CN206407646U - A kind of multi-function robot tears paper stack handgrip open - Google Patents
A kind of multi-function robot tears paper stack handgrip open Download PDFInfo
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- CN206407646U CN206407646U CN201621305199.XU CN201621305199U CN206407646U CN 206407646 U CN206407646 U CN 206407646U CN 201621305199 U CN201621305199 U CN 201621305199U CN 206407646 U CN206407646 U CN 206407646U
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Abstract
A kind of multi-function robot tears paper stack handgrip open, wherein：Including handgrip pedestal, cardboard grasping mechanism, plank pick-up component, pallet grasping mechanism, the upper mounting bracket of the handgrip pedestal is fixed with handgrip installing plate, the flange cylinder that handgrip installing plate is installed by top is connected with robot arm, the cardboard grasping mechanism is arranged on the lower mounting bracket of handgrip pedestal, the plank pick-up component is arranged on the rear mounting bracket of handgrip pedestal, the pallet grasping mechanism includes the cylinder drive component of pallet grabbing assembly and driving pallet grabbing assembly rotary motion, the pallet grabbing assembly is arranged on the left and right mounting bracket of handgrip pedestal, the cylinder drive component is arranged on the preceding mounting bracket of handgrip pedestal, the utility model can realize automatic Picking cardboard, automatic sucking plank and pallet is captured automatically, cardboard positive and negative can also be judged simultaneously, realize full-automatic dismounting paper stack, substantially reduce hand labor intensity.
Description
Technical field
The utility model is related to handgrip technical field, and particularly a kind of multi-function robot tears paper stack handgrip open.
Background technology
At present, in each chemical product packaging industry, such as beer, soy sauce etc. needs wrapping machine fast package, the feeding of cardboard
Artificial disassemble paper wrapper thing from top to bottom from a pallet cardboard is rested on to be put on conveyer belt for wrapping machine feeding
Present situation, the feeding of cardboard turns into the heavy process of baling line, adds the labor intensity of workman, is unfavorable for the automation hair of enterprise
Exhibition.
The content of the invention
In order to overcome the disadvantages mentioned above of prior art, the purpose of this utility model, which is to provide one kind, can realize automatic Picking
Cardboard, automatic sucking plank and captures pallet automatically, while can also judge cardboard positive and negative, realizes full-automatic dismounting paper stack
, a kind of multi-function robot for substantially reducing hand labor intensity tears paper stack handgrip open.
The utility model solves the technical scheme that its technical problem used：
A kind of multi-function robot tears paper stack handgrip open, wherein：Including handgrip pedestal, cardboard grasping mechanism, plank absorption group
Part, pallet grasping mechanism, the upper mounting bracket of the handgrip pedestal is fixed with handgrip installing plate, and handgrip installing plate is installed by top
Flange cylinder be connected with robot arm, the cardboard grasping mechanism be arranged on handgrip pedestal lower mounting bracket on, the plank
Pick-up component is arranged on the rear mounting bracket of handgrip pedestal, and the pallet grasping mechanism includes pallet grabbing assembly and driving pallet
The cylinder drive component of grabbing assembly rotary motion, the pallet grabbing assembly is arranged on the left and right mounting bracket of handgrip pedestal,
The cylinder drive component is arranged on the preceding mounting bracket of handgrip pedestal.
It is used as further improvement of the utility model：The cardboard grasping mechanism includes lancet, supporting plate, pressing plate, driving lever, institute
Lancet is stated installed in the lancet support left and right sides, lancet support is connected with lancet lift cylinder, and lancet lift cylinder is arranged on down
On the rear fixed plate of mounting bracket, the supporting plate is fixed on the gate installing plate left and right sides that can be moved forward and backward, and gate installing plate leads to
Slide rail is crossed on chute, chute is fixed on the left and right sides of lower mounting bracket bottom, the gate installing plate is also associated with support
Plate drive cylinder, the supporting plate drive cylinder is fixed on lower mounting bracket top, the pressing plate be located in the middle part of two supporting plates just on
Side, the pressing plate is fixed on lower mounting bracket by pressing plate lift cylinder, and the pressing plate bottom is additionally provided with identification sensory package,
The driving lever is fixed in driving lever buffer lift mechanism.
It is used as further improvement of the utility model：The driving lever buffer lift mechanism includes driving lever lift cylinder, is oriented to
Post, guide rod, connecting plate, extension rod and spring leaf, the driving lever lift cylinder is fixed on gate by L-type driving lever fixed plate pacifies
In the middle of the crossbeam for filling plate, the elevating lever of driving lever lift cylinder in the middle part of connecting plate with being fixedly connected, and the lead is fixed on L-type and dialled
The bar fixed plate left and right sides, the guide rod is enclosed in the pilot hole of lead, and one end is connected with connecting plate, and the connecting plate is left
Right both sides are fixed with extension rod, and extension rod lower end is connected by spring leaf with driving lever.
It is used as further improvement of the utility model：The plank pick-up component includes the sucker stand of L-type, sucker, institute
Sucker stand is stated installed in the rear mounting bracket left and right sides, the crossbeam bottom of the sucker stand is provided with several suckers.
It is used as further improvement of the utility model：The pallet grabbing assembly is grabbed including pallet hand, rotary shaft, the support
Disk hand, which is grasped, is scheduled on rotary shaft front and rear sides, and the rotary shaft is fixed on left or right mounting bracket by bearing block structure, described
Rotary shaft front end is connected with cylinder drive component.
It is used as further improvement of the utility model：The cylinder drive component grabs rotation driving cylinder including hand, synchronous
Band mating connectors, left and right synchronous pulley component and left and right tensioning wheel, the hand grab rotation driving cylinder and are fixed on left and right synchronously
Above pulley assemblies, the expansion link that the hand grabs rotation driving cylinder is connected with timing belt mating connectors, and the timing belt is nibbled
Close connector to be engaged on the timing belt of side synchronous pulley component, the left and right synchronous pulley component includes a pair of left timing belts
Wheel, a pair of right synchronous pulleys and left and right timing belt, outermost two synchronous pulleys of left and right synchronous pulley component are fixed on
In the rotary shaft of pallet grabbing assembly, tensioning wheel, the left and right synchronous pulley component are both provided with below the left and right timing belt
Two middle synchronous pulley rear ends are additionally provided with intermeshing gear assembly.
Compared with prior art, the beneficial effects of the utility model are：The utility model compact conformation, by with four axles code
Pile robot is supported the use, it is possible to achieve the automation of paper stack dismounting, can realize that cardboard is grabbed automatically by cardboard grasping mechanism
Take, fragmenting plate or the automatic sucking paper stack the superiors between automatic sucking paper stack and paper stack can be realized by plank pick-up component
With undermost plank, pallet can be captured automatically by pallet grasping mechanism, the utility model, which can remove workman from, climbs and tear open
The danger of paper stack is unloaded, the labor intensity of workman is greatly reduced.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the utility model cardboard grasping mechanism structural representation；
Fig. 3 is the utility model pallet grabbing assembly structural representation；
Fig. 4 is the utility model cylinder drive component structural representation；
Fig. 5 is use state structural representation of the present utility model.
Embodiment
The utility model is further illustrated with embodiment in conjunction with brief description of the drawings：
Referring to figs. 1 to Fig. 5, a kind of multi-function robot tears paper stack handgrip open, wherein：Including handgrip pedestal 1, cardboard gripper
Structure 2, plank pick-up component 3, pallet grasping mechanism 4, the upper mounting bracket of the handgrip pedestal 1 is fixed with handgrip installing plate 11, grabs
The flange cylinder 5 that hand installing plate 11 is installed by top is connected with robot arm 6, and the cardboard grasping mechanism 2 is arranged on handgrip
On the lower mounting bracket of pedestal 1, the plank pick-up component 3 is arranged on the rear mounting bracket of handgrip pedestal 1, the pallet gripper
Structure 4 includes the cylinder drive component 42 of pallet grabbing assembly 41 and driving pallet grabbing assembly rotary motion, the pallet crawl
Component 41 is arranged on the left and right mounting bracket of handgrip pedestal 1, and the cylinder drive component 42 is arranged on the preceding installation of handgrip pedestal
On frame.
The cardboard grasping mechanism 2 includes lancet 21, supporting plate 22, pressing plate 23, driving lever 24, and the lancet 21 is arranged on lancet
The left and right sides of support 211, lancet support 211 is connected with lancet lift cylinder 212, and lancet lift cylinder 212 is arranged on lower install
On the rear fixed plate of frame, the supporting plate 22 is fixed on the left and right sides of gate installing plate 221 that can be moved forward and backward, gate installing plate
221 are arranged on chute by slide rail, and chute 222 is fixed on the left and right sides of lower mounting bracket bottom, the gate installing plate 221
Supporting plate drive cylinder 223 is also associated with, the supporting plate drive cylinder 223 is fixed on lower mounting bracket top, and the pressing plate 23 is located at
The surface at two middle parts of supporting plate 22, the pressing plate 23 is fixed on lower mounting bracket by pressing plate lift cylinder 231, the pressing plate
23 bottoms are additionally provided with identification sensory package, and the driving lever 24 is fixed in driving lever buffer lift mechanism.
The driving lever buffer lift mechanism includes driving lever lift cylinder 241, lead 242, guide rod 243, connecting plate
244, extension rod 245 and spring leaf 246, the driving lever lift cylinder 241 is fixed on gate by L-type driving lever fixed plate 247 pacifies
In the middle of the crossbeam for filling plate 221, the elevating lever of driving lever lift cylinder 241 is fixedly connected with the middle part of connecting plate 244, the lead
242 are fixed on the left and right sides of L-type driving lever fixed plate 247, and the guide rod 243 is enclosed in the pilot hole of lead 242, one end with
Connecting plate 244 is connected, and the left and right sides of connecting plate 244 is fixed with extension rod 245, and the lower end of extension rod 245 passes through spring leaf 246
It is connected with driving lever 24.
The plank pick-up component 3 includes the sucker stand 31 of L-type, sucker 32, and the sucker stand 31 is pacified after being arranged on
The left and right sides is shelved, the crossbeam bottom of the sucker stand 31 is provided with several suckers 32.
The pallet grabbing assembly 41 grabs 411 including pallet hand, and rotary shaft 412, the pallet hand grabs 411 and is fixed on rotation
The front and rear sides of axle 412, the rotary shaft 412 is fixed on left or right mounting bracket by bearing block structure 413, the rotary shaft
412 front ends are connected with cylinder drive component 42.
The cylinder drive component 42 grabs rotation driving cylinder 421 including hand, timing belt mating connectors 422, and left and right is same
Pulley assemblies 423 and left and right tensioning wheel 424 are walked, the hand grabs rotation driving cylinder 421 and is fixed on left and right synchronous pulley component 423
Top, the expansion link that the hand grabs rotation driving cylinder 421 is connected with timing belt mating connectors 422, the timing belt engagement
Connector 422 is engaged on the timing belt of side synchronous pulley component 423, and the left and right synchronous pulley component 423 includes a pair
Left synchronous pulley, a pair of right synchronous pulleys and left and right timing belt, described 423 outermost two synchronizations of left and right synchronous pulley component
Belt wheel is fixed in the rotary shaft of pallet grabbing assembly 41, and tensioning wheel 424, the left side are both provided with below the left and right timing belt
Two synchronous pulley rear ends in the middle of right synchronous pulley component 423 are additionally provided with intermeshing gear assembly 425.
Operation principle of the present utility model：
Cardboard is captured：With lancet inject above and below in gap between layer paperboard, upper strata cardboard is mentioned, supporting plate is in gas
The lower space for injecting upper paper plate and lower layer paperboard of cylinder effect, then lancet decentralization, pushes compression cardboard, robot with rear fender
Arm is sent to cardboard on relevant position, pressing plate and is provided with identification sensory package, it can be determined that the positive and negative of cardboard, when being judged as
When positive, cardboard is sent on pipeline, corresponding switching mechanism is otherwise delivered to and carries out cardboard upset；
Last layer of paper stack is arrived, driving lever is moved downward under cylinder action, and driving lever has spring leaf buffering, last layer
Two heap paper stacks dial from pallet, two heap paper stacks are first dialled from taking away one by one again, it is to avoid subfloor and pallet movement；
Plank is drawn：When detecting the separation plank or the superiors and undermost plank between pile and pile, handgrip
Sucker above pedestal takes material away.
Pallet is captured：When needing crawl pallet, pallet handgrip is grabbed in hand in the presence of rotation driving cylinder（Driving is synchronous
Band）180 degree is rotated, 4 pallet handgrips are embraced pallet and sent him away.
In summary, one of ordinary skill in the art is read after the utility model file, according to skill of the present utility model
Art scheme and technical concept make other various corresponding conversion schemes without creative mental labour, belong to this practicality new
The scope that type is protected.
Claims (6)
1. a kind of multi-function robot tears paper stack handgrip open, it is characterised in that：Including handgrip pedestal, cardboard grasping mechanism, plank is inhaled
Component is taken, pallet grasping mechanism, the upper mounting bracket of the handgrip pedestal is fixed with handgrip installing plate, and handgrip installing plate passes through top
The flange cylinder of installation is connected with robot arm, and the cardboard grasping mechanism is arranged on the lower mounting bracket of handgrip pedestal, described
Plank pick-up component is arranged on the rear mounting bracket of handgrip pedestal, and the pallet grasping mechanism includes pallet grabbing assembly and driving
The cylinder drive component of pallet grabbing assembly rotary motion, the pallet grabbing assembly is arranged on the left and right mounting bracket of handgrip pedestal
On, the cylinder drive component is arranged on the preceding mounting bracket of handgrip pedestal.
2. a kind of multi-function robot according to claim 1 tears paper stack handgrip open, it is characterised in that：The cardboard gripper
Structure includes lancet, supporting plate, pressing plate, driving lever, and the lancet is arranged on the lancet support left and right sides, lancet support and lancet lifting air
Cylinder is connected, and lancet lift cylinder is arranged on the rear fixed plate of lower mounting bracket, and the supporting plate is fixed on the gate that can be moved forward and backward
The installing plate left and right sides, gate installing plate is arranged on chute by slide rail, and chute is fixed on the left and right two of lower mounting bracket bottom
Side, the gate installing plate is also associated with supporting plate drive cylinder, and the supporting plate drive cylinder is fixed on lower mounting bracket top, described
Pressing plate is located at the surface in the middle part of two supporting plates, and the pressing plate is fixed on lower mounting bracket by pressing plate lift cylinder, the pressure
Plate bottom is additionally provided with identification sensory package, and the driving lever is fixed in driving lever buffer lift mechanism.
3. a kind of multi-function robot according to claim 2 tears paper stack handgrip open, it is characterised in that：The driving lever buffering rises
Descending mechanism includes driving lever lift cylinder, lead, guide rod, connecting plate, extension rod and spring leaf, and the driving lever lift cylinder leads to
Cross L-type driving lever fixed plate to be fixed in the middle of the crossbeam of gate installing plate, the elevating lever of driving lever lift cylinder and connecting plate middle part are solid
Fixed connection, the lead is fixed on the L-type driving lever fixed plate left and right sides, and the guide rod is enclosed in the pilot hole of lead,
One end is connected with connecting plate, and the connecting plate left and right sides is fixed with extension rod, and extension rod lower end is connected by spring leaf and driving lever
Connect.
4. a kind of multi-function robot according to claim 1 tears paper stack handgrip open, it is characterised in that：The plank absorption group
Part includes the sucker stand of L-type, and sucker, the sucker stand is arranged on the rear mounting bracket left and right sides, the horizontal stroke of the sucker stand
Beam bottom is provided with several suckers.
5. a kind of multi-function robot according to claim 1 tears paper stack handgrip open, it is characterised in that：The pallet crawl group
Part is grabbed including pallet hand, rotary shaft, and the pallet hand, which is grasped, is scheduled on rotary shaft front and rear sides, and the rotary shaft passes through bearing block knot
Structure is fixed on left or right mounting bracket, and the rotary shaft front end is connected with cylinder drive component.
6. a kind of multi-function robot according to claim 1 tears paper stack handgrip open, it is characterised in that：The cylinder driving group
Part grabs rotation driving cylinder, timing belt mating connectors, left and right synchronous pulley component and left and right tensioning wheel including hand, and the hand is grabbed
Rotation driving cylinder is fixed on above the synchronous pulley component of left and right, and the hand grabs the expansion link of rotation driving cylinder and timing belt is nibbled
Connector connection is closed, the timing belt mating connectors are engaged on the timing belt of side synchronous pulley component, the left and right is same
Walking pulley assemblies includes a pair of left synchronous pulleys, a pair of right synchronous pulleys and left and right timing belt, the left and right synchronous pulley component
Outermost two synchronous pulleys are fixed in the rotary shaft of pallet grabbing assembly, are both provided with opening below the left and right timing belt
Two synchronous pulley rear ends in the middle of bearing up pulley, the left and right synchronous pulley component are additionally provided with intermeshing gear assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305199.XU CN206407646U (en) | 2016-12-01 | 2016-12-01 | A kind of multi-function robot tears paper stack handgrip open |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621305199.XU CN206407646U (en) | 2016-12-01 | 2016-12-01 | A kind of multi-function robot tears paper stack handgrip open |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206407646U true CN206407646U (en) | 2017-08-15 |
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ID=59549633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621305199.XU Active CN206407646U (en) | 2016-12-01 | 2016-12-01 | A kind of multi-function robot tears paper stack handgrip open |
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| Country | Link |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106477102A (en) * | 2016-12-01 | 2017-03-08 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears paper stack handgrip open |
| CN107378357A (en) * | 2017-09-07 | 2017-11-24 | 天津理工大学 | A kind of restructural sucker clamp device for automotive plate |
| CN111056311A (en) * | 2019-04-24 | 2020-04-24 | 福耀玻璃(湖北)有限公司 | Automatic on-line system before car suppression front windshield packing |
| CN114873236A (en) * | 2022-03-31 | 2022-08-09 | 苏州博众仪器科技有限公司 | Battery cabinet entering system and battery cabinet entering method |
| CN115535638A (en) * | 2022-11-30 | 2022-12-30 | 云南柔控科技有限公司 | Claw clamp of battery injection molding shell unstacking and stacking robot |
-
2016
- 2016-12-01 CN CN201621305199.XU patent/CN206407646U/en active Active
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106477102A (en) * | 2016-12-01 | 2017-03-08 | 佛山市湘德智能科技有限公司 | A kind of multi-function robot tears paper stack handgrip open |
| CN107378357A (en) * | 2017-09-07 | 2017-11-24 | 天津理工大学 | A kind of restructural sucker clamp device for automotive plate |
| CN107378357B (en) * | 2017-09-07 | 2019-02-22 | 天津理工大学 | A kind of restructural sucker clamp device for automotive plate |
| CN111056311A (en) * | 2019-04-24 | 2020-04-24 | 福耀玻璃(湖北)有限公司 | Automatic on-line system before car suppression front windshield packing |
| CN114873236A (en) * | 2022-03-31 | 2022-08-09 | 苏州博众仪器科技有限公司 | Battery cabinet entering system and battery cabinet entering method |
| CN114873236B (en) * | 2022-03-31 | 2023-12-12 | 苏州博众仪器科技有限公司 | Battery cabinet entering system and battery cabinet entering method |
| CN115535638A (en) * | 2022-11-30 | 2022-12-30 | 云南柔控科技有限公司 | Claw clamp of battery injection molding shell unstacking and stacking robot |
| CN115535638B (en) * | 2022-11-30 | 2023-04-11 | 云南柔控科技有限公司 | Claw clamp of battery injection molding shell unstacking and stacking robot |
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| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180522 Address after: 528000 Dongjiang Industrial Park, Gaoming District, Foshan, Guangdong Co-patentee after: Foshan Haitian Flavoring & Food Co., Ltd. Patentee after: Foshan Haitian (Gaoming) Seasoning Co., Ltd. Co-patentee after: Foshan Haitian (Jiangsu) seasoning Food Co., Ltd. Address before: 510000 Dongjiang Industrial Park, Gaoming District, Foshan, Guangdong Co-patentee before: FOSHAN VANTA ROBOT TECHNOLOGY CO., LTD. Patentee before: Foshan Haitian (Gaoming) Seasoning Co., Ltd. |