CN202805189U - Four-side clamping type packing mechanical arm - Google Patents
Four-side clamping type packing mechanical arm Download PDFInfo
- Publication number
- CN202805189U CN202805189U CN 201220473013 CN201220473013U CN202805189U CN 202805189 U CN202805189 U CN 202805189U CN 201220473013 CN201220473013 CN 201220473013 CN 201220473013 U CN201220473013 U CN 201220473013U CN 202805189 U CN202805189 U CN 202805189U
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- clamping plate
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Abstract
The utility model relates to a four-side clamping type packing mechanical arm, which comprises a framework (1), a short clamping mechanism (2) and a long clamping mechanism (3). The framework (1) is arranged at the center of the whole device, the front side and the rear side of the lower end of the framework (1) are hinged with the upper end of the short clamping mechanism (2), the two ends of the short clamping mechanism (2) are respectively provided with a short clamping plate (2-3), the left side and the right side of the lower end of the framework (1) are hinged with the upper end of the long clamping mechanism (3), the two ends of the long clamping mechanism (3) are respectively provided with a long clamping plate (3-2), and the short clamping plates (2-3) are arranged on the inner sides of the long clamping plates (3-2). The four-side clamping type packing mechanical arm is suitable for packing of soft and elastic rubber blocks, and the space occupied by the four-side clamping type packing mechanical arm in a box can be reduced.
Description
Technical field
The utility model relates to the clipping boxing manipulator in a kind of four sides, belongs to the robot clamp field.
Background technology
In the technical process of the packaged case of synthetic rubber, existing boxing manipulator adopts the parallel clamping in the left and right sides and unfolding mode more, be not suitable in the situation of small space surplus and case, patent documentation CN201110261465.9 discloses a kind of one-sided clamping plate lift boxing manipulator, although it is less to occupy the space of box house during this boxing manipulator work, but softer for quality, the block rubber that elasticity is larger, because the distortion of the blob of viscose during sandwich is larger, cause blob of viscose never to protrude the both sides of clamping plate, thereby the size after the blob of viscose distortion may can't be cased greater than box sizes; In addition, the softer blob of viscose of quality will follow the string after clamping distortion a period of time, and the stroke of gripper cylinder is limited, thereby cause blob of viscose to come off from clamping plate.
The utility model content
Can not to be applicable to quality softer in order to solve existing blob of viscose boxing manipulator, the problem of the blob of viscose vanning that elasticity is larger, the utility model proposes the clipping boxing manipulator in a kind of four sides, it comprises framework (1), short clamp mechanism (2), long clamp mechanism (3), its middle frame (1) is positioned at the center of whole device, both sides are hinged with the upper end of short clamp mechanism (2) before and after the lower end of framework (1), the two ends of short clamp mechanism (2) are equipped with short clamping plate (2-3), the left and right sides, lower end of framework (1) is also hinged with the upper end of long clamp mechanism (3), establish at the two ends of long clamp mechanism (3) all long clamping plate (3-2), and short clamping plate (2-3) are positioned at the inboard of long clamping plate (3-2).
Described framework (1) comprises base plate (1-1), and the lower end of base plate (1-1) is provided with a plurality of crisscross longerons (1-2) and crossbeam (1-3), also is provided with connecting plate (1-4) under the base plate (1-1).
Described short clamp mechanism (2) is essentially the origin symmetry structure, it comprises cylinder 1 (2-1), cylinder 1 (2-1) is positioned at origin position, the cylinder barrel of cylinder 1 (2-1) is connected with an end of connecting rod 1 (2-2), the cylinder bar of cylinder 1 (2-1) is connected with an end of connecting rod 2 (2-9), short clamping plate (2-3) middle part at the other end of connecting rod 1 (2-2) and rear is hinged, short clamping plate (2-3) middle part in the other end of connecting rod 2 (2-9) and the place ahead is hinged, the inboard of short clamping plate (2-3) is provided with short support arm 1 (2-4) and the arm 1 (2-6) of drawing money on credit, lack support arm 1 (2-4) and draw money on credit and be provided with minor axis (2-5) between the arm 1 (2-6), minor axis (2-5) is hinged with crossbeam (1-3), the draw money on credit upper end of arm 1 (2-6) is also hinged with an end of long connecting rod (2-7), the other end of long connecting rod (2-7) and fork (2-8) end are hinged, fork (2-8) is positioned at cylinder 1 (2-1) top, and the middle part of fork (2-8) is positioned at origin position and hinged with connecting plate (1-4).
Two groups of cylinders 2 (3-1) of arranging before and after described long clamp mechanism (3) comprises, the long clamping plate (3-2) in the cylinder barrel of cylinder 2 (3-1) and left side are hinged, the long clamping plate (3-2) on the cylinder bar of cylinder 2 (3-1) and right side are hinged, the inboard of long clamping plate (3-2) is provided with short support arm 2 (3-3) and the arm 2 (3-5) of drawing money on credit, lack support arm 2 (3-3) and draw money on credit and be provided with major axis (3-4) between the arm 2 (3-5), major axis (3-4) is hinged with longeron (1-2), be provided with synchronising (connecting) rod (3-6) between the long clamping plate (3-2) in left side and the long clamping plate (3-2) on right side, (3-5) is hinged with lacking support arm 2 (3-3) and the arm 2 of drawing money on credit respectively at the two ends of synchronising (connecting) rod (3-6).
Described cylinder 1 (2-1) and cylinder 2 (3-1) are double stroke cylinder.
Described short clamping plate (2-3) and long clamping plate (3-2) all are provided with bending to the inside at the middle part, the upper and lower of clamping plate is certain angle.
Operation principle of the present utility model is: during initial position, the cylinder bar of cylinder 1 (2-1) and cylinder 2 (3-1) all stretches out fully, make respectively short clamping plate (2-3) and long clamping plate (3-2) outwards open to extreme position, then boxing manipulator drops to suitable height, the cylinder bar of cylinder 1 (2-1) and cylinder 2 (3-1) is all retracted fully, driving respectively short clamping plate (2-3) and long clamping plate (3-2) closes up to the inboard, from all around blob of viscose (A) being clamped, the clamping plate bottom of simultaneously to the inside bending is from tight with blob of viscose (A) pocket all around, after boxing manipulator pinches the appropriate location of box house with blob of viscose (A), the cylinder bar of cylinder 1 (2-1) and cylinder 2 (3-1) all stretches out one section little stroke, four clamping plate are opened suitable distance, make blob of viscose (A) break away from clamping plate and fall in the empty van, then boxing manipulator rises and leaves empty van, the cylinder bar of cylinder 1 (2-1) and cylinder 2 (3-1) stretches out fully again, four clamping plate are also opened fully, enter next working cycles.
The beneficial effects of the utility model are: adopt four sides clamping plate clamping blob of viscose, make the deflection of the blob of viscose that quality is softer, elasticity is larger and shape controlled, be beneficial to the realization of blob of viscose vanning; Utilize double stroke cylinder, space required when making clamping plate discharge blob of viscose is less, thereby has realized the blob of viscose vanning in small space surplus situation, has saved the cabinet space size, has reduced production cost; Utilize the tight flexible glue piece of clamping plate bottom pocket of to the inside bending, make the action of gripping blob of viscose more reliable.
Description of drawings
Fig. 1 is three-dimensional axonometric drawing of the present utility model.
Fig. 2 is front view of the present utility model.
Fig. 3 is top view of the present utility model.
Fig. 4 is the structural representation of framework (1).
Fig. 5 is the structural representation of short clamp mechanism (2).
Fig. 6 is the structural representation of long clamp mechanism (3).
Fig. 7 is crawl blob of viscose process schematic representation.
Fig. 8 clamps the blob of viscose process schematic representation.
Fig. 9 discharges the blob of viscose process schematic representation.
The specific embodiment
The specific embodiment of the present utility model is referring to Fig. 1 to Fig. 9, the clipping boxing manipulator in a kind of four sides, it comprises framework (1), short clamp mechanism (2), long clamp mechanism (3), its middle frame (1) is positioned at the center of whole device, both sides are hinged with the upper end of short clamp mechanism (2) before and after the lower end of framework (1), the two ends of short clamp mechanism (2) are equipped with short clamping plate (2-3), the left and right sides, lower end of framework (1) is also hinged with the upper end of long clamp mechanism (3), establish at the two ends of long clamp mechanism (3) all long clamping plate (3-2), and short clamping plate (2-3) are positioned at the inboard of long clamping plate (3-2).
Said frame (1) comprises base plate (1-1), the lower end of base plate (1-1) is provided with four longerons (1-2) and two crossbeams (1-3), longeron (1-2) and crossbeam (1-3) are crisscross, also are provided with connecting plate (1-4) under the base plate (1-1).
Above-mentioned short clamp mechanism (2) is essentially the origin symmetry structure, it comprises cylinder 1 (2-1), cylinder 1 (2-1) is double stroke cylinder, cylinder 1 (2-1) is positioned at origin position, the cylinder barrel of cylinder 1 (2-1) is connected with an end of connecting rod 1 (2-2), the cylinder bar of cylinder 1 (2-1) is connected with an end of connecting rod 2 (2-9), short clamping plate (2-3) middle part at the other end of connecting rod 1 (2-2) and rear is hinged, short clamping plate (2-3) middle part in the other end of connecting rod 2 (2-9) and the place ahead is hinged, the inboard of short clamping plate (2-3) is provided with short support arm 1 (2-4) and the arm 1 (2-6) of drawing money on credit, lack support arm 1 (2-4) and draw money on credit and be provided with minor axis (2-5) between the arm 1 (2-6), minor axis (2-5) is hinged with crossbeam (1-3), the draw money on credit upper end of arm 1 (2-6) is also hinged with an end of long connecting rod (2-7), the other end of long connecting rod (2-7) and fork (2-8) end are hinged, fork (2-8) is positioned at cylinder 1 (2-1) top, the middle part of fork (2-8) is positioned at origin position and hinged with connecting plate (1-4), short clamping plate (2-3) middle part is provided with bending to the inside, and the upper and lower of clamping plate is certain angle.
Two groups of cylinders 2 (3-1) of arranging before and after above-mentioned long clamp mechanism (3) comprises, cylinder 2 (3-1) is double stroke cylinder, the long clamping plate (3-2) in the cylinder barrel of cylinder 2 (3-1) and left side are hinged, the long clamping plate (3-2) on the cylinder bar of cylinder 2 (3-1) and right side are hinged, the inboard of long clamping plate (3-2) is provided with short support arm 2 (3-3) and the arm 2 (3-5) of drawing money on credit, lack support arm 2 (3-3) and draw money on credit and be provided with major axis (3-4) between the arm 2 (3-5), major axis (3-4) is hinged with longeron (1-2), be provided with synchronising (connecting) rod (3-6) between the long clamping plate (3-2) in left side and the long clamping plate (3-2) on right side, (3-5) is hinged with lacking support arm 2 (3-3) and the arm 2 of drawing money on credit respectively at the two ends of synchronising (connecting) rod (3-6), long clamping plate (3-2) middle part is provided with bending to the inside, and the upper and lower of clamping plate is certain angle.
Claims (6)
1. clipping boxing manipulator in four sides, it comprises framework (1), framework (1) is positioned at the center of whole device, it is characterized in that: it also comprises short clamp mechanism (2), long clamp mechanism (3), both sides are hinged with the upper end of short clamp mechanism (2) before and after the lower end of framework (1), the two ends of short clamp mechanism (2) are equipped with short clamping plate (2-3), the left and right sides, lower end of framework (1) is also hinged with the upper end of long clamp mechanism (3), establish at the two ends of long clamp mechanism (3) all long clamping plate (3-2), and short clamping plate (2-3) are positioned at the inboard of long clamping plate (3-2).
2. the clipping boxing manipulator in a kind of four sides according to claim 1, it is characterized in that: framework (1) comprises base plate (1-1), the lower end of base plate (1-1) is provided with a plurality of crisscross longerons (1-2) and crossbeam (1-3), also is provided with connecting plate (1-4) under the base plate (1-1).
3. the clipping boxing manipulator in a kind of four sides according to claim 1, it is characterized in that: short clamp mechanism (2) is essentially the origin symmetry structure, it comprises cylinder 1 (2-1), cylinder 1 (2-1) is positioned at origin position, the cylinder barrel of cylinder 1 (2-1) is connected with an end of connecting rod 1 (2-2), the cylinder bar of cylinder 1 (2-1) is connected with an end of connecting rod 2 (2-9), short clamping plate (2-3) middle part at the other end of connecting rod 1 (2-2) and rear is hinged, short clamping plate (2-3) middle part in the other end of connecting rod 2 (2-9) and the place ahead is hinged, the inboard of short clamping plate (2-3) is provided with short support arm 1 (2-4) and the arm 1 (2-6) of drawing money on credit, lack support arm 1 (2-4) and draw money on credit and be provided with minor axis (2-5) between the arm 1 (2-6), minor axis (2-5) is hinged with crossbeam (1-3), the draw money on credit upper end of arm 1 (2-6) is also hinged with an end of long connecting rod (2-7), the other end of long connecting rod (2-7) and fork (2-8) end are hinged, fork (2-8) is positioned at cylinder 1 (2-1) top, and the middle part of fork (2-8) is positioned at origin position and hinged with connecting plate (1-4).
4. the clipping boxing manipulator in a kind of four sides according to claim 1, it is characterized in that: two groups of cylinders 2 (3-1) of arranging before and after long clamp mechanism (3) comprises, the long clamping plate (3-2) in the cylinder barrel of cylinder 2 (3-1) and left side are hinged, the long clamping plate (3-2) on the cylinder bar of cylinder 2 (3-1) and right side are hinged, the inboard of long clamping plate (3-2) is provided with short support arm 2 (3-3) and the arm 2 (3-5) of drawing money on credit, lack support arm 2 (3-3) and draw money on credit and be provided with major axis (3-4) between the arm 2 (3-5), major axis (3-4) is hinged with longeron (1-2), be provided with synchronising (connecting) rod (3-6) between the long clamping plate (3-2) in left side and the long clamping plate (3-2) on right side, (3-5) is hinged with lacking support arm 2 (3-3) and the arm 2 of drawing money on credit respectively at the two ends of synchronising (connecting) rod (3-6).
According to claim 3 with the clipping boxing manipulator in 4 described a kind of four sides, it is characterized in that: cylinder 1 (2-1) and cylinder 2 (3-1) are double stroke cylinder.
According to claim 3 with the clipping boxing manipulator in 4 described a kind of four sides, it is characterized in that: short clamping plate (2-3) and long clamping plate (3-2) all are provided with bending to the inside at the middle part, the upper and lower of clamping plate is certain angle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220473013 CN202805189U (en) | 2012-09-17 | 2012-09-17 | Four-side clamping type packing mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220473013 CN202805189U (en) | 2012-09-17 | 2012-09-17 | Four-side clamping type packing mechanical arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202805189U true CN202805189U (en) | 2013-03-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220473013 Expired - Fee Related CN202805189U (en) | 2012-09-17 | 2012-09-17 | Four-side clamping type packing mechanical arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202805189U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395638A (en) * | 2013-07-26 | 2013-11-20 | 哈尔滨博实自动化股份有限公司 | Single-robot simple automatic loading unit |
| CN105173194A (en) * | 2015-09-30 | 2015-12-23 | 湖南傲派自动化设备有限公司 | Bar package encasing device |
| CN105539900A (en) * | 2016-02-04 | 2016-05-04 | 广东科捷龙机器人有限公司 | Automatic packing robot for flexible packing |
| CN107055106A (en) * | 2016-12-19 | 2017-08-18 | 重庆紫竹桦苑建材有限公司 | Fragment of brick stacking machine |
| WO2017181337A1 (en) * | 2016-04-19 | 2017-10-26 | Abb Schweiz Ag | A gripping device, a de-palletizing system, a gripping method and a de-palletizing method |
| CN110788877A (en) * | 2019-11-26 | 2020-02-14 | 上海拔山自动化技术有限公司 | Grabbing centering device and transfer robot |
| CN113212876A (en) * | 2021-05-27 | 2021-08-06 | 珠海格力智能装备有限公司 | Packaging mechanism and box sleeving equipment |
| CN115057258A (en) * | 2022-07-20 | 2022-09-16 | 苏州普蓝多激光科技有限公司 | Automatic tobacco bale carrying and stacking equipment |
-
2012
- 2012-09-17 CN CN 201220473013 patent/CN202805189U/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103395638A (en) * | 2013-07-26 | 2013-11-20 | 哈尔滨博实自动化股份有限公司 | Single-robot simple automatic loading unit |
| CN105173194A (en) * | 2015-09-30 | 2015-12-23 | 湖南傲派自动化设备有限公司 | Bar package encasing device |
| CN105539900A (en) * | 2016-02-04 | 2016-05-04 | 广东科捷龙机器人有限公司 | Automatic packing robot for flexible packing |
| WO2017181337A1 (en) * | 2016-04-19 | 2017-10-26 | Abb Schweiz Ag | A gripping device, a de-palletizing system, a gripping method and a de-palletizing method |
| CN108602633A (en) * | 2016-04-19 | 2018-09-28 | Abb瑞士股份有限公司 | Clamping device, destacking system, clamp method and unload stacking method |
| CN108602633B (en) * | 2016-04-19 | 2019-08-30 | Abb瑞士股份有限公司 | Clamping device, destacking system, clamp method and unload stacking method |
| CN107055106A (en) * | 2016-12-19 | 2017-08-18 | 重庆紫竹桦苑建材有限公司 | Fragment of brick stacking machine |
| CN107055106B (en) * | 2016-12-19 | 2019-05-24 | 重庆紫竹桦苑建材有限公司 | Brick stacking machine |
| CN110788877A (en) * | 2019-11-26 | 2020-02-14 | 上海拔山自动化技术有限公司 | Grabbing centering device and transfer robot |
| CN113212876A (en) * | 2021-05-27 | 2021-08-06 | 珠海格力智能装备有限公司 | Packaging mechanism and box sleeving equipment |
| CN115057258A (en) * | 2022-07-20 | 2022-09-16 | 苏州普蓝多激光科技有限公司 | Automatic tobacco bale carrying and stacking equipment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20130320 Termination date: 20170917 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |