CN205442024U - Modular pile up neatly machinery hand - Google Patents
Modular pile up neatly machinery hand Download PDFInfo
- Publication number
- CN205442024U CN205442024U CN201521110029.1U CN201521110029U CN205442024U CN 205442024 U CN205442024 U CN 205442024U CN 201521110029 U CN201521110029 U CN 201521110029U CN 205442024 U CN205442024 U CN 205442024U
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- China
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- pedestal
- clamping
- hook
- box assembly
- guide rod
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Abstract
The utility model discloses a modular pile up neatly machinery hand, including the base, being used for the centre gripping of centre gripping box to grab the case subassembly and be used for the double -layered support plate component of colluding of centre gripping layer board, the centre gripping is grabbed the case subassembly and is colluded double -layered support plate component and locates on the base respectively, the case subassembly is grabbed to the centre gripping is a set of or multiunit. This modular pile up neatly machinery hand is the case dress product pile up neatly device of an ideal, picks the layer board location through optimizing, both can having adapted to, can once pick a plurality of packing boxs again and pile up to the configuration volume of robot is attend to the reduce production line, saves the production line equipment cost, effectively improves production efficiency, it needs the defect of the two sets of manipulators thoroughly to have solved robot pile up neatly tradition mode, and the function that picks the layer board and pick the packing box has been synthesized to the device of invention, and nimble conversion makes the structure simplify and compact.
Description
Technical field
This utility model relates to product packing technique field, particularly to a kind of combination type palletizing mechanical arm.
Background technology
In the automatic production lines such as food, beverage, daily-use chemical industry, the vanning piling work that applicable industry robot carries out product is the most increasingly extensive.After packaging products in boxes, it is necessary to the product of boxes is carried out stacking piling, form the combination of a number of cube, so could facilitate the subsequent operations such as carrying, entrucking, storage.Traditional palletizing operation, needs artificial fork truck to assist, now due to the addition of industrial robot, makes production effect be improved.
Use robot piling, first have to clear and definite supporting plate and have been placed on correct position and position, then boxes product could be captured and move to stacking on supporting plate.As can be seen here, when robot carries out palletizing operation, needing in the face of two destination objects, first packing crates, it two is supporting plate.It then becomes necessary to give the supporting type structure of robot different mechanical hand, the two object could be adapted to respectively.
For solving the problems referred to above, at present in most of robots stacking production line, capture packing crates and crawl supporting plate all uses independent robot to be operated, i.e. require that Liang Tai robot assembles the mechanical hand that version is different respectively.During work, wherein a robot is responsible for regularly capturing supporting plate location, and another robot is responsible for capturing packing crates, is stacked on supporting plate for one case one case.Although this method is feasible, but make production line complicate, and equipment cost is significantly increased.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, a kind of combination type palletizing mechanical arm is provided, the mechanical hand of this structure is both adapted to capture supporting plate location, can once capture again multiple packing crates to stack, thus reduce the configuration amount of robot on production line, save apparatus for production line cost, be effectively improved production efficiency.
The technical solution of the utility model is: a kind of combination type palletizing mechanical arm, grabs box assembly including pedestal, for clamping the clamping of casing and presss from both sides blade assemblies for clamping the hook of supporting plate, and clamping is grabbed box assembly and hooks folder blade assemblies and be respectively arranged on pedestal；It is one or more groups that box assembly is grabbed in clamping.
Described pedestal is rectangle frame structure.
Described clamping is grabbed box assembly and is located at below pedestal；When clamping grabs box assembly for organizing more, the clamping of many groups is grabbed box assembly and is located at side by side below pedestal.
Described clamping is grabbed box assembly and is included guide rod seat, gripper cylinder, ambulatory splint, claw cylinder, claw, strap and guide rod, guide rod two ends are connected by guide rod seat and base bottom are fixing respectively, strap is fixing with guide rod to be connected, ambulatory splint is flexibly connected with the guide rod other end, gripper cylinder is located at base bottom, and the end of gripper cylinder is connected with ambulatory splint, bottom claw and ambulatory splint hinged, being provided with claw cylinder outside ambulatory splint, the end of claw cylinder is connected with claw.
Described clamping is grabbed in box assembly, and guide rod has two, lays respectively at ambulatory splint and the both sides at strap top, and each guide rod two ends guide rod seat respectively is fixing with pedestal to be connected, gripper cylinder base bottom between two guide rods.
As a kind of preferred version, box assembly is grabbed in described clamping three groups, is located at side by side below pedestal, and each clamping grabs that the guide rod in box assembly is parallel is located at base bottom.Clamping is grabbed the quantity of box assembly and can be adjusted arranging according to being actually needed of technology of the package.
The described folder blade assemblies that hooks includes two groups of hook plate assemblies, and two groups of hook plate assemblies are symmetrically set in the left and right sides of pedestal；Often group hook plate assembly includes two hook plates, and each hook plate is correspondingly provided with a hook plate cylinder, and hook plate cylinder is fixed on pedestal top by cylinder block, and the end of hook plate cylinder is connected with hook plate by hinged.
Described two groups of hook board components have four hook plates, are the most relatively located at pedestal both sides, are located relatively between two hook plates of pedestal both sides and are located at fulcrum, and each fulcrum is fixed on pedestal top by axle bed, and hook plate is connected with fulcrum by bearing holder (housing, cover).
Described pedestal top is additionally provided with connection seat, and combination type palletizing mechanical arm passes through the external robot wrist of connection seat.
When combinations thereof formula palletizing mechanical arm uses, its principle is: box assembly is grabbed in clamping and the action hooked between folder blade assemblies is separate, clamping grabs box assembly for completing the carrying to single casing, hooks folder blade assemblies and has been used for the carrying to the multiple casings being located on same supporting plate.Wherein, when box assembly carrying single casing is grabbed in single clamping, by robot wrist, clamping is grabbed box assembly to drive above casing, strap lays respectively at the both sides that casing is relative with ambulatory splint, and strap is close to outside casing, and gripper cylinder drives ambulatory splint to move to be adjacent to outside another of casing along guide rod, then rotated by claw air cylinder driven claw, make claw support in box bottom, thus realize casing is gripped, then by robot wrist realize casing carrying；When hooking folder blade assemblies clamping supporting plate, drive four hook plates around fulcrum by four hook plate cylinder correspondences, reach open configuration, then its hook portion moving to each hook plate is driven to be positioned at below supporting plate by robot wrist, corresponding hook plate head is driven to catch on supporting plate by hook plate cylinder again, realize stationary state, realize the casing of supporting plate and top thereof is carried finally by robot wrist.
This utility model, relative to prior art, has the advantages that
This combination type palletizing mechanical arm is a kind of preferably encased prods palletizing apparatus, pass through optimum organization, both it is adapted to capture supporting plate location, can once capture again multiple packing crates to stack, thus reduce the configuration amount of robot on production line, save apparatus for production line cost, be effectively improved production efficiency；Thoroughly solving robot piling traditional approach and need the defects of two set mechanical hands, the device of invention combines and captures supporting plate and capture the function of packing crates, flexible conversion, makes structure simplify and compact.
In this combination type palletizing mechanical arm, each clamping is grabbed between box assembly separate so that it is quantity can be configured according to being actually needed of technology of the package, and practicality facilitates flexibly.
In this combination type palletizing mechanical arm, hook each hook plate in folder blade assemblies and be equipped with independent hook plate cylinder, it can be ensured that the hook plate head four bite positions and supporting plate all can be in close contact, and dynamics is equal.Such design, makes device not only be suitable for being molded the plastic support plate that the structure formed is well-balanced, and is suitable for the supporting plate that the dimensional discrepancy with plank bookbinding making is bigger.
Accompanying drawing explanation
Fig. 1 is the structural representation of this combination type palletizing mechanical arm embodiment 1.
Fig. 2 is the A direction view of Fig. 1.
Fig. 3 is the B direction view of Fig. 1.
Fig. 4 is the view that clamping grabs when claw in box assembly does not holds box bottom.
Fig. 5 is that the view after claw holds box bottom in box assembly is grabbed in clamping.
Fig. 6 is to hook principle schematic when folder blade assemblies catches on supporting plate.
Wherein, the parts represented by each label are: 1-pedestal, 2-connection seat, 3-cylinder block, 4-hook plate cylinder, 5-hook plate, 6-bearing holder (housing, cover), 7-is hinged, 8-axle bed, 9-guide rod seat, 10-gripper cylinder, 11-ambulatory splint, 12-claw cylinder, 13-claw, 14-strap, 15-guide rod, 16-fulcrum, 17-casing, 18-supporting plate.
Detailed description of the invention
Below in conjunction with embodiment, the utility model is described in further detail, but embodiment of the present utility model is not limited to this.
Embodiment 1
The present embodiment one combination type palletizing mechanical arm, its structure is as shown in Figures 1 to 3, specific as follows:
1, apparatus structure is as follows:
The main body of combination type palletizing mechanical arm is made up of two large divisions, is that clamping is grabbed box assembly and hooks folder blade assemblies respectively.All parts all assemble based on pedestal, and combination type palletizing mechanical arm couples with robot wrist entirely through connection seat.
(1) box assembly structure is grabbed in clamping:
Pedestal is rectangular frame structure, and its length dimension is close with pallet length.Box assembly is grabbed in the clamping that pedestal bottom is assembled with 3 nested structures identical side by side.
