CN207127907U - Compound stack robot manipulator - Google Patents
Compound stack robot manipulator Download PDFInfo
- Publication number
- CN207127907U CN207127907U CN201720766444.5U CN201720766444U CN207127907U CN 207127907 U CN207127907 U CN 207127907U CN 201720766444 U CN201720766444 U CN 201720766444U CN 207127907 U CN207127907 U CN 207127907U
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- CN
- China
- Prior art keywords
- grabbing device
- pallet
- support body
- robot manipulator
- dividing plate
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Abstract
The utility model discloses a kind of compound stack robot manipulator, including support body, pallet grabbing device, tank body grabbing device and dividing plate grabbing device；The pallet grabbing device, tank body grabbing device and dividing plate grabbing device are separately mounted on support body；Adpting flange is provided with the top of the support body, the support body connects peripheral hardware mechanical arm by adpting flange.The utility model is simple in construction, easily prepared.Possess diversified crawl function, reduce the overall complexity of streamline, and greatly improve the efficiency for carrying casing.
Description
Technical field
Field of mechanical technique is the utility model is related to, a kind of compound stack robot manipulator is related in particular to, for same
When can realize multi-product.
Background technology
With the progress in epoch, canned milk powder has been come into the daily life of huge numbers of families.Existing canned milk powder processing
Streamline includes unloading tank, canned, wraps up in multiple independent manufacturing procedures such as bag, stacking.Wherein, the carton for bag being wrapped up in completion carries out code
It is an important link that pile, which is stacked,.The conveying robot that existing carton stacking uses, including rigidity frame, grip block, folder
The part such as tight drive cylinder, adjustment cylinder；Its course of work is as follows：Clamping cylinder drives grip block to move along, and slide rail is horizontal to be moved
It is dynamic, casing is clamped, the width of cylinder adjustment grip block is adjusted by multi-product.But multi-product adjustment cylinder only has two works
Position.The casing negligible amounts for causing single to be carried, do not catch up with front end production capacity.And function is single, it is necessary to additionally set other
Equipment handles pallet and the dividing plate being arranged between each tank layer.The complexity of whole system is caused to greatly increase.Therefore, how to open
A kind of new robot gripper is sent, possesses diversified crawl function, reduces the overall complexity of streamline, and significantly
The efficiency for carrying casing is improved, is the direction that those skilled in the art need to study.
Utility model content
The utility model provides a kind of compound stack robot manipulator, possesses diversified crawl function, reduces flowing water
The complexity of line, greatly improve the efficiency for carrying casing.
A kind of compound stack robot manipulator, including support body, pallet grabbing device, tank body grabbing device and dividing plate crawl dress
Put；The pallet grabbing device, tank body grabbing device and dividing plate grabbing device are separately mounted on support body；Set at the top of the support body
There is adpting flange, the support body connects peripheral hardware mechanical arm by adpting flange.
By using this technical scheme：It is real with pallet grabbing device, tank body grabbing device and dividing plate grabbing device respectively
Grasping manipulation now is carried out to the dividing plate between the slack tank body on pallet and pallet, slack tank body.And support body is connected by adpting flange
The power set of peripheral hardware, realized and moved integrally by the power set of the peripheral hardware.
Preferably, in above-mentioned compound stack robot manipulator：The pallet grabbing device includes drive cylinder, rotary hinge
Chain and pallet handgrip；The output end connection rotary gemel of the drive cylinder, the rotary gemel connect pallet handgrip.
It is further preferred that in above-mentioned compound stack robot manipulator：The dividing plate grabbing device uses vacuum cup.
By using this technical scheme：When vacuum cup works on power, negative pressure of vacuum caused by chuck surface is utilized
Dividing plate is picked up, when it is powered off, negative pressure disappears, and puts down dividing plate.
It may further be preferable that in above-mentioned compound stack robot manipulator：The tank body grabbing device includes potent permanent magnetism
Iron and push away tank arrangement.
By using this technical scheme：Absorption to empty iron flask is realized with potent permanent magnet, when support body moves to stacking
During station, then empty iron flask is above pushed away from potent permanent magnet by pushing away tank arrangement and fallen on stacking position.
It is even furthermore preferable that in above-mentioned compound stack robot manipulator：The tank body grabbing device also includes buffering
Mechanism, the buffer gear are installed on potent permanent magnet.
By using this technical scheme：The pressure cotton spinning tank body of tank body is extruded for buffering potent permanent magnet 31
Damage.
Still further preferably, in above-mentioned compound stack robot manipulator：Also include photoelectric detection mechanism；The photoelectricity
Testing agency is installed on support body.
By using this technical scheme：For detecting the crawl situation to iron flask, pallet and dividing plate and feeding back to peripheral hardware
Controlling organization in.Optimize the auto-control of this equipment, further reduce cost of labor, improve performance accuracy.
Compared with prior art, the utility model is simple in construction, easily prepared.Possess diversified crawl function, reduce
The complexity of streamline, greatly improve the efficiency for carrying casing.
Brief description of the drawings
The utility model is described in further detail with embodiment below in conjunction with the accompanying drawings：
Fig. 1 is the main structure diagram of the embodiment of the present application 1；
Fig. 2 is the side structure schematic view of the embodiment of the present application 1.
Each reference and component names corresponding relation are as follows：
1st, support body；2nd, pallet grabbing device；3rd, tank body grabbing device；4th, dividing plate grabbing device；5th, photoelectric detection mechanism；
11st, adpting flange；31st, potent permanent magnet；32nd, tank arrangement is pushed away；33rd, buffer gear；21st, drive cylinder；22nd, rotary gemel；23、
Pallet handgrip.
Embodiment
In order to illustrate more clearly of the technical solution of the utility model, the utility model is made into one below in conjunction with accompanying drawing
Step description.
It is the utility model embodiment 1 as shown in Figure 1-2：
A kind of compound stack robot manipulator, including support body 1, pallet grabbing device 2, tank body grabbing device 3, dividing plate crawl
Device 4 and photoelectric detection mechanism 5；The pallet grabbing device 2, tank body grabbing device 3 and dividing plate grabbing device 4 are separately mounted to
On support body 1；The top of support body 1 is provided with adpting flange 11, and the support body 1 connects peripheral hardware mechanical arm by adpting flange 11.
Wherein, the pallet grabbing device 2 includes drive cylinder 21, rotary gemel 22 and pallet handgrip 23；The drive cylinder 21
Output end connects rotary gemel 22, and the rotary gemel 22 connects pallet handgrip 23.The dividing plate grabbing device 4 is inhaled using vacuum
Disk.The tank body grabbing device 3 includes potent permanent magnet 31, pushes away tank arrangement 32, buffer gear 33.The buffer gear 33 is installed
In being extruded damage to the pressure cotton spinning tank body of tank body on potent permanent magnet 31, for buffering potent permanent magnet 31.The light
Electro-detection mechanism 5 is installed on support body 1, for detecting the crawl situation to iron flask, pallet and dividing plate and feeding back to the control of peripheral hardware
In mechanism processed.
In practice, its course of work is as follows：
The compound stack robot manipulator is fixed on peripheral hardware mechanical arm by adpting flange 11.During work, tank first
Electricity and pushed on body grabbing device 3, the slack tank on pallet is adsorbed on strong permanent magnetic iron 31, while passes through dividing plate grabbing device 4
On vacuum cup in the lump by between iron flask layer dividing plate absorption get up, peripheral hardware mechanical arm will be adsorbed with the compound stacking of iron flask
Robot gripper is moved to the piling station specified, and pushes away tank arrangement 32 and above push away iron flask from potent permanent magnet 31 falling on stacking position
Put, then, peripheral hardware mechanical arm is moved to above the special placement region of dividing plate, and the vacuum cup on dividing plate grabbing device 4 is gone very
Sky, put down dividing plate.Aforesaid operations are repeated to instruct after all iron flasks and dividing plate on pallet unsnatch, to capture and fill finally by pallet
2 are put to pick up pallet and be positioned over pallet designated area.
It is described above, only specific embodiment of the utility model, but the scope of protection of the utility model is not limited to
This, any those skilled in the art is in the change that in technical scope, can be readily occurred in disclosed in the utility model
Or replace, it should all cover within the scope of protection of the utility model.The scope of protection of the utility model is with claims
Protection domain is defined.
Claims (6)
- A kind of 1. compound stack robot manipulator, it is characterised in that including：Support body（1）, pallet grabbing device（2）, tank body crawl Device（3）With dividing plate grabbing device（4）；The pallet grabbing device（2）, tank body grabbing device（3）With dividing plate grabbing device（4） It is separately mounted to support body（1）On；The support body（1）Top is provided with adpting flange（11）, the support body（1）Pass through adpting flange （11）Connect peripheral hardware mechanical arm.
- 2. compound stack robot manipulator as claimed in claim 1, it is characterised in that：The pallet grabbing device（2）Including driving Take offence cylinder（21）, rotary gemel（22）With pallet handgrip（23）；The drive cylinder（21）Connect rotary gemel（22）, the rotation Turning hinge chain（22）Connect pallet handgrip（23）.
- 3. compound stack robot manipulator as claimed in claim 1, it is characterised in that：The dividing plate grabbing device（4）Using true Suction disk.
- 4. compound stack robot manipulator as claimed in claim 1, it is characterised in that：The tank body grabbing device（3）Including strong Imitate permanent magnet（31）With push away tank arrangement（32）.
- 5. compound stack robot manipulator as claimed in claim 4, it is characterised in that：The tank body grabbing device（3）Also include Buffer gear（33）, the buffer gear（33）It is installed on potent permanent magnet（31）On.
- 6. compound stack robot manipulator as claimed in claim 5, it is characterised in that：Also include photoelectric detection mechanism（5）；It is described Photoelectric detection mechanism（5）It is installed on support body（1）On.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720766444.5U CN207127907U (en) | 2017-06-28 | 2017-06-28 | Compound stack robot manipulator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720766444.5U CN207127907U (en) | 2017-06-28 | 2017-06-28 | Compound stack robot manipulator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207127907U true CN207127907U (en) | 2018-03-23 |
Family
ID=61633550
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720766444.5U Active CN207127907U (en) | 2017-06-28 | 2017-06-28 | Compound stack robot manipulator |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207127907U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527149A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of metal plate power control cabinet polishing transfer robot paw |
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
-
2017
- 2017-06-28 CN CN201720766444.5U patent/CN207127907U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108527149A (en) * | 2018-04-27 | 2018-09-14 | 上海发那科机器人有限公司 | A kind of metal plate power control cabinet polishing transfer robot paw |
| CN109110514A (en) * | 2018-10-19 | 2019-01-01 | 山东省药用玻璃股份有限公司 | Dissipate bottle stacking composite fixture |
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