CN206569736U - A kind of special stacking of Floor Industry, unstacking robot handgrip - Google Patents
A kind of special stacking of Floor Industry, unstacking robot handgrip Download PDFInfo
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- CN206569736U CN206569736U CN201720104922.6U CN201720104922U CN206569736U CN 206569736 U CN206569736 U CN 206569736U CN 201720104922 U CN201720104922 U CN 201720104922U CN 206569736 U CN206569736 U CN 206569736U
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- fixed
- stacking
- ambulatory splint
- air cylinder
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Abstract
A kind of special stacking of Floor Industry, with unstacking robot handgrip, with framework, cylinder and each ambulatory splint of left and right sides, framework includes two crossbeams, piece line slideway of each releasable connection in two ends bottom of crossbeam, each pair line slideway of formation left and right sides, ambulatory splint is connected on a pair of line slideways of place side by the way that two sliding blocks are dynamic, support frame is fixed between the middle part of two crossbeams, a double end air cylinder base and two single head air cylinder bases are fixed with the bottom surface of support frame, each one of the cylinder left and right sides, where the piston end of two cylinders is connected to by floating junction respectively on the ambulatory splint of side, the cylinder body end of two cylinders is hinged on double end air cylinder base, or where being respectively hinged on the single head air cylinder base of side, provided with a pair of spring hold-down devices on the inside of two ambulatory splints.The utility model clamps timber floor from both sides simultaneously, and the adjusting range that can improve stacking, de-stacking speed and gripping width is larger, adapts to stacking, the de-stacking on different size floor.
Description
Technical field
The utility model is related to object or material conveying device, is the special stacking of Floor Industry, unstacking robot handgrip.
Background technology
In current floor industry, platelet stacking, de-stacking are all manual works, and the quality of timber floor is heavier, manually once only
Several pieces of platelets can be carried, so that the labor intensity of workman is big, and the efficiency carried is low.Although also there is the side that truss is carried
Formula, but it is revolving that truss, which carries the handgrip used, plank can not be clamped and speed is slow, when being rotated due to robot
There is larger centrifugal force, can throw away plank with this revolving handgrip, so revolving handgrip is unsuitable to apply to floor
Used in the robot of carrying, and it is linear carrying that truss, which is carried, and its speed is slow.Chinese application number
201310179136.9 application for a patent for invention discloses a kind of double clamping plate handgrip, including connecting plate, rectangular tube, floating activity
Holding frame, two crossbearers, channel-section steel frame, robot base, double stroke cylinder mounting seat, two install foot stool, strap,
Two the first slide block devices, rubber blanket, two fingers, two the second sliding block mounting brackets, 12 fingers, two the second sliding block dresses
Put, thin cylinder device, thin cylinder seat, double stroke cylinder mounting seat, double stroke cylinder device；The suitable paper of foregoing invention application
Case is captured.The application for a patent for invention of Chinese application number 201510889942.4 discloses a kind of clamping plate handgrip, including support, branch
Frame top is provided with flange connecting plate, and one end of support bottom is provided with strap, and the other end of support bottom is provided with ambulatory splint,
Support bottom is provided with width adjusting device, and width adjusting device one end is connected with strap, the width adjusting device other end
It is connected with support, support bottom is provided with cylinder, cylinder one end is connected with support, and the cylinder other end is connected with ambulatory splint
Connect.The application for a patent for invention also simply adapts to carry carton.
The content of the invention
The purpose of this utility model is to propose a kind of platelet stacking for adapting to Floor Industry, the robot gripper of de-stacking.
To reach above-mentioned purpose, the utility model is adopted the following technical scheme that：The special stacking of Floor Industry, unstacking robot
Handgrip has framework, cylinder, ambulatory splint and a top plate for mounting robot main body, framework include two or so to crossbeam
With two sagittal longerons, support frame is fixed between the middle part of two crossbeams, the top plate is fixed on support frame, two crossbeams
Piece line slideway of each releasable connection in two ends bottom, each pair line slideway of formation left and right sides, the ambulatory splint left and right sides is each
One, a pair of sliding blocks are fixed with the top surface of ambulatory splint, ambulatory splint is connected the one of place side by the way that two sliding blocks are dynamic
To on line slideway, being fixed with double end air cylinder base on the bottom surface of support frame, the left and right sides of double end air cylinder base is respectively fixed with place
In the single head air cylinder base of same center line, each one of the cylinder left and right sides, the piston end of two cylinders is respectively by floating
Where joint is connected on the ambulatory splint of side, the cylinder body end of two cylinders or it is hinged on double end air cylinder base, or cuts with scissors respectively
Where being connected on the single head air cylinder base of side, it is respectively equipped with and is pushed by a pair of springs of two cross beam supports on the inside of two ambulatory splints
Device.
The spring hold-down devices include pushing batten and are fixed on two bases pushed on batten, are connected on every base
There is the axis of guide protruded upward, the upper end of the axis of guide is provided with the dynamic sleeve coordinated, and sleeve is connected to correspondence transverse slat by fixed plate
On, spring is cased with the axis of guide, the outside of spring is cased with being fixed on the limitation pipe on base, between having between limitation pipe and sleeve
Away from.
The axis of guide includes axle main body, the packing ring for being connected to axle main body lower end and the axle sleeve for being fixed on axle main body upper end,
Axle sleeve is moved with the sleeve to be coordinated, and in the axle main body and lower section in sleeve is provided with spring washer.
The bottom surface for pushing batten is provided with resilient sleeper-bearing
Each releasable connection in two ends of correspondence line slideway mounted thereto has locating piece on the two sides per crossbeam,
Positioned per line slideway by corresponding 4 pieces of locating pieces.
The clamping face of the ambulatory splint is provided with clamping backing plate.
The utility model has following good effect：1. the utility model is by way of both sides are clamped stacked plank
Clamp, such robot operationally will not cause plank to be thrown out of because of excessive centrifugal force.2. because floor is heavier, this reality
Both sides are taken to be ambulatory splint with new, while timber floor is clamped from both sides, compared with being only the tong of side ambulatory splint,
No longer need to be pushed into cribbing plate to the movement of fixed clamp frame from ambulatory splint, so as to help raising stacking, de-stacking speed and effect
Really.3. gripping width of the present utility model has wide shelves and narrow shelves, so the adjusting range of gripping width is larger, different size is adapted to
Stacking, the de-stacking on floor.4. the utility model uses mechanical spring downward device, simple in construction, reliable.
Brief description of the drawings
Fig. 1 is three-dimensional structure diagram of the present utility model.
Fig. 2 is structure chart of the present utility model.
Fig. 3 is Fig. 2 top view.
Fig. 4 is Fig. 2 upward view.
Fig. 5 is Fig. 2 left view.
Fig. 6 is the view of spring hold-down devices.
Fig. 7 is Fig. 6 I enlarged drawing.
Embodiment
Embodiment 1
See Fig. 1 to Fig. 7, embodiment 1 has framework 1, cylinder 2, ambulatory splint 9 and the top for mounting robot main body
Plate 3.
The framework 1 include two or so to the sagittal longeron 1-2 of crossbeam 1-1 and two, between two crossbeam 1-1 middle part
Support frame 10 is fixed with, support frame 10 has cross bar and vertical pole.The top plate 3 is fixed on support frame 10.
The two crossbeam 1-1 each releasable connection in two ends bottom has a line slideway 5, and each pair straight line of formation left and right sides is led
Rail, releasable connection is to be connected by screw bolts, and the distance between two guide rails can be so adjusted according to actual needs.Every crossbeam
Two sides on correspondence line slideway 5 mounted thereto each bolt connection in two ends be it is removable be connected with locating piece 6, by 4 pieces
The upper clamp of respective straight guide rail 5 is made line slideway two short keep on one wire by locating piece 6.
Each one of the left and right sides of ambulatory splint 9.A pair of sliding blocks 7 are fixed with the top surface of ambulatory splint 9 and in two cunnings
Connecting seat 14 between block 7, sliding block 7 is provided with the groove matched with line slideway 5, and ambulatory splint 9 coordinates by the way that two sliding blocks 7 are dynamic
Where being connected on a pair of line slideways 5 of side.The clamping face of the ambulatory splint 9 is provided with clamping backing plate 13.
In order to mitigate the weight of gripper equipment, framework 1 uses aluminium section bar, and ambulatory splint 9 is provided with some lightening core 9-1.
The bottom surface center of support frame as described above 10 is fixed with double end air cylinder base 11, and the left and right sides of double end air cylinder base 11 is each solid
Surely there is the single head air cylinder base 12 in same center line, so that the clamped width of the present embodiment has two grades of wide shelves and narrow shelves.
Above-mentioned double end air cylinder base 11 is provided with a pair of pin shaft hole 11-1, single head air cylinder base 12 and is provided only with a pin shaft hole.
Each one of the left and right sides of cylinder 2, the piston end of two cylinders 2 connects floating junction, the work of two cylinders 2 respectively
Where plug end is connected to by floating junction respectively on the ambulatory splint 9 of side.The cylinder body end of two cylinders 2 is hinged on double end gas
On cylinder bottom seat 11, or it is respectively hinged on the single head air cylinder base 12 of place side.Floating junction 4 can make ambulatory splint 9 along straight line
Guide rail is not stuck when moving.In accompanying drawing, the cylinder body end of two cylinders 2 uses hinge on double end air cylinder base 11, its institute
The width H that can be clamped is wide shelves.When selecting narrow shelves, the cylinder body ends of two cylinders 2 by two bearing pins respectively with double end air cylinder base 11
The connection of two pin shaft holes, meanwhile, will move in the line slideway and locating piece 6 at crossbeam 1-1 two ends, the two ends straight line on same crossbeam
The distance between guide rail reduces.Why shorter line slideway is used, also for the weight for mitigating gripper equipment.
A pair of the spring hold-down devices 8 supported by two crossbeam 1-1 are provided between two ambulatory splints 9.
The spring hold-down devices 8 include pushing batten 8-1 and are fixed on the two base 8-2 pushed on batten 8-1, under
Press strip plate 8-1 bottom surface is provided with resilient sleeper-bearing 8-10.The axis of guide 8-5 protruded upward is connected with per base 8-2, it is described to lead
Include axle main body 8-5-1 to axle 8-5, be connected to the limiting gasket 8-5-2 of axle main body 8-5-1 lower ends and be fixed on axle main body 8-5-
The axle sleeve 8-5-3 of 1 upper end, limiting gasket 8-5-2 are placed restrictions on outside the axis of guide 8-5 abjections base 8-2, axis of guide 8-5 axle sleeve 8-5-3
Portion is provided with the dynamic sleeve 8-6 coordinated, axle main body 8-5-1 and the lower section in sleeve 8-6 is provided with spring washer 8-9.Sleeve 8-6
It is connected to by fixed plate 8-7 on corresponding crossbeam 1-1, spring 8-4 is cased with axis of guide 8-5, spring 8-4 outside is cased with admittedly
Being scheduled between the limitation pipe 8-3 on base 8-2, limitation pipe 8-3 and sleeve 8-6 has spacing.The spacing is spring 8-4 compressed line
Journey.When robot drives handgrip to decline, hold-down devices 8 decline with crossbeam 1-1, the object that press strip plate 8-1 is supported and need to carried instantly
On, when handgrip continues to decline, two base 8-2 respectively drive axis of guide 8-5 to rise, and spring is compressed, when handgrip reaches desired position
Put, push batten 8-1 and be pressed on object.
The normal condition lower cylinder air inlet of this handgrip, is pushed outwardly piston rod, movable folder is driven by the thrust of cylinder
Plate 9 opens, and works as object（Floor）It is transported on the conveyor line when the station captured, machine is transmitted a signal to by photoelectric sensor
Device people, makes robot drive handgrip to reach the station of crawl, at this moment handgrip is in object（Floor）Surface, and hold-down devices
The 8 batten 8-1 that pushes has pushed down object（Floor）, at this moment cylinder outlet, piston rod contraction, and drive ambulatory splint 9 to clamp
Object（Floor）, then robot run and drive grip objects（Floor）Handgrip reach stacking position, now cylinder intake is living
Stopper rod is pushed outwardly, and drives ambulatory splint 9 to open；Then robot, which runs and drives handgrip to leave stacking position, returns to robot
Original state or continuation capture stacking, while hold-down devices are restPosed due to spring 8-4 effect.
Claims (6)
1. a kind of special stacking of Floor Industry, unstacking robot handgrip, with framework（1）, cylinder（2）, ambulatory splint（9）And
Top plate for mounting robot main body（3）, framework（1）Including two or so to crossbeam（1-1）With two sagittal longerons（1-
2）, it is characterised in that：Two crossbeams（1-1）Middle part between be fixed with support frame（10）, the top plate（3）It is fixed on support frame
（10）On, two crossbeams（1-1）Piece line slideway of each releasable connection in two ends bottom（5）, form left and right sides each pair straight line and lead
Rail, the ambulatory splint（9）Each one of left and right sides, ambulatory splint（9）Top surface on be fixed with a pair of sliding blocks（7）, ambulatory splint
（9）Pass through two sliding blocks（7）It is dynamic to be connected in a pair of line slideways of place side（5）On, support frame（10）Bottom surface on it is fixed
There is double end air cylinder base（11）, double end air cylinder base（11）Left and right sides be respectively fixed with the single head cylinder bottom in same center line
Seat（12）, the cylinder（2）Each one of left and right sides, two cylinders（2）Piston end be connected to respectively by floating junction where
The ambulatory splint of side（9）On, two cylinders（2）Cylinder body end or be hinged on double end air cylinder base（11）On, or be respectively hinged at
The single head air cylinder base of place side（12）On, two ambulatory splints（9）Inner side be respectively equipped with by two crossbeams（1-1）A pair of support
Spring hold-down devices（8）.
2. the special stacking of Floor Industry according to claim 1, unstacking robot handgrip, it is characterised in that：The spring
Formula hold-down devices（8）Including pushing batten（8-1）Batten is pushed with being fixed on（8-1）On two bases（8-2）, per base（8-
2）On be connected with the axis of guide protruded upward（8-5）, the axis of guide（8-5）Upper end provided with the dynamic sleeve coordinated（8-6）, sleeve
（8-6）Pass through fixed plate（8-7）It is connected to correspondence crossbeam（1-1）On, the axis of guide（8-5）On be cased with spring（8-4）, spring（8-
4）Outside be cased with being fixed on base（8-2）On limitation pipe（8-3）, limitation pipe（8-3）With sleeve（8-6）Between have spacing.
3. the special stacking of Floor Industry according to claim 2, unstacking robot handgrip, it is characterised in that：It is described to be oriented to
Axle（8-5）Including axle main body（8-5-1）, be connected to axle main body（8-5-1）The packing ring of lower end（8-5-2）Be fixed on axle main body
（8-5-1）The axle sleeve of upper end（8-5-3）, axle sleeve（8-5-3）With the sleeve（8-6）It is dynamic to coordinate, axle main body（8-5-1）Upper and place
In sleeve（8-6）Lower section be provided with spring washer（8-9）.
4. the special stacking of Floor Industry according to claim 2, unstacking robot handgrip, it is characterised in that：It is described to push
Batten（8-1）Bottom surface be provided with resilient sleeper-bearing（8-10）.
5. the special stacking of Floor Industry according to claim 1, unstacking robot handgrip, it is characterised in that：It is described every horizontal
Correspondence line slideway mounted thereto on the two sides of beam（5）Each releasable connection in two ends have locating piece（6）, per line slideway
（5）By corresponding 4 pieces of locating pieces（6）Positioning.
6. the special stacking of Floor Industry according to claim 1, unstacking robot handgrip, it is characterised in that：The activity
Clamping plate（9）Clamping face provided with clamping backing plate（13）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720104922.6U CN206569736U (en) | 2017-01-25 | 2017-01-25 | A kind of special stacking of Floor Industry, unstacking robot handgrip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720104922.6U CN206569736U (en) | 2017-01-25 | 2017-01-25 | A kind of special stacking of Floor Industry, unstacking robot handgrip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206569736U true CN206569736U (en) | 2017-10-20 |
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ID=60061594
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720104922.6U Active CN206569736U (en) | 2017-01-25 | 2017-01-25 | A kind of special stacking of Floor Industry, unstacking robot handgrip |
Country Status (1)
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| CN (1) | CN206569736U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318249A (en) * | 2018-11-30 | 2019-02-12 | 江苏驰众智能装备制造有限公司 | Clamping jaw device |
| CN113636338A (en) * | 2021-10-13 | 2021-11-12 | 徐州华恒机器人系统有限公司 | Pneumatic self-locking gripper |
-
2017
- 2017-01-25 CN CN201720104922.6U patent/CN206569736U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109318249A (en) * | 2018-11-30 | 2019-02-12 | 江苏驰众智能装备制造有限公司 | Clamping jaw device |
| CN109318249B (en) * | 2018-11-30 | 2020-10-27 | 江苏驰众智能装备制造有限公司 | Clamping jaw device |
| CN113636338A (en) * | 2021-10-13 | 2021-11-12 | 徐州华恒机器人系统有限公司 | Pneumatic self-locking gripper |
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