CN214493489U

CN214493489U - Clamping and stacking device and robot

Info

Publication number: CN214493489U
Application number: CN202022193249.2U
Authority: CN
Inventors: 翟世杰
Original assignee: Siemens Numerical Control Ltd
Current assignee: Siemens Numerical Control Ltd
Priority date: 2020-09-29
Filing date: 2020-09-29
Publication date: 2021-10-26
Anticipated expiration: 2030-09-29

Abstract

The utility model provides a press from both sides and get and pile up neatly device and robot, press from both sides and get and pile up neatly device and include the base, press from both sides and get mechanism and pile up neatly mechanism, press from both sides and get the mechanism and include two splint and a drive assembly, two splint are relative and the interval sets up. The first driving assembly is fixed on the base and is suitable for driving the two clamping plates to move relatively. The stacking mechanism comprises a sucker assembly and a second driving assembly. The sucking disc subassembly includes sucking disc mounting panel, sucking disc and vacuum generator, and the sucking disc is fixed in the bottom surface of sucking disc mounting panel, and vacuum generator is fixed in on the base, and communicates with the sucking disc. The second driving component is suitable for driving the sucker mounting plate to move up and down. The utility model discloses a press from both sides and get and pile up neatly device and robot will press from both sides and get product and pile up neatly carton function integration as an organic whole, can realize efficient product packaging efficiency.

Description

Clamping and stacking device and robot

Technical Field

The utility model relates to a product packaging technical field, in particular to press from both sides and get and pile up neatly device and a robot.

Background

Product packaging is an important link in the product manufacturing process, and in the prior art, a manual power-assisted lifting appliance is adopted to carry out boxing operation on products such as a frequency converter; and then, placing the paper boxes according to specified positions in advance through manual work, and realizing stacking of products. When the condition that the weight of the product is large and the activity space of the product in the carton is small occurs, the work efficiency of manual operation of the power-assisted lifting appliance for packing is low, and the safety problems that the product falls off and the like easily occur.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a press from both sides and get and pile up neatly device and a robot, it will press from both sides and get product and pile up neatly carton function integration, can realize efficient product packaging efficiency.

The utility model provides a press from both sides and get and pile up neatly device, it includes the base, presss from both sides and gets mechanism and pile up neatly mechanism, presss from both sides and gets the mechanism and include two splint and a drive assembly, and two splint are relative and the interval sets up. The first driving assembly is fixed on the base and is suitable for driving the two clamping plates to move relatively. The stacking mechanism comprises a sucker assembly and a second driving assembly. The sucking disc subassembly includes sucking disc mounting panel, sucking disc and vacuum generator, and the sucking disc is fixed in the bottom surface of sucking disc mounting panel, and vacuum generator is fixed in on the base, and communicates with the sucking disc. The second driving component is suitable for driving the sucker mounting plate to move up and down.

In an exemplary embodiment of the clamping and palletizing device, the first drive assembly comprises a servo motor, a gear, a first rack, a second rack, two first linear bearings, two second linear bearings, a first guide rod and a second guide rod. The servo motor is suitable for driving the gear to rotate. The first rack is meshed with the gear. The second rack is meshed with the gear, and the second rack and the first rack are arranged at intervals relatively. Two first linear bearings and first rack fixed connection. And the two second linear bearings are fixedly connected with the second rack. One of the first linear bearings and one of the second linear bearings are sleeved on the first guide rod. The second guide rod and the first guide rod are arranged at intervals, and the other first linear bearing and the other second linear bearing are sleeved on the second guide rod. One of the clamping plates is fixed with the first linear bearing, and the other clamping plate is fixed with the second linear bearing.

In an exemplary embodiment of the clamping and palletizing device, the base comprises a bottom plate and two side plates, the two side plates are fixed at the bottom of the bottom plate, and the two side plates are oppositely arranged at intervals.

In an exemplary embodiment of the gripping and palletizing device, the number of suction cups is a plurality, the number of vacuum generators is two, the two vacuum generators are respectively fixed with the two side plates, one part of the suction cups is communicated with one of the vacuum generators, and the other part of the suction cups is communicated with the other vacuum generator.

In an exemplary embodiment of the gripping and palletizing device, the second driving assembly is two lifting cylinders, each lifting cylinder comprises a cylinder body and a piston rod, the piston rod is fixed with the suction cup mounting plate, and the cylinder body is adapted to push the piston rod.

In an exemplary embodiment of the clamping and palletizing device, the clamping and palletizing device further comprises a pressing assembly, one end of which is fixed with the base, the pressing assembly being adapted to press the packaged product.

In one illustrative embodiment of the clamping and palletizing device, the pressing assembly comprises a mounting column, a fixing plate, a cylinder and a pressing head, and two ends of the mounting column are respectively fixed with the base and the fixing plate. The cylinder is fixed with the fixed plate. The pressing head is positioned between the two clamping plates, and the air cylinder is suitable for driving the pressing head to move up and down.

The utility model also provides a robot, it includes that above-mentioned arbitrary one kind is got and the pile up neatly device.

In an exemplary embodiment of the robot, the robot further includes a robot arm, and the base is fixed to an end of the robot arm.

The utility model discloses a press from both sides and get and pile up neatly device, in the robot, it gets mechanism and pile up neatly mechanism to have set up to press from both sides, it includes two splint and first drive assembly to get the mechanism to press from both sides, pile up neatly mechanism includes sucking disc subassembly and second drive assembly, two splint press from both sides under the drive of first drive assembly and get the product and pack the product, sucking disc subassembly can suck the carton under the drive of second drive assembly, and pile up neatly the carton, thereby press from both sides to get product and pile up neatly carton function integration and be an organic whole, replace the manual work through the combination with industrial robot and realized the vanning, the automation of pile up neatly, save the manual labor cost, realize efficient product packaging efficiency. In addition, the clamping and stacking device is simple and compact in overall structure and light in weight, so that the load of the robot is reduced.

Drawings

The above and other features and advantages of the present invention will become more apparent to those of ordinary skill in the art by describing in detail preferred embodiments thereof with reference to the attached drawings, in which:

fig. 1 is a schematic perspective view of the base, the clamping mechanism and the pressing component of the clamping and stacking device according to an embodiment of the present invention.

Fig. 2 is a perspective view of the gripping and palletizing device shown in fig. 1.

Fig. 3 is a schematic perspective view of the base and the palletizing mechanism of the pick and place device shown in fig. 1.

Fig. 4 is a schematic cross-sectional view of a first drive assembly of the pick and pile device shown in fig. 1.

Fig. 5 is a schematic perspective view of a robot according to an embodiment of the present invention.

In the above figures, the reference numerals used are as follows:

100 clamping and stacking device

10 base

12 bottom plate

13 side plate

20 clamping mechanism

22 clamping plate

23 first drive assembly

232 servo motor

233 gear

234 first rack

235 second rack

236 first linear bearing

237 second linear bearing

238 first guide bar

239 second guide bar

30 stacking mechanism

32 sucking disc subassembly

322 suction cup mounting plate

323 suction cup

324 vacuum generator

33 second drive assembly

332 cylinder body

333 piston rod

40 pressing assembly

42 mounting post

43 fixing plate

44 cylinder

45 pressing head

200 robot

202 mechanical arm

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention is further described in detail by referring to the following embodiments.

Fig. 1 is a schematic perspective view of a base, a clamping mechanism and a pressing assembly of the clamping and palletizing apparatus according to an embodiment of the present invention, fig. 2 is a schematic perspective view of the clamping and palletizing apparatus shown in fig. 1, fig. 3 is a schematic perspective view of the base and the palletizing mechanism of the clamping and palletizing apparatus shown in fig. 1, please refer to fig. 1 to fig. 3, the clamping and palletizing apparatus 100 according to the embodiment includes a base 10, a clamping mechanism 20 and a palletizing mechanism 30, the clamping mechanism 20 includes two clamping plates 22 and a first driving assembly 23, and the two clamping plates 22 are arranged oppositely and at intervals. A first drive assembly 23 is secured to the base 10 and is adapted to drive the two jaws 22 in relative motion. The palletising mechanism 30 includes a suction cup assembly 32 and a second drive assembly 33. The suction cup assembly 32 comprises a suction cup mounting plate 322, a suction cup 323 and a vacuum generator 324, wherein the suction cup 323 is fixed on the bottom surface of the suction cup mounting plate 322, and the vacuum generator 324 is fixed on the base 10 and is communicated with the suction cup 323. The second driving assembly 33 is adapted to drive the suction cup mounting plate 322 up and down.

More specifically, the base 10 includes a bottom plate 12 and two side plates 13, the two side plates 13 are fixed to the bottom of the bottom plate 12, and the two side plates 13 are oppositely disposed at intervals.

Fig. 4 is a cross-sectional view of the first driving assembly of the gripping and palletizing device shown in fig. 1, and referring to fig. 4 and 1, the first driving assembly 23 includes a servo motor 232, a gear 233, a first rack 234, a second rack 235, two first linear bearings 236, two second linear bearings 237, a first guide rod 238 and a second guide rod 239. The servo motor 232 is adapted to drive the gear 233 to rotate. The first rack 234 is engaged with the gear 233. The second rack 235 is engaged with the gear 233, and the second rack 235 is disposed opposite to the first rack 234. Two first linear bearings 236 are fixedly connected to the first rack 234. The two second linear bearings 237 are fixedly connected to the second rack 235. One of the first linear bearings 236 and one of the second linear bearings 237 are sleeved on the first guide rod 238. The second guide bar 239 and the first guide bar 238 are disposed at an interval, and the other first linear bearing 236 and the other second linear bearing 237 are sleeved on the second guide bar 239. One of the clamping plates 22 is fixed to the first linear bearing 236 and the other clamping plate 22 is fixed to the second linear bearing 237.

It should be noted that the two first linear bearings 236 are fixed by a connecting member (not shown), and the two second linear bearings 237 are fixed by a connecting member (not shown).

The number of the suction cups 323 is plural, the number of the vacuum generators 324 is two, and the two vacuum generators 324 are respectively fixed to the two side plates 13, wherein one part of the suction cups 323 is communicated with one of the vacuum generators 324, and the other part of the suction cups 323 is communicated with the other vacuum generator 324.

The second driving assembly 33 is two lifting cylinders, each lifting cylinder includes a cylinder body 332 and a piston rod 333, the piston rod 333 is fixed to the suction cup mounting plate 322, and the cylinder body 332 is adapted to push the piston rod 333.

The pick and stack apparatus 100 further includes a pressing assembly 40 having one end fixed to the base 10, the pressing assembly 40 being adapted to press the packaged product. The pressing assembly 40 includes a mounting post 42, a fixing plate 43, a cylinder 44 and a pressing head 45, wherein both ends of the mounting post 42 are fixed to the base 10 and the fixing plate 43, respectively. The cylinder 44 is fixed to the fixed plate 43. The pressing head 45 is located between the two clamping plates 22, and the air cylinder 44 is suitable for driving the pressing head 45 to move up and down.

In this embodiment, the packaged product is a frequency converter, and the weight of the frequency converter is about 20-35 kg, but the present invention is not limited thereto, and in other embodiments, the type of the packaged product can be arbitrarily set according to the actual situation. During packaging, the servo motor 232 of the first driving assembly 23 drives the gear 233 to rotate, the gear 233 is meshed with the first rack 234 and the second rack 235, so that the first rack 234 and the second rack 235 move linearly, one of the first linear bearings 236 and one of the second linear bearings 237 move along the first guide rod 238, the other of the first linear bearings 236 and the other of the second linear bearings 237 move along the second guide rod 239, so as to drive the two clamping plates 22 to move relatively, the air cylinder 44 of the pressing assembly 40 drives the pressing head 45 to press the packaged product, so as to clamp the packaged product, and then the packaged product is placed in the carton; the jaws 22 are then driven in opposite directions to release the packaged product. After the carton is sealed, the second driving assembly 33 of the stacking mechanism 30 drives the suction cup mounting plate 322 to move downwards, the suction cup 323 sucks the carton, and then the carton is conveyed to the stacking position, so that the carton is stacked.

It should be noted that the press assembly 40 can stabilize the packaged products during transport to the carton. The suction cup mounting plate 322 is driven by two lifting cylinders, and the switching between the suction cup 323 and the clamping plate 22 is realized through the lifting of a large stroke.

Fig. 5 is a schematic perspective view of a robot according to an embodiment of the present invention, please refer to fig. 5, which further provides a robot 200 including the above-mentioned clamping and stacking device 100. The robot 200 further includes a robot arm 202, and the base 10 is fixed to an end of the robot arm 202. The robot 202 can move the base 10.

The utility model discloses a press from both sides and get and pile up neatly device, robot have following advantage at least:

1. the utility model discloses a press from both sides and get and pile up neatly device, in the robot, it gets mechanism and pile up neatly mechanism to have set up to press from both sides, it includes two splint and first drive assembly to get the mechanism to press from both sides, pile up neatly mechanism includes sucking disc subassembly and second drive assembly, two splint press from both sides under the drive of first drive assembly and get the product and pack the product, sucking disc subassembly can suck the carton under the drive of second drive assembly, and pile up neatly the carton, thereby press from both sides to get product and pile up neatly carton function integration and be an organic whole, replace the manual work through the combination with industrial robot and realized the vanning, the automation of pile up neatly, save the manual labor cost, realize efficient product packaging efficiency. In addition, the clamping and stacking device is simple and compact in overall structure and light in weight, so that the load of the robot is reduced.

