CN220297124U - Palletizing robot clamping device - Google Patents

Abstract

The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot clamping device, which comprises a bearing plate; the hydraulic telescopic rod is horizontally arranged on the bearing plate, the bidirectional hydraulic cylinder is horizontally arranged below the side plates, hydraulic rods are arranged in two action ends of the bidirectional hydraulic cylinder, the main clamping jaws are arranged below the bidirectional hydraulic cylinder, the two side clamping jaws are arranged below the hydraulic rods, the hydraulic oil tank is connected to the hydraulic controller through an oil pipe, the hydraulic controller is connected to the bidirectional hydraulic cylinder through the oil pipe, hydraulic oil in the hydraulic oil tank is conveyed into the bidirectional hydraulic cylinder through the hydraulic controller, the hydraulic rods are respectively pushed to extend to the two sides by the hydraulic oil, the side clamping jaws below the hydraulic rods are driven to move when the hydraulic rods extend, and the clamping jaw spacing effect of the clamping device according to the size of goods is achieved.

Description

Palletizing robot clamping device

Technical Field

The utility model relates to the technical field of palletizing robots, in particular to a palletizing robot clamping device.

Background

The palletizing robot is a device for transporting, stacking and stacking, is a product of organically combining machinery and a computer program, generally needs to be used when transferring cargoes in a factory building, and is matched with a manipulator to transfer the cargoes from one position to another position, meanwhile, the palletizing robot is used for stacking the cargoes, and the palletizing robot is used for moving and stacking the cargoes mainly through a clamping and grabbing device.

The utility model discloses a robot pile up neatly grabbing device in patent of publication number CN 205184800U, including the mount, be used for forking the fork material device of pile up neatly, fork material device can slide on the mount, clamping device is in vertical direction and horizontal direction removal, and will the pile up neatly is vertical and horizontal clamp, holds up the pile up neatly through fork material device, compares the grabbing device of claw formula more steadily, has avoided the coming off of pile up neatly, utilizes clamping device cooperation mount and fork material device simultaneously, can be at vertical direction and horizontal direction with the pile up neatly is tight for the pile up neatly is fixed by firm in the handling, and the efficiency of handling is higher.

The existing palletizing robot clamping device cannot adjust the space between the clamping jaws according to the size of the cargo volume, so that the application range of the existing palletizing robot clamping device for clamping the cargo volume is small; therefore, a palletizing robot clamping device is proposed for the above-mentioned problems.

Disclosure of Invention

Aiming at solving the problems in the prior art, the utility model provides a palletizing robot clamping device.

The technical scheme adopted for solving the technical problems is as follows: the utility model relates to a palletizing robot clamping device, which comprises a bearing plate; the bearing plate is horizontally provided with a hydraulic telescopic rod, the acting end of the hydraulic telescopic rod is provided with a side plate, the lower part of the side plate is horizontally provided with a bidirectional hydraulic cylinder, the two acting ends of the bidirectional hydraulic cylinder are internally provided with hydraulic rods, the lower part of the bidirectional hydraulic cylinder is provided with a main clamping jaw, the lower parts of the hydraulic rods are respectively provided with a side clamping jaw, the same side of the main clamping jaw and the side clamping jaw is respectively provided with a fixed plate, the upper side surface of the fixed plate is respectively provided with a fixed block, the side surface of the fixed block on the fixed plate provided with the main clamping jaw is penetrated and provided with a hole, the hole is internally penetrated and provided with a first limit sleeve, the two ends of the first limiting sleeve are respectively provided with a first limiting rod, the other ends of the first limiting rods are respectively arranged on the inner sides of two fixing blocks on a fixing plate arranged on two side clamping jaws, the side surfaces of the side plates are provided with a hydraulic controller and a hydraulic oil tank, the hydraulic oil tank is connected with the hydraulic controller through an oil pipe, the hydraulic controller is connected to the bidirectional hydraulic cylinder through the oil pipe, the clamping jaw spacing of the clamping device can be adjusted according to the size of goods, and compared with a traditional palletizing robot clamping device, the palletizing robot clamping device is applicable to clamping the size of goods, and is wider in range and more convenient to use.

Preferably, the hole has been offered in the main clamping jaw hook claw end side run through, runs through in the hole and is provided with No. two stop collar, all be provided with No. two gag lever posts in the opening at No. two stop collar both ends, no. two the other end of gag lever post is installed respectively and is colluded claw end at two side clamping jaw, has reached spacing effect in the cooperation, takes place the skew when preventing clamping jaw bottom adjustment, influences clamping effect.

Preferably, the bearing plate is rectangular, the acting end of the hydraulic telescopic rod is perpendicular to the long side of the bearing plate, the side plate is located on the outer side of the bearing plate and is parallel to the side edge of the bearing plate, the side plate is perpendicular to the hydraulic telescopic rod, the hydraulic telescopic rod is matched with the bearing plate to achieve the function of driving and clamping, and the clamping device is guaranteed to normally operate.

The preferable action end of two-way pneumatic cylinder is mutually perpendicular with the action end of hydraulic telescoping rod, main clamping jaw and side clamping jaw are vertical parallel arrangement, and collude claw end and be located under the loading board, main clamping jaw is located two side clamping jaw insides, the loading board opposite side also is provided with main clamping jaw and side clamping jaw, and the component on it is the mirror image setting with the opposite side, and the cooperation has reached the effect of clamping jaw interval expansion to be suitable for the clamp of different size cargoes and get.

The preferred install the fixing base on the loading board, the internal gear groove has been seted up on the fixing base, be provided with the rotation axis on the fixing base, the tooth axle is installed to the rotation axis bottom, and the tooth axle can cooperate the card to be equipped with the internal gear inslot to intermesh with the tooth's socket in the internal gear groove, the cooperation has reached by the rotatory effect of palletizing robot actuating arm drive clamping device, guarantees palletizing robot's normal use.

The preferred install the mounting panel on the rotation axis, and the mounting panel is located the tooth epaxially, run through on the mounting panel and set up threaded hole, threaded hole runs through and is provided with the bolt, also set up threaded hole on the fixing base, the bolt bottom can cooperate the threaded hole that sets up at the fixing base, and the cooperation has reached quick assembly disassembly's purpose, and it is more convenient that the operation of clamp device is installed than traditional pile up neatly machine people, and the structure is simpler.

The utility model has the advantages that:

1. according to the utility model, hydraulic oil in the hydraulic oil tank is conveyed into the bidirectional hydraulic cylinder through the hydraulic controller, the hydraulic oil can respectively push the hydraulic rods to the two sides to extend, the hydraulic rods can drive the side clamping jaws below the hydraulic rods to move when the hydraulic rods extend, the side clamping jaws at the two sides are matched to extend to achieve the effect of adjusting the spacing between the clamping jaws, and the clamping jaw spacing of the clamping device can be adjusted according to the size of goods.

2. According to the utility model, the rotating shaft is arranged on the driving arm of the palletizing robot, the gear shaft at the bottom end of the rotating shaft is clamped into the inner gear groove, then the bolt penetrates through the threaded hole of the mounting plate and is screwed into the threaded hole of the fixing seat, so that the mounting can be completed, the clamping device can be taken down by unscrewing the bolt when the mounting plate is required to be dismounted, and the purpose of quick dismounting is achieved by matching with the mounting device.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions of the prior art, the drawings which are used in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the utility model, and that other drawings can be obtained from these drawings without inventive faculty for a person skilled in the art.

FIG. 1 is a schematic view of a first three-dimensional main body structure;

FIG. 2 is a schematic view, partially in section, of a first three-dimensional body structure;

FIG. 3 is an enlarged schematic view in partial cutaway of the main body structure of the adjustment assembly;

FIG. 4 is an enlarged schematic view of a portion of the main body structure of the adjustment assembly;

fig. 5 is an enlarged partial schematic view of the main body structure of the quick-mount assembly.

In the figure: 1. a carrying plate; 2. a hydraulic telescopic rod; 3. a side plate; 4. a bidirectional hydraulic cylinder; 5. a hydraulic rod; 6. a main clamping jaw; 7. side clamping jaws; 8. a fixing plate; 9. a fixed block; 10. a first limit sleeve; 11. a first limit rod; 12. a hydraulic controller; 13. a hydraulic oil tank; 14. a second limit sleeve; 15. a second limit rod; 16. a fixing seat; 17. an internal gear groove; 18. a rotation shaft; 19. a tooth shaft; 20. a mounting plate; 21. and (5) a bolt.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1-5, a palletizing robot clamping device includes a carrier plate 1; the bearing plate 1 is horizontally provided with a hydraulic telescopic rod 2, the acting end of the hydraulic telescopic rod 2 is provided with a side plate 3, the lower part of the side plate 3 is horizontally provided with a bidirectional hydraulic cylinder 4, two acting ends of the bidirectional hydraulic cylinder 4 are internally provided with hydraulic rods 5, the lower part of the bidirectional hydraulic cylinder 4 is provided with a main clamping jaw 6, two lower parts of the hydraulic rods 5 are respectively provided with a side clamping jaw 7, the same side of the main clamping jaw 6 as the side clamping jaw 7 is provided with a fixed plate 8, the upper side of the fixed plate 8 is provided with a fixed block 9, the side of the fixed block 9 on the fixed plate 8 provided with the main clamping jaw 6 is penetrated and provided with a hole, the hole is internally penetrated and provided with a first limiting sleeve 10, openings at two ends of the first limiting sleeve 10 are internally provided with a first limiting rod 11, the other end of the first limiting rod 11 is respectively arranged at the inner sides of the two fixed blocks 9 on the fixed plate 8 arranged on the two side clamping jaws 7, the side of the side plate 3 is provided with a hydraulic controller 12 and a hydraulic oil tank 13, the hydraulic oil tank 13 is connected on the hydraulic controller 12 through an oil pipe, the hydraulic controller 12 is connected on the bidirectional hydraulic cylinder 4 through an oil pipe, the side surface of the hook claw end of the main clamping jaw 6 is provided with a hole in a penetrating way, a second limit sleeve 14 is arranged in the hole in a penetrating way, openings at two ends of the second limit sleeve 14 are provided with a second limit rod 15, the other ends of the second limit rod 15 are respectively arranged at the hook claw ends of the two side clamping jaws 7, the bearing plate 1 is rectangular, the action end of the hydraulic telescopic rod 2 is mutually perpendicular to the long side of the bearing plate 1, the side plate 3 is positioned outside the bearing plate 1 and is mutually parallel to the side edge of the bearing plate 1 and mutually perpendicular to the hydraulic telescopic rod 2, the action end of the bidirectional hydraulic cylinder 4 is mutually perpendicular to the action end of the hydraulic telescopic rod 2, the main clamping jaw 6 and the side clamping jaw 7 are vertically arranged in parallel, the hook jaw end is located under the bearing plate 1, the main clamping jaw 6 is located on the inner sides of the two side clamping jaws 7, the main clamping jaw 6 and the side clamping jaw 7 are also arranged on the other side of the bearing plate 1, and the components on the main clamping jaw 6 and the side clamping jaw 7 are arranged in a mirror image mode on the other side of the bearing plate.

During operation, because goods volume size is different, current palletizing robot clamping device can not press from both sides according to goods volume size adjustment clamping jaw interval, lead to current palletizing robot clamping device clamp to get goods volume application scope little, during operation, press from both sides and extend through control hydraulic telescoping rod 2 when getting, hydraulic telescoping rod 2 can make two curb plates 3 outwards expand respectively, can drive bi-directional hydraulic cylinder 4 and hydraulic rod 5 simultaneously when moving curb plate 3, and bi-directional hydraulic cylinder 4 can make the main clamping jaw 6 and the outside expansion of side clamping jaw 7 of loading board 1 both sides when outwards expanding with hydraulic rod 5, set up the goods between two sets of main clamping jaw 6, side clamping jaw 7, control hydraulic telescoping rod 2 shrink, then can drive two sets of main clamping jaw 6 and side clamping jaw 7 clamp the goods, when needing to adjust clamping jaw interval and being suitable for the goods of equidimension, carry in the bi-directional hydraulic cylinder 4 with hydraulic oil in the hydraulic oil 13 through hydraulic controller 12, after carrying in bi-directional hydraulic cylinder 4, hydraulic oil can make its extension to both sides promotion hydraulic rod 5 respectively, and hydraulic rod 5 can drive its side clamping jaw 7 and stretch out the clamping jaw 7 and can reach the clamping jaw size and press from the side clamping jaw 7 and stretch out the side clamping jaw size is more convenient according to the distance, the effect of the clamping jaw size is adjusted to the clamp device is reached to the side clamping jaw size is more greatly when the clamping jaw is adjusted to the clamping jaw size is adjusted to the clamping jaw 7.

Referring to fig. 5, a fixing base 16 is installed on the carrier plate 1, an internal gear groove 17 is formed in the fixing base 16, a rotating shaft 18 is provided on the fixing base 16, a gear shaft 19 is installed at the bottom end of the rotating shaft 18, the gear shaft 19 can be engaged with and clamped in the internal gear groove 17 and meshed with a tooth slot in the internal gear groove 17, a mounting plate 20 is installed on the rotating shaft 18, the mounting plate 20 is located on the gear shaft 19, a threaded hole is formed in the mounting plate 20 in a penetrating manner, a bolt 21 is arranged in the threaded hole in a penetrating manner, a threaded hole is also formed in the fixing base 16, and the bottom end of the bolt 21 can be engaged with and arranged in the threaded hole formed in the fixing base 16.

During operation, the existing clamping device is complex in structure and convenient to install and connect with the driving arm of the palletizing robot, and therefore inconvenient and rapid disassembly and assembly are achieved, in the scheme, the rotating shaft 18 is arranged on the driving arm of the palletizing robot, the driving arm drives the rotating shaft 18 to rotate, the tooth shaft 19 at the bottom end of the rotating shaft 18 is clamped into the inner gear groove 17, teeth of the rotating shaft are meshed with each other, the bolt 21 penetrates through the threaded hole of the mounting plate 20 and is screwed into the threaded hole of the fixing seat 16, the clamping device can be removed when the clamping device needs to be disassembled, and the purpose of rapid disassembly and assembly is achieved in cooperation.

The theory of operation, because goods volume size is different, current palletizing robot clamping device can not press from both sides according to goods volume size adjustment clamping jaw interval, lead to current palletizing robot clamping device clamp to get goods volume application scope little, in operation, press from both sides and extend through control hydraulic telescoping rod 2 when getting, hydraulic telescoping rod 2 can make two curb plates 3 outwards expand respectively, can drive bi-directional hydraulic cylinder 4 and hydraulic rod 5 simultaneously when moving curb plate 3, and bi-directional hydraulic cylinder 4 can make the main clamping jaw 6 and the outside expansion of side clamping jaw 7 of loading board 1 both sides when outwards expanding with hydraulic rod 5, set up the goods between two sets of main clamping jaw 6, side clamping jaw 7, control hydraulic telescoping rod 2 shrink, then can drive two sets of main clamping jaw 6 and side clamping jaw 7 clamp the goods, when needing to adjust clamping jaw interval and being suitable for the goods of equidimension, carry in the bi-directional hydraulic cylinder 4 with hydraulic oil in the hydraulic oil tank 13 through hydraulic controller 12, after carrying in bi-directional hydraulic cylinder 4, hydraulic oil can make its extension to both sides promotion hydraulic rod 5 respectively, and hydraulic rod 5 can drive its side clamping jaw 7 and stretch out the clamping jaw 7 and can reach the clamping jaw size to stretch out from the side clamping jaw 7, the effect is more convenient, the clamping jaw size is adjusted to the clamping jaw size is reached according to the clamping jaw size is adjusted to the side clamping jaw 7, can reach the clamp size is suitable for the clamping jaw size is far-reaching to the side clamping jaw size is far-reaching the end, the distance is suitable for the distance is far-reaching to the distance between clamping device.

The existing clamping device is complex in structure and convenient to install and connect with the driving arm of the palletizing robot, so that inconvenient and rapid disassembly and assembly are caused, in the scheme, the rotating shaft 18 is arranged on the driving arm of the palletizing robot, the driving arm drives the rotating shaft 18 to rotate, the tooth shaft 19 at the bottom end of the rotating shaft 18 is clamped into the inner gear groove 17, teeth of the inner gear groove are meshed with each other, the bolt 21 penetrates through a threaded hole of the mounting plate 20 to be screwed into a threaded hole of the fixing seat 16, the clamping device can be taken down when the clamping device needs to be disassembled, and the purpose of rapid disassembly and assembly is achieved in cooperation.

In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

The foregoing has shown and described the basic principles, principal features and advantages of the utility model. It will be understood by those skilled in the art that the present utility model is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present utility model, and various changes and modifications may be made without departing from the spirit and scope of the utility model, which is defined in the appended claims.

Claims (6)

1. A palletizing robot clamping device which is characterized in that: comprises a bearing plate (1); the utility model discloses a hydraulic telescopic device, which is characterized in that a hydraulic telescopic rod (2) is horizontally arranged on a bearing plate (1), a side plate (3) is arranged at the action end of the hydraulic telescopic rod (2), a bidirectional hydraulic cylinder (4) is horizontally arranged below the side plate (3), hydraulic rods (5) are arranged in the two action ends of the bidirectional hydraulic cylinder (4), a main clamping jaw (6) is arranged below the bidirectional hydraulic cylinder (4), side clamping jaws (7) are arranged below the two hydraulic rods (5), a fixing plate (8) is arranged on the same side of the main clamping jaw (6) and the side clamping jaw (7), a fixing block (9) is arranged on the upper side surface of the fixing plate (8), the side of a fixed block (9) on a fixed plate (8) arranged on a main clamping jaw (6) is provided with a hole in a penetrating way, a first limit sleeve (10) is arranged in the hole in a penetrating way, a first limit rod (11) is arranged in openings at two ends of the first limit sleeve (10), the other ends of the first limit rod (11) are respectively arranged at the inner sides of two fixed blocks (9) on the fixed plate (8) arranged on two side clamping jaws (7), the side of a side plate (3) is provided with a hydraulic controller (12) and a hydraulic oil tank (13), the hydraulic oil tank (13) is connected on the hydraulic controller (12) through an oil pipe, the hydraulic controller (12) is connected to the bidirectional hydraulic cylinder (4) through an oil pipe.

2. A palletizing robot clamping device as in claim 1, wherein: the side face of the hook claw end of the main clamping jaw (6) is provided with a hole in a penetrating mode, a second limiting sleeve (14) is arranged in the hole in a penetrating mode, a second limiting rod (15) is arranged in openings at two ends of the second limiting sleeve (14), and the other ends of the second limiting rod (15) are respectively arranged at the hook claw ends of the two side clamping jaws (7).

3. A palletizing robot clamping device as in claim 1, wherein: the bearing plate (1) is rectangular, the acting end of the hydraulic telescopic rod (2) is perpendicular to the long side of the bearing plate (1), and the side plate (3) is located on the outer side of the bearing plate (1) and parallel to the side edge of the bearing plate (1) and perpendicular to the hydraulic telescopic rod (2).

4. A palletizing robot clamping device as claimed in claim 3, characterized in that: the action end of the bidirectional hydraulic cylinder (4) is mutually perpendicular to the action end of the hydraulic telescopic rod (2), the main clamping jaw (6) and the side clamping jaw (7) are vertically arranged in parallel, the hook jaw end is located under the bearing plate (1), the main clamping jaw (6) is located on the inner sides of the two side clamping jaws (7), the main clamping jaw (6) and the side clamping jaw (7) are also arranged on the other side of the bearing plate (1), and the components on the main clamping jaw and the side clamping jaw are arranged in a mirror image mode.

5. A palletizing robot clamping device as in claim 4, wherein: the bearing plate (1) is provided with a fixing seat (16), the fixing seat (16) is provided with an internal gear groove (17), the fixing seat (16) is provided with a rotating shaft (18), the bottom end of the rotating shaft (18) is provided with a gear shaft (19), and the gear shaft (19) can be matched and clamped in the internal gear groove (17) and meshed with a tooth groove in the internal gear groove (17).

6. A palletizing robot clamping device as in claim 5, wherein: install mounting panel (20) on rotation axis (18), and mounting panel (20) are located tooth axle (19), threaded hole has been seted up in running through on mounting panel (20), and threaded hole runs through and is provided with bolt (21), threaded hole has also been seted up on fixing base (16), but the cooperation of bolt (21) bottom sets up the threaded hole of seting up at fixing base (16).