CN206383161U - A kind of robot clamp for stacking - Google Patents
A kind of robot clamp for stacking Download PDFInfo
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- CN206383161U CN206383161U CN201621471165.8U CN201621471165U CN206383161U CN 206383161 U CN206383161 U CN 206383161U CN 201621471165 U CN201621471165 U CN 201621471165U CN 206383161 U CN206383161 U CN 206383161U
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- clamping plate
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- sliding axle
- robot clamp
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Abstract
The utility model provides a kind of robot clamp for stacking, including frame mechanism, horizontal clamping device and backing mechanism；The frame mechanism is located at the top of horizontal clamping device, and both are fixedly connected；The horizontal clamping device includes first clamping plate and second clamping plate；The first sliding axle being parallel to each other, connecting rod and the second sliding axle are sequentially provided between the first clamping plate and second clamping plate；First sliding axle, the second sliding axle other end stretch out first clamping plate and are slidably connected with first clamping plate；The first clamping plate is fixedly connected with the first cylinder, and the second clamping plate is fixedly connected with the second cylinder by connecting rod；First cylinder and the second cylinder are each attached on the frame mechanism, and are respectively positioned on first clamping plate away from second clamping plate side.Robot clamp for stacking described in the utility model is simple in construction, and easy processing replaces linear bearing using the slip film of self-lubricating, can reduce friction, and service life is long, safeguards simple, saves use cost.
Description
Technical field
The utility model belongs to industrial robot intelligent use field, is pressed from both sides more particularly, to a kind of stacking of robot
Tool.
Background technology
During traditional manufacturing, product and material carry many using manually being carried, and put irregular, sky
Between waste big, operation intensity is high, and efficiency is low, improper due to carrying operational means, easily causes and knocks, touches, hindering, influence product
Quality, and use industrial robot to replace artificial progress product to carry and not only save manpower, while improving operating efficiency, reliably
Property it is high, so as to reduce production cost；It in yield increase, need to only increase the working time of robot, solve labor shortage
Problem.Product is carried out using robot and carries stacking, it is necessary to designs a kind of clamp for stacking to complete the carrying of product, it is in the past many
Captured using vacuum cup, it is bad yet with box sealing case, during being captured using vacuum cup, to casing
Crawl is unstable, it is impossible to ensure its reliability.Another the clamping handgrip fixture used at present is captured not there is also complicated
Steady the problems such as.
The content of the invention
In view of this, the utility model is directed to a kind of robot clamp for stacking, to overcome the defect of prior art, makes
Its is simple in construction, blessing great efforts, and stable operation is reliable, and production efficiency is high.
To reach above-mentioned purpose, what the technical solution of the utility model was realized in：
A kind of robot clamp for stacking, including frame mechanism, horizontal clamping device and backing mechanism；
The frame mechanism is located at the top of horizontal clamping device, and both are fixedly connected；
The horizontal clamping device includes first clamping plate and second clamping plate；Between the first clamping plate and second clamping plate successively
Provided with the first sliding axle being parallel to each other, connecting rod and the second sliding axle；First sliding axle, connecting rod and the second sliding axle
One end is slidably connected second clamping plate；First sliding axle, the second sliding axle other end stretch out first clamping plate and with first
Clamping plate is slidably connected；First sliding axle and the second sliding axle pass through the first sliding seat being spaced in intervals and second respectively
Sliding seat is fixedly connected with the frame mechanism；First sliding seat and the second sliding seat are located at first clamping plate both sides respectively；Institute
State first clamping plate and be fixedly connected with the first cylinder, the second clamping plate is fixedly connected with the second cylinder by connecting rod；Described first
Cylinder and the second cylinder are each attached on the frame mechanism, and are respectively positioned on first clamping plate away from second clamping plate side；
The backing mechanism is arranged on first clamping plate away from second clamping plate side, and is fixedly connected with first clamping plate part,
The backing mechanism section is hinged with first clamping plate lower end.
First cylinder, the second cylinder are fixed on a mounting board by cylinder mount frame.
Further, the backing mechanism includes the hook pawl that is hinged with first clamping plate lower end, and the hook pawl opening is just to the
Second splint；The hook pawl connects the 3rd cylinder, and the 3rd cylinder ventilation cylinder mounting seat is fixed on first clamping plate away from the second folder
Plate side；3rd cylinder can control the hook pawl folding.
Further, the hook pawl connects the 3rd cylinder by flake joint and bearing pin；The hook pawl includes riser and set
Transverse slat in riser lower end and its integrally formed some interval, the transverse slat end is just to second clamping plate.
Further, the riser is connected by hinge with first clamping plate；On riser between the two neighboring transverse slat
Provided with through hole, the gap between the through hole and adjacent two transverse slat is connected.
Further, the riser width is equal to the width of the first clamping plate, and both lateral edges are concordant；The transverse slat
Angle with first clamping plate is 5 °~20 °；The transverse slat length is 5~10cm.
Further, the frame mechanism includes being provided with ring flange, the installing plate bottom at the top of installing plate, the installing plate
Portion is provided with two aluminium section bars that are parallel to each other, and the aluminium section bar lower end is fixedly connected with the first sliding seat and the second sliding seat.First slides
Dynamic seat and the second sliding seat are connected with aluminium section bar by nut block.
Further, the first clamping plate and second clamping plate are equipped with weldering with the first sliding axle, the second sliding axle contact position
Frame.
Further, it is equipped with slip film in the weldering frame, the first sliding seat and the second sliding seat.
Further, the spacing between first sliding seat and the second sliding seat is 30~100cm.
Robot clamp for stacking described in the utility model can powered off or died by middle envelope formula solenoid valve control when using
During, product will not fall, and crawl stacking is reliable and stable, and production efficiency is high.
Relative to prior art, robot clamp for stacking described in the utility model has the advantage that：
Robot clamp for stacking described in the utility model：
1) using the design for embracing folder thinking progress clamp for stacking, clamping plate is driven to press from both sides product from both sides using cylinder control
Firmly, great efforts are clamped, while holding product using the removable pawl that hooks in lower end, the clamp for stacking being arranged in robot is existed
During quick movement, it is ensured that product will not fall from fixture；
2) simple in construction, easy processing replaces linear bearing using the slip film of self-lubricating, can reduce friction, service life
It is long, safeguard simple, save use cost.
Brief description of the drawings
Constitute a part of accompanying drawing of the present utility model to be used for providing further understanding to of the present utility model, this practicality is new
The schematic description and description of type is used to explain the utility model, does not constitute to improper restriction of the present utility model.
In accompanying drawing：
Fig. 1 is the schematic perspective view of the robot clamp for stacking described in the utility model embodiment；
Fig. 2 is the front view of the robot clamp for stacking described in the utility model embodiment；
Fig. 3 is the left view of the robot clamp for stacking described in the utility model embodiment；
Fig. 4 is the top view of the robot clamp for stacking described in the utility model embodiment.
Description of reference numerals：
1- first clamping plates；2- second clamping plates；The sliding axles of 3- first；4- connecting rods；The sliding axles of 5- second；6- first is slided
Seat；The sliding seats of 7- second；The cylinders of 8- first；The cylinders of 9- second；10- hooks pawl；101- risers；102- transverse slats；103- hinges；104-
Through hole；The cylinders of 11- the 3rd；12- flake joints；13- bearing pins；15- installing plates；16- ring flanges；17- aluminium section bars；18- welds frame；
19- slip films.
Embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the utility model can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinal direction ", " transverse direction ", " on ", " under ",
The orientation or position relationship of the instruction such as "front", "rear", "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description the utility model and simplifies description, rather than indicate
Or imply that the device or element of meaning must have specific orientation, with specific azimuth configuration and operation, therefore be not understood that
For to limitation of the present utility model.In addition, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicating
Or imply relative importance or the implicit quantity for indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
It is described, " multiple " are meant that two or more.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on being understood by concrete condition
State concrete meaning of the term in the utility model.
Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As Figure 1-Figure 4, a kind of robot clamp for stacking, including frame mechanism, horizontal clamping device and backing mechanism；
The frame mechanism is located at the top of horizontal clamping device, and both are fixedly connected；
The horizontal clamping device includes first clamping plate 1 and second clamping plate 2；Between the first clamping plate 1 and second clamping plate 2
It is sequentially provided with the first sliding axle 3 being parallel to each other, the sliding axle 5 of connecting rod 4 and second；First sliding axle 3, the and of connecting rod 4
The one end of second sliding axle 5 is slidably connected second clamping plate 2；First sliding axle 3, the other end of the second sliding axle 5 stretch out
One clamping plate 1 and it is slidably connected with first clamping plate 1；The sliding axle 5 of first sliding axle 3 and second is respectively by being spaced in intervals
The first sliding seat 6 be fixedly connected with the frame mechanism with the second sliding seat 7；7 points of first sliding seat, 6 and second sliding seat
Wei Yu not the both sides of first clamping plate 1；The first clamping plate 1 is fixedly connected with the first cylinder 8, and the second clamping plate 2 is solid by connecting rod 4
Surely it is connected with the second cylinder 9；The cylinder 9 of first cylinder 8 and second is each attached on the frame mechanism, and is respectively positioned on first
Clamping plate 1 is away from the side of second clamping plate 2；
The backing mechanism is arranged on first clamping plate 1 away from the side of second clamping plate 2, and fixes company with the part of first clamping plate 1
Connect, the backing mechanism section is hinged with the lower end of first clamping plate 1.
The backing mechanism includes the hook pawl 10 being hinged with the lower end of first clamping plate 1, and the hook pawl 10 is open and just pressed from both sides to second
Plate 2；The hook pawl 10 connects the 3rd cylinder 11, and the 3rd cylinder 11 ventilation cylinder mounting seat is fixed on first clamping plate 1 away from the
The side of second splint 2；3rd cylinder 11 can control the hook folding of pawl 10.
The hook pawl 10 connects the 3rd cylinder 11 by flake joint 12 and bearing pin 13；The hook pawl 10 includes riser 101
With the transverse slat 102 located at the lower end of riser 101 and its integrally formed some interval, the end of transverse slat 102 is just to second clamping plate
2。
The riser 101 is connected by hinge 103 with first clamping plate 1；Riser between the two neighboring transverse slat 102
101 are provided with through hole 104, and the gap between the through hole 104 and adjacent two transverse slat 102 is connected.
The width of riser 101 is equal to the width of the first clamping plate 1, and both lateral edges are concordant；The transverse slat 102 with
The angle of first clamping plate 1 is 10 °；The length of transverse slat 102 is 7cm.
The frame mechanism includes installing plate 15, and the top of installing plate 15 is provided with ring flange 16, the bottom of installing plate 15
Portion is fixedly connected with the first sliding seat 6 and the second sliding seat 7 provided with two aluminium section bars 17 that are parallel to each other, the lower end of aluminium section bar 17.
The sliding axle 3 of first clamping plate 1 and second clamping plate 2 and first, the contact position of the second sliding axle 5 are equipped with weldering frame 18.
Slip film 19 is equipped with the weldering frame 18, the first sliding seat 6 and the second sliding seat 7.
Spacing between the sliding seat 7 of first sliding seat 6 and second is 50cm.
The course of work of the present embodiment is：
Exemplified by capturing casing, after robot clamp for stacking is installed on robot palletizer by ring flange 16, work as light
When electric switch detects case on pipeline, robot palletizer band mobile robot clamp for stacking is moved to above casing, into grabbing
Fetch bit is postponed, and the first cylinder 8 stretches out, and the second cylinder 9 is retracted, and makes second clamping plate 2 and first clamping plate 1 while being clamped in casing two
Side, while the 3rd cylinder 11 stretches out, control hooks pawl 10 and holds bottom half, so that prevent that casing falls in palletization, stacking
Robot is lifted, and drives casing to be moved to stacking area, is reached above stacking behind setting position, the 3rd cylinder 11 is first retracted, and hooks pawl
10 are opened, and after robot palletizer declines in place, the first cylinder 8 is retracted, and the second cylinder 9 maintains the original state motionless (i.e. second clamping plate 2
It is motionless), drive first clamping plate 1 to depart from casing, after casing is fallen, robot band mobile robot clamp for stacking is moved on casing
Side, now the second cylinder 9 stretches out, and second clamping plate 2 is opened to maximum, and subsequent robot palletizer moves to initial position, waits next time
Supplied materials, this is a complete cycle.
Preferred embodiment of the present utility model is the foregoing is only, it is all at this not to limit the utility model
Within the spirit and principle of utility model, any modification, equivalent substitution and improvements made etc. should be included in the utility model
Protection domain within.
Claims (9)
1. a kind of robot clamp for stacking, it is characterised in that：Including frame mechanism, horizontal clamping device and backing mechanism；
The frame mechanism is located at the top of horizontal clamping device, and both are fixedly connected；
The horizontal clamping device includes first clamping plate (1) and second clamping plate (2)；The first clamping plate (1) and second clamping plate (2)
Between be sequentially provided with the first sliding axle (3) being parallel to each other, connecting rod (4) and the second sliding axle (5)；First sliding axle
(3), connecting rod (4) and the second sliding axle (5) one end are slidably connected second clamping plate (2)；First sliding axle (3), second
Sliding axle (5) other end stretches out first clamping plate (1) and is slidably connected with first clamping plate (1)；First sliding axle (3) and
Two sliding axles (5) are fixedly connected with the framework by the first sliding seat (6) for being spaced in intervals with the second sliding seat (7) respectively
Mechanism；First sliding seat (6) and the second sliding seat (7) are located at first clamping plate (1) both sides respectively；The first clamping plate (1)
The first cylinder (8) is fixedly connected with, the second clamping plate (2) is fixedly connected with the second cylinder (9) by connecting rod (4)；Described
One cylinder (8) and the second cylinder (9) are each attached on the frame mechanism, and are respectively positioned on first clamping plate (1) away from second clamping plate
(2) side；
The backing mechanism is arranged on first clamping plate (1) away from second clamping plate (2) side, and fixed with first clamping plate (1) part
Connection, the backing mechanism section is hinged with first clamping plate (1) lower end.
2. robot clamp for stacking according to claim 1, it is characterised in that：The backing mechanism includes and first clamping plate
(1) the hook pawl (10) that lower end is hinged, hook pawl (10) opening is just to second clamping plate (2)；The hook pawl (10) connects the 3rd gas
Cylinder (11), the 3rd cylinder (11) the ventilation cylinder mounting seat is fixed on first clamping plate (1) away from second clamping plate (2) side；It is described
Controllable described hook pawl (10) folding of 3rd cylinder (11).
3. robot clamp for stacking according to claim 2, it is characterised in that：The hook pawl (10) passes through flake joint
(12) and bearing pin (13) connect the 3rd cylinder (11)；It is described hook pawl (10) include riser (101) and located at riser (101) lower end with
The transverse slat (102) at its integrally formed some interval, transverse slat (102) end is just to second clamping plate (2).
4. robot clamp for stacking according to claim 3, it is characterised in that：The riser (101) passes through hinge (103)
It is connected with first clamping plate (1)；Riser (101) between the two neighboring transverse slat (102) is provided with through hole (104), described logical
Gap between hole (104) and adjacent two transverse slat (102) is connected.
5. the robot clamp for stacking according to claim 3 or 4, it is characterised in that：Riser (101) width is equal to institute
The width of first clamping plate (1) is stated, and both lateral edges are concordant；The angle of the transverse slat (102) and first clamping plate (1) is 5 °~
20°；Transverse slat (102) length is 5~10cm.
6. robot clamp for stacking according to claim 1, it is characterised in that：The frame mechanism includes installing plate
(15) ring flange (16), is provided with the top of the installing plate (15), installing plate (15) bottom is provided with two aluminium profiles that are parallel to each other
Material (17), aluminium section bar (17) lower end is fixedly connected with the first sliding seat (6) and the second sliding seat (7).
7. robot clamp for stacking according to claim 1, it is characterised in that：The first clamping plate (1) and second clamping plate
(2) weldering frame (18) is equipped with the first sliding axle (3), the second sliding axle (5) contact position.
8. robot clamp for stacking according to claim 7, it is characterised in that：The weldering frame (18), the first sliding seat (6)
With the second sliding seat (7) in be equipped with slip film (19).
9. robot clamp for stacking according to claim 1, it is characterised in that：First sliding seat (6) and second slides
Spacing between dynamic seat (7) is 30~100cm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621471165.8U CN206383161U (en) | 2016-12-30 | 2016-12-30 | A kind of robot clamp for stacking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621471165.8U CN206383161U (en) | 2016-12-30 | 2016-12-30 | A kind of robot clamp for stacking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206383161U true CN206383161U (en) | 2017-08-08 |
Family
ID=59489962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621471165.8U Active CN206383161U (en) | 2016-12-30 | 2016-12-30 | A kind of robot clamp for stacking |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206383161U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618870A (en) * | 2017-10-18 | 2018-01-23 | 上海赛今机器人有限公司 | A kind of fixture |
| CN108792643A (en) * | 2018-06-25 | 2018-11-13 | 歆坤智能装备（昆山）有限公司 | Stacking mechanism and palletizing system |
| CN109466939A (en) * | 2018-11-26 | 2019-03-15 | 广东顶固集创家居股份有限公司 | Palletizing mechanical arm and stacking machine |
| WO2019140933A1 (en) * | 2018-01-19 | 2019-07-25 | 深圳市大疆百旺科技有限公司 | Movable stacking machine and clamping claw thereof |
| CN112278887A (en) * | 2020-10-16 | 2021-01-29 | 苏州龙骐自动化科技有限公司 | A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly |
| CN116715017A (en) * | 2023-08-08 | 2023-09-08 | 无锡新大力电机有限公司 | Shell molding and conveying device for high-voltage permanent magnet motor production |
-
2016
- 2016-12-30 CN CN201621471165.8U patent/CN206383161U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107618870A (en) * | 2017-10-18 | 2018-01-23 | 上海赛今机器人有限公司 | A kind of fixture |
| WO2019140933A1 (en) * | 2018-01-19 | 2019-07-25 | 深圳市大疆百旺科技有限公司 | Movable stacking machine and clamping claw thereof |
| CN108792643A (en) * | 2018-06-25 | 2018-11-13 | 歆坤智能装备（昆山）有限公司 | Stacking mechanism and palletizing system |
| CN109466939A (en) * | 2018-11-26 | 2019-03-15 | 广东顶固集创家居股份有限公司 | Palletizing mechanical arm and stacking machine |
| CN112278887A (en) * | 2020-10-16 | 2021-01-29 | 苏州龙骐自动化科技有限公司 | A industrial robot presss from both sides and gets device for being directed at article carry out pile up neatly |
| CN116715017A (en) * | 2023-08-08 | 2023-09-08 | 无锡新大力电机有限公司 | Shell molding and conveying device for high-voltage permanent magnet motor production |
| CN116715017B (en) * | 2023-08-08 | 2024-02-27 | 无锡新大力电机有限公司 | Shell molding and conveying device for high-voltage permanent magnet motor production |
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| GR01 | Patent grant | ||
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| CP01 | Change in the name or title of a patent holder |
Address after: 300 300 Floor 1,2, Building 1, Block F, Huaming Low Carbon Industrial Base, No. 6 Huafeng Road, Huaming Industrial Park, Dongli District, Tianjin Patentee after: Tianjin Sunbo Industrial Technology Co., Ltd. Address before: 300 300 Floor 1,2, Building 1, Block F, Huaming Low Carbon Industrial Base, No. 6 Huafeng Road, Huaming Industrial Park, Dongli District, Tianjin Patentee before: TIANJIN RIBO AUTOMATED LOGISTICS EQUIPMENT CO., LTD. |