CN118062602A - Stacking clamp and robot - Google Patents
Stacking clamp and robot Download PDFInfo
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- CN118062602A CN118062602A CN202410446930.3A CN202410446930A CN118062602A CN 118062602 A CN118062602 A CN 118062602A CN 202410446930 A CN202410446930 A CN 202410446930A CN 118062602 A CN118062602 A CN 118062602A
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- 238000009434 installation Methods 0.000 claims abstract description 4
- 230000008878 coupling Effects 0.000 claims abstract 2
- 238000010168 coupling process Methods 0.000 claims abstract 2
- 238000005859 coupling reaction Methods 0.000 claims abstract 2
- 230000001154 acute effect Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 abstract description 3
- 238000005192 partition Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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Abstract
The application discloses a stacking clamp and a robot, and relates to the technical field of stacking manipulators. The application comprises the following steps: the connecting seat is fixedly connected with a T-shaped frame; clamping jaw spare, including fixed mounting in the connecting seat rotate the motor, coaxial coupling has the screw rod of rotation installation in T type frame on rotating the output shaft of motor, the screw rod is gone up the screw thread and is cup jointed the removal frame of slidable mounting in T type frame, the one end that T type frame and connecting seat are dorsad is symmetrical portion, symmetrical portion both ends all have the centre gripping frame through the connecting rod is articulated, remove and install the push-and-pull spare that is used for driving the centre gripping frame and is close to each other or keep away from on the frame. According to the application, the pulley contact frames are arranged on the opposite surfaces of the two clamping frames, so that the mutual distance between the abutting frames can be utilized in a narrow space, the articles are only contacted with the rollers, the abutting friction is converted into rolling friction, the articles can be separated without the need of directly pulling out the clamping frames from each other, and the adaptability of the device is increased.
Description
Technical Field
The application relates to the technical field of stacking manipulators, in particular to a stacking clamp and a robot.
Background
Palletizing robots are a type of equipment for automated palletizing (stacking) of goods. The palletizing robot is generally provided with a mechanical arm, and can be stacked according to preset rules, so that quick and accurate palletizing work is realized. The robots are widely applied in the logistics storage industry, so that the working efficiency can be improved, the labor cost can be reduced, and the error rate can be reduced.
The clamp adaptive capacity used on the existing palletizing robot is poor, only has single clamping and loosening functions, when objects are stacked together, and the movable space around the objects is small, the palletizing clamp can only clamp the objects to the stacked objects horizontally, but can not be used for loosening, and the palletizing efficiency is seriously affected.
Therefore, the invention provides a stacking clamp and a robot.
Disclosure of Invention
The application aims at: in order to solve the problems in the background technology, the application provides a stacking clamp and a robot.
The application adopts the following technical scheme for realizing the purposes:
A palletizing fixture, comprising:
The connecting seat is fixedly connected with a T-shaped frame;
The clamping jaw piece comprises a rotating motor fixedly arranged in a connecting seat, a screw rod rotatably arranged in a T-shaped frame is coaxially connected to an output shaft of the rotating motor, a movable frame slidably arranged in the T-shaped frame is sleeved on the screw rod in a threaded manner, one end, opposite to the connecting seat, of the T-shaped frame is a symmetrical part, clamping frames are hinged to two ends of the symmetrical part through connecting rods, and a push-pull piece for driving the clamping frames to approach or separate from each other is arranged on the movable frame;
The pulley contact frames are two in number and are respectively arranged on the two clamping frames, the pulley contact frames comprise fixing frames fixedly connected to the clamping frames, a plurality of rollers arranged along the length direction of the clamping frames in an array manner are rotatably arranged in the fixing frames, and a collision frame sleeved outside the plurality of rollers is slidably arranged in the fixing frames;
The telescopic pushing piece is arranged on the T-shaped frame and is used for abutting against the box to separate from the clamping frame;
The driving piece is arranged on the T-shaped frame and used for driving the abutting frame to move relatively.
Further, the cross section of centre gripping frame is right triangle-shaped, the right angle corner of centre gripping frame articulates with the one end of connecting rod, the other end of connecting rod articulates at symmetry portion tip, one of them acute angle end of centre gripping frame is connected with the push-and-pull member.
Further, the push-pull member comprises a linkage rod hinged at two ends of the movable frame, a lever frame is hinged at the other end of the linkage rod, the middle part of the lever frame is hinged at the corner of the end part of the symmetrical part, and the other end of the lever frame is hinged with the acute angle end of the clamping frame.
Further, the roller part protrudes out of the opposite surface of the clamping frame, a plurality of anti-skid grooves are formed on the roller along the circumferential array of the roller, and a plurality of cavities for wrapping the roller are formed in the abutting frame.
Further, the driving piece includes the cylinder of fixed connection in T type frame one side, sliding mounting has the piston piece in the cylinder, the push-and-pull rod of the one end fixedly connected with slip run through the cylinder of piston piece, fixed mounting has electric putter on the T type frame, electric putter's output is connected with the push-and-pull rod, install the pneumatic pushing part that is used for two conflict frames relative movement of synchronous drive in the centre gripping frame, be linked together through the hose between the one end that the cylinder is close to electric putter and the pneumatic pushing part, install the spring pulling part that is used for driving two conflict frames and moves in opposite directions in the centre gripping frame.
Further, the spring pulling piece comprises a mounting plate fixedly connected in the clamping frame, a tension spring is connected between the mounting plate and the abutting frame, U-shaped oblique angle blocks are respectively constructed on the opposite sides of the abutting frame, and the pneumatic pushing piece is used for abutting against the U-shaped oblique angle blocks to move.
Further, the pneumatic pushing part comprises a mounting block fixedly connected in the clamping frame, two air cylinders are fixedly arranged on the mounting block in a penetrating manner, a piston column is inserted into one end of each air cylinder in a sliding manner, an n-type bevel block which is in conflict with the U-type bevel block is connected to one end of each piston column located outside, the U-type bevel block is opposite to an opening of the n-type bevel block and is connected with an inclined plane, and the hose is communicated with the other end of each air cylinder.
Further, the telescopic pushing piece comprises a guide rod movably inserted in the screw rod, the end part of the guide rod is fixedly connected with a collision plate, the other side of the piston block is fixedly connected with a sliding rod which slides through the cylinder, and the other end of the sliding rod is connected with the collision plate.
The palletizing robot comprises the palletizing fixture and further comprises a base, wherein the base is horizontally and rotatably provided with a first steering seat, the first steering seat is vertically and rotatably provided with a second steering seat, the connecting seat is vertically and rotatably provided with a second steering seat, and the first steering seat is connected with the second steering seat and the second steering seat is connected with the connecting seat through motor driving.
Further, the second steering seat comprises a turnover seat rotatably installed on the first steering seat, a hydraulic push rod is fixedly connected to the turnover seat, an installation seat is fixedly connected to the output end of the hydraulic push rod, and the connection seat is rotatably installed on the installation seat.
The beneficial effects of the application are as follows:
According to the application, the pulley contact frames are arranged on the opposite surfaces of the two clamping frames, so that the contact between the clamping frames and the articles can be utilized when the articles are clamped, the friction force is increased, the clamping stability of the articles is ensured, the subsequent stacking of the articles does not need to keep the clamping frames away from each other, the articles can be contacted with the rollers only by keeping the clamping frames away from each other, the interference friction is converted into rolling friction, and then the telescopic pushing piece is matched with the movement of the robot to enable the clamping jaw frames to be horizontally separated from the stacked articles, so that the device is suitable for stacking operation with narrow space, and the adaptability of the device is improved.
Drawings
FIG. 1 is a perspective view of the structure of the present application;
FIG. 2 is a perspective view of the jaw members of the present application;
FIG. 3 is a semi-sectional view of the three-dimensional structure of FIG. 2 in accordance with the present application;
FIG. 4 is a perspective view of a clamping frame of the present application;
FIG. 5 is a semi-sectional view of the three-dimensional structure of FIG. 4 in accordance with the present application;
FIG. 6 is a partial perspective view of the structure of the present application;
FIG. 7 is a partial cross-sectional view of the three-dimensional structure of FIG. 6 in accordance with the present application;
FIG. 8 is a semi-sectional view of the three-dimensional structure of FIG. 6 in accordance with the present application;
FIG. 9 is a further partial perspective view of the present application;
Reference numerals: 1. a connecting seat; 2. a T-shaped frame; 201. a symmetrical part; 3. a jaw member; 301. a rotating motor; 302. a screw; 303. a moving frame; 304. a connecting rod; 305. a clamping frame; 306. a push-pull member; 3061. a linkage rod; 3062. a lever frame; 4. a pulley contact frame; 401. a fixed frame; 402. a roller; 4021. an anti-skid groove; 403. a collision frame; 4031. u-shaped bevel blocks; 5. a telescopic pushing member; 501. a guide rod; 502. a contact plate; 503. a slide bar; 6. a driving member; 601. a cylinder; 602. a piston block; 603. a push-pull rod; 604. an electric push rod; 605. a pneumatic pusher shoe; 6051. a mounting block; 6052. an air cylinder; 6053. a piston column; 6054. n-type bevel blocks; 606. a hose; 607. a spring pulling member; 6071. a mounting plate; 6072. a tension spring; 7. a base; 8. a steering seat I; 9. a steering seat II; 901. turning over the seat; 902. a hydraulic push rod; 903. and (5) a mounting seat.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application.
As shown in fig. 1 to 5, a palletizing fixture according to an embodiment of the present application includes:
The connecting seat 1 is fixedly connected with a T-shaped frame 2;
The clamping jaw piece 3 comprises a rotating motor 301 fixedly arranged in a connecting seat 1, a screw rod 302 which is rotatably arranged in a T-shaped frame 2 is coaxially connected to an output shaft of the rotating motor 301, a movable frame 303 which is slidably arranged in the T-shaped frame 2 is sleeved on the screw rod 302 in a threaded manner, a chute is formed in the middle of the T-shaped frame 2 and used for guiding movement of the movable frame 303, one end of the T-shaped frame 2 opposite to the connecting seat 1 is a symmetrical part 201, two ends of the symmetrical part 201 are hinged with clamping frames 305 through connecting rods 304, push-pull pieces 306 used for driving the clamping frames 305 to mutually approach or separate are arranged on the movable frame 303, when an article is required to be clamped, the screw rod 302 can be driven to rotate by the rotating motor 301, so that the movable frame 303 is driven to move towards the direction of the rotating motor 301, one ends of the two clamping frames 305 are pulled to overturn through the push-pull pieces 306, the other ends of the clamping frames 305 are mutually close to each other, so that clamping operation of the article is realized, and conversely, the movable frame 303 is oppositely moved back to the rotating motor 301 to the rotating frame 305 can drive the clamping frames to mutually separate from each other, and the operation of the article is realized, and the operation of loosening of the article is realized;
The pulley contact frames 4 are two in number and are respectively arranged on the two clamping frames 305, and comprise a fixed frame 401 fixedly connected to the clamping frames 305, a plurality of rollers 402 which are arranged along the length direction of the clamping frames 305 in an array manner are rotatably arranged in the fixed frame 401, and a collision frame 403 which is sleeved outside the plurality of rollers 402 is slidably arranged in the fixed frame 401;
A telescopic pushing member 5 mounted on the T-shaped frame 2 and adapted to abut against the box and disengage from the clamping frame 305;
the driving piece 6 is arranged on the T-shaped frame 2 and is used for driving the interference frame 403 to move relatively;
it should be noted that, in the initial state, the abutting frame 403 wraps the outer side of the roller 402 and the opposite side of the roller 402 is tangent to the roller 402, that is, the abutting frame 403 is used as a main contact surface when clamping an article, which can perform abutting friction with the surface of the article, so as to ensure the stability of clamping, and then when the article needs to be stacked and placed, if the surrounding space is relatively narrow and the enough space cannot be provided for overturning the clamping frame 305, the driving piece 6 can be utilized to drive the clamping frame 305 to separate from each other, so as to separate from the contact of the article, at this moment, the surface of the article still contacts the roller 402, at this moment, the surface of the article is in rolling friction with the roller 402, only horizontal movement of the clamping frame 305 is required to separate from the article, in this process, the article is further prevented from moving along with the movement of the clamping frame 305, so as to increase the safety, the device not only can perform stacking operation in a normal environment, but also can perform stacking operation on the article in a narrow space, so as to increase the adaptability of the device, and the flexibility of the device.
As shown in fig. 2-3, in some embodiments, the cross section of the clamping frame 305 is in a right triangle shape, the right-angled corner of the clamping frame 305 is hinged to one end of the connecting rod 304, the other end of the connecting rod 304 is hinged to the end of the symmetrical portion 201, one acute angle end of the clamping frame 305 is connected to the push-pull member 306, the right-angle side of the clamping frame 305 is opposite, one end of the fixing frame 401 is flush with the right-angle side of the clamping frame 305, and the abutting frame 403 protrudes from the right-angle side in the clamped state to abut against the surface of the article to increase friction.
As shown in fig. 2-3, in some embodiments, the push-pull member 306 includes a linkage rod 3061 hinged at two ends of the moving frame 303, a lever frame 3062 is hinged at the other end of the linkage rod 3061, the middle of the lever frame 3062 is hinged at the corner of the end of the symmetrical portion 201, the other end of the lever frame 3062 is hinged with the acute angle end of the clamping frame 305, the connecting line between the middle hinge point of the lever frame 3062 and the hinge point of the clamping frame 305 and the connecting rod 304 are parallel, and the four hinge points are parallelograms, but in the initial state, the opposite surfaces of the two clamping frames 305 are parallel, so when the moving frame 303 moves towards the rotating motor 301, one end of the lever frame 3062 is pulled by the linkage rod 3061, and meanwhile, the connecting rod 304 moves accordingly to drive the two clamping frames 305 to approach each other in a parallel state, so as to clamp an article better.
As shown in fig. 3-5, in some embodiments, the roller 402 partially protrudes from the opposite surface of the holding frame 305, a plurality of anti-slip grooves 4021 are configured on the roller 402 along the circumferential array thereof, a plurality of cavities for wrapping the roller 402 are configured in the interference frame 403, when a plurality of partition boards are configured in the interference frame 403 to form a plurality of cavities for wrapping the roller 402, the contact area between the partition boards and the article can be increased by using the partition boards, so as to improve the holding stability, and on the other hand, the roller 402 can be arranged tangential to the end surface of the interference frame 403, and the anti-slip grooves 4021 thereon are used to increase the interference friction force, so as to further increase the holding stability.
As shown in fig. 6-8, in some embodiments, the driving member 6 includes an air cylinder 601 fixedly connected to one side of the T-shaped frame 2, a piston block 602 is slidably mounted in the air cylinder 601, one end of the piston block 602 is fixedly connected with a push rod 603 that slides through the air cylinder 601, an electric push rod 604 is fixedly mounted on the T-shaped frame 2, an output end of the electric push rod 604 is connected with the push rod 603, a pneumatic pushing member 605 for synchronously driving the two pushing frames 403 to move relatively is mounted in the clamping frame 305, one end of the air cylinder 601, which is close to the electric push rod 604, is communicated with the pneumatic pushing member 605 through a hose 606, a spring pulling member 607 for driving the two pushing frames 403 to move back to back is mounted in the clamping frame 305, when the electric push rod 604 is pulled, the piston block 602 is driven to move towards one end of the air cylinder 601, so as to squeeze air into the pneumatic pushing member 605 through the hose 606, so as to push the two pushing frames 403 to contact with an object, so as to facilitate clamping, and when the two pushing frames 403 are separated from the object, the electric push rod 403 can be pushed by the electric push rod 403, the piston block 403 can move reversely, so that the two pushing frames 403 can be kept away from the object by the opposite direction, and the air pushing members can be pulled by the opposite to move, and the sliding members can not be kept away from the object, and the object can be easily placed, and the object can be easily and changed, and the stacked by the sliding member can be moved by the opposite to the sliding frame.
As shown in fig. 6-8, in some embodiments, the spring pulling member 607 includes a mounting plate 6071 fixedly connected in the clamping frame 305, a tension spring 6072 is connected between the mounting plate 6071 and the abutting frame 403, the opposite sides of the two abutting frames 403 are both configured with a U-shaped bevel block 4031, the pneumatic pushing member 605 is used for abutting the U-shaped bevel block 4031 to move, the tension spring 6072 always generates a tension force on the abutting frame 403, and when the pneumatic pushing member 605 pushes the U-shaped bevel block 4031, the tension force of the tension spring 6072 is counteracted, so that the abutting frame 403 is pushed to a position tangential to the roller 402.
As shown in fig. 6-8, in some embodiments, the pneumatic pushing member 605 includes a mounting block 6051 fixedly connected in the clamping frame 305, two air cylinders 6052 are fixedly installed on the mounting block 6051 in a penetrating manner, one end of the two air cylinders 6052 is slidably inserted with a piston column 6053, one end of the two piston columns 6053 located outside is connected with an n-type bevel block 6054 abutting against the U-type bevel block 4031, the opening of the U-type bevel block 4031 and the opening of the n-type bevel block 6054 are oppositely arranged and are in inclined surface connection, a hose 606 is communicated with the other end of the air cylinder 6052, when the device needs to clamp articles, air can be extruded into the air cylinder 6052 by using the moving cooperation of an air cylinder 601 and the piston block 602, at this time, the air can extrude the piston column 6053 towards the outside, so as to drive the n-type bevel block 6054 to be in inclined surface dislocation contact with the U-type bevel block 6031, in the gradual contact process, so that the n-type bevel block 6054 can be always kept in a linear movement, the U-type bevel block 4031 can be driven to generate an inclined angle block 6054 perpendicular to the moving direction, namely, the two tension springs 403 can be driven to move along the moving direction of the n-type bevel block 6054, namely, the two blocks are driven to move close to each other, and the two blocks are separated from the two sides of the air cylinder 6052, and the air cylinder 6052 can be separated from the clamping frame 6052, and the two sides can be more closely arranged, and the two sides can be separated from the air cylinder 6052, and the air frame can be more closely contacted with the air frame and the air frame can be more closely, and the air frame can be more closely contacted with the air frame and easily, and the air frame can be moved.
As shown in fig. 6-8, in some embodiments, the telescopic pushing member 5 includes a guide rod 501 movably inserted in the screw 302, which plays a guiding role, an end portion of the guide rod 501 is fixedly connected with a supporting plate 502, the other side of the piston block 602 is fixedly connected with a sliding rod 503 that slides through the cylinder 601, the other end of the sliding rod 503 is connected with the supporting plate 502, the telescopic pushing member 5 can move synchronously by using the movement of the piston block 602, it is noted that a gap is provided between the sliding rod 503 and the cylinder 601 for air circulation, when the piston block 602 moves towards the electric push rod 604, the supporting frames 403 are mutually close to each other until being tangentially arranged with the roller 402, at this time, the sliding rod 503 drives the supporting plate 502 to move towards the direction of the screw 302, so that a space between the two clamping frames 305 is free, and when the piston block 602 moves reversely, the supporting frames 403 are mutually far away, so that the article is clamped by the roller 402, at this time, the supporting plate 502 moves away from the screw 302 along with the movement of the piston block 602, so as to push the article out of the range of the clamping frames 305, which is convenient for blanking operation, and the additional driving force of the device is increased.
As shown in fig. 1 and 9, an embodiment of the present application provides a palletizing robot using the palletizing fixture, which includes a base 7, a first steering seat 8 horizontally rotatably mounted on the base 7, a second steering seat 9 vertically rotatably mounted on the first steering seat 8, and a connecting seat 1 vertically rotatably mounted on the second steering seat 9, wherein the first steering seat 8 is connected with the second steering seat 9 and the second steering seat 9 is connected with the connecting seat 1 through motor driving, the first steering seat 8 is used for controlling the horizontal direction of the clamping frame 305, and the second steering seat 9 and the connecting seat 1 are used for controlling the vertical direction of the clamping frame 305.
As shown in fig. 9, in some embodiments, the second steering seat 9 includes a turning seat 901 rotatably mounted on the first steering seat 8, a hydraulic push rod 902 is fixedly connected to the turning seat 901, an output end of the hydraulic push rod 902 is fixedly connected to a mounting seat 903, the connecting seat 1 is rotatably mounted on the mounting seat 903, when an article is detached, a zigzag shape is always kept between the turning seat 901 and the mounting seat 903, and the turning seat 901 and the extending of the hydraulic push rod 902, so that the horizontal orientation and the straight movement of the clamping frame 305 are ensured, the stacking detachment operation of the article is more facilitated, and the flexibility of the device can be increased.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A palletizing fixture, comprising:
the connecting seat (1) is fixedly connected with a T-shaped frame (2);
Clamping jaw piece (3), including fixed mounting in connecting seat (1) rotation motor (301), coaxial coupling has screw rod (302) of rotation installation in T type frame (2) on the output shaft of rotation motor (301), screw rod (302) go up the screw thread and cup joint movable frame (303) of slidable mounting in T type frame (2), the one end that T type frame (2) and connecting seat (1) are opposite to each other is symmetry portion (201), clamping frame (305) have all been articulated through connecting rod (304) at symmetry portion (201) both ends, install on movable frame (303) and be used for driving clamping frame (305) push-and-pull piece (306) that are close to each other or keep away from;
the pulley contact frames (4) are two in number and are respectively arranged on the two clamping frames (305), the pulley contact frames (4) comprise fixing frames (401) fixedly connected to the clamping frames (305), a plurality of rollers (402) arranged along the length direction array of the clamping frames (305) are rotatably arranged in the fixing frames (401), and a collision frame (403) sleeved outside the plurality of rollers (402) is slidably arranged in the fixing frames (401);
The telescopic pushing piece (5) is arranged on the T-shaped frame (2) and is used for abutting against the box to separate from the clamping frame (305);
And the driving piece (6) is arranged on the T-shaped frame (2) and is used for driving the abutting frame (403) to move relatively.
2. A palletizing fixture according to claim 1, wherein the cross section of the clamping frame (305) is in a right triangle shape, the right angle corner of the clamping frame (305) is hinged with one end of a connecting rod (304), the other end of the connecting rod (304) is hinged with the end of the symmetrical part (201), and one of the acute angle ends of the clamping frame (305) is connected with a push-pull member (306).
3. A palletizing fixture according to claim 2, characterized in that the push-pull member (306) comprises a linkage rod (3061) hinged at two ends of the movable frame (303), the other end of the linkage rod (3061) is hinged with a lever frame (3062), the middle part of the lever frame (3062) is hinged at the corner of the end part of the symmetrical part (201), and the other end of the lever frame (3062) is hinged with the acute angle end of the clamping frame (305).
4. A palletizing fixture according to claim 1, wherein the rollers (402) partially protrude from opposite sides of the holding frame (305), wherein the rollers (402) are configured with a plurality of anti-skid grooves (4021) along their circumferential array, and wherein the interference frame (403) is configured with a plurality of cavities for housing the rollers (402).
5. The stacking clamp according to claim 1, wherein the driving piece (6) comprises an air cylinder (601) fixedly connected to one side of the T-shaped frame (2), a piston block (602) is slidably mounted in the air cylinder (601), one end of the piston block (602) is fixedly connected with a push-pull rod (603) penetrating through the air cylinder (601) in a sliding mode, an electric push rod (604) is fixedly mounted on the T-shaped frame (2), the output end of the electric push rod (604) is connected with the push-pull rod (603), a pneumatic pushing piece (605) for synchronously driving the two abutting frames (403) to move relatively is mounted in the clamping frame (305), one end, close to the electric push rod (604), of the air cylinder (601) is communicated with the pneumatic pushing piece (605) through a hose (606), and a spring pulling piece (607) for driving the two abutting frames (403) to move reversely is mounted in the clamping frame (305).
6. The stacking clamp according to claim 5, wherein the spring pulling member (607) comprises a mounting plate (6071) fixedly connected in the clamping frame (305), a tension spring (6072) is connected between the mounting plate (6071) and the abutting frame (403), U-shaped bevel blocks (4031) are respectively constructed on opposite sides of the two abutting frames (403), and the pneumatic pushing member (605) is used for abutting against the U-shaped bevel blocks (4031) to move.
7. The stacking clamp according to claim 6, wherein the pneumatic pushing piece (605) comprises a mounting block (6051) fixedly connected in the clamping frame (305), two air cylinders (6052) are fixedly and penetratingly mounted on the mounting block (6051), piston columns (6053) are slidably inserted into one ends of the two air cylinders (6052), n-type bevel blocks (6054) which are in contact with the U-type bevel blocks (4031) are connected to one ends of the two piston columns (6053) located on the outer side, the U-type bevel blocks (4031) are oppositely arranged with openings of the n-type bevel blocks (6054) and are connected with inclined surfaces, and the hose (606) is communicated with the other ends of the air cylinders (6052).
8. The stacking clamp according to claim 7, wherein the telescopic pushing piece (5) comprises a guide rod (501) movably inserted in the screw rod (302), an abutting plate (502) is fixedly connected to the end portion of the guide rod (501), a sliding rod (503) penetrating through the air cylinder (601) in a sliding manner is fixedly connected to the other side of the piston block (602), and the other end of the sliding rod (503) is connected with the abutting plate (502).
9. A palletizing robot, characterized by further comprising a base (7), wherein a first steering seat (8) is horizontally rotatably mounted on the base (7), a second steering seat (9) is vertically rotatably mounted on the first steering seat (8), the connecting seat (1) is vertically rotatably mounted on the second steering seat (9), and the first steering seat (8) is connected with the second steering seat (9) and the second steering seat (9) is connected with the connecting seat (1) through motor driving.
10. A palletizing robot according to claim 9, wherein the second steering seat (9) comprises a turning seat (901) rotatably mounted on the first steering seat (8), a hydraulic push rod (902) is fixedly connected to the turning seat (901), an output end of the hydraulic push rod (902) is fixedly connected to a mounting seat (903), and the connecting seat (1) is rotatably mounted on the mounting seat (903).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410446930.3A CN118062602B (en) | 2024-04-15 | 2024-04-15 | Stacking clamp and robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410446930.3A CN118062602B (en) | 2024-04-15 | 2024-04-15 | Stacking clamp and robot |
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| Publication Number | Publication Date |
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| CN118062602A true CN118062602A (en) | 2024-05-24 |
| CN118062602B CN118062602B (en) | 2024-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202410446930.3A Active CN118062602B (en) | 2024-04-15 | 2024-04-15 | Stacking clamp and robot |
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| CN112318533A (en) * | 2020-09-23 | 2021-02-05 | 南京合信智能装备有限公司 | Adjustable cylinder clamping mechanism based on intelligent welding robot technology |
| CN113427502A (en) * | 2021-06-25 | 2021-09-24 | 黄根水 | Robot carrying paw manufactured by precision machinery |
| WO2022077624A1 (en) * | 2020-10-16 | 2022-04-21 | 苏州龙骐自动化科技有限公司 | Industrial robot clamping device for palletizing articles |
| CN116553199A (en) * | 2023-05-29 | 2023-08-08 | 临沂和创饲料有限公司 | Automatic stacker crane gripper with adjustable gripping distance |
| CN219566842U (en) * | 2023-02-02 | 2023-08-22 | 深圳市望京印刷有限公司 | Adjustable stacking machine |
| CN117509149A (en) * | 2023-12-13 | 2024-02-06 | 扬州市天洪机械有限公司 | High-precision stacker crane light grabbing structure and control method |
| CN117699129A (en) * | 2024-01-24 | 2024-03-15 | 科捷智能科技股份有限公司 | Clamping jaw of box-entering robot, robot and clamping method |
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2024
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| JPH04327421A (en) * | 1991-04-26 | 1992-11-17 | Nisshin Steel Co Ltd | Method of aligning column body on the way of conveyance and device therefor |
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| CN210161160U (en) * | 2019-06-14 | 2020-03-20 | 宁夏铸峰特殊合金有限公司 | Packaging stacker crane with four-thread clamping manipulator |
| CN112318533A (en) * | 2020-09-23 | 2021-02-05 | 南京合信智能装备有限公司 | Adjustable cylinder clamping mechanism based on intelligent welding robot technology |
| WO2022077624A1 (en) * | 2020-10-16 | 2022-04-21 | 苏州龙骐自动化科技有限公司 | Industrial robot clamping device for palletizing articles |
| CN113427502A (en) * | 2021-06-25 | 2021-09-24 | 黄根水 | Robot carrying paw manufactured by precision machinery |
| CN219566842U (en) * | 2023-02-02 | 2023-08-22 | 深圳市望京印刷有限公司 | Adjustable stacking machine |
| CN116553199A (en) * | 2023-05-29 | 2023-08-08 | 临沂和创饲料有限公司 | Automatic stacker crane gripper with adjustable gripping distance |
| CN117509149A (en) * | 2023-12-13 | 2024-02-06 | 扬州市天洪机械有限公司 | High-precision stacker crane light grabbing structure and control method |
| CN117699129A (en) * | 2024-01-24 | 2024-03-15 | 科捷智能科技股份有限公司 | Clamping jaw of box-entering robot, robot and clamping method |
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| CN118062602B (en) | 2024-06-21 |
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