CN103737606A - Mechanical claw for robot palletizer - Google Patents
Mechanical claw for robot palletizer Download PDFInfo
- Publication number
- CN103737606A CN103737606A CN201310718829.0A CN201310718829A CN103737606A CN 103737606 A CN103737606 A CN 103737606A CN 201310718829 A CN201310718829 A CN 201310718829A CN 103737606 A CN103737606 A CN 103737606A
- Authority
- CN
- China
- Prior art keywords
- connecting rod
- plate
- robot palletizer
- mechanical paw
- mounting base
- 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.)
- Granted
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention provides a mechanical claw for a robot palletizer. The mechanical claw for the robot palletizer comprises an installation base plate, a connecting flange, a position retaining device and a plurality of gripping devices; an air cylinder driving device is arranged on the installation base plate; the connecting flange which faces to the installation base plate is fixedly connected with an mechanical arm; the position retaining device which is arranged between the installation base plate and the connecting flange comprises an upper plate, a lower plate which is connected with the air cylinder driving device and a height adjusting block which is arranged between the upper plate and the lower plate; every gripping device comprises a lateral plate which is arranged between the installation base plate and the connecting flange, a first connecting rod, a second connecting rod and a connecting rod finger; one ends of the first connecting rod and the second connecting rod are connected with the lateral plate and the other ends are connected with a finger connecting plate; the connecting rod finger is arranged at the lower end of the finger connecting plate. The mechanical claw for the robot palletizer has the advantages of being high in palletizing efficiency and accurate in palletizing position due to the fact the mechanical claw which can self-adaptively perform centralized positioning can transport and palletize objects from the axis direction of cylindrical objects.
Description
Technical field
The present invention relates to pack the technical field of transloading equipment, particularly a kind of robot palletizer mechanical paw.
Background technology
In recent years, along with enterprise's production automation degree is more and more higher, the application of robot palletizer is more and more general, and supporting stacking robot claw also develops rapidly with it.But existing mechanical paw mostly is rigidity gripping-type paw, fragile piling body surface, the self adaptation of mechanical paw itself is poor, locates inaccurately, controls loaded down with trivial details.
In addition, traditional gripping-type paw is suitable for capturing the regular piling objects such as similar carton, but be difficult in axial direction to capture transhipment for columned piling object, puts object with axial direction piling.During the cylindric object of while piling, can not accurately find the center of cylindric object, cause the inaccurate of piling, decrease in efficiency.
Obviously, existing mechanical paw can not meet at a high speed the requirement of transhipment and the cylindric object of piling accurately, poor reliability.
Summary of the invention
The features and advantages of the present invention are partly statement in the following description, or can describe obviously from this, or can learn by putting into practice the present invention.
For overcoming the problem of prior art, the invention provides a kind of robot palletizer mechanical paw, comprising: mounting base, which is provided with cylinder driver; Adpting flange, relative with this mounting base, for being fixedly connected with mechanical arm; Position holding device, between this mounting base and adpting flange, comprises upper plate, the lower plate being connected with this cylinder driver and is arranged on the height regulating block between this upper plate and lower plate; A plurality of grabbing devices, each this grabbing device comprises: side plate, is arranged between this mounting base and adpting flange; Head rod and the second connecting rod, its one end is connected with this side plate, and the other end is connected with finger connecting plate; Connecting rod is pointed, and is positioned at the lower end of this finger connecting plate.
According to one embodiment of present invention, also comprise buffering grabbing device, be arranged on this mounting base.
According to one embodiment of present invention, this first connecting rod and second connecting rod are bolted the middle part at this side plate.
According to one embodiment of present invention, this connecting rod is connected with this finger connecting plate by bolt with second connecting rod.
According to one embodiment of present invention, also comprise without oily lining, with this bolt jointly for being connected.
According to one embodiment of present invention, this first connecting rod and this second connecting rod be arranged in parallel.
According to one embodiment of present invention, the end of this connecting rod finger is provided with polyurethane joint.
According to one embodiment of present invention, at the front end of this first connecting rod, be also provided with follower, this follower is between the upper plate and lower plate of this position holding device.
According to one embodiment of present invention, this cylinder driver comprise the cylinder that is arranged on this mounting base, cylinder piston rod and and floating junction, one end of floating junction is connected with the lower plate of this position holding device, the other end is connected with this cylinder piston rod.
According to one embodiment of present invention, also comprise that wherein one end of this axis of guide is connected with this adpting flange by the axis of guide and the guider that forms without oily lining, the other end is connected with this mounting base; This is connected with the lower plate in this position holding device without oily lining.
Robot palletizer provided by the invention is applicable to capture cylindrical object with mechanical paw, control simple, only need a cylinder driver just can drive three finger while foldings of grabbing device, to compare the scope of application wider with traditional gripping-type mechanical paw simultaneously, and versatility is higher.This invention mechanical gripper does not damage the surface of crawled thing, and in addition, this paw can self adaptation centralized positioning, can make piling efficiency high from the transhipment of cylindrical object axis direction and piling object, and piling position is accurate.
By reading description, those of ordinary skills will understand feature and the content of these technical schemes better.
Accompanying drawing explanation
Below by describing particularly the present invention with reference to accompanying drawing and in conjunction with example, advantage of the present invention and implementation will be more obvious, wherein content shown in accompanying drawing is only for explanation of the present invention, and do not form the restriction of going up in all senses of the present invention, in the accompanying drawings:
Fig. 1 is the structural representation of mechanical paw for the robot palletizer of the embodiment of the present invention.
Fig. 2 is the upward view of mechanical paw for the robot palletizer of the embodiment of the present invention.
The specific embodiment
As shown in Figure 1 and Figure 2, the invention provides a kind of robot palletizer mechanical paw, comprising: mounting base 20, which is provided with cylinder driver 21; Adpting flange 10, relative with mounting base 20, for being fixedly connected with mechanical arm; Position holding device 30, between mounting base 20 and adpting flange 10, comprises upper plate 31, the lower plate 32 being connected with this cylinder driver 21 and is arranged on the height regulating block 33 between this upper plate 31 and lower plate 32; A plurality of grabbing devices 40, each grabbing device 40 comprises: side plate 41, is arranged between mounting base 20 and adpting flange 10; Head rod 42 and the second connecting rod 43, its one end is connected with side plate 41, and the other end is connected with finger connecting plate 44; Connecting rod finger 45, is positioned at the lower end of this finger connecting plate 44, points 45 end be provided with polyurethane joint 46 at this connecting rod.
In the present embodiment, comprise 3 grabbing devices 40, first connecting rod 42 in those grabbing devices 40 is bolted the middle part at side plate 41 with one end of second connecting rod 43, the other end is connected with finger connecting plate 44 by bolt, in order to reach better effect, can adopt without oily lining, with bolt jointly for being connected.Above-mentioned first connecting rod 42 be arranged in parallel with second connecting rod 43, and it can form parallel-crank mechanism with side plate 41, finger connecting plate 44.Front end at first connecting rod 42 is also provided with follower 34, and this follower 34 is between the upper plate 31 and lower plate 32 of position holding device 30.
In addition, also comprise that wherein one end of this axis of guide 51 is connected with adpting flange 10 by the axis of guide 51 and the guider that forms without oily lining 52, the other end is connected with mounting base 20; This is connected with the lower plate 32 in position holding device without oily lining 52.
In the specific implementation, cylinder driver 21 can comprise: be arranged at cylinder, cylinder piston rod and floating junction on mounting base 20, wherein one end of floating junction and the lower plate of position holding device 32 are connected, and the other end is connected with cylinder piston rod.Moving up and down of the activation point holding device 30 that moves up and down by cylinder, is at this moment clipped in the parallel that followers 34 in the middle of position holding device 30 will drive grabbing device 40.
Specifically state down the working method of mechanical paw for above-mentioned robot palletizer:
Suppose that robot palletizer control mechanical paw is directly over object, now cylinder driver 21 control cylinder piston rods move down, activation point holding device 30 moves down, and the follower 34 being clipped in position holding device 30 moves downward, and drives grabbing device 40 to open; Then controlling mechanical paw declines, when described grabbing device 40 touches crawled object, on cylinder driver 21 control cylinder piston rods, move, activation point holding device 30 moves up, and the follower 34 being clipped in position holding device 30 moves upward, drive grabbing device 40 closures, crawl, by piling object, is controlled mechanical arm carrying piling object and is placed on stacking pallet, and cylinder driver 21 is controlled grabbing device 40 and opened, put down crawled object, complete piling task.
Robot palletizer mechanical paw in the present invention, simple in structure, easy operating is controlled, and this robot palletizer can self adaptation centralized positioning with mechanical paw, there is highly versatile, piling position is accurate, reliability is high, transport efficacy is high, rational in infrastructure, convenient dirty and debugging, cost economic dispatch advantage.
With reference to the accompanying drawings of the preferred embodiments of the present invention, those skilled in the art do not depart from the scope and spirit of the present invention above, can have multiple flexible program to realize the present invention.For example, the feature that illustrates or describe as the part of an embodiment can be used for another embodiment to obtain another embodiment.These are only the better feasible embodiment of the present invention, not thereby limit to interest field of the present invention, the equivalence that all utilizations description of the present invention and accompanying drawing content are done changes, within being all contained in interest field of the present invention.
Claims (10)
1. a robot palletizer mechanical paw, is characterized in that, comprising:
Mounting base, which is provided with cylinder driver;
Adpting flange, relative with described mounting base, for being fixedly connected with mechanical arm;
Position holding device, between described mounting base and adpting flange, comprises upper plate, the lower plate being connected with described cylinder driver and is arranged on the height regulating block between described upper plate and lower plate;
A plurality of grabbing devices, described in each, grabbing device comprises: side plate, is arranged between described mounting base and adpting flange; Head rod and the second connecting rod, its one end is connected with described side plate, and the other end is connected with finger connecting plate; Connecting rod is pointed, and is positioned at the lower end of described finger connecting plate.
2. robot palletizer mechanical paw according to claim 1, is characterized in that, also comprises buffering grabbing device, is arranged on described mounting base.
3. robot palletizer mechanical paw according to claim 1, is characterized in that, described first connecting rod and second connecting rod are bolted the middle part at described side plate.
4. robot palletizer mechanical paw according to claim 1, is characterized in that, a described connecting rod is connected with described finger connecting plate by bolt with second connecting rod.
5. according to the robot palletizer mechanical paw described in claim 3 or 4, it is characterized in that, also comprise without oily lining, with described bolt jointly for being connected.
6. robot palletizer mechanical paw according to claim 1, is characterized in that, described first connecting rod and described second connecting rod be arranged in parallel.
7. robot palletizer mechanical paw according to claim 1, is characterized in that, the end of described connecting rod finger is provided with polyurethane joint.
8. robot palletizer mechanical paw according to claim 1, is characterized in that, at the front end of described first connecting rod, is also provided with follower, and described follower is between the upper plate and lower plate of described position holding device.
9. robot palletizer mechanical paw according to claim 1, it is characterized in that, described cylinder driver comprises cylinder, cylinder piston rod and the floating junction being arranged on described mounting base, described floating junction one end is connected with the lower plate of described position holding device, and the other end is connected with described cylinder piston rod.
10. robot palletizer mechanical paw according to claim 1, is characterized in that, also comprises that one end of the wherein said axis of guide is connected with described adpting flange by the axis of guide and the guider that forms without oily lining, and the other end is connected with described mounting base; Describedly without oily lining, be connected with the lower plate in described position holding device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310718829.0A CN103737606B (en) | 2013-12-24 | 2013-12-24 | A kind of Mechanical claw for robot palletizer |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310718829.0A CN103737606B (en) | 2013-12-24 | 2013-12-24 | A kind of Mechanical claw for robot palletizer |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103737606A true CN103737606A (en) | 2014-04-23 |
| CN103737606B CN103737606B (en) | 2017-01-04 |
Family
ID=50494708
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310718829.0A Expired - Fee Related CN103737606B (en) | 2013-12-24 | 2013-12-24 | A kind of Mechanical claw for robot palletizer |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103737606B (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
| CN107717969A (en) * | 2017-10-19 | 2018-02-23 | 东莞新友智能科技有限公司 | A kind of multistation deformed insertion actuating station based on SCARA robots |
| CN108247613A (en) * | 2018-02-12 | 2018-07-06 | 上海发那科机器人有限公司 | A kind of both hands pawl |
| CN108608446A (en) * | 2018-04-28 | 2018-10-02 | 上海发那科机器人有限公司 | A kind of oil pump casing machining three paw device of transfer robot |
| CN111941448A (en) * | 2020-07-18 | 2020-11-17 | 中国船舶重工集团公司第七一六研究所 | Forging robot under-rank connecting rod end effector |
| CN112518789A (en) * | 2019-09-18 | 2021-03-19 | 奥腾工业自动化(廊坊)有限公司 | Linkage assembly for attaching a tool to a robotic device |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3144947A (en) * | 1961-06-29 | 1964-08-18 | Ibm | Mechanical object manipulator |
| US4569549A (en) * | 1983-02-28 | 1986-02-11 | Fanuc Limited | Robot hand for industrial robots |
| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| CN201720849U (en) * | 2010-05-14 | 2011-01-26 | 上海普莱克斯自动设备制造有限公司 | Cylinder built-in three-jaw hand grip |
| CN103213122A (en) * | 2013-04-23 | 2013-07-24 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN203611256U (en) * | 2013-12-24 | 2014-05-28 | 衢州中科数字化工程技术有限公司 | Mechanical gripper for industrial robot |
-
2013
- 2013-12-24 CN CN201310718829.0A patent/CN103737606B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3144947A (en) * | 1961-06-29 | 1964-08-18 | Ibm | Mechanical object manipulator |
| US4569549A (en) * | 1983-02-28 | 1986-02-11 | Fanuc Limited | Robot hand for industrial robots |
| CN2629928Y (en) * | 2003-07-24 | 2004-08-04 | 李威 | Aluminium alloy head auto-cooling manipulator |
| CN201720849U (en) * | 2010-05-14 | 2011-01-26 | 上海普莱克斯自动设备制造有限公司 | Cylinder built-in three-jaw hand grip |
| CN103213122A (en) * | 2013-04-23 | 2013-07-24 | 上海大学 | Mechanical grabbing hand based on synchronous double-connecting-rod centering moving mechanism |
| CN203611256U (en) * | 2013-12-24 | 2014-05-28 | 衢州中科数字化工程技术有限公司 | Mechanical gripper for industrial robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965177A (en) * | 2017-03-31 | 2017-07-21 | 厦门理工学院 | A kind of robot for being used to assemble damper |
| CN107053229A (en) * | 2017-05-22 | 2017-08-18 | 佛山科学技术学院 | A kind of mechanical paw |
| CN107717969A (en) * | 2017-10-19 | 2018-02-23 | 东莞新友智能科技有限公司 | A kind of multistation deformed insertion actuating station based on SCARA robots |
| CN108247613A (en) * | 2018-02-12 | 2018-07-06 | 上海发那科机器人有限公司 | A kind of both hands pawl |
| CN108247613B (en) * | 2018-02-12 | 2024-01-23 | 上海发那科机器人有限公司 | Double-hand claw |
| CN108608446A (en) * | 2018-04-28 | 2018-10-02 | 上海发那科机器人有限公司 | A kind of oil pump casing machining three paw device of transfer robot |
| CN108608446B (en) * | 2018-04-28 | 2024-05-28 | 上海发那科机器人有限公司 | Three-paw device of oil pump shell machining transfer robot |
| CN112518789A (en) * | 2019-09-18 | 2021-03-19 | 奥腾工业自动化(廊坊)有限公司 | Linkage assembly for attaching a tool to a robotic device |
| CN111941448A (en) * | 2020-07-18 | 2020-11-17 | 中国船舶重工集团公司第七一六研究所 | Forging robot under-rank connecting rod end effector |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103737606B (en) | 2017-01-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203611256U (en) | Mechanical gripper for industrial robot | |
| CN103737606A (en) | Mechanical claw for robot palletizer | |
| US11446824B2 (en) | Palletizing control device, system and method and storage medium | |
| CN103318652B (en) | Mechanical claw for robot palletizer | |
| JP4182074B2 (en) | Hand and handling robot | |
| CN203033461U (en) | Mechanical arm claw for robot palletizer | |
| CN204505276U (en) | The handling system of robot palletizer | |
| CN103802101A (en) | Pneumatic adjustable clamping plate type mechanical gripper for stacking robot | |
| CN203125516U (en) | Pneumatic adjustable clamping plate type manipulator claw used for stacking robot | |
| CN106607925A (en) | Novel garbage disposal manipulator system and intelligent control method thereof | |
| RU2013146551A (en) | SUSPENDED ROBOTIC SYSTEM AND METHOD OF ITS WORK | |
| CN103224142A (en) | Automatic workpiece basketing and transmitting system | |
| CN101554728A (en) | Mechanical paw device of robot | |
| CN103129975B (en) | A kind of robot palletizer and control method thereof | |
| CN205471558U (en) | Snatch machine of carrying that moves | |
| CN110654828B (en) | Automatic glass bottle grabbing and overturning equipment and using method thereof | |
| US20220219317A1 (en) | Robotic system with gripping mechanism | |
| CN202662661U (en) | Light-emitting diode (LED) chip support transferring device applied to LED die bonder | |
| CN203922101U (en) | A kind of carton palletizing mechanical arm fixture | |
| CN202670761U (en) | Automatic stacking device for mechanical arms | |
| CN206939620U (en) | The pallet paw structure of stacking machine | |
| CN204210835U (en) | Automatic transferring mechanism in logistics poster process | |
| CN103112723A (en) | Automatic stacking device for wall bricks | |
| CN207107825U (en) | A kind of blanking palletizing apparatus for drum production | |
| CN102699745B (en) | Self-adaptive manipulating arm device for change of positioning center and height of workpiece |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170104 Termination date: 20211224 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |