CN205892176U - Clamping device of pile up neatly machine people carton suit system - Google Patents
Clamping device of pile up neatly machine people carton suit system Download PDFInfo
- Publication number
- CN205892176U CN205892176U CN201620427349.8U CN201620427349U CN205892176U CN 205892176 U CN205892176 U CN 205892176U CN 201620427349 U CN201620427349 U CN 201620427349U CN 205892176 U CN205892176 U CN 205892176U
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- CN
- China
- Prior art keywords
- clamping
- carton
- clamping device
- centre gripping
- cylinder
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- 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.)
- Expired - Fee Related
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Abstract
The utility model discloses a clamping device of hacking machine is used for refrigerator vanning operation, include: pile up neatly the robot with install the clamping device on robot work arm. Clamping device includes: both sides are equipped with the mount pad of slide, a pair of centre gripping arm is respectively through slider and slide sliding connection, be equipped with the hold -in range on the synchronous pulley of mount pad bottom, two belt splint difference fixed connection on a pair of centre gripping arm incline different transport of hold -in range, the middle part of hold -in range is equipped with the mounting panel, it can inhale the carton to be equipped with vacuum chuck on the mounting panel, it moves actuating cylinder to be equipped with one between the centre gripping arm, it is close to each other and keeps away from to drive a pair of centre gripping arm, the rigid coupling has pendulum actuating cylinder between belt splint and the slider, the swing of drive centre gripping arm. The utility model has the advantages that: clamping device passes through the absorption of sucking disc, the removal of centre gripping arm and the centre gripping work that different specification cartons were accomplished in the swing.
Description
Technical field
This utility model is related to Palletizer technical field, the especially clamping device of stacking machine.
Background technology
Huge due to refrigerator annual production, often save red cent on the packaging and all can obtain very big economic interests, and become
Effect is fast, can obtain rapidly price advantage in fierce industry competition.It is non-in complete production process that vanning operation is that product is realized
One of often important flow process, the quality of its quality, the speed of speed are the key factors of impact production efficiency height.Traditional piling
The clamping device such as cn104760834 a of machine vanning robot, its structure includes: is provided with the mounting seat of slide rail, a pair of clamping
Arm is slidably connected with slide rail by slide block respectively, and the synchronous pulley of mounting seat bottom is provided with Timing Belt, on a pair of clamping limb
Two pieces of belt clamping plate are respectively fixedly connected with the different conveyor side of Timing Belt, and this, should to being provided with a cylinder between clamping limb
The cylinder body of cylinder is arranged on the bottom of mounting seat, and cylinder piston rod is connected with one of clamping limb, and cylinder can drive a pair
Clamping limb is mutually drawn close to obtain and is located remotely from each other, thus driving a pair of clamping board clamping goods or unclamping goods.
The clamping device role majority of traditional stacking machine vanning robot is to put in carton by goods crawl,
Problem yet with refrigerator volume and weight is difficult to realize this operation, so traditional Grasp Modes are inapplicable here.
Content of the invention
In order to solve the deficiency that tradition vanning robot exists, take and catch carton to be enclosed within the mode on refrigerator, devise
This refrigerator carton is set with the clamping device of system.The technical solution adopted in the utility model is: a kind of based on robot palletizer
Carton is set with system, and it includes robot palletizer body and clamping device.Robot palletizer body is model er20-c10
Robot, is a kind of 6DOF serial manipulator；Install on the working arm of robot palletizer and fill for the clamping clamping carton
Put.Clamping device includes: is arranged on the mounting seat on robot working arm, mounting seat both sides are provided with slideway, the slideway of mounting seat
It is provided with a pair of clamping limb, is slidably connected with slideway by slide block, the synchronous pulley of mounting seat bottom is provided with Timing Belt, a pair
Two pieces of belt clamping plate on clamping limb are respectively fixedly connected with the different conveyor sides in Timing Belt, and Timing Belt middle part is provided with installation
Plate, installing plate is provided with vacuum cup and can pick up carton, is provided with a straight line cylinder between clamping limb, by drum frame with
Fixed seat is fixed on mounting seat bottom, and the piston rod of straight line cylinder is connected with the shifting axle of one of clamping limb by fixed block
Connect, a pair of clamping limb of air cylinder driven is close to each other and away from being provided with cylinder mounting plate between belt clamping plate and slide block, for fixing
Oscillating cylinder, oscillating cylinder piston rod is connected with shifting axle by shaft coupling, and shifting axle opposite side passes through belt clamping plate, grip block
And slide block lower end, and be fixedly connected with grip block by key, the swing of grip block can be driven, thus driving the pendulum of clamping limb
Dynamic, straight line cylinder and oscillating cylinder collective effect, thus driving clamping limb clamping carton or unclamping carton.
Further, the mounting seat of described clamping device has an installing plate, if be provided with dry vacuum on installing plate inhaling
Disk is it is ensured that refrigerator carton is smoothly sucked up.
Further, the clamping limb of described clamping device is made up of two grip blocks, two fixing axles, two crossbeams, its
Pass through two fixing axles between middle grip block and two crossbeams connect, side grip block is passed through by shifting axle, and passes through the shaft shoulder, axle
Hold and bearing block carries out axially position, described bearing block is arranged on slide block lower end, opposite side grip block passes through connecting shaft and cunning
Block is hinged, and is fixed by jump ring.
The utility model has the advantages that: this clamping device can clamp the very big goods of refrigerator equal in width, its motor process
Mainly include two actions, one is absorption action, and another is holding action, the level that holding action includes clamping limb again is moved
Move and swing.First passing through vacuum cup and sucking up carton makes it launch, and then passes through air cylinder driven clamping limb by paper box clip
Live, because before carton absorption, width is very big, during vacuum cup absorption, clamping limb can be interfered, so clamping limb needs before inhaling
Lay out, thus realizing absorption and the clamping of carton.Simultaneously because the moving horizontally and swinging of clamping limb, this clamping device can
More extensive with the scope of clamping, make accurate, stable the moving to directly over refrigerator of carton, greatly increase the success of carton casing
Rate, thus greatly improve stacking machine carton suit machine task efficiency.
Brief description
Fig. 1 is stacking machine clamping device structural representation described in the utility model.
Fig. 2 is the front view of clamping device in Fig. 1.
Fig. 3 is the structural representation of clamping device in Fig. 1.
Fig. 4 is the structural representation after Fig. 2 gripping apparatus grips arm folds.
Marginal data, 1- robot palletizer, 2- clamping device, 3- mounting seat, 4- installing plate, 5- slideway, 6- slide block, 7- is straight
Line cylinder, 8- vacuum cup, 9- fixed block, 10- fixed seat, 11- grip block, 12- bearing block, 13- drum frame, 14- Timing Belt,
15- synchronous pulley, 16- shifting axle, 17- shaft coupling, 18- belt clamping plate, 19- fixing axle, 20- crossbeam, 21- cylinder mounting plate,
22- oscillating cylinder, 23- connecting shaft.
Specific embodiment
Below in conjunction with the accompanying drawings example of the present utility model is further described:
As shown in Figure 1,2,3, 4, a kind of carton suit system based on robot palletizer, it mainly includes robot palletizer
Body 1 and clamping device 2.Robot palletizer body 1 is the robot of model er20-c10, it is characterized in that 6DOF is connected
Robot；Clamping device 2 for clamping carton is installed on the working arm of robot palletizer.Clamping device 2 includes: is arranged on machine
Mounting seat 3 on device people's working arm, mounting seat 3 both sides are provided with slideway 5, and the slideway 5 of mounting seat 3 is provided with a pair of clamping limb, lead to
Cross slide block 6 to be slidably connected with slideway 5, the synchronous pulley 15 of mounting seat bottom is provided with Timing Belt 14, two on a pair of clamping limb
Block belt clamping plate 18 is respectively fixedly connected with the different conveyor sides in Timing Belt 14, and Timing Belt 14 middle part is provided with installing plate 4, peace
Dress plate 4 is provided with vacuum cup 8 and can pick up carton, is provided with a straight line cylinder 7 between clamping limb, by drum frame 13 with
Fixed seat 10 is fixed on mounting seat 3 bottom, and the piston rod of straight line cylinder 7 passes through the movement of fixed block 9 and one of clamping limb
Axle 16 is connected, and cylinder 7 drives a pair of clamping limb close to each other and away from being provided with cylinder peace between belt clamping plate 18 and slide block 6
Dress plate 21, for fixing oscillating cylinder 22, oscillating cylinder 22 piston rod is connected by shaft coupling 17 shifting axle 16, and shifting axle 16 is another
Side passes through belt clamping plate 18, grip block 11 and slide block 6 lower end, and is fixedly connected with grip block 11 by key, can drive
The swing of grip block 11, thus driving the swing of clamping limb, straight line cylinder 7 and oscillating cylinder 22 collective effect, thus drive folder
Gripping arm clamps carton or unclamps carton.
Further, the mounting seat 3 of described clamping device 2 has an installing plate 4, installing plate 4 is provided with some true
Suction disk 8 is it is ensured that refrigerator carton is smoothly sucked up.
Further, the clamping limb of described clamping device is by 20 groups of two grip blocks, 19, two crossbeams of 11, two fixing axles
Become, pass through two fixing axles 19 wherein between grip block 11 and two grip blocks 20 connect, side grip block 11 is by shifting axle 16
Pass through, and axially position is carried out by the shaft shoulder, bearing and bearing block 12, described bearing block 12 is arranged on slide block 6 lower end, another
Side grip block 11 is hinged with slide block 6 by connecting shaft 23, and is fixed by jump ring.
This clamping device 2 can clamp the very big goods of refrigerator equal in width, and its motor process mainly includes two actions, and one
Individual is absorption action, and another is holding action, and holding action includes moving horizontally and swinging of clamping limb again.First pass through true
Carton is sucked up by suction disk 8 makes it launch, and is then clamped carton by the grip block 11 of air cylinder driven clamping limb, due to paper
Before case absorption, width is very big, and during vacuum cup 8 absorption, grip block 11 can be interfered, so needing oscillating cylinder 22 before inhaling
Grip block 11 is laid out, clamping limb is laid out, thus realizing absorption and the clamping of carton.Simultaneously because the water of clamping limb
Translation is dynamic and swings, and the scope that this clamping device can clamp is more extensive, and the refrigerator that moves to making carton accurate, stable is just gone up
Side, greatly increases the success rate of carton casing, thus greatly improving stacking machine carton suit machine task efficiency.
Claims (3)
1. robot palletizer carton be set with system clamping device, including model er20-c10 robot palletizer be arranged on
It is used on robot working arm clamping the clamping device of carton；Clamping device includes: is arranged on the installation on robot working arm
Seat, mounting seat both sides are provided with slideway, and the slideway of mounting seat is provided with a pair of clamping limb, is slidably connected with slideway by slide block, peace
The synchronous pulley of dress seat bottom is provided with Timing Belt, and two on a pair of clamping limb piece belt clamping plate is respectively fixedly connected with Timing Belt
Different conveyor sides, be provided with a straight line cylinder between clamping limb, mounting seat bottom be fixed on by drum frame and fixed seat, directly
The piston rod of line cylinder is connected with the shifting axle of one of clamping limb by fixed block, and a pair of clamping limb of air cylinder driven is mutual
Near and away from it is characterised in that: mounting seat bottom, Timing Belt middle part are welded with installing plate, installing plate are hinged with true
Carton can be adsorbed by suction disk, is welded with cylinder mounting plate between belt clamping plate and slide block, for fixing oscillating cylinder, pendulum
Cylinder piston rod of taking offence is connected with the shifting axle through belt clamping plate by shaft coupling, and shifting axle opposite side passes through belt clamping plate, folder
Hold plate and slide block lower end, and be fixedly connected with grip block by key, the swing of grip block can be driven, thus driving clamping limb
Swing, shifting axle two ends are affixed with bearing, and limit axial movement by bearing block；Vacuum cup in clamping device, straight
Line cylinder and oscillating cylinder collective effect, drive gripping arm or the carton unclamping different size.
2. robot palletizer carton according to claim 1 be set with system clamping device it is characterised in that: mounting seat bottom
Portion, Timing Belt middle part are welded with an installing plate, and installing plate is hinged with vacuum cup, can cover the big of refrigerator carton
Area is it is ensured that refrigerator carton can smoothly be sucked up.
3. robot palletizer carton according to claim 1 be set with system clamping device it is characterised in that: described clamping
The clamping limb of mechanism is made up of two grip blocks, two fixing axles, two crossbeams, passes through two fixing axles wherein between grip block
Hinged and two beam weldings form a whole, and side grip block is passed through by shifting axle, and by the shaft shoulder, bearing and axle
Bearing carries out axially position, and described bearing block is arranged on slide block lower end, and opposite side grip block is hinged with slide block by connecting shaft, and
Fixed by jump ring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620427349.8U CN205892176U (en) | 2016-05-12 | 2016-05-12 | Clamping device of pile up neatly machine people carton suit system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620427349.8U CN205892176U (en) | 2016-05-12 | 2016-05-12 | Clamping device of pile up neatly machine people carton suit system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205892176U true CN205892176U (en) | 2017-01-18 |
Family
ID=57765244
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620427349.8U Expired - Fee Related CN205892176U (en) | 2016-05-12 | 2016-05-12 | Clamping device of pile up neatly machine people carton suit system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205892176U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378768A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of sanding and polishing fixture of elliptical workpieces |
| CN107745971A (en) * | 2017-11-02 | 2018-03-02 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp with clamping and suction function |
| CN108946189A (en) * | 2018-05-30 | 2018-12-07 | 广州市永合祥自动化设备科技有限公司 | Palletizing apparatus, stacking jig and palletizing method |
| CN109774997A (en) * | 2019-03-26 | 2019-05-21 | 广东嘉纳仕科技实业有限公司 | A kind of packing production line of packing case |
| CN110723532A (en) * | 2019-09-27 | 2020-01-24 | 苏州精濑光电有限公司 | Display panel and automatic separation device for spacer paper |
| WO2020056643A1 (en) * | 2018-09-19 | 2020-03-26 | 深圳配天智能技术研究院有限公司 | Stacking fixture and robot |
| CN112850151A (en) * | 2021-02-26 | 2021-05-28 | 深圳市俊隆环保科技有限公司 | Special transfer device for stacker crane and use method thereof |
| CN113212876A (en) * | 2021-05-27 | 2021-08-06 | 珠海格力智能装备有限公司 | Packaging mechanism and box sleeving equipment |
| CN113386070A (en) * | 2021-07-20 | 2021-09-14 | 中航沈飞民用飞机有限责任公司 | Automatic flexible frock of bow-shaped cardboard formula |
-
2016
- 2016-05-12 CN CN201620427349.8U patent/CN205892176U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107378768A (en) * | 2017-08-26 | 2017-11-24 | 广东利迅达机器人系统股份有限公司 | A kind of sanding and polishing fixture of elliptical workpieces |
| CN107745971A (en) * | 2017-11-02 | 2018-03-02 | 广东利迅达机器人系统股份有限公司 | A kind of robot clamp with clamping and suction function |
| CN108946189A (en) * | 2018-05-30 | 2018-12-07 | 广州市永合祥自动化设备科技有限公司 | Palletizing apparatus, stacking jig and palletizing method |
| WO2020056643A1 (en) * | 2018-09-19 | 2020-03-26 | 深圳配天智能技术研究院有限公司 | Stacking fixture and robot |
| CN109774997A (en) * | 2019-03-26 | 2019-05-21 | 广东嘉纳仕科技实业有限公司 | A kind of packing production line of packing case |
| CN110723532A (en) * | 2019-09-27 | 2020-01-24 | 苏州精濑光电有限公司 | Display panel and automatic separation device for spacer paper |
| CN112850151A (en) * | 2021-02-26 | 2021-05-28 | 深圳市俊隆环保科技有限公司 | Special transfer device for stacker crane and use method thereof |
| CN112850151B (en) * | 2021-02-26 | 2022-04-15 | 深圳市俊隆环保科技有限公司 | Special transfer device for stacker crane and use method thereof |
| CN113212876A (en) * | 2021-05-27 | 2021-08-06 | 珠海格力智能装备有限公司 | Packaging mechanism and box sleeving equipment |
| CN113386070A (en) * | 2021-07-20 | 2021-09-14 | 中航沈飞民用飞机有限责任公司 | Automatic flexible frock of bow-shaped cardboard formula |
| CN113386070B (en) * | 2021-07-20 | 2022-07-19 | 中航沈飞民用飞机有限责任公司 | Automatic flexible frock of bow-shaped cardboard formula |
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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: 20170118 Termination date: 20170512 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |