CN217650393U

CN217650393U - Cargo clamping mechanism for robot carrying stacking

Info

Publication number: CN217650393U
Application number: CN202221533791.0U
Authority: CN
Inventors: 袁军民; 袁靖宇; 田秀蕊; 唐国双
Original assignee: Tianjin Victor Technology Co ltd
Current assignee: Tianjin Victor Technology Co ltd
Priority date: 2022-06-16
Filing date: 2022-06-16
Publication date: 2022-10-25
Anticipated expiration: 2032-06-16

Abstract

The utility model relates to a press from both sides and get the mechanism field, specifically be a goods press from both sides and get mechanism for robot transport pile up neatly, including base, rotating base, control box, lifting base, lifting arm, elevator motor, rotating motor, telescopic link, control cable, slide bar, rotating bracket, centre gripping support, gripper jaw and side locating part; the top of the base is rotationally connected with the rotating base; the top of the rotating base is connected with the lifting base; the lifting motor is arranged on the side surface of the lifting base; the output end of the lifting motor is in transmission connection with the lifting arm; the lifting arm is rotationally connected with the lifting base. The utility model discloses a this device can effectual improvement press from both sides the precision and press from both sides to the raw materials and get efficiency, can enlarge the working range of this device through the structural grouping of telescopic link and lifing arm, and the centre gripping effect and the centre gripping stability of this device can effectually be improved to the gripper jaw structure through the symmetry, can guarantee the control accuracy and the control accuracy of this device through control cable.

Description

Cargo clamping mechanism for robot carrying stacking

Technical Field

The utility model relates to a press from both sides and get mechanism technical field, especially relate to a mechanism is got to goods clamp for robot transport pile up neatly.

Background

Automated handling and palletizing robots are widely used in various industries because they can greatly reduce the labor intensity of workers and have efficiency far exceeding that of manual handling. However, in the pharmaceutical automation industry, some pharmaceutical products have high requirements for storage and transportation environments, and thus, the requirements for automated handling equipment are also high. For example, freeze-dried medical products have high requirements on the environment, special packaging materials of the products are easy to deform, and the requirements on the sealing performance are high, so that the special products are transported by manually matching a travelling crane or a cantilever crane at present, the production efficiency is low, and the yield and the quality cannot be guaranteed.

Chinese patent with publication number CN210392959U discloses a cargo clamping mechanism for robot carrying stacking, which comprises a base and a clamping mechanism connected with the base, wherein the clamping mechanism comprises a rotating frame, a sliding rail fixed on the base, a connecting frame and a transmission cylinder, the connecting frame is connected with the sliding rail and can move along the sliding rail, the transmission cylinder is connected with the connecting frame, and the rotating frame is connected with the connecting frame and can rotate under the driving of the connecting frame. The link removes and realizes getting the adjustment of width along the ascending difference clamp of slide rail side along the slide rail, and the swivel mount is connected with the link, therefore removes the in-process at the link, and the swivel mount can ensure that the link has more steady removal effect, makes the utility model discloses a mechanism is got to goods clamp for robot transport pile up neatly has higher clamp and gets the precision, and it has carries out the accurate positioning, snatchs fast, has guaranteed advantages such as precision when the robot transport snatchs.

However, the above-mentioned known solutions have the following disadvantages: through solitary clamping structure only can embody the unable process of being convenient for stack the pile up through above-mentioned scheme demonstration of centre gripping effect in above-mentioned scheme, the combined use degree of difficulty height of above-mentioned device and other equipment simultaneously.

SUMMERY OF THE UTILITY MODEL

The utility model discloses a technical problem to exist among the background art, the utility model provides a mechanism is got to goods clamp for robot transport pile up neatly, the utility model discloses a this device can effectual improvement press from both sides the precision and press from both sides to the clamp of raw materials and get efficiency, can enlarge the working range of this device through the structural grouping of telescopic link and lifing arm, and the gripper jaw structure through the symmetry can effectually improve the centre gripping effect and the clamping stability of this device, can guarantee the control accuracy and the control accuracy of this device through control cable.

The utility model provides a goods clamping mechanism for robot carrying pile up neatly, including base, rotating base, control box, lifting base, lift arm, elevator motor, rotating motor, telescopic link, control cable, slide bar, rotating bracket, centre gripping support, gripper jaw and side locating part;

the top of the base is rotationally connected with the rotating base; the top of the rotating base is connected with the lifting base; the side surface of the lifting base is connected with the control box; the control box is in control connection with the lifting motor; the lifting motor is arranged on the side surface of the lifting base; the output end of the lifting motor is in transmission connection with the lifting arm; the lifting arm is rotationally connected with the lifting base; one end of the lifting arm, which is far away from the lifting base, is rotatably connected with the telescopic rod; the side surface of the telescopic rod is connected with a rotating motor; the output end of the rotating motor is in transmission connection with the lifting arm; the side surface of the telescopic rod is connected with the sliding rod in a sliding way; one end of the sliding rod, which is far away from the telescopic rod, is rotationally connected with the rotating bracket; the side surface of the rotating bracket is connected with a control cable; the bottom of the rotating bracket is rotationally connected with the clamping bracket; the side surface of the clamping bracket is connected with the clamping claw in a sliding way; the side face of the clamping bracket is connected with a side face limiting piece.

Preferably, the bottom of the base is provided with a plurality of groups of fixing threaded holes which are distributed around the base.

Preferably, the control box is internally provided with a central control module, the central control module is in control connection with the lifting motor, and the central control module is in control connection with the telescopic rod.

Preferably, the clamping claws are provided with anti-slip layers and are symmetrically arranged on two sides of the clamping support.

Preferably, the bottom of the side surface limiting piece is provided with a flexible blocking column, and the side surface limiting pieces are symmetrically arranged at two sides of the clamping bracket; the side limiting piece is perpendicular to the clamping claw.

Preferably, the clamping support is provided with a driving motor, the driving motor is provided with a gear, the clamping jaws are provided with racks, and the racks arranged on the symmetrical clamping jaws are respectively meshed with two sides of the gear.

Preferably, the clamping bracket is provided with a sliding limiting part, and the sliding limiting part is in contact with the side surface of the clamping claw.

Preferably, the base is provided with a rotary damping piece, and the rotary damping piece is connected with the side surface of the rotary base in a rotary damping manner.

The above technical scheme of the utility model following profitable technological effect has:

the utility model discloses a this device can effectual improvement press from both sides the precision and press from both sides the efficiency of getting to the clamp of raw materials, can enlarge the working range of this device through the structural grouping of telescopic link and lifing arm, gripper jaw structure through the symmetry can effectually improve the centre gripping effect and the centre gripping stability of this device, can guarantee the control accuracy and the control accuracy of this device through control cable, can improve this device and staff operation interactive efficiency through the independent control box in bottom, thereby can carry out spacing to the slope raw materials through the side locating part and avoided the slope raw materials to block the gripper jaw side and lead to the centre gripping unstable.

Drawings

Fig. 1 is a schematic structural diagram of an embodiment of a cargo clamping mechanism for robot handling stacking according to the present invention;

fig. 2 is a left side view of a cargo clamping mechanism for robot handling palletizing according to the present invention;

fig. 3 is a right side view of a cargo clamping mechanism for robot carrying palletizing according to the present invention;

reference numerals: 1. a base; 2. rotating the base; 3. a control box; 4. a lifting base; 5. a lifting arm; 6. a lifting motor; 7. rotating the motor; 8. a telescopic rod; 9. a control cable; 10. a slide bar; 11. rotating the bracket; 12. clamping the bracket; 13. a gripper jaw; 14. side locating part.

Detailed Description

Example one

As shown in fig. 1-3, the utility model provides a goods clamping mechanism for robot carrying pile up neatly, including base 1, rotating base 2, control box 3, lifting base 4, lift arm 5, lift motor 6, rotating motor 7, telescopic link 8, control cable 9, slide bar 10, rotating bracket 11, clamping bracket 12, gripper jaw 13 and side locating part 14;

the top of the base 1 is rotationally connected with the rotating base 2; the top of the rotating base 2 is connected with the lifting base 4; the side surface of the lifting base 4 is connected with the control box 3; the control box 3 is in control connection with a lifting motor 6; the lifting motor 6 is arranged on the side surface of the lifting base 4; the output end of the lifting motor 6 is in transmission connection with the lifting arm 5; the lifting arm 5 is rotationally connected with the lifting base 4; one end of the lifting arm 5, which is far away from the lifting base 4, is rotatably connected with a telescopic rod 8; the side surface of the telescopic rod 8 is connected with the rotating motor 7; the output end of the rotating motor 7 is in transmission connection with the lifting arm 5; the side surface of the telescopic rod 8 is connected with a sliding rod 10 in a sliding way; one end of the sliding rod 10, which is far away from the telescopic rod 8, is rotatably connected with the rotating bracket 11; the side surface of the rotating bracket 11 is connected with the control cable 9; the bottom of the rotating bracket 11 is rotationally connected with the clamping bracket 12; the side surface of the clamping bracket 12 is connected with the clamping claw 13 in a sliding way; the side surface of the clamping bracket 12 is connected with a side surface limiting piece 14; a plurality of groups of fixing threaded holes are arranged at the bottom of the base 1 and distributed around the base 1; the clamping claws 13 are provided with anti-skid layers, and the clamping claws 13 are symmetrically arranged at two sides of the clamping bracket 12; a driving motor is arranged on the clamping bracket 12, a gear is arranged on the driving motor, racks are arranged on the clamping claws 13, and the racks arranged on the symmetrical clamping claws 13 are respectively meshed and connected with the two sides of the gear; the clamping bracket 12 is provided with a sliding limiting piece which is contacted with the side surface of the clamping claw 13; the base 1 is provided with a rotary damping part which is connected with the side surface of the rotary base 2 in a rotary damping manner.

In this embodiment, can effectual improvement carry the efficiency and the stability of centre gripping through this device, can effectual improvement this device control efficiency and precision through arm integrated configuration, when this device is in operating condition, can make this device major structure free rotation through rotating base 2, thereby the working range of combination between this device lifing arm 5 and the telescopic link 8 has been enlarged effectively, the structure through bottom control box 3 can be convenient for staff centralized control when this device operating condition, the risk of high altitude construction has been avoided simultaneously, can guarantee through control cable 9 structure that control connection between control box 3 and the centre gripping support 12 is stable, the centre gripping effect of this device can be effectual improved through the gripper 13 structure of symmetry setting, simultaneously when the raw materials is in the tilt state below centre gripping support 12, in the middle of the process of gripper 13 carrying out the centre gripping, the structure of side locating part 14 can drive the raw materials and resume normal position in the centre gripping process thereby the centre gripping stability of this device has been guaranteed, when the raw materials that can't resume normal position takes place and takes place to block the clamp support 12, side locating part 14 can prevent this device from carrying out the further extrusion to the raw materials, the stability of raw materials has been guaranteed.

Example two

As shown in fig. 2-3, compared with the first embodiment, in the first embodiment, the cargo clamping mechanism for robot carrying and stacking provided by the present invention, a central control module is arranged inside the control box 3, and is in control connection with the lifting motor 6, and is in control connection with the telescopic rod 8; the bottom of the side surface limiting piece 14 is provided with a flexible blocking column, and the side surface limiting pieces 14 are symmetrically arranged at two sides of the clamping bracket 12; the side stoppers 14 are perpendicular to the holding claws 13.

The utility model discloses an in the embodiment, this device of effectual improvement of well accuse module's structure can improve the centre gripping stability of this device to the control accuracy of multiunit motion structure simultaneously through the structure of side locating part 14.

The embodiments of the present invention have been described in detail with reference to the drawings, but the present invention is not limited thereto, and various changes can be made without departing from the gist of the present invention within the knowledge of those skilled in the art.

Claims

1. A cargo clamping mechanism for robot carrying stacking is characterized by comprising a base (1), a rotating base (2), a control box (3), a lifting base (4), a lifting arm (5), a lifting motor (6), a rotating motor (7), a telescopic rod (8), a control cable (9), a sliding rod (10), a rotating support (11), a clamping support (12), a clamping claw (13) and a side limiting piece (14);

the top of the base (1) is rotationally connected with the rotating base (2); the top of the rotating base (2) is connected with the lifting base (4); the side surface of the lifting base (4) is connected with the control box (3); the control box (3) is in control connection with the lifting motor (6); the lifting motor (6) is arranged on the side surface of the lifting base (4); the output end of the lifting motor (6) is in transmission connection with the lifting arm (5); the lifting arm (5) is rotationally connected with the lifting base (4); one end of the lifting arm (5) far away from the lifting base (4) is rotatably connected with the telescopic rod (8); the side surface of the telescopic rod (8) is connected with the rotating motor (7); the output end of the rotating motor (7) is in transmission connection with the lifting arm (5); the side surface of the telescopic rod (8) is connected with the sliding rod (10) in a sliding way; one end of the sliding rod (10) far away from the telescopic rod (8) is rotationally connected with the rotating bracket (11); the side surface of the rotating bracket (11) is connected with the control cable (9); the bottom of the rotating bracket (11) is rotationally connected with the clamping bracket (12); the side surface of the clamping bracket (12) is connected with the clamping claw (13) in a sliding way; the side surface of the clamping bracket (12) is connected with a side surface limiting piece (14).

2. The cargo clamping mechanism for robot carrying palletizing as set forth in claim 1, wherein a plurality of groups of fixing threaded holes are arranged on the bottom of the base (1), and the plurality of groups of fixing threaded holes are distributed around the base (1).

3. The mechanism is used for clamping goods of robot carrying pile up neatly of claim 1, characterized in that, the control box (3) is inside to be equipped with well accuse module, well accuse module and elevator motor (6) control connection, well accuse module and telescopic link (8) control connection.

4. The mechanism is got to goods clamp for robot transport pile up neatly of claim 1, characterized in that, is equipped with the skid resistant course on gripper jaw (13), and gripper jaw (13) symmetry sets up in centre gripping support (12) both sides.

5. The mechanism for clamping and picking up goods for robot handling palletization according to claim 1, characterized in that a flexible blocking column is arranged on the bottom of the side limiting member (14), and the side limiting members (14) are symmetrically arranged on both sides of the clamping bracket (12); the side surface limiting piece (14) is perpendicular to the clamping claw (13).

6. The mechanism is used for clamping robot carrying goods and used for palletizing of claim 1, and is characterized in that a driving motor is arranged on the clamping support (12), a gear is arranged on the driving motor, racks are arranged on the clamping claws (13), and the racks arranged on the symmetrical clamping claws (13) are respectively meshed with two sides of the gear.

7. The mechanism for clamping goods for robot handling palletizer as claimed in claim 1, characterized in that the clamping bracket (12) is provided with a sliding stopper which is in contact with the side surface of the clamping claw (13).

8. The mechanism is used for clamping the goods of robot transport pile up neatly to claim 1, characterized in that, be equipped with on base (1) and rotate the damping piece, rotate damping connection with rotating base (2) side.