CN211846383U - Box pile up neatly machine people tongs - Google Patents
Box pile up neatly machine people tongs Download PDFInfo
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- CN211846383U CN211846383U CN201922347224.0U CN201922347224U CN211846383U CN 211846383 U CN211846383 U CN 211846383U CN 201922347224 U CN201922347224 U CN 201922347224U CN 211846383 U CN211846383 U CN 211846383U
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Abstract
The utility model discloses a box body stacking robot gripper, which comprises a connecting frame, wherein the bottom of the connecting frame is connected with a left clamping plate and a right clamping plate which can transversely slide; the connecting frame is provided with a driving mechanism, and the driving mechanism is used for driving the left clamping plate and the right clamping plate to slide so as to adjust the distance between the left clamping plate and the right clamping plate; a supporting cylinder is fixed on the outer side of the right clamping plate, and a supporting frame is connected to the supporting cylinder; the supporting cylinder is used for driving the supporting frame to transversely move, and the supporting frame is used for supporting the box body. The utility model discloses a be used for box pile up neatly machine people tongs structure firm reliable, convenient operation is swift, long service life. Slide through actuating mechanism drive left splint and right splint to adjust the interval of left splint and right splint, thereby can be so that left splint and right splint centre gripping box. The supporting frame is driven to transversely move through the supporting cylinder, so that the bottom of the box body is supported by the supporting frame, the box body is supported, and the box body is clamped stably and reliably.
Description
Technical Field
The utility model relates to a pile up neatly machine people technical field relates to a box pile up neatly machine people tongs particularly.
Background
Intelligent robots are replacing heavy, single traditional labor models step by step. The appearance of the stacking robot frees traditional porters engaged in product packaging and stacking work, greatly improves efficiency and frees productivity. At present, the stacking mode adopted by the stacking operation in China is as follows: firstly, carrying by manpower; secondly, a mechanical stacker crane; and thirdly, a stacking robot. The problems of high labor intensity, low efficiency and poor safety in manual transportation exist; the mechanical stacker crane is limited by factors such as structure and the like, and has the defects of large occupied area, troublesome (some or even impossible) operation program change, large power consumption and the like. The stacking robot is suitable for the goods packaged in various shapes such as cartons, bags and the like, and has reliable performance and simple maintenance. In order to improve the production efficiency, save the cost and create the benefit, the application of enterprises to the palletizing robot is more and more extensive, and the quality of the gripper directly influences the working quality of the palletizing robot.
The moving mechanism of the existing robot palletizer gripper is complex, large in occupied space, heavy in whole, inflexible in operation, inconvenient in maintenance, slow in gripping speed and low in production efficiency, and when the robot palletizer gripper grips box and bag goods with larger or smaller size, the gripper is unstable in gripping the goods, and the goods cannot be stably and effectively gripped.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a box pile up neatly machine people tongs can realize reliable and stable clamp to the box and get.
Therefore, the utility model provides a box body stacking robot gripper, which comprises a connecting frame, wherein the bottom of the connecting frame is connected with a left clamping plate and a right clamping plate which can slide transversely, and the left clamping plate and the right clamping plate are used for clamping a box body; the connecting frame is provided with a driving mechanism, and the driving mechanism is used for driving the left clamping plate and the right clamping plate to slide so as to adjust the distance between the left clamping plate and the right clamping plate; a supporting cylinder is fixed on the outer side of the right clamping plate, and a supporting frame is connected to the supporting cylinder; the supporting cylinder is used for driving the supporting frame to move transversely, and the supporting frame is used for supporting the box body.
Preferably, actuating mechanism includes screw drive mechanism, screw drive mechanism includes positive silk screw, be connected with two screw seats on the positive silk screw, two the screw seat respectively with left splint with right splint is connected.
Preferably, the connecting frame is further provided with two horizontal cylinders, and the two horizontal cylinders are respectively used for driving the left clamping plate and the right clamping plate to transversely slide.
Preferably, the connecting frame comprises a guide rail, and a left sliding block and a right sliding block are slidably connected to the guide rail; the left slider with the left splint are connected, the right slider with the right splint are connected.
Preferably, the support frame comprises a support plate and a plurality of support rods vertically fixed at the bottom of the support plate.
Preferably, the support plate is connected to the support cylinder.
Preferably, the supporting cylinder is connected with a first fixing piece, the first fixing piece is connected with a second fixing piece, and the second fixing piece is connected to the outer side of the right clamping plate.
Preferably, a connecting plate is fixed above the connecting frame and used for being connected with a mechanical arm of the robot.
Compared with the prior art, the utility model discloses an advantage is with positive effect: the utility model provides a box body stacking robot gripper, which comprises a connecting frame, wherein the bottom of the connecting frame is connected with a left clamping plate and a right clamping plate which can slide transversely, and the left clamping plate and the right clamping plate are used for clamping a box body; the connecting frame is provided with a driving mechanism, and the driving mechanism is used for driving the left clamping plate and the right clamping plate to slide so as to adjust the distance between the left clamping plate and the right clamping plate; a supporting cylinder is fixed on the outer side of the right clamping plate, and a supporting frame is connected to the supporting cylinder; the supporting cylinder is used for driving the supporting frame to move transversely, and the supporting frame is used for supporting the box body. The utility model discloses a be used for box pile up neatly machine people tongs structure firm reliable, convenient operation is swift, long service life. Slide through actuating mechanism drive left splint and right splint to adjust the interval of left splint and right splint, thereby can be so that left splint and right splint centre gripping box. Through supporting cylinder drive support frame lateral shifting, can be so that the support frame holds the bottom half, support the box to can realize reliable and stable clamp to the box and get, can avoid carrying the in-process of box the box condition that the box falls the damage that appears, can avoid box gravity too big to cause the damage to left splint and right splint moreover.
Other features and advantages of the present invention will become more apparent from the following detailed description of the invention when read in conjunction with the accompanying drawings.
Drawings
Fig. 1 is a schematic structural view of an embodiment of the box body palletizing robot gripper of the present invention;
fig. 2 is a schematic structural view of an embodiment of the box body palletizing robot gripper of the present invention;
fig. 3 is a plan view of an embodiment of the box palletizing robot gripper of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided to illustrate and explain the present invention, and it should be understood that the embodiments described herein are only for the purpose of illustration and explanation, and are not intended to limit the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", etc. are based on the directions or positional relationships shown in the drawings, which are merely for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
As shown in fig. 1-3, the gripper of the box body palletizing robot of the embodiment comprises a connecting frame, and a left clamping plate 20 and a right clamping plate 30 which can slide transversely are connected to the bottom of the connecting frame; the connecting frame is provided with a driving mechanism, and the driving mechanism is used for driving the left clamping plate 20 and the right clamping plate 30 to slide so as to adjust the distance between the left clamping plate 20 and the right clamping plate 30; a supporting cylinder 40 is fixed on the outer side of the right clamping plate 30, and a supporting frame is connected to the supporting cylinder 40; the supporting cylinder 40 is used for driving the supporting frame to move transversely, and the supporting frame is used for supporting the box body.
The gripper for the box body stacking robot is stable and reliable in structure, convenient and fast to operate and long in service life. The left clamping plate 20 and the right clamping plate 30 are driven to slide by the driving mechanism so as to adjust the distance between the left clamping plate 20 and the right clamping plate 30, and therefore the left clamping plate 20 and the right clamping plate 30 can clamp the box body. Through the lateral shifting of the supporting cylinder 40 driving supporting frame, the bottom of the box body can be supported by the supporting frame, the box body is supported, so that the box body can be clamped stably and reliably, the case body falling damage can be avoided in the box body carrying process, and the damage to the left clamping plate 20 and the right clamping plate 30 caused by the overlarge gravity of the box body can be avoided.
The driving mechanism comprises a screw rod transmission mechanism, and the screw rod transmission mechanism comprises a positive and negative screw rod 51 and a servo motor 53 for driving the positive and negative screw rod 51 to rotate; the positive and negative screw rod 51 is connected with two screw seats 52, and the two screw seats 52 are respectively connected with the left clamping plate 20 and the right clamping plate 30. Through the rotation of the positive and negative wire screws 51, the two nut seats 52 can be driven to move transversely, so that the two nut seats 52 are close to and/or far away from each other, and the left splint 20 and the right splint 30 are close to and/or far away from each other, so that the distance between the left splint 20 and the right splint 30 can be adjusted.
The connecting frame is also provided with two horizontal air cylinders 11, and the two horizontal air cylinders 11 are respectively used for driving the left clamping plate 20 and the right clamping plate 30 to slide transversely. The left clamping plate 20 and the right clamping plate 30 are respectively driven to transversely slide through the horizontal cylinder 11, so that the distance between the left clamping plate 20 and the right clamping plate 30 can be finely adjusted, and the left clamping plate 20 and the right clamping plate 30 can clamp the box body more tightly and reliably. The fine adjustment of the distance between the left clamping plate 20 and the right clamping plate 30 can be realized by the driving of the screw rod transmission mechanism and the driving of the horizontal cylinder 11, so that the left clamping plate 20 and the right clamping plate 30 can stably and reliably clamp boxes with different specifications and sizes, and a plurality of boxes can be clamped simultaneously.
In this embodiment, the connecting frame includes two parallel guide rails 12, and the left end of two guide rails 12 bottoms is connected with slidable left slider 13, and the right end of guide rails 12 bottoms is connected with slidable right slider 14. The left clamping plate 20 is fixedly connected with the two left sliding blocks 13, and the two left sliding blocks 13 can play a guiding role for the sliding of the left clamping plate 20, so that the left clamping plate 20 can stably and effectively slide along the two guide rails 12. The right clamping plate 30 is fixedly connected with the two right sliding blocks 14, and the two right sliding blocks 14 can play a guiding role for the sliding of the right clamping plate 30, so that the right clamping plate 30 can stably and effectively slide along the two guide rails 12.
The support frame includes a support plate 61 and a plurality of support rods 62 vertically fixed to the bottom of the support plate 61. The plurality of support rods 62 are horizontally disposed, and ends of the plurality of support rods 62 are respectively fixedly connected to the support plate 61 by bolts or welded, which is not particularly limited herein. The support frame of the embodiment has light weight and stable and reliable structure, and supports the bottom of the box body; can realize firm reliable clamp to the box on the one hand, avoid the box to fall, on the other hand can avoid box gravity too big to cause the damage to left splint 20 and right splint 30 to can prolong the life of left splint 20 and right splint 30.
The support plate 61 is connected to the output end of the support cylinder 40 by bolts or other means commonly used in the art, and is not particularly limited thereto. After the left clamp plate 20 and the right clamp plate 30 clamp the box body, the supporting plate 61 is driven to move transversely through the supporting cylinder 40, so that the plurality of supporting rods 62 are driven to move, the supporting rods 62 can be moved to the bottom of the box body and hold the box body, and the box body can be supported.
In this embodiment, the right splint 30 outside is connected with two support cylinder 40, and two support cylinder 40 are connected with the support frame, can realize firm reliable connection and drive to the support frame, can avoid the too big drop of support frame gravity, can also play simultaneously and stabilize effectual drive to the support frame for lateral shifting that the support frame can be smooth.
The supporting cylinder 40 is connected with a first fixing member 41, the first fixing member 41 is connected with a second fixing member 42, and the second fixing member 42 is connected to the outer side of the right clamping plate 30. The material of the first fixing member 41 and the second fixing member 42 may be a metal plate, and is not particularly limited herein. The first fixing member 41 may be coupled to the support cylinder 40 by a bolt, and the second fixing member 42 may be coupled to an outer side of the right clamping plate 30 by a bolt, which is not particularly limited herein.
A connecting plate 15 is fixed above the connecting frame, and the connecting plate 15 is used for connecting with a mechanical arm (not shown in the figure) of the robot. The connecting plate 15 may be connected to the robot arm by a flange or other means commonly used in the art, and is not particularly limited herein.
The tongs for the box body palletizing robot of the embodiment can be used for clamping the box body, and the operation process comprises the following steps: (1) the robot drives the tongs to move towards the box and approach to the two sides of the box. (2) The driving mechanism is used for driving the left clamping plate 20 and the right clamping plate 30 to move close to each other, so that the left clamping plate 20 and the right clamping plate 30 respectively abut against two side surfaces of the box body. (3) Utilize horizontal cylinder 11 to drive left splint 20 and right splint 30 and be close to the removal mutually for left splint 20 and right splint 30 closely contradict with two sides of box respectively mutually, thereby can make left splint 20 and right splint 30 press from both sides and get the box. (4) Utilize support cylinder 40 to drive support frame lateral shifting for a plurality of bracing pieces 62 remove to the bottom half, and bracing piece 62 holds the box, plays the supporting role to the box, makes the tongs realize firm reliable absorption more to the box and snatchs, avoids the box to drop.
The robot tongs of this embodiment can unload the box, and operation process includes: (1) the robot drives the gripper and the box body to move to the designated parking place. (2) Utilize support cylinder 40 to drive the support frame lateral shifting for a plurality of bracing pieces 62 move to the right splint 30 outside, and bracing piece 62 no longer supports the box. (3) The driving mechanism drives the left clamping plate 20 and the right clamping plate 30 to move away from each other, so that the box body is released from being clamped, and the box body is slowly placed in a parking place.
The above embodiments are only used to illustrate the technical solution of the present invention, and not to limit it; although the present invention has been described in detail with reference to the following embodiments, it will be apparent to those skilled in the art that the present invention may be modified or equivalents may be substituted for some of the features of the embodiments described below; such modifications and substitutions do not depart from the spirit and scope of the present invention, which is claimed.
Claims (8)
1. A box body stacking robot gripper is characterized in that,
the box body clamping device comprises a connecting frame, wherein the bottom of the connecting frame is connected with a left clamping plate and a right clamping plate which can slide transversely, and the left clamping plate and the right clamping plate are used for clamping a box body;
the connecting frame is provided with a driving mechanism, and the driving mechanism is used for driving the left clamping plate and the right clamping plate to slide so as to adjust the distance between the left clamping plate and the right clamping plate;
a supporting cylinder is fixed on the outer side of the right clamping plate, and a supporting frame is connected to the supporting cylinder; the supporting cylinder is used for driving the supporting frame to move transversely, and the supporting frame is used for supporting the box body.
2. A box palletizing robot gripper as in claim 1,
the driving mechanism comprises a screw rod transmission mechanism, the screw rod transmission mechanism comprises a positive and negative screw rod, two screw seats are connected to the positive and negative screw rod, and the screw seats are respectively connected with the left clamping plate and the right clamping plate.
3. A box palletizing robot gripper as in claim 1,
and the connecting frame is also provided with two horizontal cylinders which are respectively used for driving the left clamping plate and the right clamping plate to transversely slide.
4. A box palletizing robot gripper as in claim 1,
the connecting frame comprises a guide rail, and a left sliding block and a right sliding block are connected to the guide rail in a sliding manner;
the left slider with the left splint are connected, the right slider with the right splint are connected.
5. A box palletizing robot gripper as in claim 1,
the support frame comprises a support plate and a plurality of support rods vertically fixed at the bottom of the support plate.
6. A box palletizing robot gripper as in claim 5,
the support plate is connected with the support cylinder.
7. A box palletizing robot gripper as in claim 1,
the support cylinder is connected with a first fixing piece, the first fixing piece is connected with a second fixing piece, and the second fixing piece is connected to the outer side of the right clamping plate.
8. A box palletizing robot gripper as in claim 1,
and a connecting plate is fixed above the connecting frame and is used for being connected with a mechanical arm of the robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922347224.0U CN211846383U (en) | 2019-12-24 | 2019-12-24 | Box pile up neatly machine people tongs |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922347224.0U CN211846383U (en) | 2019-12-24 | 2019-12-24 | Box pile up neatly machine people tongs |
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| Publication Number | Publication Date |
|---|---|
| CN211846383U true CN211846383U (en) | 2020-11-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201922347224.0U Active CN211846383U (en) | 2019-12-24 | 2019-12-24 | Box pile up neatly machine people tongs |
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| CN (1) | CN211846383U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117246766A (en) * | 2023-10-23 | 2023-12-19 | 铁王数控机床（苏州）有限公司 | Automatic clamp |
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2019
- 2019-12-24 CN CN201922347224.0U patent/CN211846383U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117246766A (en) * | 2023-10-23 | 2023-12-19 | 铁王数控机床（苏州）有限公司 | Automatic clamp |
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