CN106946048A - A kind of pneumatic stacking twin tong applied to robot - Google Patents
A kind of pneumatic stacking twin tong applied to robot Download PDFInfo
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- CN106946048A CN106946048A CN201710340579.XA CN201710340579A CN106946048A CN 106946048 A CN106946048 A CN 106946048A CN 201710340579 A CN201710340579 A CN 201710340579A CN 106946048 A CN106946048 A CN 106946048A
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- regulation
- sleeve pipe
- cylinder
- pipe
- outer tube
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G61/00—Use of pick-up or transfer devices or of manipulators for stacking or de-stacking articles not otherwise provided for
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Abstract
The present invention proposes a kind of pneumatic stacking twin tong applied to robot, including front and rear upper fixture, left and right lower clamp and main body frame, front and rear upper fixture includes sliding way sleeve pipe I, sliding way sleeve pipe II, the first cylinder I, the first cylinder II, upper clamp assemblies I and upper clamp assemblies II；Left and right lower clamp includes glide path sleeve pipe I, glide path sleeve pipe II, the second cylinder I, the second cylinder II, lower clamp assemblies I and lower clamp assemblies II.The pneumatic stacking single clip of the present invention has reasonable in design, compact conformation, the clamp for stacking of robot is supported the use with robot, due to being provided with two pairs of clamp assemblies and two pairs of cylinder assemblies in pneumatic stacking single clip tool, thing block can simultaneously or be alternatively clamped on fore-and-aft direction and left and right directions, the shackle being fixed on ring frame is drawn by staight shank single hook simultaneously, and by being embedded in the adjustable handrail in the channel-section steel pipe on main body frame come precise vernier adjustment manipulation angle, realize and charging and release discharging are precisely clamped to thing block.
Description
Technical field
The present invention relates to a kind of pneumatic stacking twin tong applied to robot, for being supported the use with robot, especially
Suitable for case class, building block, brick and tile blank vanning and stacking.
Background technology
At present, brickmaking industry stacking machine volume is big, complex structure, and operation not enough facilitates, low production efficiency, particularly stacking
The clamp for stacking of robot lacks parting fixture, and a set of blank distributing mechanism need to be set on adobe production line, by pallet, point base gas
Cylinder, balladeur train, bearing support, eccentric shaft, gear, lifting set, tooth bar, slide rail, conduction chain, lift cylinder etc. are constituted, complex structure,
Volume is larger, and operation not enough facilitates, and in robot stacking, need to first divide base, refills bucket dress stacking, and production efficiency is not high.
The content of the invention
In order to solve above-mentioned technical problem, a kind of simple in construction, manipulation of the present invention is convenient applied to the pneumatic of robot
Stacking twin tong.
To achieve the above object, present invention employs following technical scheme：
The present invention proposes a kind of pneumatic stacking twin tong applied to robot, including front and rear upper fixture, left and right lower clamp
And main body frame, wherein：Upper fixture includes sliding way sleeve pipe I, sliding way sleeve pipe II, the first cylinder I, the first cylinder before and after described
IIth, upper clamp assemblies I and upper clamp assemblies II；The left and right lower clamp includes glide path sleeve pipe I, glide path sleeve pipe II, second
Cylinder I, the second cylinder II, lower clamp assemblies I and lower clamp assemblies II；The sliding way sleeve pipe I, sliding way sleeve pipe II, downslide
Road sleeve pipe I and glide path sleeve pipe II are fixedly mounted on main body frame, and the glide path sleeve pipe I and glide path sleeve pipe
II is located at sliding way sleeve pipe I and the lower section of sliding way sleeve pipe II；
It is arranged in parallel between the sliding way sleeve pipe I and sliding way sleeve pipe II, glide path sleeve pipe I and glide path sleeve pipe
It is arranged in parallel between II, it is arranged in a mutually vertical manner between sliding way sleeve pipe I and glide path sleeve pipe I；I.e. sliding way sleeve pipe II with
It is arranged in a mutually vertical manner between glide path sleeve pipe II；It is reversed between the cylinder II of first cylinder I and first, and the first cylinder
I is respectively and fixedly installed to the different both sides of main body frame with the first cylinder II, and the cylinder II of the first cylinder I and first is arranged on
Between slideway sleeve pipe I and sliding way sleeve pipe II；Axis where the elastic direction of motion of First piston bar I on first cylinder I
It is identical with axis where the elastic direction of motion of First piston bar II on the first cylinder II；
The upper clamp assemblies I include the first upper connecting rod I, the second upper connecting rod I, the first train wheel bridge support I, first and adjust outer
The regulation of sleeve pipe I, first embedded pipe I, the first train wheel bridge I and the first suspension ring bearing pin I, wherein：First upper connecting rod I and the second upper connecting rod
I is fixedly mounted on the first train wheel bridge support I, and arranged in parallel between the first upper connecting rod I and the second upper connecting rod I, the
One upper connecting rod I is embedded in sliding way sleeve pipe I and can be embedded in the sliding connection of sliding way sleeve pipe I, the second upper connecting rod I
Sliding way sleeve pipe II is interior and can be slidably connected with sliding way sleeve pipe II；First regulation outer tube I is fixedly mounted on first
Train wheel bridge support I connects by middle part, being equipped with the first regulation outer tube I with the first regulation outer tube I expansion fit
Fastened between the embedded pipe I of the first regulation connect, the first embedded pipe I of the regulation regulation of outer tube I and first by the first suspension ring bearing pin I
Locking；
The elastic direction of motion of First piston bar I and the embedded bearing of trend of pipe I of the first regulation on first cylinder I
Identical, the front end of First piston bar I is flexibly connected by flake joint with the embedded pipe I of the first regulation；
The upper clamp assemblies II include the first upper connecting rod II, the second upper connecting rod II, the first train wheel bridge support II, first and adjusted
The regulation of outer tube II, first embedded pipe II, the first train wheel bridge II and the first suspension ring pin shaft II are saved, wherein：The He of first upper connecting rod II
Second upper connecting rod II is fixedly mounted on the first train wheel bridge support II, and phase between the first upper connecting rod II and the second upper connecting rod II
Mutually be arranged in parallel, the first upper connecting rod II be embedded in sliding way sleeve pipe I and can with the sliding connection of sliding way sleeve pipe I, the
Two upper connecting rods II are embedded in sliding way sleeve pipe II and can be with the sliding connections of sliding way sleeve pipe II；First regulation outer tube
II is fixedly mounted on the first train wheel bridge support II by middle part, being equipped with the first regulation outer tube II and first regulation
Between the embedded pipe II of the first regulation of the expansion fit of outer tube II connection, the first embedded pipe II of the regulation regulation of outer tube II and first
Fastened and locked by the first suspension ring pin shaft II；
The elastic direction of motion of First piston bar II on first cylinder II extends with the embedded pipe II of the first regulation
Direction is identical, and the front end of First piston bar II is flexibly connected by flake joint with the embedded pipe II of the first regulation；First train wheel bridge I is consolidated
Dingan County is mounted in the bottom of the first train wheel bridge support I, and the first train wheel bridge II is fixedly mounted on the bottom of the first train wheel bridge support II, and first
Train wheel bridge I is oppositely arranged side by side with the first train wheel bridge II；
When in use, start after the first cylinder I and the first cylinder II, the first cylinder I, the first cylinder II drive first respectively
Piston rod I, First piston bar II carry out elastic motion, while driving the first upper connecting rod I and the first upper connecting rod II along upper
Slideway sleeve pipe I, the second upper connecting rod II and the second upper connecting rod I are slid back and forth along sliding way sleeve pipe II, and are fixedly mounted
The first train wheel bridge I and be fixedly mounted on the bottom of the first train wheel bridge support II first on the bottom of the first train wheel bridge support I
Mutually draw close or be separated from each other between train wheel bridge II, so as to realize the folder of the first train wheel bridge I and the first train wheel bridge II to thing block
Hold and discharge.
It is antiparallel between the cylinder II of second cylinder I and second to set, and the second piston bar I on the second cylinder I
Left and right stretching motion direction is parallel to each other with the stretching motion direction of second piston bar II or so on the second cylinder II；It is described to glide
Road sleeve pipe I and glide path sleeve pipe II are located between the second cylinder I and the second cylinder II；
The lower clamp assemblies I include the embedded regulation of pipe I, second outer tube I of the second regulation, the second suspension ring bearing pin the I, the 3rd
Under the embedded regulation of pipe the I, the 3rd outer tube I of regulation, the 3rd suspension ring bearing pin I, the first lower plate support I, the first lower plate I, first
Pull bar I, second time pull bar I, wherein：First time pull bar I and second time pull bar I are fixedly mounted on the first lower plate support I,
And it is arranged in parallel between first time pull bar I and second time pull bar I, first time pull bar I is embedded in glide path sleeve pipe I and energy
Enough to be slidably connected with glide path sleeve pipe I, second time pull bar I is embedded in glide path sleeve pipe II and can be with glide path sleeve pipe
II sliding connection；Second regulation outer tube I is fixedly mounted on the side end of the first lower plate support I 1 position, the second regulation
The embedded pipe I of the second regulation being connected with the second regulation expansion fit of outer tube I, the second regulation overcoat are equipped with outer tube I
Fastened and locked by the second suspension ring bearing pin I between the embedded pipe I of the regulation of pipe I and second；
Second cylinder I is flexibly connected with the embedded pipe I of the second regulation；3rd regulation outer tube I is fixedly mounted on first
On the end side of lower plate support I position, it is equipped with the 3rd regulation outer tube I and the 3rd regulation expansion fit of outer tube I
Buckled between the embedded pipe I of the 3rd regulation of connection, the embedded regulation of pipe I and the 3rd outer tube I of the 3rd regulation by the 3rd suspension ring bearing pin I
Tightly lock；The stretching motion direction of second piston bar II or so and the embedded bearing of trend phase of pipe I of the 3rd regulation on second cylinder II
Together, second piston bar II is flexibly connected by flake joint with the embedded pipe I of the 3rd regulation；
The lower clamp assemblies II include the embedded regulation of pipe II, second outer tube II of the second regulation, the second suspension ring pin shaft II,
The embedded regulation of pipe the II, the 3rd outer tube II of 3rd regulation, the 3rd suspension ring pin shaft II, the first lower plate support II, the first lower plate
IIth, first time pull bar II, second time pull bar II, wherein：First time pull bar II and second time pull bar II are fixedly mounted on first
On lower plate support II, and it is arranged in parallel between first time pull bar II and second time pull bar II；First time pull bar II is set
It can be slidably connected in the glide path sleeve pipe I and with glide path sleeve pipe I, second time pull bar II is embedded in glide path sleeve pipe II
It is interior and can be slidably connected with glide path sleeve pipe II；Second regulation outer tube II is fixedly mounted on the first lower plate support II
On one side end position, second be connected with the second regulation expansion fit of outer tube II is equipped with the second regulation outer tube II and is adjusted
Fastened and locked by the second suspension ring pin shaft II between the embedded pipe II of section, the second embedded pipe II of the regulation regulation of outer tube II and second；
The stretching motion direction of second piston bar I or so and the embedded side of extension of pipe II of the second regulation on second cylinder I
To identical, the front end of second piston bar I is flexibly connected by flake joint with the embedded pipe II of the second regulation；
The embedded pipe II of 3rd regulation is fixedly mounted on the end side of the first lower plate support II position, the 3rd regulation overcoat
The embedded pipe II of the 3rd regulation being connected with the 3rd regulation expansion fit of outer tube II, the 3rd regulation outer tube are equipped with pipe II
Locked between the embedded pipe II of II and the 3rd regulation by the 3rd suspension ring pin shaft II padlock；
Second cylinder II is flexibly connected with the embedded pipe II of the 3rd regulation；First lower plate I is fixedly mounted under first
The bottom of clamping plate support I, the first lower plate II is fixedly mounted on the bottom of the first lower plate support II, and the first lower plate I and first
Lower plate II is oppositely arranged side by side.
When in use, start after the second cylinder I and the second cylinder II, the second cylinder I, the second cylinder II drive second respectively
Piston rod I, second piston bar II carry out left and right stretching motion, while driving first time pull bar I and first time pull bar II under
Slideway sleeve pipe I, second time pull bar I and second time pull bar II are horizontally slipped along glide path sleeve pipe II, and are fixedly mounted
The first lower plate I and be fixedly mounted on the bottom of the first lower plate support II first on the bottom of the first lower plate support I
Mutually draw close or be separated from each other between lower plate II, so as to realize the first lower plate I and the first lower plate II to thing block on a left side
Clamping and release in right direction.
As preferred：Nylon sheet III is provided with the interior sidewall surface of glide path sleeve pipe I, in the interior sidewall surface of glide path sleeve pipe II
On be provided with nylon sheet IV；First time pull bar I and first time pull bar II are set into glide path sleeve pipe I by left and right different directions
It is interior, and separated between first time pull bar I and first time pull bar II by the slip of swingle III；Second time pull bar I and second
Lower pull bar II is set into glide path sleeve pipe II by left and right different directions, and second time pull bar I and second time pull bar II it
Between by swingle IV slide separate.
As preferred：Nylon sheet I is provided with the interior sidewall surface of sliding way sleeve pipe I, in the interior sidewall surface of sliding way sleeve pipe II
On be provided with nylon sheet II；First upper connecting rod I and the first upper connecting rod II are set into sliding way sleeve pipe I by front and rear different directions
It is interior, and separated between the first upper connecting rod I and the first upper connecting rod II by the slip of swingle I；On second upper connecting rod I and second
Pull bar II is set into sliding way sleeve pipe II by front and rear different directions, and between the second upper connecting rod I and the second upper connecting rod II
Slided and separated by swingle II.
Compared with prior art, the beneficial effects of the invention are as follows：
Technical scheme of the present invention as a result of more than, it is tight that pneumatic stacking single clip of the invention has reasonable in design, structure
Gather, clamp for stacking and the robot of robot are supported the use, due to being provided with two pairs of clamp assemblies (i.e. in pneumatic stacking single clip tool
Upper clamp assemblies I and upper clamp assemblies II are formed a pair in the longitudinal direction, and lower clamp assemblies I and lower clamp assemblies II are in left and right
Side be upwardly formed a pair) and two pairs of cylinder assemblies (i.e. the first cylinder I and the first cylinder II are formed a pair in the longitudinal direction, the
A pair) two cylinders I and the second cylinder II are formed in the lateral direction, can be by thing block (such as case class, building block, brick and tile base
Part) on fore-and-aft direction and left and right directions simultaneously or be alternatively clamped or compress, while being drawn by staight shank single hook
The shackle on ring frame is fixed on, and by being embedded in the adjustable handrail in the channel-section steel pipe on main body frame come precise vernier adjustment manipulation angle
Degree, charging and release discharging are precisely clamped to thing block so as to realize.
A kind of pneumatic stacking twin tong applied to robot of the invention is particularly suitable for use in case class, building block, brick and tile base
The vanning and stacking of part.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention.
Fig. 2~3 be main body frame and upper clamp assemblies I, upper clamp assemblies II and glide path sleeve pipe I in the present invention, under
Fit structure schematic diagram is connected between clamp assemblies II.
Fig. 4~5 are the structural representations of front and rear upper fixture in the present invention.
Fig. 6~8 are the structural representations of left and right lower clamp in the present invention.
Accompanying drawing is marked：Main body frame 1, ring frame 11, shackle 12, staight shank single hook 13；
Sliding way sleeve pipe I 21, nylon sheet I 211, swingle I 212, sliding way sleeve pipe II 22, nylon sheet II 221, swingle
Ⅱ222；
Upper clamp assemblies I 23, the first upper connecting rod I 231, the second upper connecting rod I 232, the first train wheel bridge support I 233, first adjusts
Save outer tube I 235, the embedded pipe I 234 of the first regulation, the first train wheel bridge I 236, the first suspension ring bearing pin I 237；
Upper clamp assemblies II 24, the first upper connecting rod II 241, the second upper connecting rod II 242, the first train wheel bridge support II 243, the
One regulation outer tube II 245, the embedded pipe II 244 of the first regulation, the first train wheel bridge II 246, the first suspension ring pin shaft II 247；
First cylinder I 25, First piston bar I 251, the first cylinder II 26, First piston bar II 261；
Glide path sleeve pipe I 31, glide path sleeve pipe II 32, lower clamp assemblies I 33, the embedded pipe I 3311 of the second regulation, second adjusts
Save outer tube I 3312, the second suspension ring bearing pin I 3313, the embedded pipe I 3321 of the 3rd regulation, the 3rd regulation outer tube I 3322, the 3rd
Suspension ring bearing pin I 3323, the first lower plate support I 333, the first lower plate I 334, first time pull bar I 335, second time pull bar I
336；
Lower clamp assemblies II 34, the embedded pipe II 3411 of the second regulation, the second regulation outer tube II 3412, the second suspension ring bearing pin
II 3413, the embedded pipe II 3421 of the 3rd regulation, the 3rd regulation outer tube II 3422, the 3rd suspension ring pin shaft II 3423, first time folder
Board mount II 343, the first lower plate II 344, first time pull bar II 345, second time pull bar II 346；
Second cylinder I 35, second piston bar I 351, the second cylinder II 36, second piston bar II 361.
Embodiment
The embodiment to the present invention makes a detailed explanation below in conjunction with the accompanying drawings.
As shown in Fig. 1~8, the present invention proposes a kind of specific embodiment of pneumatic stacking twin tong applied to robot,
Including front and rear upper fixture, left and right lower clamp and main body frame 1.As shown in Figures 4 and 5：Upper fixture includes sliding way set before and after described
Pipe I 21, sliding way sleeve pipe II 22, the first cylinder I 25, the first cylinder II 26, upper clamp assemblies I 23 and upper clamp assemblies II 24.
As can be seen from figures 6 to 8：The left and right lower clamp includes glide path sleeve pipe I 31, glide path sleeve pipe II 32, the second cylinder I
35th, the second cylinder II 36, lower clamp assemblies I 33 and lower clamp assemblies II 34.
As shown in Figures 4 and 5：The sliding way sleeve pipe I 21, sliding way sleeve pipe II 22, glide path sleeve pipe I 31 and glide path
Sleeve pipe II 32 is fixedly mounted on main body frame 1, and the glide path sleeve pipe I 31 and glide path sleeve pipe II 32 are located at upper cunning
Road sleeve pipe I 21 and the lower section of sliding way sleeve pipe II 22；It is parallel to each other and sets between the sliding way sleeve pipe I 21 and sliding way sleeve pipe II 22
Put, arranged in parallel between glide path sleeve pipe I 31 and glide path sleeve pipe II 32, sliding way sleeve pipe I 21 and glide path sleeve pipe I 31
Between be arranged in a mutually vertical manner；It is arranged in a mutually vertical manner between sliding way sleeve pipe II 22 and glide path sleeve pipe II 32；First gas
It is reversed between the cylinder II 26 of cylinder I 25 and first, and the first cylinder I 25 and the first cylinder II 26 are respectively and fixedly installed to main body
The different both sides of framework 1, the cylinder II 26 of the first cylinder I 25 and first is arranged on sliding way sleeve pipe I 21 and sliding way sleeve pipe II
Between 22；Where the elastic direction of motion of First piston bar I 251 on first cylinder I 25 on axis and the first cylinder II 26
The elastic direction of motion of First piston bar II 261 where axis it is identical.
As shown in Figure 4：The upper clamp assemblies I 23 on the first upper connecting rod I 231, the second upper connecting rod I 232, first including pressing from both sides
The regulation regulation of outer tube I 235, first of board mount I 233, first embedded pipe I 234, the first train wheel bridge I 236 and the first suspension ring bearing pin
I 237, wherein：First upper connecting rod I 231 and the second upper connecting rod I 232 are fixedly mounted on the first train wheel bridge support I 233, and the
Arranged in parallel between one upper connecting rod I 231 and the second upper connecting rod I 232, the first upper connecting rod I 231 is embedded in sliding way sleeve pipe I
It can be slidably connected in 21 and with sliding way sleeve pipe I 21, the second upper connecting rod I 232 is embedded in sliding way sleeve pipe II 22 simultaneously
It can be slidably connected with sliding way sleeve pipe II 22；First regulation outer tube I 235 is fixedly mounted on the first train wheel bridge support I
233 are connected by middle part, being equipped with the first regulation outer tube I 235 with the first regulation expansion fit of outer tube I 235
The first embedded pipe I 234 of regulation, pass through the first suspension ring pin between the first embedded pipe I 234 of the regulation regulation of outer tube I 235 and first
The fastening locking of axle I 237；The elastic direction of motion of First piston bar I 251 and the first regulation on first cylinder I 25 is interior
The embedding bearing of trend of pipe I 234 is identical, and the front end of First piston bar I 251 is connected by flake joint and the embedded activity of pipe I 234 of the first regulation
Connect；
As shown in Figure 5：The upper clamp assemblies II 24 include the first upper connecting rod II 241, the second upper connecting rod II 242, first
The regulation regulation of outer tube II 245, first of train wheel bridge support II 243, first embedded pipe II 244, the first train wheel bridge II 246 and first
Suspension ring pin shaft II 247, wherein：First upper connecting rod II 241 and the second upper connecting rod II 242 are fixedly mounted on the first train wheel bridge support
On II 243, and it is arranged in parallel between the first upper connecting rod II 241 and the second upper connecting rod II 242, the first upper connecting rod II 241 is embedding
Put in sliding way sleeve pipe I 21 and can be slidably connected with sliding way sleeve pipe I 21, the second upper connecting rod II 242 is embedded in
Slideway sleeve pipe II 22 is interior and can be slidably connected with sliding way sleeve pipe II 22；First regulation outer tube II 245 is fixedly mounted
In the first train wheel bridge support II 243 by middle part, being equipped with the first regulation outer tube II 245 and the first regulation overcoat
The embedded pipe II 244 of the first regulation of the expansion fit of pipe II 245 connection, the first embedded pipe of the regulation regulation of outer tube II 245 and first
Fastened and locked by the first suspension ring pin shaft II 247 between II 244；Before First piston bar II 261 on first cylinder II 26
Stretching motion direction is identical with the embedded bearing of trend of pipe II 244 of the first regulation afterwards, and the front end of First piston bar II 261 is connect by flake
Head is flexibly connected with the embedded pipe II 244 of the first regulation；First train wheel bridge I 236 is fixedly mounted on the bottom of the first train wheel bridge support I 233
End, the first train wheel bridge II 246 is fixedly mounted on the bottom of the first train wheel bridge support II 243, and the first train wheel bridge I 236 and first
Clamping plate II 246 is oppositely arranged side by side.
When in use, start after the first cylinder I 25 and the first cylinder II 26, the first cylinder I 25, the first cylinder II 26 difference
First piston bar I 251, First piston bar II 261 is driven to carry out elastic motion, while the first upper connecting rod I 231 of drive and the
One upper connecting rod II 241 is along sliding way sleeve pipe I 21, the second upper connecting rod II 242 and the second upper connecting rod I 232 along sliding way sleeve pipe
II 22 are slid back and forth, and the first train wheel bridge I 236 being fixedly mounted on the bottom of the first train wheel bridge support I 233 is with fixing
Mutually draw close or be separated from each other between the first train wheel bridge II 246 on the bottom of the first train wheel bridge support II 243, so that
Realize the clamping and release of II 246 pairs of thing blocks of the first train wheel bridge I 236 and the first train wheel bridge.
As shown in Figure 6：It is antiparallel between the cylinder II 36 of second cylinder I 35 and second to set, and the second cylinder I 35
On the stretching motion direction of second piston bar I 351 or so and the second cylinder II 36 on the flexible fortune of second piston bar II 361 or so
Dynamic direction is parallel to each other；The glide path sleeve pipe I 31 and glide path sleeve pipe II 32 are located at the second cylinder I 35 and the second cylinder II 36
Between；The lower clamp assemblies I 33 include the embedded regulation of pipe I 3311, second outer tube I 3312 of the second regulation, the second suspension ring pin
The embedded regulation of pipe the I 3321, the 3rd outer tube I 3322 of the regulation of axle the I 3313, the 3rd, the 3rd suspension ring bearing pin I 3323, the first lower plate
Support I 333, the first lower plate I 334, first time pull bar I 335, second time pull bar I 336, wherein：First time pull bar I 335 and
Two times pull bars I 336 are fixedly mounted on the first lower plate support I 333, and first time pull bar I 335 and second time pull bar I 336
Between it is arranged in parallel, first time pull bar I 335 is embedded in glide path sleeve pipe I 31 and can slided with glide path sleeve pipe I 31
It is connected, second time pull bar I 336 is embedded in glide path sleeve pipe II 32 and can be with the company of being slidably matched of glide path sleeve pipe II 32
Connect；Second regulation outer tube I 3312 is fixedly mounted on the side end of the first lower plate support I 333 1 position, the second regulation outer tube
The embedded pipe I 3311 of the second regulation being connected with the second regulation expansion fit of outer tube I 3312 is equipped with I 3312, second adjusts
Save between the regulation of outer tube I 3312 and second embeds pipe I 3311 and locking is fastened by the second suspension ring bearing pin I 3313；Described second
Cylinder I 35 is flexibly connected with the embedded pipe I 3311 of the second regulation；3rd regulation outer tube I 3322 is fixedly mounted on the first lower plate
On the end side of support I 333 position, it is equipped with and is stretched with the 3rd regulation outer tube I 3322 in the 3rd regulation outer tube I 3322
Lead between the embedded pipe I 3321 of the 3rd regulation being connected, the embedded regulation of pipe I 3321 and the 3rd outer tube I 3322 of the 3rd regulation
Cross the fastening locking of the 3rd suspension ring bearing pin I 3323；The stretching motion direction of second piston bar II 361 or so on second cylinder II 36 with
The embedded bearing of trend of pipe I 3321 of 3rd regulation is identical, and second piston bar II 361 passes through flake joint and the embedded pipe I of the 3rd regulation
3321 are flexibly connected.
As shown in Fig. 7~8：The lower clamp assemblies II 34 include the embedded regulation of pipe II 3411, second overcoat of the second regulation
Pipe II 3412, the embedded regulation of pipe the II 3421, the 3rd outer tube the II 3422, the 3rd of the second suspension ring pin shaft II the 3413, the 3rd regulation are hung
Ring pin shaft II 3423, the first lower plate support II 343, the first lower plate II 344, first time pull bar II 345, second time pull bar II
346, wherein：First time pull bar II 345 and second time pull bar II 346 are fixedly mounted on the first lower plate support II 343, and
It is arranged in parallel between first time pull bar II 345 and second time pull bar II 346；First time pull bar II 345 is embedded in glide path
Sleeve pipe I 31 is interior and can be slidably connected with glide path sleeve pipe I 31, and second time pull bar II 346 is embedded in glide path sleeve pipe II
It can be slidably connected in 32 and with glide path sleeve pipe II 32；Second regulation outer tube II 3412 is fixedly mounted on first time folder
On the side end of board mount II 343 1 position, it is equipped with the second regulation outer tube II 3412 and the second regulation outer tube II 3412
The embedded pipe II 3411 of the second regulation of expansion fit connection, the second embedded pipe II 3411 of the regulation regulation of outer tube II 3412 and second
Between pass through the second suspension ring pin shaft II 3413 fastening locking；Second piston bar I 351 or so on second cylinder I 35 stretches
The direction of motion is identical with the embedded bearing of trend of pipe II 3411 of the second regulation, and the front end of second piston bar I 351 passes through flake joint and the
The embedded pipe II 3411 of two regulations is flexibly connected；The embedded pipe II 3421 of 3rd regulation is fixedly mounted on the first lower plate support II 343
On end side position, it is equipped with and connects with the 3rd regulation outer tube II 3422 expansion fit in the 3rd regulation outer tube II 3422
The 3rd embedded pipe II 3421 of regulation connect, by the between the 3rd regulation outer tube II 3422 and the embedded pipe II 3421 of the 3rd regulation
The padlock of three suspension ring pin shaft II 3423 is locked；Second cylinder II 36 is flexibly connected with the embedded pipe II 3421 of the 3rd regulation；First
Lower plate I 334 is fixedly mounted on the bottom of the first lower plate support I 333, and the first lower plate II 344 is fixedly mounted on first time folder
The bottom of board mount II 343, and the first lower plate I 334 is oppositely arranged side by side with the first lower plate II 344.
When in use, start after the second cylinder I 35 and the second cylinder II 36, the second cylinder I 35, the second cylinder II 36 difference
Second piston bar I 351, second piston bar II 361 is driven to carry out left and right stretching motion, while driving first time pull bar I 335 and the
Once pull bar II 345 is along glide path sleeve pipe I 31, second time pull bar I 336 and second time pull bar II 346 along glide path sleeve pipe
II 32 are horizontally slipped, and the first lower plate I 334 being fixedly mounted on the bottom of the first lower plate support I 333 and fixation
Mutually draw close or be separated from each other between the first lower plate II 344 on the bottom of the first lower plate support II 343, so that
Realize the clamping and release of II 344 pairs of thing blocks of the first lower plate I 334 and the first lower plate in the lateral direction.
As shown in Figure 2 and Figure 7：Nylon sheet III is provided with the interior sidewall surface of glide path sleeve pipe I 31, in glide path sleeve pipe II
Nylon sheet IV is provided with 32 interior sidewall surfaces；First time pull bar I 335 and first time pull bar II 345 are set by left and right different directions
Into in glide path sleeve pipe I 31, and between first time pull bar I 335 and first time pull bar II 345 pass through swingle III slide point
Separate；Second time pull bar I 336 and second time pull bar II 346 are set into glide path sleeve pipe II 32 by left and right different directions, and
Slided and separated by swingle IV between second time pull bar I 336 and second time pull bar II 346.
Nylon sheet I 211 is provided with the interior sidewall surface of sliding way sleeve pipe I 21, in the interior sidewall surface of sliding way sleeve pipe II 22
It is provided with nylon sheet II 221；First upper connecting rod I 231 and the first upper connecting rod II 241 are set by front and rear different directions and enter sliding way
In sleeve pipe I 21, and separated between the first upper connecting rod I 231 and the first upper connecting rod II 241 by the slip of swingle I 212；The
Two upper connecting rods I 232 and the second upper connecting rod II 242 are set into sliding way sleeve pipe II 22 by front and rear different directions, and second
Slided and separated by swingle II 222 between the upper connecting rod II 242 of upper connecting rod I 232 and second.
Technical scheme of the present invention as a result of more than, it is tight that pneumatic stacking single clip of the invention has reasonable in design, structure
Gather, clamp for stacking and the robot of robot are supported the use, due to being provided with two pairs of clamp assemblies i.e. in pneumatic stacking single clip tool
Upper clamp assemblies I and upper clamp assemblies II are formed a pair in the longitudinal direction, and lower clamp assemblies I and lower clamp assemblies II are in left and right
Side is upwardly formed a pair and two pairs of cylinder assemblies i.e. the first cylinder I and the first cylinder II are formed a pair in the longitudinal direction, and second
The cylinder II of cylinder I and second is formed a pair in the lateral direction, and thing block such as case class, building block, brick and tile blank can exist
On fore-and-aft direction and left and right directions simultaneously or be alternatively clamped or compress, while by staight shank single hook traction be fixed on
Shackle on ring frame, and by be embedded in the adjustable handrail in the channel-section steel pipe on main body frame come precise vernier adjustment manipulate angle, from
And realize and charging and release discharging are precisely clamped to thing block.
A kind of pneumatic stacking twin tong applied to robot of the invention is particularly suitable for use in case class, building block, brick and tile base
The vanning and stacking of part.
It is emphasized that：It the above is only presently preferred embodiments of the present invention, not make any formal to the present invention
Limitation, any simple modification that every technical spirit according to the present invention is made to above example, equivalent variations and modification,
In the range of still falling within technical solution of the present invention.
Claims (3)
1. a kind of pneumatic stacking twin tong applied to robot, it is characterised in that including front and rear upper fixture, left and right lower clamp and
Main body frame (1), wherein：Upper fixture includes sliding way sleeve pipe I (21), sliding way sleeve pipe II (22), the first cylinder I before and after described
(25), the first cylinder II (26), upper clamp assemblies I (23) and upper clamp assemblies II (24)；
The left and right lower clamp includes glide path sleeve pipe I (31), glide path sleeve pipe II (32), the second cylinder I (35), the second cylinder
II (36), lower clamp assemblies I (33) and lower clamp assemblies II (34)；
The sliding way sleeve pipe I (21), sliding way sleeve pipe II (22), glide path sleeve pipe I (31) and glide path sleeve pipe II (32)
It is fixedly mounted on main body frame (1), and the glide path sleeve pipe I (31) and glide path sleeve pipe II (32) are located at sliding way
Below sleeve pipe I (21) and sliding way sleeve pipe II (22)；
Arranged in parallel between the sliding way sleeve pipe I (21) and sliding way sleeve pipe II (22), glide path sleeve pipe I (31) is with
It is arranged in parallel between slideway sleeve pipe II (32), it is mutually perpendicular to set between sliding way sleeve pipe I (21) and glide path sleeve pipe I (31)
Put；
It is reversed between first cylinder I (25) and the first cylinder II (26), and the first cylinder I (25) and the first cylinder II
(26) the different both sides of main body frame (1) are respectively and fixedly installed to, first cylinder I (25) is arranged on the first cylinder II (26)
Between sliding way sleeve pipe I (21) and sliding way sleeve pipe II (22)；
Axis and the first cylinder II (26) where the elastic direction of motion of First piston bar I (251) on first cylinder I (25)
On the elastic direction of motion of First piston bar II (261) where axis it is identical；
The upper clamp assemblies I (23) include the first upper connecting rod I (231), the second upper connecting rod I (232), the first train wheel bridge support I
(233), the first regulation outer tube I (235), the first train wheel bridge I (236), wherein：First upper connecting rod I (231) and the second upper connecting rod
I (232) are fixedly mounted on the first train wheel bridge support I (233), and the first upper connecting rod I (231) and the second upper connecting rod I (232)
Between it is arranged in parallel, the first upper connecting rod I (231) is embedded in sliding way sleeve pipe I (21) and can be with sliding way sleeve pipe I
(21) it is slidably connected, the second upper connecting rod I (232) is embedded in sliding way sleeve pipe II (22) and can be with sliding way sleeve pipe II
(22) it is slidably connected；
First regulation outer tube I (235) is fixedly mounted on the first train wheel bridge support I (233) by middle part, the first regulation is outer
The embedded pipe I (234) of the first regulation being connected with the first regulation outer tube I (235) expansion fit is equipped with sleeve pipe I (235),
Fastened and locked by the first suspension ring bearing pin I (237) between first regulation outer tube I (235) and the embedded pipe I (234) of the first regulation；
The elastic direction of motion of First piston bar I (251) and the embedded pipe I of the first regulation on first cylinder I (25)
(234) bearing of trend is identical, and First piston bar I (251) front end passes through flake joint and embedded pipe I (234) activity of the first regulation
Connection；
The upper clamp assemblies II (24) include the first upper connecting rod II (241), the second upper connecting rod II (242), the first train wheel bridge branch
Frame II (243), the first regulation outer tube II (245), the first train wheel bridge II (246), wherein：First upper connecting rod II (241) and
Two upper connecting rods II (242) are fixedly mounted on the first train wheel bridge support II (243), and the first upper connecting rod II (241) and second
Arranged in parallel between upper connecting rod II (242), the first upper connecting rod II (241) is embedded in sliding way sleeve pipe I (21) and can
It is slidably connected with sliding way sleeve pipe I (21), the second upper connecting rod II (242) is embedded in sliding way sleeve pipe II (22) and can
It is slidably connected with sliding way sleeve pipe II (22)；
First regulation outer tube II (245) is fixedly mounted on the first train wheel bridge support II (243) by middle part, first is adjusted
The embedded pipe II of the first regulation being connected with the first regulation outer tube II (245) expansion fit is equipped with outer tube II (245)
(244), the first suspension ring pin shaft II (247) is passed through between the first regulation outer tube II (245) and the embedded pipe II (244) of the first regulation
Fastening locking；
The elastic direction of motion of First piston bar II (261) and the embedded pipe II of the first regulation on first cylinder II (26)
(244) bearing of trend is identical, and First piston bar II (261) front end is living by flake joint and the embedded pipe II (244) of the first regulation
Dynamic connection；
First train wheel bridge I (236) is fixedly mounted on first train wheel bridge support I (233) bottom, and the first train wheel bridge II (246) is fixed
Installed in first train wheel bridge support II (243) bottom, and the first train wheel bridge I (236) is relative side by side with the first train wheel bridge II (246)
Set；
It is antiparallel between second cylinder I (35) and the second cylinder II (36) to set, and second on the second cylinder I (35)
Piston rod I (351) left and right stretching motion direction and second piston bar II (361) left and right stretching motion on the second cylinder II (36)
Direction is parallel to each other；The glide path sleeve pipe I (31) and glide path sleeve pipe II (32) are located at the second cylinder I (35) and the second cylinder
Between II (36)；
The lower clamp assemblies I (33) are hung including the embedded pipe I (3311) of the second regulation, the second regulation outer tube I (3312), second
Battle pin axle I (3313), the embedded pipe I (3321) of the 3rd regulation, the 3rd regulation outer tube I (3322), the 3rd suspension ring bearing pin I
(3323), the first lower plate support I (333), the first lower plate I (334), first time pull bar I (335), second time pull bar I
(336), wherein：First time pull bar I (335) and second time pull bar I (336) are fixedly mounted on the first lower plate support I (333)
On, and it is arranged in parallel between first time pull bar I (335) and second time pull bar I (336), first time pull bar I (335) is set
It can be slidably connected in the glide path sleeve pipe I (31) and with glide path sleeve pipe I (31),
Second time pull bar I (336) is embedded in glide path sleeve pipe II (32) and can be slidably matched with glide path sleeve pipe II (32)
Connection；
Second regulation outer tube I (3312) is fixedly mounted on the side end of the first lower plate support I (333) one position, the second regulation
The embedded pipe I of the second regulation being connected with the second regulation outer tube I (3312) expansion fit is equipped with outer tube I (3312)
(3311), the second suspension ring bearing pin I is passed through between the second regulation outer tube I (3312) and the embedded pipe I (3311) of the second regulation
(3313) fastening locking；
Second cylinder I (35) is flexibly connected with the embedded pipe I (3311) of the second regulation；3rd regulation outer tube I (3322) is solid
Dingan County is mounted on first lower plate support I (333) end side position, is equipped with the 3rd regulation outer tube I (3322) with being somebody's turn to do
The embedded pipe I (3321) of the 3rd regulation of 3rd regulation outer tube I (3322) expansion fit connection, the embedded pipe I of the 3rd regulation
(3321) fastened and locked by the 3rd suspension ring bearing pin I (3323) between the 3rd regulation outer tube I (3322)；
Second piston bar II (361) left and right stretching motion direction and the embedded pipe I of the 3rd regulation on second cylinder II (36)
(3321) bearing of trend is identical, and second piston bar II (361) is connected by flake joint and embedded pipe I (3321) activity of the 3rd regulation
Connect；
The lower clamp assemblies II (34) include the second embedded pipe II (3411) of regulation, the second regulation outer tube II (3412), the
Two suspension ring pin shaft IIs (3413), the embedded pipe II (3421) of the 3rd regulation, the 3rd regulation outer tube II (3422), the 3rd suspension ring bearing pin
II (3423), the first lower plate support II (343), the first lower plate II (344), first time pull bar II (345), second time pull bar
II (346), wherein：First time pull bar II (345) and second time pull bar II (346) are fixedly mounted on the first lower plate support II
(343) on, and it is arranged in parallel between first time pull bar II (345) and second time pull bar II (346)；
First time pull bar II (345) is embedded in glide path sleeve pipe I (31) and the company that can be slidably matched with glide path sleeve pipe I (31)
Connect, second time pull bar II (346) is embedded in glide path sleeve pipe II (32) and can be slidably matched with glide path sleeve pipe II (32)
Connection；
Second regulation outer tube II (3412) is fixedly mounted on the side end of the first lower plate support II (343) one position, and second adjusts
The second regulation being connected with the second regulation outer tube II (3412) expansion fit is equipped with section outer tube II (3412) embedded
Pipe II (3411), the second suspension ring bearing pin is passed through between the second regulation outer tube II (3412) and the embedded pipe II (3411) of the second regulation
II (3413) fastening locking；
Second piston bar I (351) left and right stretching motion direction and the embedded pipe II of the second regulation on second cylinder I (35)
(3411) bearing of trend is identical, and second piston bar I (351) front end is living by flake joint and the embedded pipe II (3411) of the second regulation
Dynamic connection；
The embedded pipe II (3421) of 3rd regulation is fixedly mounted on first lower plate support II (343) end side position, and the 3rd
It is equipped with regulation outer tube II (3422) in the 3rd regulation being connected with the 3rd regulation outer tube II (3422) expansion fit
Embedding pipe II (3421), the 3rd suspension ring pin is passed through between the 3rd regulation outer tube II (3422) and the embedded pipe II (3421) of the 3rd regulation
Axle II (3423) padlock is locked；
Second cylinder II (36) is flexibly connected with the embedded pipe II (3421) of the 3rd regulation；The fixed peace of first lower plate I (334)
Mounted in first lower plate support I (333) bottom, the first lower plate II (344) is fixedly mounted on the first lower plate support II (343)
Bottom, and the first lower plate I (334) is oppositely arranged side by side with the first lower plate II (344).
2. a kind of pneumatic stacking twin tong applied to robot according to claim 1, it is characterised in that gliding
Nylon sheet III is provided with road sleeve pipe I (31) interior sidewall surface, nylon sheet is provided with glide path sleeve pipe II (32) interior sidewall surface
Ⅳ；First time pull bar I (335) and first time pull bar II (345) are set into glide path sleeve pipe I (31) by left and right different directions
It is interior, and separated between first time pull bar I (335) and first time pull bar II (345) by the slip of swingle III；Second drop-down
Bar I (336) and second time pull bar II (346) are set into glide path sleeve pipe II (32) by left and right different directions, and second
Slided and separated by swingle IV between lower pull bar I (336) and second time pull bar II (346).
3. a kind of pneumatic stacking twin tong applied to robot according to claim 1, it is characterised in that in upper cunning
Nylon sheet I (211) is provided with road sleeve pipe I (21) interior sidewall surface, Buddhist nun is provided with sliding way sleeve pipe II (22) interior sidewall surface
Imperial plate II (221)；First upper connecting rod I (231) and the first upper connecting rod II (241) are set into sliding way set by front and rear different directions
In pipe I (21), and separation is slided by swingle I (212) between the first upper connecting rod I (231) and the first upper connecting rod II (241)
Open；Second upper connecting rod I (232) and the second upper connecting rod II (242) are set into sliding way sleeve pipe II (22) by front and rear different directions
It is interior, and separated between the second upper connecting rod I (232) and the second upper connecting rod II (242) by swingle II (222) slip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710340579.XA CN106946048A (en) | 2017-05-15 | 2017-05-15 | A kind of pneumatic stacking twin tong applied to robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710340579.XA CN106946048A (en) | 2017-05-15 | 2017-05-15 | A kind of pneumatic stacking twin tong applied to robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106946048A true CN106946048A (en) | 2017-07-14 |
Family
ID=59478730
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710340579.XA Pending CN106946048A (en) | 2017-05-15 | 2017-05-15 | A kind of pneumatic stacking twin tong applied to robot |
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| Country | Link |
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| CN (1) | CN106946048A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61263524A (en) * | 1985-05-15 | 1986-11-21 | Dainichi Kiko Kk | Bag grasping hand |
| US6056341A (en) * | 1998-01-16 | 2000-05-02 | Diamond Automations, Inc. | Apparatus for releasing items within a confined space |
| CN101012029A (en) * | 2007-02-12 | 2007-08-08 | 常熟市三禾计量设备厂 | Intelligentized manipulator paw mechanism for piling machine |
| CN202828979U (en) * | 2012-06-26 | 2013-03-27 | 牧羊有限公司 | Stacking robot gripping hand |
| CN203510238U (en) * | 2013-09-30 | 2014-04-02 | 深圳雷柏科技股份有限公司 | Four-side clamping mechanism |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204528684U (en) * | 2015-04-01 | 2015-08-05 | 泉州市三联机械制造有限公司 | A kind of plate brick seperator |
| CN106625747A (en) * | 2016-10-28 | 2017-05-10 | 东莞丰卓机电设备有限公司 | Elastic gripper of robot |
| CN206798656U (en) * | 2017-05-15 | 2017-12-26 | 金银河 | A kind of pneumatic stacking twin tong applied to robot |
-
2017
- 2017-05-15 CN CN201710340579.XA patent/CN106946048A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61263524A (en) * | 1985-05-15 | 1986-11-21 | Dainichi Kiko Kk | Bag grasping hand |
| US6056341A (en) * | 1998-01-16 | 2000-05-02 | Diamond Automations, Inc. | Apparatus for releasing items within a confined space |
| CN101012029A (en) * | 2007-02-12 | 2007-08-08 | 常熟市三禾计量设备厂 | Intelligentized manipulator paw mechanism for piling machine |
| CN202828979U (en) * | 2012-06-26 | 2013-03-27 | 牧羊有限公司 | Stacking robot gripping hand |
| CN203510238U (en) * | 2013-09-30 | 2014-04-02 | 深圳雷柏科技股份有限公司 | Four-side clamping mechanism |
| CN104555421A (en) * | 2014-12-31 | 2015-04-29 | 南京信息职业技术学院 | Five-degree of freedom stacking manipulator |
| CN204528684U (en) * | 2015-04-01 | 2015-08-05 | 泉州市三联机械制造有限公司 | A kind of plate brick seperator |
| CN106625747A (en) * | 2016-10-28 | 2017-05-10 | 东莞丰卓机电设备有限公司 | Elastic gripper of robot |
| CN206798656U (en) * | 2017-05-15 | 2017-12-26 | 金银河 | A kind of pneumatic stacking twin tong applied to robot |
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Application publication date: 20170714 |