CN205419047U - Multistation robot clamp that can shift - Google Patents

Multistation robot clamp that can shift Download PDF

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Publication number
CN205419047U
CN205419047U CN201520793952.3U CN201520793952U CN205419047U CN 205419047 U CN205419047 U CN 205419047U CN 201520793952 U CN201520793952 U CN 201520793952U CN 205419047 U CN205419047 U CN 205419047U
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CN
China
Prior art keywords
handgrip
cylinder
connecting plate
bearing
displacement
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn - After Issue
Application number
CN201520793952.3U
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Chinese (zh)
Inventor
冯巍
徐志刚
徐德众
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Beijing Aerostandard Technology Co Ltd
Original Assignee
Beijing Aerostandard Technology Co Ltd
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Priority to CN201520793952.3U priority Critical patent/CN205419047U/en
Application granted granted Critical
Publication of CN205419047U publication Critical patent/CN205419047U/en
Withdrawn - After Issue legal-status Critical Current
Anticipated expiration legal-status Critical

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Abstract

The utility model relates to a multistation robot clamp that can shift, it includes multiunit centre gripping tongs, installing support, the flange of robot, essential elements such as aversion cylinder, connection branch, drive plate, displacement components, slide rail, slider. A set of centre gripping tongs passes through the tongs connecting plate, fill up post and the middle below fixed connection of installing support, two sets of slide rails are parallel, the symmetry is installed in installing support below both sides, each is organized the slider and slides on the slide rail, all the other are respectively organized the centre gripping tongs and pass through the tongs connecting plate and install in each group on the slider, be connected through displacement components between the centre gripping tongs, two aversion cylinders pass through cylinder mount pad inversion symmetry and install in installing support middle part both sides, the piston rod of the cylinder end connects through floating, connect branch, the drive plate is connected with terminal two sets of centre gripping tongs connecting plates. The utility model discloses can be used to transport, the pile up neatly of various products, can realize that a plurality of products are in the characteristics of demand that snatchs, places the different intervals of station, rational in infrastructure, the action is accurate, the commonality is strong.

Description

A kind of multistation can shift robot clamp
Technical field
The present invention relates to robot application technology and packing technique field, be specifically related to a kind of carrying for product, piling and the robot clamp of destacking, multiple product can be realized in the characteristics of demand capturing, piling up station different spacing.
Background technology
At present on modernization packaging production line industrial robot quick with it, flexibly, the advantage such as accurately, obtained increasingly extensive application in operations such as the vanning of product, pilings.Corresponding different product and task, nipper is designed to develop the most therewith.
Along with going deep into further of the market demand, require also to improve constantly to machine task efficiency, generally require robot and complete the carrying of more than one piece product simultaneously, pile up work.And more than one piece product is the most not consistent in the distance capturing station with pile up station, existing fixture is difficult to realize above-mentioned functions.Generally require before crawl or pile up laggard line space adjustment work.
Summary of the invention
The defect existed for above-mentioned prior art, it is an object of the invention to provide a kind of automatic adjustable robot clamp of multistation spacing.
For achieving the above object, the technical scheme that robot clamp of the present invention uses is:
A kind of multistation can shift robot clamp, it is mainly made up of N group clamping handgrip (N >=2), mounting bracket, robot adpting flange, handgrip connecting plate, connection post, cylinder mounting seat, displacement cylinder, floating junction, connection pole, driving plate, slide rail, slide block, displaceable members, one of which clamping handgrip is fixing with handgrip connecting plate to be spirally connected, and handgrip connecting plate is fixed by connection post and is screwed onto below the centre of mounting bracket;Two groups of slide rails are parallel, be symmetrically mounted on both sides below mounting bracket, and N-1 group slide block slides on slide rail, and remaining N-1 group clamping handgrip is arranged on each group of slide block by handgrip connecting plate;It is connected by displaceable members between N group clamping handgrip, two shift cylinders and are arranged on both sides in the middle part of mounting bracket by cylinder mounting seat reverse symmetry, and the piston rod end of displacement cylinder is connected by floating junction, connection pole, driving plate are fixing with the handgrip connecting plate clamped on handgrip of end.
Multistation as above can shift robot clamp, and described clamping handgrip is made up of grapple, bearing, breeches joint, cylinder connecting plate, crawl cylinder, gripper shoe, bearing pin, lifting disk, and wherein, breeches joint is fixedly mounted on below gripper shoe;Grapple is inverted L shape, is connected with breeches joint by bearing pin, can rotate around bearing pin in the middle part of it, and grapple horizontal termination connecting shaft holds and be placed in lifting disk guide groove, and bearing can slide in the guide groove of lifting disk;Capture cylinder and be arranged on above gripper shoe by cylinder connecting plate, the piston rod of crawl cylinder is fixing with lifting disk to be connected, it stretches out, drive lifting disk to move up and down when retracting, thus drive the lateral part of grapple to make its vertical section rotate inside and outside the bearing pin at middle part, it is achieved workpiece is grabbed, puts action.
Multistation as above can shift robot clamp, described displaceable members is made up of guide groove limiting plate, displacement bearing, connecting shaft, pad, arm-tie, pad post, arm-tie one end is spirally connected by pad post and handgrip connecting plate are fixing, the other end is connected with displacement bearing by connecting shaft, pad, displacement bearing is placed in the guide and limit groove of guide groove limiting plate, guide groove limiting plate is fixing with adjacent handgrip connecting plate to be spirally connected, displacement bearing can move in guide and limit groove, and its distance moved is product and is capturing station and piling up the range difference of station.
Beneficial effects of the present invention:
1, this multistation can shift robot clamp, it is convenient to realizes the crawl to more than one piece product, pile up work, completes to clamp the automatic adjustment of handgrip spacing, drastically increase production efficiency, meet the market demand in robot traveling process.
2, its clamping gripping structure is compact reliably, and shift mechanism is simple and reasonable, has stronger versatility.
Accompanying drawing explanation
Fig. 1 is the front cross-sectional structural representation that a kind of multistation of the present invention can shift robot clamp;
Fig. 2 is the side structure schematic diagram that a kind of multistation of the present invention can shift robot clamp;
Fig. 3 is the parts front view clamping handgrip shown in Fig. 1;
Fig. 4 is the parts top view clamping handgrip shown in Fig. 1;
Fig. 5 is the close-up schematic view at displaceable members shown in Fig. 1 (I position);
Fig. 6 is crawl station (retracted mode) schematic diagram that a kind of multistation of the present invention can shift robot clamp.
Fig. 7 be a kind of multistation of the present invention can shift robot clamp pile up station (deployed condition) schematic diagram.
Label in Fig. 1, Fig. 2 and Fig. 5 is respectively as follows: 1. clamping handgrip, 2. mounting bracket, 3. robot adpting flanges, 4. handgrip connecting plate, 5. connects post, 6. cylinder mounting seat, 7. displacement cylinder, 8. floating junction, 9. connects pole, 10. drive plate, 11. slide rails, 12. slide blocks, 13. guide groove limiting plates, 14. displacement bearings, 15. connecting shafts, 16. pads, 17. arm-ties, 18. pad posts;
Label in Fig. 3 Yu Fig. 4 is respectively as follows: 1a. grapple, 1b. bearing, 1c.Y type joint, 1d. cylinder connecting plate, and 1e. captures cylinder, 1f. gripper shoe, 1g. bearing pin, 1h. lifting disk.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
If Fig. 1 is to shown in 5, a kind of multistation of the present invention can shift robot clamp, and it mainly includes N group clamping handgrip 1 (N=5 in the present embodiment), mounting bracket 2, robot adpting flange 3, handgrip connecting plate 4, connects the parts such as post 5, cylinder mounting seat 6, displacement cylinder 7, floating junction 8, connection pole 9, driving plate 10, slide rail 11, N-1 group slide block 12, N-1 group displaceable members.One of which clamping handgrip 1 is fixing with handgrip connecting plate 4 to be spirally connected, by connecting, post 5 is fixing to be screwed onto below the centre of mounting bracket 2 handgrip connecting plate 4, two groups of slide rails 11 are parallel, it is symmetrically mounted on the both sides, lower section of mounting bracket 2, four groups of slide blocks 12 are symmetrically disposed on slide rail 11, and can slide on slide rail 11, remaining four groups clamping handgrips 1 are arranged on each group of slide block 12 by four pieces of handgrip connecting plates 4 respectively, it is connected by four groups of displaceable members between five groups of clamping handgrips, two displacement cylinders 7 are arranged on both sides in the middle part of mounting bracket 2 by two cylinder mounting seat 6 reverse symmetry, the piston rod end of two cylinders is respectively by floating junction 8, connect pole 9, drive plate 10 to fix with the handgrip connecting plate on two groups of clamping handgrips 1 of end to be connected.
Clamping handgrip 1 as above is made up of grapple 1a, bearing 1b, breeches joint 1c, cylinder connecting plate 1d, crawl cylinder 1e, gripper shoe 1f, bearing pin 1g, lifting disk 1h.Wherein, breeches joint 1c is fixedly mounted on below gripper shoe 1f, grapple 1a is inverted L shape, it is connected with breeches joint 1c by bearing pin 1g in the middle part of it, can rotate around bearing pin 1g, termination, grapple 1a lateral part connects bearing 1b and is placed in lifting disk 1h guide groove, and can slide in the guide groove of lifting disk 1h, capture cylinder 1e and be arranged on above gripper shoe 1f by cylinder connecting plate 1d, the piston rod capturing cylinder 1e is connected with lifting disk 1h, it stretches out, lifting disk 1h is driven to move up and down during retraction, thus by driving the lateral part of grapple 1a to make its lower end vertical section rotate inside and outside the bearing pin 1g at middle part, realize workpiece is grabbed, put action.
Displaceable members as above, by guide groove limiting plate 13, shifts bearing 14, connecting shaft 15, pad 16, and arm-tie 17, pad post 18 form.Wherein, arm-tie 17 one end is spirally connected by pad post 18 is fixing with handgrip connecting plate 4, the other end is connected with displacement bearing 14 by connecting shaft 15, pad 16, and displacement bearing 14 is placed in the guide and limit groove of guide groove limiting plate 13, and guide groove limiting plate 13 is fixing with adjacent handgrip connecting plate 4 to be spirally connected.Displacement bearing 14 moveable distance in guide and limit groove is product and is capturing station and piling up the range difference of station.
In the present embodiment, as shown in Figure 6,7, this fixture is arranged on robot body by robot adpting flange 3: product is fed sequentially into station to be captured by production line front end, five groups of clamping handgrips of fixture are in retracted position, product is captured by five groups of clamping handgrips simultaneously, robot arm rotates, move to pile up station by product, while robot arm shifts, the displacement cylinder piston rod that two groups are reversely installed stretches out, and drives two groups of clamping handgrips of end both sides to move laterally along slide rail respectively;Two groups of clamping handgrips drive the arm-tie being attached thereto to move by handgrip connecting plate respectively, until till the displacement bearing being arranged on arm-tie moves to the guide and limit groove end of guide groove limiting plate.Then proceed to drive adjacent thereto two group clamping handgrip to continue motion laterally, finally realize five groups of clamping handgrips centered by middle one group of fixed bit clamping handgrip, uniformly launch according to the required distance piled up.Then product is placed into simultaneously and piles up station by five groups of clamping handgrips, and robot arm rotates, and retracts crawl station, while robot arm shifts, displacement cylinder piston rod is retracted, and drives clamping handgrip to do the action contrary with during above-mentioned expansion, it is achieved the uniform retraction of five groups of clamping handgrips.Complete a working cycle.
The content not being described in detail in description of the invention belongs to the known technology of professional and technical personnel in the field.

Claims (3)

1. a multistation can shift robot clamp, it is mainly made up of N group clamping handgrip (1), mounting bracket (2), robot adpting flange (3), handgrip connecting plate (4), connection post (5), cylinder mounting seat (6), displacement cylinder (7), floating junction (8), connection pole (9), driving plate (10), slide rail (11), slide block (12), displaceable members, wherein, N >=2;It is characterized in that: one group of clamping handgrip (1) is fixed with handgrip connecting plate (4) and is spirally connected, by connecting, post (5) is fixing to be screwed onto below the centre of mounting bracket (2) handgrip connecting plate (4);Two groups of slide rails (11) are parallel, be symmetrically mounted on both sides, mounting bracket (2) lower section, N-1 group slide block (12) is in the upper slip of slide rail (11), and remaining N-1 group clamping handgrip (1) is arranged on each group of slide block (12) by handgrip connecting plate (4);It is connected by displaceable members between N group clamping handgrip (1), two shift cylinder (7) and are arranged on both sides, mounting bracket (2) middle part by cylinder mounting seat (6) reverse symmetry, and the piston rod end of displacement cylinder (7) is connected by floating junction (8), connection pole (9), driving plate (10) and the handgrip connecting plate on the clamping handgrip (1) of end are fixing.
2. multistation as claimed in claim 1 can shift robot clamp, it is characterized in that: described clamping handgrip (1) is made up of grapple (1a), bearing (1b), breeches joint (1c), cylinder connecting plate (1d), crawl cylinder (1e), gripper shoe (1f), bearing pin (1g), lifting disk (1h), wherein, breeches joint (1c) is fixedly mounted on gripper shoe (1f) lower section;Grapple (1a) is in inverted L shape, it is connected with breeches joint (1c) by bearing pin (1g) in the middle part of it, can rotate around bearing pin (1g), grapple (1a) laterally termination connecting shaft is held (1b) and is placed in lifting disk (1h) guide groove, and bearing (1b) can slide in the guide groove of lifting disk (1h);Capture cylinder (1e) and be arranged on gripper shoe (1f) top by cylinder connecting plate (1d), the piston rod of crawl cylinder (1e) is fixing with lifting disk (1h) to be connected, it stretches out, drive lifting disk (1h) to move up and down when retracting, thus driving the lateral part of grapple (1a) to make, its vertical section bearing pin (1g) around middle part is inside and outside rotates.
3. multistation as claimed in claim 1 can shift robot clamp, it is characterized in that: described displaceable members is by guide groove limiting plate (13), displacement bearing (14), connecting shaft (15), pad (16), arm-tie (17), pad post (18) composition, arm-tie (17) one end is spirally connected by pad post (18) and handgrip connecting plate (4) are fixing, the other end passes through connecting shaft (15), pad (16) is connected with displacement bearing (14), displacement bearing (14) is placed in the guide and limit groove of guide groove limiting plate (13), guide groove limiting plate (13) is fixing with adjacent handgrip connecting plate (4) to be spirally connected, displacement bearing (14) can be moved in guide and limit groove.
CN201520793952.3U 2015-10-14 2015-10-14 Multistation robot clamp that can shift Withdrawn - After Issue CN205419047U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201520793952.3U CN205419047U (en) 2015-10-14 2015-10-14 Multistation robot clamp that can shift

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Application Number Priority Date Filing Date Title
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Publications (1)

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CN205419047U true CN205419047U (en) 2016-08-03

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966899A (en) * 2015-10-14 2016-09-28 北京航天斯达科技有限公司 Multi-station movable robot clamp
CN107323732A (en) * 2017-07-31 2017-11-07 山东省智能机器人应用技术研究院 Soft medicine bag grasping mechanism
CN107380532A (en) * 2017-06-27 2017-11-24 无锡力优医药自动化技术有限公司 A kind of soft bag crawl vanning cleft hand
CN108016877A (en) * 2018-01-03 2018-05-11 广东江友智能科技有限公司 A kind of novel minitype motor shifting apparatus
CN108995852A (en) * 2017-12-07 2018-12-14 青岛海科佳电子设备制造有限公司 Bulk vermicelli crawl pack manipulator
CN109178955A (en) * 2018-09-21 2019-01-11 陈文立 Integrated sliding gripper equipment

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105966899A (en) * 2015-10-14 2016-09-28 北京航天斯达科技有限公司 Multi-station movable robot clamp
CN105966899B (en) * 2015-10-14 2018-06-15 北京航天斯达科技有限公司 Robot clamp can be shifted in a kind of multistation
CN107380532A (en) * 2017-06-27 2017-11-24 无锡力优医药自动化技术有限公司 A kind of soft bag crawl vanning cleft hand
CN107323732A (en) * 2017-07-31 2017-11-07 山东省智能机器人应用技术研究院 Soft medicine bag grasping mechanism
CN108995852A (en) * 2017-12-07 2018-12-14 青岛海科佳电子设备制造有限公司 Bulk vermicelli crawl pack manipulator
CN108016877A (en) * 2018-01-03 2018-05-11 广东江友智能科技有限公司 A kind of novel minitype motor shifting apparatus
CN109178955A (en) * 2018-09-21 2019-01-11 陈文立 Integrated sliding gripper equipment

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GR01 Patent grant
AV01 Patent right actively abandoned

Granted publication date: 20160803

Effective date of abandoning: 20180615

AV01 Patent right actively abandoned