CN2789192Y - Unstacker robot suction disc clamp with auxiliary clasp - Google Patents
Unstacker robot suction disc clamp with auxiliary clasp Download PDFInfo
- Publication number
- CN2789192Y CN2789192Y CN 200520022230 CN200520022230U CN2789192Y CN 2789192 Y CN2789192 Y CN 2789192Y CN 200520022230 CN200520022230 CN 200520022230 CN 200520022230 U CN200520022230 U CN 200520022230U CN 2789192 Y CN2789192 Y CN 2789192Y
- Authority
- CN
- China
- Prior art keywords
- auxiliary
- robot
- folder
- embracing
- working
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to an unstacker robot suction disc clamp with auxiliary clasps, which comprises a joint (1) connected with a robot device, a working arm (2), a working disc connected with the working arm (2) and a main suction disc (4) arranged on the end face at the bottom of the working disc. The utility model is characterized in that the side faces of the working disc (3) are symmetrically provided with the auxiliary clasps (5); a connection box (6) of the auxiliary clasps is connected with operating cables of the robot. Because the auxiliary clasps are arranged on both symmetrical side faces of the working disc, after the main suction disc on the end face at the bottom of the working disc absorbs the top surface of a box piece, the action of the robot operating cables makes the auxiliary clasps extend from both side faces of the box piece to clamp the side faces of the box piece in a time difference of upward lifting. Auxiliary suction discs arranged at the terminal ends of arm rods of the auxiliary clasps tightly adsorb both the side faces of the box piece, and although the working arm of the robot moves at the operational speed of plate height, the box piece can not fall off. The utility model on the basis of ensuring the box piece not falling on the ground has the advantages that the operational speed of the working arm of the robot is improved, and thus, the work efficiency of material circulation conveying is improved.
Description
Technical field: the utility model belongs in unstacking robot sucker clamp structure technology, the especially logistics piles up neatly the robot sucker clamp structure technical field of disassembling to the part case with the finished product case.
Background technology: the buttress of the finished product case on the frame is disassembled in the supporting logistics conveyer system of de-stacking in existing application and to be the part case, so that entrucking is sent defeated, be to place situation according to the part case of finished product case buttress, that utilizes robot once draws two horizontal spare case, directly be put into part case roller path with horizontal, upright case is then with after drawing three, two two kinds different de-stacking modes each time and taking out, each case, be positioned on the Pour-out chest machine structure, with upright case overturning is the part case that level crouches, deliver on the part case conveyer, this mode is at present that many cigar mills use.
Unstacking robot anchor clamps existing design is meant from comprising working arm below the joint of robot and be connected scratch diskette on the working arm, and a kind of like this structure of being made up of three parts of sucker that is arranged on the scratch diskette bottom surface.Sucker is controlled by vacuum generator and vacuum control valve, and the effect of sucker is to adsorb case spare by producing negative pressure at the end face of case spare, is lifted by the robot working arm then, rotates, is placed on the conveyer of part case.This mode that sucker is set in the scratch diskette bottom surface can only hold the end face of case spare, cause this mode relatively to be easy to generate case, therefore, need the operating speed of control robot, reduce and fall case, although reduced the operating speed of robot, the case problem still often appears falling, both influenced the homogeneity that conveyer send case because of falling case easily, and caused again making the interior product of case spare impaired, still reduced the work efficiency that logistics is carried because reduce the operating speed of robot because of falling case.
Summary of the invention: the purpose of this utility model provides a kind of part case of guaranteeing that scratch diskette can not adsorb case in order to restrain with above-mentioned the deficiencies in the prior art part just, and can accelerate robot working arm operating speed, improve the auxiliary unstacking robot sucker anchor clamps of embracing folder of band of logistics transport efficiency.
The purpose of this utility model is achieved through the following technical solutions.Be symmetrically arranged with the auxiliary folder of embracing in the side of scratch diskette, this auxiliary connection box of folder and manipulation cable connection of robot embraced; The auxiliary folder of embracing is formed by connecting by the shaft coupling joint by wing bar and armed lever; The wing rod head end is connected the side of scratch diskette; Be provided with auxilliary sucker at the armed lever end; The auxiliary quantity of embracing folder that the utility model is arranged on the scratch diskette side is 1～4.
Because the auxiliary folder of embracing is arranged on scratch diskette symmetry two sides, after the main sucker of scratch diskette bottom face adsorbs the end face of case spare, effect by robot manipulation cable in a time difference of last act makes the auxiliary folder of embracing from two side semi-girders of case spare case spare side be clamped, be arranged on the two sides that the auxiliary auxilliary sucker of embracing jig arm bar end adsorbs case spare tightly, even the working arm of robot is with the operating speed motion of plate hight, case spare can not come off yet.The utility model is being guaranteed case spare, can not fall on the basis of case, has improved the operating speed of robot working arm, thereby has improved the work efficiency that logistics is carried greatly.Further set forth the utility model content below in conjunction with Figure of description and embodiment
Description of drawings: Fig. 1 be the utility model robot from the joint following structural representation;
Fig. 2 is Fig. 1 schematic side view.
The specific embodiment: the auxiliary folder 5 of embracing adopts the metal bin structure to be connected the side of scratch diskette 3 by mechanical connection manner, be symmetric arrangement, should an auxiliary electricity of embracing folder 5 control connection box and be arranged on the scratch diskette 3, by electrical connector and robot from the interior manipulation cable connection of working arm 2.Auxiliary quantity of embracing folder 5 is provided with according to auxilliary folder power, usually case spare 11 of folder will be provided with two auxiliary folders 5 of embracing, if scratch diskette 3 is single-piece assembly set anchor clamps, then all want the auxiliary folder of embracing of relative set 1-4 in every scratch diskette side of a case spare of clamping that needs, for example, for the scratch diskette of two or three upright casees of sticking, then to each upright case 1-4 the auxiliary folder of embracing to be set all, to play the auxiliary effect that clamps in the side of scratch diskette.Present embodiment adopts the auxiliary folder number of embracing to each case spare to be set to two, is the scheme drawing of two upright casees of scratch diskette sticking as Fig. 1, Fig. 2.1 promptly common the 6th alleged joint, joint of robot, 1 time bonded assembly is a working arm 2 in the joint, at 2 times bonded assemblys of working arm are scratch diskettes 3, what be provided with in the bottom surface of scratch diskette is main sucker 4, main sucker 4 is to produce negative pressure by vacuum generator, embodiment of the present utility model presss from both sides the side that 5 symmetries are connected scratch diskette 3 with four pairs of auxiliary embracing, and the position specifically is set determines according to a box sizes of embracing folder.Auxiliary structure of embracing folder 5 is become by shaft coupling joint 9 joint faces with armed lever 8 by wing bar 7, the head end of wing bar 7 is connected the side of scratch diskette 3, end at armed lever 8 is provided with auxilliary sucker 10, the whole auxiliary conventional robot of employing of controlling of embracing folder 5 is controlled, its auxiliary connection box 6 of embracing folder 5 is arranged on the scratch diskette 3, this connection box 6 is the manipulation cable connection by socket and robot again, need only simply compile in advance the executive routine software of embracing folder 5 to auxiliary on the manipulation computer of original robot, the auxiliary folder 5 of embracing that just can control smoothly on the scratch diskette 3 is carried out the auxiliary clamping action of setting.Auxiliary structure of embracing folder is the normal robot arm configuration that adopts, and also arm can be adopted as the structure of a single lever-type, but the motion space that the single lever-type structure takies is big, and structure is not compact yet, so present embodiment adopts common double rod type structure.
Concrete mode of operation is, when scratch diskette 3 adsorbs case spare 11, in the last time difference of lifting certain altitude, allowed auxiliary folder 5 work of embracing, the auxiliary folder 5 embraced is down embraced at wing bar 7 and by opening of shaft coupling joint 9 bonded assembly armed levers 8 under folder moves, embrace the side of clamping case spare 11, make the auxilliary sucker 10 that is arranged on the armed lever 8 hold case spare 11 firmly, hold case spare, make the case spare case that can not come off with main sucker 4 folders.
Claims (3)
1, the auxiliary unstacking robot sucker anchor clamps of embracing folder of band, relate to a kind of robot grip device of in logistics transportation, the buttress of the finished product case on the pallet being disassembled to the part case, it includes joint (1), the working arm (2) that is connected with the robot device and is connected scratch diskette (3) on the working arm (2), and the main sucker (4) that is arranged on the scratch diskette bottom face, it is characterized in that, be symmetrically arranged with the auxiliary folder (5) of embracing in the side of scratch diskette (3), this auxiliary connection box (6) of folder and manipulation cable connection of robot embraced.
2, anchor clamps according to claim 1 is characterized in that, the auxiliary folder (5) of embracing is formed by connecting by shaft coupling joint (9) by wing bar (7) and armed lever (8); Wing bar (7) head end is connected the side of scratch diskette (3); Be provided with auxilliary sucker or rubber fixture block (10) at armed lever (8) end.
3, anchor clamps according to claim 1, the auxiliary quantity of embracing folder (5) that it is characterized in that being arranged on scratch diskette (3) side is 1～4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520022230 CN2789192Y (en) | 2005-01-26 | 2005-01-26 | Unstacker robot suction disc clamp with auxiliary clasp |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200520022230 CN2789192Y (en) | 2005-01-26 | 2005-01-26 | Unstacker robot suction disc clamp with auxiliary clasp |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2789192Y true CN2789192Y (en) | 2006-06-21 |
Family
ID=36789525
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200520022230 Expired - Fee Related CN2789192Y (en) | 2005-01-26 | 2005-01-26 | Unstacker robot suction disc clamp with auxiliary clasp |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2789192Y (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102335919A (en) * | 2011-07-22 | 2012-02-01 | 浙江省电力公司 | Robotic clamp simultaneously suitable for mutual inductor and carton |
| CN102874595A (en) * | 2012-11-01 | 2013-01-16 | 宁波摩科机器人科技有限公司 | Combined type material picking hand device |
| CN103264397A (en) * | 2013-06-05 | 2013-08-28 | 南通通用机械制造有限公司 | Multifunctional robot palletizer gripper |
| CN103538055A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm suitable for various parts |
| CN103541986A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Sucking disc for stably moving threaded rods |
| CN103708159A (en) * | 2013-12-31 | 2014-04-09 | 昆明昆船物流信息产业有限公司 | Storing and distributing integrated process and system based on tray storage three-dimensional bank |
| CN104555467A (en) * | 2014-12-22 | 2015-04-29 | 广东科伦药业有限公司 | Destacking equipment for bags |
| CN105599929A (en) * | 2016-01-19 | 2016-05-25 | 苏州诚亭自动化设备有限公司 | Automated lifting device of plastic recycling and box filling machine |
| CN105858206A (en) * | 2016-05-06 | 2016-08-17 | 滁州市可欣机械科技有限公司 | Box holding manipulator |
| CN106477336A (en) * | 2016-11-28 | 2017-03-08 | 广州达意隆包装机械股份有限公司 | A kind of sucker clamp |
-
2005
- 2005-01-26 CN CN 200520022230 patent/CN2789192Y/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102335919A (en) * | 2011-07-22 | 2012-02-01 | 浙江省电力公司 | Robotic clamp simultaneously suitable for mutual inductor and carton |
| CN102335919B (en) * | 2011-07-22 | 2013-12-04 | 浙江省电力公司 | Robotic clamp simultaneously suitable for mutual inductor and carton |
| CN102874595A (en) * | 2012-11-01 | 2013-01-16 | 宁波摩科机器人科技有限公司 | Combined type material picking hand device |
| CN103264397A (en) * | 2013-06-05 | 2013-08-28 | 南通通用机械制造有限公司 | Multifunctional robot palletizer gripper |
| CN103264397B (en) * | 2013-06-05 | 2015-07-29 | 南通通机股份有限公司 | Multifunctional robot palletizer gripper |
| CN103538055A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Mechanical arm suitable for various parts |
| CN103541986A (en) * | 2013-09-29 | 2014-01-29 | 昆山中士设备工业有限公司 | Sucking disc for stably moving threaded rods |
| CN103708159A (en) * | 2013-12-31 | 2014-04-09 | 昆明昆船物流信息产业有限公司 | Storing and distributing integrated process and system based on tray storage three-dimensional bank |
| CN104555467A (en) * | 2014-12-22 | 2015-04-29 | 广东科伦药业有限公司 | Destacking equipment for bags |
| CN105599929A (en) * | 2016-01-19 | 2016-05-25 | 苏州诚亭自动化设备有限公司 | Automated lifting device of plastic recycling and box filling machine |
| CN105858206A (en) * | 2016-05-06 | 2016-08-17 | 滁州市可欣机械科技有限公司 | Box holding manipulator |
| CN106477336A (en) * | 2016-11-28 | 2017-03-08 | 广州达意隆包装机械股份有限公司 | A kind of sucker clamp |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2789192Y (en) | Unstacker robot suction disc clamp with auxiliary clasp | |
| CN106002161B (en) | Electronic drain valve core kludge | |
| CN205771904U (en) | A kind of packaging bag handgrip | |
| CN204160486U (en) | For the vacuum type mechanical grip hand of robot for carrying and piling | |
| CN104526707B (en) | A kind of robotic end picks up machine | |
| CN209988688U (en) | Clamping mechanism capable of effectively preventing turnover box from shaking | |
| CN206456961U (en) | A kind of heavy lift robot | |
| CN217457873U (en) | Automatic stacking device for blanking | |
| CN205928390U (en) | Gripper and battery pack equipment | |
| CN202015645U (en) | Feeding device of milling machine | |
| CN206394975U (en) | Carton is put into wound packages and using the box gluing machine of the device | |
| CN209721008U (en) | A kind of stack robot manipulator that briquetting is high-efficient | |
| CN202508742U (en) | Sucker device | |
| CN112917420A (en) | Fork truck semi-axis assembly jig | |
| CN216271884U (en) | Manipulator clamp of stacking robot | |
| CN208811948U (en) | A kind of both ends clamping device | |
| CN205552339U (en) | Clamping tooling | |
| CN206218760U (en) | One kind upset blanking device | |
| CN216189181U (en) | Plastic slab loading attachment | |
| CN205953059U (en) | Be applied to integrated device that carton was broken a jam and is carried | |
| CN205467559U (en) | Become pack of paper case air clamper | |
| CN203998097U (en) | A kind of self-balancing ceramic tile grabbing device | |
| CN206811414U (en) | A kind of erecting device of motor shaft | |
| CN208747126U (en) | A kind of grip(per) feed mechanism | |
| CN210191969U (en) | Opening device for automatic bag feeding of robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |