570 U CN201521009570 U CN 201521009570U CN 205238064 U CN205238064 U CN 205238064U
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- sucker
- sheet material
- installing plate
- electric cylinder
- handgrip
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Abstract
The utility model relates to a tongs structure for huge flat -sheet material of pile up neatly, including mount, sucker structure unit and flange mounting board, flange mounting board and sucker structure unit are all installed on the mount, and the flange mounting board sets up in the centre of gravity place of mount, and the sucker structure unit includes that the several sets up sucking disc, the actuating mechanism on the mount and connects the drive mechanism between sucking disc and actuating mechanism. Adopt a tongs structure for huge flat -sheet material of pile up neatly of this kind of structure, the distribution of sucking disc has adopted the asymmetrical matrix to distribute, can satisfy not unidimensional panel and pick the demand, and to remain the panel atress throughout balanced picking the in -process, prevents that the atress is unbalanced and drops, buffer spring can cushion absorbing the in -process effectively, and electronic jar can detect the spring cushion effect effectively, collects the associated data, picking of different size panels is accomplished to adoption few sucking disc of trying one's best, has practiced thrift the cost, has more extensive range of application.
Description
Technical field
The utility model relates to carrying palletizing technology field, relates in particular to robot transport palletizing technology field, specificallyRefer to a kind of handgrip structure for the huge flat-sheet material of piling.
Background technology
Handgrip carrying can replace manpower transport, can significantly enhance productivity, and ensures stability, reduces work strongDegree, is widely used in glass handling, steel plate carrying, the level of sheet material, section bar or stacking,vertical. But carry out in robotWhen the carrying piling of super large template flat-type article (as glass, steel plate etc.), due to the weight of article itself exceed 500KG withUpper, general handgrip is difficult to meet super-huge heavily loaded plate safety, stablizes, carries reliably and piling; Particularly at glass industry,Also increasingly strict to the requirement capturing, the requirement that sucker is captured is also thereupon strict, not only will in the time pressing down absorption, will prevent from pressingPower is excessive, but also will ensure after conveyance, and while carrying out special survey, glass surface is without sucker vestige. Under this background, justExpedite the emergence of the application demand of this super large template handgrip and sucker distributed architecture.
Utility model content
The purpose of this utility model is the shortcoming that has overcome above-mentioned prior art, provides one to be embodied as especially big heavyBased plate transfer robot provides a kind of handgrip structure, captures the handgrip for the huge flat-sheet material of piling reliable, simple in structureStructure.
To achieve these goals, the handgrip structure for the huge flat-sheet material of piling of the present utility model has following structureBecome:
This is used for the handgrip structure of the huge flat-sheet material of piling, and its main feature is that described structure comprises fixed mount, suckerConstruction unit and flange installing plate, described flange installing plate and described sucker structure unit are all installed on described fixed mountUpper, and described flange installing plate is arranged at the position of centre of gravity of described fixed mount, described sucker structure unit comprises numberIndividually be arranged at sucker, the driving mechanism on described fixed mount and be connected in the driver between described sucker and driving mechanismStructure.
Preferably, described driving mechanism is electric cylinder.
More preferably, described driving mechanism also comprises electric cylinder installing plate and electric cylinder joint, and described electric cylinder passes throughDescribed electric cylinder installing plate is mounted on described fixed mount.
More preferably, described transmission mechanism comprises sucker connecting rod, pole, pole installing plate and promotes card, describedPromote the piston rod end that card is fixed on described electric cylinder, it is upper that described lifting card is nested in pole, described suckerBe connected on described fixed mount by described sucker connecting rod, pole, pole installing plate successively.
Further, described transmission mechanism also comprises buffer spring, and described buffer spring is sheathed on described propping upOn bar.
Preferably, described handgrip structure comprises spacing photoelectricity and spacing photoelectricity installing plate, and described spacing photoelectricity passes throughDescribed spacing photoelectricity installing plate is mounted on described fixed mount.
