CN215589186U - Robot clamp mechanism of automatic warehousing equipment - Google Patents
Robot clamp mechanism of automatic warehousing equipment Download PDFInfo
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- CN215589186U CN215589186U CN202120856284.XU CN202120856284U CN215589186U CN 215589186 U CN215589186 U CN 215589186U CN 202120856284 U CN202120856284 U CN 202120856284U CN 215589186 U CN215589186 U CN 215589186U
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Abstract
The utility model discloses a robot clamp mechanism of automatic warehousing equipment, which is characterized by comprising a bottom plate and a group of clamping jaws, wherein the bottom plate is rectangular, and the clamping jaws are symmetrically arranged on the bottom plate; the clamping jaw comprises an air cylinder and a clamping plate, the air cylinder is fixedly arranged on the bottom plate, and the clamping plate is fixedly connected with a push rod of the air cylinder and is perpendicular to the bottom plate; the clamping plate comprises a square part and an inverted trapezoidal part, one side of the square part, which is close to the cylinder, is connected with the connecting plate, and the inverted trapezoidal part is arranged below the square part; one end of the inverted trapezoidal part far away from the square part extends towards the center of the bottom plate to form a hand grip. The robot clamp mechanism of the automatic warehousing equipment has a simple structure and is ingenious and reasonable in design, the clamping jaws are extended by extending the air cylinders, an article to be clamped is placed between the clamping jaws, the clamping jaws are contracted by retracting the air cylinders, and the grippers clamp the opening of the frame of the article to be clamped so as to clamp the article; the clamp has no damage to articles, strong adaptability and wide application range.
Description
Technical Field
The utility model relates to the technical field of robot clamps, in particular to a robot clamp mechanism of automatic warehousing equipment.
Background
In the traditional warehousing operation, products are often transported and placed depending on manpower for warehousing, storage and delivery, and with the development of industry, warehousing equipment such as a forklift, a pallet truck, a conveyor, a lifter and the like are introduced on the basis of traditional warehousing; in recent years, the concept of industry 4.0 is proposed, the intelligence level of the manufacturing industry is improved, the concept of intelligent manufacturing is also introduced into warehousing management, and the development of automatic warehousing equipment is greatly promoted.
In automated storage facilities, robotic grippers play an important role. For frame-shaped articles, a commonly-used robot clamp clamps the articles in a grabbing manner, the grabbing clamp has high requirements for clamping force, and the grabbing clamp is generally designed to have a large volume for adapting to the appearance of the articles, so that the flexibility is relatively poor, the control is inconvenient, the structure is complex, and a complex programming system is often needed for control.
Therefore, the above problems need to be solved.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to overcome the defects, the utility model aims to provide the robot clamp mechanism of the automatic storage equipment, which has the advantages of simple structure, no damage to articles during clamping, strong adaptability and wide application range.
The technical scheme is as follows: in order to achieve the aim, the utility model provides a robot clamp mechanism of automatic warehousing equipment, which comprises a bottom plate and a group of clamping jaws, wherein the bottom plate is rectangular, and the clamping jaws are symmetrically arranged on the bottom plate; the clamping jaw comprises an air cylinder and a clamping plate, the air cylinder is fixedly arranged on the bottom plate, and the clamping plate is fixedly connected with a push rod of the air cylinder and is perpendicular to the bottom plate. The robot clamp mechanism of the automatic warehousing equipment has a simple structure, and the clamping jaws are driven to contract through the contraction of the air cylinders, so that articles are clamped and fixed.
Furthermore, according to the robot clamp mechanism of the automatic warehousing equipment, the number of the clamping jaws is 4, and the clamping jaws are respectively arranged on four sides of the bottom plate. In the robot clamp mechanism of the automatic warehousing equipment, the quadrangular clamp design can better ensure the stability of clamping and fixing.
Furthermore, foretell automation warehouse equipment's robot clamp mechanism still includes the connecting plate, the push rod of connecting plate one side fixed connection cylinder, another side fixed connection splint. The robot clamp mechanism of the automatic warehousing equipment disclosed by the utility model connects the push rod and the clamping plate through the connecting plate, so that the acting force of the push rod can be uniformly applied to the clamping plate, and meanwhile, the damage caused by local stress of the clamping plate can be avoided.
Further, according to the robot clamp mechanism of the automatic warehousing equipment, the connecting plate is connected with the clamping plate through the bolt. The robot clamp mechanism of the automatic warehousing equipment disclosed by the utility model has the advantages that the clamp plate and the connecting plate are connected through the bolt, so that the stability of the clamp structure is ensured.
Furthermore, foretell automation warehouse equipment's robot clamp mechanism still includes a set of guide pillar, guide pillar one end is fixed to be established on the connecting plate, and the other end wears to locate the cylinder and extends to outside the cylinder. According to the robot clamp mechanism of the automatic warehousing equipment, the guide pillar can prevent the push rod from being inclined in the pushing-out process, the direction of the acting force of the push rod is prevented from being unstable, and the service life of the air cylinder is prolonged.
Further, in the robot clamp mechanism of the automatic warehousing equipment, the clamping plate comprises a square part and an inverted trapezoidal part, one side of the square part, which is close to the cylinder, is connected with the connecting plate, and the inverted trapezoidal part is arranged below the square part; one end of the inverted trapezoidal portion, which is far away from the square portion, extends towards the center of the bottom plate to form a hand grip. According to the robot clamp mechanism of the automatic warehousing equipment, the gripper can clamp the opening part of the frame of an article to be clamped, so that the article can be clamped, and the acting force of the cylinder is fully utilized.
Further, according to the robot clamp mechanism of the automatic warehousing equipment, the gripper pad is arranged above the gripper, and the thickness of the gripper pad is smaller than the width of the gripper. According to the robot clamp mechanism of the automatic warehousing equipment, the grabbing hand pad is arranged, so that the grabbing force of the grabbing hand can be guaranteed, meanwhile, the clamped articles can be buffered, and the clamped articles can be prevented from being damaged.
Further, according to the robot clamp mechanism of the automatic warehousing equipment, the gripper pad is fixed on one side of the inverted trapezoidal portion close to the cylinder through the bolt.
Further, the robot clamp mechanism of the automatic warehousing equipment further comprises a shell and a flange, wherein the shell is arranged above the bottom plate, and the cylinder is sleeved in the shell; the guide post and the push rod of the cylinder penetrate through the shell; the top of the shell is provided with an opening, one end of the opening is fixedly arranged at the center of the bottom plate, and the other end of the opening penetrates through the opening and extends out of the shell. According to the robot clamp mechanism of the automatic warehousing equipment, the flange can be connected with the robot arm, so that the carrying and stacking of articles are realized; the casing can protect the cylinder to prevent that external force from causing the cylinder damage, increase of service life.
Further, the robot clamp mechanism of the automatic warehousing equipment further comprises an electromagnetic valve, the electromagnetic valve is arranged on the shell, and the electromagnetic valve controls the stretching of the air cylinder. Chinese patent CN106735979A discloses a welding fixture and method, in which the action relationship between the solenoid valve and the cylinder is disclosed, and those skilled in the art should understand that the solenoid valve and the cylinder in the present invention are consistent with the action principle in the above patent.
The technical scheme shows that the utility model has the following beneficial effects:
1. the robot clamp mechanism of the automatic warehousing equipment comprises a bottom plate, a group of cylinders symmetrically arranged on the bottom plate, clamping plates and the like, is simple in structure, enables the clamping jaws to extend through the extension of the cylinders, enables an article to be clamped to be placed between the clamping jaws, enables the clamping jaws to contract through the retraction of the cylinders, and clamps the article by clamping the mouth of a frame of the article to be clamped by the grippers; the function of fixing and clamping the articles can be realized without excessively complicated programming control;
2. according to the robot clamp mechanism of the automatic warehousing equipment, the clamping jaw is provided with the gripper, the mouth of the frame of an article to be clamped can be clamped, the article can be clamped, the acting force of the air cylinder is fully utilized, the gripper pad is arranged on the inner side of the gripper, the clamping force of the gripper can be guaranteed, the clamped article can be buffered, the clamped article is prevented from being damaged, the adaptability is high, and the application range is wide.
Drawings
FIG. 1 is a schematic view of a robotic gripper of the automated warehousing equipment of the present invention;
FIG. 2 is a schematic top view of a robotic gripper of the automated warehousing equipment of the present invention;
FIG. 3 is a schematic view of the internal structure of the robot gripper of the automated warehousing equipment of the present invention;
FIG. 4 is a schematic view of the structure of the gripper in the robotic gripper of the automated storage facility of the present invention;
in the figure: 1. a base plate; 2. a clamping jaw; 21. a cylinder; 22. a splint; 221. a square portion; 222. an inverted trapezoidal portion; 223. a gripper; 224. a grip pad; 3. a connecting plate; 4. a guide post; 5. a housing; 6. a flange; 7. an opening; 8. an electromagnetic valve.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the utility model and are not to be construed as limiting the utility model.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be considered as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, unless otherwise specified, "a plurality" means two or more unless explicitly defined otherwise.
In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
Example 1
The robot clamp mechanism of the automatic warehousing equipment shown in fig. 1-4 comprises a bottom plate 1 and a group of clamping jaws 2, wherein the bottom plate 1 is rectangular, and the clamping jaws 2 are symmetrically arranged on the bottom plate 1; the clamping jaw 2 comprises a cylinder 21 and a clamping plate 22, the cylinder 21 is fixedly arranged on the bottom plate 1, and the clamping plate 22 is fixedly connected with a push rod of the cylinder 21 and is perpendicular to the bottom plate 1.
The number of the clamping jaws 2 is 4, and the clamping jaws 2 are respectively arranged on four sides of the bottom plate 1.
And the connecting plate 3 is also included, one surface of the connecting plate 3 is fixedly connected with a push rod of the air cylinder 21, and the other surface of the connecting plate 3 is fixedly connected with a clamping plate 22.
The connecting plate 3 and the clamp plate 22 are connected by bolts.
And, still include a set of guide pillar 4, guide pillar 4 one end is fixed to be established on connecting plate 3, and the other end wears to locate cylinder 21 and extends to the outside of cylinder 21.
Further, the clamping plate 22 comprises a square part 221 and an inverted trapezoid part 222, one side of the square part 221 close to the cylinder 21 is connected with the connecting plate 3, and the inverted trapezoid part 222 is arranged below the square part 221; one end of the inverted trapezoid part 222 away from the square part 221 extends towards the center of the bottom plate 1 to form a hand grip 223.
In addition, a grip pad 224 is disposed above the grip 223, and the thickness of the grip pad 224 is smaller than the width of the grip 223.
The gripper pad 224 is fixed to the inverted trapezoidal portion 222 on the side close to the cylinder 21 by a bolt.
Further, the device also comprises a shell 5 and a flange 6, wherein the shell 5 is arranged above the bottom plate 1, and the cylinder 21 is sleeved in the shell 5; the guide post 4 and the push rod of the cylinder 21 penetrate through the shell 5; an opening 7 is formed in the top of the shell 5, one end of the flange 6 is fixedly arranged in the center of the bottom plate 1, and the other end of the flange penetrates through the opening 7 and extends out of the shell 5.
And the device further comprises an electromagnetic valve 8, wherein the electromagnetic valve 8 is arranged on the shell 5, and the electromagnetic valve 8 controls the expansion and contraction of the air cylinder 21.
When the robot clamp mechanism of the automatic warehousing equipment is used, the electromagnetic valve 8 controls the cylinder 21 to extend out, the clamping jaw 2 extends out, the robot clamp mechanism moves to the position above an article to be clamped, the electromagnetic valve 8 controls the cylinder 21 to contract, the clamping jaw 2 contracts, and the gripper 223 clamps the opening of the frame of the article to be clamped to clamp the article.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that modifications can be made by those skilled in the art without departing from the principle of the present invention, and these modifications should also be construed as the protection scope of the present invention.
Claims (10)
1. The robot clamp mechanism of the automatic warehousing equipment is characterized by comprising a bottom plate (1) and a group of clamping jaws (2), wherein the bottom plate (1) is rectangular, and the clamping jaws (2) are symmetrically arranged on the bottom plate (1); clamping jaw (2) include cylinder (21), splint (22), cylinder (21) are fixed to be established on bottom plate (1), splint (22) fixed connection cylinder (21)'s push rod and perpendicular to bottom plate (1) set up.
2. The robotic gripper mechanism of an automated storage device according to claim 1, characterized in that the number of said gripping jaws (2) is 4, said gripping jaws (2) being arranged on four sides of the base plate (1).
3. The robot gripper mechanism of the automated storage facility according to claim 1, further comprising a connecting plate (3), wherein one side of the connecting plate (3) is fixedly connected with the push rod of the cylinder (21), and the other side of the connecting plate is fixedly connected with the clamping plate (22).
4. The robotic gripper mechanism of an automated warehousing device according to claim 3, characterized in that the connection plate (3) and the clamping plate (22) are connected by bolts.
5. The robotic gripper mechanism of an automated storage facility according to claim 3, further comprising a set of guide posts (4), wherein one end of each guide post (4) is fixedly arranged on the connecting plate (3), and the other end of each guide post (4) penetrates through the cylinder (21) and extends out of the cylinder (21).
6. The robotic gripper mechanism of an automated warehousing device according to claim 1, characterized in that the clamping plate (22) comprises a square (221) and an inverted trapezoid (222), the square (221) being connected to the connection plate (3) on the side near the cylinder (21), the inverted trapezoid (222) being provided below the square (221); one end of the inverted trapezoidal part (222), which is far away from the square part (221), extends towards the center direction of the bottom plate (1) to form a handle (223).
7. The robotic gripper mechanism of the automated storage facility of claim 6, wherein a gripper pad (224) is disposed above the gripper (223), the gripper pad (224) having a thickness less than a width of the gripper (223).
8. The robotic gripper mechanism of an automated warehousing device according to claim 7, characterized in that the gripper pads (224) are bolted on the side of the inverted trapezoid (222) near the cylinder (21).
9. The robot clamp mechanism of the automated warehousing equipment according to claim 5, characterized by further comprising a housing (5) and a flange (6), wherein the housing (5) is arranged above the base plate (1) to sleeve the cylinder (21) in the housing (5); the guide post (4) and a push rod of the cylinder (21) penetrate through the shell (5); an opening (7) is formed in the top of the shell (5), one end of the flange (6) is fixedly arranged at the center of the bottom plate (1), and the other end of the flange penetrates through the opening (7) and extends out of the shell (5).
10. The robotic gripper mechanism of an automated warehousing device according to claim 9, characterized by further comprising a solenoid valve (8), the solenoid valve (8) being provided on the housing (5), the solenoid valve (8) controlling the extension and retraction of the cylinder (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120856284.XU CN215589186U (en) | 2021-04-25 | 2021-04-25 | Robot clamp mechanism of automatic warehousing equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120856284.XU CN215589186U (en) | 2021-04-25 | 2021-04-25 | Robot clamp mechanism of automatic warehousing equipment |
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| Publication Number | Publication Date |
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| CN215589186U true CN215589186U (en) | 2022-01-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202120856284.XU Active CN215589186U (en) | 2021-04-25 | 2021-04-25 | Robot clamp mechanism of automatic warehousing equipment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932655A (en) * | 2022-04-25 | 2022-08-23 | 日善电脑配件(嘉善)有限公司 | Thin frame injection molding implantation and extraction device, method and equipment |
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2021
- 2021-04-25 CN CN202120856284.XU patent/CN215589186U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114932655A (en) * | 2022-04-25 | 2022-08-23 | 日善电脑配件(嘉善)有限公司 | Thin frame injection molding implantation and extraction device, method and equipment |
| CN114932655B (en) * | 2022-04-25 | 2024-02-20 | 日善电脑配件(嘉善)有限公司 | Thin frame injection molding implant removal apparatus, method and apparatus |
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