Often set clamping is grabbed box assembly and is all mainly made up of guide rod seat, gripper cylinder, ambulatory splint, claw cylinder, claw, strap and guide rod.
Clamping and the actuator capturing packing crates are two clamping plates, are ambulatory splint and strap respectively, are arranged on two parallel guide rods.Guide rod seat is inserted at guide rod two ends, and is securely fitted in below pedestal.
When two clamping plates is installed, strap is fastened on the left of guide rod (as shown in Figure 2) by screw, and ambulatory splint then can horizontally slip along guide rod level, and its power source is from gripper cylinder.Gripper cylinder is arranged on the centre position of two guide rods, and the cylinder ends of gripper cylinder is fixed on pedestal by hinged, and its piston rod is then hinged with in the middle part of ambulatory splint to be coupled.
Ambulatory splint bottom is equipped with a claw, hinged between claw with clamping plate couples, and under the driving of claw cylinder, claw can flip an angle around hinged.
(2) folder blade assemblies structure is hooked
Both sides, base length direction, are equipped with the hook plate of 4 L-types.As shown in Figure 1, symmetrical before and after hook plate, after first two two.
The top of every hook plate, is all assemblied in the end of fulcrum by bearing holder (housing, cover).Fulcrum is transversely arranged on pedestal upper surface, and is fixed by two axle beds.Therefore, hook plate can swing around fulcrum centered by bearing holder (housing, cover).
Every hook plate all configures a hook plate cylinder and couples with hinged on hook plate as power source, the piston rod of hook plate cylinder.When the piston rod of hook plate cylinder stretches, can be swung centered by bearing holder (housing, cover) by hinged driving hook plate.
2, the operation principle of combination type palletizing mechanical arm is as follows:
Combination type palletizing mechanical arm is coupled with robot wrist by connection seat, is operated by robotically-driven, can carry out capturing packing crates or capturing the action of supporting plate, flexible conversion according to the practical situation produced.
(1) packing crates principle is captured:
As shown in Fig. 4 or Fig. 5.Mechanical hand accepts instruction and captures packing crates, now hook plate transfixion (being in the state shown in Fig. 4).Grab case process as follows:
1. clamping: ambulatory splint, under gripper cylinder pulls, is drawn close along guide rod to strap, until clamping casing；
2. backing: claw cylinder piston rod extends downwardly from, promotes claw to rotate clockwise around fulcrum, support box bottom.Owing to there being the support of claw, casing roll-off can be avoided.
3. mechanical hand is firm lifts casing, is transported on request on supporting plate stack.
4. claw cylinder pulls claw to rotate counterclockwise, and unclamps bottom.
5. gripper cylinder promotes ambulatory splint to retreat, and unclamps casing.
Graphic display unit has 3 set clampings to grab box assembly, is driven by individual cylinder respectively, and therefore mechanical hand can capture 3 casings being arranged side by side, or multiple casing (as long as casing length dimension side by side is without departing from total length of clamping plate) simultaneously.It addition, mechanical hand can also arbitrarily capture 1 independent casing, because every suit clamping is grabbed box assembly and all be can work independently.
(2) supporting plate principle is captured:
As shown in Figure 6.Mechanical hand accepts instruction and captures supporting plate, then grab box assembly transfixion.Hook plate cylinder starts, and drives 4 hook plate synchronization actions, and process is as follows:
1. the piston rod of hook plate cylinder shrinks, and pulls hook plate to be flared to position suitable with pallet length size；
2. mechanical hand slightly declines, and the piston rod of hook plate cylinder slowly stretches out, and promotes hook plate to close up so that it is lower end eave tile inserts supporting plate two then hollow position, and clamps；
3. mechanical hand is firm lifts supporting plate, and the piling position being transported on request specify is put down；
4. hook plate cylinder pulls hook plate to open, and unclamps supporting plate；
5. mechanical hand rises, and hook plate cylinder promotes hook plate to close up, and homing is in crossing condition (as shown in Figure 1).
Owing to 4 hook plates are driven by individual cylinder respectively, it is thus ensured that all can be in close contact at 4 bite position eave tiles and supporting plate, and dynamics is equal.Such design, makes device not only conform to be molded the plastic support plate that the structure formed is well-balanced, and the supporting plate that the dimensional discrepancy made is bigger is bound by adaptation plank.
Embodiment 2
The present embodiment one combination type palletizing mechanical arm, the most relatively, its difference is, is equipped with 1 set clamping and grabs box assembly in combination type palletizing mechanical arm, and this structure is applicable to the production line that Packing Unit is less.
As it has been described above, just can preferably realize this utility model, above-described embodiment is only preferred embodiment of the present utility model, is not used for limiting practical range of the present utility model；The most all impartial changes made according to this utility model content and modification, all contained by this utility model claim scope required for protection.
Claims (9)
1. a combination type palletizing mechanical arm, it is characterised in that include pedestal, for clamp the clamping of casing grab box assembly and for clamp supporting plate hook press from both sides blade assemblies, clamping grab box assembly and hook folder blade assemblies be respectively arranged on pedestal；It is one or more groups that box assembly is grabbed in clamping.
A kind of combination type palletizing mechanical arm, it is characterised in that described pedestal is rectangle frame structure.
A kind of combination type palletizing mechanical arm, it is characterised in that described clamping is grabbed box assembly and is located at below pedestal；When clamping grabs box assembly for organizing more, the clamping of many groups is grabbed box assembly and is located at side by side below pedestal.
A kind of combination type palletizing mechanical arm, it is characterized in that, described clamping is grabbed box assembly and is included guide rod seat, gripper cylinder, ambulatory splint, claw cylinder, claw, strap and guide rod, guide rod two ends are connected by guide rod seat and base bottom are fixing respectively, strap is fixing with guide rod to be connected, ambulatory splint is flexibly connected with the guide rod other end, gripper cylinder is located at base bottom, and the end of gripper cylinder is connected with ambulatory splint, bottom claw and ambulatory splint hinged, claw cylinder it is provided with outside ambulatory splint, the end of claw cylinder is connected with claw.
A kind of combination type palletizing mechanical arm, it is characterized in that, described clamping is grabbed in box assembly, guide rod has two, lay respectively at ambulatory splint and the both sides at strap top, each guide rod two ends guide rod seat respectively is fixing with pedestal to be connected, gripper cylinder base bottom between two guide rods.
The most according to claim 4, a kind of combination type palletizing mechanical arm, it is characterised in that box assembly is grabbed in described clamping three groups, is located at side by side below pedestal, each clamping grabs that the guide rod in box assembly is parallel is located at base bottom.
A kind of combination type palletizing mechanical arm, it is characterised in that described hook folder blade assemblies includes two groups of hook plate assemblies, and two groups of hook plate assemblies are symmetrically set in the left and right sides of pedestal；Often group hook plate assembly includes two hook plates, and each hook plate is correspondingly provided with a hook plate cylinder, and hook plate cylinder is fixed on pedestal top by cylinder block, and the end of hook plate cylinder is connected with hook plate by hinged.
A kind of combination type palletizing mechanical arm, it is characterized in that, described two groups of hook board components have four hook plates, the most relatively it is located at pedestal both sides, it is located relatively between two hook plates of pedestal both sides and is located at fulcrum, each fulcrum is fixed on pedestal top by axle bed, and hook plate is connected with fulcrum by bearing holder (housing, cover).
A kind of combination type palletizing mechanical arm, it is characterised in that described pedestal top is additionally provided with connection seat, and combination type palletizing mechanical arm passes through the external robot wrist of connection seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521110029.1U CN205442024U (en) | 2015-12-25 | 2015-12-25 | Modular pile up neatly machinery hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521110029.1U CN205442024U (en) | 2015-12-25 | 2015-12-25 | Modular pile up neatly machinery hand |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205442024U true CN205442024U (en) | 2016-08-10 |
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ID=56571532
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521110029.1U Expired - Fee Related CN205442024U (en) | 2015-12-25 | 2015-12-25 | Modular pile up neatly machinery hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205442024U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010412A (en) * | 2017-06-21 | 2017-08-04 | 浙江亿诺自动化有限公司 | Logistics transition grasping mechanism |
| CN114275248A (en) * | 2022-01-21 | 2022-04-05 | 辽宁科技学院 | Box body taking and placing manipulator for intelligent manufacturing |
| CN116354127A (en) * | 2023-06-01 | 2023-06-30 | 苏州优备精密智能装备股份有限公司 | Rotatable claw fishing structure |
-
2015
- 2015-12-25 CN CN201521110029.1U patent/CN205442024U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107010412A (en) * | 2017-06-21 | 2017-08-04 | 浙江亿诺自动化有限公司 | Logistics transition grasping mechanism |
| CN114275248A (en) * | 2022-01-21 | 2022-04-05 | 辽宁科技学院 | Box body taking and placing manipulator for intelligent manufacturing |
| CN116354127A (en) * | 2023-06-01 | 2023-06-30 | 苏州优备精密智能装备股份有限公司 | Rotatable claw fishing structure |
| CN116354127B (en) * | 2023-06-01 | 2023-08-08 | 苏州优备精密智能装备股份有限公司 | Rotatable claw fishing structure |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160810 Termination date: 20191225 |