CN208361381U - A kind of multistation robot unloads tank fixture - Google Patents
A kind of multistation robot unloads tank fixture Download PDFInfo
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- CN208361381U CN208361381U CN201820801209.1U CN201820801209U CN208361381U CN 208361381 U CN208361381 U CN 208361381U CN 201820801209 U CN201820801209 U CN 201820801209U CN 208361381 U CN208361381 U CN 208361381U
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- cucurbitula
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Abstract
The utility model discloses a kind of multistation robot and unloads tank fixture comprising mounting plate, mechanism connection gantry, adsorbing mechanism and the clip claw mechanism of installation connection robot.The mechanism connects gantry, and periphery is equipped with several outwardly directed first stabilizer blades and the second stabilizer blade；Each first stabilizer blade end is fixed with support rod respectively；Each second stabilizer blade end is fixed with sucker tube respectively；The adsorbing mechanism comprising cucurbitula plate, fixed plate, cucurbitula backplate, two symmetrically arranged first cylinders and several suckers；The lower surface of the cucurbitula plate is uniformly distributed equipped with multiple rows of magnet；The upper end of the sucker tube is connected to electrical control gear；The clip claw mechanism comprising two symmetrically arranged second cylinders, two symmetrically arranged shafts, two groups of symmetrically arranged clamping jaws；Two second cylinder one end are connected to front side and the rear side of the mounting plate, and the other end is movably connected in connector；Each shaft is threaded through respectively in the connector.
Description
Technical field
The utility model relates to robot clamp technical fields, are that a kind of multistation robot unloads tank folder more specifically
Tool.
Background technique
Robot is widely used in automatic industrial production at present, carrying and stacking energy using robot cargo
Labour is enough saved, production efficiency is improved, reduces production cost.Existing robot clamp can be realized to pallet, bottle body, sky
Tank and disk tool and other items clamping.A usual robot will be equipped with a variety of different fixtures to meet taking for different station cargo
It puts.The robot for installing multiple fixtures needs to design multiple jig-attachment parts, so that complicated integral structure, volume are larger, production
It is at high cost.Multiple fixtures are arranged to make fixture complex manufacturing technology, increase cost of manufacture.And existing this kind of robot folder
Switching between the inflexible, fixture of tool operation expends that the time, the pick-and-place time of cargo is long, reduces production efficiency.
Utility model content
Since there are the above problems for the prior art, the utility model proposes a kind of multistation robots to unload tank fixture, mesh
Be that solving existing robot unloads that tank clamp structure is complicated, volume is larger, cost of manufacture is high, operation is inflexible and gives birth to
Produce low efficiency problem.
The utility model solves the above problems by the following technical programs:
A kind of multistation robot unloads tank fixture comprising the mounting plate of installation connection robot, is inhaled mechanism connection gantry
Random structure and clip claw mechanism, wherein
The mechanism connects gantry, and periphery is equipped with several outwardly directed first stabilizer blades and the second stabilizer blade；Each institute
It states the first stabilizer blade end and is fixed with support rod respectively；Each second stabilizer blade end is fixed with sucker tube respectively；
The adsorbing mechanism comprising cucurbitula plate, fixed plate, cucurbitula backplate, two symmetrically arranged first cylinders and
Several suckers；The lower surface of the cucurbitula plate is uniformly distributed equipped with multiple rows of magnet；The fixed plate is for fixing the magnet
And between the magnet and the cucurbitula backplate；Each sucker is fixedly connected on the mechanism by sucker tube and connects
Gantry；The upper end of the sucker tube is connected to electrical control gear；
The clip claw mechanism comprising two symmetrically arranged second cylinders, two symmetrically arranged shafts, two groups it is symmetrical
The clamping jaw of setting；Two second cylinder one end are connected to front side and the rear side of the mounting plate, and the other end is lived respectively
It is dynamic to be connected to connector；Each shaft is threaded through respectively in the connector；The two sides of the shaft are movably connected with
Gantry is connected in the mechanism；Clamping jaw described in every group is individually fixed in the both ends of a shaft；
PLC device controls the first cylinder and the second cylinder carries out the carrying and stacking of cardboard, slack tank and pallet；It is described
Second cylinder, which is withdrawn, drives the clamping jaw to open, and first cylinder, which is withdrawn, drives the cucurbitula plate to move up, the electrical control
Device controls the sucker suction cardboard, and cardboard is moved to cardboard station and puts down cardboard；Second cylinder, which is withdrawn, to be driven
The clamping jaw opens, and first cylinder, which is released, drives the cucurbitula plate to move down, and the cucurbitula plate, will close to one group of slack tank of absorption
Slack tank is moved on pipeline, and first cylinder, which is withdrawn, drives the cucurbitula plate to move up, and the slack tank is detached from the cucurbitula plate
Attraction；Several of second cylinder release drive clamping jaw insertion pallet two sides perforate and catch on pallet, by pallet
It is moved to pallet station, second cylinder, which is withdrawn, to be driven the clamping jaw to open and then decontrol pallet.
It is preferred that each sucker tube be successively each passed through from top to bottom the cucurbitula plate, the fixed plate and
The cucurbitula backplate；Each sucker tube lower end is fixed with the sucker respectively.
It is preferred that the front side of the mechanism connection gantry and the both ends of rear side are respectively equipped with one group of fixation with axis hole
Part；Each shaft be each passed through one group described in axis hole be flexibly connected with the corresponding fixing piece.
It is preferred that two first cylinders are located at the front and back of the mounting plate；Each described first
All piston rod one end of cylinder are individually fixed in the upper surface of the cucurbitula plate.
It is preferred that four angles of the mounting plate are equipped with linear bearing respectively.
It is preferred that guide rod upper end passes through the linear bearing, the lower end of the guide rod is fixed on the suction by locking member
The upper surface of tank shell；The guide rod can move up and down in the linear bearing.
It is preferred that the lower surface of the every side of mounting plate is respectively equipped with support rod.
It is preferred that each support rod is successively each passed through the cucurbitula plate and the fixed plate from top to bottom, and
The cucurbitula backplate is fixed in bottom end.
It is preferred that the centre of the mounting plate is equipped with several perforation being securable in robot.
It is preferred that the periphery of the cucurbitula plate and the cucurbitula backplate flips up to form flange respectively.
Due to using above-mentioned technological means, the application improves the structure that robot unloads tank fixture, controls first gas
Cylinder controls second cylinder to realize the sucker paper adhesive board and cucurbitula plate absorption slack tank with folder described in realizing two groups
Claw clip takes pallet, and the fixture for adsorbing cardboard, slack tank and clamping pallet is combined as a whole by the design cooperates three stations to use,
Reduce the cost of manufacture that fixture volume, manufacture craft are simple, reduce fixture.The switching between multiple fixtures is avoided, is transported
The operating rate more flexible, that improve fixture of row and improve production efficiency.
Detailed description of the invention
Fig. 1 is the perspective view that the multistation robot of the utility model unloads an embodiment of tank fixture.
Fig. 2 is the structural schematic diagram that the multistation robot of the utility model unloads an embodiment of tank fixture.
Specific embodiment
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Referring to shown in Fig. 1 and Fig. 2, Fig. 1 is that the multistation robot of the utility model unloads the vertical of an embodiment of tank fixture
Body figure.Fig. 2 is the structural schematic diagram that the multistation robot of the utility model unloads an embodiment of tank fixture.In the embodiment
In, it includes the mounting plate 1 of installation connection robot, mechanism connection gantry 2, adsorbing mechanism that a kind of multistation robot, which unloads tank fixture,
3 and clip claw mechanism 4.
The mechanism connection 2 periphery of gantry is equipped with several outwardly directed first stabilizer blades 21 and the second stabilizer blade 22.It is each
First stabilizer blade, 21 end is fixed with support rod 211 respectively.Each second stabilizer blade, 22 end is fixed with suction respectively
Coil pipe 221.
The adsorbing mechanism 3 is symmetrical arranged including cucurbitula plate 31, fixed plate (being not drawn into figure), cucurbitula backplate 32, two
The first cylinder 33 and several suckers 34.The lower surface of the cucurbitula plate 31 is uniformly distributed equipped with multiple rows of magnet (in figure not
It draws).The fixed plate is for fixing the magnet and between the magnet and the cucurbitula backplate 32.The cucurbitula plate
31 and the periphery of the cucurbitula backplate 32 flip up to form flange respectively.
Four angles of the mounting plate 1 are equipped with linear bearing 11 respectively.12 upper end of guide rod passes through the linear bearing 11.
12 lower end of guide rod is fixed on the upper surface of the cucurbitula plate 31 by locking member 13.The guide rod 12 can be in the straight line
It is moved up and down in bearing 11.
The centre of the mounting plate 1 is equipped with several perforation 14 being securable in robot.The every side of the mounting plate 1
Lower surface be respectively equipped with support rod 211.Each support rod 211 be successively each passed through from top to bottom the cucurbitula plate 31 and
The fixed plate, and the cucurbitula backplate 32 is fixed in bottom end.
Each sucker 34 is fixedly connected on the mechanism by sucker tube 221 and connects gantry 2.The sucker tube 221
Upper end be connected to electrical control gear.Each sucker tube 221 is successively each passed through the cucurbitula plate 31, institute from top to bottom
State fixed plate and the cucurbitula backplate 32.Each 221 lower end of the sucker tube is fixed with the sucker 34 respectively.The suction
Disk 34 is made of elastic material, and height is 8mm-12mm.Design is to both guarantee that the sucker 34 can successfully be inhaled herein
Cardboard is taken, and does not influence 31 cucurbitula of cucurbitula plate.What the present embodiment was selected is the sucker that height is 10mm.When the cucurbitula plate
When 31 cucurbitula, the tank body positioned at 34 lower section of sucker will compress the sucker 34 and attach on the cucurbitula backplate 32.
Two first cylinders 33 are located at the front and back of the mounting plate 1.Each first cylinder 33
All piston rod one end be individually fixed in the upper surface of the cucurbitula plate 31.The withdrawal or release of first cylinder 33 are by band
Rising or falling for the cucurbitula plate 31 is moved, the guide rod 12 also will be slided up and down synchronously in the linear bearing 11.
The cucurbitula plate 31 is iron plate, being capable of adsorption magnet.The cucurbitula backplate 32 is the non-magnetic materials systems such as stainless steel
At.Therefore the cucurbitula backplate 32 will not be attached together with the magnet on the cucurbitula plate 31.When first cylinder 33 pushes away
When the cucurbitula plate 31 being driven to move down out, the cucurbitula plate 31, the fixed plate and the cucurbitula backplate 32 are successively close to be pasted
It closes, close to one group of slack tank, it is described that there is the cucurbitula plate 31 the cucurbitula plate 31 stronger attraction to be adsorbed onto slack tank at this time
The lower surface of cucurbitula backplate 32.When first cylinder 33 is withdrawn, and the cucurbitula plate 31 is driven to move up, the cucurbitula backplate 32
It is motionless, certain distance, attraction of the cucurbitula plate 31 to slack tank are generated between the cucurbitula plate 31 and the cucurbitula backplate 32
Not enough, slack tank will be separated with the cucurbitula backplate 32.
The clip claw mechanism 4 includes symmetrically arranged 42, two groups pairs of shaft of two 41, two, symmetrically arranged second cylinders
Claim the clamping jaw 43 of setting.Two described second cylinder, 41 one end are connected to front side and the rear side of the mounting plate 1, the other end
It is movably connected in connector 44.Each shaft 42 is threaded through respectively in the connector 44.The two of the shaft 42
Side, which is movably connected with, connects gantry 2 in the mechanism.Clamping jaw 43 described in every group is individually fixed in the both ends 42 of a shaft.
The front side of the mechanism connection gantry 2 and the both ends of rear side are respectively equipped with one group of fixing piece 23 with axis hole.Each axis
Bar 42 be each passed through one group described in axis hole be flexibly connected with the corresponding fixing piece 23.
PLC device controls first cylinder 33 and second cylinder 41 carries out removing for cardboard, slack tank and pallet
Fortune and stacking.
When needing carrying, stacking cardboard, drives the clamping jaw 43 to open firstly, second cylinder 41 is withdrawn, avoid
The clamping jaw 43 encounters the cardboard of lower section and influences the absorption of cardboard.Then, first cylinder 33, which is withdrawn, drives the cucurbitula
Plate 31 moves up.Finally, the electrical control gear, which controls the sucker 34, adsorbs cardboard, cardboard is moved to cardboard station and is put
Lower cardboard.
When needing carrying, stacking slack tank, drives the clamping jaw 43 to open firstly, second cylinder 41 is withdrawn, avoid
The clamping jaw 43 encounters the slack tank of lower section and influences the absorption of slack tank.Then, first cylinder 33, which is released, drives the cucurbitula
Plate 31 moves down.The cucurbitula plate 31 is mobile close to one group of slack tank, empty by one group using the attraction of magnet on the cucurbitula plate 31
Tank absorption is got up, and slack tank is moved on pipeline.It is driven on the cucurbitula plate 31 finally, first cylinder 33 is withdrawn
It moves, the slack tank is detached from the attractived region of the cucurbitula plate 31, and then separates with the cucurbitula backplate 32.
When needing carrying, stacking pallet, the clamping jaw 43 is driven to be inserted into pallet two firstly, second cylinder 41 is released
Several of side perforate and catch on pallet.Then, pallet is moved to pallet station by the clamping jaw 43.Finally, second gas
Cylinder 41, which is withdrawn, to be driven the clamping jaw 43 to open and then decontrols pallet.
In conclusion the application improves the structure that robot unloads tank fixture, it is described to realize to control first cylinder
Sucker paper adhesive board and the cucurbitula plate adsorb slack tank, control second cylinder with clamping jaw clamping pallet described in realizing two groups,
The fixture for adsorbing cardboard, slack tank and clamping pallet is combined as a whole by the design cooperates three stations to use, and reduces fixture
Volume, manufacture craft are simple, reduce the cost of manufacture of fixture.Avoid the switching between multiple fixtures, run it is more flexible,
It improves the operating rate of fixture and improves production efficiency.
Embodiments described above is merely to illustrate the utility model rather than limitation the scope of the utility model.This
The equivalent changes and modifications that field technical staff does the utility model all should belong to the utility model the attached claims
The covering scope of book.
Claims (10)
1. a kind of multistation robot unloads tank fixture, which is characterized in that it includes the mounting plate of installation connection robot, company of mechanism
Connect gantry, adsorbing mechanism and clip claw mechanism, wherein
The mechanism connects gantry, and periphery is equipped with several outwardly directed first stabilizer blades and the second stabilizer blade；Each described
One stabilizer blade end is fixed with support rod respectively；Each second stabilizer blade end is fixed with sucker tube respectively；
The adsorbing mechanism comprising cucurbitula plate, fixed plate, cucurbitula backplate, two symmetrically arranged first cylinders and several
A sucker；The lower surface of the cucurbitula plate is uniformly distributed equipped with multiple rows of magnet；The fixed plate is for fixing the magnet and position
Between the magnet and the cucurbitula backplate；Each sucker is fixedly connected on the mechanism connecting bridge by sucker tube
Frame；The upper end of the sucker tube is connected to electrical control gear；
The clip claw mechanism comprising two symmetrically arranged second cylinders, two symmetrically arranged shafts, two groups be symmetrical arranged
Clamping jaw；Two second cylinder one end are connected to front side and the rear side of the mounting plate, and activity connects the other end respectively
It is connected to connector；Each shaft is threaded through respectively in the connector；The two sides of the shaft are movably connected in institute
State mechanism connection gantry；Clamping jaw described in every group is individually fixed in the both ends of a shaft；
PLC device controls first cylinder and the second cylinder carries out the carrying and stacking of cardboard, slack tank and pallet；It is described
Second cylinder, which is withdrawn, drives the clamping jaw to open, and first cylinder, which is withdrawn, drives the cucurbitula plate to move up, the electrical control
Device controls the sucker suction cardboard, and cardboard is moved to cardboard station and puts down cardboard；Second cylinder, which is withdrawn, to be driven
The clamping jaw opens, and first cylinder, which is released, drives the cucurbitula plate to move down, and the cucurbitula plate, will close to one group of slack tank of absorption
Slack tank is moved on pipeline, and first cylinder, which is withdrawn, drives the cucurbitula plate to move up, and the slack tank is detached from the cucurbitula plate
Attraction；Several of second cylinder release drive clamping jaw insertion pallet two sides perforate and catch on pallet, by pallet
It is moved to pallet station, second cylinder, which is withdrawn, to be driven the clamping jaw to open and then decontrol pallet.
2. multistation robot according to claim 1 unloads tank fixture, which is characterized in that each sucker tube on to
Under be successively each passed through the cucurbitula plate, the fixed plate and the cucurbitula backplate；Each sucker tube lower end is solid respectively
Surely it is equipped with the sucker.
3. multistation robot according to claim 1 unloads tank fixture, which is characterized in that before the mechanism connection gantry
Side and the both ends of rear side are respectively equipped with one group of fixing piece with axis hole；Each shaft be each passed through one group described in axis hole with
The corresponding fixing piece is flexibly connected.
4. multistation robot according to claim 1 unloads tank fixture, which is characterized in that two the first cylinder difference
Positioned at the front and back of the mounting plate；All piston rod one end of each first cylinder are individually fixed in the cucurbitula
The upper surface of plate.
5. multistation robot according to claim 1 unloads tank fixture, which is characterized in that four angles of the mounting plate point
Linear bearing is not equipped with it.
6. multistation robot according to claim 5 unloads tank fixture, which is characterized in that guide rod upper end passes through the straight line
Bearing, the lower end of the guide rod are fixed on the upper surface of the cucurbitula plate by locking member；The guide rod can be in the linear axis
It is moved up and down in holding.
7. multistation robot according to claim 1 unloads tank fixture, which is characterized in that under the every side of mounting plate
Surface is respectively equipped with support rod.
8. multistation robot according to claim 7 unloads tank fixture, which is characterized in that each support rod on to
Under be successively each passed through the cucurbitula plate and the fixed plate, and the cucurbitula backplate is fixed in bottom end.
9. multistation robot according to claim 7 unloads tank fixture, which is characterized in that the centre of the mounting plate is equipped with
Several perforation being securable in robot.
10. multistation robot according to claim 7 unloads tank fixture, which is characterized in that the cucurbitula plate and described
The periphery of cucurbitula backplate flips up to form flange respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820801209.1U CN208361381U (en) | 2018-05-28 | 2018-05-28 | A kind of multistation robot unloads tank fixture |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820801209.1U CN208361381U (en) | 2018-05-28 | 2018-05-28 | A kind of multistation robot unloads tank fixture |
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| Publication Number | Publication Date |
|---|---|
| CN208361381U true CN208361381U (en) | 2019-01-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820801209.1U Active CN208361381U (en) | 2018-05-28 | 2018-05-28 | A kind of multistation robot unloads tank fixture |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113998024A (en) * | 2021-11-25 | 2022-02-01 | 南京理工大学 | High-adaptability composite grabbing and attaching structure |
-
2018
- 2018-05-28 CN CN201820801209.1U patent/CN208361381U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113998024A (en) * | 2021-11-25 | 2022-02-01 | 南京理工大学 | High-adaptability composite grabbing and attaching structure |
| CN113998024B (en) * | 2021-11-25 | 2023-12-08 | 南京理工大学 | High-adaptability composite grabbing structure |
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