CN206798656U

CN206798656U - A kind of pneumatic stacking twin tong applied to robot

Info

Publication number: CN206798656U
Application number: CN201720534148.2U
Authority: CN
Inventors: 金银河
Original assignee: Individual
Current assignee: Individual
Priority date: 2017-05-15
Filing date: 2017-05-15
Publication date: 2017-12-26
Anticipated expiration: 2027-05-15

Abstract

The utility model proposes a kind of pneumatic stacking twin tong applied to robot, including front and rear upper fixture, left and right lower clamp and main body frame, front and rear upper fixture includes sliding way sleeve pipe I, sliding way sleeve pipe II, the first cylinder I, the first cylinder II, upper clamp assemblies I and upper clamp assemblies II；Left and right lower clamp includes glide path sleeve pipe I, glide path sleeve pipe II, the second cylinder I, the second cylinder II, lower clamp assemblies I and lower clamp assemblies II.The pneumatic stacking single clip tool of the utility model is reasonable in design, compact-sized, the clamp for stacking of robot supports the use with robot, two pairs of clamp assemblies and two pairs of cylinder assemblies are provided with having due to pneumatic stacking single clip, thing block can be clamped simultaneously or alternatively on fore-and-aft direction and left and right directions, the shackle being fixed on simultaneously by the traction of staight shank single hook on ring frame, and angle is manipulated come precise vernier adjustment by the adjustable handrail in the channel-section steel pipe on main body frame, realize and charging and release discharging are precisely clamped to thing block.

Description

A kind of pneumatic stacking twin tong applied to robot

Technical field

A kind of pneumatic stacking twin tong applied to robot is the utility model is related to, for being supported the use with robot, Especially suitable for case class, the vanning and stacking of building block, brick and tile blank.

Background technology

At present, brickmaking industry stacking machine volume is big, complicated, and operation is not convenient enough, low production efficiency, particularly stacking The clamp for stacking of robot lacks parting fixture, and a set of blank distributing mechanism need to be set on adobe production line, by pallet, divides base gas Cylinder, balladeur train, bearing support, eccentric shaft, gear, lifting set, rack, slide rail, conduction chain, lift cylinder etc. are formed, complicated, Volume is larger, and operation is not convenient enough, in robot stacking, need to first divide base, refills bucket dress stacking, and production efficiency is not high.

Utility model content

In order to solve above-mentioned technical problem, a kind of simple in construction, manipulation of the utility model is conveniently applied to robot Pneumatic stacking twin tong.

To achieve the above object, the utility model employs following technical scheme：

The utility model proposes a kind of pneumatic stacking twin tong applied to robot, including under front and rear upper fixture, left and right Fixture and main body frame, wherein：The front and rear upper fixture includes sliding way sleeve pipe I, sliding way sleeve pipe II, the first cylinder I, first Cylinder II, upper clamp assemblies I and upper clamp assemblies II；The left and right lower clamp include glide path sleeve pipe I, glide path sleeve pipe II, Second cylinder I, the second cylinder II, lower clamp assemblies I and lower clamp assemblies II；The sliding way sleeve pipe I, sliding way sleeve pipe II, Glide path sleeve pipe I and glide path sleeve pipe II are fixedly mounted on main body frame, and the glide path sleeve pipe I and glide path Sleeve pipe II is located at sliding way sleeve pipe I and the lower section of sliding way sleeve pipe II；

It is arranged in parallel between the sliding way sleeve pipe I and sliding way sleeve pipe II, glide path sleeve pipe I and glide path sleeve pipe It is arranged in parallel between II, it is arranged in a mutually vertical manner between sliding way sleeve pipe I and glide path sleeve pipe I；I.e. sliding way sleeve pipe II with It is arranged in a mutually vertical manner between glide path sleeve pipe II；It is reversed between the cylinder II of first cylinder I and first, and the first cylinder I is respectively and fixedly installed to main body frame difference both sides with the first cylinder II, and the cylinder II of the first cylinder I and first is arranged on Between slideway sleeve pipe I and sliding way sleeve pipe II；Axis where the I elastic direction of motion of First piston bar on first cylinder I It is identical with axis where the II elastic direction of motion of First piston bar on the first cylinder II；

The upper clamp assemblies I are outer including the first upper connecting rod I, the second upper connecting rod I, the regulation of the first train wheel bridge support I, first The regulation of sleeve pipe I, first embedded pipe I, the first train wheel bridge I and the first suspension ring bearing pin I, wherein：First upper connecting rod I and the second upper connecting rod I is fixedly mounted on the first train wheel bridge support I, and arranged in parallel between the first upper connecting rod I and the second upper connecting rod I, the One upper connecting rod I is in sliding way sleeve pipe I and can be slidably connected with sliding way sleeve pipe I, and the second upper connecting rod I is embedded in It can be slidably connected in sliding way sleeve pipe II and with sliding way sleeve pipe II；First regulation outer tube I is fixedly mounted on first Train wheel bridge support I connects by middle part, being equipped with the first regulation outer tube I with the first regulation outer tube I expansion fit The embedded pipe I of the first regulation connect, the first regulation regulation of outer tube I and first are fastened between embedding pipe I by the first suspension ring bearing pin I Locking；

The I elastic direction of motion of First piston bar and the embedded bearing of trend of pipe I of the first regulation on first cylinder I Identical, the front end of First piston bar I is flexibly connected by flake joint with the embedded pipe I of the first regulation；

The upper clamp assemblies II include the first upper connecting rod II, the second upper connecting rod II, the first train wheel bridge support II, first and adjusted The regulation of outer tube II, first embedded pipe II, the first train wheel bridge II and the first suspension ring pin shaft II are saved, wherein：The He of first upper connecting rod II Second upper connecting rod II is fixedly mounted on the first train wheel bridge support II, and phase between the first upper connecting rod II and the second upper connecting rod II Mutually it be arranged in parallel, the first upper connecting rod II is in sliding way sleeve pipe I and can be slidably connected with sliding way sleeve pipe I, the Two upper connecting rods II are in sliding way sleeve pipe II and can be slidably connected with sliding way sleeve pipe II；First regulation outer tube II is fixedly mounted on the first train wheel bridge support II by middle part, being equipped with the first regulation outer tube II and first regulation The embedded pipe II of the first regulation of the expansion fit of outer tube II connection, the first regulation outer tube II and first are adjusted between embedded pipe II Fastened and locked by the first suspension ring pin shaft II；

The II elastic direction of motion of First piston bar on first cylinder II extends with the embedded pipe II of the first regulation Direction is identical, and the front end of First piston bar II is flexibly connected by flake joint with the embedded pipe II of the first regulation；First train wheel bridge I is solid Dingan County is mounted in the bottom of the first train wheel bridge support I, and the first train wheel bridge II is fixedly mounted on the bottom of the first train wheel bridge support II, and first Train wheel bridge I is oppositely arranged side by side with the first train wheel bridge II；

When in use, after starting the first cylinder I and the first cylinder II, the first cylinder I, the first cylinder II drive first respectively Piston rod I, First piston bar II carry out elastic motion, while drive the first upper connecting rod I and the first upper connecting rod II along upper Slideway sleeve pipe I, the second upper connecting rod II and the second upper connecting rod I are slid back and forth along sliding way sleeve pipe II, and are fixedly mounted The first train wheel bridge I and be fixedly mounted on the bottom of the first train wheel bridge support II first on the bottom of the first train wheel bridge support I Mutually draw close or be separated from each other between train wheel bridge II, so as to realize the folder of the first train wheel bridge I and the first train wheel bridge II to thing block Hold and discharge.

Antiparallel setting between the cylinder II of second cylinder I and second, and the second piston bar I on the second cylinder I Left and right stretching motion direction is parallel to each other with the stretching motion direction of second piston bar II or so on the second cylinder II；The downslide Road sleeve pipe I and glide path sleeve pipe II are between the second cylinder I and the second cylinder II；

The lower clamp assemblies I include the embedded pipe I, second of the second regulation and adjust outer tube I, the second suspension ring bearing pin the I, the 3rd The embedded pipe the I, the 3rd of regulation is adjusted under outer tube I, the 3rd suspension ring bearing pin I, the first lower plate support I, the first lower plate I, first Pull bar I, second time pull bar I, wherein：First time pull bar I and second time pull bar I are fixedly mounted on the first lower plate support I, And it is arranged in parallel between first time pull bar I and second time pull bar I, first time pull bar I is embedded in the interior simultaneously energy of glide path sleeve pipe I Enough to be slidably connected with glide path sleeve pipe I, second time pull bar I is interior embedded in glide path sleeve pipe II and can be with glide path sleeve pipe II sliding connection；Second regulation outer tube I is fixedly mounted on the side end position of the first lower plate support I 1, the second regulation The embedded pipe I of the second regulation being connected with the second regulation expansion fit of outer tube I, the second regulation overcoat are equipped with outer tube I Fastened and locked by the second suspension ring bearing pin I between the embedded pipe I of the regulation of pipe I and second；

Second cylinder I is flexibly connected with the embedded pipe I of the second regulation；3rd regulation outer tube I is fixedly mounted on first On the end side position of lower plate support I, it is equipped with the 3rd regulation outer tube I and the 3rd regulation expansion fit of outer tube I The embedded pipe I of the 3rd regulation of connection, the embedded pipe I and the 3rd of the 3rd regulation are buckled between adjusting outer tube I by the 3rd suspension ring bearing pin I Tightly lock；The stretching motion direction of second piston bar II or so and the embedded bearing of trend phase of pipe I of the 3rd regulation on second cylinder II Together, second piston bar II is flexibly connected by flake joint with the embedded pipe I of the 3rd regulation；

The lower clamp assemblies II include the second embedded pipe II, second of regulation adjust outer tube II, the second suspension ring pin shaft II, The embedded pipe the II, the 3rd of 3rd regulation adjusts outer tube II, the 3rd suspension ring pin shaft II, the first lower plate support II, the first lower plate IIth, first time pull bar II, second time pull bar II, wherein：First time pull bar II and second time pull bar II are fixedly mounted on first On lower plate support II, and it is arranged in parallel between first time pull bar II and second time pull bar II；First time pull bar II is set It can be slidably connected in glide path sleeve pipe I and with glide path sleeve pipe I, second time pull bar II is embedded in glide path sleeve pipe II It is interior and can be slidably connected with glide path sleeve pipe II；Second regulation outer tube II is fixedly mounted on the first lower plate support II On one side end position, second be connected with the second regulation expansion fit of outer tube II is equipped with the second regulation outer tube II and is adjusted Embedded pipe II is saved, is locked between the second embedded pipe II of the regulation regulation of outer tube II and second by the fastening of the second suspension ring pin shaft II；

The stretching motion direction of second piston bar I or so and the embedded side of extension of pipe II of the second regulation on second cylinder I To identical, the front end of second piston bar I is flexibly connected by flake joint with the embedded pipe II of the second regulation；

The embedded pipe II of 3rd regulation is fixedly mounted on the end side position of the first lower plate support II, the 3rd regulation overcoat The embedded pipe II of the 3rd regulation being connected with the 3rd regulation expansion fit of outer tube II, the 3rd regulation outer tube are equipped with pipe II Locked between the embedded pipe II of II and the 3rd regulation by the 3rd suspension ring pin shaft II padlock；

Second cylinder II is flexibly connected with the embedded pipe II of the 3rd regulation；First lower plate I is fixedly mounted under first The bottom of clamping plate support I, the first lower plate II are fixedly mounted on the bottom of the first lower plate support II, and the first lower plate I and first Lower plate II is oppositely arranged side by side.

When in use, after starting the second cylinder I and the second cylinder II, the second cylinder I, the second cylinder II drive second respectively Piston rod I, second piston bar II carry out left and right stretching motion, while drive first time pull bar I and first time pull bar II under Slideway sleeve pipe I, second time pull bar I and second time pull bar II are horizontally slipped along glide path sleeve pipe II, and are fixedly mounted The first lower plate I and be fixedly mounted on the bottom of the first lower plate support II first on the bottom of the first lower plate support I Mutually draw close or be separated from each other between lower plate II, so as to realize the first lower plate I and the first lower plate II to thing block on a left side Clamping and release in right direction.

As preferred：Nylon sheet III is provided with the interior sidewall surface of glide path sleeve pipe I, in the interior sidewall surface of glide path sleeve pipe II On be provided with nylon sheet IV；First time pull bar I and first time pull bar II are set into glide path sleeve pipe I by left and right different directions It is interior, and slided and separated by swingle III between first time pull bar I and first time pull bar II；Second time pull bar I and second Lower pull bar II is set into glide path sleeve pipe II by left and right different directions, and second time pull bar I and second time pull bar II it Between by swingle IV slide separate.

As preferred：Nylon sheet I is provided with the interior sidewall surface of sliding way sleeve pipe I, in the interior sidewall surface of sliding way sleeve pipe II On be provided with nylon sheet II；First upper connecting rod I and the first upper connecting rod II are set into sliding way sleeve pipe I by front and rear different directions It is interior, and slided and separated by swingle I between the first upper connecting rod I and the first upper connecting rod II；On second upper connecting rod I and second Pull bar II is set into sliding way sleeve pipe II by front and rear different directions, and between the second upper connecting rod I and the second upper connecting rod II Slided and separated by swingle II.

Compared with prior art, the beneficial effects of the utility model are：

Technical scheme of the utility model as a result of more than, pneumatic stacking list jig Design of the present utility model are closed Manage, be compact-sized, clamp for stacking and the robot of robot are supported the use, and two pairs of folders are provided with having due to pneumatic stacking single clip Holding component, (i.e. upper clamp assemblies I and upper clamp assemblies II are formed a pair in the longitudinal direction, lower clamp assemblies I and lower clamping group A pair) and two pairs of cylinder assemblies (i.e. the first cylinder I and the first cylinder II shape in the longitudinal direction part II is formed in the lateral direction In a pair, a pair) the second cylinder I and the second cylinder II are formed in the lateral direction, can be by thing block (such as case class, building panel Block, brick and tile blank) either alternatively it is clamped or compresses simultaneously on fore-and-aft direction and left and right directions, while by staight shank Single hook traction is fixed on the shackle on ring frame, and by the adjustable handrail in the channel-section steel pipe on main body frame Lai accurate micro- Manipulation angle is adjusted, charging and release discharging are precisely clamped to thing block so as to realize.

A kind of pneumatic stacking twin tong applied to robot of the utility model is especially suitable for case class, building block, brick The vanning and stacking of unbaked tile part.

Brief description of the drawings

Fig. 1 is overall structure diagram of the present utility model.

Fig. 2~3 are main body frame and upper clamp assemblies I, upper clamp assemblies II and glide path sleeve pipe in the utility model Ith, fit structure schematic diagram is connected between lower clamp assemblies II.

Fig. 4~5 are the structural representations of front and rear upper fixture in the utility model.

Fig. 6~8 are the structural representations of left and right lower clamp in the utility model.

Accompanying drawing marks：Main body frame 1, ring frame 11, shackle 12, staight shank single hook 13；

Sliding way sleeve pipe I 21, nylon sheet I 211, swingle I 212, sliding way sleeve pipe II 22, nylon sheet II 221, swingle Ⅱ222；

Upper clamp assemblies I 23, the first upper connecting rod I 231, the second upper connecting rod I 232, the first train wheel bridge support I 233, first adjusts Save outer tube I 235, the embedded pipe I 234 of the first regulation, the first train wheel bridge I 236, the first suspension ring bearing pin I 237；

Upper clamp assemblies II 24, the first upper connecting rod II 241, the second upper connecting rod II 242, the first train wheel bridge support II 243, the One regulation outer tube II 245, the embedded pipe II 244 of the first regulation, the first train wheel bridge II 246, the first suspension ring pin shaft II 247；

First cylinder I 25, First piston bar I 251, the first cylinder II 26, First piston bar II 261；

Glide path sleeve pipe I 31, glide path sleeve pipe II 32, lower clamp assemblies I 33, the embedded pipe I 3311 of the second regulation, second adjusts Section outer tube I 3312, the second suspension ring bearing pin I 3313, the embedded pipe I 3321 of the 3rd regulation, the 3rd regulation outer tube I 3322, the 3rd Suspension ring bearing pin I 3323, the first lower plate support I 333, the first lower plate I 334, first time pull bar I 335, second time pull bar I 336；

Lower clamp assemblies II 34, the embedded pipe II 3411 of the second regulation, the second regulation outer tube II 3412, the second suspension ring bearing pin II 3413, the embedded pipe II 3421 of the 3rd regulation, the 3rd regulation outer tube II 3422, the 3rd suspension ring pin shaft II 3423, first time folder Board mount II 343, the first lower plate II 344, first time pull bar II 345, second time pull bar II 346；

Second cylinder I 35, second piston bar I 351, the second cylinder II 36, second piston bar II 361.

Embodiment

Specific embodiment of the present utility model is made a detailed explanation below in conjunction with the accompanying drawings.

As shown in Fig. 1~8, the utility model proposes a kind of specific implementation of the pneumatic stacking twin tong applied to robot Example, including front and rear upper fixture, left and right lower clamp and main body frame 1.As shown in Figures 4 and 5：The front and rear upper fixture includes sliding way Sleeve pipe I 21, sliding way sleeve pipe II 22, the first cylinder I 25, the first cylinder II 26, upper clamp assemblies I 23 and upper clamp assemblies II 24。

As can be seen from figures 6 to 8：The left and right lower clamp includes glide path sleeve pipe I 31, glide path sleeve pipe II 32, the second cylinder I 35th, the second cylinder II 36, lower clamp assemblies I 33 and lower clamp assemblies II 34.

As shown in Figures 4 and 5：The sliding way sleeve pipe I 21, sliding way sleeve pipe II 22, glide path sleeve pipe I 31 and glide path Sleeve pipe II 32 is fixedly mounted on main body frame 1, and the glide path sleeve pipe I 31 and glide path sleeve pipe II 32 are located at upper cunning Road sleeve pipe I 21 and the lower section of sliding way sleeve pipe II 22；It is parallel to each other and sets between the sliding way sleeve pipe I 21 and sliding way sleeve pipe II 22 Put, arranged in parallel between glide path sleeve pipe I 31 and glide path sleeve pipe II 32, sliding way sleeve pipe I 21 and glide path sleeve pipe I 31 Between be arranged in a mutually vertical manner；It is arranged in a mutually vertical manner between sliding way sleeve pipe II 22 and glide path sleeve pipe II 32；First gas It is reversed between the cylinder II 26 of cylinder I 25 and first, and the first cylinder I 25 and the first cylinder II 26 are respectively and fixedly installed to main body 1 different both sides of framework, the cylinder II 26 of the first cylinder I 25 and first are arranged on sliding way sleeve pipe I 21 and sliding way sleeve pipe II Between 22；Where the I 251 elastic direction of motion of First piston bar on first cylinder I 25 on axis and the first cylinder II 26 The II 261 elastic direction of motion of First piston bar where axis it is identical.

As shown in Figure 4：The upper clamp assemblies I 23 on the first upper connecting rod I 231, the second upper connecting rod I 232, first including pressing from both sides Board mount I 233, first adjusts the regulation of outer tube I 235, first embedded pipe I 234, the first train wheel bridge I 236 and the first suspension ring bearing pin I 237, wherein：First upper connecting rod I 231 and the second upper connecting rod I 232 are fixedly mounted on the first train wheel bridge support I 233, and the Arranged in parallel between one upper connecting rod I 231 and the second upper connecting rod I 232, the first upper connecting rod I 231 is embedded in sliding way sleeve pipe I It can be slidably connected in 21 and with sliding way sleeve pipe I 21, the second upper connecting rod I 232 is embedded in sliding way sleeve pipe II 22 simultaneously It can be slidably connected with sliding way sleeve pipe II 22；First regulation outer tube I 235 is fixedly mounted on the first train wheel bridge support I 233 are connected by middle part, being equipped with the first regulation outer tube I 235 with the first regulation expansion fit of outer tube I 235 The first embedded pipe I 234 of regulation, pass through the first suspension ring pin between the first embedded pipe I 234 of the regulation regulation of outer tube I 235 and first The fastening locking of axle I 237；In the I 251 elastic direction of motion of First piston bar and the first regulation on first cylinder I 25 The embedding bearing of trend of pipe I 234 is identical, and the front end of First piston bar I 251 is connected by flake joint and the embedded activity of pipe I 234 of the first regulation Connect；

As shown in Figure 5：The upper clamp assemblies II 24 include the first upper connecting rod II 241, the second upper connecting rod II 242, first Train wheel bridge support II 243, first adjusts the embedded pipe II 244 of the regulation of outer tube II 245, first, the first train wheel bridge II 246 and first Suspension ring pin shaft II 247, wherein：First upper connecting rod II 241 and the second upper connecting rod II 242 are fixedly mounted on the first train wheel bridge support On II 243, and it is arranged in parallel between the first upper connecting rod II 241 and the second upper connecting rod II 242, the first upper connecting rod II 241 is embedding Put in sliding way sleeve pipe I 21 and can be slidably connected with sliding way sleeve pipe I 21, the second upper connecting rod II 242 is embedded in upper It can be slidably connected in slideway sleeve pipe II 22 and with sliding way sleeve pipe II 22；First regulation outer tube II 245 is fixedly mounted In the first train wheel bridge support II 243 by middle part, being equipped with the first regulation outer tube II 245 and the first regulation overcoat The embedded pipe II 244 of the first regulation of the expansion fit of pipe II 245 connection, the first embedded pipe of the regulation regulation of outer tube II 245 and first Fastened and locked by the first suspension ring pin shaft II 247 between II 244；Before First piston bar II 261 on first cylinder II 26 Stretching motion direction is identical with the embedded bearing of trend of pipe II 244 of the first regulation afterwards, and the front end of First piston bar II 261 is connect by flake Head is flexibly connected with the embedded pipe II 244 of the first regulation；First train wheel bridge I 236 is fixedly mounted on the bottom of the first train wheel bridge support I 233 End, the first train wheel bridge II 246 are fixedly mounted on the bottom of the first train wheel bridge support II 243, and on the first train wheel bridge I 236 and first Clamping plate II 246 is oppositely arranged side by side.

When in use, after starting the first cylinder I 25 and the first cylinder II 26, the first cylinder I 25, the first cylinder II 26 difference Drive First piston bar I 251, First piston bar II 261 to carry out elastic motion, while drive the first upper connecting rod I 231 and the One upper connecting rod II 241 is along sliding way sleeve pipe I 21, the second upper connecting rod II 242 and the second upper connecting rod I 232 along sliding way sleeve pipe II 22 are slid back and forth, and the first train wheel bridge I 236 being fixedly mounted on the bottom of the first train wheel bridge support I 233 is with fixing Mutually draw close or be separated from each other between the first train wheel bridge II 246 on the bottom of the first train wheel bridge support II 243, so as to Realize the clamping and release of II 246 pairs of thing blocks of the first train wheel bridge I 236 and the first train wheel bridge.

As shown in Figure 6：Antiparallel setting between the cylinder II 36 of second cylinder I 35 and second, and the second cylinder I 35 On the stretching motion direction of second piston bar I 351 or so and the second cylinder II 36 on the flexible fortune of second piston bar II 361 or so Dynamic direction is parallel to each other；The glide path sleeve pipe I 31 and glide path sleeve pipe II 32 are located at the second cylinder I 35 and the second cylinder II 36 Between；The lower clamp assemblies I 33 include the embedded pipe I 3311, second of the second regulation and adjust outer tube I 3312, the second suspension ring pin The embedded pipe the I 3321, the 3rd of the regulation of axle the I 3313, the 3rd adjusts outer tube I 3322, the 3rd suspension ring bearing pin I 3323, the first lower plate Support I 333, the first lower plate I 334, first time pull bar I 335, second time pull bar I 336, wherein：First time pull bar I 335 and Two times pull bars I 336 are fixedly mounted on the first lower plate support I 333, and first time pull bar I 335 and second time pull bar I 336 Between it is arranged in parallel, first time pull bar I 335 is in glide path sleeve pipe I 31 and can be slided with glide path sleeve pipe I 31 It is connected, second time pull bar I 336 is interior embedded in glide path sleeve pipe II 32 and can be with the company of being slidably matched of glide path sleeve pipe II 32 Connect；Second regulation outer tube I 3312 is fixedly mounted on the side end position of the first lower plate support I 333 1, the second regulation outer tube The embedded pipe I 3311 of the second regulation being connected with the second regulation expansion fit of outer tube I 3312 is equipped with I 3312, second adjusts Save between the regulation of outer tube I 3312 and second embeds pipe I 3311 and locked by the fastening of the second suspension ring bearing pin I 3313；Described second Cylinder I 35 is flexibly connected with the embedded pipe I 3311 of the second regulation；3rd regulation outer tube I 3322 is fixedly mounted on the first lower plate On the end side position of support I 333, it is equipped with the 3rd regulation outer tube I 3322 flexible with the 3rd regulation outer tube I 3322 The embedded pipe I 3321 of the 3rd regulation being connected, the embedded pipe I 3321 and the 3rd of the 3rd regulation lead between adjusting outer tube I 3322 Cross the fastening locking of the 3rd suspension ring bearing pin I 3323；The stretching motion direction of second piston bar II 361 or so on second cylinder II 36 with The embedded bearing of trend of pipe I 3321 of 3rd regulation is identical, and second piston bar II 361 passes through flake joint and the embedded pipe I of the 3rd regulation 3321 are flexibly connected.

As shown in Fig. 7~8：The lower clamp assemblies II 34 include the embedded pipe II 3411, second of the second regulation and adjust overcoat Pipe II 3412, the embedded pipe the II 3421, the 3rd of the second suspension ring pin shaft II the 3413, the 3rd regulation adjust outer tube the II 3422, the 3rd and hung Ring pin shaft II 3423, the first lower plate support II 343, the first lower plate II 344, first time pull bar II 345, second time pull bar II 346, wherein：First time pull bar II 345 and second time pull bar II 346 are fixedly mounted on the first lower plate support II 343, and It is arranged in parallel between first time pull bar II 345 and second time pull bar II 346；First time pull bar II 345 is embedded in glide path It can be slidably connected in sleeve pipe I 31 and with glide path sleeve pipe I 31, second time pull bar II 346 is embedded in glide path sleeve pipe II It can be slidably connected in 32 and with glide path sleeve pipe II 32；Second regulation outer tube II 3412 is fixedly mounted on first time folder On the side end position of board mount II 343 1, it is equipped with the second regulation outer tube II 3412 and the second regulation outer tube II 3412 The embedded pipe II 3411 of the second regulation of expansion fit connection, the second embedded pipe II 3411 of the regulation regulation of outer tube II 3412 and second Between pass through the second suspension ring pin shaft II 3413 fastening locking；Second piston bar I 351 or so on second cylinder I 35 is flexible The direction of motion is identical with the embedded bearing of trend of pipe II 3411 of the second regulation, and the front end of second piston bar I 351 passes through flake joint and the The embedded pipe II 3411 of two regulations is flexibly connected；The embedded pipe II 3421 of 3rd regulation is fixedly mounted on the first lower plate support II 343 On end side position, it is equipped with the 3rd regulation outer tube II 3422 and connects with the 3rd regulation outer tube II 3422 expansion fit The 3rd embedded pipe II 3421 of regulation connect, by the between the 3rd regulation outer tube II 3422 and the embedded pipe II 3421 of the 3rd regulation The padlock of three suspension ring pin shaft II 3423 locks；Second cylinder II 36 is flexibly connected with the embedded pipe II 3421 of the 3rd regulation；First Lower plate I 334 is fixedly mounted on the bottom of the first lower plate support I 333, and the first lower plate II 344 is fixedly mounted on first time folder The bottom of board mount II 343, and the first lower plate I 334 is oppositely arranged side by side with the first lower plate II 344.

When in use, after starting the second cylinder I 35 and the second cylinder II 36, the second cylinder I 35, the second cylinder II 36 difference Drive second piston bar I 351, second piston bar II 361 to carry out left and right stretching motion, while drive first time pull bar I 335 and the Once pull bar II 345 is along glide path sleeve pipe I 31, second time pull bar I 336 and second time pull bar II 346 along glide path sleeve pipe II 32 are horizontally slipped, and the first lower plate I 334 being fixedly mounted on the bottom of the first lower plate support I 333 and fixation Mutually draw close or be separated from each other between the first lower plate II 344 on the bottom of the first lower plate support II 343, so as to Realize the clamping and release of II 344 pairs of thing blocks of the first lower plate I 334 and the first lower plate in the lateral direction.

As shown in Figure 2 and Figure 7：Nylon sheet III is provided with the interior sidewall surface of glide path sleeve pipe I 31, in glide path sleeve pipe II Nylon sheet IV is provided with 32 interior sidewall surfaces；First time pull bar I 335 and first time pull bar II 345 are set by left and right different directions Into in glide path sleeve pipe I 31, and slided and divided by swingle III between first time pull bar I 335 and first time pull bar II 345 Separate；Second time pull bar I 336 and second time pull bar II 346 are set into glide path sleeve pipe II 32 by left and right different directions, and Slided and separated by swingle IV between second time pull bar I 336 and second time pull bar II 346.

Nylon sheet I 211 is provided with the interior sidewall surface of sliding way sleeve pipe I 21, in the interior sidewall surface of sliding way sleeve pipe II 22 It is provided with nylon sheet II 221；First upper connecting rod I 231 and the first upper connecting rod II 241 are set into sliding way by front and rear different directions In sleeve pipe I 21, and slided and separated by swingle I 212 between the first upper connecting rod I 231 and the first upper connecting rod II 241；The Two upper connecting rods I 232 and the second upper connecting rod II 242 are set into sliding way sleeve pipe II 22 by front and rear different directions, and second Slided and separated by swingle II 222 between the upper connecting rod II 242 of upper connecting rod I 232 and second.

Technical scheme of the utility model as a result of more than, pneumatic stacking list jig Design of the present utility model are closed Manage, be compact-sized, clamp for stacking and the robot of robot are supported the use, and two pairs of folders are provided with having due to pneumatic stacking single clip Hold the i.e. upper clamp assemblies I of component and upper clamp assemblies II are formed a pair in the longitudinal direction, lower clamp assemblies I and lower clamp assemblies II to form a pair and two pairs of cylinder assemblies in the lateral direction be that the first cylinder I and the first cylinder II form one in the longitudinal direction Right, the second cylinder I and the second cylinder II are formed a pair in the lateral direction, can be by thing block such as case class, building block, brick and tile Blank is either alternatively clamped or compressed simultaneously on fore-and-aft direction and left and right directions, while is drawn by staight shank single hook The shackle being fixed on ring frame, and manipulate angle by the adjustable handrail in the channel-section steel pipe on main body frame come precise vernier adjustment Degree, charging and release discharging are precisely clamped to thing block so as to realize.

It is emphasized that：It the above is only preferred embodiment of the present utility model, not the utility model appointed What formal limitation, every any simple modification made according to the technical essence of the utility model to above example, etc. With change and modification, in the range of still falling within technical solutions of the utility model.

Claims

A kind of 1. pneumatic stacking twin tong applied to robot, it is characterised in that including front and rear upper fixture, left and right lower clamp and Main body frame (1), wherein：The front and rear upper fixture includes sliding way sleeve pipe I (21), sliding way sleeve pipe II (22), the first cylinder I (25), the first cylinder II (26), upper clamp assemblies I (23) and upper clamp assemblies II (24)；

The left and right lower clamp includes glide path sleeve pipe I (31), glide path sleeve pipe II (32), the second cylinder I (35), the second cylinder II (36), lower clamp assemblies I (33) and lower clamp assemblies II (34)；

The sliding way sleeve pipe I (21), sliding way sleeve pipe II (22), glide path sleeve pipe I (31) and glide path sleeve pipe II (32) It is fixedly mounted on main body frame (1), and the glide path sleeve pipe I (31) and glide path sleeve pipe II (32) are located at sliding way Below sleeve pipe I (21) and sliding way sleeve pipe II (22)；

Arranged in parallel between the sliding way sleeve pipe I (21) and sliding way sleeve pipe II (22), glide path sleeve pipe I (31) is with It is arranged in parallel between slideway sleeve pipe II (32), it is mutually perpendicular to set between sliding way sleeve pipe I (21) and glide path sleeve pipe I (31) Put；

It is reversed between first cylinder I (25) and the first cylinder II (26), and the first cylinder I (25) and the first cylinder II (26) the different both sides of main body frame (1) are respectively and fixedly installed to, first cylinder I (25) is arranged on the first cylinder II (26) Between sliding way sleeve pipe I (21) and sliding way sleeve pipe II (22)；

Axis and the first cylinder II (26) where the elastic direction of motion of First piston bar I (251) on first cylinder I (25) On the elastic direction of motion of First piston bar II (261) where axis it is identical；

The upper clamp assemblies I (23) include the first upper connecting rod I (231), the second upper connecting rod I (232), the first train wheel bridge support I (233), the first regulation outer tube I (235), the first train wheel bridge I (236), wherein：First upper connecting rod I (231) and the second upper connecting rod I (232) are fixedly mounted on the first train wheel bridge support I (233), and the first upper connecting rod I (231) and the second upper connecting rod I (232) Between it is arranged in parallel, the first upper connecting rod I (231) is in the sliding way sleeve pipe I (21) and can be with sliding way sleeve pipe I (21) it is slidably connected, the second upper connecting rod I (232) is interior embedded in sliding way sleeve pipe II (22) and can be with sliding way sleeve pipe II (22) it is slidably connected；

First regulation outer tube I (235) is fixedly mounted on the first train wheel bridge support I (233) by middle part, the first regulation is outer The embedded pipe I (234) of the first regulation being connected with the first regulation outer tube I (235) expansion fit is equipped with sleeve pipe I (235), Fastened and locked by the first suspension ring bearing pin I (237) between first regulation outer tube I (235) and the embedded pipe I (234) of the first regulation；

The elastic direction of motion of First piston bar I (251) and the embedded pipe I of the first regulation on first cylinder I (25) (234) bearing of trend is identical, and First piston bar I (251) front end passes through flake joint and embedded pipe I (234) activity of the first regulation Connection；

The upper clamp assemblies II (24) include the first upper connecting rod II (241), the second upper connecting rod II (242), the first train wheel bridge branch Frame II (243), the first regulation outer tube II (245), the first train wheel bridge II (246), wherein：First upper connecting rod II (241) and Two upper connecting rods II (242) are fixedly mounted on the first train wheel bridge support II (243), and the first upper connecting rod II (241) and second Arranged in parallel between upper connecting rod II (242), the first upper connecting rod II (241) is interior embedded in sliding way sleeve pipe I (21) and can It is slidably connected with sliding way sleeve pipe I (21), the second upper connecting rod II (242) is interior embedded in sliding way sleeve pipe II (22) and can It is slidably connected with sliding way sleeve pipe II (22)；

First regulation outer tube II (245) is fixedly mounted on the first train wheel bridge support II (243) by middle part, first is adjusted The embedded pipe II of the first regulation being connected with the first regulation outer tube II (245) expansion fit is equipped with outer tube II (245) (244), the first suspension ring pin shaft II (247) is passed through between the first regulation outer tube II (245) and the embedded pipe II (244) of the first regulation Fastening locking；

The elastic direction of motion of First piston bar II (261) and the embedded pipe II of the first regulation on first cylinder II (26) (244) bearing of trend is identical, and First piston bar II (261) front end is living by flake joint and the embedded pipe II (244) of the first regulation Dynamic connection；

First train wheel bridge I (236) is fixedly mounted on first train wheel bridge support I (233) bottom, and the first train wheel bridge II (246) is fixed Installed in first train wheel bridge support II (243) bottom, and the first train wheel bridge I (236) and the first train wheel bridge II (246) are relative side by side Set；

Antiparallel setting between second cylinder I (35) and the second cylinder II (36), and second on the second cylinder I (35) Piston rod I (351) left and right stretching motion direction and second piston bar II (361) left and right stretching motion on the second cylinder II (36) Direction is parallel to each other；The glide path sleeve pipe I (31) and glide path sleeve pipe II (32) are located at the second cylinder I (35) and the second cylinder Between II (36)；

The lower clamp assemblies I (33) are hung including the embedded pipe I (3311) of the second regulation, the second regulation outer tube I (3312), second Battle pin axle I (3313), the embedded pipe I (3321) of the 3rd regulation, the 3rd regulation outer tube I (3322), the 3rd suspension ring bearing pin I (3323), the first lower plate support I (333), the first lower plate I (334), first time pull bar I (335), second time pull bar I (336), wherein：First time pull bar I (335) and second time pull bar I (336) are fixedly mounted on the first lower plate support I (333) On, and it is arranged in parallel between first time pull bar I (335) and second time pull bar I (336), first time pull bar I (335) is set It can be slidably connected in glide path sleeve pipe I (31) and with glide path sleeve pipe I (31),

Second time pull bar I (336) is in glide path sleeve pipe II (32) and can be slidably matched with glide path sleeve pipe II (32) Connection；

Second regulation outer tube I (3312) is fixedly mounted on the side end position of the first lower plate support I (333) one, the second regulation The embedded pipe I of the second regulation being connected with the second regulation outer tube I (3312) expansion fit is equipped with outer tube I (3312) (3311), the second suspension ring bearing pin I is passed through between the second regulation outer tube I (3312) and the embedded pipe I (3311) of the second regulation (3313) fastening locking；

Second cylinder I (35) is flexibly connected with the embedded pipe I (3311) of the second regulation；3rd regulation outer tube I (3322) is solid Dingan County is equipped with and this on first lower plate support I (333) end side position in the 3rd regulation outer tube I (3322) The embedded pipe I (3321) of the 3rd regulation of 3rd regulation outer tube I (3322) expansion fit connection, the embedded pipe I of the 3rd regulation (3321) fastened and locked by the 3rd suspension ring bearing pin I (3323) between the 3rd regulation outer tube I (3322)；

Second piston bar II (361) left and right stretching motion direction and the embedded pipe I of the 3rd regulation on second cylinder II (36) (3321) bearing of trend is identical, and second piston bar II (361) is connected by flake joint and embedded pipe I (3321) activity of the 3rd regulation Connect；

The lower clamp assemblies II (34) include the embedded pipe II (3411) of the second regulation, the second regulation outer tube II (3412), the Two suspension ring pin shaft IIs (3413), the embedded pipe II (3421) of the 3rd regulation, the 3rd regulation outer tube II (3422), the 3rd suspension ring bearing pin II (3423), the first lower plate support II (343), the first lower plate II (344), first time pull bar II (345), second time pull bar II (346), wherein：First time pull bar II (345) and second time pull bar II (346) are fixedly mounted on the first lower plate support II (343) on, and it is arranged in parallel between first time pull bar II (345) and second time pull bar II (346)；

First time pull bar II (345) is embedded in glide path sleeve pipe I (31) and the company that can be slidably matched with glide path sleeve pipe I (31) Connect, second time pull bar II (346) is in glide path sleeve pipe II (32) and can be slidably matched with glide path sleeve pipe II (32) Connection；

Second regulation outer tube II (3412) is fixedly mounted on the side end position of the first lower plate support II (343) one, and second adjusts It is embedded that the second regulation being connected with the second regulation outer tube II (3412) expansion fit is equipped with section outer tube II (3412) Pipe II (3411), pass through the second suspension ring bearing pin between the second regulation outer tube II (3412) and the embedded pipe II (3411) of the second regulation II (3413) fastening locking；

Second piston bar I (351) left and right stretching motion direction and the embedded pipe II of the second regulation on second cylinder I (35) (3411) bearing of trend is identical, and second piston bar I (351) front end is living by flake joint and the embedded pipe II (3411) of the second regulation Dynamic connection；

The embedded pipe II (3421) of 3rd regulation is fixedly mounted on first lower plate support II (343) end side position, and the 3rd It is equipped with regulation outer tube II (3422) in the 3rd regulation being connected with the 3rd regulation outer tube II (3422) expansion fit Embedding pipe II (3421), pass through the 3rd suspension ring pin between the 3rd regulation outer tube II (3422) and the embedded pipe II (3421) of the 3rd regulation Axle II (3423) padlock locks；

Second cylinder II (36) is flexibly connected with the embedded pipe II (3421) of the 3rd regulation；The fixed peace of first lower plate I (334) Mounted in first lower plate support I (333) bottom, the first lower plate II (344) is fixedly mounted on the first lower plate support II (343) Bottom, and the first lower plate I (334) is oppositely arranged side by side with the first lower plate II (344).
2. according to a kind of pneumatic stacking twin tong applied to robot described in claim 1, it is characterised in that gliding Nylon sheet III is provided with road sleeve pipe I (31) interior sidewall surface, nylon sheet is provided with glide path sleeve pipe II (32) interior sidewall surface Ⅳ；First time pull bar I (335) and first time pull bar II (345) are set into glide path sleeve pipe I (31) by left and right different directions It is interior, and slided and separated by swingle III between first time pull bar I (335) and first time pull bar II (345)；Second drop-down Bar I (336) and second time pull bar II (346) are set into glide path sleeve pipe II (32) by left and right different directions, and second Slided and separated by swingle IV between lower pull bar I (336) and second time pull bar II (346).
3. according to a kind of pneumatic stacking twin tong applied to robot described in claim 1, it is characterised in that in upper cunning Nylon sheet I (211) is provided with road sleeve pipe I (21) interior sidewall surface, Buddhist nun is provided with sliding way sleeve pipe II (22) interior sidewall surface Imperial plate II (221)；First upper connecting rod I (231) and the first upper connecting rod II (241) are set into sliding way set by front and rear different directions In pipe I (21), and slided and separated by swingle I (212) between the first upper connecting rod I (231) and the first upper connecting rod II (241) Open；Second upper connecting rod I (232) and the second upper connecting rod II (242) are set into sliding way sleeve pipe II (22) by front and rear different directions It is interior, and slided and separated by swingle II (222) between the second upper connecting rod I (232) and the second upper connecting rod II (242).