Preferably, described sucker is asymmetric and according to the gravity centre distribution of crawled thing on described fixed mount.
Adopted the handgrip structure for the huge flat-sheet material of piling in this utility model, the distribution of sucker has adopted not rightThe matrix form claiming distributes, and the sheet material that can meet different size captures demand, remains that sheet material is stressed all in crawl processWeighing apparatus, prevents discontinuity equalization and drops; Buffer spring, in suction process, can cushion effectively, and electric cylinder can be effectiveGround detection springs cushion effect, collects related data; Employing few sucker of trying one's best, only uses 11 suckers, completes different size sheet materialCrawl, saved cost, the handgrip flange being connected with robot, while making sucker draw different size sheet material, all heavy in combinationHeart position; Each sucker can be combined, and according to the sheet material gravity centre distribution of different size, captures the sheet material of different size,Can be used for super-huge heavy sheet material stable, capture and copy mechanically reliably, be mainly used in grasp handling glass, steel plate, plank,The planes such as casing, have range of application widely.
Brief description of the drawings
Fig. 1 is the front view of the handgrip structure for the huge flat-sheet material of piling of the present utility model.
Fig. 2 is the side view of the handgrip structure for the huge flat-sheet material of piling of the present utility model.
Fig. 3 is the structural representation of sucker structure of the present utility model unit.
Fig. 4 is the schematic diagram that two handgrip respective outer side edges of the present utility model are used.
Reference numeral:
1A fixed mount
2A sucker structure unit
3A flange installing plate
1B～11B is 11 suckers of sucker structure unit
1 ultra-large type sheet material
2 suckers
3 sucker connecting rods
4 poles
5 buffer springs
6 pole installing plates
7 pole covers
8 promote card
9 spacing photoelectricity installing plates
10 spacing photoelectricity
11 aluminium section bars
12 electric cylinder joints
13 electric cylinder installing plates
14 electric cylinders
Detailed description of the invention
In order more clearly to describe technology contents of the present utility model, enter one below in conjunction with specific embodimentThe description of step.
Its feature of the utility model is mainly a kind of handgrip for the huge flat-sheet material of piling and the sucker distribution knot adoptingStructure, problem to be solved is that this structure can be led for especially big heavy sheet material transfer robot provides a kind of handgrip structureWant the relevant parameter of load bearing component to collect, i.e. the elastic force of the buffer spring of sucker.
The utility model is mainly used in the planes such as grasp handling glass, steel plate, plank, casing.
It is characterized in that: in this constructional device, the distribution of sucker has adopted asymmetric matrix form to distribute (as figure below), energyThe sheet material that enough meets different size captures demand; This structure has adopted electric cylinder to realize the control of sucker knee-action, Ke YiyouThe elastic force data of the acquisition buffer spring of effect, carry out effective monitoring.
As shown in Figure 1, the handgrip structure for the huge flat-sheet material of piling of the present utility model comprises fixed mount 1A, sucker knotStructure unit 2A and flange installing plate 3A, described flange installing plate 3A and described sucker structure unit 2A are all installed on describedFixed mount 1A's is upper, and described flange installing plate 3A is arranged at the position of centre of gravity of described fixed mount 1A, described sucker knotStructure unit 2A comprises sucker 2, the driving mechanism on the fixed mount 1A described in several being arranged at and is connected in described sucker 2 and drivesTransmission mechanism between actuation mechanism.
In one, preferably in embodiment, described driving mechanism is electric cylinder 14.
In a kind of better embodiment, described driving mechanism also comprises electric cylinder installing plate 13 and electric cylinder joint12, described electric cylinder 14 is mounted on described fixed mount 1 by described electric cylinder installing plate 13.
In a kind of better embodiment, described transmission mechanism comprises sucker connecting rod 3, pole 4, pole installing plate6 and promote card 8, described lifting card 8 is fixed on the piston rod end of described electric cylinder 14, described lifting card 8Be nested on pole 4, described sucker 2 is connected to institute by described sucker connecting rod 3, pole 4, pole installing plate 6 successivelyOn the fixed mount 1A stating.
In one, further in embodiment, described transmission mechanism also comprises buffer spring 5, described buffering elasticSpring 5 is sheathed on described pole 4.
In one, preferably in embodiment, described handgrip structure comprises spacing photoelectricity 9 and spacing photoelectricity installing plate 10,Described spacing photoelectricity 9 is mounted on described fixed mount 1A by described spacing photoelectricity installing plate 10.
In one preferably in embodiment, described sucker on described fixed mount 1A for asymmetric and according to being grabbedGet the gravity centre distribution of thing.
For the defect in present technology, it is a kind of for the huge flat-sheet material of piling that the purpose of this utility model is to provideHandgrip and sucker distributed architecture, can apply to the template material of the huge size of robot piling, completes grabbing on streamlineGet palletizing operation.
A kind of handgrip for the huge flat-sheet material of piling providing according to the utility model, described structure comprises fixed mount1A, sucker structure unit 2A, flange are installed tri-major parts of 3A, as shown in Figure 1;
Described fixed mount 1A is built the framework of main body by 40 × 80,40 × 40 two kinds of industrial aluminum profiles and corner fittings,Corner fittings between aluminium section bar is fixed with hexagon socket head cap screw; Main body frame principal character is the method that adopts robot ring flange same sizeBlue installing plate 3A, for installing well combination with robot; The position of centre of gravity of this flange installing plate 3A in integral post, andIn the time that sucker captures different size sheet material, overall center of gravity all ensures the center superposition with flange installing plate 3A;
Described sucker structure unit adopts hexagon socket head cap screw to become matrix distribution to be fixed on each stress point of pole, evenly dividesThe weight of cloth carrier, according to the sheet material of different size, selects part or all of sucker to carry out absorption work, and all combinations are equalEnsure the center of gravity of the sheet material of drawing, the mounting flange center superposition of handgrip, ensures to capture;
The modal sucker group of described sucker distributed architecture is combined as: 1, all suckers (11) are all worked, for removingTransport especially big heavy sheet material; 2, select sucker 3B, 4B, 8B, 9B, 10B, 11B work, based plate in carrying, etc.;
Described sucker structure unit 2A is mainly the structure that a kind of electric cylinder 14 is controlled sucker 2 knee-actions, this structure controlThe action of sucker 2 processed, and select the sucker 2 that need to use when grasping plate, combine the sheet material of rear crawl different size, Er Qie electricityMoving cylinder 14 can communicate with control system, transmits in real time the elastic force data of buffer spring on sucker 2, and overall structure is as Fig. 3Shown in;
Choosing of described sucker 2 sucker groups, selected sucker 2, its electric cylinder 14 discharges sucker 2, and do not useSucker 2, its electric cylinder 14 promotes sucker, all remains on lifting location, and do not draw in the whole course of work;
Described flange installing plate 3A adopts hexagon socket head cap screw to be arranged on center and the center of gravity coincidence position of pole, ensures each suctionDish position stress equalization.
Being characterized as of described sucker distributed architecture adopts asymmetric matrix form to distribute, and this structure distribution is: flange is installedPosition slightly on the upper side, Ban3A center, sucker 2 distributes relatively intensive, and peripheral evacuation relatively, whole distribution is not strict symmetry,But different and design for the position of centre of gravity of different size sheet material, in the time capturing, the sheet material of different size adopts differentSucker combination, but after capturing, overall center of gravity is all in flange installing plate 3A center.
Described sucker structure unit 2 mainly comprises 1, is handled upside down object 2, sucker 5, buffer spring 6, pole installing plate 11,Section material frame 12, cable connector 13, electric cylinder installing plate 14, electric cylinder;
Described each parts adopt hexagon socket head cap screw to be fixedly connected with, and install as shown in Figure 3;
Described lifting card 8 adopts hexagon socket head cap screw to be fixed on the piston rod end of electric cylinder 14, and is nested into pole 4Upper, then with electric cylinder installing plate 13, electric cylinder 14 is installed to fixed mount 1A appropriate location, but will ensures that electric cylinder 14 movesTime, promote card 8 and can effectively promote pole 4.
