CN220316509U - Clamp of transfer robot - Google Patents
Clamp of transfer robot Download PDFInfo
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- CN220316509U CN220316509U CN202321746669.6U CN202321746669U CN220316509U CN 220316509 U CN220316509 U CN 220316509U CN 202321746669 U CN202321746669 U CN 202321746669U CN 220316509 U CN220316509 U CN 220316509U
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- 230000007246 mechanism Effects 0.000 claims abstract description 65
- 238000000605 extraction Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 5
- 239000011087 paperboard Substances 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000002131 composite material Substances 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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Abstract
The utility model provides a clamp of a transfer robot, which relates to the technical field of transfer clamps and comprises a mounting plate, a track, a moving table and a transfer mechanical arm, wherein the front end of the transfer mechanical arm is fixedly connected with a clamping mechanism, and the other side of the clamping mechanism is fixedly connected with an anti-falling mechanism. According to the utility model, the mechanical arm is carried out to move, the clamping mechanism is turned over to a ninety degrees to be in a horizontal state, so that the moving plates at two sides are forced to move to the middle part, the -shaped frames at two sides push the clamping plates to the middle part, the longer side length of the clamping plates is vertical to the height of a product, meanwhile, the corners of the bottom plate are overlapped with the straight line of the product, the two clamping plates clamp the product, the clamping mechanism and the anti-dropping mechanism drive the product to rotate for ninety degrees, the bottom plates at two sides support the product, then the moving table moves to finish the carrying of the product, and the anti-dropping mechanism is arranged to support the product while clamping the product, so that the product is prevented from dropping and the clamping stability is improved.
Description
Technical Field
The utility model relates to the technical field of carrying jigs, in particular to a jig for a carrying robot.
Background
The transfer robot is for using robot motion trail to realize replacing the automated product of manual handling, and the most common AGV dolly also is called transfer robot, and the AGV dolly is moved by sensor perception subaerial orbit route, and the article that needs to carry can be placed at AGV dolly top, and this kind of transfer robot can move according to subaerial orbit route strictly, and its advantage lies in that operating speed is stable, and the operation is steady.
For example, chinese patent CN207329795U discloses a composite fixture for a palletizing and transporting robot, which comprises a fixture frame, wherein a carton extraction mechanism, a cardboard extraction mechanism and an air path control module are arranged on the fixture frame; the carton extraction mechanism, the paperboard extraction mechanism and the clamping plate extraction mechanism are mutually independent and do not interfere with each other; the gas circuit control module respectively controls the carton extraction mechanism, the paperboard extraction mechanism and the clamping plate extraction mechanism. According to the utility model, the carton extraction mechanism, the paperboard extraction mechanism and the clamping plate extraction mechanism are integrated on the clamp, so that the clamp can simultaneously grasp the carton, the paperboard and the clamping plate, one-time grasping is realized, grasping efficiency is greatly improved, full-automatic work is realized, stacking effect and efficiency are greatly improved, and the clamp is reliable in performance, convenient and rapid to operate and effectively reduces labor.
In the prior art, although a transfer robot can transfer a product, the transfer robot needs to be placed with the product in the early stage, and a clamp for clamping the product is lacked, meanwhile, in the process of clamping movement, the product can be reduced due to the clamping friction force, so that the product falls.
Disclosure of Invention
The utility model aims to solve the problems that the carrying robot provided in the background art can carry products, but the products are required to be placed on the carrying robot in the early stage, clamps for clamping the products are lacked, and meanwhile, in the process of clamping and moving, the products fall down due to the fact that the clamping friction force of the products is reduced.
In order to achieve the above purpose, the present utility model adopts the following technical scheme: the utility model provides a transfer robot's anchor clamps, includes mounting panel, track, mobile station and transfer arm, transfer arm's front end fixedly connected with fixture, fixture's opposite side fixedly connected with anti-drop mechanism, anti-drop mechanism includes shape frame, the one end fixedly connected with grip block of shape frame, the through-hole has been seted up to the inside of grip block, the downside fixedly connected with bottom plate of grip block, the other end fixedly connected with movable plate of shape frame.
Preferably, the middle part of the movable plate is rotationally connected with a connecting rod, and the other side of the movable plate is fixedly connected with a slide clamp.
Preferably, the sliding clamp is movably clamped with a guide rail at the other side, and an extension rod is fixedly connected with the other side of the guide rail through a bolt.
Preferably, the other side of the extension rod is fixedly connected with a connecting plate, and the middle part of the connecting plate is fixedly provided with a servo motor.
Preferably, a central plate is fixedly arranged on the rotating shaft of the servo motor, and two ends of the central plate are rotatably connected with the other end of the connecting rod.
Preferably, the two ends of the moving plate are rotatably connected with hydraulic cylinders, and the end parts of the shells of the hydraulic cylinders are rotatably connected with the inside of the connecting plate.
Preferably, the lower end of the clamping mechanism is fixedly connected with the upper side of the mobile station, the inside of the mobile station is movably clamped with the outer side of the rail, and the lower side of the rail is fixedly installed with the upper side of the mounting plate.
Compared with the prior art, the utility model has the advantages and positive effects that:
1. according to the utility model, the product is held while the product is clamped by arranging the anti-falling mechanism, the product is prevented from falling, the clamping stability is improved, the conveying mechanical arm moves, the anti-falling mechanism overturns ninety degrees to be in a horizontal state and drives the clamping mechanism and the anti-falling mechanism to be close to the product to be conveyed, the product is positioned between the two clamping plates, the clamping mechanism works to enable the two side moving plates to be stressed to move towards the middle, the -shaped frames on the two sides push the clamping plates towards the middle, the longer side length of the clamping plates is vertical to the height of the product, meanwhile, the corners of the bottom plates coincide with the straight line of the product, the weight of the clamping plates is lightened by a plurality of through holes, the two clamping plates clamp the product, then the conveying mechanical arm moves, the clamping mechanism and the anti-falling mechanism drive the product to rotate ninety degrees, the bottom plates on the two sides hold the product, the product is prevented from falling in the process of clamping movement, and then the moving table moves, and the conveying of the product is completed.
2. According to the utility model, by arranging the clamping mechanism, the balance of stress of the movable plate and stable approaching movement to the middle part are realized, the clamping force is provided for the anti-drop mechanism, the servo motor is started to drive the central plate to rotate a certain angle, the connecting rods at the two ends are pulled to the middle part, one connecting rod pulls the middle part of the movable plate, meanwhile, the hydraulic cylinders at the upper part and the lower part of the movable plate shrink, the movable rod parts of the hydraulic cylinders pull the two ends of the movable plate respectively, so that the upper, middle and lower three points of the movable plate are pulled, the whole anti-drop mechanism is uniformly stressed during clamping, the anti-drop mechanism cannot be deformed easily, the stability is improved, firm clamping is ensured, the movable plate transmits the tensile force to the slide clamps, the two slide clamps slide towards the middle part in the corresponding guide rails, the linear movement is ensured, and the two sides move equally, so that the anti-drop mechanism completes the clamping.
Drawings
Fig. 1 is a schematic perspective view of a clamp of a handling robot according to the present utility model;
fig. 2 is a schematic perspective view illustrating a second view angle of a clamp of a handling robot according to the present utility model;
fig. 3 is a schematic structural view of a clamping mechanism of a clamp of a handling robot according to the present utility model;
fig. 4 is a schematic structural view of a clamp anti-drop mechanism of a transfer robot according to the present utility model.
Legend description: 1. a mounting plate; 2. a track; 3. a mobile station; 4. a handling robot arm; 5. a clamping mechanism; 51. a connecting plate; 52. a hydraulic cylinder; 53. a center plate; 54. a center column; 55. a connecting rod; 56. an extension rod; 57. a guide rail; 58. a moving plate; 59. a slide clamp; 6. an anti-falling mechanism; 61. shaped shelves; 62. a clamping plate; 63. a through hole; 64. a bottom plate.
Description of the embodiments
In order that the above objects, features and advantages of the utility model will be more clearly understood, a further description of the utility model will be rendered by reference to the appended drawings and examples. It should be noted that, in the case of no conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present utility model, however, the present utility model may be practiced otherwise than as described herein, and therefore the present utility model is not limited to the specific embodiments of the disclosure that follow.
Embodiment 1 as shown in fig. 1 to 4, the present utility model provides a clamp of a transfer robot, which includes a drop prevention mechanism 6 and a clamping mechanism 5.
The specific arrangement and function of the anti-drop mechanism 6 and the holding mechanism 5 will be described in detail below.
As shown in fig. 1, 2 and 4, a clamp of a transfer robot comprises a mounting plate 1, a track 2, a moving table 3 and a transfer mechanical arm 4, wherein the front end of the transfer mechanical arm 4 is fixedly connected with a clamping mechanism 5, the other side of the clamping mechanism 5 is fixedly connected with an anti-drop mechanism 6, the anti-drop mechanism 6 comprises a -shaped frame 61, one end of the -shaped frame 61 is fixedly connected with a clamping plate 62, a through hole 63 is formed in the clamping plate 62, the lower side of the clamping plate 62 is fixedly connected with a bottom plate 64, and the other end of the -shaped frame 61 is fixedly connected with a moving plate 58.
The effect that its whole anti falling mechanism 6 reached is, move through handling arm 4, make anti falling mechanism 6 upset ninety degrees horizontal state, and drive fixture 5 and anti falling mechanism 6 be close to near the product that needs to carry, and make the product be located between two grip blocks 62, fixture 5 work makes both sides movable plate 58 atress move towards the middle part, make the shape frame 61 of both sides promote grip block 62 towards the middle part, the longer side length of grip block 62 is highly perpendicular with the product, the turning of bottom plate 64 coincides with the high place straight line of product, a plurality of through-holes 63 lighten the weight of grip block 62, two grip blocks 62 grip the product from this, then handling arm 4 moves, make fixture 5 and anti falling mechanism 6 drive the product gyration ninety degrees, the bottom plate 64 of both sides holds the product, then the mobile station 3 removes, accomplish the transport of product, through setting up anti falling mechanism 6, hold the product when realizing the centre gripping product, avoid the product to drop, improve the stability of centre gripping.
As shown in fig. 1, 2 and 3, the middle part of the movable plate 58 is rotatably connected with a connecting rod 55, the other side of the movable plate 58 is fixedly connected with a slide clamp 59, a guide rail 57 is movably clamped in the other side of the slide clamp 59, the other side of the guide rail 57 is fixedly connected with an extension rod 56 through a bolt, the other side of the extension rod 56 is fixedly connected with a connecting plate 51, the middle part of the connecting plate 51 is fixedly provided with a servo motor 54, the rotating shaft of the servo motor 54 is fixedly provided with a central plate 53, two ends of the central plate 53 are rotatably connected with the other end of the connecting rod 55, two ends of the movable plate 58 are rotatably connected with a hydraulic cylinder 52, the end part of a shell of the hydraulic cylinder 52 is rotatably connected with the inner part of the connecting plate 51, the lower end of the clamping mechanism 5 is fixedly connected with the upper side of the movable table 3, the inner part of the movable table 3 is movably clamped in the outer side of the track 2, and the lower side of the track 2 is fixedly mounted with the upper side of the mounting plate 1.
The whole clamping mechanism 5 achieves the effects that the servo motor 54 is started, the servo motor 54 drives the center plate 53 to rotate by a certain angle, the connecting rods 55 at two ends are pulled towards the middle part, one connecting rod 55 pulls the middle part of the movable plate 58, meanwhile, the hydraulic cylinders 52 at the upper part and the lower part shrink, the movable rod parts of the hydraulic cylinders 52 pull the two ends of the movable plate 58 respectively, therefore, the upper, middle and lower three points of the movable plate 58 are pulled, the whole anti-falling mechanism 6 is uniformly stressed when clamping is guaranteed, the clamping is not easy to deform, the stability is improved, firm clamping is guaranteed, the movable plate 58 transmits the tensile force to the sliding clamps 59, the two sliding clamps 59 slide towards the middle part in the corresponding guide rails 57, the two sides move linearly, the two sides move equally, the anti-falling mechanism 6 is clamped, and the balanced stress and the stable movement towards the middle part of the movable plate 58 is realized through the clamping mechanism 5, so that the clamping force is provided for the anti-falling mechanism 6.
The application method and the working principle of the device are as follows: when the clamp of the transfer robot is used, the moving table 3 moves on the track 2 to reach a preset position, the transfer mechanical arm 4 moves, the anti-drop mechanism 6 is turned to a ninety degree horizontal state, the clamping mechanism 5 and the anti-drop mechanism 6 are driven to be close to products to be transferred, the products are positioned between two clamping plates 62, the servo motor 54 is started at the moment, the servo motor 54 drives the central plate 53 to rotate by a certain angle, the connecting rods 55 at two ends are pulled towards the middle part, one connecting rod 55 pulls the middle part of the moving plate 58, meanwhile, the hydraulic cylinders 52 at the upper part and the lower part shrink, the movable rod parts of the hydraulic cylinders 52 respectively pull the two ends of the moving plate 58, thereby the upper, the middle and the lower points of the moving plate 58 are pulled, the whole anti-drop mechanism 6 is uniformly stressed during clamping, the clamping device is not easy to deform, stability is improved, firm clamping is guaranteed, the moving plate 58 transmits pulling force to the sliding clamps 59, the two sliding clamps 59 slide towards the middle part in the corresponding guide rail 57, rectilinear movement is guaranteed, two sides move equally, the -shaped frames 61 on the two sides push the clamping plate 62 towards the middle part, the longer side length of the clamping plate 62 is vertical to the height of a product, meanwhile, the corners of the bottom plate 64 coincide with the straight line of the height of the product, the weight of the clamping plate 62 is lightened by the through holes 63, the product is clamped by the two clamping plates 62, then the carrying mechanical arm 4 moves, the clamping mechanism 5 and the anti-dropping mechanism 6 drive the product to rotate ninety degrees, the bottom plates 64 on the two sides support the product, the product is prevented from dropping in the process of clamping movement, and then the moving table 3 moves, so that carrying of the product is completed.
The present utility model is not limited to the above-mentioned embodiments, and any equivalent embodiments which can be changed or modified by the technical content disclosed above can be applied to other fields, but any simple modification, equivalent changes and modification made to the above-mentioned embodiments according to the technical substance of the present utility model without departing from the technical content of the present utility model still belong to the protection scope of the technical solution of the present utility model.
Claims (7)
1. The utility model provides a transfer robot's anchor clamps, includes mounting panel (1), track (2), mobile station (3) and transfer arm (4), its characterized in that: the front end fixedly connected with fixture (5) of transport arm (4), the opposite side fixedly connected with anti falling mechanism (6) of fixture (5), anti falling mechanism (6) are including shape frame (61), the one end fixedly connected with grip block (62) of shape frame (61), through-hole (63) have been seted up to the inside of grip block (62), the downside fixedly connected with bottom plate (64) of grip block (62), the other end fixedly connected with movable plate (58) of shape frame (61).
2. The clamp of a transfer robot of claim 1, wherein: the middle part of movable plate (58) rotates and is connected with connecting rod (55), the opposite side fixedly connected with slide clamp (59) of movable plate (58).
3. A clamp for a transfer robot according to claim 2, characterized in that: the sliding clamp is characterized in that a guide rail (57) is movably clamped in the other side of the sliding clamp (59), and an extension rod (56) is fixedly connected to the other side of the guide rail (57) through a bolt.
4. A clamp for a transfer robot according to claim 3, characterized in that: the other side of extension rod (56) fixedly connected with connecting plate (51), servo motor (54) are fixed mounting in the middle part of connecting plate (51).
5. The carrier robot clamp of claim 4, wherein: the rotating shaft of the servo motor (54) is fixedly provided with a central plate (53), and two ends of the central plate (53) are rotatably connected with the other end of the connecting rod (55).
6. The transfer robot clamp of claim 5, wherein: the two ends of the moving plate (58) are rotatably connected with hydraulic cylinders (52), and the shell ends of the hydraulic cylinders (52) are rotatably connected with the inside of the connecting plate (51).
7. The clamp of a transfer robot of claim 1, wherein: the lower end of the clamping mechanism (5) is fixedly connected with the upper side of the mobile station (3), the inside of the mobile station (3) is movably clamped with the outer side of the rail (2), and the lower side of the rail (2) is fixedly installed with the upper side of the mounting plate (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321746669.6U CN220316509U (en) | 2023-07-05 | 2023-07-05 | Clamp of transfer robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321746669.6U CN220316509U (en) | 2023-07-05 | 2023-07-05 | Clamp of transfer robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN220316509U true CN220316509U (en) | 2024-01-09 |
Family
ID=89416176
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321746669.6U Active CN220316509U (en) | 2023-07-05 | 2023-07-05 | Clamp of transfer robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN220316509U (en) |
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2023
- 2023-07-05 CN CN202321746669.6U patent/CN220316509U/en active Active
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