2. The utility model discloses an in the embodiment of getting and pile up neatly device, robot, adopt the function of realizing the automatic vanning of product, automatic pile up neatly such as cylinder, servo motor, vacuum chuck, the design that integrates is when guaranteeing space utilization, still effectively reduces the relevant investment cost of frock switching. Each product saves about 1 minute of labor time.

3. The utility model discloses an in the embodiment of getting and pile up neatly device, robot, press from both sides and get and pile up neatly device still including pressing the subassembly, when splint were cliped the product, the subassembly of pressing can be pushed down by the packing product to ensure that the in-process of being packed the product keeps steady.

4. The utility model discloses an in the embodiment of getting and pile up neatly device, robot, set up two vacuum generator, when vacuum generator breaks down all the way, another way vacuum generator normally works in order to guarantee that the product does not drop to the stability of work has been realized.

The above description is only a preferred embodiment of the present invention, and should not be taken as limiting the invention, and any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. Press from both sides and get and pile up neatly device (100), its characterized in that includes:

a base (10);

a gripping mechanism (20) comprising two jaws (22) and a first drive assembly (23); the two clamping plates (22) are opposite and arranged at intervals; the first driving component (23) is fixed on the base (10) and is suitable for driving the two clamping plates (22) to move relatively;

a palletizing mechanism (30) comprising a suction cup assembly (32) and a second drive assembly (33); the sucker assembly (32) comprises a sucker mounting plate (322), a sucker (323) and a vacuum generator (324), the sucker (323) is fixed on the bottom surface of the sucker mounting plate (322), and the vacuum generator (324) is fixed on the base (10) and communicated with the sucker (323); the second driving assembly (33) is suitable for driving the sucker mounting plate (322) to move up and down.

2. The device (100) according to claim 1, wherein the first driving assembly (23) comprises:

a servo motor (232);

a gear (233), wherein the servo motor (232) is suitable for driving the gear (233) to rotate;

a first rack (234) engaged with the gear (233);

a second rack (235) engaged with the gear (233), wherein the second rack (235) is spaced apart from the first rack (234);

two first linear bearings (236) fixedly connected with the first rack (234);

two second linear bearings (237) fixedly connected with the second rack (235);

a first guide rod (238), wherein one of the first linear bearings (236) and one of the second linear bearings (237) are sleeved on the first guide rod (238); and

the second guide rod (239) is arranged at an interval with the first guide rod (238), and the other first linear bearing (236) and the other second linear bearing (237) are sleeved on the second guide rod (239);

wherein one of the clamping plates (22) is fixed to the first linear bearing (236) and the other clamping plate (22) is fixed to the second linear bearing (237).

3. The device (100) according to claim 1, wherein the base (10) comprises:

a base plate (12); and

the two side plates (13) are fixed at the bottom of the bottom plate (12), and the two side plates (13) are arranged oppositely at intervals.

4. The device (100) according to claim 3, wherein the suction cups (323) are in a plurality, the vacuum generators (324) are in a number of two, two vacuum generators (324) being fixed to the two side plates (13), respectively, one part of the suction cups (323) being in communication with one of the vacuum generators (324), the other part of the suction cups (323) being in communication with the other vacuum generator (324).

5. The device (100) according to claim 1, wherein the second driving assembly (33) is two lifting cylinders, each comprising:

a cylinder (332); and

a piston rod (333) fixed with the suction cup mounting plate (322), the cylinder body (332) being adapted to push the piston rod (333).

6. The pick and pile device (100) according to claim 1, characterized in that it further comprises:

a pressing assembly (40) having one end fixed to the base (10), the pressing assembly (40) being adapted to press the packaged product.

7. The device (100) according to claim 6, wherein the pressing assembly (40) comprises:

a mounting post (42);

the two ends of the mounting column (42) are respectively fixed with the base (10) and the fixing plate (43);

a cylinder (44) fixed to the fixing plate (43); and

the pressing head (45) is positioned between the two clamping plates (22), and the air cylinder (44) is suitable for driving the pressing head (45) to move up and down.

8. Robot (200), characterized in that it comprises a gripping and palletizing device (100) according to any one of claims 1 to 7.

9. The robot (200) of claim 8, further comprising:

the base (10) is fixed with the end part of the mechanical arm (202).