The utility model provide a kind of handgrip for the huge flat-sheet material of piling and sucker distributed architecture be arranged on machineOn device people's ring flange, its course of work is: first, robot is according to the sucker group on the size Selection handgrip of sheet material, especially bigBased plate is selected all sucker groups, the middle-size and small-size part sucker group that adopts; Move to the mistake of drawing position in robotCheng Zhong, electric cylinder 14 moves backward, pulls pole 4 by promoting card 8, sucker 2 is regained, simultaneously by stressed electric cylinder 14 numberReportedly be passed to controller, to analyze data; Arrive gettering site postpone, handgrip presses down, and electric cylinder 14 moves, and discharges sucker 2, thisTime buffer spring 5 produce deformation and form elastic force, for sucker 2 provides support, make sucker 2 more effectively draw sheet material;
After absorption completes, robot carries out conveyance campaign, and sucker 2 firmly holds sheet material;
While arriving off-position, sucker 2 stops drawing, and electric cylinder 14 moves again, makes sucker 2 depart from sheet material.
The utility model can be used as the handgrip structure of robot transport ultra-large type sheet material, according to the difference of carrying object, and canTo adopt the handgrip of Duo Tai robot work compound, capture the diverse location of sheet material simultaneously, multiple handgrips use jointly, Neng GouyouEffect, capture sheet material safely and steadly, be illustrated in figure 4 and in Liang Tai robot, apply this structure and carry out the crawl of large-sized sheet material.
Adopted the handgrip structure for the huge flat-sheet material of piling in this utility model, the distribution of sucker has adopted not rightThe matrix form claiming distributes, and the sheet material that can meet different size captures demand, remains that sheet material is stressed all in crawl processWeighing apparatus, prevents discontinuity equalization and drops; Buffer spring, in suction process, can cushion effectively, and electric cylinder can be effectiveGround detection springs cushion effect, collects related data; Employing few sucker of trying one's best, only uses 11 suckers, completes different size sheet materialCrawl, saved cost, the handgrip flange being connected with robot, while making sucker draw different size sheet material, all heavy in combinationHeart position; Each sucker can be combined, and according to the sheet material gravity centre distribution of different size, captures the sheet material of different size,Can be used for super-huge heavy sheet material stable, capture and copy mechanically reliably, be mainly used in grasp handling glass, steel plate, plank,The planes such as casing, have range of application widely.
In this description, the utility model is described with reference to its specific embodiment. But, still can obviouslyMake various amendments and conversion and do not deviate from spirit and scope of the present utility model. Therefore, description and accompanying drawing should be considered toIllustrative and nonrestrictive.
Claims (7)
1. for a handgrip structure for the huge flat-sheet material of piling, it is characterized in that, described structure comprises fixed mount, sucker knotStructure unit and flange installing plate, the fixed mount described in described flange installing plate and described sucker structure unit are all installed onUpper, and described flange installing plate is arranged at the position of centre of gravity of described fixed mount, and described sucker structure unit comprises severalBe arranged at sucker, the driving mechanism on described fixed mount and be connected in the driver between described sucker and driving mechanismStructure.
2. the handgrip structure for the huge flat-sheet material of piling according to claim 1, is characterized in that described driving machineStructure is electric cylinder.
3. the handgrip structure for the huge flat-sheet material of piling according to claim 2, is characterized in that described driving machineStructure also comprises electric cylinder installing plate and electric cylinder joint, described in described electric cylinder is mounted to by described electric cylinder installing plateFixed mount on.
4. the handgrip structure for the huge flat-sheet material of piling according to claim 2, is characterized in that described driverStructure comprises sucker connecting rod, pole, pole installing plate and lifting card, the electric cylinder described in described lifting card is fixed onPiston rod end, it is upper that described lifting card is nested in pole, and described sucker passes through successively described sucker connecting rod, props upBar, pole installing plate are connected on described fixed mount.
5. the handgrip structure for the huge flat-sheet material of piling according to claim 4, is characterized in that described driverStructure also comprises buffer spring, and described buffer spring is sheathed on described pole.
6. the handgrip structure for the huge flat-sheet material of piling according to claim 1, is characterized in that, described handgrip knotStructure comprises spacing photoelectricity and spacing photoelectricity installing plate, and described spacing photoelectricity is mounted to institute by described spacing photoelectricity installing plateOn the fixed mount of stating.
7. the handgrip structure for the huge flat-sheet material of piling according to claim 1, is characterized in that, described sucker existsOn described fixed mount, be asymmetric and according to the gravity centre distribution of crawled thing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521009570.3U CN205238064U (en) | 2015-12-07 | 2015-12-07 | A tongs structure for huge flat -sheet material of pile up neatly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521009570.3U CN205238064U (en) | 2015-12-07 | 2015-12-07 | A tongs structure for huge flat -sheet material of pile up neatly |
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| Publication Number | Publication Date |
|---|---|
| CN205238064U true CN205238064U (en) | 2016-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521009570.3U Active CN205238064U (en) | 2015-12-07 | 2015-12-07 | A tongs structure for huge flat -sheet material of pile up neatly |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264876A (en) * | 2017-06-23 | 2017-10-20 | 烟台奥维环保科技有限公司 | Vacuum sucking device and method |
| CN107662822A (en) * | 2017-10-30 | 2018-02-06 | 广东科德智能装备有限公司 | A kind of de-stacking formula robot clamp device |
| CN110550456A (en) * | 2019-10-10 | 2019-12-10 | 中建材凯盛机器人（上海）有限公司 | Gripper device |
| CN114054381A (en) * | 2021-11-16 | 2022-02-18 | 南京我乐家居智能制造有限公司 | Industrial robot intelligent guide control management method and equipment based on material sorting and computer storage medium |
| CN114955576A (en) * | 2022-04-27 | 2022-08-30 | 芜湖固高自动化技术有限公司 | Stacking robot based on 3D vision and end effector thereof |
-
2015
- 2015-12-07 CN CN201521009570.3U patent/CN205238064U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264876A (en) * | 2017-06-23 | 2017-10-20 | 烟台奥维环保科技有限公司 | Vacuum sucking device and method |
| CN107662822A (en) * | 2017-10-30 | 2018-02-06 | 广东科德智能装备有限公司 | A kind of de-stacking formula robot clamp device |
| CN110550456A (en) * | 2019-10-10 | 2019-12-10 | 中建材凯盛机器人（上海）有限公司 | Gripper device |
| CN114054381A (en) * | 2021-11-16 | 2022-02-18 | 南京我乐家居智能制造有限公司 | Industrial robot intelligent guide control management method and equipment based on material sorting and computer storage medium |
| CN114955576A (en) * | 2022-04-27 | 2022-08-30 | 芜湖固高自动化技术有限公司 | Stacking robot based on 3D vision and end effector thereof |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| PE01 | Entry into force of the registration of the contract for pledge of patent right |
Denomination of utility model: A tongs structure for huge flat -sheet material of pile up neatly Effective date of registration: 20200416 Granted publication date: 20160518 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Company Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |
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| PE01 | Entry into force of the registration of the contract for pledge of patent right | ||
| PC01 | Cancellation of the registration of the contract for pledge of patent right |
Date of cancellation: 20210603 Granted publication date: 20160518 Pledgee: Anxin Agricultural Insurance Co., Ltd. Shanghai Minhang Branch Co. Pledgor: CNBM TRIUMPH ROBOTICS (SHANGHAI) Co.,Ltd. Registration number: Y2020310000009 |
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| PC01 | Cancellation of the registration of the contract for pledge of patent right |