CN208412267U - Anti-rock sacked goods transfer robot - Google Patents
Anti-rock sacked goods transfer robot Download PDFInfo
- Publication number
- CN208412267U CN208412267U CN201820629832.3U CN201820629832U CN208412267U CN 208412267 U CN208412267 U CN 208412267U CN 201820629832 U CN201820629832 U CN 201820629832U CN 208412267 U CN208412267 U CN 208412267U
- Authority
- CN
- China
- Prior art keywords
- clamping
- rock
- sacked goods
- transfer robot
- goods transfer
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Package Closures (AREA)
Abstract
The utility model discloses anti-rock sacked goods transfer robot, including six-joint robot, moving freely for six-joint robot is provided with the first clamping jaw on end, first clamping jaw includes at least four extension certain lengths and the clamping plate in distributed rectangular, under first state, the clamping face of several clamping plates is formed under small the second state of prismatoid grasping part of the big distal opening of front opening, and the clamping face of several clamping plates forms the prismatoid grasping part that front opening little end is open big.This programme deft design, structure is simple, effectively the body region of sacked goods can be clamped by four clip board engagements, the case where to avoid sacked goods from swinging in moving process, the stability of carrying is effectively guaranteed, accurately it can be aligned and be put into the opening of the PE packaging bag of secondary pack simultaneously, be conducive to the raising of secondary pack efficiency.
Description
Technical field
The utility model relates to polysilicon processing equipment fields, in particular for the anti-rock bagged articles in polysilicon processing
Product transfer robot.
Background technique
With solar battery, the rapid development of solar power generation industry, the prospect of solar-grade polysilicon and market
Share demand grows stronger day by day, and in polysilicon process, need for the polycrysalline silcon of various specifications to be placed in PE packaging
After once being packed in bag, moves again in another PE packaging bag and carry out secondary package.
Existing mobile device, in the mobile PE packaging bag that polycrysalline silcon is housed, often through two cylinders
Driving two pressure plates clamp PE packaging bag enclosing region, movement are then lifted out, since clamping jaw only grabs the less portion of seal region
Point, thus the body region of PE packaging bag due to weight it is larger, in moving process inertia force it is larger usually will appear left and right shake
Dynamic situation, one, the stability of carrying is poor, and two, it significantly shakes and also leads to not make a PE packaging bag and two
The sack of secondary PE packaging bag accurately aligns, and then affects the efficiency of secondary package.
Simultaneously as only grabbing seal region, therefore in moving process, once crawl is not firm, it is easy for occurring
The case where loosening is unfavorable for the safety of transport.
Utility model content
The purpose of this utility model is exactly to provide a kind of anti-rock bag to solve the above-mentioned problems in the prior art
Fill article carrying robot.
The purpose of this utility model is achieved through the following technical solutions:
Anti-rock sacked goods transfer robot, including six-joint robot, the six-joint robot move freely on end
Be provided with the first clamping jaw, first clamping jaw include at least four extension certain lengths and be in distributed rectangular clamping plate,
Under first state, the clamping face of several clamping plates forms the small prismatoid grasping part of the big distal opening of front opening；
Under second state, the clamping face of several clamping plates forms the prismatoid grasping part that front opening little end is open big.
Preferably, in the anti-rock sacked goods transfer robot, each clamping plate leans on the region pivot of proximal end
It is connected on supporting element and is switched between the first state and a second state by jacking apparatus and resetting apparatus driving.
Preferably, in the anti-rock sacked goods transfer robot, the jacking apparatus is jacking cylinder, the jacking
The piston rod of cylinder is pivotally connected or is not connected to the clamping plate.
Preferably, in the anti-rock sacked goods transfer robot, the resetting apparatus is that one end is connected to the folder
Plate end, the other end are connected to spring or elastic slice on a fixed pin.
Preferably, in the anti-rock sacked goods transfer robot, the front end of the clamping plate is additionally provided with and its angle
Limit plate between 150 ° -180 °.
Preferably, in the anti-rock sacked goods transfer robot, shape on the clamping face of the end of each clamping plate
At there is a perpendicular baffle, the upper surface of the baffle can in the clamping plate rotation process with the supporting element against.
Preferably, the anti-rock sacked goods transfer robot further includes the second clamping jaw, and second clamping jaw includes two
A pressing plate being oppositely arranged, and the driving device that they are moved backward is respectively driven, the driving device drives two pressing plates
Switch in holding gap and between being bonded to each other.
Preferably, in the anti-rock sacked goods transfer robot, two opposite surfaces of the pressing plate are respectively set
There is rubber pad.
Preferably, the anti-rock sacked goods transfer robot further includes one group of vacuum suction head.
Preferably, the anti-rock sacked goods transfer robot further includes the stretching by air cylinder by air cylinder
Pressing plate is provided on bar.
The advantages of technical solutions of the utility model, is mainly reflected in:
This programme deft design, structure is simple, can be effectively by the body region of sacked goods by four clip board engagements
Domain is clamped, so that the case where avoiding sacked goods from swinging in moving process, is effectively guaranteed the stabilization of carrying
Property, while accurately can be aligned and be put into the opening of the PE packaging bag of secondary pack, be conducive to secondary pack efficiency
Raising, and the clamping plate of seesaw type can realize biggish clamping force under lesser driving force, to guarantee to clamp
Fixing.
Clamping plate and limit plate cooperation can effectively limit position of the PE packaging bag in grasping part, reduce PE packaging
The possibility that bag is fallen from arrival end guarantees the validity and reliability carried.
Jacking apparatus and clamping plate activity against and clamping plate removably connect with pivot connector, consequently facilitating going out in clamping plate
It is repaired when now damaging.
Top plate on clamping plate can effectively cooperate the rotational travel for limiting clamping plate with supporting element, to reduce clamping plate from the
The rotational angle of one state to the second state improves clamping rate, realizes effective combination efficiently with stable holding.
Second clamping jaw and first clamps cooperating, can be improved the stability of clamping, provides dual guarantee.
The setting of vacuum slot and pressing mechanism makes transfer robot integrate multiple functions and one, so that transfer robot
The requirement of secondary encapsulation can preferably be adapted to.
Detailed description of the invention
Fig. 1 is the perspective view of the sacked goods (the PE packaging bag equipped with polycrysalline silcon) of the utility model；
Fig. 2 is the side view of the utility model；
Fig. 3 is the perspective view that the utility model clamping has sacked goods;
Fig. 4 is the perspective view of the utility model；
Fig. 5 is the side view enlarged drawing of the first clamping jaw and the second clamping jaw region；
Fig. 6 is the enlarged drawing of a-quadrant in Fig. 4.
Specific embodiment
The purpose of this utility model, advantage and feature will carry out figure by the non-limitative illustration of preferred embodiment below
Show and explains.These embodiments are only the prominent examples using technical solutions of the utility model, all to take equivalent replacement or wait
Effect transformation and formed technical solution, all fall within the requires of the utility model protection within the scope of.
In the description of scheme, it should be noted that term " center ", "upper", "lower", "left", "right", "front", "rear",
The orientation or positional relationship of the instructions such as "vertical", "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings,
It is merely for convenience of description and simplification description, rather than the device or element of indication or suggestion meaning there must be specific side
Position is constructed and operated in a specific orientation, therefore should not be understood as limiting the present invention.In addition, term " first ",
" second ", " third " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance.Also, in retouching for scheme
It is proximal end by the direction of proximal operator using operator as reference, the direction far from operator is distal end in stating.
The anti-rock sacked goods transfer robot disclosed with reference to the accompanying drawing to the utility model is illustrated, and is used for
The carrying of sacked goods 8 as shown in Fig. 1, the sacked goods are preferably that the PE packaging of polycrysalline silcon and sealing is housed
Bag, as shown in attached drawing 2, attached drawing 3, the transfer robot includes six-joint robot 1, is set in rack 9, the six axis machine
Device people 1 can be known various feasible six axis joints robots, be known technology herein, details are not described herein.
As shown in attached drawing 2- attached drawing 4, the end 11 that moves freely of the six-joint robot 1 is connected with the first clamping jaw 2, and described the
One clamping jaw 2 include at least four extend certain lengths and be in distributed rectangular clamping plate 21,
Under first state, the clamping face 211 of several clamping plates 21 forms the small prismatoid clamping of the big distal opening of front opening
Space 10；
Under second state, the clamping face 211 of several clamping plates 21 forms the prismatoid clamping that front opening little end is open big
Space 10.
When not needing to carry out the carrying of sacked goods 8, it is in first state, when carrying out the carrying of sacked goods 8, by institute
First clamping jaw 2 of the driving of six-joint robot 1 in first state is stated to move integrally to 8 position of sacked goods to be handled, and
And make sacked goods 8 from entering in the prismatoid grasping part 10 formed between several clamping plates 21, then make four clamping plates 21
Second state is switched to by first state, at this point, four clamping plates 21 jointly clamp the PE packaging bag between them, by
Clamped the entire body region of sacked goods 8 in four clamping jaws, therefore in moving process, PE packaging bag do not move from
By spending, rapid alignment is carried out so as to the sack of the sacked goods 8 and secondary PE packaging bag that are accurately grabbed, is improved
The efficiency of secondary dress packet.
From the point of view of specific, as shown in attached drawing 2, attached drawing 3, first clamping jaw 2 is connected to the six axis machine by a support frame 7
Device people's 1 moves freely end 11, and support frame as described above 7 includes the pillar 72 that connecting plate 71 and one group are located in its outer surface, described
The top of pillar 72 is connected with mounting plate 73, and first clamping jaw 2 is set on the mounting plate 73.
The clamping plate 21 is preferably four and opposite two-by-two, so as to retaining clip keep steady determine under the premise of, and energy
It is maximized to simplify structure, reduce cost of parts, certainly in other embodiments the quantity of the clamping plate 21 can also it is more or
Less, but three should not be less than, while their layout type is also possible to staggeredly opposite form.
Also, as shown in attached drawing 1, attached drawing 5, the clamping plate 21 is rectangular flat plate, is also formed in its front end and presss from both sides with it
Limit plate 26 of the angle a between 150 ° -180 °, and their development length h be no less than the sacked goods 8 from sealing end to
The distance g of its bottom, so as to make entire PE packaging bag completely into the grasping part 10 formed to them, also,
When clamping plate 21 is switched to the second state, the width L of the open end of the opposite clamping plate 21 of two of the same side is greater than two limits
The width M of the open end of position plate 26, therefore, when each clamping plate 21 clamps PE packaging bag, the cooperation of the limit plate 26 limitation institute
It states PE packaging bag to fall from the grasping part 10, to further ensure the reliability of clamping.
In preferred embodiment, as shown in Fig. 6, each clamping plate 21 is pivotally connected in branch by the region of proximal end
In support member 22, the pivot connector 22 is pivotally connected the connector 28 being arranged on the clamping face 211 of the clamping plate 21, the company
Fitting 28 is bolted the clamping plate 21, and the waist-shaped hole for connecting with the connector 28 is provided on the clamping plate 21
212, so as to the link position by adjusting the connector 28 and the clamping plate 21.
Also, as shown in Fig. 6, each clamping plate 21 by jacking apparatus 23 and resetting apparatus 24 driving rotation and
Switch between first state and the second state, wherein the jacking apparatus 23 is jacking cylinder, is fixed on the mounting plate 73
On, the piston rod 231 of the jacking cylinder is pivotally connected or is not connected to the clamping plate 21, and preferably they are not connected to, this
Sample is not only convenient for assembling, while when clamping plate 21 breaks down, can be by separating clamping plate 21 with connector 28, to carry out
Quickly replacement and maintenance, meanwhile, the top of the piston rod 231 be it is hemispherical, so as to be convenient for the rotation of clamping plate 21, no
The case where being also easy to produce retardance.
And the resetting apparatus 24 is that one end is connected to the clamping plate end, the other end is connected to the bullet on a fixed pin 25
Spring or elastic slice, the fixed pin 25 are fixed on the back side of the mounting plate 73.
Therefore it when needing to clamp, is ejected by the piston rod of the jacking cylinder, to push the end of the clamping plate 21
End regions, at this point, as shown in Fig. 2 the shaft rotation that the clamping plate 21 is connect around it with the pivot connector 22, i.e., be located at
Two clamping plates 21 of upside rotate counterclockwise, and two clamping plates 21 positioned at downside rotate clockwise, meanwhile, each connection
Spring is stretched, and four clamping plates 21 are in the second state, that is, clamped condition at this time；When needing to open, the work of the jacking cylinder
Stopper rod 231 retracts, and the clamping plate reversely rotates reset under the reaction force of the spring, to open, that is, is restored to first
State.
Further, as shown in Fig. 5, perpendicular gear is formed on the clamping face of the end of each clamping plate 21
Plate 27, the upper surface 271 of the baffle 27 can in 21 rotation process of clamping plate with the supporting element 22 against, so as to
Open angle of the clamping plate 21 in first state is limited, therefore when being clamped, turning for each clamping plate 21 can be reduced
Dynamic stroke, improves and clamps rate.
In addition, the anti-rock sacked goods transfer robot further includes the second clamping jaw 3, institute as shown in attached drawing 2, attached drawing 4
The second clamping jaw 3 is stated for clamping the top of the sacked goods 8 or the seal region 81 of bottom, is located at first clamping jaw 2
Four clamping plates 21 middle position, and specifically include two as shown in Fig. 6 close to the jacking cylinder of the clamping plate 21
The pressing plate 31 being oppositely arranged, and the driving device 32 that they are moved backward is respectively driven, the driving device 32 is cylinder, it
Be separately fixed at the front of the mounting plate 73, and the driving device 32 drives two pressing plates 31 keeping gap and phase
Mutually switch between fitting.
When needing to clamp, two cylinders respectively drive the pressing plate 31 respectively connected and move towards, and will be located at them
Between the top of sacked goods 8 or the seal region of bottom clamp, when needing to put down sacked goods 8, two cylinders are driven
The dynamic pressing plate 31 respectively connected is backwards to movement, so that the seal region of the top to sacked goods 8 or bottom does not apply pressure, from
And the second clamping jaw 3 can effectively cooperate with the first clamping jaw 2 by all clampings of the seal region 81 of sacked goods 8 and body region
Firmly, even if when a kind of failure of fixture is it is also ensured that reliable clamp, to realize dual guarantee.
In addition, as shown in Fig. 6, it is opposite in two pressing plates 31 in order to guarantee the fixing of the second clamping jaw 3 clamping
Surface is respectively arranged with non-slip mat 33, and while can be anti-skidding, the relatively soft quality of non-slip mat 33 can also be avoided to bag
It causes to damage in the seal region of dress article 8.
Further, when carrying out secondary pack, due to the depth and the PE packet of secondary pack of the PE packaging bag once packed
The depth of pack is close, therefore when sacked goods 8 are placed in the PE packaging bag of secondary pack, the area of portion of area of sacked goods 8
Domain (seal region) can extend to the seal location of the PE packaging bag of the secondary pack, to influence secondary sealing.
Corresponding, as shown in attached drawing 2, attached drawing 4, the anti-rock sacked goods transfer robot further includes press mechanism
5, as shown in attached drawing 2, attached drawing 4, attached drawing 6, the press mechanism 5 includes pressing air cylinder 51, described to be arranged by air cylinder 51 in institute
The back side of mounting plate 73 is stated, pressing plate 52, the surface of the pressing plate 52 are provided on the telescopic rod 511 by air cylinder 51
For soft material；When work, pressing plate 52 is driven to press sacked goods 8 by the stretching of the telescopic rod 511, especially
It is seal region, makes the reduction of its height, otherwise telescopic rod 511 retracts and stops pressing.
Further, when carrying out secondary pack, after needing first to open the smooth PE packaging bag 6 of secondary pack
Packed again, and before opening, it is necessary to by the PE packaging bag 6 of smooth secondary pack be first placed in designated position with
It is manually or automatically opened, then, as shown in attached drawing 2- attached drawing 6, the anti-rock sacked goods transfer robot is also wrapped
One group of vacuum suction head 4 is included, one group of vacuum suction head is in distributed rectangular, preferably four, is moved so as to logical six-joint robot
Dynamic vacuum suction head is at packaging bag receptacle, by the PE packaging bag 6(formation state for adsorbing not opening secondary pack)
Side wall extracted and be moved to designated position and carry out out bag, consequently facilitating subsequent secondary dress packet.
Also, two driving devices 32 that the vacuum suction head 4 and press mechanism 5 are located at second clamping jaw 3 are opposite
Both ends, to both avoid interfering in structure, and can be avoided the operation to the first clamping jaw 2 and generate interference, structure cloth
Office is more reasonable.
Still there are many embodiment, all technologies formed using equivalents or equivalent transformation for the utility model
Scheme is all fallen within the protection scope of the utility model.
Claims (10)
1. anti-rock sacked goods transfer robot, it is characterised in that: including six-joint robot (1), the six-joint robot (1)
Move freely and be provided on end (11) the first clamping jaw (2), first clamping jaw (2) include at least four extend certain lengths and
In the clamping plate (21) of distributed rectangular,
Under first state, the clamping face (211) of several clamping plates (21) forms the small prismatoid clamping of the big distal opening of front opening
Space (10)；
Under second state, the clamping face (211) of several clamping plates (21) forms the prismatoid clamping that front opening little end is open big
Space (10).
2. anti-rock sacked goods transfer robot according to claim 1, it is characterised in that: each clamping plate (21)
It is pivotally connected on supporting element (22) by the region of proximal end and is driven by jacking apparatus (23) and resetting apparatus (24) the
Switch between one state and the second state.
3. anti-rock sacked goods transfer robot according to claim 2, it is characterised in that: the jacking apparatus (23)
It is jacking cylinder, the piston rod (231) of the jacking cylinder is pivotally connected or is not connected to the clamping plate (21).
4. anti-rock sacked goods transfer robot according to claim 2, it is characterised in that: the resetting apparatus (24)
It is that one end is connected to the clamping plate end, the other end is connected to spring or elastic slice on a fixed pin (25).
5. anti-rock sacked goods transfer robot according to claim 1, it is characterised in that: before the clamping plate (21)
End is additionally provided with the limit plate (26) with its angle (a) between 150 ° -180 °.
6. anti-rock sacked goods transfer robot according to claim 2, it is characterised in that: each clamping plate (21)
End clamping face on be formed with perpendicular baffle (27), the upper surface (271) of the baffle (27) can be in the folder
In plate (21) rotation process with the supporting element (22) against.
7. -6 any anti-rock sacked goods transfer robot according to claim 1, it is characterised in that: further include second
Clamping jaw (3), second clamping jaw (3) include two pressing plates being oppositely arranged (31) and the drive for respectively driving their reverse movements
Dynamic device (32), the driving device (32) drive two pressing plates (31) to switch in holding gap and between being bonded to each other.
8. anti-rock sacked goods transfer robot according to claim 7, it is characterised in that: two pressing plates (31)
Opposite surface is respectively arranged with non-slip mat (33).
9. anti-rock sacked goods transfer robot according to claim 7, it is characterised in that: further include that one group of vacuum is inhaled
Attached head (4).
10. anti-rock sacked goods transfer robot according to claim 7, it is characterised in that: further include by air cylinder
(51), pressing plate (52) are provided on the telescopic rod by air cylinder (51).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629832.3U CN208412267U (en) | 2018-04-28 | 2018-04-28 | Anti-rock sacked goods transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820629832.3U CN208412267U (en) | 2018-04-28 | 2018-04-28 | Anti-rock sacked goods transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208412267U true CN208412267U (en) | 2019-01-22 |
Family
ID=65116658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820629832.3U Active CN208412267U (en) | 2018-04-28 | 2018-04-28 | Anti-rock sacked goods transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208412267U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545245A (en) * | 2018-04-28 | 2018-09-18 | 苏州鸿博斯特超净科技股份有限公司 | Anti-rock sacked goods transfer robot |
-
2018
- 2018-04-28 CN CN201820629832.3U patent/CN208412267U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108545245A (en) * | 2018-04-28 | 2018-09-18 | 苏州鸿博斯特超净科技股份有限公司 | Anti-rock sacked goods transfer robot |
| CN108545245B (en) * | 2018-04-28 | 2023-10-10 | 苏州鸿博斯特超净科技股份有限公司 | Anti-shaking bagged article carrying robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203158811U (en) | Gripping device | |
| CN209258435U (en) | Integrated form polysilicon section material production line | |
| CN208344644U (en) | Automate the secondary bagging equipment of sacked goods | |
| CN208412267U (en) | Anti-rock sacked goods transfer robot | |
| CN108545245A (en) | Anti-rock sacked goods transfer robot | |
| CA2734110A1 (en) | Gripper for a manipulator | |
| CN211388845U (en) | Grabbing and unpacking manipulator for battery paper box | |
| CN103507999A (en) | Multifunctional bag clamp | |
| CN204660866U (en) | A kind of soft shape packed bag vacuum Xi Ti de-stacking mechanism | |
| CN211685856U (en) | Packing carton mechanism of unpacking | |
| CN103253403B (en) | PE bag automatically opens up mechanism | |
| CN105336882A (en) | Square battery packaging machine | |
| CN212530265U (en) | Packing and bagging device for cover body and cup body | |
| CN108545258A (en) | Automate the secondary bagging equipment of sacked goods and its bagging method | |
| CN205081148U (en) | Square cell packing machine | |
| CN208882280U (en) | A kind of vanning double fastener fixture adapting to more dimensions | |
| KR101067454B1 (en) | Vacuum pad mounting unit for pouch opening device of dual gripper type rotary packaging machine | |
| CN208601366U (en) | A kind of robot end's fixture | |
| CN208070089U (en) | A kind of new type auto baling press | |
| CN208732072U (en) | Manipulator executive device | |
| CN210192831U (en) | Multifunctional robot gripper applied to valve bag packaging | |
| CN214610328U (en) | Packing box pile up neatly machinery hand | |
| CN211002135U (en) | Packaging bag opening mechanism | |
| CN210912549U (en) | Fragile article transportation protector | |
| CN209408480U (en) | Facial mask reclaimer robot and facial mask divide film device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |